adhoc

completed
2026-09-24T01:00:33.917258+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
269.6 s
total steps
405
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits: a green pear beside the right arm, a yellow lemon near the blue bowl, and a dark fruit near the white bowl. I’m approaching the pear first with the right gripper open.
move_to
right_x0.3600right_y0.0000right_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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0265, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.7846, 9.5795, 1.79, -0.0952, 0.149, -0.6129, -0.1436, -1.7983, 9.3333, 1.8242, -0.0952, 0.1001, -0.0708] 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":0.36,"right_y":0.0,"right_z":0.12,"right_gripper":1},"note":"I see three fruits: a green pear beside the right arm, a yellow lemon near the blue bowl, and a dark fruit near the white bowl. I’m approaching the pear first with the right gripper open."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe pear is near the bottom of the right wrist view, slightly right of the jaw centerline. I’m shifting right and lowering the open jaws around its body.
move_to
right_x0.3550right_y-0.0270right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8051, 0.6132, -0.3977, -0.0135, -0.0307, 0.9899, -0.017, 1.2022, 0.5255, 0.0566, -0.0166, -0.0273, 0.9994] state[eef_state]: left_x=0.2942 left_y=0.0001 left_z=0.1775 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0007 left_gripper=0.9899 right_x=0.3544 right_y=0.0005 right_z=0.1084 right_yaw=0.0058 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.6889, 7.0769, 1.8584, -0.0415, -0.0122, -0.0757, -0.1983, -4.7521, 6.4479, 2.1172, 0.0171, -0.0269, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":-0.027,"right_z":0.025},"note":"The pear is near the bottom of the right wrist view, slightly right of the jaw centerline. I’m shifting right and lowering the open jaws around its body."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pear is centered between the open jaws at table level. I’m closing the gripper to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5503, -0.1143, -0.0986, 0.9994] state[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0008 left_gripper=0.9898 right_x=0.35 right_y=-0.0276 right_z=0.0174 right_yaw=-0.0024 right_pitch=-0.0866 right_roll=0.0045 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.5248, 7.2684, 1.8242, -0.0513, -0.0708, -0.022, -0.3487, -5.5043, 4.7248, 1.9951, -0.149, -0.1148, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is centered between the open jaws at table level. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe closed gripper holds a substantial width, consistent with the pear rather than an empty grasp. I’m lifting it a few centimeters to check that it follows the jaws.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4168, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5526, -0.1139, -0.1055, 0.7293] state[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1718 left_yaw=0.0009 left_pitch=-0.0462 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3503 right_y=-0.0277 right_z=0.0178 right_yaw=0.001 right_pitch=-0.0844 right_roll=-0.0016 right_gripper=0.7293 state[joint_eff]: [-0.0615, -1.6479, 7.0085, 1.7851, -0.0366, -0.0317, -0.0171, -0.2256, -4.9709, 4.6564, 1.619, -0.0855, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The closed gripper holds a substantial width, consistent with the pear rather than an empty grasp. I’m lifting it a few centimeters to check that it follows the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe pear rose with the gripper and is clear of the table. I’m carrying it above the blue bowl with extra height for rim clearance.
move_to
right_x0.4750right_y0.1050right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.0139, -0.0334, 0.9898, -0.1463, 1.2728, 0.4561, 0.1287, -0.1135, -0.1066, 0.7293] state[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1702 left_yaw=0.0025 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9898 right_x=0.3435 right_y=-0.0268 right_z=0.0711 right_yaw=0.0017 right_pitch=-0.1142 right_roll=0.0017 right_gripper=0.7293 state[joint_eff]: [-0.0615, -1.4154, 6.9949, 1.7558, -0.0513, -0.0366, -0.0122, -0.3214, -4.7658, 8.6359, 1.6728, -0.1001, -0.0415, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.105,"right_z":0.19},"note":"The pear rose with the gripper and is clear of the table. I’m carrying it above the blue bowl with extra height for rim clearance."})
tool
executing move_to over 11 steps (1.1s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe pear is above the blue bowl, whose rim is visible just beyond it in the wrist view. I’m making a small alignment correction and lowering the fruit toward the bowl opening.
move_to
right_x0.4950right_y0.0800right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4267, -0.0139, -0.0334, 0.9898, 0.2909, 1.6917, 1.3033, -0.3733, 0.2058, 0.1432, 0.7343] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1691 left_yaw=0.0025 left_pitch=-0.0587 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4665 right_y=0.1057 right_z=0.1693 right_yaw=0.031 right_pitch=-0.1735 right_roll=-0.0247 right_gripper=0.7343 state[joint_eff]: [0.0205, -1.4838, 7.0085, 1.7509, -0.0562, -0.0171, -0.0073, -0.2803, -8.9915, 9.4291, 1.7607, 0.2466, 0.3004, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.08,"right_z":0.09},"note":"The pear is above the blue bowl, whose rim is visible just beyond it in the wrist view. I’m making a small alignment correction and lowering the fruit toward the bowl opening."})
tool
executing move_to over 6 steps (0.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe pear is lowered into the blue bowl’s opening. I’m releasing it here before moving back for the lemon.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8188, 0.6132, -0.4316, -0.0135, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.1078, 0.1402, 0.0784, 0.7385] state[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1669 left_yaw=0.0024 left_pitch=-0.0683 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4881 right_y=0.0802 right_z=0.0814 right_yaw=0.0353 right_pitch=-0.2169 right_roll=-0.0338 right_gripper=0.7385 state[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.707, -0.0317, -0.0415, -0.0073, -0.212, -9.935, 6.612, 1.9853, 0.0513, -0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is lowered into the blue bowl’s opening. I’m releasing it here before moving back for the lemon."})
tool
executing move_to over 3 steps (0.3s)
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 pear is visibly resting inside the blue bowl. I’m lifting away toward the yellow lemon and refreshing the idle arm’s parked position.
move_to
right_x0.4100right_y0.1650right_z0.1500left_x0.2960left_y0.0000left_z0.1820
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4335, -0.0139, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.112, 0.141, 0.0708, 0.9959] state[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1664 left_yaw=0.0027 left_pitch=-0.0706 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4874 right_y=0.0799 right_z=0.0807 right_yaw=0.0387 right_pitch=-0.2211 right_roll=-0.0405 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.3744, 7.1726, 1.6728, -0.0806, -0.0611, -0.0122, -0.3624, -9.7026, 6.5573, 1.5604, -0.0171, 0.1001, -0.0757] 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_x":0.41,"right_y":0.165,"right_z":0.15,"left_x":0.296,"left_y":0,"left_z":0.182},"note":"The pear is visibly resting inside the blue bowl. I’m lifting away toward the yellow lemon and refreshing the idle arm’s parked position."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe lemon is aligned with the right gripper’s centerline, and the pear remains in the blue bowl. I’m lowering around the lemon’s middle for the next grasp.
move_to
right_x0.4050right_y0.1650right_z0.0230right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8566, 0.6491, -0.4839, -0.0135, -0.0341, 0.9898, 0.5144, 1.6535, 1.1748, -0.4358, 0.3367, 0.2817, 0.9965] state[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0013 left_gripper=0.9898 right_x=0.4025 right_y=0.1646 right_z=0.128 right_yaw=0.0566 right_pitch=-0.2786 right_roll=-0.0737 right_gripper=0.9965 state[joint_eff]: [-0.3897, -1.9077, 9.8256, 1.7509, -0.0513, -0.0708, -0.0073, -0.2803, -9.894, 8.7179, 1.4432, 0.2027, 0.1685, 0.0464] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.165,"right_z":0.023,"right_pitch":0},"note":"The lemon is aligned with the right gripper’s centerline, and the pear remains in the blue bowl. I’m lowering around the lemon’s middle for the next grasp."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe open jaws straddle the lemon at table height. I’m closing them to secure the fruit.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8593, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5529, 1.8549, 0.7101, 0.4194, 0.4328, 0.226, 0.9966] state[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3965 right_y=0.1619 right_z=0.0144 right_yaw=0.064 right_pitch=-0.0809 right_roll=-0.0913 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.7983, 6.9812, 1.663, -0.0562, -0.022, -0.0122, 0.1983, -8.4308, 5.1761, 1.9756, 0.2418, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws straddle the lemon at table height. I’m closing them to secure the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe gripper has closed to about the lemon’s width. I’m making a short test lift before transporting it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8597, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5537, 1.874, 0.6964, 0.4244, 0.4328, 0.2203, 0.4259] state[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1601 left_yaw=0.0028 left_pitch=-0.1339 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3912 right_y=0.1589 right_z=0.0032 right_yaw=0.0666 right_pitch=-0.1058 right_roll=-0.1089 right_gripper=0.4259 state[joint_eff]: [-0.0479, -1.4427, 7.1043, 1.5995, -0.0562, -0.0464, -0.0122, -0.1709, -9.4838, 5.9556, 1.4872, 0.1441, 0.0317, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The gripper has closed to about the lemon’s width. I’m making a short test lift before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe lemon lifted with the jaws. I’m carrying it back above the blue bowl while positioning the left arm above the remaining dark fruit, with the arms well separated.
move_to
right_x0.4950right_y0.0800right_z0.1800left_x0.3150left_y-0.2850left_z0.1300left_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]: [-0.0204, 0.8612, 0.6487, -0.4942, -0.0139, -0.0338, 0.9898, 0.5537, 1.668, 0.7887, 0.1417, 0.4259, 0.2173, 0.43] state[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.1592 left_yaw=0.0025 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9898 right_x=0.393 right_y=0.1613 right_z=0.0691 right_yaw=0.0745 right_pitch=-0.0943 right_roll=-0.0999 right_gripper=0.43 state[joint_eff]: [-0.2803, -1.7299, 6.9265, 1.6532, -0.0659, -0.0464, -0.0122, -0.1162, -8.5265, 7.5966, 1.5653, 0.2418, 0.022, 0.9206] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.08,"right_z":0.18,"left_x":0.315,"left_y":-0.285,"left_z":0.13,"left_gripper":1},"note":"The lemon lifted with the jaws. I’m carrying it back above the blue bowl while positioning the left arm above the remaining dark fruit, with the arms well separated."})
tool
executing move_to over 26 steps (2.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe dark fruit is centered in the left wrist view, and the lemon is above the blue bowl. I’m lowering each gripper at its separate work area: the left to grasp and the right to place.
move_to
right_z0.1000left_x0.3200left_y-0.2820left_z0.0180left_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]: [-1.005, 1.7023, 1.1545, -0.4942, -0.6735, -0.8154, 0.9906, 0.2184, 1.7176, 1.2785, -0.2745, 0.1684, -0.0177, 0.4299] state[eef_state]: left_x=0.3105 left_y=-0.2767 left_z=0.1178 left_yaw=-0.0068 left_pitch=-0.1719 left_roll=0.0181 left_gripper=0.9906 right_x=0.4846 right_y=0.0809 right_z=0.1636 right_yaw=0.079 right_pitch=-0.1376 right_roll=-0.1122 right_gripper=0.4299 state[joint_eff]: [-0.5538, -8.4308, 8.6222, 1.0476, -0.6325, -0.0269, -0.6081, -0.5949, -8.4855, 9.7299, 1.8339, 0.0562, 0.0513, 0.9841] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"left_x":0.32,"left_y":-0.282,"left_z":0.018,"left_pitch":0},"note":"The dark fruit is centered in the left wrist view, and the lemon is above the blue bowl. I’m lowering each gripper at its separate work area: the left to grasp and the right to place."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe lemon is inside the blue bowl’s rim, and the left jaws surround the dark fruit. I’m releasing the lemon and securing the last fruit.
move_to
right_gripper1.0000left_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]: [-1.0294, 1.927, 0.8871, 0.0555, -0.7712, -0.7593, 0.9899, 0.215, 1.7748, 1.1206, -0.083, 0.1604, -0.0193, 0.4333] state[eef_state]: left_x=0.313 left_y=-0.2747 left_z=0.0148 left_yaw=-0.0105 left_pitch=-0.0721 left_roll=0.0571 left_gripper=0.9899 right_x=0.4796 right_y=0.0795 right_z=0.1049 right_yaw=0.0827 right_pitch=-0.1618 right_roll=-0.1113 right_gripper=0.4333 state[joint_eff]: [-0.6496, -8.5128, 4.3966, 1.2479, -0.7009, 0.0171, -0.0806, 0.0342, -7.6376, 6.0103, 1.6386, 0.0952, -0.0317, 0.6325] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_gripper":0},"note":"The lemon is inside the blue bowl’s rim, and the left jaws surround the dark fruit. I’m releasing the lemon and securing the last fruit."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe pear and lemon are both visible in the blue bowl. I’m test-lifting the dark fruit and parking the right arm out of the way for the transfer.
move_to
left_z0.0800right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0302, 1.956, 0.8749, 0.078, -0.7773, -0.7639, 0.5091, 0.2184, 1.7954, 1.111, -0.0948, 0.1589, -0.0269, 0.9973] state[eef_state]: left_x=0.3114 left_y=-0.2712 left_z=0.0035 left_yaw=-0.004 left_pitch=-0.0773 left_roll=0.0721 left_gripper=0.5091 right_x=0.4745 right_y=0.0803 right_z=0.0893 right_yaw=0.0906 right_pitch=-0.2041 right_roll=-0.1215 right_gripper=0.9973 state[joint_eff]: [0.0479, -11.3026, 5.8325, 0.906, -0.315, 0.0024, 1.0281, -0.3761, -10.7145, 7.2821, 1.6581, 0.0415, 0.0659, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"right_x":0.3,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pear and lemon are both visible in the blue bowl. I’m test-lifting the dark fruit and parking the right arm out of the way for the transfer."})
tool
executing move_to over 14 steps (1.4s)
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 dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m moving the fruit to a shared, clear area so the right arm can complete its transfer.
move_to
left_x0.3600left_y-0.3650left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0306, 1.7962, 0.9611, -0.2153, -0.7696, -0.7677, 0.5111, -0.0109, 0.8528, 0.6994, -0.387, 0.0166, -0.0204, 0.9979] state[eef_state]: left_x=0.3069 left_y=-0.2658 left_z=0.0572 left_yaw=-0.0029 left_pitch=-0.1072 left_roll=0.1063 left_gripper=0.5111 right_x=0.3093 right_y=-0.0027 right_z=0.206 right_yaw=-0.0198 right_pitch=0.0281 right_roll=-0.0127 right_gripper=0.9979 state[joint_eff]: [-0.3214, -11.0701, 8.2667, 1.0574, -0.4567, 0.0269, 0.7985, -0.1846, -1.1009, 6.3932, 1.9512, -0.149, -0.1148, 0.0562] approver: 5 step(s) modified (delta_clamped ×5). 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":0.36,"left_y":-0.365,"left_z":0.16},"note":"The dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m moving the fruit to a shared, clear area so the right arm can complete its transfer."})
tool
executing move_to over 9 steps (0.9s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe fruit is above a clear patch between the bowls and the arms. I’m lowering it onto the table for a controlled regrasp by the right arm.
move_to
left_z0.0230
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]: [-1.0355, 2.0651, 1.7287, -0.7017, -0.7666, -0.7937, 0.5135, -0.0151, 0.8589, 0.6941, -0.4164, 0.0063, -0.02, 0.998] state[eef_state]: left_x=0.3617 left_y=-0.3627 left_z=0.1503 left_yaw=0.0034 left_pitch=-0.1021 left_roll=0.074 left_gripper=0.5135 right_x=0.3054 right_y=-0.0021 right_z=0.1956 right_yaw=-0.0155 right_pitch=-0.0127 right_roll=-0.0071 right_gripper=0.998 state[joint_eff]: [-0.8547, -11.535, 7.8564, 0.6813, -0.4567, 0.0366, 0.5739, -0.0068, -2.1402, 7.4188, 2.0, 0.0659, -0.0757, -0.0073] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.023},"note":"The fruit is above a clear patch between the bowls and the arms. I’m lowering it onto the table for a controlled regrasp by the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe dark fruit has reached the tabletop in the shared area. I’m opening the left gripper to set it down.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0367, 2.2044, 1.4559, -0.3256, -0.7628, -0.7933, 0.5164, -0.0151, 0.8604, 0.6941, -0.4213, 0.0063, -0.0196, 0.998] state[eef_state]: left_x=0.358 left_y=-0.3585 left_z=0.0283 left_yaw=0.0035 left_pitch=-0.1231 left_roll=0.1038 left_gripper=0.5164 right_x=0.3049 right_y=-0.0021 right_z=0.1941 right_yaw=-0.0157 right_pitch=-0.0192 right_roll=-0.0068 right_gripper=0.998 state[joint_eff]: [-0.1299, -11.4256, 5.2991, 1.2088, -0.3785, -0.0366, 0.2906, -0.0068, -1.812, 7.0222, 1.8046, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit has reached the tabletop in the shared area. I’m opening the left gripper to set it down."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe dark fruit is released on the table. I’m withdrawing the left arm and bringing the right gripper above the same location, keeping the hands separated.
move_to
left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.3550right_y0.2960right_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]: [-1.0367, 2.2272, 1.4387, -0.3172, -0.762, -0.7937, 0.9907, -0.0154, 0.8604, 0.6941, -0.4252, 0.0059, -0.0196, 0.998] state[eef_state]: left_x=0.355 left_y=-0.3536 left_z=0.0129 left_yaw=0.0069 left_pitch=-0.1397 left_roll=0.1307 left_gripper=0.9907 right_x=0.3043 right_y=-0.0022 right_z=0.1933 right_yaw=-0.0157 right_pitch=-0.023 right_roll=-0.0065 right_gripper=0.998 state[joint_eff]: [-0.253, -13.7231, 7.0359, 0.9402, -0.4371, -0.0562, -0.8425, -0.0889, -1.7026, 6.9812, 1.7705, 0.0024, -0.0611, -0.0171] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.355,"right_y":0.296,"right_z":0.13},"note":"The dark fruit is released on the table. I’m withdrawing the left arm and bringing the right gripper above the same location, keeping the hands separated."})
tool
executing move_to over 32 steps (3.2s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe dark fruit is slightly left of the right gripper’s centerline. I’m correcting that offset and descending to grasp it.
move_to
right_x0.3550right_y0.3210right_z0.0220
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0513, 0.8204, 0.6491, -0.4282, -0.0956, -0.086, 0.9898, 0.9482, 1.7996, 1.1877, -0.289, 0.7261, 0.6319, 0.998] state[eef_state]: left_x=0.2954 left_y=0.0053 left_z=0.1839 left_yaw=0.0683 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3492 right_y=0.2915 right_z=0.1192 right_yaw=0.0171 right_pitch=-0.0584 right_roll=-0.0404 right_gripper=0.998 state[joint_eff]: [0.1299, -1.7573, 10.2496, 1.6288, 0.2125, 0.1294, -0.105, 0.3761, -8.9641, 8.4308, 1.3358, 0.5104, 0.2027, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.321,"right_z":0.022},"note":"The dark fruit is slightly left of the right gripper’s centerline. I’m correcting that offset and descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe dark fruit is now centered between the right jaws. I’m closing the gripper for the final fruit transfer.
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]: [-0.049, 0.8246, 0.6525, -0.4454, -0.0895, -0.0795, 0.9898, 0.9752, 2.0624, 1.1503, -0.0513, 0.7288, 0.6476, 0.998] state[eef_state]: left_x=0.2938 left_y=0.005 left_z=0.1807 left_yaw=0.062 left_pitch=-0.0457 left_roll=0.0038 left_gripper=0.9898 right_x=0.3509 right_y=0.3145 right_z=0.0221 right_yaw=0.0302 right_pitch=-0.0932 right_roll=-0.0798 right_gripper=0.998 state[joint_eff]: [-0.4034, -1.7436, 6.7077, 1.8681, -0.1343, -0.1099, -0.0122, 0.4034, -10.1949, 5.6684, 1.4286, 0.4029, 0.1392, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The dark fruit is now centered between the right jaws. I’m closing the gripper for the final fruit transfer."})
tool
executing move_to over 10 steps (1.0s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe gripper again holds the expected fruit width. I’m lifting briefly to verify the regrasp before carrying it to the bowl.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8253, 0.6525, -0.4496, -0.0895, -0.0826, 0.9898, 0.9741, 2.0888, 1.1503, -0.0494, 0.7246, 0.6441, 0.5116] state[eef_state]: left_x=0.2932 left_y=0.005 left_z=0.1797 left_yaw=0.0637 left_pitch=-0.0506 left_roll=0.0019 left_gripper=0.9898 right_x=0.3497 right_y=0.3129 right_z=0.0104 right_yaw=0.0315 right_pitch=-0.1105 right_roll=-0.1003 right_gripper=0.5116 state[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7509, -0.0708, -0.0122, -0.0122, 0.0068, -12.7932, 5.3128, 1.1941, 0.2955, -0.0269, 1.0281] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper again holds the expected fruit width. I’m lifting briefly to verify the regrasp before carrying it to the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe dark fruit rose with the right gripper. I’m carrying it above the blue bowl, offset slightly toward the available space beside the other fruits.
move_to
right_x0.4800right_y0.1150right_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]: [-0.049, 0.8265, 0.6525, -0.4526, -0.0895, -0.083, 0.9898, 0.9733, 1.9793, 1.2373, -0.2695, 0.717, 0.6437, 0.5073] state[eef_state]: left_x=0.2928 left_y=0.005 left_z=0.1788 left_yaw=0.0639 left_pitch=-0.0548 left_roll=0.0021 left_gripper=0.9898 right_x=0.3483 right_y=0.3119 right_z=0.0608 right_yaw=0.0332 right_pitch=-0.1296 right_roll=-0.116 right_gripper=0.5073 state[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7118, -0.1001, -0.0464, -0.0171, -0.0479, -12.4923, 7.6103, 1.0965, 0.3883, -0.0171, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.115,"right_z":0.21},"note":"The dark fruit rose with the right gripper. I’m carrying it above the blue bowl, offset slightly toward the available space beside the other fruits."})
tool
executing move_to over 17 steps (1.7s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe blue bowl and the first two fruits are directly below the held fruit. I’m lowering gently into the remaining space before releasing it.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8299, 0.6525, -0.4541, -0.0891, -0.083, 0.9898, 0.3477, 1.7355, 1.4227, -0.4808, 0.3119, 0.1032, 0.5076] state[eef_state]: left_x=0.2929 left_y=0.005 left_z=0.1775 left_yaw=0.0636 left_pitch=-0.0597 left_roll=0.0024 left_gripper=0.9898 right_x=0.4704 right_y=0.1166 right_z=0.1844 right_yaw=0.0195 right_pitch=-0.1844 right_roll=-0.1363 right_gripper=0.5076 state[joint_eff]: [-0.3214, -1.5795, 6.9675, 1.6972, -0.0415, -0.0513, -0.0122, -0.3487, -9.5932, 9.8393, 1.7216, 0.0562, 0.1245, 0.8816] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The blue bowl and the first two fruits are directly below the held fruit. I’m lowering gently into the remaining space before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe dark fruit is still near the front-left rim rather than fully over the opening. I’m correcting inward and restoring the tool orientation before letting go.
move_to
right_x0.5050right_y0.0850right_z0.1300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4679, -0.0891, -0.083, 0.9898, 0.3477, 1.7863, 1.2125, -0.3042, 0.2981, 0.0891, 0.5112] state[eef_state]: left_x=0.291 left_y=0.005 left_z=0.1742 left_yaw=0.0638 left_pitch=-0.0756 left_roll=0.0042 left_gripper=0.9898 right_x=0.4559 right_y=0.1139 right_z=0.1036 right_yaw=0.0325 right_pitch=-0.2687 right_roll=-0.1639 right_gripper=0.5112 state[joint_eff]: [-0.3761, -1.6205, 7.1316, 1.8437, -0.0611, -0.0611, -0.0122, -0.1026, -9.0325, 7.1863, 1.8779, 0.2222, 0.1148, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.085,"right_z":0.13,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The dark fruit is still near the front-left rim rather than fully over the opening. I’m correcting inward and restoring the tool orientation before letting go."})
tool
executing move_to over 9 steps (0.9s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
assistant
agent noteThe last fruit is now over the bowl opening beside the pear and lemon. I’m releasing it to complete loading the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4721, -0.0891, -0.083, 0.9898, 0.2337, 1.7954, 1.1263, -0.0006, 0.2031, 0.0879, 0.5105] state[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1734 left_yaw=0.0638 left_pitch=-0.0798 left_roll=0.0047 left_gripper=0.9898 right_x=0.4928 right_y=0.0843 right_z=0.1137 right_yaw=0.0089 right_pitch=-0.0858 right_roll=-0.0434 right_gripper=0.5105 state[joint_eff]: [-0.0889, -1.2103, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.5128, -9.4017, 6.3521, 2.044, -0.0855, 0.1734, 0.5788] 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_gripper":1},"note":"The last fruit is now over the bowl opening beside the pear and lemon. I’m releasing it to complete loading the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 249
assistant
agent noteThe dark fruit slipped out beside the blue bowl after release. I’m moving above it to recover it rather than starting the pour with a fruit left outside.
move_to
right_x0.4950right_y0.1850right_z0.1400right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.049, 0.8333, 0.6525, -0.4755, -0.0891, -0.083, 0.9898, 0.2317, 1.7954, 1.1194, -0.004, 0.189, 0.0845, 0.9953] state[eef_state]: left_x=0.2899 left_y=0.0051 left_z=0.1724 left_yaw=0.0638 left_pitch=-0.0844 left_roll=0.0052 left_gripper=0.9898 right_x=0.4905 right_y=0.0853 right_z=0.1099 right_yaw=0.0204 right_pitch=-0.0978 right_roll=-0.0397 right_gripper=0.9953 state[joint_eff]: [-0.3214, -1.3744, 6.9675, 1.7167, -0.0317, -0.0659, -0.0122, -0.212, -9.3197, 7.2137, 1.7509, 0.1636, 0.0611, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.185,"right_z":0.14,"right_pitch":0,"right_roll":0},"note":"The dark fruit slipped out beside the blue bowl after release. I’m moving above it to recover it rather than starting the pour with a fruit left outside."})
tool
executing move_to over 9 steps (0.9s)
step 258
assistant
agent noteThe dark fruit has rolled toward the white bowl, so I’m approaching it with the left arm. The right arm is moving to the blue bowl’s outer rim to prepare a stable bowl grasp.
move_to
left_x0.5200left_y-0.2400left_z0.1400left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.5000right_y0.0100right_z0.1450right_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]: [-0.049, 0.8341, 0.6525, -0.4763, -0.0895, -0.083, 0.9898, 0.4656, 1.8595, 1.2392, -0.0299, 0.3443, 0.2073, 0.9964] state[eef_state]: left_x=0.2898 left_y=0.0052 left_z=0.172 left_yaw=0.0642 left_pitch=-0.0858 left_roll=0.0056 left_gripper=0.9898 right_x=0.4877 right_y=0.1823 right_z=0.1286 right_yaw=0.0601 right_pitch=-0.0381 right_roll=-0.0232 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.5111, 6.9812, 1.6386, -0.0464, -0.0806, -0.0122, 0.1983, -9.1556, 8.6906, 1.79, 0.2857, 0.1783, 0.1001] 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":{"left_x":0.52,"left_y":-0.24,"left_z":0.14,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.5,"right_y":0.01,"right_z":0.145,"right_pitch":0,"right_roll":0},"note":"The dark fruit has rolled toward the white bowl, so I’m approaching it with the left arm. The right arm is moving to the blue bowl’s outer rim to prepare a stable bowl grasp."})
tool
executing move_to over 22 steps (2.2s)
step 280
assistant
agent noteThe dark fruit is centered just outside the white bowl in the left wrist view. I’m lowering the left jaws around it and the right jaws around the blue bowl’s outer rim, away from the fruit inside.
move_to
left_x0.5150left_y-0.2400left_z0.0250left_pitch0.1500right_x0.5000right_y0.0170right_z0.0480right_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]: [-0.5724, 2.0357, 1.4883, -0.1413, -0.4644, -0.3656, 0.9898, 0.0067, 1.75, 1.0931, 0.0296, -0.033, -0.0433, 0.9965] state[eef_state]: left_x=0.5113 left_y=-0.2311 left_z=0.1269 left_yaw=0.0026 left_pitch=-0.0355 left_roll=0.007 left_gripper=0.9898 right_x=0.4974 right_y=0.0127 right_z=0.1251 right_yaw=0.052 right_pitch=-0.0585 right_roll=-0.0029 right_gripper=0.9965 state[joint_eff]: [-0.7043, -11.7675, 8.8137, 1.6386, -0.3394, 0.0073, -0.0122, -0.5538, -11.3299, 6.4889, 1.956, -0.1343, 0.0757, -0.0024] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.24,"left_z":0.025,"left_pitch":0.15,"right_x":0.5,"right_y":0.017,"right_z":0.048,"right_pitch":0},"note":"The dark fruit is centered just outside the white bowl in the left wrist view. I’m lowering the left jaws around it and the right jaws around the blue bowl’s outer rim, away from the fruit inside."})
tool
executing move_to over 7 steps (0.7s)
step 287
assistant
agent noteThe left descent stopped high near the white bowl’s rim, so I’m changing the grasp angle and moving slightly clear of that rim. The right jaws are positioned on the blue rim, and I’m closing them to secure the bowl.
move_to
left_x0.4950left_y-0.2550left_z0.0350left_yaw1.2000left_pitch0.0000right_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]: [-0.6064, 2.2024, 1.2705, 0.4915, -0.5659, -0.3096, 0.9898, 0.0177, 1.9068, 0.9272, 0.382, -0.041, -0.0402, 0.9966] state[eef_state]: left_x=0.5233 left_y=-0.2433 left_z=0.0709 left_yaw=0.0326 left_pitch=0.2002 left_roll=-0.0402 left_gripper=0.9898 right_x=0.4971 right_y=0.0196 right_z=0.0527 right_yaw=0.0681 right_pitch=-0.0285 right_roll=0.0028 right_gripper=0.9966 state[joint_eff]: [-0.0342, -6.7214, 2.8513, 0.8425, 0.0269, 0.1441, -0.0171, 0.1299, -7.6103, 4.9162, 1.619, 0.149, -0.0757, -0.0073] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.495,"left_y":-0.255,"left_z":0.035,"left_yaw":1.2,"left_pitch":0,"right_gripper":0},"note":"The left descent stopped high near the white bowl’s rim, so I’m changing the grasp angle and moving slightly clear of that rim. The right jaws are positioned on the blue rim, and I’m closing them to secure the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe left gripper disturbed the white bowl while trying to clear its rim, so I’m backing it away to reassess safely. I’m also making a short lift with the right arm to check whether the blue bowl is securely held.
move_to
left_x0.4500left_y-0.3100left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_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]: [-0.7097, 2.7995, 2.5401, -1.0901, -1.0737, -1.813, 0.9898, 0.0223, 1.9095, 0.9245, 0.4217, -0.0586, -0.0345, 0.7926] state[eef_state]: left_x=0.5242 left_y=-0.2409 left_z=0.0453 left_yaw=0.9937 left_pitch=0.0311 left_roll=-0.4147 left_gripper=0.9898 right_x=0.5012 right_y=0.0251 right_z=0.0586 right_yaw=0.0844 right_pitch=0.0063 right_roll=0.0153 right_gripper=0.7926 state[joint_eff]: [1.8256, -11.7538, 2.8376, -0.7399, 0.4127, -0.1538, -0.0122, -0.7043, -9.6889, 5.9966, 1.3407, 0.1001, -0.0904, 0.9695] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.31,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_z":0.13},"note":"The left gripper disturbed the white bowl while trying to clear its rim, so I’m backing it away to reassess safely. I’m also making a short lift with the right arm to check whether the blue bowl is securely held."})
tool
executing move_to over 9 steps (0.9s)
step 306
assistant
agent noteThe blue bowl appears to be following the right gripper. The left arm did not track its retreat, so I’m simplifying that motion to a nearly straight lift while retaining its current orientation.
move_to
left_x0.4900left_y-0.2250left_z0.1900left_yaw1.0300left_pitch0.0800left_roll-0.3200right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7139, 2.8765, 2.6858, -1.346, -1.1179, -1.9072, 0.9898, 0.0223, 1.7863, 1.018, 0.1425, -0.0608, -0.0383, 0.7943] state[eef_state]: left_x=0.5081 left_y=-0.2253 left_z=0.0465 left_yaw=1.0323 left_pitch=0.085 left_roll=-0.3182 left_gripper=0.9898 right_x=0.4937 right_y=0.0254 right_z=0.0986 right_yaw=0.0884 right_pitch=-0.056 right_roll=0.0174 right_gripper=0.7943 state[joint_eff]: [-1.0325, -10.5641, 5.3265, -0.0464, 0.2808, 0.3004, -0.0171, -0.3624, -11.4256, 9.2376, 1.7949, -0.0073, 0.0171, 0.1783] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.225,"left_z":0.19,"left_yaw":1.03,"left_pitch":0.08,"left_roll":-0.32,"right_z":0.2},"note":"The blue bowl appears to be following the right gripper. The left arm did not track its retreat, so I’m simplifying that motion to a nearly straight lift while retaining its current orientation."})
tool
executing move_to over 10 steps (1.0s)
step 316
assistant
agent noteThe higher lift shows that the right gripper caught the pear, not the bowl—the blue bowl stayed on the table. I’m lowering the pear back and moving the left arm farther clear of the white bowl.
move_to
right_z0.0800left_x0.3600left_y-0.1500left_z0.2400left_yaw1.0300left_pitch0.0800left_roll-0.3200
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]: [-0.7147, 2.6663, 2.685, -1.5486, -1.1061, -1.903, 0.9897, 0.0227, 1.705, 1.2537, -0.2436, -0.0612, -0.0456, 0.7957] state[eef_state]: left_x=0.4869 left_y=-0.2087 left_z=0.1484 left_yaw=1.0294 left_pitch=0.0729 left_roll=-0.3192 left_gripper=0.9897 right_x=0.4909 right_y=0.0255 right_z=0.1632 right_yaw=0.0935 right_pitch=-0.1248 right_roll=0.0166 right_gripper=0.7957 state[joint_eff]: [0.0205, -18.3726, 5.2171, 0.1294, -0.6813, 0.2466, -0.0171, -0.0342, -12.0547, 10.0991, 1.8339, -0.0513, 0.0562, 0.1343] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"left_x":0.36,"left_y":-0.15,"left_z":0.24,"left_yaw":1.03,"left_pitch":0.08,"left_roll":-0.32},"note":"The higher lift shows that the right gripper caught the pear, not the bowl—the blue bowl stayed on the table. I’m lowering the pear back and moving the left arm farther clear of the white bowl."})
tool
executing move_to over 10 steps (1.0s)
step 326
assistant
agent noteThe pear is back in the blue bowl, and I’m releasing it. I’m parking the left arm so the white bowl and displaced dark fruit can be seen without obstruction.
move_to
right_gripper1.0000left_x0.2960left_y0.0000left_z0.2200left_yaw0.0000left_pitch0.0000left_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]: [-0.7986, 2.035, 1.8748, -1.5421, -1.1019, -2.0819, 0.9897, 0.0223, 1.8153, 1.0492, 0.0231, -0.0612, -0.0456, 0.7971] state[eef_state]: left_x=0.3734 left_y=-0.1524 left_z=0.2198 left_yaw=1.0251 left_pitch=0.075 left_roll=-0.3068 left_gripper=0.9897 right_x=0.4832 right_y=0.0252 right_z=0.075 right_yaw=0.0936 right_pitch=-0.1728 right_roll=0.0201 right_gripper=0.7971 state[joint_eff]: [-0.4718, -12.6838, 5.6821, 0.149, -0.5934, -0.0757, -0.0122, -0.1573, -8.841, 6.2154, 1.8926, -0.0317, -0.0464, 0.1294] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"left_x":0.296,"left_y":0,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The pear is back in the blue bowl, and I’m releasing it. I’m parking the left arm so the white bowl and displaced dark fruit can be seen without obstruction."})
tool
executing move_to over 14 steps (1.4s)
step 340
assistant
agent noteThe dark fruit is now clearly visible to the right of the white bowl, while the pear and lemon remain in the blue bowl. I’m making one more controlled recovery approach with the right arm, pitched forward for the farther reach.
move_to
right_x0.5400right_y0.3000right_z0.1500right_pitch0.3500right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0742, 0.8398, 0.7753, -0.5205, -0.194, -0.2005, 0.9897, 0.0223, 1.8252, 1.0367, 0.0238, -0.0612, -0.0456, 0.9985] state[eef_state]: left_x=0.2972 left_y=0.0157 left_z=0.2184 left_yaw=0.1895 left_pitch=-0.0045 left_roll=-0.0444 left_gripper=0.9897 right_x=0.4791 right_y=0.0251 right_z=0.0656 right_yaw=0.0939 right_pitch=-0.1945 right_roll=0.0217 right_gripper=0.9985 state[joint_eff]: [0.0615, -1.6479, 6.9265, 1.7656, 0.1099, 0.2369, -0.0122, -0.1709, -10.0308, 7.3641, 1.5556, -0.0464, -0.0415, -0.1343] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.3,"right_z":0.15,"right_pitch":0.35,"right_roll":0,"right_yaw":0},"note":"The dark fruit is now clearly visible to the right of the white bowl, while the pear and lemon remain in the blue bowl. I’m making one more controlled recovery approach with the right arm, pitched forward for the farther reach."})
tool
executing move_to over 23 steps (2.3s)
step 363
assistant
agent noteThe dark fruit is just below the wrist view and slightly left of the jaw centerline. I’m moving back a little and lowering with clearance from the white bowl’s rim.
move_to
right_x0.5100right_y0.3170right_z0.0250right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0727, 0.8452, 0.7689, -0.5346, -0.1875, -0.2035, 0.9897, 0.6724, 2.2189, 1.4815, 0.379, 0.6083, 0.1577, 0.9986] state[eef_state]: left_x=0.2952 left_y=0.0151 left_z=0.211 left_yaw=0.1874 left_pitch=-0.0306 left_roll=-0.0437 left_gripper=0.9897 right_x=0.5321 right_y=0.2992 right_z=0.1269 right_yaw=0.0566 right_pitch=0.276 right_roll=-0.038 right_gripper=0.9986 state[joint_eff]: [-0.4034, -1.894, 7.5966, 1.8632, -0.1441, -0.0269, -0.0122, 0.0205, -12.4513, 8.9368, 2.0195, 0.2564, 0.1001, -0.0073] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.317,"right_z":0.025,"right_pitch":0.35},"note":"The dark fruit is just below the wrist view and slightly left of the jaw centerline. I’m moving back a little and lowering with clearance from the white bowl’s rim."})
tool
executing move_to over 7 steps (0.7s)
step 370
assistant
agent noteThe gripper stopped well above the requested height beside the white bowl, so this approach is obstructed. I’m lifting clear rather than forcing the jaws down or risking another bowl collision.
move_to
right_x0.5000right_y0.2900right_z0.2300right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0723, 0.8471, 0.7689, -0.5354, -0.1875, -0.2073, 0.9897, 0.7292, 2.3905, 1.4086, 0.8631, 0.6746, 0.1467, 0.9986] state[eef_state]: left_x=0.2953 left_y=0.0152 left_z=0.2104 left_yaw=0.1899 left_pitch=-0.0333 left_roll=-0.0462 left_gripper=0.9897 right_x=0.5229 right_y=0.324 right_z=0.0974 right_yaw=0.0008 right_pitch=0.4737 right_roll=0.0971 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.5795, 6.8991, 1.7167, -0.1343, -0.0122, -0.0122, 0.8, -6.5436, 3.3299, 0.2564, -0.1001, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.29,"right_z":0.23,"right_pitch":0.4},"note":"The gripper stopped well above the requested height beside the white bowl, so this approach is obstructed. I’m lifting clear rather than forcing the jaws down or risking another bowl collision."})
tool
executing move_to over 9 steps (0.9s)
step 379
assistant
agent noteI can’t safely complete the remaining recovery and pour from this arrangement. I’m returning both open grippers to their parked positions, leaving the bowls on the table.
move_to
right_x0.2960right_y0.0000right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000left_x0.2960left_y0.0000left_z0.2200left_yaw0.0000left_pitch0.0000left_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]: [-0.0723, 0.8501, 0.7689, -0.5365, -0.1875, -0.21, 0.9897, 0.709, 2.0197, 1.3643, 0.4236, 0.6415, 0.1764, 0.9986] state[eef_state]: left_x=0.2955 left_y=0.0152 left_z=0.2093 left_yaw=0.1913 left_pitch=-0.0374 left_roll=-0.0473 left_gripper=0.9897 right_x=0.5003 right_y=0.2946 right_z=0.1997 right_yaw=0.0272 right_pitch=0.3828 right_roll=0.0539 right_gripper=0.9986 state[joint_eff]: [-0.1573, -1.6068, 6.8855, 1.6825, -0.1441, -0.0513, -0.0122, -0.6222, -14.0513, 10.0171, 1.9658, 0.0464, 0.2125, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.22,"right_yaw":0,"right_pitch":0,"right_roll":0,"left_x":0.296,"left_y":0,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"I can’t safely complete the remaining recovery and pour from this arrangement. I’m returning both open grippers to their parked positions, leaving the bowls on the table."})
tool
executing move_to over 25 steps (2.5s)
step 404
assistant
agent noteI placed the pear and lemon in the blue bowl, but the dark fruit slipped out and now sits beside the white bowl. Recovery approaches contacted the white bowl’s rim, and my attempted blue-bowl grasp caught the pear instead. I stopped rather than force further contact; both arms are parked, and the pour has not been completed.
give_up
hindsightThe blue bowl is around right_x=0.50, right_y=0.08, beyond the left arm’s lateral reach. Use the right arm for all fruit transfers or move the bowl into the shared workspace first. A fully open gripper approaching this loaded bowl from its outer side can capture the pear rather than its rim; a narrowly opened, accurately aligned rim grasp is needed. The three fruits require careful packing: releasing the dark fruit onto the others caused it to roll out toward the white bowl. Repeated motions also accumulated orientation error; explicitly refreshing pitch and roll helped restore alignment.
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, 0.8337, 0.7643, -0.5407, -0.0319, -0.0582, 0.9897, 0.0029, 0.8379, 0.7578, -0.4637, 0.0525, 0.0158, 0.9985] state[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.2092 left_yaw=0.0252 left_pitch=-0.041 left_roll=-0.0124 left_gripper=0.9897 right_x=0.3035 right_y=-0.0048 right_z=0.2211 right_yaw=-0.0558 right_pitch=0.0255 right_roll=-0.0002 right_gripper=0.9985 state[joint_eff]: [0.6632, -1.9487, 7.3915, 1.9756, 0.1001, 0.2369, -0.0122, -0.1436, -1.7299, 8.0342, 1.8388, -0.0611, -0.0366, -0.0171] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the pear and lemon in the blue bowl, but the dark fruit slipped out and now sits beside the white bowl. Recovery approaches contacted the white bowl’s rim, and my attempted blue-bowl grasp caught the pear instead. I stopped rather than force further contact; both arms are parked, and the pour has not been completed.","hindsight":"The blue bowl is around right_x=0.50, right_y=0.08, beyond the left arm’s lateral reach. Use the right arm for all fruit transfers or move the bowl into the shared workspace first. A fully open gripper approaching this loaded bowl from its outer side can capture the pear rather than its rim; a narrowly opened, accurately aligned rim grasp is needed. The three fruits require careful packing: releasing the dark fruit onto the others caused it to roll out toward the white bowl. Repeated motions also accumulated orientation error; explicitly refreshing pitch and roll helped restore alignment."})
tool
give_up: I placed the pear and lemon in the blue bowl, but the dark fruit slipped out and now sits beside the white bowl. Recovery approaches contacted the white bowl’s rim, and my attempted blue-bowl grasp caught the pear instead. I stopped rather than force further contact; both arms are parked, and the pour has not been completed.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.072 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5795, 1.79, -0.0952, 0.149, -0.6129, -0.1436, -1.7983, 9.3333, 1.8242, -0.0952, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a33ffcb5705763d6a6ffe464884484373a3f6b4faf982d9e62e3b720bfbc21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6f95def608f9bbf6e0400b34547f09f4079842d18eb0aadc29868594a6f856",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb32d9315f2c549da88ea9730c7011bac28c9a5c47f988f13cd40d8699a38b51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.306 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZGyY2FspL5NEhf-PkbiGeJz7o4aaKUFfNa2UCm43TqBhMM4QUK_Ns271bO3d6eZVcjoCg7JQ9EQ7-phWDiDNXAYQ_I5GCm3fURaCkw8vXQQYD4rfkYjjXmH18E0r3aEIOX1FMwMg4scmRilV3wEriEUVXvznT6G_CyhXlOIU6QO0QwHABJid2LWvMbboHMp0WSI4quul4keql-uMQL8L8g-KQ1PqaqaIpB33XIgFzFE_iHptOe83LzsoZmbXc8k8HtUCeoL2Lf6ThOnntTNpll-WpAAOKZHWyDnN1ISO1TTOtu2uX3UnIY4K4CmvZVHaIPBc3qz766X9ZyYmgG-r5AxpuAc-fU2O32NIm5PvbBIFqrh8YAO5iTW2XvOQcE_ynn1yLqjqAYF1fUFaXeQRebQPL39-9dTpQBgmBPRGhkGKeBjQdgByxy5Uu0JCBgUK68Li1V1yt5oHYOTdS3HvwaTCfFhKqnyA9B60pluP39r_OrYBwqgPAjzzXnQRq2IeLP74fyjnv2a6_7e269HT5E201wBTIT7uMvSgP_ipvjK84jwBdm77OAXpUeXV0qa473ZILRcte53cXp9x24hxW7_0g1ky3OKqX1ooMlEic-pzULABlNP-oj6RXd7WFMm9sUjNOna1r8GPJlDdAemH3_PFhs6UbFaQ7sMumbAcNCAnodZlQHW0OWgm9D8eWqDUMu_fS6KMjWig5r4dEJ6VvOxU5ggEkSVkSPGW8tSOaISClw55_vt1wtzOIjQDosJ0f4WphMf7ur6TqFlIipZs-KAVwDi3llz7k1W9_7hAKL1YvhbNp8luyc68k2n559CUvBPZfl0K3TBpZQcGJ8seLNRt06SJRAWuaS752rj9V0tOMtmLp6h85gBgRl55Buym8eFPHaAGlK7ND5eYpBHU0IcLEaoLtUencm-Sh8ABzioU_18xRGNTX2F3VdIm8Rs3pw2NlIcv_SiEn1SEeqT_qeJHz2yDhlm7s208hIKvWQzsT8FCnPK9XTjp_fOBSS-TNpWnYvKBYdfDYN7wVsKG3abo3aGKWz__Ivh0A32cieOon-aXm2tJc3f7E21PgYBS77-dg34Om0Zl3VDyRhuJJXFpMrSQ5V4lbN1__tNsLIbT3XPiTIMFrTRaHSQywjxPzElpeEzeexrVSlX61YY-yqHv1rlPRWAjkt8UkKTR0_xgDnbkQPRlN3ewj_u8944V7L4hnkx1Bmrs45KVreoNg9DCM2wS0UzEjA2AS21HEP7NishVpD3mLJUSNTlYfBKxNFr7BCZkDMtk9rrVBcSQcB0BsDX_yYkASAyM6pbz5rTssnOJL7KlXgS8W70E2ifVFLTg6nSYQsHNzUKrgVRVU72lD5CsRBuvXUaHKT5Z350e8qCkWrGWvCzDKIo_0o7HBAh9oqr0-DLcyH0QAJNue5JD0JiFlkx0nx2k89V29CoYHlgVJWmI9M9lzTH-JpkZukmIaXJEVz_1vp05n6k9cQP_A-KujXn3Gom-P7n_8euqLEW0jdBtIsiuku7Kp49IjcrW3WRMF9fCJg_LZl8QoPKIgy-mRwN_AH2LSvG8y48tlL5jhx1F-P5woQEE-rKMEpsHZuCGs8MVPLlGRyfTiATnUxMux7SM-JiqLzx7Js7UK1iA8FNFqZiH1b7LR1AGkQEJvfPJeGHDtvNF5u34l9oHHNaYe0FylneXkF_N31zL1b1WFEwnhC93ZlZ7tgPOc4JZpxIhz-ZRovPRnr3qN9u30NEa1b0iZpauQA-eOnO_Sczu3pPttkbesQQnV1qCeRjdHwBO6fiwICusZjdpCfnvMBc6wB6jPZzv-uyYi5PMDAzwPVleiSBqxXn3JJC8MjHCSjUG_P8e3mDT0qYxP_hmEOPNDA-_Jkq10lstibZ9JeHyyroJnts7-AR_CTrYtyQsuRXQx45WCUtnsyvmgdLd9baHYBnafeldEQ0T1jwYZMv5wMFyjWE5f1kGzMEZvLNpeojZkYiRG3A7aGwNZtFm_cNJLjcMSwWINQM10vBX84jfbv4Han4OFdAD0z7v5fBT5-60lfzuWuHR3NeOglpWulQ9L98L2RwBmVHQsCVnu6uPnOeKQvjT8ZBPTPt9AYUB6PxpjEHfFYJs5vNf6v1koLNDrmZrglVYZ__eSpo72grRRgWatFiE37B5VtDa5np_F2ZUr9D9uPfYxmVyvtEQBFyK6zfuz9FfCD8Zp_zrGAGBcALLeQUArO5ekM6si6jCja1g-1JoL-bWIwz7Vo56t-hU7C8aQ6Yf06eyumXrxGQUknZyN7WkvjsLvG-jNyTzoqtxbUZIkeN52gTyv7h7LCQR9XdXZeAaA7TEGPzGFbvbVJCiBJcaBD4SGXDbKW6f3JBS4JqftkZWvwzQ7G6-fv3eCK5I1WNZNwn-wQQDQOyFK-77QfVEdR69BEetGK9dE2K0kkSGU1jE9M57wnBhnuah2LBiOX2_vCHz5DQwM=",
  "id": "rs_0efb4b57b3dc8329016ab476412c5887d09563dc4245925221",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.0,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I see three fruits: a green pear beside the right arm, a yellow lemon near the blue bowl, and a dark fruit near the white bowl. I’m approaching the pear first with the right gripper open.\"}",
  "call_id": "call_G36xYwThBP8ecwukjmWafPQq",
  "id": "fc_0efb4b57b3dc8329016ab47645cacc87d0869be60994dafa7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G36xYwThBP8ecwukjmWafPQq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8051, 0.6132, -0.3977, -0.0135, -0.0307, 0.9899, -0.017, 1.2022, 0.5255, 0.0566, -0.0166, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0001 left_z=0.1775 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0007 left_gripper=0.9899 right_x=0.3544 right_y=0.0005 right_z=0.1084 right_yaw=0.0058 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.6889, 7.0769, 1.8584, -0.0415, -0.0122, -0.0757, -0.1983, -4.7521, 6.4479, 2.1172, 0.0171, -0.0269, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb234db87ea21885aa1f95a5babff4bd5e01899c9525d1a1c96d77130aeca92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3f9e3c6aaa31d4370d35716b8181ef5677a40c829dd2b3d7f7ab7a7d8d0119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a8e1cc1dea689fa148c8f1ffd81d16b28c88a421a3d33e2dbcf819133cc7a8",
      "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 · 2.936 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5795, 1.79, -0.0952, 0.149, -0.6129, -0.1436, -1.7983, 9.3333, 1.8242, -0.0952, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8051, 0.6132, -0.3977, -0.0135, -0.0307, 0.9899, -0.017, 1.2022, 0.5255, 0.0566, -0.0166, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0001 left_z=0.1775 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0007 left_gripper=0.9899 right_x=0.3544 right_y=0.0005 right_z=0.1084 right_yaw=0.0058 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.6889, 7.0769, 1.8584, -0.0415, -0.0122, -0.0757, -0.1983, -4.7521, 6.4479, 2.1172, 0.0171, -0.0269, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb234db87ea21885aa1f95a5babff4bd5e01899c9525d1a1c96d77130aeca92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3f9e3c6aaa31d4370d35716b8181ef5677a40c829dd2b3d7f7ab7a7d8d0119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a8e1cc1dea689fa148c8f1ffd81d16b28c88a421a3d33e2dbcf819133cc7a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZRkfLtmvHoB49QFlJROJauvLkRNX-gUaxLyaUsx_90DWrzHPunZm-88AY6sCLjUrWSM4oa10XEEi2yn6_y9uulxbv7kBhF3SzXctRrEUvg1GJ4Hi-a8a0gwc8YHjIoLvIqTXEbmdOEjNaMANBo64A03C9PDWI1Cn94mv5xJpxhjVjxmZ9G5BZi2VaSQjnzMoR0M4ELK9wxVw2osdKyWyip-uMpl2cskG6JrLP_gBxJ_7jc-U1Z61ADFsfHs5RCaqK8MXxLnvcWw_ce5XMd85SPQAXSdqm2W3xYCBgrraMOiaRePbVhksMJqeIyurFZlHZgwP-VXs_snX1ur-j0--kQQia_ST_IqKpEqgXk3X5m9vYFky8vjUB-DehF3Q_WQVk7H0wCnPuyVpexohm2Vm2rkhZ3ms0FS76pmI8nPafDnRldCb_NeqyrXXgp7ev_0kC1IbnvMXXym862F8RdvKEbOLcKFnmTah0zPrOeg2A9AMt5uhMH-BPi4t00_EvT3VH5J3HQ1RF4OuhKrQjp6Nui1COSRgln7c-KWiAOrplcwpyygc8TZH_oiGXBQhyNsXvRoxpVfmurc4dszhtUedIHw4uwRkaEG6obpEpR0ll1CXcYJ2c0JmNGFaeDrFNcO7h_0anw8xn9Wbr5WD5VxQn4hQdHFzZyW7mcGD5tydTjC6fb3ZvHLe7qqfgE_VIjdIG3G0X1fGtRWk2T-c13pb7Owc7SqaqRnbpk8weA-mnWnEG5CM6A982eSDMoDkDAAQF5FdIH5M8DnI443hEP4uHNVONxfDyCVN9CAhuy_f2OIZtwIWjvtrvpDzYctmHY0oN2CwqVoidURLJ-25iD5--5-XParQvHPc2E93BhWFIweRRKn51hwMqlMbdz7vuvOltgWHDtxx8sA3bxfFHRel3P3kIkBgQb6f3B_xpvWwZp1S3hw0d1OgmjSnPH4elxiVCBCQRPJ6PXVjVOA-zn8_UIThnOtta1dNXgROt24UybwobMCZWhgSJ8_Mv0KpGDMJuARdTOkfG6p3CqUDNWZAV5ehdFlS-Kdv4gr-MBzsP8dC1pAUaWuc4YyU_HRaHB2Y9iftBrlay2G7PsIY4IYwCal97-7AdTQC2xuvxqcv0URUu_i8a-gum2IvK1PHkyFTdqvIYog5jl10PAUKysO6A98XK3YfhBvKFIWUtnnPJJO2JA4sCuN74IKxq2MxGc2-rNza8c25xPNQXz90gQWFqMAl5a2xy33GtNwvAomOjJrwnvYq07LNoiX-bsVosvMEDRXU8Uzo7oBxB-6_Gyg44oFdy0eovyNaNHraRDMgWvSEKL6gs0bg90is_muV0frJUQGFeaakC3qOs6jTk2Jg-2dLxmISJ_bzl5pz0lx0PQy2OnaXHUA-r78xxs-4Kk4on-LuTQmkgTGO_QocGyOAi61QiiOB6FWNbxhHv9qUQ_I6xMtnmz2RQXm_f84LR5xPdIohlpZmMSssvyZKQ7jSOo11AYDM4IePA4vZuCedTPjazrz_y7vzj4dm2T4eTPiDVSRJwLGHtZlwemmOTibMQGdHT169PoOD7tq9P4FoyowXjD9GQTczmu_7sWoKROFjq4sm988mGCsClBLgPhhH-QfEJLBhsI5Z2X7CAlRTsYlrzAeGBpG3loYOiBB7Lbk5DhQ5MJ93Ro3WpKKmgGJPpDT-P6CZH4lQcWRO7wpk4Rn5NoTmapgLZbq7yL1lzd8XVVzMKWmAacCbLN9Ji8C_m_9k8H-yegO8dVntm_v42Gw5HGCGLEC89U5GGgOsliue_-uraJTfhxF01TeCRDvrTDiz7MzNaDd-4TwWUvtkfAwEAyL1p-lqApdVFxOW_g2vWH_8KPKAcfr-llQV4tAPAHE8nD8UZSv6W4iDZj8lX0KvpPSnfxBheZOjVqgD6g6AwJdAgG_UVHMI-PWZ52vLWK1g==",
  "id": "rs_0efb4b57b3dc8329016ab4764da95887d0bd420c884cdbe7e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":-0.027,\"right_z\":0.025},\"note\":\"The pear is near the bottom of the right wrist view, slightly right of the jaw centerline. I’m shifting right and lowering the open jaws around its body.\"}",
  "call_id": "call_OP2cmFu4TmutjxhgMycNgkEM",
  "id": "fc_0efb4b57b3dc8329016ab476503eb087d0ad7fa2c338ed2cb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OP2cmFu4TmutjxhgMycNgkEM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5503, -0.1143, -0.0986, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0008 left_gripper=0.9898 right_x=0.35 right_y=-0.0276 right_z=0.0174 right_yaw=-0.0024 right_pitch=-0.0866 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5248, 7.2684, 1.8242, -0.0513, -0.0708, -0.022, -0.3487, -5.5043, 4.7248, 1.9951, -0.149, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e9ca9d31a69de4dc4fb512f7b5b5f274bdc97272116d4d4334a54b3b74e754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2301cdea8ccdb204277cfecd1cd30fb7d8e7c227af737e05a3b7666a50bc72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b7d73b52fde20dc670aeebbc62c15f1930dcf7a6ba32816ac1cd1a73f4a25",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.055 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8051, 0.6132, -0.3977, -0.0135, -0.0307, 0.9899, -0.017, 1.2022, 0.5255, 0.0566, -0.0166, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0001 left_z=0.1775 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0007 left_gripper=0.9899 right_x=0.3544 right_y=0.0005 right_z=0.1084 right_yaw=0.0058 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.6889, 7.0769, 1.8584, -0.0415, -0.0122, -0.0757, -0.1983, -4.7521, 6.4479, 2.1172, 0.0171, -0.0269, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5503, -0.1143, -0.0986, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0008 left_gripper=0.9898 right_x=0.35 right_y=-0.0276 right_z=0.0174 right_yaw=-0.0024 right_pitch=-0.0866 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5248, 7.2684, 1.8242, -0.0513, -0.0708, -0.022, -0.3487, -5.5043, 4.7248, 1.9951, -0.149, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e9ca9d31a69de4dc4fb512f7b5b5f274bdc97272116d4d4334a54b3b74e754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2301cdea8ccdb204277cfecd1cd30fb7d8e7c227af737e05a3b7666a50bc72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1b7d73b52fde20dc670aeebbc62c15f1930dcf7a6ba32816ac1cd1a73f4a25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZYfAs8DRKWhCgZiQVMdsV8nqA-IVj9ydsRqwx6igZFUO7JJ8XJWhb30fqfHYnTB4hJJ-0SiuLAXgHbjggG-J9JWxjZ4arYl1k4h0z-6RxBO0YdUxfNfkUu4EM69nx73RFsuy7EGEFYCiE4vV1M8DSmG8uwESc4S5SWOoiWAA0L50TGTV6MyjlOrmIwWBKcN9P_7HHjCRKbsBEqVNLDj__sFkm0Vl2Oz6K1iWJa6BTbBru2qy8GgZJ2qtTjYpsWYMnbaRIQy-gQg2CO57IboFAk6-jT0kPARIM19iAuJoOZ9lwohezpR_m-FOjLpsFKFy9Q1ehLGdLMNMU8ePw1mTjonYhNQ2nzOJklFCBEfv5d_-v4zCjtrN71GPMTr91E2CtwEFQXTuJivY9ZJDbyiV5KvcNF-hxyb3vmYnDuqExjGUw3aCr9lJKdeOTA4vkHb6l9EDcTLkJJwOMlqaKs6CIYV0_94Zmpl6sC-G7LtkKKrIc_b9KNoVBnfTHSiYuNlNXDLk8czaDYdIP1Fm83wD36JnObGckRxkVwYZvwHWEaKCtOExi14PQgJlktJCFgJTYgL79ZBh_tOh-GG3aqMNmjMh6671d0xIxXvV9LgS_WIC7NwooaddgExh1329_-mGOmP7DYTx7kZybeTze-dhly0R0J9Smdk_CyKwFRC6lw4Vom3KgMhsqpS_G-XJEq-oPHTpPmWXfj7OUPlKIEGzSf1D_z3BsTg3_EG0sTuSKcmJK1uOvG9mlvn6QFEXrZuhrH1AfKx8b5lPQm3tcz46T1B4soQ-qet3oLEIX8y9U2NrIW9Ro7nMd0OJouMDOzSB2lt5F7eHc4722hhMbKxw62R2Us9vOuY1jnEsBqIZgz1SrQ40ZdkhawC7vDGSg21ITQQfJUPs5Rm6EzO32ML7Cp-gwPmE_LsfRhM_mz275_JdPz0gSydOAkAsM4ps-M9gFa-v08vdSdUhei7zFBgJ9Nz-eu6D2ENpDc_22Avniuo7vDXqJG5gRskawmxezeNmdaFD7QD4cUY1f3k8hPn2QAPJvJfwnOSq3DogSmO4gXBc4kSWHyZgf50lJ9prz-vLuk6yvPhIlVN0VN9PpQddUWeApzgGO_AtUm-F7oyXqH862o-M9wNlB0u5zw74Z5MsCDrhgQmFe-b-cPfrJm44lgNayC5AR8kXlNR0V87AoiDZnWK0I4F7f0hw98qGoT9GSzOooMYjFVLrUJ8hj5hLnkOo4C05BeRslepACtOIDdy2OebrH_5VwXZkba9xpNevfgtcRFH-l1gjT2bR37KI1zXTX5W97yv6DZqi35U-zZuw8ehCD-blGXvJtGoO7Ehum7",
  "id": "rs_0efb4b57b3dc8329016ab47656f30487d0aed1047276cdea97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is centered between the open jaws at table level. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_nJm0ANgDMq3N5ZEH02VQtpWN",
  "id": "fc_0efb4b57b3dc8329016ab47657972887d09f43ca767c96b27e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nJm0ANgDMq3N5ZEH02VQtpWN",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4168, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5526, -0.1139, -0.1055, 0.7293]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1718 left_yaw=0.0009 left_pitch=-0.0462 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3503 right_y=-0.0277 right_z=0.0178 right_yaw=0.001 right_pitch=-0.0844 right_roll=-0.0016 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.6479, 7.0085, 1.7851, -0.0366, -0.0317, -0.0171, -0.2256, -4.9709, 4.6564, 1.619, -0.0855, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce2e8c9192e092e89ae7380e486e7fd5bd9919f0f9bf7f9171679178a17f07c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bf0dea4f7025de67bd84d3734e7ad4f71257d5476ffa9a080241d9ff95d586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82af4ed8d2c0c726355b7b2b1bded46573b4c95c43e36aeeeb7b72a4ce073504",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.811 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0139, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5795, 1.79, -0.0952, 0.149, -0.6129, -0.1436, -1.7983, 9.3333, 1.8242, -0.0952, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5503, -0.1143, -0.0986, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0008 left_gripper=0.9898 right_x=0.35 right_y=-0.0276 right_z=0.0174 right_yaw=-0.0024 right_pitch=-0.0866 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5248, 7.2684, 1.8242, -0.0513, -0.0708, -0.022, -0.3487, -5.5043, 4.7248, 1.9951, -0.149, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4168, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5526, -0.1139, -0.1055, 0.7293]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1718 left_yaw=0.0009 left_pitch=-0.0462 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3503 right_y=-0.0277 right_z=0.0178 right_yaw=0.001 right_pitch=-0.0844 right_roll=-0.0016 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.6479, 7.0085, 1.7851, -0.0366, -0.0317, -0.0171, -0.2256, -4.9709, 4.6564, 1.619, -0.0855, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce2e8c9192e092e89ae7380e486e7fd5bd9919f0f9bf7f9171679178a17f07c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bf0dea4f7025de67bd84d3734e7ad4f71257d5476ffa9a080241d9ff95d586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82af4ed8d2c0c726355b7b2b1bded46573b4c95c43e36aeeeb7b72a4ce073504",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The closed gripper holds a substantial width, consistent with the pear rather than an empty grasp. I’m lifting it a few centimeters to check that it follows the jaws.\"}",
  "call_id": "call_EbVccifMcI5rBWrJ8r2KSdzD",
  "id": "fc_0efb4b57b3dc8329016ab4765aa2dc87d09d03dcfe963b7480",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EbVccifMcI5rBWrJ8r2KSdzD",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.0139, -0.0334, 0.9898, -0.1463, 1.2728, 0.4561, 0.1287, -0.1135, -0.1066, 0.7293]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1702 left_yaw=0.0025 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9898 right_x=0.3435 right_y=-0.0268 right_z=0.0711 right_yaw=0.0017 right_pitch=-0.1142 right_roll=0.0017 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.4154, 6.9949, 1.7558, -0.0513, -0.0366, -0.0122, -0.3214, -4.7658, 8.6359, 1.6728, -0.1001, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfbac08e573262ecc729b43dcb9b2913ec50ea03939976f290f63326cffebb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f89ceb065a2885405e2f79172bc7a50ca078dd8c4f6617bc2ad1b2b083ecdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76d120f69b27134906e736ba1b71c9a7ef93a9b35c9903f60e971fc9c619be0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 8.555 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8051, 0.6132, -0.3977, -0.0135, -0.0307, 0.9899, -0.017, 1.2022, 0.5255, 0.0566, -0.0166, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=0.0001 left_z=0.1775 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0007 left_gripper=0.9899 right_x=0.3544 right_y=0.0005 right_z=0.1084 right_yaw=0.0058 right_pitch=-0.0515 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.6889, 7.0769, 1.8584, -0.0415, -0.0122, -0.0757, -0.1983, -4.7521, 6.4479, 2.1172, 0.0171, -0.0269, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4168, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5526, -0.1139, -0.1055, 0.7293]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1718 left_yaw=0.0009 left_pitch=-0.0462 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3503 right_y=-0.0277 right_z=0.0178 right_yaw=0.001 right_pitch=-0.0844 right_roll=-0.0016 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.6479, 7.0085, 1.7851, -0.0366, -0.0317, -0.0171, -0.2256, -4.9709, 4.6564, 1.619, -0.0855, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.0139, -0.0334, 0.9898, -0.1463, 1.2728, 0.4561, 0.1287, -0.1135, -0.1066, 0.7293]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1702 left_yaw=0.0025 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9898 right_x=0.3435 right_y=-0.0268 right_z=0.0711 right_yaw=0.0017 right_pitch=-0.1142 right_roll=0.0017 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.4154, 6.9949, 1.7558, -0.0513, -0.0366, -0.0122, -0.3214, -4.7658, 8.6359, 1.6728, -0.1001, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cfbac08e573262ecc729b43dcb9b2913ec50ea03939976f290f63326cffebb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f89ceb065a2885405e2f79172bc7a50ca078dd8c4f6617bc2ad1b2b083ecdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76d120f69b27134906e736ba1b71c9a7ef93a9b35c9903f60e971fc9c619be0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZh01itHL_merTj01KadazwEjF6yNL0Q1XowU3SlL3Mp0PgqkHzB-SeKztug42a8ztAiD3hZmBx-O6zHcm1RTwOGemcueBvWVb-D2ZTX340EG46MqjKYwbu-uQWRgO-0nn2Vf5bxBMTeGF1YHYNq4qEKu62o4oqfkEnZe6oVbriRGK7rWNSx2PcA0Khou0lLNSAoPNyrEyOf69oV7WkZAoAkc25onuHqBgRXzoIphEiPavm1pmBKuFa-DBPcdh2G6-u_smenZHZ5NMMRZ2EM4YdIZMrfTk7Vn8DoDC2dW-XDyEIhdvFwDglZRM58DVfI0ojf0ThC_dEAxnyBINyJiP_PeCbt2CqaPvykjuOgZJM7DK0KsJ6ZyYtWJA_jIMV1MqJXOHfMr-EyIj5QJsasN1X9irjC9PdKxpDvBFQSCw0i8ehNQDlB7cQ-LCL2rIGhd1wN2r9Uy3LJBPxHhmTMQVEwMPO2DYzgcU1ZTCiLmZ6s2I9E-vVgH4Eza8U6thcQ0o6mu47E-JUqp24e-RBOHpOWFptvu9oxRpuGm9qx3DyNTWXzvorVMEu0fS-4sqtMDSs2GtZrwkX9IukVn030maIAcYhznpqXbBlptUBt3ncDftxX-OXP9t-1dYHB850QYxBpI0tf17i4o90rrJwLJ9E_8avDC4cvOzxtKPfZQSTEG8dH9WWGXGXgEYWadf7EHhliLociMYiCfPDTIci-9Tst3gKOWMjrLtE0RMSilb3_jHKfFVamMkgqBH27Ku9a9vGnomQBVsFXdBk2O9Vl1C8BinLWmaGjntteMnd4pgu7Yxbdc2kCiuBJiHT78riPFVDQ0jeFksIMuqe1UdWi0E2DPmE2FJaVYO_8sRGzn0KRA2PRmT0AoDm55vjOb9tQXcqYNw3upzYBqcLAW6O3DQbl0eNuIT3Yq0YKQCokmzqVkVoWqcObWRX9owcKEcVMU2Aku6UaogX2Jpx9TRXQzXwyS9u4o_YayJpcj5aQpm88N8AUT_wTrWVrdg-5YkBEjZrtNihva9ly4U6aUfge3Iqs5vvR2bRiqFi6Z_TtwQfUkISKNWx_jVhRPM2h9JR1OS-ldBJwu_jGR-ZFF2JgatJ9eunp_yy8eIjYrZsoAvknYSs6bMO6CkForqiSYNYFg-x8zz_oNQzIrn3JJUPFMERzpsFr5JQsp1jkI89zrW82sIKuHzUp9kQDz69xrmtHLHHo7X1xXRepTWUu55YF58XdfjeGyiIzyZq-p1arKQoaCVX7n1OeG2AMWCScvv9w54eJJrNG_wvU5JT61_B2nQp1vl1AMgc_BXNEH5VpdkXYyQQj6KnRuSL3FewbQsszXOvBj0cEJMgW3ievXLVGSbWjaHpoQdXHYW5qwPD1cTycyZ2U5_I2S5BzUOhx698L8TyNOyusYLnkNAK_b2dUz_sQsMSqCJzhMnTTevtAhqXB09ze1uIxthYARcX5VmBjxmv_7CqFu3DeTLE32xNpAXxmTTL3yaTGG5VkgzbOQ7NP6ldsGzO2ra2sA1sN3MQsLQhkyEhaCxX9XQvv2Tpv7whkQ==",
  "id": "rs_0efb4b57b3dc8329016ab4765e5d6887d0864d329ffca855d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.105,\"right_z\":0.19},\"note\":\"The pear rose with the gripper and is clear of the table. I’m carrying it above the blue bowl with extra height for rim clearance.\"}",
  "call_id": "call_EN1ezJQh7yWmiQzeGLmnveuj",
  "id": "fc_0efb4b57b3dc8329016ab47660066087d0bf5cd2a815af33a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EN1ezJQh7yWmiQzeGLmnveuj",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4267, -0.0139, -0.0334, 0.9898, 0.2909, 1.6917, 1.3033, -0.3733, 0.2058, 0.1432, 0.7343]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1691 left_yaw=0.0025 left_pitch=-0.0587 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4665 right_y=0.1057 right_z=0.1693 right_yaw=0.031 right_pitch=-0.1735 right_roll=-0.0247 right_gripper=0.7343\nstate[joint_eff]: [0.0205, -1.4838, 7.0085, 1.7509, -0.0562, -0.0171, -0.0073, -0.2803, -8.9915, 9.4291, 1.7607, 0.2466, 0.3004, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278fe1acbc1e3e67238c0af616013c563c237fbd8e2ac8a5756be829e608f9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73159e047b4150df7dfba2aaba69c7710c903cbbac04a7e2a13256bfee508ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d1fb9fc3083a32466782edfca22e897ef45bc2d5fe6d4647332415c3f474f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.162 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5503, -0.1143, -0.0986, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0008 left_gripper=0.9898 right_x=0.35 right_y=-0.0276 right_z=0.0174 right_yaw=-0.0024 right_pitch=-0.0866 right_roll=0.0045 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.5248, 7.2684, 1.8242, -0.0513, -0.0708, -0.022, -0.3487, -5.5043, 4.7248, 1.9951, -0.149, -0.1148, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.0139, -0.0334, 0.9898, -0.1463, 1.2728, 0.4561, 0.1287, -0.1135, -0.1066, 0.7293]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1702 left_yaw=0.0025 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9898 right_x=0.3435 right_y=-0.0268 right_z=0.0711 right_yaw=0.0017 right_pitch=-0.1142 right_roll=0.0017 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.4154, 6.9949, 1.7558, -0.0513, -0.0366, -0.0122, -0.3214, -4.7658, 8.6359, 1.6728, -0.1001, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4267, -0.0139, -0.0334, 0.9898, 0.2909, 1.6917, 1.3033, -0.3733, 0.2058, 0.1432, 0.7343]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1691 left_yaw=0.0025 left_pitch=-0.0587 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4665 right_y=0.1057 right_z=0.1693 right_yaw=0.031 right_pitch=-0.1735 right_roll=-0.0247 right_gripper=0.7343\nstate[joint_eff]: [0.0205, -1.4838, 7.0085, 1.7509, -0.0562, -0.0171, -0.0073, -0.2803, -8.9915, 9.4291, 1.7607, 0.2466, 0.3004, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278fe1acbc1e3e67238c0af616013c563c237fbd8e2ac8a5756be829e608f9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73159e047b4150df7dfba2aaba69c7710c903cbbac04a7e2a13256bfee508ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d1fb9fc3083a32466782edfca22e897ef45bc2d5fe6d4647332415c3f474f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZtQHHV0k6kGdw-5EMDSRJ0Xskasiz_XkPq0leAm-xVhVk8_6VGeucX6I5VTisq1EBMYTqNbvfc1OIHVAJ6agA2odBuGB6E86YcsVAG5wsGYq-BEvJd0MvZZcdnPnr9sFfKVG_CYjx0CavP2Puks6UTcBvAfdQgb3waYsdMjQJkXqC9IUaGlQDrbXwIM3HdtDqDr26yD-7buLWNKCM-QX2aejzDtx7UCBwt9PXuNbPg3QP9lTQxnbl5sOoQEX2EA3l7tLowCzzOD_jhwzsAnzXa_3j139vR-In5xeqOdZhMCv1NPnrkiW-SDDP7Kb-JMaGe45RSjbb7gAZq7ETuS1_5DeIhPCK1wg7YBlYNRWFOBmYZaw6zN0kcK1GYlhBZrWTCgTzveXOmgdAWSjDE8vHoTH7UdBDTtgvhZEh_ZxwiMKffW9a7aCWwNLXQUKfO6FqZeZo768V3QGHOysUT5l5n8mETYXOJtaa-mziqRId8S-1UNNHfPeyMEE3N54ngtoYpUNC3l-waUqhIu46pA-sc8gCPh6P2bMNhoGm9DqinHBMpOVFIS-nALEk9IJcUwlNVJ14p1VuZMMsXKpLElp5qU7uJzj0KhfEy1-pRWXM-urp34NUeqF_XjBCJBN2CG2pgRaK6Z2EP6BNh-e_pQJSYEKenObesQzfiAIgalKnmtCSJJyxS-lgGQ0IN-TLvz1Cut_cFibNUV_wYQVlwrqZwhPSlqZO45SSXC2u3uSMiUodCJVH2qkvUT_yIz4Otu8CbeKlwbFUOmVRILYZZTiKvpH5__NV4yWY1KtxkXkZGXzMV2eTgnw_WhKnVNM-GJ0d2cpQBZ5AgWaTjZBDFSC0LjAmS7Sns8bKq8x9w-3WWqghEOttJ3C15wJJwhj0RGV6dycbtz_tOv8hYKv3COvqEWW7G4B5mRaG3oVReYoCzRqsU6Y9YKJ1A0xcrAvCfeMPAXWdyyrMxs8TpVofFy06glSHB1QfEXgBaVze9iuxoq_RSQ2PUYyG1gSH03yucO94qYI7etEppf8WGNJZCw8QC6_SkdZsdTM8o1Rn2qTVwBXdEiJxCRzalzF_SW6il7oE1VDY7W6SS4GyPdYCkPbBgGW3ELKpjFFr2QhSdKmGgup6VGiveZ9uVkpNO8hmF14yE0d7_9CApfe2AajliSH7KMRb2xO2WX1L92ipycBiwhNONN4K3nrXkAEthOMzO01tVFO9MFUUKgnnM2zxQ361pF6YSlIi1fht1imwdzTFznLuUqEM-uIinQKFVCS3wIyNJrwZN8obdI_IxPzCk2Ofb0QS1qnuDBcvmQN27tj1RzxxpfK_kH5mwKiJYfkssem0OnWqcqhML9IWF8-up1OdZOHey9rsUGMuuWM2_vNx9bc_YlvBXPOlulOLuB1KJ3_Q1_gYvs9rUp5c7WvcZtbaCdXnZ3Mqt-PWlMBshRGWD1azduy4jHdaZletekjd_QBYqRUdzTg1c1WeyOeDAnSi4v0gXORXFdcS6mmF557aBUKNBeoTo11brVr-3p0vb_elAMqcf6pxd4IF7tSDpDmsCjrmBFzUYRfrkqkMZl3BD9SienewgjUYzjPqolfpiOK8Pa8GcaXxhigjAj3zSZYRsiX58X8k9x0vUqTWeuMkR6Z3nWYOrRQR29FpYTewmrF18_UGJbck4vQnopYLtqPmP6VO0av8aeGeWPVLh5I4jOex0LiLkDznI7Lepg69ohNQ3QqG5EQE1G66WAGyzYwamfpYrpCJ9rw89UhNva169kr2eZhFdUgWfhEWPkb_DMtYGUN_l1vtKbI-dBP1Z8hnoHQePi6dRADpqsaXvh30dSJo2iBX-ffkMrdhk3UoGbeJUhC-l0KTM-E1WJxCOuVV4gDfK0fZpc-ez0ntyAsTPNCVzvOAp9O4eEI39QB61LICjQ4xk1hJzEqvTpagHDRU-RSAbopljdp0zwCtG5tF2Y7dg_XvKAjdZvzwKsNrs8Be6IKmXxtkepfx4P4M0z3qYo81VMpEjXo6BOS2hyYKviIBgQOcTyLlV61M3q4w7dJ9gZD6HGnu7mLUvUuAmc-WbDQV6xMO1Vu9cR29v0DwW6JukKjQZdTq1o1JnshQA1nPHhdTkOEnR1nmSekXhsodtAxXAwpGGvVzbMqAEUOh352VlZOeHWPu8mquXdmj9W8g5k81HLhIeXoC1UGR61nvmzsMH9qKMscqQ7aWt_tXj4tgwHEGui1tvS5jdms1BRE12TyiRRfDutlh4Ui7oEdbWvjryn1K_C9c5c93Izp7jYck48hLN5rv1h8w59Bi2lFjOA0s33FfQIsrGgey96QtUGYE5GYwvmZ3MhiYcHkcZwHaZkFRbUKQse6ozQar0mdbVE3bPRSMiTm9mnvEEuX4inxFxZfCSkeQRmLHnOz0EOL7IvOUUZ3BWtSNKEScyrBccPIF8RZKgOz1tBt_X8IjsSUuxQwg6EbkDMkxV8a19tSB1vRtsOWBDd0MQk8-759sAsCkJH8vtX0XmAQV8Tnlf8Nkf8FvOeW7VfdX-ymTHZauE3NODs_jZH2xjQAT1GEQQRinnYiZhTegrQkVaAx6BSrDlbNCRyrXXC8lTz0EVjWBgPS1kAqnw9By8fgzhbRT-GRkTeMLRu3X8JT_7zh0-klemgOWRrPlyel9uYySDokQUgtzkBqyjz8z23ZGPioNSNa6pe1hpVHgENntFdYjOVWeDITtWOBopHEZO-JpOqHMP8B3oCkbW07KrwIqm0KM0To8oVycH5Wp7JleEL4zDqohazlEkKQIL4tFgpbUrBTIUWnsc2VGteFFds2TZYv1disrUlaxoD_K1xeOA99LdMw==",
  "id": "rs_0efb4b57b3dc8329016ab4766625f887d0b0f5d19cd7d4b814",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.08,\"right_z\":0.09},\"note\":\"The pear is above the blue bowl, whose rim is visible just beyond it in the wrist view. I’m making a small alignment correction and lowering the fruit toward the bowl opening.\"}",
  "call_id": "call_J6i5fTMyuTamWHDWBeERDAss",
  "id": "fc_0efb4b57b3dc8329016ab4766c51ec87d098d1a882c4bbbf10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J6i5fTMyuTamWHDWBeERDAss",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8188, 0.6132, -0.4316, -0.0135, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.1078, 0.1402, 0.0784, 0.7385]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1669 left_yaw=0.0024 left_pitch=-0.0683 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4881 right_y=0.0802 right_z=0.0814 right_yaw=0.0353 right_pitch=-0.2169 right_roll=-0.0338 right_gripper=0.7385\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.707, -0.0317, -0.0415, -0.0073, -0.212, -9.935, 6.612, 1.9853, 0.0513, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2206a23b4c52c660edf0c6dac19a8856c3eec25627ff6ba83291fdce43627dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e765d0d139934ca7e36aa64429666c94610ae8d6f327170ec915a93733e70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a5022eb7b7c21e9f2f145b1d56e77935986f46ecdf9de8493e2cace5722e5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.015 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4168, -0.0135, -0.0311, 0.9898, -0.1463, 1.5467, 0.3363, 0.5526, -0.1139, -0.1055, 0.7293]\nstate[eef_state]: left_x=0.292 left_y=0.0001 left_z=0.1718 left_yaw=0.0009 left_pitch=-0.0462 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3503 right_y=-0.0277 right_z=0.0178 right_yaw=0.001 right_pitch=-0.0844 right_roll=-0.0016 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.6479, 7.0085, 1.7851, -0.0366, -0.0317, -0.0171, -0.2256, -4.9709, 4.6564, 1.619, -0.0855, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4267, -0.0139, -0.0334, 0.9898, 0.2909, 1.6917, 1.3033, -0.3733, 0.2058, 0.1432, 0.7343]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1691 left_yaw=0.0025 left_pitch=-0.0587 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4665 right_y=0.1057 right_z=0.1693 right_yaw=0.031 right_pitch=-0.1735 right_roll=-0.0247 right_gripper=0.7343\nstate[joint_eff]: [0.0205, -1.4838, 7.0085, 1.7509, -0.0562, -0.0171, -0.0073, -0.2803, -8.9915, 9.4291, 1.7607, 0.2466, 0.3004, 1.0281]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8188, 0.6132, -0.4316, -0.0135, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.1078, 0.1402, 0.0784, 0.7385]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1669 left_yaw=0.0024 left_pitch=-0.0683 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4881 right_y=0.0802 right_z=0.0814 right_yaw=0.0353 right_pitch=-0.2169 right_roll=-0.0338 right_gripper=0.7385\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.707, -0.0317, -0.0415, -0.0073, -0.212, -9.935, 6.612, 1.9853, 0.0513, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2206a23b4c52c660edf0c6dac19a8856c3eec25627ff6ba83291fdce43627dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e765d0d139934ca7e36aa64429666c94610ae8d6f327170ec915a93733e70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a5022eb7b7c21e9f2f145b1d56e77935986f46ecdf9de8493e2cace5722e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered into the blue bowl’s opening. I’m releasing it here before moving back for the lemon.\"}",
  "call_id": "call_QM6Zqi2sL8udX0pRV0epF7Cs",
  "id": "fc_0efb4b57b3dc8329016ab47674f17887d09e06fa8f804cbe44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QM6Zqi2sL8udX0pRV0epF7Cs",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4335, -0.0139, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.112, 0.141, 0.0708, 0.9959]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1664 left_yaw=0.0027 left_pitch=-0.0706 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4874 right_y=0.0799 right_z=0.0807 right_yaw=0.0387 right_pitch=-0.2211 right_roll=-0.0405 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3744, 7.1726, 1.6728, -0.0806, -0.0611, -0.0122, -0.3624, -9.7026, 6.5573, 1.5604, -0.0171, 0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699c50add98456c97f4f0e5249b86bc7d396a63b4424805f01d426b64031b8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75301bf6627b55ab8099051311bed4f7d963c48cc3a5c4ea8d1f71d45df6255e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15573ededa241c6d5f2f710638e4aa9ea27ebca272246eb3762a63b994e3549",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.564 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6132, -0.4236, -0.0139, -0.0334, 0.9898, -0.1463, 1.2728, 0.4561, 0.1287, -0.1135, -0.1066, 0.7293]\nstate[eef_state]: left_x=0.291 left_y=0.0002 left_z=0.1702 left_yaw=0.0025 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9898 right_x=0.3435 right_y=-0.0268 right_z=0.0711 right_yaw=0.0017 right_pitch=-0.1142 right_roll=0.0017 right_gripper=0.7293\nstate[joint_eff]: [-0.0615, -1.4154, 6.9949, 1.7558, -0.0513, -0.0366, -0.0122, -0.3214, -4.7658, 8.6359, 1.6728, -0.1001, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8188, 0.6132, -0.4316, -0.0135, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.1078, 0.1402, 0.0784, 0.7385]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1669 left_yaw=0.0024 left_pitch=-0.0683 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4881 right_y=0.0802 right_z=0.0814 right_yaw=0.0353 right_pitch=-0.2169 right_roll=-0.0338 right_gripper=0.7385\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.707, -0.0317, -0.0415, -0.0073, -0.212, -9.935, 6.612, 1.9853, 0.0513, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4335, -0.0139, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.112, 0.141, 0.0708, 0.9959]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1664 left_yaw=0.0027 left_pitch=-0.0706 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4874 right_y=0.0799 right_z=0.0807 right_yaw=0.0387 right_pitch=-0.2211 right_roll=-0.0405 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3744, 7.1726, 1.6728, -0.0806, -0.0611, -0.0122, -0.3624, -9.7026, 6.5573, 1.5604, -0.0171, 0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699c50add98456c97f4f0e5249b86bc7d396a63b4424805f01d426b64031b8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75301bf6627b55ab8099051311bed4f7d963c48cc3a5c4ea8d1f71d45df6255e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b15573ededa241c6d5f2f710638e4aa9ea27ebca272246eb3762a63b994e3549",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ5T_uBsHciRePBjafMJrwmAJGaafuQFWes7HVinzNllcxz-euBxcF18Zpr4LuGGHS_5hqaQY63oYaNL1f4KPUKGiuNXQsF0b4clxz1IRiuJAHprvQB3kcfloe6mQ7lmtannT8rg2wMqJNey4kvr3JwB46EeOAln-itUQqed8p4W0YJnJ8ts_DNPQStzAhyt3c1cxAMmokNM9fytz5f-1C3IvgZpX__APwx5gYElFUGCLDF4E987vVifoPvyTdJ0ywIwUdbdOYtlZV32UztF1kM_tX2rG24e1n7EVgbgFEPJWRI-2cbCAtfOm0BnAu5Fwb5lealGb4qnAzCICfX91gnau0R3oeE6bd1R9J6LO0HnZrYhlVFJ2fDdYwyMwfZYHS9xCRI2BMWnUiUcxlVukgMqZvANPhTpDGJEVtHDgOt2LGgcRMmJQtw_gvmBtJ77tXZg31gLCjmvyNnjDAmEpM-DQ_ZtN2_L14YclwdIjZABrKD4bwjlIxSfrjdzod0goT39qz2g3kyCz8rDwZlP0clDLJE4XfG5oIVBnqx-j_9KsrIYly_Cxw1Rx4lXLp9zgyJGVwQ179PFR5Lo8h5NoYNEkjsV8cIB7XUkfmS3ne8iI1FSqDOU49XFEaluoE1zqRGshHxCouPbUjVsaRNyxa-APXZh9Q6AVWEqGBqvgz82DnrO0c-ZS_Q_5SmXARs6OzR5NzC_WXgvWJmLJC7FyPMDCtAPwUtX7V5YJX5YIw0gvx4B7SOhUOH7vdwTLsva1bMEwm9ydVWD-U5PoWQUnOXfBZzkBlRE13Ybs-ZiDWqzPlw0hgW7B75KRLWEniAz3k5oZMO9Kw6ZelhwY_UTCoy30alPH8Fs2oAvg0asfrgQpry_QSKX5xEuaegRHhDtXHdAmWInMCZzWXPzWBW2jF7brOROGrRjE1QyNcVIpD_57fmTHskSu95TkZTeRLwhAVhLHYg925j6HCHDgh_c83vj6tAU--haj7zj2gFVghZaoP-LoO54Z_57EDrpDK35dvSmFg6qOVcDLlb0qLEPjxYPOjDHAQqujHnjsjNzZRD_qeTTt6JEmdFwTWRgeC7Owd-_ci2AhCXMqanfZBuR_QrKiF50tnuWgnTlCQoG_6X2o6_1U7rM7X6kfYKAHwrpXn3ZzXW2km2odupeMQKHEBRrHBWqUCPSCDNdexdMb64FFpUqQX8FgC0RFQZWhBZv7qEMqZD81C6bsvXO15OW79LvOlIX66FF9zaOzfmfWaI95TVb-SnNJpSN0FBRwcDcFoQNPuE0JotBVJFmdUnKZcDI07e0VRhdZoIjFyWElk_-hgEf0trMQlstMwBVBElCJ_c1gAaYFlujmC1Jn_zc9PnpmPGYPd8F7EhCsACASNvJeYAlpJ5jhUrQOgfqy8wvj3S03g9jutZSvvc81LCg3jh8Sh3Hh3AGwNVzCgSgH8UkTz3GqixZnVeb3oQJbK6CwJV",
  "id": "rs_0efb4b57b3dc8329016ab47677378c87d0b1ad2cf5d9d68cbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.165,\"right_z\":0.15,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.182},\"note\":\"The pear is visibly resting inside the blue bowl. I’m lifting away toward the yellow lemon and refreshing the idle arm’s parked position.\"}",
  "call_id": "call_mCzHqZgKvEOulumnz65Lw4nb",
  "id": "fc_0efb4b57b3dc8329016ab47678760087d0a3639350cb2bac3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mCzHqZgKvEOulumnz65Lw4nb",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8566, 0.6491, -0.4839, -0.0135, -0.0341, 0.9898, 0.5144, 1.6535, 1.1748, -0.4358, 0.3367, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0013 left_gripper=0.9898 right_x=0.4025 right_y=0.1646 right_z=0.128 right_yaw=0.0566 right_pitch=-0.2786 right_roll=-0.0737 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.9077, 9.8256, 1.7509, -0.0513, -0.0708, -0.0073, -0.2803, -9.894, 8.7179, 1.4432, 0.2027, 0.1685, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce855fe7fb1e33eced49c4b91ff58da203727d21a3cd38c09dbf6297ef18a57b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acb27fd9bacd2eeae5c22a172fbf166cf4a3408ffa2a12161762020ba1db49a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502fdbd59f4794df769d14e9ff07b1d265606482382e9a2fae357235098f8faf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 1.928 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6132, -0.4267, -0.0139, -0.0334, 0.9898, 0.2909, 1.6917, 1.3033, -0.3733, 0.2058, 0.1432, 0.7343]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1691 left_yaw=0.0025 left_pitch=-0.0587 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4665 right_y=0.1057 right_z=0.1693 right_yaw=0.031 right_pitch=-0.1735 right_roll=-0.0247 right_gripper=0.7343\nstate[joint_eff]: [0.0205, -1.4838, 7.0085, 1.7509, -0.0562, -0.0171, -0.0073, -0.2803, -8.9915, 9.4291, 1.7607, 0.2466, 0.3004, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4335, -0.0139, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.112, 0.141, 0.0708, 0.9959]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1664 left_yaw=0.0027 left_pitch=-0.0706 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4874 right_y=0.0799 right_z=0.0807 right_yaw=0.0387 right_pitch=-0.2211 right_roll=-0.0405 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3744, 7.1726, 1.6728, -0.0806, -0.0611, -0.0122, -0.3624, -9.7026, 6.5573, 1.5604, -0.0171, 0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8566, 0.6491, -0.4839, -0.0135, -0.0341, 0.9898, 0.5144, 1.6535, 1.1748, -0.4358, 0.3367, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0013 left_gripper=0.9898 right_x=0.4025 right_y=0.1646 right_z=0.128 right_yaw=0.0566 right_pitch=-0.2786 right_roll=-0.0737 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.9077, 9.8256, 1.7509, -0.0513, -0.0708, -0.0073, -0.2803, -9.894, 8.7179, 1.4432, 0.2027, 0.1685, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce855fe7fb1e33eced49c4b91ff58da203727d21a3cd38c09dbf6297ef18a57b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8acb27fd9bacd2eeae5c22a172fbf166cf4a3408ffa2a12161762020ba1db49a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502fdbd59f4794df769d14e9ff07b1d265606482382e9a2fae357235098f8faf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaC95Y2b2MofURx-GEtIR3LKWzDO74LV8_XfWClpfwWt-pPJxGtjuRueAGZPowp_LaN74ZfkOtLAHDTQxd35dKGBT7pJMEdqLtwynr5YDP34N7fxQvuBwLsX8nDH29DylbG78OJlQjwt0f7_JHgX361SqvFyP976hNu-fjEvgJNl-vF9zYhazJLOZsKDt6_-7drOUompNvuaV4YJmtvD0PnvQ9Egvn1FlandG0pmNFvGiCjYJ4j1PGyGw9B6mZpsV7kaHEG4cXjGKpKVlHyLtIqtRlatLQTECoaC3jVhoytUJYhNjAIpfhueWYFaCUN3VGGwF2eHzCGm4J92gAAd0llkQlVds1Ng1B_HoXKmIdjRVOlJbonjgb3jnxYiU7W1RveOf_JZ5izeJNYffpUZGPrh-3tIzE5Vb8N9NBMOw8XqELNGwXnCCDUJvBQHImW_QCZIlng28dbl0Um2t-hfp-qsfvbxZIxApnq_nyXvdOJiKEQ3lVe46lQt3WVx3nmExdjSkGPHYEEZTj2NnKaRiKeHNtQLKGx9pkmIxv_kCZSLLd1OVX9F_EeBotFgO2Oalbfe1LqmQ38QztEIfS1tcCZi3DgPfvU2W3Fp6PLAXzUEq9XP8ziRcZ3k6huVYo9N5oJgS9bH7FRwuvvFGKK1MgAUJY0On_QHMcmmW17JlgElFVfSYZpwTtDIMmqJxnDQ-VHJr-7S1cJFmiAAkvAHMTgqC2flgoQgivDrUq7LRh0JD7KVHUuG64K6QctAn2lm3yK3-HVWlmuFMGnEQyHcUib49M2W6ghEeYq8iG3x_O_FJnvTTpSsfrjKcpZpHdjMyMTaleuua_mAC5FXidnqtaTGGt-2VyLP7PGgh3lT4WoE4i_ZJBNb8cdu_-QDZjy30pYCppQTL6usaytfJPCnVuUDkeAGNDG7iAvQRgm1rGXZksTgGOyYAyCn3Wc9OEMJR0yJN4PIrWcrM0JE7QdJJCbPteZF6GzWQNswCONbwqpjQPLB_J90pCfutoV9PE7aKNqSlQ_gglXRtaav69Wbq1iHgyOLrO4JKPKXKVu6m4xMePExmzgQ20NSzrQ5iEpwf_sYYuAwGNjmtV2SGCR-wuXsc9cRRNfi6MMRTiS8Px3vhBJ6aTrz26IMY1FyfQEaq9CajymG5vVr4yuzsl8fdf8meEjJQNh2Of3Zs2i27uhBZbZbfFYqQMv-_jEGoM4i8pNyeItPkgfYR-iKnCEKko1xTu5W6Xo3Rky72zU4HTYHjR5CA7_quNG4HKVH_sTkkvM_4Fg8LNR2nlrZN3l9K_1LO3v723TbFa3rFie-26WSdfmyKJYnRnDPh0t4M70g1rzgFd8Aigtju-WWTLku0lE5MeTIih3t5IxYzdMCh1MkIZZSm1xBYqZk1d2Aj90d8PcMQfAE2-MJEIgGj9BsSYROg==",
  "id": "rs_0efb4b57b3dc8329016ab476806bf887d0997a1dae6bf5bb09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.165,\"right_z\":0.023,\"right_pitch\":0},\"note\":\"The lemon is aligned with the right gripper’s centerline, and the pear remains in the blue bowl. I’m lowering around the lemon’s middle for the next grasp.\"}",
  "call_id": "call_yhbAF0Klc2CliKBwrQhZ3dUS",
  "id": "fc_0efb4b57b3dc8329016ab47681648887d0a7e9e87a5d2b0c22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yhbAF0Klc2CliKBwrQhZ3dUS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8593, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5529, 1.8549, 0.7101, 0.4194, 0.4328, 0.226, 0.9966]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3965 right_y=0.1619 right_z=0.0144 right_yaw=0.064 right_pitch=-0.0809 right_roll=-0.0913 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7983, 6.9812, 1.663, -0.0562, -0.022, -0.0122, 0.1983, -8.4308, 5.1761, 1.9756, 0.2418, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa87e6d09601db21ca61f9e3f0c7fed5575e8e501be0b5ef2991ff8c4e0f5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024f53146bf3959ca4d33052dd88697fec465e7a63d116858911bbeb03971c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1c13414267a3c812bc62d2b7d2de83192a0d383e14442d9d6e3507d38917ac",
      "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 · 2.056 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8188, 0.6132, -0.4316, -0.0135, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.1078, 0.1402, 0.0784, 0.7385]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1669 left_yaw=0.0024 left_pitch=-0.0683 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4881 right_y=0.0802 right_z=0.0814 right_yaw=0.0353 right_pitch=-0.2169 right_roll=-0.0338 right_gripper=0.7385\nstate[joint_eff]: [-0.1846, -1.7573, 6.9949, 1.707, -0.0317, -0.0415, -0.0073, -0.212, -9.935, 6.612, 1.9853, 0.0513, -0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8566, 0.6491, -0.4839, -0.0135, -0.0341, 0.9898, 0.5144, 1.6535, 1.1748, -0.4358, 0.3367, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0013 left_gripper=0.9898 right_x=0.4025 right_y=0.1646 right_z=0.128 right_yaw=0.0566 right_pitch=-0.2786 right_roll=-0.0737 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.9077, 9.8256, 1.7509, -0.0513, -0.0708, -0.0073, -0.2803, -9.894, 8.7179, 1.4432, 0.2027, 0.1685, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8593, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5529, 1.8549, 0.7101, 0.4194, 0.4328, 0.226, 0.9966]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3965 right_y=0.1619 right_z=0.0144 right_yaw=0.064 right_pitch=-0.0809 right_roll=-0.0913 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7983, 6.9812, 1.663, -0.0562, -0.022, -0.0122, 0.1983, -8.4308, 5.1761, 1.9756, 0.2418, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa87e6d09601db21ca61f9e3f0c7fed5575e8e501be0b5ef2991ff8c4e0f5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024f53146bf3959ca4d33052dd88697fec465e7a63d116858911bbeb03971c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f1c13414267a3c812bc62d2b7d2de83192a0d383e14442d9d6e3507d38917ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws straddle the lemon at table height. I’m closing them to secure the fruit.\"}",
  "call_id": "call_u2YrcFDb4YuFlkTV3TpGUPVo",
  "id": "fc_0efb4b57b3dc8329016ab47688bc4487d0befec9de2591cc81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u2YrcFDb4YuFlkTV3TpGUPVo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8597, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5537, 1.874, 0.6964, 0.4244, 0.4328, 0.2203, 0.4259]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1601 left_yaw=0.0028 left_pitch=-0.1339 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3912 right_y=0.1589 right_z=0.0032 right_yaw=0.0666 right_pitch=-0.1058 right_roll=-0.1089 right_gripper=0.4259\nstate[joint_eff]: [-0.0479, -1.4427, 7.1043, 1.5995, -0.0562, -0.0464, -0.0122, -0.1709, -9.4838, 5.9556, 1.4872, 0.1441, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a25715d09acbc60b3762f023c74ced2a026732a2109ded149db5a95adb0ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41841facb14dc06ce92854267a3df67fba5e5abcddb556308f3370c60aa3efd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1d8e4e7758a3d7e4e9cad46404851e7e92bfe8156ec4333c84507244840add",
      "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 · 4.049 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 39 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6132, -0.4335, -0.0139, -0.0338, 0.9898, 0.2054, 1.8591, 1.1721, -0.112, 0.141, 0.0708, 0.9959]\nstate[eef_state]: left_x=0.29 left_y=0.0002 left_z=0.1664 left_yaw=0.0027 left_pitch=-0.0706 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4874 right_y=0.0799 right_z=0.0807 right_yaw=0.0387 right_pitch=-0.2211 right_roll=-0.0405 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3744, 7.1726, 1.6728, -0.0806, -0.0611, -0.0122, -0.3624, -9.7026, 6.5573, 1.5604, -0.0171, 0.1001, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8593, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5529, 1.8549, 0.7101, 0.4194, 0.4328, 0.226, 0.9966]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3965 right_y=0.1619 right_z=0.0144 right_yaw=0.064 right_pitch=-0.0809 right_roll=-0.0913 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7983, 6.9812, 1.663, -0.0562, -0.022, -0.0122, 0.1983, -8.4308, 5.1761, 1.9756, 0.2418, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8597, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5537, 1.874, 0.6964, 0.4244, 0.4328, 0.2203, 0.4259]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1601 left_yaw=0.0028 left_pitch=-0.1339 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3912 right_y=0.1589 right_z=0.0032 right_yaw=0.0666 right_pitch=-0.1058 right_roll=-0.1089 right_gripper=0.4259\nstate[joint_eff]: [-0.0479, -1.4427, 7.1043, 1.5995, -0.0562, -0.0464, -0.0122, -0.1709, -9.4838, 5.9556, 1.4872, 0.1441, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a25715d09acbc60b3762f023c74ced2a026732a2109ded149db5a95adb0ad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41841facb14dc06ce92854267a3df67fba5e5abcddb556308f3370c60aa3efd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1d8e4e7758a3d7e4e9cad46404851e7e92bfe8156ec4333c84507244840add",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper has closed to about the lemon’s width. I’m making a short test lift before transporting it.\"}",
  "call_id": "call_dPn7IE1wwrEz78HB5Bf7fQIU",
  "id": "fc_0efb4b57b3dc8329016ab4768bc33c87d0b685d30fa7b1f6ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dPn7IE1wwrEz78HB5Bf7fQIU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8612, 0.6487, -0.4942, -0.0139, -0.0338, 0.9898, 0.5537, 1.668, 0.7887, 0.1417, 0.4259, 0.2173, 0.43]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.1592 left_yaw=0.0025 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9898 right_x=0.393 right_y=0.1613 right_z=0.0691 right_yaw=0.0745 right_pitch=-0.0943 right_roll=-0.0999 right_gripper=0.43\nstate[joint_eff]: [-0.2803, -1.7299, 6.9265, 1.6532, -0.0659, -0.0464, -0.0122, -0.1162, -8.5265, 7.5966, 1.5653, 0.2418, 0.022, 0.9206]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e604ce8fa3ffe2406571d7d3f291915e529e8cd5d59e10ac278ae67085889b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9a39b9584196cdd68b8a80a9d01e27af11736831dd503466bc1ec8fd5aa88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edffb593a52075ea1a53fcab630fbb5c03c887e7531405d7c90fd20927c5a35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 39 changed as sent

message 42 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8566, 0.6491, -0.4839, -0.0135, -0.0341, 0.9898, 0.5144, 1.6535, 1.1748, -0.4358, 0.3367, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.2894 left_y=0.0002 left_z=0.1626 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0013 left_gripper=0.9898 right_x=0.4025 right_y=0.1646 right_z=0.128 right_yaw=0.0566 right_pitch=-0.2786 right_roll=-0.0737 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.9077, 9.8256, 1.7509, -0.0513, -0.0708, -0.0073, -0.2803, -9.894, 8.7179, 1.4432, 0.2027, 0.1685, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8597, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5537, 1.874, 0.6964, 0.4244, 0.4328, 0.2203, 0.4259]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1601 left_yaw=0.0028 left_pitch=-0.1339 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3912 right_y=0.1589 right_z=0.0032 right_yaw=0.0666 right_pitch=-0.1058 right_roll=-0.1089 right_gripper=0.4259\nstate[joint_eff]: [-0.0479, -1.4427, 7.1043, 1.5995, -0.0562, -0.0464, -0.0122, -0.1709, -9.4838, 5.9556, 1.4872, 0.1441, 0.0317, 1.0379]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8612, 0.6487, -0.4942, -0.0139, -0.0338, 0.9898, 0.5537, 1.668, 0.7887, 0.1417, 0.4259, 0.2173, 0.43]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.1592 left_yaw=0.0025 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9898 right_x=0.393 right_y=0.1613 right_z=0.0691 right_yaw=0.0745 right_pitch=-0.0943 right_roll=-0.0999 right_gripper=0.43\nstate[joint_eff]: [-0.2803, -1.7299, 6.9265, 1.6532, -0.0659, -0.0464, -0.0122, -0.1162, -8.5265, 7.5966, 1.5653, 0.2418, 0.022, 0.9206]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e604ce8fa3ffe2406571d7d3f291915e529e8cd5d59e10ac278ae67085889b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9a39b9584196cdd68b8a80a9d01e27af11736831dd503466bc1ec8fd5aa88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edffb593a52075ea1a53fcab630fbb5c03c887e7531405d7c90fd20927c5a35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaQQzq1GzoWKogSarIiXuxnpG6Y7Cp4jEDrAQmZcN11Bl7XVX5mz-IVr-Mb3kz0z5jd_rb0hLy-ZLNQcPzXJ_RcVdVXJSgS0T7Jlz9ndEcXY68mLJMd6m1nGXFUXf8ifqCg3TSYONM9BcJKUVUv8RgmByMZJRdAe3QeQGxA-trTaUFYytdZjMMYToV5pxDaLhTaczMYfubIcwIDrmMYtWRDzWj0S5gyU6yjEVQro5ow7R962PKtn6GmZAZtElh2TZj1OIGSqh-8UMHEbPWuInSzU8PvjfxxA7wutDNCwSgfSqOgwNQ0uRzQxJPdtLQbIBMF0cAFsvqnxdBcE-0rRNJpVXvM6ewNmMG8tXT9Gfu4n5twm0d5rgMzS0cf_uAChEFf23_Yek_0Bcb578njpcNpJ3hB60Y1ViqqP5Yn91aOUAYYg7UHoiDQVqdxoXFCnBAD2cEYvf_7IIOM_xRF0iTqjWieiKdxgLL6kM2iMufioE_gE3COFp0Z21FLdrWXCkne4_wbqwUJHsSs9OVLP7iVSXJC7CWVPE-vCLVdi-P8F8_tBrT1YLwWGxZlS2QecVRCZZwMRZvpXFuXYCxxE7vW0RkrBXMijGG9rmfwW-NAw-OIDjSf0mFhclJIgo7P3YXCLFLF8iDi9KBhqK24RuxPxNr7OEoXFTgyfQxPGDbGjnWXvIMkGlczPmRjoKGHaTcnYecTnPszX-K_nx80awAQNGkfLhmauQ0BGVYFQ-CekfxPuXXqTuq2nbyyTNkMJw22y0DlfDWj-wumZ9_ZOGs6aykL-mfVR5x9WJOIRQdcZx3R8fM-mB68ju-PNL2G4rG0pJ8QiW1Lbzf5OdLmcNXEki85EL42y9pJskYNrWpNQCUnQ4NozWNwhdgral_iqF34bQMOc9ZnVzi-cEZVGMduxHCgYBCqQ9l65SPudtlWBKGh1Ufr4nLKNdUb2ioe9trYguvF8ne0pQjLfLBCq-5sGNahKD7wcXwKJvbGrXAKYZz316-0AZXxeGYNfHPp-gbAELLNAQ79S8L3WG02U0esurnZztcUqB2rim6P5eb58pNrDO-1Ur_O9O2AQGznIlalIIAY0tsmqF9DVT5v91MMw-CC4l8oZkEakkAw3PN3UQLREmFUPu9pj7Ieznv4VZUb4aPrOeKNTmPEIq3msCy2PeY3Ex1ZKhgX43GxQcRHYhX6Q2XQWyDKi2IK4oX8I9u1KyK9nZ4FNB5QmptRjqSBH7AiwNXU5OjVJ8LDXkS88kC2s4dST2V5kXZHyjvzrDw8swJg2fo7OXBOjJtML-Q1zMYTffARWhJ1AhXBaF-YUyLvlNHNXNahEOrXE53wiPDcs6o16Sl7rxkt4KxLVnXonhm74ge9liNMK2dJJgdiutI60j-A3n1QGJN1BYugj5zlxtIQK0VuOY6VdnXG1Gf-lcpfP6rye4bkn3pxJwlJwRiMmk0n02rRGkDCfAgvVGht-FFPfYE_VtjdsKmog7by7UeCvyMlRzqnG6vnFSayqHejXrbS3wD0rcL-9oEfQkCgXWYNrBVur2ksny6mMFTREzprGzR6ouFNic8Qu5Scffnlwa-xbMSaHxMqdvpgJrw6HEWrM6FE6dT08eaCHGzAnw==",
  "id": "rs_0efb4b57b3dc8329016ab4768e3bcc87d08f3b6e3790ab6ce5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.08,\"right_z\":0.18,\"left_x\":0.315,\"left_y\":-0.285,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The lemon lifted with the jaws. I’m carrying it back above the blue bowl while positioning the left arm above the remaining dark fruit, with the arms well separated.\"}",
  "call_id": "call_R3Rtm9CIOWphaIt2Vo8rnBma",
  "id": "fc_0efb4b57b3dc8329016ab4768fb34087d0be3ed4595288fe23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R3Rtm9CIOWphaIt2Vo8rnBma",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-1.005, 1.7023, 1.1545, -0.4942, -0.6735, -0.8154, 0.9906, 0.2184, 1.7176, 1.2785, -0.2745, 0.1684, -0.0177, 0.4299]\nstate[eef_state]: left_x=0.3105 left_y=-0.2767 left_z=0.1178 left_yaw=-0.0068 left_pitch=-0.1719 left_roll=0.0181 left_gripper=0.9906 right_x=0.4846 right_y=0.0809 right_z=0.1636 right_yaw=0.079 right_pitch=-0.1376 right_roll=-0.1122 right_gripper=0.4299\nstate[joint_eff]: [-0.5538, -8.4308, 8.6222, 1.0476, -0.6325, -0.0269, -0.6081, -0.5949, -8.4855, 9.7299, 1.8339, 0.0562, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2837da6f00a657d0c9853968fb2d3b7b0efc445e04b0d377952260b75e7f703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d160776c7d24e723c102c1ba7410ef49016d9d547c79224016e7f32ac529648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e23efaa1d18af1cd7d38dff6140c5620eba96db3723d0548a3e4fadc4895960",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.591 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 42 changed as sent

message 46 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8593, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5529, 1.8549, 0.7101, 0.4194, 0.4328, 0.226, 0.9966]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3965 right_y=0.1619 right_z=0.0144 right_yaw=0.064 right_pitch=-0.0809 right_roll=-0.0913 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.7983, 6.9812, 1.663, -0.0562, -0.022, -0.0122, 0.1983, -8.4308, 5.1761, 1.9756, 0.2418, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8612, 0.6487, -0.4942, -0.0139, -0.0338, 0.9898, 0.5537, 1.668, 0.7887, 0.1417, 0.4259, 0.2173, 0.43]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.1592 left_yaw=0.0025 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9898 right_x=0.393 right_y=0.1613 right_z=0.0691 right_yaw=0.0745 right_pitch=-0.0943 right_roll=-0.0999 right_gripper=0.43\nstate[joint_eff]: [-0.2803, -1.7299, 6.9265, 1.6532, -0.0659, -0.0464, -0.0122, -0.1162, -8.5265, 7.5966, 1.5653, 0.2418, 0.022, 0.9206]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.005, 1.7023, 1.1545, -0.4942, -0.6735, -0.8154, 0.9906, 0.2184, 1.7176, 1.2785, -0.2745, 0.1684, -0.0177, 0.4299]\nstate[eef_state]: left_x=0.3105 left_y=-0.2767 left_z=0.1178 left_yaw=-0.0068 left_pitch=-0.1719 left_roll=0.0181 left_gripper=0.9906 right_x=0.4846 right_y=0.0809 right_z=0.1636 right_yaw=0.079 right_pitch=-0.1376 right_roll=-0.1122 right_gripper=0.4299\nstate[joint_eff]: [-0.5538, -8.4308, 8.6222, 1.0476, -0.6325, -0.0269, -0.6081, -0.5949, -8.4855, 9.7299, 1.8339, 0.0562, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2837da6f00a657d0c9853968fb2d3b7b0efc445e04b0d377952260b75e7f703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d160776c7d24e723c102c1ba7410ef49016d9d547c79224016e7f32ac529648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e23efaa1d18af1cd7d38dff6140c5620eba96db3723d0548a3e4fadc4895960",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaW8MRQZEKZgpSGqFFdgBycR4YzOeVlKgbiaLV3Xwkgh369rgCAQwQLjHe9dWBNDet8DReM1rkh6ATd2-11B5mfxc4Kvt-VH2YK7Z6EsSX3kPy-gdd9QHdaU1RPU9_9NBkM5j78OyDFVO8z3183j7u-LSV0Wzi3NhkQ0rDeuDyr9_zdnQfAU04nL1cgQ9Uh_uxwbp68fHQvgVGZYU5V37O29KrqAk8N5W1tJfWKZja4Ohn6P2IhXGEhQSBUNktnM39mhPaI3fYfIFGDYfENlqP9s2NCscU63di170YZ4AwNvp4ZdhtYHQePKegrfldlE2-qo5CLS4u2QWqX4YIH5ZTJFhGjZDPEQ3TkqQ77Zeb-oXmEtVmuX_BwXkBta6ddIUkyOYmY7OHAWOZF5Lq7oA-BXtWRJL1Me2FYT0yhGt_cGdbcZs9KRYotV2wZebnLFf5JG3HpDnZBd6HIv0HaaIXw3wUI6_COT_UigJJjoHGNLDSXMbGk1IIHf_v80SdFY6NtqKjnhLy4IPVd77BE7K8GVbvcWfMsD0f2z0py9pIxHJLXbmMayPbKyyQuP8g63svvKNURxDfTecTqUnMxvR--Wy7vWdnM1hbbw-k--mg3JKQDYmfuJ3TfqLkDt9T_dhledcsiPHEeKvQjyBtYaYPGKAY2dyEnFMeAGbF5ni4LaTfYq9ORLkGpWddE2LRIuCYvXtJR8wiQHcxYlpRAWJY697eukbuE5e3rTkiaTdfWcQEylbxdrn6q1NHXSeHtiAnsUjZyBHZayzsdRAJSjnvnXUyaaPw3divgfO6GOlP3M688ASHFBLAtO-vH_YdsEsKSbhgIbq3DFtDPmv6ZhR42iV51a1GznR9y4PlBXc99Q5jjKxQDI9Kdd234o7wiXDyh94GTz2dLVtxuwR-0aoSvG1zgZOE4605OLPaG66slNX8EjbW3tNOuOZumWImLc4EtJFcpyx1wiR3cWgeDiL1QGrwXp7z72c953Cta8dhk5DL_pI9H2zNMLPn-qjBDVhFGn_N4VXi1cWjd1zVMeXeHWaNTkW8pFoFEm-2RyS2akH3x7JJkBWuJXc7Pf7lx46rOpBgfuTAuIn6zNbJJ9n74RdF4mbbaNGTtyk9VhhosCyNksB4K1462Oj5H4vxSUPVpdpWweJ1dHY4dxYl98WBAaBtgaouLubftNiqc4qB32M6yu2JrW0qhvDPkUE6T7myy",
  "id": "rs_0efb4b57b3dc8329016ab47694dbe487d0971a93253c400955",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"left_x\":0.32,\"left_y\":-0.282,\"left_z\":0.018,\"left_pitch\":0},\"note\":\"The dark fruit is centered in the left wrist view, and the lemon is above the blue bowl. I’m lowering each gripper at its separate work area: the left to grasp and the right to place.\"}",
  "call_id": "call_jsBCeOdSmfc5mnbRG2EH22Bs",
  "id": "fc_0efb4b57b3dc8329016ab476950acc87d08f87f97ef37bf3e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jsBCeOdSmfc5mnbRG2EH22Bs",
  "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]: [-1.0294, 1.927, 0.8871, 0.0555, -0.7712, -0.7593, 0.9899, 0.215, 1.7748, 1.1206, -0.083, 0.1604, -0.0193, 0.4333]\nstate[eef_state]: left_x=0.313 left_y=-0.2747 left_z=0.0148 left_yaw=-0.0105 left_pitch=-0.0721 left_roll=0.0571 left_gripper=0.9899 right_x=0.4796 right_y=0.0795 right_z=0.1049 right_yaw=0.0827 right_pitch=-0.1618 right_roll=-0.1113 right_gripper=0.4333\nstate[joint_eff]: [-0.6496, -8.5128, 4.3966, 1.2479, -0.7009, 0.0171, -0.0806, 0.0342, -7.6376, 6.0103, 1.6386, 0.0952, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace17626499ef1b23ba6404fc970acb762ba96812e3dee09e8c17f42fa70c3f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f61c57d981c12172631967ab358aaee8b527c4721f89a97997d9ff792279ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95670fac6c37a5ef2d92cd6a00a8cf481b007222a7440a278e877c3b379e3c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.753 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 46 changed as sent

message 50 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8597, 0.6487, -0.4919, -0.0139, -0.0338, 0.9898, 0.5537, 1.874, 0.6964, 0.4244, 0.4328, 0.2203, 0.4259]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1601 left_yaw=0.0028 left_pitch=-0.1339 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3912 right_y=0.1589 right_z=0.0032 right_yaw=0.0666 right_pitch=-0.1058 right_roll=-0.1089 right_gripper=0.4259\nstate[joint_eff]: [-0.0479, -1.4427, 7.1043, 1.5995, -0.0562, -0.0464, -0.0122, -0.1709, -9.4838, 5.9556, 1.4872, 0.1441, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.005, 1.7023, 1.1545, -0.4942, -0.6735, -0.8154, 0.9906, 0.2184, 1.7176, 1.2785, -0.2745, 0.1684, -0.0177, 0.4299]\nstate[eef_state]: left_x=0.3105 left_y=-0.2767 left_z=0.1178 left_yaw=-0.0068 left_pitch=-0.1719 left_roll=0.0181 left_gripper=0.9906 right_x=0.4846 right_y=0.0809 right_z=0.1636 right_yaw=0.079 right_pitch=-0.1376 right_roll=-0.1122 right_gripper=0.4299\nstate[joint_eff]: [-0.5538, -8.4308, 8.6222, 1.0476, -0.6325, -0.0269, -0.6081, -0.5949, -8.4855, 9.7299, 1.8339, 0.0562, 0.0513, 0.9841]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0294, 1.927, 0.8871, 0.0555, -0.7712, -0.7593, 0.9899, 0.215, 1.7748, 1.1206, -0.083, 0.1604, -0.0193, 0.4333]\nstate[eef_state]: left_x=0.313 left_y=-0.2747 left_z=0.0148 left_yaw=-0.0105 left_pitch=-0.0721 left_roll=0.0571 left_gripper=0.9899 right_x=0.4796 right_y=0.0795 right_z=0.1049 right_yaw=0.0827 right_pitch=-0.1618 right_roll=-0.1113 right_gripper=0.4333\nstate[joint_eff]: [-0.6496, -8.5128, 4.3966, 1.2479, -0.7009, 0.0171, -0.0806, 0.0342, -7.6376, 6.0103, 1.6386, 0.0952, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace17626499ef1b23ba6404fc970acb762ba96812e3dee09e8c17f42fa70c3f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f61c57d981c12172631967ab358aaee8b527c4721f89a97997d9ff792279ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95670fac6c37a5ef2d92cd6a00a8cf481b007222a7440a278e877c3b379e3c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":0},\"note\":\"The lemon is inside the blue bowl’s rim, and the left jaws surround the dark fruit. I’m releasing the lemon and securing the last fruit.\"}",
  "call_id": "call_lwSiU3sgEkjws9UZlzHdkp84",
  "id": "fc_0efb4b57b3dc8329016ab47698ade087d098cc28c54bdba399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lwSiU3sgEkjws9UZlzHdkp84",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0302, 1.956, 0.8749, 0.078, -0.7773, -0.7639, 0.5091, 0.2184, 1.7954, 1.111, -0.0948, 0.1589, -0.0269, 0.9973]\nstate[eef_state]: left_x=0.3114 left_y=-0.2712 left_z=0.0035 left_yaw=-0.004 left_pitch=-0.0773 left_roll=0.0721 left_gripper=0.5091 right_x=0.4745 right_y=0.0803 right_z=0.0893 right_yaw=0.0906 right_pitch=-0.2041 right_roll=-0.1215 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -11.3026, 5.8325, 0.906, -0.315, 0.0024, 1.0281, -0.3761, -10.7145, 7.2821, 1.6581, 0.0415, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4c052f4c773de913dc82075d0cb2e52f35b1aed1210af8861a95baf2ee0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7784497d56c509f9d06d76dd65cd0bac07764b4ae2367e3f0d767924697a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b6504dea16f6ab47a5347744c63ddb0ba47a29ae80d05378fe4a32073298ed",
      "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 15 attempt 0 · /responses · status 200 · 14.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8612, 0.6487, -0.4942, -0.0139, -0.0338, 0.9898, 0.5537, 1.668, 0.7887, 0.1417, 0.4259, 0.2173, 0.43]\nstate[eef_state]: left_x=0.2879 left_y=0.0002 left_z=0.1592 left_yaw=0.0025 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9898 right_x=0.393 right_y=0.1613 right_z=0.0691 right_yaw=0.0745 right_pitch=-0.0943 right_roll=-0.0999 right_gripper=0.43\nstate[joint_eff]: [-0.2803, -1.7299, 6.9265, 1.6532, -0.0659, -0.0464, -0.0122, -0.1162, -8.5265, 7.5966, 1.5653, 0.2418, 0.022, 0.9206]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0294, 1.927, 0.8871, 0.0555, -0.7712, -0.7593, 0.9899, 0.215, 1.7748, 1.1206, -0.083, 0.1604, -0.0193, 0.4333]\nstate[eef_state]: left_x=0.313 left_y=-0.2747 left_z=0.0148 left_yaw=-0.0105 left_pitch=-0.0721 left_roll=0.0571 left_gripper=0.9899 right_x=0.4796 right_y=0.0795 right_z=0.1049 right_yaw=0.0827 right_pitch=-0.1618 right_roll=-0.1113 right_gripper=0.4333\nstate[joint_eff]: [-0.6496, -8.5128, 4.3966, 1.2479, -0.7009, 0.0171, -0.0806, 0.0342, -7.6376, 6.0103, 1.6386, 0.0952, -0.0317, 0.6325]",
      "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]: [-1.0302, 1.956, 0.8749, 0.078, -0.7773, -0.7639, 0.5091, 0.2184, 1.7954, 1.111, -0.0948, 0.1589, -0.0269, 0.9973]\nstate[eef_state]: left_x=0.3114 left_y=-0.2712 left_z=0.0035 left_yaw=-0.004 left_pitch=-0.0773 left_roll=0.0721 left_gripper=0.5091 right_x=0.4745 right_y=0.0803 right_z=0.0893 right_yaw=0.0906 right_pitch=-0.2041 right_roll=-0.1215 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -11.3026, 5.8325, 0.906, -0.315, 0.0024, 1.0281, -0.3761, -10.7145, 7.2821, 1.6581, 0.0415, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4c052f4c773de913dc82075d0cb2e52f35b1aed1210af8861a95baf2ee0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7784497d56c509f9d06d76dd65cd0bac07764b4ae2367e3f0d767924697a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b6504dea16f6ab47a5347744c63ddb0ba47a29ae80d05378fe4a32073298ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pear and lemon are both visible in the blue bowl. I’m test-lifting the dark fruit and parking the right arm out of the way for the transfer.\"}",
  "call_id": "call_4GhnRej3Tfpx9SsuEFau7U3S",
  "id": "fc_0efb4b57b3dc8329016ab4769c172087d08d688a17a66c59e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4GhnRej3Tfpx9SsuEFau7U3S",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0306, 1.7962, 0.9611, -0.2153, -0.7696, -0.7677, 0.5111, -0.0109, 0.8528, 0.6994, -0.387, 0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3069 left_y=-0.2658 left_z=0.0572 left_yaw=-0.0029 left_pitch=-0.1072 left_roll=0.1063 left_gripper=0.5111 right_x=0.3093 right_y=-0.0027 right_z=0.206 right_yaw=-0.0198 right_pitch=0.0281 right_roll=-0.0127 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -11.0701, 8.2667, 1.0574, -0.4567, 0.0269, 0.7985, -0.1846, -1.1009, 6.3932, 1.9512, -0.149, -0.1148, 0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a76b1639dfecbddb0d3390fe01041d846650d7d6eb84d5fa7d1f1df079fb9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602597ff2eeb5d04e6c960ce3817c6c40eb5be387bee2fdaa222748b753be9b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b8d03c61c4e361c8dd3a52eb384e4d5fec0f504b318780a431e48031cf2c95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 56 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.005, 1.7023, 1.1545, -0.4942, -0.6735, -0.8154, 0.9906, 0.2184, 1.7176, 1.2785, -0.2745, 0.1684, -0.0177, 0.4299]\nstate[eef_state]: left_x=0.3105 left_y=-0.2767 left_z=0.1178 left_yaw=-0.0068 left_pitch=-0.1719 left_roll=0.0181 left_gripper=0.9906 right_x=0.4846 right_y=0.0809 right_z=0.1636 right_yaw=0.079 right_pitch=-0.1376 right_roll=-0.1122 right_gripper=0.4299\nstate[joint_eff]: [-0.5538, -8.4308, 8.6222, 1.0476, -0.6325, -0.0269, -0.6081, -0.5949, -8.4855, 9.7299, 1.8339, 0.0562, 0.0513, 0.9841]",
      "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]: [-1.0302, 1.956, 0.8749, 0.078, -0.7773, -0.7639, 0.5091, 0.2184, 1.7954, 1.111, -0.0948, 0.1589, -0.0269, 0.9973]\nstate[eef_state]: left_x=0.3114 left_y=-0.2712 left_z=0.0035 left_yaw=-0.004 left_pitch=-0.0773 left_roll=0.0721 left_gripper=0.5091 right_x=0.4745 right_y=0.0803 right_z=0.0893 right_yaw=0.0906 right_pitch=-0.2041 right_roll=-0.1215 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -11.3026, 5.8325, 0.906, -0.315, 0.0024, 1.0281, -0.3761, -10.7145, 7.2821, 1.6581, 0.0415, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0306, 1.7962, 0.9611, -0.2153, -0.7696, -0.7677, 0.5111, -0.0109, 0.8528, 0.6994, -0.387, 0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3069 left_y=-0.2658 left_z=0.0572 left_yaw=-0.0029 left_pitch=-0.1072 left_roll=0.1063 left_gripper=0.5111 right_x=0.3093 right_y=-0.0027 right_z=0.206 right_yaw=-0.0198 right_pitch=0.0281 right_roll=-0.0127 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -11.0701, 8.2667, 1.0574, -0.4567, 0.0269, 0.7985, -0.1846, -1.1009, 6.3932, 1.9512, -0.149, -0.1148, 0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a76b1639dfecbddb0d3390fe01041d846650d7d6eb84d5fa7d1f1df079fb9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602597ff2eeb5d04e6c960ce3817c6c40eb5be387bee2fdaa222748b753be9b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b8d03c61c4e361c8dd3a52eb384e4d5fec0f504b318780a431e48031cf2c95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0efb4b57b3dc8329016ab476a023a087d0b1ffaec04ede8cf6",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtHatMGn99wYYZag0oP9uK9u-Wv7ityrgnGLw3qje0eoQ3GKf3Ug46Gznv5BsflUkO2EaZwiremQ9BnZeoEmpepBaKbd04NK6skwHhYLYcwPmHDI8GMZQf0Zb0Ed2fLj43usTCWxZQOu2A47NYjsyd7YRYxaYBnm1nntCcYGT_3p-2z3tzxO6v_VOVOB1kuIJijHrh4JLUx8Rr3tr80D5BEqd2fMBXFC8_u27_e7LlyjiPhRPxIT3dq7U9jQk02Q4BjmdYMjTviWjhZw_8-Z5E6q95RiI70eskmDxohbQCG9zd0SlqxT8mry3MIHcnJez68w6gqXxoqB_Bd4mgkyEo-_-g3xUHmtHKU_-Bx1FiCPlpGYFjZ4Q88zYF7LSwD9ajqlj_yKE2-cVknsJHZ8pV-sCcCHD2ApxQQb9d6lHgtfZaAfu0g6zJi7HneVXEH7QoOZY3kK1MMOKrQbzrlFlBce5CH_NrxGoHsn_woedxzCCrk48wNjM6JNH85IQgQ4oWW7hj4dKrCyRuPRNuj-sjJWyal4pnI-T86LpMDl0cV0qx1OTMGOIOb6z9uXRXuCIXwbV1hXZod-WzYpJaFxPeayPjGdeFQojm0eoKkSGRI03IX-2ZtPzOrU8GL5F9iGGk7rThpV69Q0ozhVSodX4rCqoL-YFYaYGWMh4zwJP-wbzfiiXxD9pU616_ZxbAwtPq8SzDiZ5bYoHxRmfkn-pa-6XtgeZIgzdzHCbLFHKxWop0TATKqpLeMjVzY4UlR7nAwRkWsoVieKvkJNxmuidu0_qeafh7abLD8YaeycS2ktD_rPy16-IBh8mu5MArILtXLRFBDkMW3zIdK7WhM_9ParI8XBAOWyf4QGgXhl8xXUBiwp4sIiKu_8BED7ukX6RsXu7tDoVaQizeoFtnxqOqd2WOfryzL_bzUInnHrZGrFmrzb8hRWRtD0s4jITqAVLMdKCkNa4MmBxngOP_3Fir3qYOl8507ShPoVmjzdeO34toqgxRhhK4M2kKz04KyzkVeRoDJ0TugnRpEgQegzLtSkYhHdCMCtiQH0mG5kPyKqEvtht7dQv_OVRAB_MaSqwCM2LntIjgfmsCffe6omAd0KbUJzbU1WzlWuWlEgtyz_T-Sjw9A-AuaTKOrZkp66uGcPk68zWuoLZheq3xTBJnS9YS4wb3hILhH3FjpF4jO1OjRS4j2f5Q9sSBshtBCqs0IT_Tc7XDrXXmhsoLByvDDNLr-s16sqWBUSjUWSwsF7vD3ULk-g4OClGAocboPaYXMymvwVs9Rfl0XMqpEKQ54SEazfQq2BxQbZqYqF5Bz7E7VHOAb0eUjKsd6BYeW1x1WJX6cjcb4iUjuoPDUTFWV36oLquixMhiVfTQVzTpQQds7pGC8oHfAa7XK3oDipMESsq-JDZneTevLacLLf7famj6yS5hiEkvUvi20vJYSDP34HRGwNbVfsEctrfNXrTbFG-l-PsXFSKxCaFNq5J-Yg_ypdaeskKyBU3iaaKe0bcX1nU5_-0eBsPoEj9AkzsXMg5dOQ-Od3cbWHqoojhvfBeaxZgxOZ4dE_dopnwLIJM2cOvlILMnk-bETird58HVpzxR_J_rhhkH-TySrgVFg_6q0M4huXdhrVWPT4qxupKVmMgucIYNh_8bKJFv8IUkwkQOCwaGwpAeNH9mIilIwrsvDJV6oifstkqsRF3Vt7Plv-UN-_L935uOzSAGW5Hht6DdK6FwsaxEhiBt2PlO3qAEUVHRTCJM3HLRWtLgIrZnQpRi6f-vbA17ZNkrG9LAsi7YAoPtUpGFLAr35Fk517Cj6SLHy8ymyaUVcZ4xQMB8t4=",
  "id": "rs_0efb4b57b3dc8329016ab476a958d087d0af649308e8f5678d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.365,\"left_z\":0.16},\"note\":\"The dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m moving the fruit to a shared, clear area so the right arm can complete its transfer.\"}",
  "call_id": "call_73xoJGB8Q847kfDyPq1ge6fM",
  "id": "fc_0efb4b57b3dc8329016ab476ac19f087d096fc5e1a7f60e8dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_73xoJGB8Q847kfDyPq1ge6fM",
  "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]: [-1.0355, 2.0651, 1.7287, -0.7017, -0.7666, -0.7937, 0.5135, -0.0151, 0.8589, 0.6941, -0.4164, 0.0063, -0.02, 0.998]\nstate[eef_state]: left_x=0.3617 left_y=-0.3627 left_z=0.1503 left_yaw=0.0034 left_pitch=-0.1021 left_roll=0.074 left_gripper=0.5135 right_x=0.3054 right_y=-0.0021 right_z=0.1956 right_yaw=-0.0155 right_pitch=-0.0127 right_roll=-0.0071 right_gripper=0.998\nstate[joint_eff]: [-0.8547, -11.535, 7.8564, 0.6813, -0.4567, 0.0366, 0.5739, -0.0068, -2.1402, 7.4188, 2.0, 0.0659, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941d7b7b72ec2dfb4eb414005088aaa63523bc2ff44bc0a4c3255237b09667a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdbce100af954ee862ec04aa772e37def91333f75b88e9d6e493d0d43132191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124760c11e5c037156c81b27f028a51d1eefdeae3ac5baf05a1c2a7a436b05f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 1.953 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 56 changed as sent

message 61 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0294, 1.927, 0.8871, 0.0555, -0.7712, -0.7593, 0.9899, 0.215, 1.7748, 1.1206, -0.083, 0.1604, -0.0193, 0.4333]\nstate[eef_state]: left_x=0.313 left_y=-0.2747 left_z=0.0148 left_yaw=-0.0105 left_pitch=-0.0721 left_roll=0.0571 left_gripper=0.9899 right_x=0.4796 right_y=0.0795 right_z=0.1049 right_yaw=0.0827 right_pitch=-0.1618 right_roll=-0.1113 right_gripper=0.4333\nstate[joint_eff]: [-0.6496, -8.5128, 4.3966, 1.2479, -0.7009, 0.0171, -0.0806, 0.0342, -7.6376, 6.0103, 1.6386, 0.0952, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0306, 1.7962, 0.9611, -0.2153, -0.7696, -0.7677, 0.5111, -0.0109, 0.8528, 0.6994, -0.387, 0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3069 left_y=-0.2658 left_z=0.0572 left_yaw=-0.0029 left_pitch=-0.1072 left_roll=0.1063 left_gripper=0.5111 right_x=0.3093 right_y=-0.0027 right_z=0.206 right_yaw=-0.0198 right_pitch=0.0281 right_roll=-0.0127 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -11.0701, 8.2667, 1.0574, -0.4567, 0.0269, 0.7985, -0.1846, -1.1009, 6.3932, 1.9512, -0.149, -0.1148, 0.0562]\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 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]: [-1.0355, 2.0651, 1.7287, -0.7017, -0.7666, -0.7937, 0.5135, -0.0151, 0.8589, 0.6941, -0.4164, 0.0063, -0.02, 0.998]\nstate[eef_state]: left_x=0.3617 left_y=-0.3627 left_z=0.1503 left_yaw=0.0034 left_pitch=-0.1021 left_roll=0.074 left_gripper=0.5135 right_x=0.3054 right_y=-0.0021 right_z=0.1956 right_yaw=-0.0155 right_pitch=-0.0127 right_roll=-0.0071 right_gripper=0.998\nstate[joint_eff]: [-0.8547, -11.535, 7.8564, 0.6813, -0.4567, 0.0366, 0.5739, -0.0068, -2.1402, 7.4188, 2.0, 0.0659, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941d7b7b72ec2dfb4eb414005088aaa63523bc2ff44bc0a4c3255237b09667a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bdbce100af954ee862ec04aa772e37def91333f75b88e9d6e493d0d43132191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124760c11e5c037156c81b27f028a51d1eefdeae3ac5baf05a1c2a7a436b05f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.023},\"note\":\"The fruit is above a clear patch between the bowls and the arms. I’m lowering it onto the table for a controlled regrasp by the right arm.\"}",
  "call_id": "call_qj8a7TfeHXsJPciqi4VyHWkq",
  "id": "fc_0efb4b57b3dc8329016ab476b046c887d0b57d2b8304ac8cd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qj8a7TfeHXsJPciqi4VyHWkq",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 2.2044, 1.4559, -0.3256, -0.7628, -0.7933, 0.5164, -0.0151, 0.8604, 0.6941, -0.4213, 0.0063, -0.0196, 0.998]\nstate[eef_state]: left_x=0.358 left_y=-0.3585 left_z=0.0283 left_yaw=0.0035 left_pitch=-0.1231 left_roll=0.1038 left_gripper=0.5164 right_x=0.3049 right_y=-0.0021 right_z=0.1941 right_yaw=-0.0157 right_pitch=-0.0192 right_roll=-0.0068 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -11.4256, 5.2991, 1.2088, -0.3785, -0.0366, 0.2906, -0.0068, -1.812, 7.0222, 1.8046, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12692e8c81fe022d2902e00c609ac494fb0e3ccb9b7c36d00f594c7751af0149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c093d639d311939871080133156a0582f880f568909845325d4856a821e0af43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d152a2503e0fd3e470e3e08bea0f29d0f06d2b8289d1fdd7d4c4b8eedeb6b95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.934 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]: [-1.0302, 1.956, 0.8749, 0.078, -0.7773, -0.7639, 0.5091, 0.2184, 1.7954, 1.111, -0.0948, 0.1589, -0.0269, 0.9973]\nstate[eef_state]: left_x=0.3114 left_y=-0.2712 left_z=0.0035 left_yaw=-0.004 left_pitch=-0.0773 left_roll=0.0721 left_gripper=0.5091 right_x=0.4745 right_y=0.0803 right_z=0.0893 right_yaw=0.0906 right_pitch=-0.2041 right_roll=-0.1215 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -11.3026, 5.8325, 0.906, -0.315, 0.0024, 1.0281, -0.3761, -10.7145, 7.2821, 1.6581, 0.0415, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0355, 2.0651, 1.7287, -0.7017, -0.7666, -0.7937, 0.5135, -0.0151, 0.8589, 0.6941, -0.4164, 0.0063, -0.02, 0.998]\nstate[eef_state]: left_x=0.3617 left_y=-0.3627 left_z=0.1503 left_yaw=0.0034 left_pitch=-0.1021 left_roll=0.074 left_gripper=0.5135 right_x=0.3054 right_y=-0.0021 right_z=0.1956 right_yaw=-0.0155 right_pitch=-0.0127 right_roll=-0.0071 right_gripper=0.998\nstate[joint_eff]: [-0.8547, -11.535, 7.8564, 0.6813, -0.4567, 0.0366, 0.5739, -0.0068, -2.1402, 7.4188, 2.0, 0.0659, -0.0757, -0.0073]",
      "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]: [-1.0367, 2.2044, 1.4559, -0.3256, -0.7628, -0.7933, 0.5164, -0.0151, 0.8604, 0.6941, -0.4213, 0.0063, -0.0196, 0.998]\nstate[eef_state]: left_x=0.358 left_y=-0.3585 left_z=0.0283 left_yaw=0.0035 left_pitch=-0.1231 left_roll=0.1038 left_gripper=0.5164 right_x=0.3049 right_y=-0.0021 right_z=0.1941 right_yaw=-0.0157 right_pitch=-0.0192 right_roll=-0.0068 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -11.4256, 5.2991, 1.2088, -0.3785, -0.0366, 0.2906, -0.0068, -1.812, 7.0222, 1.8046, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12692e8c81fe022d2902e00c609ac494fb0e3ccb9b7c36d00f594c7751af0149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c093d639d311939871080133156a0582f880f568909845325d4856a821e0af43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d152a2503e0fd3e470e3e08bea0f29d0f06d2b8289d1fdd7d4c4b8eedeb6b95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit has reached the tabletop in the shared area. I’m opening the left gripper to set it down.\"}",
  "call_id": "call_mUHaKE2vR2pnRNzVwJdd0dCd",
  "id": "fc_0efb4b57b3dc8329016ab476b3736887d0816049bfb9d68d9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mUHaKE2vR2pnRNzVwJdd0dCd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 2.2272, 1.4387, -0.3172, -0.762, -0.7937, 0.9907, -0.0154, 0.8604, 0.6941, -0.4252, 0.0059, -0.0196, 0.998]\nstate[eef_state]: left_x=0.355 left_y=-0.3536 left_z=0.0129 left_yaw=0.0069 left_pitch=-0.1397 left_roll=0.1307 left_gripper=0.9907 right_x=0.3043 right_y=-0.0022 right_z=0.1933 right_yaw=-0.0157 right_pitch=-0.023 right_roll=-0.0065 right_gripper=0.998\nstate[joint_eff]: [-0.253, -13.7231, 7.0359, 0.9402, -0.4371, -0.0562, -0.8425, -0.0889, -1.7026, 6.9812, 1.7705, 0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0085bc08740e2bae6343d34461e60f7e78f9bb36a5cf74a355d8f502ba04565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcafe284fb8475c9ccb4e2228f919178761a2b99af30252c28f458343ffa0d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713aea12b5c4606c60bfb2f06f432bfdca11f13b49eb70be40fbe4b40f7b1989",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.365 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 67 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0306, 1.7962, 0.9611, -0.2153, -0.7696, -0.7677, 0.5111, -0.0109, 0.8528, 0.6994, -0.387, 0.0166, -0.0204, 0.9979]\nstate[eef_state]: left_x=0.3069 left_y=-0.2658 left_z=0.0572 left_yaw=-0.0029 left_pitch=-0.1072 left_roll=0.1063 left_gripper=0.5111 right_x=0.3093 right_y=-0.0027 right_z=0.206 right_yaw=-0.0198 right_pitch=0.0281 right_roll=-0.0127 right_gripper=0.9979\nstate[joint_eff]: [-0.3214, -11.0701, 8.2667, 1.0574, -0.4567, 0.0269, 0.7985, -0.1846, -1.1009, 6.3932, 1.9512, -0.149, -0.1148, 0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-1.0367, 2.2044, 1.4559, -0.3256, -0.7628, -0.7933, 0.5164, -0.0151, 0.8604, 0.6941, -0.4213, 0.0063, -0.0196, 0.998]\nstate[eef_state]: left_x=0.358 left_y=-0.3585 left_z=0.0283 left_yaw=0.0035 left_pitch=-0.1231 left_roll=0.1038 left_gripper=0.5164 right_x=0.3049 right_y=-0.0021 right_z=0.1941 right_yaw=-0.0157 right_pitch=-0.0192 right_roll=-0.0068 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -11.4256, 5.2991, 1.2088, -0.3785, -0.0366, 0.2906, -0.0068, -1.812, 7.0222, 1.8046, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 2.2272, 1.4387, -0.3172, -0.762, -0.7937, 0.9907, -0.0154, 0.8604, 0.6941, -0.4252, 0.0059, -0.0196, 0.998]\nstate[eef_state]: left_x=0.355 left_y=-0.3536 left_z=0.0129 left_yaw=0.0069 left_pitch=-0.1397 left_roll=0.1307 left_gripper=0.9907 right_x=0.3043 right_y=-0.0022 right_z=0.1933 right_yaw=-0.0157 right_pitch=-0.023 right_roll=-0.0065 right_gripper=0.998\nstate[joint_eff]: [-0.253, -13.7231, 7.0359, 0.9402, -0.4371, -0.0562, -0.8425, -0.0889, -1.7026, 6.9812, 1.7705, 0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0085bc08740e2bae6343d34461e60f7e78f9bb36a5cf74a355d8f502ba04565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcafe284fb8475c9ccb4e2228f919178761a2b99af30252c28f458343ffa0d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:713aea12b5c4606c60bfb2f06f432bfdca11f13b49eb70be40fbe4b40f7b1989",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHa4vQEVYaCvh9eYQ25NwLmVoYDeZgTlrn0lHwcUEnf5BznEsbm8y0TYq1uXLr0aQY2ewfR3fj_V0r2nvo_yv4-BjvMTAniKNAyaSfSGZibDJfsej1oEza9ddOh5IK8ecZkKDbuuUs6-zskOoJ3_dyLso3EeYaWS--B4WUpdm_jiAaXkCJyTzQLyWpnQwxQyyLBcxciTK8MSE2lCOdCha9HtwG94Fy0GrRpcPb2Wsii2KH6FE7rVlml62-klJmhP9j3fmzm0ptp6sAeibdvtnXG0QwdP8PFFbgV1Q9S7DK_nrgXb-meqakrNOy5pR0oir7BXWpHlwICSo6mV1Sc-_CFb_1OtX3hHY_u1NOYkDU2KYVLGtwjyNlod7VXFdMhmzetfknBHtWxDrtaCUjJZ8CH7Sp4rRrzdirPQe6D6KJOBw9MCcYN5YUz6bT7J_uA0IYHT28iT7bg0GyKxZoTvwsd1R-RMVO35Ij_ttnCLrx514I5wxmUavxtb3lDFt3Tu1qLhcYxl-xOJnMCr8xLsOWama4x57lsrCOEk6MwUIgytmITuFUP_F0mt55v_jJQvXK3Uzp50kaiYEChCROQq7vRPD6ugGyQ-pYOqpjLwI22ButeUGRF_SEtGcysY58uvk0iNmqYKRwz72qs8ko4MrIwgINXLSPVgBxDZb0Iyy1BX9jDwNFaZirKSIxmoZN8m_JsabS2fTutu-Dv6eHqQ6DZER9-K0ecET24pBST6lTWN1izkRzc4rFjNSSldXz-wwW6s1qCl6dqkshgse12xUdAXffAwbsLJiGvtzgngn0x5YzHwinb2h0AbxRymoWJE-P6Kx6PoYacMzILq2W39EGh88_Kh2W5FovAyihcAmfWz7__ba0fFL2WfMFSvlLJWCf5Nc4GN9SmJ8ClkuET3-gPEfLQnw95K8Gg0Pr1K1yIecO-t-nrEBE9eqISTpoShWBb3PkdRavMHdXJESJFRJIqzBDiSp_iL-0vNPdVdC1YF22DQ1YG1EslOstjOJrFF0CF1Sv3ud-E3h-IhCvvQu2wsaxQshxVcSSR2UimwALh7t54HZAQsJR4-IcEZMYBtEzp-PDPcca3hQk0rcAgg7c3F2uBcOKgC4USvCcjmD_J3wzTEfBh0-4eEYIjdh98BGTRDBKxYobO1bccuMak76zeH2TVsKUTOoFZKbmlcNWXF-tHJR4O0NdjgwXl5gNndxxyMIAUXPVdZVKEVxDSMzr0YP0KYH01ZWQQD9gidcfd8vh_89eCzWbf4ozFLIB6fjyMIP33gNMFGPIup6kpS4z4Qy8kYTi3sgZJ3QJPGuqW9HED4oL_eKOi7cH9LaWXP40LUTQeZdkj39tsGMI_V-EKA_KI6UdAhE3i8Z3rc7x_0A6DOOXY1jC_x338iPLzvyrwNtWmXBOHfAMlPrdwu93ugyAWSdOjXmzVhp4bBtPPFVb7M_ZMjFrJQhE_niPAQVog0o5wsG1TeoVStT-y-W6MwHzwlCeYv-uxizomuJRHRnM0zbfi036D1A8XYycD_2Il27WcBdHy-YN93-keZ79qjYUXmQ4F65eQvaG2BSACrLD0E4l_Dpl--qcFogXH449Z1",
  "id": "rs_0efb4b57b3dc8329016ab476b5d5dc87d0909171f8ec7d36b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.355,\"right_y\":0.296,\"right_z\":0.13},\"note\":\"The dark fruit is released on the table. I’m withdrawing the left arm and bringing the right gripper above the same location, keeping the hands separated.\"}",
  "call_id": "call_36ehZEcCcq46IYq8aGDG4l9S",
  "id": "fc_0efb4b57b3dc8329016ab476b7423087d0a509cce323cc902c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36ehZEcCcq46IYq8aGDG4l9S",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.0513, 0.8204, 0.6491, -0.4282, -0.0956, -0.086, 0.9898, 0.9482, 1.7996, 1.1877, -0.289, 0.7261, 0.6319, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0053 left_z=0.1839 left_yaw=0.0683 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3492 right_y=0.2915 right_z=0.1192 right_yaw=0.0171 right_pitch=-0.0584 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [0.1299, -1.7573, 10.2496, 1.6288, 0.2125, 0.1294, -0.105, 0.3761, -8.9641, 8.4308, 1.3358, 0.5104, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56378dc8b352cb29e22d8e3cb7d4368a1fc3be89e0c0a07f8e0b93818fe99e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f69bf84d91649d97cc29b5534b12b2605bb97dee062a7dd1cbaf7b07380cba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56ba5777043d845827ad76a9394db2e81b2502aac621055053b3460fced692",
      "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 20 attempt 0 · /responses · status 200 · 2.113 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 67 changed as sent

message 71 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]: [-1.0355, 2.0651, 1.7287, -0.7017, -0.7666, -0.7937, 0.5135, -0.0151, 0.8589, 0.6941, -0.4164, 0.0063, -0.02, 0.998]\nstate[eef_state]: left_x=0.3617 left_y=-0.3627 left_z=0.1503 left_yaw=0.0034 left_pitch=-0.1021 left_roll=0.074 left_gripper=0.5135 right_x=0.3054 right_y=-0.0021 right_z=0.1956 right_yaw=-0.0155 right_pitch=-0.0127 right_roll=-0.0071 right_gripper=0.998\nstate[joint_eff]: [-0.8547, -11.535, 7.8564, 0.6813, -0.4567, 0.0366, 0.5739, -0.0068, -2.1402, 7.4188, 2.0, 0.0659, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 2.2272, 1.4387, -0.3172, -0.762, -0.7937, 0.9907, -0.0154, 0.8604, 0.6941, -0.4252, 0.0059, -0.0196, 0.998]\nstate[eef_state]: left_x=0.355 left_y=-0.3536 left_z=0.0129 left_yaw=0.0069 left_pitch=-0.1397 left_roll=0.1307 left_gripper=0.9907 right_x=0.3043 right_y=-0.0022 right_z=0.1933 right_yaw=-0.0157 right_pitch=-0.023 right_roll=-0.0065 right_gripper=0.998\nstate[joint_eff]: [-0.253, -13.7231, 7.0359, 0.9402, -0.4371, -0.0562, -0.8425, -0.0889, -1.7026, 6.9812, 1.7705, 0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0513, 0.8204, 0.6491, -0.4282, -0.0956, -0.086, 0.9898, 0.9482, 1.7996, 1.1877, -0.289, 0.7261, 0.6319, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0053 left_z=0.1839 left_yaw=0.0683 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3492 right_y=0.2915 right_z=0.1192 right_yaw=0.0171 right_pitch=-0.0584 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [0.1299, -1.7573, 10.2496, 1.6288, 0.2125, 0.1294, -0.105, 0.3761, -8.9641, 8.4308, 1.3358, 0.5104, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56378dc8b352cb29e22d8e3cb7d4368a1fc3be89e0c0a07f8e0b93818fe99e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f69bf84d91649d97cc29b5534b12b2605bb97dee062a7dd1cbaf7b07380cba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a56ba5777043d845827ad76a9394db2e81b2502aac621055053b3460fced692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHa-5G4PEUAqOQx61fJdp7bw8nv_kRwJW9j-1dQ2oy5A7peQgI-04ZlyUEVP1R9XzC1MSOyXS-Zcw6KWSX3gAlauQyJUFgNB-wKiIQS_kSoJTBkUTJfbpULJrqHmH8zypkB9qjE4E3bPK_pEBytM3X1I9Y1dSy-4c7SjvqzaIKBeQJJPPkUbF-n-6wJOiVjlb4tZ9ubM0rIizxeM0klZonK7339COi3XYej_nlUzPNQlCVb33tSJDO823bpx05ksS59pU_K-yQCNVSTK_gshurr7TSUfA2FkWAARFqgIyA4TkYY6Hpg_iJLYDl591uf2Jc91Ks-_keCVvmSwxlO2UUMVkOGvSfqhMcFQ4dwNx7VLdQZD20ajp8sFw46n_HGC2w3XBQpyqfPTZt8dosLidA-1Mk8p0gsp8Dr_1fI_fKq9eEBW3LKCsqOQaUzmHHCI1O0kDK97fJPX4PQcNxIP081x-p4rGuYi9X4pVzc7fOSkcRB4XeofNNp30gPTAkqp1O9eTWdDCoDvYDXYUgE2DKWNsMTIchdmoDNmDTCRBOHPuQtWMajVFQdIrk1A27xihtRwg5WGHQS-KIBUaEh5C1lNelBOF0YqtnM5eXTkstN5NlaMWL--mquBVshtc9lYk2U1HRq8x4Yq36VFhGHG_ZFX9U9D-TXImkA6Nve-sw9peJ7k5lH6WqpbwYm3aunshkMdALiTkJMfCTnin7Y6hwY7H7idoC5t8luyf79yRd1XIPOwYeFlRJpZjcY-jZMnry_d68jmK9H99DBC9UGW8pfjDl4WROnAHCo49ljTRseUEqK9yptnEeQi3uuYqOkkxuJEWCe4z3Q297xnDa3xn_OcFCSCE5mW8IlFKUz89xbuoaPhZQc3_hQwHAx5Ve4am0Pl5OwR1HCCBkIHjSy2i9Z19caRtYXO5DxaAAfYMfBl-1jZcH8yS2XvIL4VmvcybuZbw-Ge3VxNLYtQv_wCDVDi5s_fKgPiF196NXCVK8Wby0vCOiIbZJIa8QqqjQBIuvLHa-V_rd80de9U5oQN2W_oZJOUbLqHPIq6wOZn4Xa8YOLGD2Z3K8eG4p4k-YtDlc7s8lankxjiZHtPmI0r3DVp7ki2zdWs4hyRHiXhaMCrdtJGZZvxK_F8dogKEnTf9VAk0uGXBLc0p2wD4_6DPY6eK6M2AeSm3mYCzelgY_Idu_nSEcoly5dYAxAfox2qP4S31j2HjEGXZ5MTmsVWmctmLlx9ocJ9jvHgccjMstCUFzDDjEupToYxhsv86Ga5l3Q1q7O1WPGywB0nd3XwBruLZK7tC9THXfre-AXHct468IMKTgu07g5aKaTMppSnid-vxuSFGiSef0EYInvWb75jmZB4LKnwZUPai9G6hk4HwzZqIpkHORmIw_8iwajYgE_ROTRXyQE7G-RGFA4hxSwMHhNdEVvNlRuNTt8kGY4G1KhekEeP8iYezv3Hb6466KgSzcaw9-9sBb3jO0x9XRY9oKeh9jGztcjypnP6x5NiEsEB56l665CL8F0HclxZHQ2OnF53tYUkHou6gOcJV-L5ww==",
  "id": "rs_0efb4b57b3dc8329016ab476bcf9cc87d0a11a28ae45f892f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.321,\"right_z\":0.022},\"note\":\"The dark fruit is slightly left of the right gripper’s centerline. I’m correcting that offset and descending to grasp it.\"}",
  "call_id": "call_yAGHFUXtrTRRloI6nQ0vw5KG",
  "id": "fc_0efb4b57b3dc8329016ab476be1d8c87d09593ab2b09950741",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yAGHFUXtrTRRloI6nQ0vw5KG",
  "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]: [-0.049, 0.8246, 0.6525, -0.4454, -0.0895, -0.0795, 0.9898, 0.9752, 2.0624, 1.1503, -0.0513, 0.7288, 0.6476, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.005 left_z=0.1807 left_yaw=0.062 left_pitch=-0.0457 left_roll=0.0038 left_gripper=0.9898 right_x=0.3509 right_y=0.3145 right_z=0.0221 right_yaw=0.0302 right_pitch=-0.0932 right_roll=-0.0798 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -1.7436, 6.7077, 1.8681, -0.1343, -0.1099, -0.0122, 0.4034, -10.1949, 5.6684, 1.4286, 0.4029, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fb767296b41d2271643875cd8ae0ee89025a8b27f021a6590aae4541175184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd26ae226d5ce9d43a2013d23f3b546ae2bd1fd7645819fd8d97f6f29e6e535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e49ad59f0063098848933e217bbfc54142d07cc555502b915b252995cd548bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 2.384 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 71 changed as sent

message 75 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]: [-1.0367, 2.2044, 1.4559, -0.3256, -0.7628, -0.7933, 0.5164, -0.0151, 0.8604, 0.6941, -0.4213, 0.0063, -0.0196, 0.998]\nstate[eef_state]: left_x=0.358 left_y=-0.3585 left_z=0.0283 left_yaw=0.0035 left_pitch=-0.1231 left_roll=0.1038 left_gripper=0.5164 right_x=0.3049 right_y=-0.0021 right_z=0.1941 right_yaw=-0.0157 right_pitch=-0.0192 right_roll=-0.0068 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -11.4256, 5.2991, 1.2088, -0.3785, -0.0366, 0.2906, -0.0068, -1.812, 7.0222, 1.8046, 0.0024, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0513, 0.8204, 0.6491, -0.4282, -0.0956, -0.086, 0.9898, 0.9482, 1.7996, 1.1877, -0.289, 0.7261, 0.6319, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0053 left_z=0.1839 left_yaw=0.0683 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3492 right_y=0.2915 right_z=0.1192 right_yaw=0.0171 right_pitch=-0.0584 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [0.1299, -1.7573, 10.2496, 1.6288, 0.2125, 0.1294, -0.105, 0.3761, -8.9641, 8.4308, 1.3358, 0.5104, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8246, 0.6525, -0.4454, -0.0895, -0.0795, 0.9898, 0.9752, 2.0624, 1.1503, -0.0513, 0.7288, 0.6476, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.005 left_z=0.1807 left_yaw=0.062 left_pitch=-0.0457 left_roll=0.0038 left_gripper=0.9898 right_x=0.3509 right_y=0.3145 right_z=0.0221 right_yaw=0.0302 right_pitch=-0.0932 right_roll=-0.0798 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -1.7436, 6.7077, 1.8681, -0.1343, -0.1099, -0.0122, 0.4034, -10.1949, 5.6684, 1.4286, 0.4029, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fb767296b41d2271643875cd8ae0ee89025a8b27f021a6590aae4541175184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dd26ae226d5ce9d43a2013d23f3b546ae2bd1fd7645819fd8d97f6f29e6e535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e49ad59f0063098848933e217bbfc54142d07cc555502b915b252995cd548bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit is now centered between the right jaws. I’m closing the gripper for the final fruit transfer.\"}",
  "call_id": "call_yGOaPgImZ1q2QhmNxhuadVAR",
  "id": "fc_0efb4b57b3dc8329016ab476c0fd5087d0a74a9a52f3c75ae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yGOaPgImZ1q2QhmNxhuadVAR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8253, 0.6525, -0.4496, -0.0895, -0.0826, 0.9898, 0.9741, 2.0888, 1.1503, -0.0494, 0.7246, 0.6441, 0.5116]\nstate[eef_state]: left_x=0.2932 left_y=0.005 left_z=0.1797 left_yaw=0.0637 left_pitch=-0.0506 left_roll=0.0019 left_gripper=0.9898 right_x=0.3497 right_y=0.3129 right_z=0.0104 right_yaw=0.0315 right_pitch=-0.1105 right_roll=-0.1003 right_gripper=0.5116\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7509, -0.0708, -0.0122, -0.0122, 0.0068, -12.7932, 5.3128, 1.1941, 0.2955, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671f1bcc5c14fc440f93781224ffd50ffd6561618195c72cc73693d81e1b4a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3742c3e58c443df7d55440d88ad451e03c90d38eb70fb4e84a55db1121cef5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c0c2ee388590d83cf6ec16caa414fafd0bc1bc878d9a6d2be7be124d141892",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.209 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 78 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 2.2272, 1.4387, -0.3172, -0.762, -0.7937, 0.9907, -0.0154, 0.8604, 0.6941, -0.4252, 0.0059, -0.0196, 0.998]\nstate[eef_state]: left_x=0.355 left_y=-0.3536 left_z=0.0129 left_yaw=0.0069 left_pitch=-0.1397 left_roll=0.1307 left_gripper=0.9907 right_x=0.3043 right_y=-0.0022 right_z=0.1933 right_yaw=-0.0157 right_pitch=-0.023 right_roll=-0.0065 right_gripper=0.998\nstate[joint_eff]: [-0.253, -13.7231, 7.0359, 0.9402, -0.4371, -0.0562, -0.8425, -0.0889, -1.7026, 6.9812, 1.7705, 0.0024, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8246, 0.6525, -0.4454, -0.0895, -0.0795, 0.9898, 0.9752, 2.0624, 1.1503, -0.0513, 0.7288, 0.6476, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.005 left_z=0.1807 left_yaw=0.062 left_pitch=-0.0457 left_roll=0.0038 left_gripper=0.9898 right_x=0.3509 right_y=0.3145 right_z=0.0221 right_yaw=0.0302 right_pitch=-0.0932 right_roll=-0.0798 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -1.7436, 6.7077, 1.8681, -0.1343, -0.1099, -0.0122, 0.4034, -10.1949, 5.6684, 1.4286, 0.4029, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8253, 0.6525, -0.4496, -0.0895, -0.0826, 0.9898, 0.9741, 2.0888, 1.1503, -0.0494, 0.7246, 0.6441, 0.5116]\nstate[eef_state]: left_x=0.2932 left_y=0.005 left_z=0.1797 left_yaw=0.0637 left_pitch=-0.0506 left_roll=0.0019 left_gripper=0.9898 right_x=0.3497 right_y=0.3129 right_z=0.0104 right_yaw=0.0315 right_pitch=-0.1105 right_roll=-0.1003 right_gripper=0.5116\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7509, -0.0708, -0.0122, -0.0122, 0.0068, -12.7932, 5.3128, 1.1941, 0.2955, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671f1bcc5c14fc440f93781224ffd50ffd6561618195c72cc73693d81e1b4a80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3742c3e58c443df7d55440d88ad451e03c90d38eb70fb4e84a55db1121cef5d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c0c2ee388590d83cf6ec16caa414fafd0bc1bc878d9a6d2be7be124d141892",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper again holds the expected fruit width. I’m lifting briefly to verify the regrasp before carrying it to the bowl.\"}",
  "call_id": "call_YJhGnMeODjIIDVk6ITulT1WT",
  "id": "fc_0efb4b57b3dc8329016ab476c40a1887d09499e6ef9c3c3f71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YJhGnMeODjIIDVk6ITulT1WT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8265, 0.6525, -0.4526, -0.0895, -0.083, 0.9898, 0.9733, 1.9793, 1.2373, -0.2695, 0.717, 0.6437, 0.5073]\nstate[eef_state]: left_x=0.2928 left_y=0.005 left_z=0.1788 left_yaw=0.0639 left_pitch=-0.0548 left_roll=0.0021 left_gripper=0.9898 right_x=0.3483 right_y=0.3119 right_z=0.0608 right_yaw=0.0332 right_pitch=-0.1296 right_roll=-0.116 right_gripper=0.5073\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7118, -0.1001, -0.0464, -0.0171, -0.0479, -12.4923, 7.6103, 1.0965, 0.3883, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11520028b416565587b8d97d24e9ccf049905679a28cc7f9e3f20bb49cfda9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e29ddc87ddbf9ff8cf4563e2b103cbefb015a2a854ebef43a002114edae4a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d888f7f90a4fc8b91a66e228d8350139ac0d8347ef252ed817fa335b431dd2f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 2.478 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 78 changed as sent

message 81 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0513, 0.8204, 0.6491, -0.4282, -0.0956, -0.086, 0.9898, 0.9482, 1.7996, 1.1877, -0.289, 0.7261, 0.6319, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0053 left_z=0.1839 left_yaw=0.0683 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3492 right_y=0.2915 right_z=0.1192 right_yaw=0.0171 right_pitch=-0.0584 right_roll=-0.0404 right_gripper=0.998\nstate[joint_eff]: [0.1299, -1.7573, 10.2496, 1.6288, 0.2125, 0.1294, -0.105, 0.3761, -8.9641, 8.4308, 1.3358, 0.5104, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8253, 0.6525, -0.4496, -0.0895, -0.0826, 0.9898, 0.9741, 2.0888, 1.1503, -0.0494, 0.7246, 0.6441, 0.5116]\nstate[eef_state]: left_x=0.2932 left_y=0.005 left_z=0.1797 left_yaw=0.0637 left_pitch=-0.0506 left_roll=0.0019 left_gripper=0.9898 right_x=0.3497 right_y=0.3129 right_z=0.0104 right_yaw=0.0315 right_pitch=-0.1105 right_roll=-0.1003 right_gripper=0.5116\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7509, -0.0708, -0.0122, -0.0122, 0.0068, -12.7932, 5.3128, 1.1941, 0.2955, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8265, 0.6525, -0.4526, -0.0895, -0.083, 0.9898, 0.9733, 1.9793, 1.2373, -0.2695, 0.717, 0.6437, 0.5073]\nstate[eef_state]: left_x=0.2928 left_y=0.005 left_z=0.1788 left_yaw=0.0639 left_pitch=-0.0548 left_roll=0.0021 left_gripper=0.9898 right_x=0.3483 right_y=0.3119 right_z=0.0608 right_yaw=0.0332 right_pitch=-0.1296 right_roll=-0.116 right_gripper=0.5073\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7118, -0.1001, -0.0464, -0.0171, -0.0479, -12.4923, 7.6103, 1.0965, 0.3883, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11520028b416565587b8d97d24e9ccf049905679a28cc7f9e3f20bb49cfda9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e29ddc87ddbf9ff8cf4563e2b103cbefb015a2a854ebef43a002114edae4a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d888f7f90a4fc8b91a66e228d8350139ac0d8347ef252ed817fa335b431dd2f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbK79U7gTQj2Ge-mZ5HHmk5K4hWtZjWOuP-BvIWDF7lnQ9xv2lpJVUFywQ3efcQYGURii_vKgOouMCvP4RF4QOnPJTgA3O890RenHQ9t9rwtgIiyHAQSJMKZWBgFLMT7EInkHql-5eTEpTdmitegECz2tbkUWuxGHk4z2R2gvp4COR9mZv9vy0jwIH9BWMzUv4KuUmLn-cCJYuebvMsSOyKPsCGdER72d6GrEwK8xZM43DEbTr5NhF91-G7LVToyMYHys4v6Cj9m8szjMjyiFZa3L8GsP4bI9Fj8JM-lEQ8e9WerW7B6gbpUo8qnZr4mDd-LziA6L4ji429rV3UMI8jPq_CRkfUfufwaEwceHJF16y4AkMKc2uAp9gLz3nM2gdjACRW9xZktRdLFRlmZ_3SIYauOMU5sZHnwQuElnNKbAs1feYbC5eUt9qYV29XuMhgjjnnG0tzegm3bJ-GNyK3ON7SJ_mQUhkZ7UbsnPEBBe7PM08XGFAf9JOOB8yobh0by0NqJsguOSuD3G9jdjfx0aLt1Jx57ef0qXCmbwwWdK6wxEXfTgDTgDkhOESU6WuMzBUuYppvz46wY-rWv1g892fcmdokh248V3Vq7u_fRSmayjWE2f3DNGoDeqeZJcep-qxGFwav29_5-DQgO9o2yqW8IbA_lx4gWqUR3AFB7KjYbwneOiZzcJNdmyXF2HYbsTX8cfBvq5JhsIieg94ZKJCtMY97YPD6iYKzhblhnJQd57EWWu2q16hlvAZCUq_zczxvsQQjHPw_ZAqXe5jU9V95MvbQrEtSAVxq-9QEYT9fIkVvlWpMqsMq8ntUW6J7wbwAeipiu7EpeY-L49d6JKl_AOiHFeQvem6kPV4xsn290i5CCtZCUMdD1SgEVC-tNkpulHPbLUZeXkBVIPww8JDzdRiJ8BKxYnSZ8hie20gL05ueHRufHEG5k06eYg36KITQRUAJtAauWuGLwdrPRz0G2b4crulmK3VpEPvowQ2X0Lj_KNKIm-N_BUBZrKel4cQZpEbJrGhi2MAbk3z4zrjw1tQZ2zpZRTMqERnDrjNCrQnQvg4M6-s05-NRTK3VdZ9HWJHy-lUewW8t7HK-HyBKptH0WUYTGG4S0We5bvazYaLfDeUWaCC2ZDOsE9l88iXMSi2YV8goPOdpUHHfdSs_HUjqx8nC0XcfQTWYqcnw3u7oyqPFdy4jtvsn1B4RlXbztNooQI4W5PmMF259xD8lLSB6deUq2yfiRaJOg71bbzSmgUgz6gee3vpkofjhg32je-KDhmaFw7tcm-ZiUJcF0qbNbQGeHr60JLgf5wXhBJijpJ85akRHMk_K5a2DMLtY4pewdOF6pR7ykiLKU1RjjaESacV29zaOfNsoiWgtUca4XRrDU0I5c3qHAR9aziiftTD4HUet4pW4YbAEhwHCgIMg_Ji0oFkuQNkuRtc6xlwBSZ9fkSl_X7gTX6MhlSknmRqvizhgfzlTAY-9IwWDpUhenNf03TrogHmCwrocZZXNvmb_1U2E3cw4kZ8OpDhRoi6KA9qpHWIYtbUdpte1B82BlxDfFAUFxer4_Ntfct3BVX3n8eCBREDNdFR8eITaS7F5srZ12AJtievNPwH3w_BNpZ1ajrGJAxeYLXwHFxzQtZndN_qqBruBOBCKD_sL6zSVG-z5c2zRA9aG6hEWBhS7IyvsK-aj2TRYkm1IrVZIHEYzfhpG3HJloxXQUaOVKx-ZpUInImQjh78EksApqrkrw7tXlSdsE5FzOx6XjlKHnucWApYY4ebvlXVZlffrx0C68NovHGYPTm-leDmjQKx3H3pQF8H5thr29gGiMCF1Y_xxaUK79D6ddvOXVNItg1XXUpZz_wLxKT2QNli_dQt4Td9ZIzuNTW9bMDRgX-J_DiWCyee3LgXmge7axkEiAR6x5ubyxsDb8ksUD0saOAdjYd71S8y_8G5UaGybnmYUtD7KjlmhSyGELincRnA9QTkCBWfMq4-YbpqL6Shx4_0rruQ7tj4o7wS6EL-B9dooHCz_8cZtUHBc3HrLZ0TF501ebnqjZPMtCI0eFA==",
  "id": "rs_0efb4b57b3dc8329016ab476c69fc087d0b195d83ac55d668f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.115,\"right_z\":0.21},\"note\":\"The dark fruit rose with the right gripper. I’m carrying it above the blue bowl, offset slightly toward the available space beside the other fruits.\"}",
  "call_id": "call_ky4MHoYCo6AGvSHgsyTSdyqe",
  "id": "fc_0efb4b57b3dc8329016ab476c9b27887d099d7a552b628baeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ky4MHoYCo6AGvSHgsyTSdyqe",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8299, 0.6525, -0.4541, -0.0891, -0.083, 0.9898, 0.3477, 1.7355, 1.4227, -0.4808, 0.3119, 0.1032, 0.5076]\nstate[eef_state]: left_x=0.2929 left_y=0.005 left_z=0.1775 left_yaw=0.0636 left_pitch=-0.0597 left_roll=0.0024 left_gripper=0.9898 right_x=0.4704 right_y=0.1166 right_z=0.1844 right_yaw=0.0195 right_pitch=-0.1844 right_roll=-0.1363 right_gripper=0.5076\nstate[joint_eff]: [-0.3214, -1.5795, 6.9675, 1.6972, -0.0415, -0.0513, -0.0122, -0.3487, -9.5932, 9.8393, 1.7216, 0.0562, 0.1245, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d0c4058609731af987a18d204d4e90c08a68b3c2680412b7fbc5e9dd97f6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487135aaeb397a4e27a81d51b705ae2c5793a98f21a59959e9df4d61868ac465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c623c8d5b26ea6d87f9c886ef6dbeb5a10f17e1cc38bc6f724573b99464742c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 4.665 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 81 changed as sent

message 85 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8246, 0.6525, -0.4454, -0.0895, -0.0795, 0.9898, 0.9752, 2.0624, 1.1503, -0.0513, 0.7288, 0.6476, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.005 left_z=0.1807 left_yaw=0.062 left_pitch=-0.0457 left_roll=0.0038 left_gripper=0.9898 right_x=0.3509 right_y=0.3145 right_z=0.0221 right_yaw=0.0302 right_pitch=-0.0932 right_roll=-0.0798 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -1.7436, 6.7077, 1.8681, -0.1343, -0.1099, -0.0122, 0.4034, -10.1949, 5.6684, 1.4286, 0.4029, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8265, 0.6525, -0.4526, -0.0895, -0.083, 0.9898, 0.9733, 1.9793, 1.2373, -0.2695, 0.717, 0.6437, 0.5073]\nstate[eef_state]: left_x=0.2928 left_y=0.005 left_z=0.1788 left_yaw=0.0639 left_pitch=-0.0548 left_roll=0.0021 left_gripper=0.9898 right_x=0.3483 right_y=0.3119 right_z=0.0608 right_yaw=0.0332 right_pitch=-0.1296 right_roll=-0.116 right_gripper=0.5073\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7118, -0.1001, -0.0464, -0.0171, -0.0479, -12.4923, 7.6103, 1.0965, 0.3883, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8299, 0.6525, -0.4541, -0.0891, -0.083, 0.9898, 0.3477, 1.7355, 1.4227, -0.4808, 0.3119, 0.1032, 0.5076]\nstate[eef_state]: left_x=0.2929 left_y=0.005 left_z=0.1775 left_yaw=0.0636 left_pitch=-0.0597 left_roll=0.0024 left_gripper=0.9898 right_x=0.4704 right_y=0.1166 right_z=0.1844 right_yaw=0.0195 right_pitch=-0.1844 right_roll=-0.1363 right_gripper=0.5076\nstate[joint_eff]: [-0.3214, -1.5795, 6.9675, 1.6972, -0.0415, -0.0513, -0.0122, -0.3487, -9.5932, 9.8393, 1.7216, 0.0562, 0.1245, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d0c4058609731af987a18d204d4e90c08a68b3c2680412b7fbc5e9dd97f6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487135aaeb397a4e27a81d51b705ae2c5793a98f21a59959e9df4d61868ac465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c623c8d5b26ea6d87f9c886ef6dbeb5a10f17e1cc38bc6f724573b99464742c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The blue bowl and the first two fruits are directly below the held fruit. I’m lowering gently into the remaining space before releasing it.\"}",
  "call_id": "call_DB79gVtW3gRaEaXY0xFfIfwo",
  "id": "fc_0efb4b57b3dc8329016ab476cd798c87d0933124be9b90a504",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DB79gVtW3gRaEaXY0xFfIfwo",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4679, -0.0891, -0.083, 0.9898, 0.3477, 1.7863, 1.2125, -0.3042, 0.2981, 0.0891, 0.5112]\nstate[eef_state]: left_x=0.291 left_y=0.005 left_z=0.1742 left_yaw=0.0638 left_pitch=-0.0756 left_roll=0.0042 left_gripper=0.9898 right_x=0.4559 right_y=0.1139 right_z=0.1036 right_yaw=0.0325 right_pitch=-0.2687 right_roll=-0.1639 right_gripper=0.5112\nstate[joint_eff]: [-0.3761, -1.6205, 7.1316, 1.8437, -0.0611, -0.0611, -0.0122, -0.1026, -9.0325, 7.1863, 1.8779, 0.2222, 0.1148, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e31d2c513141a198c9f74cc3f2c5f26d1bb767e032be10da8cd4b46043e9f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca09b118b581c294b4d1b9603882d705effeedc61fa9c73067ac3799f12e44c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cdde4cb4f65ebbfa1f193d32068b5d84aad4637e603fe172e6ea9a16b3d742",
      "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 · 3.165 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 85 changed as sent

message 88 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8253, 0.6525, -0.4496, -0.0895, -0.0826, 0.9898, 0.9741, 2.0888, 1.1503, -0.0494, 0.7246, 0.6441, 0.5116]\nstate[eef_state]: left_x=0.2932 left_y=0.005 left_z=0.1797 left_yaw=0.0637 left_pitch=-0.0506 left_roll=0.0019 left_gripper=0.9898 right_x=0.3497 right_y=0.3129 right_z=0.0104 right_yaw=0.0315 right_pitch=-0.1105 right_roll=-0.1003 right_gripper=0.5116\nstate[joint_eff]: [-0.3624, -1.2376, 7.0906, 1.7509, -0.0708, -0.0122, -0.0122, 0.0068, -12.7932, 5.3128, 1.1941, 0.2955, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8299, 0.6525, -0.4541, -0.0891, -0.083, 0.9898, 0.3477, 1.7355, 1.4227, -0.4808, 0.3119, 0.1032, 0.5076]\nstate[eef_state]: left_x=0.2929 left_y=0.005 left_z=0.1775 left_yaw=0.0636 left_pitch=-0.0597 left_roll=0.0024 left_gripper=0.9898 right_x=0.4704 right_y=0.1166 right_z=0.1844 right_yaw=0.0195 right_pitch=-0.1844 right_roll=-0.1363 right_gripper=0.5076\nstate[joint_eff]: [-0.3214, -1.5795, 6.9675, 1.6972, -0.0415, -0.0513, -0.0122, -0.3487, -9.5932, 9.8393, 1.7216, 0.0562, 0.1245, 0.8816]",
      "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]: [-0.049, 0.8322, 0.6525, -0.4679, -0.0891, -0.083, 0.9898, 0.3477, 1.7863, 1.2125, -0.3042, 0.2981, 0.0891, 0.5112]\nstate[eef_state]: left_x=0.291 left_y=0.005 left_z=0.1742 left_yaw=0.0638 left_pitch=-0.0756 left_roll=0.0042 left_gripper=0.9898 right_x=0.4559 right_y=0.1139 right_z=0.1036 right_yaw=0.0325 right_pitch=-0.2687 right_roll=-0.1639 right_gripper=0.5112\nstate[joint_eff]: [-0.3761, -1.6205, 7.1316, 1.8437, -0.0611, -0.0611, -0.0122, -0.1026, -9.0325, 7.1863, 1.8779, 0.2222, 0.1148, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e31d2c513141a198c9f74cc3f2c5f26d1bb767e032be10da8cd4b46043e9f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca09b118b581c294b4d1b9603882d705effeedc61fa9c73067ac3799f12e44c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cdde4cb4f65ebbfa1f193d32068b5d84aad4637e603fe172e6ea9a16b3d742",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHbTWXE2WGKGKPhXYGjBHt4wNrLFBwv1ntMXVq4fe_HUevp3fQ5Qn6KmJR96sf_NPFIFVmZ6mYkQGEQcD-vbxwQst4VkKeW68-JOvFlxOvhVzcKc8u8P-M08deJnOkmTr_xkzyRtQaIB6gMXfQD51pfIo4d_oaBhixaPPEb_svTDSVFn4zBJiYZWoAVgIE-3fcosBbzmbEYs1TR01UtfhZHzPO_8iwUTE_Mgv0pCpDjw9IEF1laUqm4hdGsR5L_SHrODq5c9-MCKHquEFNUWt7lxqwoK0R14nEA_IHR70Bf9EWiBY4-kPgv5TQCzrP_G_uTZgfYEXqK05ZRdJY5sYmNKkppOCa5s2MwoSNJu74IAvz0wOmCKqYNn5z9wEcXwa6aMecX-SoZKQlo-rD_17IoROAe5b2Mj-5DqcJVGCNthAdrVh2PsNfNrau4YMKjrtHQo9XgnmqssuWjHGesYG4f7ouzfN2r4iRk9N4lpIOtwI5ybR6KXrGcpZNoezqbIKPhIgBQCWWXwxzCUrQMNamnalgAJf3Kx0kG5IB8kTw2coOC4AdWd5PlRXseWKek-zQHHP56gAzmxsVA7nmseVcWN5FnfUroADx3qCZo68UYqe0nwcB_ggu_vAtlrYDXAkALVG6WyNEGGbWmUGTwl6KgAA0zWqU1hfTawIJaT8hosH8fl-mRDuG9md3cmV84HVOtCwM9Vkgfyjvx7B1X-pfO69FtKgmCjQjsi5VIe8mpG0ba9uVJxMI_ebpHuF82FPcxpY6OowrRgwsk2JhHPLfMkCJZyW_ZuKZYSmdbGAhsKnwo9dE3vy9zlWqSmhbPvAFUbayXGlxCiFXo0hoqrHCTfBriv5QlQJE2jltXgufG4J3N88_i8xxdOKb63Yn8EXitMerpdofeB-D9UPwjIetBLVwP_N8-amnVbPP0WtNAp-A3j9IidGCI2UjkHqiRTP1CoHAzrZfw_-k8FZqNs5CYnupqybVFU4eA2S2wCQvB9fq_VuOzzScwoK1isSK31v30buJ5ZU1KSsp3gLry116lzoJAc9ywL9WyJau8o3VC6RkZiZEFfnNF7xg8PmzHYdwBR7xh-IXxVBHsZ73hIpuQpsyWfEMfYHGdmLLzly6uw0idwgK-zsncMUPHL2RKeDzvKngjPaw_ROoJc88gOJXYBpuNY_uS217wLWJwXjI4081xqM4tPNgmsEf28hGEnall6sGjvpNltPlMjHYHBIL4zn_5-NhRpOQphU7kLWZaNUrYeCniYcO3KwyFKM4iDlMPE3bbk2uFi20XgCojz14ZbuuXAjvPVujMYDVGmjZYeFoiPbZgGmcaocnXjSXiobN7vQ27mTCuqUkmqYLATL0UkDM96fYTnF_fr6t8VybQaFbQVde32O97N9hMdv6CgBQJ8ECx2YPfmVlfhffoAPKtcWIu_mE8ZYgD_H4FJOtW0TRgedChxcpxR-5IUaG0JFO5qfZ1YE6WxoFoLCh4hvs_jUL_cnBlsSrudgb4iF_xCjIBOs14sprx2-J1c5J09Z693t1LnZA4zD4ugFko7o7nq_7qN-r3sjZecSFnp548prMWDzowjQ-ViIdwL083YbyySugwdAQUlLnSHt5d6Yo3upG79n1JthUCKqLAxg8bNP_S_-wGyTEkeuD-TuUeuzQpZH2vqauluDZiFEO_gl4-weGFfFXqjtUd6z1uDu977pkLkpd55TznPWRIwWy6tc7xcbS3z_w0n1gB2HdtJQSpjinfKbdzcqSg_N79wcN-xoSl9ewyvcn5rnNcD0JuEPreLN6t-IZNQOGe3xvAewFeEtnAtVD8_Lmaj_IWhCjNSthbZs8zWi5FoJQDB3DolUA8KXhtepZI-rkn9rnB7AsSLWyDid05T3FwdvoX7VNFtF5qqqh5oNCE4IN6nay4Zpicl",
  "id": "rs_0efb4b57b3dc8329016ab476d05a8487d0a2d3bca4efffca65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.085,\"right_z\":0.13,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is still near the front-left rim rather than fully over the opening. I’m correcting inward and restoring the tool orientation before letting go.\"}",
  "call_id": "call_MQgHi0Skxohrj8HnQuElN7bx",
  "id": "fc_0efb4b57b3dc8329016ab476d2db8887d0912dbb2b3c96e5a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MQgHi0Skxohrj8HnQuElN7bx",
  "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]: [-0.049, 0.8322, 0.6525, -0.4721, -0.0891, -0.083, 0.9898, 0.2337, 1.7954, 1.1263, -0.0006, 0.2031, 0.0879, 0.5105]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1734 left_yaw=0.0638 left_pitch=-0.0798 left_roll=0.0047 left_gripper=0.9898 right_x=0.4928 right_y=0.0843 right_z=0.1137 right_yaw=0.0089 right_pitch=-0.0858 right_roll=-0.0434 right_gripper=0.5105\nstate[joint_eff]: [-0.0889, -1.2103, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.5128, -9.4017, 6.3521, 2.044, -0.0855, 0.1734, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f950a2b95cb747918f46fc700bb89f3fb2250346507fdc1adb2f9e4a76595790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef15940134215e3ee085535215824d0f7e88c9c5c72e71405804ccd4a6ae3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1924d9acc854ac72f78b349d1aea867c45f5f9c36acda85bd7edf861040faa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 8.359 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 88 changed as sent

message 92 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8265, 0.6525, -0.4526, -0.0895, -0.083, 0.9898, 0.9733, 1.9793, 1.2373, -0.2695, 0.717, 0.6437, 0.5073]\nstate[eef_state]: left_x=0.2928 left_y=0.005 left_z=0.1788 left_yaw=0.0639 left_pitch=-0.0548 left_roll=0.0021 left_gripper=0.9898 right_x=0.3483 right_y=0.3119 right_z=0.0608 right_yaw=0.0332 right_pitch=-0.1296 right_roll=-0.116 right_gripper=0.5073\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7118, -0.1001, -0.0464, -0.0171, -0.0479, -12.4923, 7.6103, 1.0965, 0.3883, -0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.049, 0.8322, 0.6525, -0.4679, -0.0891, -0.083, 0.9898, 0.3477, 1.7863, 1.2125, -0.3042, 0.2981, 0.0891, 0.5112]\nstate[eef_state]: left_x=0.291 left_y=0.005 left_z=0.1742 left_yaw=0.0638 left_pitch=-0.0756 left_roll=0.0042 left_gripper=0.9898 right_x=0.4559 right_y=0.1139 right_z=0.1036 right_yaw=0.0325 right_pitch=-0.2687 right_roll=-0.1639 right_gripper=0.5112\nstate[joint_eff]: [-0.3761, -1.6205, 7.1316, 1.8437, -0.0611, -0.0611, -0.0122, -0.1026, -9.0325, 7.1863, 1.8779, 0.2222, 0.1148, 0.6716]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4721, -0.0891, -0.083, 0.9898, 0.2337, 1.7954, 1.1263, -0.0006, 0.2031, 0.0879, 0.5105]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1734 left_yaw=0.0638 left_pitch=-0.0798 left_roll=0.0047 left_gripper=0.9898 right_x=0.4928 right_y=0.0843 right_z=0.1137 right_yaw=0.0089 right_pitch=-0.0858 right_roll=-0.0434 right_gripper=0.5105\nstate[joint_eff]: [-0.0889, -1.2103, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.5128, -9.4017, 6.3521, 2.044, -0.0855, 0.1734, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f950a2b95cb747918f46fc700bb89f3fb2250346507fdc1adb2f9e4a76595790",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef15940134215e3ee085535215824d0f7e88c9c5c72e71405804ccd4a6ae3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1924d9acc854ac72f78b349d1aea867c45f5f9c36acda85bd7edf861040faa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbXIfNSZhGYpgJgbHMM4P-HvkWCgDLZ9Yh8B2I4WxuYqm7K1rqXA3acjQhbQQrCGig4nVm3xV-IQqZPA4jXZxuOPBrAtIc2EadxqshPmBqh6Aijy32f_ZcSG7hYaAGYwT_Dq-_g50VFfbvRgdjGvldvEgSxo2N_2vQ8TPs00qv5FAtzBwdddhNW9fQUdnSbvQKWR18TIq5TfNSSfj7QMZSjsFrcM_WkkGi3nbGV5P3rR2kSts1vRE-0RE3k6xcGmJapi8NkLLPEXNTT1oh6p3f_TDJtVpEr0hQQrGgmcmHU1i8ruBb-mvEfYN_A59VeFTcRA2j1eaIvthj0A5ZWeSEsjgMnzn7MTReisIfb0g1-WVT09XdZcOMG-e53nuOnIKn1QHXMnVstIEy9UdoLnUv-qcLV2v-82Xn9WdMs-kwDA2iF35PmfrijGxW3eTVj_h4X2eNxqqYiyQMbsZx6htIXYPKIIasD-FpOuVd2Bk0Qcs9dKyRZCSw14jtJdsUaxeIqHzHuRd8IpE4z7fBqaBkQzFzOt7Fbh4mC6Kj9HAeEb4tASu4s08OJb_m5l7Rk3jfwEzSMstu79eoOqUu0aUNqTeJq1ZrDC-MiliGmtswSP5N9W2zJPbYrVc3n9zFXiH6vDG91orB4VwcCY6zGnxXamZrqFQqne00O8G_FwEh6AZvKZMHzXxNtn4t-z6e7ByTuE9z-e1VKB39rNRj29pNQNPr1xbqh8-ZSzhivX0uRcTnYZWiCXw92m5UYG_aTRRs9D2WBp22lm64OmgTyueAocHWXx27WlLOAhp5jA7YI3QOoRpwMGYmP-gCIiILbp6WDx4ai-sywiHcfJn22GHu_11pOfDHDWUaMCrhuQoT79ZxBNN4MyDB7iJ8f2jT3DPVu1hlEtDai-6W-euza2MxTwb8ucYIAIYrk1V-bC_2ZNaS-cF0Ggu7Z2X3vBSknSyboxmSGFEmsmoq2mS9yrh5qvSgsrfDvGf3kXtETAJ2_5QrJ2jw0yR0zLugTzTT2P8K6UYQ1gqfb70p0dj6__zeEbEjFW5bJLS619gcxVgIGBwgzPOThUpQzm9alFMG88RnJEUbZt2umcIXUMpFeqNZ_lE4WSAtPK0kxH0hYtnVC32vqIl_TIP8PEJTPx5m82B-lSnOvs9mB6wwstPIN3kcbIJzGB72je9GbB_zX4VzDRqlTLl-mZtfUMuDD84A0EfoP51RsRuyKXoYCbMsMly6QgvOhW71kNbxcNjeFPVLTMfdEJoaZt9eURuJRVr0N4_gP",
  "id": "rs_0efb4b57b3dc8329016ab476d67d7887d09ba723628d346fa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The last fruit is now over the bowl opening beside the pear and lemon. I’m releasing it to complete loading the blue bowl.\"}",
  "call_id": "call_ZVQNcJxQprZOjY7Y4VIOYKzC",
  "id": "fc_0efb4b57b3dc8329016ab476d6d5ac87d0869ae23aa669b314",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZVQNcJxQprZOjY7Y4VIOYKzC",
  "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]: [-0.049, 0.8333, 0.6525, -0.4755, -0.0891, -0.083, 0.9898, 0.2317, 1.7954, 1.1194, -0.004, 0.189, 0.0845, 0.9953]\nstate[eef_state]: left_x=0.2899 left_y=0.0051 left_z=0.1724 left_yaw=0.0638 left_pitch=-0.0844 left_roll=0.0052 left_gripper=0.9898 right_x=0.4905 right_y=0.0853 right_z=0.1099 right_yaw=0.0204 right_pitch=-0.0978 right_roll=-0.0397 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3744, 6.9675, 1.7167, -0.0317, -0.0659, -0.0122, -0.212, -9.3197, 7.2137, 1.7509, 0.1636, 0.0611, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7ed8f54ad90cd9237deb82fa2526a9aec2afe5c432a933de50fcfa30b69e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f04b004ca1b90b1315e3119c6e10c66b00d38f90cf33d373767447cde5b8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4570810989d24567274f7665f20f62e6c3a20625877404254363f2c777470e8c",
      "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 27 attempt 0 · /responses · status 200 · 16.11 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 92 changed as sent

message 96 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8299, 0.6525, -0.4541, -0.0891, -0.083, 0.9898, 0.3477, 1.7355, 1.4227, -0.4808, 0.3119, 0.1032, 0.5076]\nstate[eef_state]: left_x=0.2929 left_y=0.005 left_z=0.1775 left_yaw=0.0636 left_pitch=-0.0597 left_roll=0.0024 left_gripper=0.9898 right_x=0.4704 right_y=0.1166 right_z=0.1844 right_yaw=0.0195 right_pitch=-0.1844 right_roll=-0.1363 right_gripper=0.5076\nstate[joint_eff]: [-0.3214, -1.5795, 6.9675, 1.6972, -0.0415, -0.0513, -0.0122, -0.3487, -9.5932, 9.8393, 1.7216, 0.0562, 0.1245, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4721, -0.0891, -0.083, 0.9898, 0.2337, 1.7954, 1.1263, -0.0006, 0.2031, 0.0879, 0.5105]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1734 left_yaw=0.0638 left_pitch=-0.0798 left_roll=0.0047 left_gripper=0.9898 right_x=0.4928 right_y=0.0843 right_z=0.1137 right_yaw=0.0089 right_pitch=-0.0858 right_roll=-0.0434 right_gripper=0.5105\nstate[joint_eff]: [-0.0889, -1.2103, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.5128, -9.4017, 6.3521, 2.044, -0.0855, 0.1734, 0.5788]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8333, 0.6525, -0.4755, -0.0891, -0.083, 0.9898, 0.2317, 1.7954, 1.1194, -0.004, 0.189, 0.0845, 0.9953]\nstate[eef_state]: left_x=0.2899 left_y=0.0051 left_z=0.1724 left_yaw=0.0638 left_pitch=-0.0844 left_roll=0.0052 left_gripper=0.9898 right_x=0.4905 right_y=0.0853 right_z=0.1099 right_yaw=0.0204 right_pitch=-0.0978 right_roll=-0.0397 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3744, 6.9675, 1.7167, -0.0317, -0.0659, -0.0122, -0.212, -9.3197, 7.2137, 1.7509, 0.1636, 0.0611, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7ed8f54ad90cd9237deb82fa2526a9aec2afe5c432a933de50fcfa30b69e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f04b004ca1b90b1315e3119c6e10c66b00d38f90cf33d373767447cde5b8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4570810989d24567274f7665f20f62e6c3a20625877404254363f2c777470e8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbgIvfn4inJTYcKUU-QQT0eLUIsxlm_T9pYputQcJgOuGOr9x64cv68xiWRZ10kxDOMEr-Ae361Fdq-0bIisepp7oL6Aw1jLjaRvEuZ46os8-gUYK1x0W3qwvZSktNRWqGTSFcKh_AEgXKNNvA3y1oPp1PrNEX60wi9zQ6cQVX2R0JhHncDibZG_Vdvwq6CIehqrpz-BFZOw9OWLreqDTltR8Ur1drY3IfWRJCLWfOMWt5aXIpmEe7i0UvATXXcpkLpHhaSbmH_05U0kxq9BCFtzSzVlliJ8ucO8Djf-H4xcDU1fpAD1efcJwyHXM5a7Z0SWzepYFXvsH77vRSKx5Yk5O2EHUhcYGz67pKofLZHqzdrQwFLDKtUBdv9XVhc3eit6CxXOzhqhz6nak8gz0_IYw4ZnrbfXPGw470RZrzGtp8Z48x7kLLeAQt_H-UNWTLbTRSFcbhYLAnCwcdC2l_guKFzJ_eSYEf4Tvw9x4S8s8HNpRIZa8xNDYgqrJ6BOZMj_MGnvMSe4jtQnnC0qh0fGD0V0pb2TQBWOb7kxN8XgZP9vg3XZv2p271CMbtFBrAQgTB1ozCdif1qWyhhRw1ibx2zhuWKKtVgOUREGb2yfTY22NmISRm7vrp3f0Nq9yQBk_i6-xByf00AkPKANjlrRM7HTIerojoeaktZicG1jiX2PCLin7HNs06B-fzDUseBsLUxVrb4JuKcdVYdEppWN45I393BzTJI_YA3McZ9kMDVvdnMv1lMaxumZrEWqCQJTZDKshDpLeOTtIyb48tdSvLO2WYAvPyGzPa5BmvtAX3X8PVC3DWtxA9AUdZYxwD5DeJz0MvIwtkK9HkdnOJU1Q4zn3C5rplGsgCjFDPMcP1KAWV8QEg_uBcXTgZQBYedjrAteIW6irdltP1c07pV-5DvawVv50bC5pbNwxViiNs8mSBty815PDKQ6tjHwB6G5MK5OtxtyO-OmW_vo9wXi-tFTsp-gpTaLdbilccU13Xr98sDcNhCHefUiFbm7n2pDLfXxyCIWQR_pc2TCowsIrbFSypkOUFiisKfAIDIWMKHFehQW1KyG--M6uLd7if8vMu11-dCpzX-3uDfcBiE2QDgQ-WkJHYgFnY-q39MecgPIJiTJS59ZRPfbfnn1S2RaQTj83ffp0nhWwZ4mJoSa6-gouUe6Dfna93Gs3TYACI3No_kKS-rJrxVZqr2gpStJIAdMS7jUJaMHa6puXh-Cr43Oa8ekdct_6M_ePIzHZH4noCnzGF2Kw8knTHR-5TvDN0olgHAwtoYUunoxva4FZAMaNLjxQW_vGI5n6GOVPbwhaL1pzC6iiqLL_zU4aK87a0ki7fX5DmbLxbUKzZDDWSAlTOsclVDYJxi-x_YbASqzEMg0zZk9EGWqWdnP87MKRlnY-sgjYFDtn-4OObamO9sCakC8EQN1oK89H5eIGVJku4zYND6ZFlBkzolB15BttkjsOq-IRvFcT-YJzs33slklH4g2ajRmFtzl24pNsI-BLWiGdgvpGDp2jWxutx4qplCI69nZVY6geek1P_8OKGNPwxsYIqWgE5xmRwzlrWYKzcUcd7xsuj2c96snFNe6Jna2cOdnIY_6SUozlGseJiBJfMKdMGAJaVQpAYQ6nY8_RoTmLlXF7PBL6KiT6LTg3aIJXXNGI26KlWW-CQGdSomHARmYhWJGkoJ2N7NigfVUbMST2_Svmhv1nmJbt809zwcyQx4Zpr9fDr5jiAXRVfWzA037HhgYFqaMBib7lZaOpl7zII1b4pWp8urDd5Ji-lOhseUWPJ3ybe498Z9yYddQmmmY4xMOh_qoNauYpE4gdabwmINf1ikhm8po7j860wIa5QZ8mYEdAow0RdAzHebHNGuapdFpFnUQfrQUbZfOxE4mKl_pQevMeR9QOahqZzG3ukypBCDZKlxR3kBd4alzzd6kkv7fXYuLxaCxzYr2-oCkErMg9XggHqIX7nURqb6Dr4UG4ThZit3HMGYftBiQ5r7d69fcgCqiJuEMxPzAxe1EakeslmMbbbHrMgyblthrYOPTroBUXz5-N2lt7E6bKkOoHX79o4lbPJTgVP-UvEZRWIxnir-fW7ixiX6wHu10Vfa_iidPbZtCM5THCp8y3HKLp9FPerDVzEHTFHjOjv6JvTUCGBowQdUcHLxzslsyt3vCGP0K3wDdgS73K0aKygnMvIFJ3WZTOOkLgWrTo_h45EgSpNi3CCA2Dhq8tHPrxwv6KG06WcH4l9ojKkgeQ1ARXD2gIGs4NlDy5FqpssUT22Zgu4YkjyF-XZlZx1G7Kj-6Zy2zdArvfYfwdsuPfhWdkg5_96pbjTT5tw-dcA-VY_Y2oIxKSHL8JsyQjxP4WaDmaUuNs2B8eNLP1ayfQz1IQFbykHWYVVRUp6tdrfCqYvN1m_wXSqWRGjYF9jzaYKAdQMAc6ryx3lzCwYbbcX0EyFfJnXy51NuVNh7hTsMbI9JU17A5gbz2uwJ348jfH8OiVbKdD9bNzoYt7tEQ9uOou3NOWBwNrNpE4qorlTLdFVzSoFhq6K8mIux7uQuel3CSX3oGYqMlMH2DF26pYlMlJ1WN3Fh2lYRtGOtBLXyKTKSwRO7mZM2dWe6iatScjrvUPBpfMEqfOMfVFBoQnPcIKrVY1KAnGUcZCY4JKX-fJk0GD0ZOsRgBR8QT-HjQPKRwG6fKhwJmHCfev3pa4fxGiKRLaG6SDhp4ABuW0R6ow0vseRCVaO3zpVXxEalt45g6v0a6r0KoOUJFEIpKNVqCEgWbQiEluY3R_HqCKT70odRA3JZP8AY3WAGi2_RW4Lj6aVLLQ0pp-Nty6AmG3sf8iDsJKdLO9QZvwQnp5e34P9lHcWGwUMP_BL95aFJ0gNC3rhdC27HDojZhQTWsRNjPo7qy1ViQ5amZrLuxC8YmAVfXb7Gx5tSt3JnAZgjGIDtpRA9BtZatMTNGgvmaFwogt6bPbl-OgrbA_o=",
  "id": "rs_0efb4b57b3dc8329016ab476da5e2887d08e621e86a03f19a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.185,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit slipped out beside the blue bowl after release. I’m moving above it to recover it rather than starting the pour with a fruit left outside.\"}",
  "call_id": "call_Ety6qR0auJAn8tDFkmRp9jZx",
  "id": "fc_0efb4b57b3dc8329016ab476df607087d0af6bf8a7374cd701",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ety6qR0auJAn8tDFkmRp9jZx",
  "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]: [-0.049, 0.8341, 0.6525, -0.4763, -0.0895, -0.083, 0.9898, 0.4656, 1.8595, 1.2392, -0.0299, 0.3443, 0.2073, 0.9964]\nstate[eef_state]: left_x=0.2898 left_y=0.0052 left_z=0.172 left_yaw=0.0642 left_pitch=-0.0858 left_roll=0.0056 left_gripper=0.9898 right_x=0.4877 right_y=0.1823 right_z=0.1286 right_yaw=0.0601 right_pitch=-0.0381 right_roll=-0.0232 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.6386, -0.0464, -0.0806, -0.0122, 0.1983, -9.1556, 8.6906, 1.79, 0.2857, 0.1783, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998857a4294d423d80182e180f3e07d2d43d7a7344c0e7e0f6e78bd58912b21c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e92310b4855980cf546575e3350d3030a88fdfc1029908464484f57d5e19f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f8eb10a21cc86f489ea1417b4175d4cda5cb00cc0762450098d9145d0a1045",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 5.711 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 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]: [-0.049, 0.8322, 0.6525, -0.4679, -0.0891, -0.083, 0.9898, 0.3477, 1.7863, 1.2125, -0.3042, 0.2981, 0.0891, 0.5112]\nstate[eef_state]: left_x=0.291 left_y=0.005 left_z=0.1742 left_yaw=0.0638 left_pitch=-0.0756 left_roll=0.0042 left_gripper=0.9898 right_x=0.4559 right_y=0.1139 right_z=0.1036 right_yaw=0.0325 right_pitch=-0.2687 right_roll=-0.1639 right_gripper=0.5112\nstate[joint_eff]: [-0.3761, -1.6205, 7.1316, 1.8437, -0.0611, -0.0611, -0.0122, -0.1026, -9.0325, 7.1863, 1.8779, 0.2222, 0.1148, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8333, 0.6525, -0.4755, -0.0891, -0.083, 0.9898, 0.2317, 1.7954, 1.1194, -0.004, 0.189, 0.0845, 0.9953]\nstate[eef_state]: left_x=0.2899 left_y=0.0051 left_z=0.1724 left_yaw=0.0638 left_pitch=-0.0844 left_roll=0.0052 left_gripper=0.9898 right_x=0.4905 right_y=0.0853 right_z=0.1099 right_yaw=0.0204 right_pitch=-0.0978 right_roll=-0.0397 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3744, 6.9675, 1.7167, -0.0317, -0.0659, -0.0122, -0.212, -9.3197, 7.2137, 1.7509, 0.1636, 0.0611, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8341, 0.6525, -0.4763, -0.0895, -0.083, 0.9898, 0.4656, 1.8595, 1.2392, -0.0299, 0.3443, 0.2073, 0.9964]\nstate[eef_state]: left_x=0.2898 left_y=0.0052 left_z=0.172 left_yaw=0.0642 left_pitch=-0.0858 left_roll=0.0056 left_gripper=0.9898 right_x=0.4877 right_y=0.1823 right_z=0.1286 right_yaw=0.0601 right_pitch=-0.0381 right_roll=-0.0232 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.6386, -0.0464, -0.0806, -0.0122, 0.1983, -9.1556, 8.6906, 1.79, 0.2857, 0.1783, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998857a4294d423d80182e180f3e07d2d43d7a7344c0e7e0f6e78bd58912b21c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e92310b4855980cf546575e3350d3030a88fdfc1029908464484f57d5e19f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f8eb10a21cc86f489ea1417b4175d4cda5cb00cc0762450098d9145d0a1045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0efb4b57b3dc8329016ab476e6e49887d081923b8285926436",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.24,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.5,\"right_y\":0.01,\"right_z\":0.145,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit has rolled toward the white bowl, so I’m approaching it with the left arm. The right arm is moving to the blue bowl’s outer rim to prepare a stable bowl grasp.\"}",
  "call_id": "call_ivePxyfRUniynWy6g1dvGH0b",
  "id": "fc_0efb4b57b3dc8329016ab476f0162c87d08038e1d8ab91f1ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivePxyfRUniynWy6g1dvGH0b",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5724, 2.0357, 1.4883, -0.1413, -0.4644, -0.3656, 0.9898, 0.0067, 1.75, 1.0931, 0.0296, -0.033, -0.0433, 0.9965]\nstate[eef_state]: left_x=0.5113 left_y=-0.2311 left_z=0.1269 left_yaw=0.0026 left_pitch=-0.0355 left_roll=0.007 left_gripper=0.9898 right_x=0.4974 right_y=0.0127 right_z=0.1251 right_yaw=0.052 right_pitch=-0.0585 right_roll=-0.0029 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -11.7675, 8.8137, 1.6386, -0.3394, 0.0073, -0.0122, -0.5538, -11.3299, 6.4889, 1.956, -0.1343, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bba3ef2dc8d1c1d9f1b731c1a0e6293a6587229ddb8e746df1f4179aa91294c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721f015b8b50711e6332776dd2e36b4e9c965aaed3b969d7173162e5f701e639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7ecba6a32c8b2f709433b9d54ceca9d405556dba9304090a282298e14c7ea6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 8.76 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8322, 0.6525, -0.4721, -0.0891, -0.083, 0.9898, 0.2337, 1.7954, 1.1263, -0.0006, 0.2031, 0.0879, 0.5105]\nstate[eef_state]: left_x=0.2904 left_y=0.0051 left_z=0.1734 left_yaw=0.0638 left_pitch=-0.0798 left_roll=0.0047 left_gripper=0.9898 right_x=0.4928 right_y=0.0843 right_z=0.1137 right_yaw=0.0089 right_pitch=-0.0858 right_roll=-0.0434 right_gripper=0.5105\nstate[joint_eff]: [-0.0889, -1.2103, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.5128, -9.4017, 6.3521, 2.044, -0.0855, 0.1734, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8341, 0.6525, -0.4763, -0.0895, -0.083, 0.9898, 0.4656, 1.8595, 1.2392, -0.0299, 0.3443, 0.2073, 0.9964]\nstate[eef_state]: left_x=0.2898 left_y=0.0052 left_z=0.172 left_yaw=0.0642 left_pitch=-0.0858 left_roll=0.0056 left_gripper=0.9898 right_x=0.4877 right_y=0.1823 right_z=0.1286 right_yaw=0.0601 right_pitch=-0.0381 right_roll=-0.0232 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.6386, -0.0464, -0.0806, -0.0122, 0.1983, -9.1556, 8.6906, 1.79, 0.2857, 0.1783, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5724, 2.0357, 1.4883, -0.1413, -0.4644, -0.3656, 0.9898, 0.0067, 1.75, 1.0931, 0.0296, -0.033, -0.0433, 0.9965]\nstate[eef_state]: left_x=0.5113 left_y=-0.2311 left_z=0.1269 left_yaw=0.0026 left_pitch=-0.0355 left_roll=0.007 left_gripper=0.9898 right_x=0.4974 right_y=0.0127 right_z=0.1251 right_yaw=0.052 right_pitch=-0.0585 right_roll=-0.0029 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -11.7675, 8.8137, 1.6386, -0.3394, 0.0073, -0.0122, -0.5538, -11.3299, 6.4889, 1.956, -0.1343, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bba3ef2dc8d1c1d9f1b731c1a0e6293a6587229ddb8e746df1f4179aa91294c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721f015b8b50711e6332776dd2e36b4e9c965aaed3b969d7173162e5f701e639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7ecba6a32c8b2f709433b9d54ceca9d405556dba9304090a282298e14c7ea6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHb5VnTPlTZiSJSqUO9SHaO7F2nAxNzj4dH-6yQPP9qAl8-M2GP9QTQOtKn-CFa_mTPK9ZK0v0O2smZh_Epq314lTs1PTNO-oFwulOPpGbB2T6VxF9kTROl82XlwdEVc9Hs4iQO_hZvdSuqEPpUzA3JWspLvx5FzQ4-QaMSslaDCarCfxgGnwH6Z4eqTEOLJGP3rkHlACiTVE3jXMgFOPgj5KiGt_Wm8FWjQ3E4U1igPKsRQKEAxqoIpY2iL_unlDZX5zJbqsx1pot3nloEPNdirtNy1n5S3X7s7dv4KxRRbV5cK-iGtDW2i042KJqy2s7AA9n8UKXd7qF-i5I4KgG3jjfxTl-J0IBopfkhz1bZd2t8Dy7PwuaS2uwJO8lQsAfCHhb1OIYKTEEdcK8weqH8GRerjXrGVE3p_8ARG1oN5-WhjpictwOE4K0d38qJhg89flCVwRs7tLy3bnGf0xshj1pAg0-yY3z9481LaH7FdSe8006S_E3C8J7WMKsXgbmSciteczFzCOrP3_FsPYCpSPQkcNRHQKug9HAPMKyRpn2jX8lDHpzq0OBZTXUrOiOWxx4IRnXzul7fFHDv2wO-jnMN5TZw6y7mc9bIdtONsWzutBmPwASU-qt9WPTlC3nckK2sOF6r-E64dcc81QvePfr3fxXNAGZdVUNqaP5btoDKI6fN3SE7jb4XEgFKDIeg5nuCQNJE0BZKN7XnT4CjuUb-Y3JwyNMOogjcuAA1IcaAKBAe0tfsskKKrX6THB7PFq6pXWESqCaTAaEXl06wXkh6Ur2rxILBxq7Lc8bY65xgvwKE-Ipom80ewTf_tVPE_V-CLHQv70R1hbFcpeTCFfP87iJgroxosnvYj22a1LKcYQsVVEn2Rs3Ooa3xpwQNuhIC8PGee1EXK42xLRB6aGBAqU11RICIN-uyZYuZjhSM6dTFqtmEDo-4mjAkt1RTV-2k51GfnZLU2I7a10MU3hPje_KWNDEsS8tvMjA0B89sfnpzrfN7T0cs2yPE4GC2cXDI1Ix3goiOpb7DA_Wg2g5yVmjpelNBRf2T8a0vT3givztulXTKNtAer7GJ0yn1qGwFTi0nY3TRhNAvPZ3SPp0xcvgJh4laRStTWXCYRciiYAhSOoFeXKEoyswwlQdDWjdBarSdBsxtLsPumD62YbH0BIWh1zQuShMlanYhaVOwIBIx7O-cfx7htHYT0yzI7RXEBgsyyidp684BQ8qfpzHkVWiVeO52rHRtDIeJGjRjAp19mYILPToVLAh7AQN-1BMbPwRp3owPAyhBE428rRjHYhVhyJ_XCFfyVzOaKlis1KIQ7xZWv-Yw1lTJuVI8C9UMaFQsYeV38L4X1IkBuMnmczZGZ0ZPD9jaHRWTrpnLWpjsZ0EfVJwLqnmF6pQjwDIsAY7CeLqbQx0p0IUX3-1sKkWPedje3MhRSgFmUNfvG5X9dR1QrXj3WU3eX0BIDAmtK0pev6nYvB0f61QkOGDuewu_2yg5Wl8Zmltt2BKOwp78M6xtMb3OqRxQZB68-kk53RCLsJmqZlq4Is4eXHvQAXRn6mjLcsdfzSuWz0ZsRkPNTcFLAD3z8siPPylM6iWBRlQ3ZLU6rb2J8MN4ogT62OQxMg7C1dPD9Z3rlhAZyh94LQesdQLnHSeRxoMyipSXrKmO00uzY9LSDk7kmsbcUFmy2YJahxkT2zOHitIY0mkysZTfxDeEkFa_O6-Noq6JlIwRGOccX7Roaw1b6abGdEcjVLrlFDIK2-u9AAyngPGAWmWU0YPqPjo_fZ5cq-Ulyt0r8vXUi3tGR--fHCJ8wBGpKTTeC9z1nmUwxhNu7sGAZwBajcMauqMl3x8q236SwFt3qPC_1ZqDss-R2lOF7ogY15hAiA56BJ-x_As24PMw1ePVD6lC3AU4kFC3b",
  "id": "rs_0efb4b57b3dc8329016ab476f4fa5087d09d293dae3994cd9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.24,\"left_z\":0.025,\"left_pitch\":0.15,\"right_x\":0.5,\"right_y\":0.017,\"right_z\":0.048,\"right_pitch\":0},\"note\":\"The dark fruit is centered just outside the white bowl in the left wrist view. I’m lowering the left jaws around it and the right jaws around the blue bowl’s outer rim, away from the fruit inside.\"}",
  "call_id": "call_qg366uE0vk6TNAtLRwPDnSOv",
  "id": "fc_0efb4b57b3dc8329016ab476f7e4b487d08643f64d0ef87f65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qg366uE0vk6TNAtLRwPDnSOv",
  "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]: [-0.6064, 2.2024, 1.2705, 0.4915, -0.5659, -0.3096, 0.9898, 0.0177, 1.9068, 0.9272, 0.382, -0.041, -0.0402, 0.9966]\nstate[eef_state]: left_x=0.5233 left_y=-0.2433 left_z=0.0709 left_yaw=0.0326 left_pitch=0.2002 left_roll=-0.0402 left_gripper=0.9898 right_x=0.4971 right_y=0.0196 right_z=0.0527 right_yaw=0.0681 right_pitch=-0.0285 right_roll=0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.7214, 2.8513, 0.8425, 0.0269, 0.1441, -0.0171, 0.1299, -7.6103, 4.9162, 1.619, 0.149, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8d97898f26948acd579d66cb0c9eefdcd9d537e34805b8cc76af4d31879671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e559ed835d4fac35cd2117d2f629daaaba6c5bcca91252d0afdb15902bc6cba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8326b4c1a58762c3cb1d9fcc54645de79180252c6f82d7b21a432900c5d4de2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.243 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8333, 0.6525, -0.4755, -0.0891, -0.083, 0.9898, 0.2317, 1.7954, 1.1194, -0.004, 0.189, 0.0845, 0.9953]\nstate[eef_state]: left_x=0.2899 left_y=0.0051 left_z=0.1724 left_yaw=0.0638 left_pitch=-0.0844 left_roll=0.0052 left_gripper=0.9898 right_x=0.4905 right_y=0.0853 right_z=0.1099 right_yaw=0.0204 right_pitch=-0.0978 right_roll=-0.0397 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3744, 6.9675, 1.7167, -0.0317, -0.0659, -0.0122, -0.212, -9.3197, 7.2137, 1.7509, 0.1636, 0.0611, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5724, 2.0357, 1.4883, -0.1413, -0.4644, -0.3656, 0.9898, 0.0067, 1.75, 1.0931, 0.0296, -0.033, -0.0433, 0.9965]\nstate[eef_state]: left_x=0.5113 left_y=-0.2311 left_z=0.1269 left_yaw=0.0026 left_pitch=-0.0355 left_roll=0.007 left_gripper=0.9898 right_x=0.4974 right_y=0.0127 right_z=0.1251 right_yaw=0.052 right_pitch=-0.0585 right_roll=-0.0029 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -11.7675, 8.8137, 1.6386, -0.3394, 0.0073, -0.0122, -0.5538, -11.3299, 6.4889, 1.956, -0.1343, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6064, 2.2024, 1.2705, 0.4915, -0.5659, -0.3096, 0.9898, 0.0177, 1.9068, 0.9272, 0.382, -0.041, -0.0402, 0.9966]\nstate[eef_state]: left_x=0.5233 left_y=-0.2433 left_z=0.0709 left_yaw=0.0326 left_pitch=0.2002 left_roll=-0.0402 left_gripper=0.9898 right_x=0.4971 right_y=0.0196 right_z=0.0527 right_yaw=0.0681 right_pitch=-0.0285 right_roll=0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.7214, 2.8513, 0.8425, 0.0269, 0.1441, -0.0171, 0.1299, -7.6103, 4.9162, 1.619, 0.149, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8d97898f26948acd579d66cb0c9eefdcd9d537e34805b8cc76af4d31879671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e559ed835d4fac35cd2117d2f629daaaba6c5bcca91252d0afdb15902bc6cba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8326b4c1a58762c3cb1d9fcc54645de79180252c6f82d7b21a432900c5d4de2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcCsv0QlAntbuezeuvC6AczdiD2idVqez9sZsGwcyH_qyHCT8xSFkxB261BX6-_y7EhIYxsF6GxiKunbV0yluu1Xir3hFqTKAFRX4zO79smNZGFo_LD7L5tx399GYBfhfhJzq6tjhFf9t-P4XWE8jg9K4j5J2plinoWycUSy385TE77FrtueXaBjTo3_Yc8N320LK7CyCKCJ1JHIgvsEUL8lini0EAcdjdnxSc0Tbytod95OBNBRKPfE6hp2cxeTYQe5a0G4sepdpbnlX1qs6SDhlaSrwg14wP5z7Z9KpgNsHzvmK8oWYL8Kc1hg4E2u5ff4Tt_sLm-iljGeBhFUxSjXWUvZsdBoKPUjGY_OXPwVfUT9vOcV-MYc76-ADuSP33-v4Sa3SyAmckZnT71kWDYbxmMFwBJKf3O6Hpt0pyUb5G6z3EE2gwBORuf5RuxP6FxT-083vv4mBJvO71GcEkCJ-U50a59Dl1Nr429DU1Ac8grNLu-2rYO5pmBHMnxXdnCfO-r47S4Ty33odLdiUXEIG9k6-SpBx5mAWF_wGlPABkDcvjUNZA3X4FaKBR81-BcTKjSHsGW5Xb8LY7XbizTiX_4havh3fkjMV1cmReFLbEmGPr6sWB_0GLsbal8hvi5OzZTIpcLPIMT4tiaO1V95S-5N1ahgCjkIk6-goXGQTBrkltUCwHEgVPUXYMRuimmweQRE8ehfCAxGqzwEHeFn89Wsn2NrfUHSIS7GCxUjFCwH13eGPi9kQDoDTA-c0AIJ5VYagsvBG4VOHSbVIJq1RtGEwaygVsP-Byy0zXiSc0VGPmknFHmcHvQvYvlgsmuk8yvSEy8azM92K_K8qWsFkjC3erWgMVjhr1dG6kD-BSHv7sjoZlx5no9isWCz1i1wdbKHLwyf0v-Uetdeelu57lSi4KLD-LQZbNL_chbiMku9YobZGRZjPsPezq3ilC_34bhZtCvcItpupcNjxkjLW5sUnDJKrfpE1zmzQcRQHsslQC1PSF9DwCIZJIlAJL6L_yXd8jupyVVF5uMjzonVFpC1nGuAUAwK95pgoMycgxmmDBVUHj8KvUwINZUVOFUFSqvgekPuBGUbk-Nhc_Co4tiLf75Hed93a9sMHgEb9pN1FXiIrbWQTzHkSxhxkOb2Ekv_TzJBEqEiiEPSzo32B4YWoN_E6m0jTzffv0v-23L7NglwnI3_-0wVbmwpLj5wlAe1eFMA35OCsDrxTZpp_eUuugDhOM4KMzFR5TR3LJxKSXyg930pJmW7XpcsjeO1H5309Yh5Xd-bKu2CdodxiIRtu5LW8CGu16CDK8c6xvkaLiCbgGQQLwZse-liX3JhXfXMqUvkZil9YC7t9u_5SqEGqLwCKdC_3CC0QIvWRyreINTs1giaXLs2njRAv-8IBw2Pa85XnK7psuSFfstOkEZEW72Eqa7Oe0qBU6_vJMvpedxDHWojonPLWuxGfqsm6_841zfecPCnrgZQYkqeiBeHshYTRR09NAtSH9A0oxWqFCH7UFS4WYKQJIbPr_A-6pCJ2eSU-_XoQK46HkPdI9rwJ6gIEdMXgXWNnDKumZqZszBv0tLUFc8mJ4DrI6zSMm2C78DYjPKrVk96IwDLaJKXkK5ZfRg3AqXlaqsuL3cgm-oYwXstkwe0tC79E2iLNAwJcn7MvthTeQWteB9duWDwKFNEup-uCdusgtFCn-v4GqgLHX-BJAqrAMF1fW9s2bXJbGwmK5fwtosk-m0xw8lA5wM7vTiJoSpBpziHHA_XFwYFPi9R5AzJVZ6W6M-UJ5sM0m3YIjyh9dMvnF9-YRFncI5tSu2h3yG9DnbN_y_7QvBgBi2nX3Qg1IB5jd_8REPPz35OG531BMZw3ciDKXaa5lwzs2EcFKz87oRJbASEv2uiClfZptLewaPFDPUYbU3T4-qyMGnwOpS-K_xGzPecG7b4F2J9KVPJeU24Edy_TFrearzSA-uoicK1rrAAMAmTacvxn3SOWa01ppXDuC2ylpXgLuO8m_me6jAdomjJtV-M2PwWTKmnrfGiFMFWiXk1dRHxjtwpDH8bd1uPEtq5MkjQe4kBQx6n4pY9EkX5H-ztkD_73GqMjAXixAvep1LiKJY13XMtY1H0g66kA2bAEKYk2lla7IJ2v3LbrcQuPeNhoLef7QxptRX34updMNl1fNDRizL5JsEZQ5kDliA-vr-gb_NjOwXmhoR9crUg6yYQw8f-01P_-tfbLLXS27NDRaw9fd0K2lEzUbgFJHX1hvlHuI2mol8p1cjFk-4C3KW-5OuQnh-ilaNTB6RslwTelmsW4lD-Dga3TAuJE9LXy7U4PYs2hqrcUdY6rec5AMzsmaZIZw-xbemINJU_zLZiBbTMwkY9257S3nP-DqgFiN6ePhrVPYnoVUrPOoDzTAUYnSdAy4slP5e17IQrmG4RtKYwV0Ry6uOGCcfIObIXodl_RnwckwcGHFzWezKCh8RXqdVehAEgr5VFiQ3cVUVN4B2RkCq6Lt1cNiuKbvP2WaxwAUnwUcabTSFph71ll7snBjVOUANFdGgKoRAkOKa1xFjTC9xfCkm_a0hziyFZrruJIY3WG3YiQkvFrlOpdulW9jYXSx2DXtqGHF5K51QXwwgmg0SDclEZpX4rOypayAEptMy8dzim3LX57VueCjio0yIvqcdQm0CVVuJ",
  "id": "rs_0efb4b57b3dc8329016ab476fb79d087d0bc7864cf38e01338",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.495,\"left_y\":-0.255,\"left_z\":0.035,\"left_yaw\":1.2,\"left_pitch\":0,\"right_gripper\":0},\"note\":\"The left descent stopped high near the white bowl’s rim, so I’m changing the grasp angle and moving slightly clear of that rim. The right jaws are positioned on the blue rim, and I’m closing them to secure the bowl.\"}",
  "call_id": "call_ErgqZEkTxRGJpFywQZ4tZQU5",
  "id": "fc_0efb4b57b3dc8329016ab47700f95c87d09fbfdb3752b00af2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ErgqZEkTxRGJpFywQZ4tZQU5",
  "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]: [-0.7097, 2.7995, 2.5401, -1.0901, -1.0737, -1.813, 0.9898, 0.0223, 1.9095, 0.9245, 0.4217, -0.0586, -0.0345, 0.7926]\nstate[eef_state]: left_x=0.5242 left_y=-0.2409 left_z=0.0453 left_yaw=0.9937 left_pitch=0.0311 left_roll=-0.4147 left_gripper=0.9898 right_x=0.5012 right_y=0.0251 right_z=0.0586 right_yaw=0.0844 right_pitch=0.0063 right_roll=0.0153 right_gripper=0.7926\nstate[joint_eff]: [1.8256, -11.7538, 2.8376, -0.7399, 0.4127, -0.1538, -0.0122, -0.7043, -9.6889, 5.9966, 1.3407, 0.1001, -0.0904, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20868775ddee0006be1e429663e14a51e9c717f372911553a56a51fd22aa366f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05a2a2a3369bb8d231253c4d16853453bfede79cfc68d1e9018436e9b427e90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf2ad002f04f440d1735a76d6d064744ef9e6ed9bf3c255bfa8283b330cbbfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 6.667 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.049, 0.8341, 0.6525, -0.4763, -0.0895, -0.083, 0.9898, 0.4656, 1.8595, 1.2392, -0.0299, 0.3443, 0.2073, 0.9964]\nstate[eef_state]: left_x=0.2898 left_y=0.0052 left_z=0.172 left_yaw=0.0642 left_pitch=-0.0858 left_roll=0.0056 left_gripper=0.9898 right_x=0.4877 right_y=0.1823 right_z=0.1286 right_yaw=0.0601 right_pitch=-0.0381 right_roll=-0.0232 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5111, 6.9812, 1.6386, -0.0464, -0.0806, -0.0122, 0.1983, -9.1556, 8.6906, 1.79, 0.2857, 0.1783, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6064, 2.2024, 1.2705, 0.4915, -0.5659, -0.3096, 0.9898, 0.0177, 1.9068, 0.9272, 0.382, -0.041, -0.0402, 0.9966]\nstate[eef_state]: left_x=0.5233 left_y=-0.2433 left_z=0.0709 left_yaw=0.0326 left_pitch=0.2002 left_roll=-0.0402 left_gripper=0.9898 right_x=0.4971 right_y=0.0196 right_z=0.0527 right_yaw=0.0681 right_pitch=-0.0285 right_roll=0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.7214, 2.8513, 0.8425, 0.0269, 0.1441, -0.0171, 0.1299, -7.6103, 4.9162, 1.619, 0.149, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7097, 2.7995, 2.5401, -1.0901, -1.0737, -1.813, 0.9898, 0.0223, 1.9095, 0.9245, 0.4217, -0.0586, -0.0345, 0.7926]\nstate[eef_state]: left_x=0.5242 left_y=-0.2409 left_z=0.0453 left_yaw=0.9937 left_pitch=0.0311 left_roll=-0.4147 left_gripper=0.9898 right_x=0.5012 right_y=0.0251 right_z=0.0586 right_yaw=0.0844 right_pitch=0.0063 right_roll=0.0153 right_gripper=0.7926\nstate[joint_eff]: [1.8256, -11.7538, 2.8376, -0.7399, 0.4127, -0.1538, -0.0122, -0.7043, -9.6889, 5.9966, 1.3407, 0.1001, -0.0904, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20868775ddee0006be1e429663e14a51e9c717f372911553a56a51fd22aa366f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05a2a2a3369bb8d231253c4d16853453bfede79cfc68d1e9018436e9b427e90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf2ad002f04f440d1735a76d6d064744ef9e6ed9bf3c255bfa8283b330cbbfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcJZ_JVP_-Lq3FCJ5cKB2KxjK827m57dKibyjz3UMjvmkMR34OwLtV63B5zWwxTtCnTgwo2jUyZtN5e-Unu-dy5ZcMxTTvGrQhusRfrNede-wWdYA_yQYSZCQez0laCx9GReeA75bNEqD4KmGLOQw9yJGVdzBbyBoLjAzn2jlulFbdjclPMBof4SF4WPDXTEzUgpgbGEpTMkcUqqHjTIqD3SnLHYMgfBq1AkTWOIUw2RdHbR_zLS3EOTufKfZVqlpukCZI6KNzrslTJvU6jNcGwJ5aHQowRyTB3FM-sdFKxMmydT1uOGi_q_KHTkDgYYUlclH0u6QW9OyHSrlZK--c-FL-ego3epIkNCVE2G2SC797f0YDYJEgjDI4WqDwrHx8z3CsQ8zo2phrpBefUArjrJ3hAoKmvBHxDJpJdrvprGbpWlBVDgohNa8N_vcMUDh4iePdaIl07tlMJSXE0oygw_jE8_Ew35egmw5i7VDcV3HKHB_TxykYIxYafQ3l1Cz6ag9i7VijURNfYr8sYL-P5FiMTohOgnOKSTVJF1b3mMa9qWGf7JSFapHpbTxSm0rJQJmemso9fk5x9zf0KScMZtcVx4udiyuNWpjTZDE9Vccf1U6dqw5j-V3m-YuD2nOK90MnPjB-ukfs7Z960gklghN6h30YYofKGiJ8mbqAdZ_E0daEd35bVhWyC9-Fe-5LK5hD_PIajULB6nzvD4fSX0MfTfF7Li6Q3gy9pJP9V5NUgIcBbbrDiYQgJti0oYUM-KnEvNEUNnHgTfPt7rJKpSTOhFSE1wOLVT5_-jiVEoJHkaABfixgQr4oDccoNt_r2D77gjaL3EyttZfiebTD_jDbUQD71LkyWj4dihuwMgBFm5GfSVQkqM7TlsfSiPN9RfPxI_q2jUCjBLhtMHAp2xhZCz5zeDj61OA3HHCSVmwXzHUjovr63nn_Q0MKwrMJ3FoTkOZyFHTXuTRe0eHu-s3CwtxtHMoeCvcIe7C43MP0BHWToTNWaRl9LKeGbqWLZT0eAuYfPkGBaMwj1fKP5v2ebhPigh4aoIS-jB2DvAfM2CbAVcH69s4XOg6J5I9BiMxm1N-3A7XFVt2q9A0JIapQpOwg7iQ3qMDdldIW5xRJfcdw5LC3oLOSxCQv-XWNEM7RbzW29uQNNg2hY8zKsuSayfklx0KMVoNAYIJf0JZBH3mufEuTyQsi2CxzqjfCr3iaxSZViZ2FXpUeVXvSv_uM8TrVr_0Bmq0X1jZhsX2zD5assy8JVQDkIujBndd6n6qWVL5eGvUe2jzQn9Z1w1GTmJqTWGf--Hlp7IZ2zjxVoZ1Cpvmy3PkHFufIsz9VRo7jsOJE-GpaSeaY-PvyE4QNXfeQfg038x8IrA3stT8bKXQ6UhN171_xsBJ6BY02XsW2UjuJLsxGThZQYYZXaidgyIk02ACgTWownyVnAMrQnu1EiV_Og-EsUTt2v6ESDmXtHsc93_tDTunGmo9qV5goEdPcbdr1sOGfcKB-hX8XQ5AAWalClib7srVv4EaEUFhgJ6AA7etQw33DzYUo_tHFLIgqJ7jeg4yZ2bGa7IKt8ARyFbHuVadujwU2_EOKXZaGlR__5Y9CmuTLPf2dEBUjRE5KF7vUSHeqMt0OQ3e1v6dJeSfNOyXJNSvzpWbrVmbbS20QIwLWy9fEkOrLxRrKBX3IpubbQuJCiCAp34WLtSNYj_rAjOZkC--KIL_49TiC4ZxWxZlxxg_9gIFzv2YCCG0zZxc_VDKlqZSiPEwd33duWrCyOkVfRGT6Qrx0TqY0k-xt3iLULi-KEqZXeY_u9Kj0fnY6ZtlrOL-2TK5vm1LGVqBxACVJoaDgAjYYkpGO_YTFpynctIQyeizE3xAKVL7RvmpLyRopeXSDj_WBXs6Srdz9aBd5uS5wMG9qg58sGEYFhS1Jba8a7ijkLAWOjVd-RMslLF1znGSJczpdRlEwBkG8aAV1B0EtL2yHyZTvba-UO1QLj7zeboIdBYCR-E3ytaxE7JocFd1o4omOj5BLAof0ioj9Eqx9Lx_YNG3LtTgCU-cRZA5B84sdTCVJqVlxBdQpFWcZ6Cxq5pH_-1CkEjr9vHxj7oeh7_uVj1uhq5Xu8hP1RvZe2uysFfP7dfVZYEC-PX4eJ8eZgrkZTg_hSxbaDoSWMwslWeWNiZhp2jfboicRp6IQWjH6op4W8zHSEbxdPv3GparB7OOVdEC2zUw7PaCI7TmVP1rLrz9UdhjnjQc1LXYVqHpwdn3WBOssFdxoo2jh_gHStmJsuWLnrGEMc_H6dETOlRVvI4ou52to_rH_J0eLuwobdzgoaQFr22x9JQyJGJ0U8-CGupDWRWrSg1nkD4w4XXJGdSfGboGOfGAs4Sn0eOyY77w==",
  "id": "rs_0efb4b57b3dc8329016ab477050a6887d09a1e59e405778eca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.31,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_z\":0.13},\"note\":\"The left gripper disturbed the white bowl while trying to clear its rim, so I’m backing it away to reassess safely. I’m also making a short lift with the right arm to check whether the blue bowl is securely held.\"}",
  "call_id": "call_moR82DEhnCbYZD68pR7vCCoq",
  "id": "fc_0efb4b57b3dc8329016ab47708630c87d0b87a02158d45ce12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_moR82DEhnCbYZD68pR7vCCoq",
  "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]: [-0.7139, 2.8765, 2.6858, -1.346, -1.1179, -1.9072, 0.9898, 0.0223, 1.7863, 1.018, 0.1425, -0.0608, -0.0383, 0.7943]\nstate[eef_state]: left_x=0.5081 left_y=-0.2253 left_z=0.0465 left_yaw=1.0323 left_pitch=0.085 left_roll=-0.3182 left_gripper=0.9898 right_x=0.4937 right_y=0.0254 right_z=0.0986 right_yaw=0.0884 right_pitch=-0.056 right_roll=0.0174 right_gripper=0.7943\nstate[joint_eff]: [-1.0325, -10.5641, 5.3265, -0.0464, 0.2808, 0.3004, -0.0171, -0.3624, -11.4256, 9.2376, 1.7949, -0.0073, 0.0171, 0.1783]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7c6a7a9889579ecb189505f02ef2380ef94abeb08c2c11c3c392fb03254997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac06c3f1eb0a1670dd864f6998f9b07c8acd82f9da0ea541e9c01d5164f9ee3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b4b073e688588865c569c8f031d6bf866780ae809cbb2cb480fad8a102abaf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 9.478 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5724, 2.0357, 1.4883, -0.1413, -0.4644, -0.3656, 0.9898, 0.0067, 1.75, 1.0931, 0.0296, -0.033, -0.0433, 0.9965]\nstate[eef_state]: left_x=0.5113 left_y=-0.2311 left_z=0.1269 left_yaw=0.0026 left_pitch=-0.0355 left_roll=0.007 left_gripper=0.9898 right_x=0.4974 right_y=0.0127 right_z=0.1251 right_yaw=0.052 right_pitch=-0.0585 right_roll=-0.0029 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -11.7675, 8.8137, 1.6386, -0.3394, 0.0073, -0.0122, -0.5538, -11.3299, 6.4889, 1.956, -0.1343, 0.0757, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7097, 2.7995, 2.5401, -1.0901, -1.0737, -1.813, 0.9898, 0.0223, 1.9095, 0.9245, 0.4217, -0.0586, -0.0345, 0.7926]\nstate[eef_state]: left_x=0.5242 left_y=-0.2409 left_z=0.0453 left_yaw=0.9937 left_pitch=0.0311 left_roll=-0.4147 left_gripper=0.9898 right_x=0.5012 right_y=0.0251 right_z=0.0586 right_yaw=0.0844 right_pitch=0.0063 right_roll=0.0153 right_gripper=0.7926\nstate[joint_eff]: [1.8256, -11.7538, 2.8376, -0.7399, 0.4127, -0.1538, -0.0122, -0.7043, -9.6889, 5.9966, 1.3407, 0.1001, -0.0904, 0.9695]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7139, 2.8765, 2.6858, -1.346, -1.1179, -1.9072, 0.9898, 0.0223, 1.7863, 1.018, 0.1425, -0.0608, -0.0383, 0.7943]\nstate[eef_state]: left_x=0.5081 left_y=-0.2253 left_z=0.0465 left_yaw=1.0323 left_pitch=0.085 left_roll=-0.3182 left_gripper=0.9898 right_x=0.4937 right_y=0.0254 right_z=0.0986 right_yaw=0.0884 right_pitch=-0.056 right_roll=0.0174 right_gripper=0.7943\nstate[joint_eff]: [-1.0325, -10.5641, 5.3265, -0.0464, 0.2808, 0.3004, -0.0171, -0.3624, -11.4256, 9.2376, 1.7949, -0.0073, 0.0171, 0.1783]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7c6a7a9889579ecb189505f02ef2380ef94abeb08c2c11c3c392fb03254997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac06c3f1eb0a1670dd864f6998f9b07c8acd82f9da0ea541e9c01d5164f9ee3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b4b073e688588865c569c8f031d6bf866780ae809cbb2cb480fad8a102abaf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcRA1BRMqT2RFoaLTegB96WiUWgcIsEOnMfrsDZFTYOv8KtzFP8Y59G_F9e2rt-qK6QiKHGCWqc7GLA9I5IsHOMIWwv2fGg6TotesTWToAnxTeqFTi4ARmO5E-M05XmzY_8sLzTID3R-9ZftHybXGi0dLK3fFZwgJYlz0pfHRKI7gbTIta4DcjOuMB391B6m87sCqJlQ2J4Dzv9fPRPgPqAn2n5en4bkT3HDr31u5nuXZnAQ09bI8SKf_fZFSe2gibIhXJDWvUcH8_fKK8YW8rSYJwHARFO07SHPsay0XqE9UGLKulZj2ZdymsVOBAvvnTIfI2PWeYYYYt4-lJX_GGm5A0d6oTpyPB8_Bl17IST6CWOZYltyqZxCywRi_EOM_tMJ-yaFpwWYpsRym08P3czIsyHTbxJyRYDWho1d32OEr1AIbvBO0CGWwPNcXL0iBc-B65WkxF5nuOPQwq5cbCodqkAvEC2v4tc8yPjS7T8FNyML46nOKMIdbZ6TUWGx1SG-GJi6cRpCcd-5J0YIHojO6bPd1QWJC7XJ_vsfnHPrycWjb3-d34zWbtIXJW1mPBlZp7ecMfNCdaswh9Ykll6MeCoFYIUlKyFF56FODMEI7PEsUl1xvFa6NGqcMJtm8HKTL0MI5-QrpPDHGo8o32-bnfnw86r31jOkoICSx2ZwSwlMEHpsyitZEHUVuSof02brD8PvDPlTZLGd-amgrawq98_Co_AD4_4nS5ik-O8y5gyLXfk0UwBXea5NFQoMyb_Bm9Rq5MERuawLT-Z8HvhsuxPOVS0u4Pkl7rzWkLkKUEb9gX0YS0Rs5plDILu3u27croUWAdfDaZmj06KajVrcX1vJlDVozdQEGCGatVtd51tefTagngDtQaQR4romckhdkfcjCNZ0kie--lMjhLe6tQ4gqyJ34guNcW0Rfv5WZuH-wotnYEEhaZexwlPMATgtQzGn41rJHp68UiXW3q_QVyMbsNyuFPO3ukb1ScPEOoML5tZHjvGJ4-HWcrUHR1bxnHFeM7huDLDC3344o-VK-e5Y5lchOyV7d9CwCYtfAkkxK523h9OcJ-UZ621LZ39X2ZJTPyFf_nF47bPTpqHSJKUZUL_pF29_CvJYtMiFeJ4WL-5AeFjWax90grxHOQklyFGntm2ssgfi2iPbC35l6QXLUQmotorQCwRGhiWGatu-CwzCh6Ppr7RQNMoZwMHZAEwfCgCT6K_Pn15mBi1_tVVW8oa3XoLDYoDEa3N3Ulxz6rNwuwThi6lcZJPStcO5wTr-xsvUtaRUt-oo74sSFznTmvKHzA9UE_upY12BsWGljQEKcluZI1MJVOT0qHYZY81EpXD9oCaHsnF-CFR2O1ngG0vVzUUdJkJLxjbTJUyrUbgMbYcQywZd7RwDHn_-nrcRAryqE2H_sUrf8dCTJAhycKyy00Se98OgXg_8_fpGYNBnSiKmlLEYHA_E2aMd2-qe_TB1rQfpVbJoq3320X0jsX-NozpDkN0I2PaV07OMehL6yU0QwPxmZfkBQW1B-asPrymVuCmCrU86Su-u8g0eYS2pnVGeYAUdG_d3w3EHZxzbiMmpD5kTf8U0Rr8fQ-DQxnWMS6sjwXYuRhxuVGV1ZC3bj26CRvb8kzyEtc1dXairliCvZTYHjhdu2NwNYBDOOEX9sCr4kOxuGcLSwT6QrgzXTfGUsV_5tVmYh4Y9H3cs8oSD1dYNyETlW1YcdFwUFyScvzpiL6qaDeBd7i9H20bqrOHerb0csNKi3r5V4ps7A_IoAoPrpPpsrHwSdhMnuxV_hSwa7CAq1ZEVh2jcgQc8VbOwej31crGylAqjMyQCWGhTlbt2ZfphBiJL7EUkQGYBNb37H2lsQrzu5RX8o3vFvThXk5Lp0PZ9sNF8TFyLT8n7abP1KbVpgeu4cQKYzkw0fNbRjMc4I2LqzzUCCznRjJH2NXRgZj8-vsIf9CP6fqc2esAaETkV10norqWsEsJUl9Qpd8-KCczbK8tSRnUzS5VNvsdJoun3klPwfuwUdPETGlKLUd7jHsLIUD-Jvo6J8-4vDcnwrau2dYPaI3Y9qEdtMQGXXDy5FsZ_B6MiZhWFQlQv53sj5fOnf326bLxiQMH6mqg7VbJeoYq3lXnlYUFlQcL0XwhhTuXpz8q2qOtgPp_br5mgZ04-T739hxXRTWrvJaytF3sqqw7gDdQ2MNegZ5ITxw41xvTu0wJ5kkg9KRie9Znr7YL50F8TIRbtVRo_OLFJUelNtvv0Y_HIGO3_CUi4h5uzoK4IVhIm_rUntG0DLhE9GyRtS-OVFSPXg9o2l8oxSWxDUcke50Cgg_Kk07Y4pm-d3dUhGtbnqehSZUp8GvKNfSTmzCCrK25rF82RTGRYqQwnw==",
  "id": "rs_0efb4b57b3dc8329016ab4770c4d6887d08dec6271551e7607",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.225,\"left_z\":0.19,\"left_yaw\":1.03,\"left_pitch\":0.08,\"left_roll\":-0.32,\"right_z\":0.2},\"note\":\"The blue bowl appears to be following the right gripper. The left arm did not track its retreat, so I’m simplifying that motion to a nearly straight lift while retaining its current orientation.\"}",
  "call_id": "call_8t1zJHvZmrB2ezU6kx64IxYV",
  "id": "fc_0efb4b57b3dc8329016ab4770ffab887d0bd66aaf3a19c754d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8t1zJHvZmrB2ezU6kx64IxYV",
  "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]: [-0.7147, 2.6663, 2.685, -1.5486, -1.1061, -1.903, 0.9897, 0.0227, 1.705, 1.2537, -0.2436, -0.0612, -0.0456, 0.7957]\nstate[eef_state]: left_x=0.4869 left_y=-0.2087 left_z=0.1484 left_yaw=1.0294 left_pitch=0.0729 left_roll=-0.3192 left_gripper=0.9897 right_x=0.4909 right_y=0.0255 right_z=0.1632 right_yaw=0.0935 right_pitch=-0.1248 right_roll=0.0166 right_gripper=0.7957\nstate[joint_eff]: [0.0205, -18.3726, 5.2171, 0.1294, -0.6813, 0.2466, -0.0171, -0.0342, -12.0547, 10.0991, 1.8339, -0.0513, 0.0562, 0.1343]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b38bc4ddec1edc7c4adfe7fd74577f3478b1f0c48cf745351f282847ed9fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c47b7204e1eac1f771839d544c687d0056310842542614baaa931ad73983bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd80502c166978c381a15724f71c172133ac5aa39aa6534c8ea559f31a1911c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.396 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6064, 2.2024, 1.2705, 0.4915, -0.5659, -0.3096, 0.9898, 0.0177, 1.9068, 0.9272, 0.382, -0.041, -0.0402, 0.9966]\nstate[eef_state]: left_x=0.5233 left_y=-0.2433 left_z=0.0709 left_yaw=0.0326 left_pitch=0.2002 left_roll=-0.0402 left_gripper=0.9898 right_x=0.4971 right_y=0.0196 right_z=0.0527 right_yaw=0.0681 right_pitch=-0.0285 right_roll=0.0028 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.7214, 2.8513, 0.8425, 0.0269, 0.1441, -0.0171, 0.1299, -7.6103, 4.9162, 1.619, 0.149, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7139, 2.8765, 2.6858, -1.346, -1.1179, -1.9072, 0.9898, 0.0223, 1.7863, 1.018, 0.1425, -0.0608, -0.0383, 0.7943]\nstate[eef_state]: left_x=0.5081 left_y=-0.2253 left_z=0.0465 left_yaw=1.0323 left_pitch=0.085 left_roll=-0.3182 left_gripper=0.9898 right_x=0.4937 right_y=0.0254 right_z=0.0986 right_yaw=0.0884 right_pitch=-0.056 right_roll=0.0174 right_gripper=0.7943\nstate[joint_eff]: [-1.0325, -10.5641, 5.3265, -0.0464, 0.2808, 0.3004, -0.0171, -0.3624, -11.4256, 9.2376, 1.7949, -0.0073, 0.0171, 0.1783]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7147, 2.6663, 2.685, -1.5486, -1.1061, -1.903, 0.9897, 0.0227, 1.705, 1.2537, -0.2436, -0.0612, -0.0456, 0.7957]\nstate[eef_state]: left_x=0.4869 left_y=-0.2087 left_z=0.1484 left_yaw=1.0294 left_pitch=0.0729 left_roll=-0.3192 left_gripper=0.9897 right_x=0.4909 right_y=0.0255 right_z=0.1632 right_yaw=0.0935 right_pitch=-0.1248 right_roll=0.0166 right_gripper=0.7957\nstate[joint_eff]: [0.0205, -18.3726, 5.2171, 0.1294, -0.6813, 0.2466, -0.0171, -0.0342, -12.0547, 10.0991, 1.8339, -0.0513, 0.0562, 0.1343]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5b38bc4ddec1edc7c4adfe7fd74577f3478b1f0c48cf745351f282847ed9fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c47b7204e1eac1f771839d544c687d0056310842542614baaa931ad73983bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd80502c166978c381a15724f71c172133ac5aa39aa6534c8ea559f31a1911c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcb0HyHLUDw_qLP8EX-jloIjesQNBv2jzyQpB_2pBoRh1BY_PqlDYdz7pbGiNXKdOQqcKuFZp-NLptu2ZXpHmW4VkSp57wZ2lIGYYhBkow5fPPS7okTDsqzgeID0aNtxxk5bPdC761FCM5L1ZskAl9JIrnz4l7YLacdB2ODTTkIC927rpEYF-qHsZJabbVrKIRFSj6MquHaSeJh0P1qKTuFZX_4eDIMMbSsWZ-xz93P8fnCYcrEO8ojxKY2c_AomB5VcSIwTHVwzPtKw3z5lvR60HebFhQ5hEuqT0-m2oEjWpmTpUFBNSJHU1Svf0UQMIAWe_jj-SGd0w8yHyDQY_rXuRORop_Ei0n__dHvsOTiYTmZwSU8a5VOU-wrPUcFzNKhI78GNWrFfJRK6tpp7P5Ak6bUpgEVdhgLEx0KxISs6NT99s4Uw6lmoRJFiEW4uFcnqI6EuCNG91JOKDridasOz3dUH40ocEibmdrRyJeyyEYSnjLeu9XBjJGHc04RpTx0_i9BvbBpq75S613QIvH_Cj07eat1a36d2wdeNsMmTg6wV2bVshEq12RvqwtOqJ9CUxyEOfd1JY2WCxgFyyMaU_-NZZH_SJqwqC1fZIy79vdf3kOeqI2-Fj72EYijx-CAeEi9zTv2HFG2OiKDXvHU6nIVC7K47lSZikoByBm1Ey0Bgy6QtfwKqqCN-Uw863u3cAzKIQaLN9aEr8VfkJGk0X-VxK0gOVwooGF5uDG4NY_LCHSaa_Lzw8_tBHtradfZpb_8nElNwOOtnQ4SW0Nox25G14rX3FQELDdoddvHCGUpepQVZ6qc4o9a2AncTTSoEwO24GRWTZh7ylnHGvTq32hOmw-S2gofCTdNfnnvK-D8jWtyYJfsU_jyBnia353OBUjw8IfAPRzEIipGSsIjXb7p9VEzxc8C5mStu7Jf1zUwX_1OiIYDSJus3JtP_aDj-5XQ3wjvwtoc0bKGgxKKy-NSzpVD26S5ibK6oyjwy1jKEL8FERq0YPDCUjXzGgkOt_ST8r8V0smRckZska9OTnn9ksPWvfXcYI08_61rxBHZybVPac2Dlsi79atQ4L-WFkUygUfg2aPo40UuGKLJTatmXlvA4ay0aPThlOEOoqk34Pv8QjeDmHhLdg-DIkxzSpNDcL6vdRzXRkwy5h68gBjH4zHyZCz3yMwFl1p28zfvyD_jkSWvf7ukYPoQXqUy1DA9HSjDNcPoTWajYRXz2Kuv-rSbyMMp1FB9YFJAB8JncHl-EKLjyQ89fx0QNetEE1H0xZi5qbPKy97GAYFaxarCRkyp9yxrDbsrHWEuaD2B5Crxpq4F3qXlP_BPafXMg36nwx--SQ0GbtAoePfHYGX50U_ZDEogtLq77X6MzwntmDrE_yL4ipTYc3eY3OSChWhgC5qBRUNZRDKgFR_WhFoiz2QFzYdYkii96bshn8eYwByVEbblEJk6gGWBjyrub3_5WUY8bcCZepx8JBydNuEdOZ8yyzg3_AjRNdMpZ3BCWcjzzAtEC_zzH3oRVC1BJujlqrVYM637FVactTh5Pt8OpUNyHv3scURYkq3gWZclA1tIm8RgIXF1hwJy_0uL0_sbV6k7DTQH14sPxMShG_VYYCj9nskclps-BVZu2FyPRojMRDyckwWGAxwKmBaB2a5GBrJhM0MwYh3Llx21LG6BvUU2i_-26an7xjA26XWz62LT3w7aJh-YsoRzoUf3P54Bj94fcNog8o_orVlbTjR3yre4PumRAeRi3JomCwWeA_U7Lp75okB5-G6rH4e657IK4l8RuSeIMbLrj4gQSKkRWJL2ESEtRaE6vffPQDEIft_0UxlPV7DBGmLagtq4GNvi3Q3KGgg_2_moTOngY-4kfzr0xYRuja2AYnNkEsgksAvKZM5kYqzfm_aGvZOO4MPoCsoeSNfJzi_eQPe7fIMcldCzV5UrSC8MHE_oGqJLlNCWu7QERqzpOuf8N7OKgxJHFkH3i4p7lZXw7xNLEo0s6hWaU8iadWuPW_zt_wDcWPbPUaQR7evcpSklCtwo28Ry0AlL4OS0h49iaw1r2YsPr1pVJsqcEpLOXBpdb_qM0xLXGV9jV6JvVwnzyA3xbTyvW6rnL_J-psv8Z624tcVyL8MdIXeuIyh0uE4Lqhw1-UHbF8rhUjexHNxdp3JpMS_G1QYjlW63-A-tAogmn-8RGFqTaFaRpcXONvYWyOr44kMAQrx-tCAPjh1gJehrwBbxpHtKFuR_1Re0vOksxBp32KX5MT9X1aSjemSb8ifcwJNnw465GStqKOoIwD-yTmPfYOV-AjXt6s3pHaVyVohMVBe0f_pH5tGw8zflyDY7_2nEPnV6i6tYrsJaTpUTkEzVscBIbAJ0YWE4Ti7Zaf4IpY3OtW0dbtEeBmDT-38KOtOlWswhZ13r4YCY9wVfgIpfVC0G--icZzfOQzcK825yoESpPyp82_PWZPqBJh9y2YhiJayudssCN37uA5jI62Wi3_Eot558FkG333bIA7PCj-HbrPBlMVsWk4AxQcZBfMdssalDSSnf02rmyeREHZd44dwyuuHdQpJpyOaszhdTdlhN287HYI7RaLse4TaONwSm4P-eXJNxc-0Ar3kHhseTTgaJ2axwhy4AfClKAgSv2EfSyotzcoSrIlKrOQMwBS-Ps7D0exvNLCyqHrIJSDf60v96KFx4FpgZLatRJnunQFTPe23AOEp3q55RjAEgCFaHs7cIS_Qq_KvkpnZibRBhWMmN3REnlygAiN5C3wLCwyCB4GJV3GLFPn4mqE2xm4kI0k7H_NVmV4AOT5Uxv7U8iq2or2MzgfAzlYH2gtzxlyQcYH6Yn9KgG571MOXWGPvBfAiOWzQsdQ58ftuFtc4lt2xMwhc_Etr_bt2DeIGpJMR5zIS6_J8YWWqEIpkyZzrMaPN-mD8aEFrxLSWZS5xkDrJlqJuxyilAjHGmTqpvaOLIJcTonQnfNbFApbFqwxrZSONzM2G4PUBQTRM5VFBvFrDxCqqqiKDXaDoNDJKR5Y3iYujcWa8fRMrdCviXeH_Jm5AqHSnEFKkyOIzLe1a-pBWxcHdmHxpeO_GD8x70z2m_OCSYus5oVVvLMfRYLVw0v0tSVk2rHF5UWvEtiT2fSObMUyzWmXw5bp3-6hxsBLOql0bPBZFAZ8Jhw_7k0j5PzBPzUSF5E0gV1CZC2Juh_DeoeN8mFopsd1P2mJeyb9j9_4PJjStW1PmPGl80mpKZ0EM7AKKE4X3ykMOcTYT_tP6eWZV2WcIW4w1GrqktgUX2MhSLzG18xgkC0hGAqrjRZDvWP49GPGQxETvR7x_aqrFI2MPsX9pN9CqBPdJgQXAdVizXzzTHHwrDJ3WotOyvYek0xAKe1AO3f_rKolnLFDiM03KOGSUd_G8QLA==",
  "id": "rs_0efb4b57b3dc8329016ab47713bb5487d08263a21ee879aaa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.24,\"left_yaw\":1.03,\"left_pitch\":0.08,\"left_roll\":-0.32},\"note\":\"The higher lift shows that the right gripper caught the pear, not the bowl—the blue bowl stayed on the table. I’m lowering the pear back and moving the left arm farther clear of the white bowl.\"}",
  "call_id": "call_sLDr6CgiwzcdKNFy9LN2lSaO",
  "id": "fc_0efb4b57b3dc8329016ab4771a472087d0b9f71d2558b9da3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sLDr6CgiwzcdKNFy9LN2lSaO",
  "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]: [-0.7986, 2.035, 1.8748, -1.5421, -1.1019, -2.0819, 0.9897, 0.0223, 1.8153, 1.0492, 0.0231, -0.0612, -0.0456, 0.7971]\nstate[eef_state]: left_x=0.3734 left_y=-0.1524 left_z=0.2198 left_yaw=1.0251 left_pitch=0.075 left_roll=-0.3068 left_gripper=0.9897 right_x=0.4832 right_y=0.0252 right_z=0.075 right_yaw=0.0936 right_pitch=-0.1728 right_roll=0.0201 right_gripper=0.7971\nstate[joint_eff]: [-0.4718, -12.6838, 5.6821, 0.149, -0.5934, -0.0757, -0.0122, -0.1573, -8.841, 6.2154, 1.8926, -0.0317, -0.0464, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4580c64632a704cf23a47a88280cbb76c6e5308c912fdf8f0d2ba9cbd1340d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307334e3e19179521bed76427f2a1223a86f0ac5277409df7cc220f7a56f888d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad0a52d9cf4d3cc18b721b8a4b6eca572c734ba84ca54ad4958b156dfb212a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 12.94 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7097, 2.7995, 2.5401, -1.0901, -1.0737, -1.813, 0.9898, 0.0223, 1.9095, 0.9245, 0.4217, -0.0586, -0.0345, 0.7926]\nstate[eef_state]: left_x=0.5242 left_y=-0.2409 left_z=0.0453 left_yaw=0.9937 left_pitch=0.0311 left_roll=-0.4147 left_gripper=0.9898 right_x=0.5012 right_y=0.0251 right_z=0.0586 right_yaw=0.0844 right_pitch=0.0063 right_roll=0.0153 right_gripper=0.7926\nstate[joint_eff]: [1.8256, -11.7538, 2.8376, -0.7399, 0.4127, -0.1538, -0.0122, -0.7043, -9.6889, 5.9966, 1.3407, 0.1001, -0.0904, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7147, 2.6663, 2.685, -1.5486, -1.1061, -1.903, 0.9897, 0.0227, 1.705, 1.2537, -0.2436, -0.0612, -0.0456, 0.7957]\nstate[eef_state]: left_x=0.4869 left_y=-0.2087 left_z=0.1484 left_yaw=1.0294 left_pitch=0.0729 left_roll=-0.3192 left_gripper=0.9897 right_x=0.4909 right_y=0.0255 right_z=0.1632 right_yaw=0.0935 right_pitch=-0.1248 right_roll=0.0166 right_gripper=0.7957\nstate[joint_eff]: [0.0205, -18.3726, 5.2171, 0.1294, -0.6813, 0.2466, -0.0171, -0.0342, -12.0547, 10.0991, 1.8339, -0.0513, 0.0562, 0.1343]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7986, 2.035, 1.8748, -1.5421, -1.1019, -2.0819, 0.9897, 0.0223, 1.8153, 1.0492, 0.0231, -0.0612, -0.0456, 0.7971]\nstate[eef_state]: left_x=0.3734 left_y=-0.1524 left_z=0.2198 left_yaw=1.0251 left_pitch=0.075 left_roll=-0.3068 left_gripper=0.9897 right_x=0.4832 right_y=0.0252 right_z=0.075 right_yaw=0.0936 right_pitch=-0.1728 right_roll=0.0201 right_gripper=0.7971\nstate[joint_eff]: [-0.4718, -12.6838, 5.6821, 0.149, -0.5934, -0.0757, -0.0122, -0.1573, -8.841, 6.2154, 1.8926, -0.0317, -0.0464, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4580c64632a704cf23a47a88280cbb76c6e5308c912fdf8f0d2ba9cbd1340d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307334e3e19179521bed76427f2a1223a86f0ac5277409df7cc220f7a56f888d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad0a52d9cf4d3cc18b721b8a4b6eca572c734ba84ca54ad4958b156dfb212a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcg5xLyAmGCj6BdF4y-MkMHtIpFE48EUemvpCvxW6NTNLENUSINHRkGAqmM9Prajzel0Ikb56cASRkH5bl1SnNIN4Aas3OS2eHxIcA-YUcw8Of00IVgUwOfgRloeO3VxW9jbRKMy1mT1IiMvy7iEzPjLSnUys4y-ejKbjuwJKXlGWCK01L_iWsYqiTq1x2I32Ju-4F71ua794YCj4KKy0IW8l6gfH4VrhfrkGGFKkzKDs9StpTseMXnySQW3EPu9MzZC-Egc8CQnehEuM272EHr6gmYRfL_g_vymVG2WsLolIaYD1YaQkXvJwu04zhUyZB6T3dWsdZAjdJlcA5JnOUgbCVNecpsFLwFrakvJQgrbfXSzdqmtfKCrzhLkocL_W9i6WI2IEU1c2gnkPqRjL2vOFNznYH__XP01n8jzOWJrvTOGva1uo5hyFlZhHHoWpSiJTyIlPtSmZzBkTrB8cTe75N0cfAuYsOy9paytTJVbDRvdJmeJQK04-LnjS44k8pL-wnh2qgrFF4p3XJfiGIJrFwupBxnBNyttqhe1b5ak1HhS2JQvzUoTAfjXrTvFAWxMc3sRJa9qjEmYzJVadLYpvzQpiGDA7RJIZyUmeBD2k76rMFydU6c1DZriYK5IBhEyy-MgZmzkY_JRjkhdBbcKDSTU-yPZh1ZMR4XBQMvRjC_7oC7q8IP688jC9hgDV2r77mF1MhsfzhpGqFjRGpcMWhbiht4nhDMgRatJ_OC1CR4KtWL2-pomqOpy8e_jknY-QSYKWXZ4uQHuompY1nPYd3WnyC81o2zMED3RFK41TgLvKy-ejqahsY1qKa-Tb0DqAmA6i7uY5gvWC7TWTLwwfvrU-67dDJj9R2k_ok_8GjlDu5LYWr9JG3YKLJSMtvkYv0zUDU590lrqjBgexCguJUvDFDULBsstVyaNKz0opIVGGgARGH7kxrzalixNZ8e2Jb4a4l169KR9fpLzBTi-hZSmMu9aSLxcxm93833mhPvzukTD5ugVdaGCwSlk9E2CiYA74t5pS3QcMqowPxJmWT8WEb9FAVzLk7r7T-KQKDs64Ai5R0TYqtD5P4zMlUaRLIvpp9HUvJIGYENO7HncPCx9mTEhVMTEU16rwpnlXYS-484UmcBthuHVjymsJtLEwxycSxwiP8mQBjGC9Hpv_R0o5cJchnvpaB5RkzFaU2uK4LydcZnm8Ix1-m94hNQ5-6tb5jWBOr0vW6uKvPc5zbab7RBhyqAOVN83h61H4-TlohkH4OqZhkK0XLSVX37EJkqMKbD7hVQd6wlzNNNFRVxAFcd0wfMwrFB6-Bloy3ZCISM_zg0WWmTfg2ythKTMrNd2aWuCGhGV2qdq6W19dVWf-2UKpW15uYxKT3RGa0=",
  "id": "rs_0efb4b57b3dc8329016ab4771e2f1887d08bc0e1613cc79243",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pear is back in the blue bowl, and I’m releasing it. I’m parking the left arm so the white bowl and displaced dark fruit can be seen without obstruction.\"}",
  "call_id": "call_4KdY41fUnIrqq6tVb4Pusk4I",
  "id": "fc_0efb4b57b3dc8329016ab4771ed1dc87d0b253f3a7ca51148f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4KdY41fUnIrqq6tVb4Pusk4I",
  "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]: [-0.0742, 0.8398, 0.7753, -0.5205, -0.194, -0.2005, 0.9897, 0.0223, 1.8252, 1.0367, 0.0238, -0.0612, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.2972 left_y=0.0157 left_z=0.2184 left_yaw=0.1895 left_pitch=-0.0045 left_roll=-0.0444 left_gripper=0.9897 right_x=0.4791 right_y=0.0251 right_z=0.0656 right_yaw=0.0939 right_pitch=-0.1945 right_roll=0.0217 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.6479, 6.9265, 1.7656, 0.1099, 0.2369, -0.0122, -0.1709, -10.0308, 7.3641, 1.5556, -0.0464, -0.0415, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae235a84e8f6a18ac3059abee2b5b9927952feed6b2464ddbd37bbebad2dfcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a02ec3f130be2ae3d427edecefef3770a2f504c3a31ff5750e6cfa180032411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1843830f823d5b2e4ac504f194bc3ca1e9200f9c3bf55d9e80257cb30d256db6",
      "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 · 3.001 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7139, 2.8765, 2.6858, -1.346, -1.1179, -1.9072, 0.9898, 0.0223, 1.7863, 1.018, 0.1425, -0.0608, -0.0383, 0.7943]\nstate[eef_state]: left_x=0.5081 left_y=-0.2253 left_z=0.0465 left_yaw=1.0323 left_pitch=0.085 left_roll=-0.3182 left_gripper=0.9898 right_x=0.4937 right_y=0.0254 right_z=0.0986 right_yaw=0.0884 right_pitch=-0.056 right_roll=0.0174 right_gripper=0.7943\nstate[joint_eff]: [-1.0325, -10.5641, 5.3265, -0.0464, 0.2808, 0.3004, -0.0171, -0.3624, -11.4256, 9.2376, 1.7949, -0.0073, 0.0171, 0.1783]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7986, 2.035, 1.8748, -1.5421, -1.1019, -2.0819, 0.9897, 0.0223, 1.8153, 1.0492, 0.0231, -0.0612, -0.0456, 0.7971]\nstate[eef_state]: left_x=0.3734 left_y=-0.1524 left_z=0.2198 left_yaw=1.0251 left_pitch=0.075 left_roll=-0.3068 left_gripper=0.9897 right_x=0.4832 right_y=0.0252 right_z=0.075 right_yaw=0.0936 right_pitch=-0.1728 right_roll=0.0201 right_gripper=0.7971\nstate[joint_eff]: [-0.4718, -12.6838, 5.6821, 0.149, -0.5934, -0.0757, -0.0122, -0.1573, -8.841, 6.2154, 1.8926, -0.0317, -0.0464, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8398, 0.7753, -0.5205, -0.194, -0.2005, 0.9897, 0.0223, 1.8252, 1.0367, 0.0238, -0.0612, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.2972 left_y=0.0157 left_z=0.2184 left_yaw=0.1895 left_pitch=-0.0045 left_roll=-0.0444 left_gripper=0.9897 right_x=0.4791 right_y=0.0251 right_z=0.0656 right_yaw=0.0939 right_pitch=-0.1945 right_roll=0.0217 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.6479, 6.9265, 1.7656, 0.1099, 0.2369, -0.0122, -0.1709, -10.0308, 7.3641, 1.5556, -0.0464, -0.0415, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae235a84e8f6a18ac3059abee2b5b9927952feed6b2464ddbd37bbebad2dfcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a02ec3f130be2ae3d427edecefef3770a2f504c3a31ff5750e6cfa180032411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1843830f823d5b2e4ac504f194bc3ca1e9200f9c3bf55d9e80257cb30d256db6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHcuuDgOu31Zq9TZfHP1jPqSp31tu0jyHyLSweCSQdRx0Y83ZVAoS5LuguuN5MelvdopfErJik-rELWq1SeSVPEcpAkdOxOe3ld_xq8GIv9aWugbd5wak-lz-vX56Yxuiin425Ja_mwm7Nmrh0zaNLDd6KjH8dojEwFuBCCQP9LphUrm_Qgyyj8-jygWQycEKCUL-T1ZWv2tJVhDQgZ2iKsHe-INZgQLyP78HGWWnZNEbVi0aSuAaYfZJk7Acndgtzp_SYidpVVdy95vTnzzw6LYnE0M70QJKr77AyPkSVLy5OFlmfPTZdO9selgIuUzBNEEbBD-ykpn-Yut8K58n5CTi-OaW6GQbDElS8Hia0EwQoZirNQlKRkEMPdtaEB-kxPKRu8RSaYhktMdhprhFX5z3nPnvCJE168bWlVEvwiBuTufjjwXPndsU7IzdNaB4JWYTR0Va_EUpqlplXfHmoxqFt06qqAPH56pV6S7Tjx5a4ZG7rezsfP8E08MMgcIn9_2dTi68GFFVQXHmL5sP7-KzguDflgIcMx4X1mpfvTPDrBVAA3mHKKGmUktEyWLk6pKZNnzVE_rK03tP7qrU89VSJc4ZYc22yJvVoG8CyovXrjfBdCEYVe1qv7s3sS6xOk7tfeghDho9fY8ybP35kTpEYX5gnLOhq8XGwSrMpkWCZrOA20k-G_C4PvDLTMtdptHdslnAgcpfpAJ_TtZ5eNPFj0kHI9tgjcPfMu8ppJ00_Z8hwFefk4P8_6N75KZqhNvBhMckzcnVYg0yLFa0gYU_-too9rjBzkjTDkir7qvgjCOwDNtJQz_gjcXeo0UYJBUCo87NEtZBUwGO__cv-61qQf4RJyKKpHcImkfM7lB3RTppVfKDvCXNXm5gpq8RLmM0Tor6mYFRCnV_QcdC9OqKdwHGqhY0uuGQrl6Kv9uwZcNBBHkP73Lh8kI8PkadzwtT3cEOUYr1PutbKqJVa-AF9xcuL5BaunmfoYBRQtNab1pXSBWm3iP0JIgSDEsIRSxEtoR9Sh-VevZkwCiXxStgXGShfK9EAm2bJsn9SqV69CqN8zz723GCORDMdGaLuG3qg34oqj3H9JNDfBLDfOYMSX4_zVnq-YjO6JNSejzt4TxY0udDggFkcGK-PEhYVvY4hqm6kOO7T93EoHNL3G4abxsN8jqnD73aeXPYzEsBGZSUU8Wn9mMnhw9XWq23l4E5dj62EWDbunC20gyH1ZepKJ4jjQVbX1u_M3-4ZZfgCPBx5A8QyiR1eSE3mZqr6INpKOB7-TT_lRcJSq8G3NXHIOv6_bFm6wYLAiIUsVj4LFsDpq9v3c-lnrxfyQ4Ch73iNUilxcm48OCI5ep1t709GhOksQ781wW410Fv8B-Y_PtzXOw7GIExPru2tAO-o-WNP7WYH1UX-kCc9afST5P8DbNazKx2aQ8ZQOvBoQePt8N0bVfxyonkREptzFpJnriuE7gh-XhVPmAqqpijbM8t65WDb5Q7TwzVa--9jwZWiWnNMqU9Cmj9Og8eTYf71fV920HBecfyf8yoW1LfKv5ek3RROqZEuJKWocy0wfqQ2W1UwA9b31CtLK4gDD5b_Z0ehpGFGh_TVtJZLZYsPKoD2ZpgCfrSN70FZqaNBXth1xDVg0uA8u0FWHgTQOzVINkEXpI756JCJj_jx8NiEyEMm2mHO6T18ZC47LxLtp1fEa4AcSBWiUC4zinkD0SlHUJ7ueU-HBt7oObeU_wnlIPI3qjcFjenMD6j9GxI2Oc0XFSAVfQWVV9-hfJNEws-kKrPqMBobA9sj-ZULHDcXt0Q6ae0gBZz1z4bnIyKoLasxFaebibdM68Y-N1iZ-R0RbHNkLoV1yg-AoRmkBkn8I0vc2cQNdX4JfSS8Zrsj7CcecNEy2ZyZt8jhbfOvcNFPgtLbQa9XD4W47M0QDWZUTzX2Ig9ZYQZZ_Akabtph-U6yc5Sszge_wZ5FqRHtqvw060UCclm1R8qJQtbkS71Lpf7RaqdSyabYvbOE-0HZxEFYsf12rSi7Ege_XDKJYrzC5xS84nChLKXD7hTqOy6u_m83WWgeu9Lm-x92dJbxvkRtwR-Vkm-0cgiWMIbaL5JjOSwgjyy5Nz-zBHBG0vIrE7jmKFLt_whaezBYIs7V4RUQmelyUWuutp1bzlJZ_lem56Z7feojkBK3uGrchL6vsnRH1Fzvq4VXY49kmk2rW73oLUAHplmC7-ND92gDy15LZEEdb0t3Dn6s_GJ6ojxL6MGgp_I89lfT_ciJ_2kIJ2oLnLVRnfmzv5tS5K2k3J0p9v8YgFBhkVT1hKDwm4wvvIUZku5tZvrCSHv9eQRSIz2qAwuDNLu3v3dPNV_XCHgAYw9ADPGNaoA7xTXwFLVt8zcECQFmgB_jAnliC7dx8kGXgmX9-m9IfW1z4NA-m73SDe4D8ZcsYi37v_JWqYNrR5_X04RRedxVQwJHoDu2sc6x5f7xSz-RIadAJpTkE605rZ8tnliOrrGI7TqR0pBjLQj9P4YLCzI7Rlc9vdoV2TxuhXvx9DvACPkRRPBtrshRs7kntGh0ij6DhImuAFhW2aSZ4Wh7U5vx1kyzpwYoK4RHCxZw_MBiRDwSJXvjOdHFfj4hgj3PGafQJgbzuhlZhu8e_JEuI7MXEc4pzAcc3vPemXVsa7WMEhb_290sa0dF3yqv_rp8hFvCGO0Xd6Fq-e2mdA87xpqU4SHXhvb4wUZU-v4gunARI2GvCu9WfvyGs7cRwqU2e3V_dw_08w43rk1NcWBE9c7dycj5TF112zOu7Wqo_0l2s3sG4pM0DGjszF-oThy2COb6lC7YF7mDGkuVJlXK8HoU2GoJ9vP3NMSqSNZzOdr8_TDUTy9b1ZRY6Fk7HgftRVvevYGvU7RTJzpaY80SUy656ikCgF84CTaXllgTCCHW6n4DoT90LpzoHQQhLFWy16Z5u-ggAo0CZ0k7ZVMEo3e27w3eATePhzjPsa0pUs669KqWpSr4FgtvUKUp2M1G6QMDrE5UmgBIHK_2mH6q4bKNjkPAk3SoKOZPO2Bb-vl0WkLJQRwFfxF_1Ei2sJJzynKfjmxJ2L1yTRf055OTy-Jv3pCUalThg7iCGM5maoJiVZwFmwtBGMDiWhAJZ-oHTRpxhlychmdGaEQkRz85SLnvv5GlQy5EQs9UfiprXCNegARp2KGTo-pVQYNFPsuQUD7It6KJiBx80F4e3-5FqQ3dziCGkYh3OjQp-qbrninBaPyqar-81vWLY-YFPFcgyWO-qJ06z4ExsiS0txXQeL8WiQmCiLyXCbkP0hfdTjiB1pcgghKMsSN4LEU9lLafvS-80GptZMQJT4Yp5lUjUjjI4W7OF-Ey9tUQ-dVljQtUXG6YRibuOPe9EaIHYWN2AaSwAYxMDlzMSLT_F4vPJcrYlTucaIlrVC6V9dKXiayqDEeu27XPuo3bVXWZhLZxHB9P6UUJtRXSnjPo7zuxMdPvB_EJdIo2hhAFYcN-yo4zECm04CpH7BoMzt3sGF5Gl8HqZ3AWA836Ob_4ZknDw7k5JY4L__iPDdLk3QD8MhhueOO1qnydwKnMk9PMo0wbMc1430vJXdXZYuTwBv4crVXRwzbs8-9Hj10LXQw2Qzvo3Jk1hhNlffKYdxInl5J5CPFqv01RF_Drym6lhOEDkxkY2NcmrHXgDzLhaoMNCXid6Pxozp53ZWBAgjQW1tRgdkT1Zw6B-i9xblqM_uQfy0HPnvvhDoBZAcHL9rVipKO556UODPM5TAOMPch3T8mpdmDpzRM94dLNZEyxvrFaG75s4a2hn6gBXGFlV5A7p532a4u43q0I4khi9dpWLWdjKoZYwQyOasqlR00rjySqN9VQEWbePLkbZHJvIV3R7KVEcMYxsvdXiGYmhFe6JSJfZwxfgV1Vp4rsFsVWiJ_AHga5nIE15w6mkCyzC-RBwTh95GSBKT5BtWvKywl1qUphIOMe5dGTqyy1vNaN_WiF0BwODPiubswxodUCKSpAwXBcV3EsoxBogAJnoOnysK7E409cGpj7lglgfgDw==",
  "id": "rs_0efb4b57b3dc8329016ab47722dd3087d0aaa1913e8ebaa1c8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcuIZiyOqog3CwCWPQI90QQnFgBqftKCNphbccPTBBVI5IDz5IANAd0ZadhPBaHdyPMigHVPIlEWyUs8cR6yn372iiwkRfZltstZE15KlFYAC-dIRACyXGHljAb6-VEWRR6Rf9Fq-C8DAG0smlPlYzctcErd0QsKMHMfc7gO9BN7uzJffmLXql7hqQEjY9ywiUaWtE4APD-U8Vq8I7YEiC5iIOi1jEqKYP-tp4vVWCOiyWyU6XjEk8n8I6k2I7WN_bGyiv7bC7k8T2rcYE17eNwVd4UcD5hYbAosQHFOn7lLY9rmt0ufm7gCod_LAMUbV4Y84mDvhsqsNZNfUDw61-EsLSkA5jAN-_PjJ-f9svPM8nH7DybHPfq8-NbMaTFCk4VEi9lKRWOMJCBhumbrIczE1NnatdCHJd7txw8Q6U0Ck4Eu53xbcyBPHRU8ct9TZTyFOFKXJcWvExIYLFRi2IXgdIqh9dbqer0cBQvXki1MJ-kNlvl5YIssGlFOGVltJORnJ6TiSikOMIKxe1cv-oHuHqPxzH7RJbTFRWmADEX0iAevtJ11Gc0IFn-QEhNgeuULRG-9U-3pivUklhK9zvuKrEkEDuhtH0qgrCW9FeoaZKqLSwTCvpW0EQd9xgqunJNV48hxzHDg2vZiT8pa_BbMDUkp53k7zOHbIk4rPyXTonVjG4okKl-5d0G_1VldenZpNkx1abezx6bXcq9yECR6xoSTi5CChOLOeBrufDfPSmMCo4GwaTii2Clp7W_BFqinQz3AoAPy4Jr9I2TLMfOrYq2FowNlk0l7pG8R-Hk9ee3f3lBvT9Hh4xsBXB6F_CZl0wPEfZF1efJ3p_BCIkrOsA4NoSot_rDC8xeIK7qVZS3jkF9FYZLAUF05NUeEcvC_WClrnp7ogf050VMxf3NJwL98Vbw5A74KZvZb90oYFR1k8Vl7o9vzw9SVtcswmIT6kgKZDqauqd-Z9SHsMpKr9r22yLDZnbcOgrHoZJW0-36wQMNmoc_bjDwT86xvUk3JfslvqO6hIZWOAZawXe7b4hap6M-og-aotArhADAbk67b_BTCUyXqiWOlXiWRqWiezFI3edoQ-_0BTUy0fNBa3LBCl7VUGXuFu8xF3aMlKQhNXXjYhAuYTi8qTqcJQ5Ud6-CUv4wqaSqS7Dc60TXMGgjZXeLhk15ZWMjI4jLh_t8uWqQ_gQcK18h9WnJs2zAUE9isHnUsaPPMom-kJTAHzAaCTtp3KBTH6aboEbpOnt2TtFZtTV-oP9Qld8nT9455uVkughahcj6XYnPESl4GUBg1aGtzbxSR3NdmPjbbu5eRnnuJwgPEQH1nt9Vc3__uinqBb_PXBo6yYJxV5ihB3W5_4GrctTf7o34ugJS_9uP1HN1lPYb1f2BlFtm88wDXDAeg4d00K5m5q2A3i_FLdXEtNMyXulUwHClOZo1EVL6neFVfol2mlQUxmW59KQSKAPWu9tIhE1E81-5LHgk3PK-FZHBGPjBqaRDHXiO6WCr4KY5v-5Dkp7VWU1HtGUWACV3dLlYhTXmIdypbaPzhOJ7d3E_uNdIIUdYiI8tgHBfgMKEyrwN9kquvhkxdK_a8FylSSjBe3u5o_lcObI03yPKPrfNcy1gsPSOcA0ZpATHyI3p-q7_TO3qFGlml0BAdHMogMIj7q19fXK_mXBUAYfDbd0T16x5zuP4PYgl_fSyY2fY6BQdoqjsd5D64tMQh1sA2UjQU6Ndpnx_wE_zZna4-lCxYwe35uYv2WwjUU1xLvFGoLZ3OJt_dhG5-hiWvWi_ymEt3svOAr8uNoD1RbSaVwThMpRkBec_roRI2Ho=",
  "id": "rs_0efb4b57b3dc8329016ab4772b362087d0a3d12ed20fd5ec07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.3,\"right_z\":0.15,\"right_pitch\":0.35,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is now clearly visible to the right of the white bowl, while the pear and lemon remain in the blue bowl. I’m making one more controlled recovery approach with the right arm, pitched forward for the farther reach.\"}",
  "call_id": "call_fGYXUhC9BqwAlavYmrm4J0PC",
  "id": "fc_0efb4b57b3dc8329016ab4772d1d5487d08aa4aefb68a24b5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fGYXUhC9BqwAlavYmrm4J0PC",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.0727, 0.8452, 0.7689, -0.5346, -0.1875, -0.2035, 0.9897, 0.6724, 2.2189, 1.4815, 0.379, 0.6083, 0.1577, 0.9986]\nstate[eef_state]: left_x=0.2952 left_y=0.0151 left_z=0.211 left_yaw=0.1874 left_pitch=-0.0306 left_roll=-0.0437 left_gripper=0.9897 right_x=0.5321 right_y=0.2992 right_z=0.1269 right_yaw=0.0566 right_pitch=0.276 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -1.894, 7.5966, 1.8632, -0.1441, -0.0269, -0.0122, 0.0205, -12.4513, 8.9368, 2.0195, 0.2564, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e39d6e5d323258aa9bbfb101915f7073e0edfcf534a6f25956dad200a17bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623fbe118ee41f5bc6efe1e2fdda7b6a4b40e1bdeff5cfbfd74a00a5af298413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4516497324250d114f80dda34a8164e87aa202de3296404276f27f379fd53dd6",
      "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 36 attempt 0 · /responses · status 200 · 4.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 133 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7147, 2.6663, 2.685, -1.5486, -1.1061, -1.903, 0.9897, 0.0227, 1.705, 1.2537, -0.2436, -0.0612, -0.0456, 0.7957]\nstate[eef_state]: left_x=0.4869 left_y=-0.2087 left_z=0.1484 left_yaw=1.0294 left_pitch=0.0729 left_roll=-0.3192 left_gripper=0.9897 right_x=0.4909 right_y=0.0255 right_z=0.1632 right_yaw=0.0935 right_pitch=-0.1248 right_roll=0.0166 right_gripper=0.7957\nstate[joint_eff]: [0.0205, -18.3726, 5.2171, 0.1294, -0.6813, 0.2466, -0.0171, -0.0342, -12.0547, 10.0991, 1.8339, -0.0513, 0.0562, 0.1343]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8398, 0.7753, -0.5205, -0.194, -0.2005, 0.9897, 0.0223, 1.8252, 1.0367, 0.0238, -0.0612, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.2972 left_y=0.0157 left_z=0.2184 left_yaw=0.1895 left_pitch=-0.0045 left_roll=-0.0444 left_gripper=0.9897 right_x=0.4791 right_y=0.0251 right_z=0.0656 right_yaw=0.0939 right_pitch=-0.1945 right_roll=0.0217 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.6479, 6.9265, 1.7656, 0.1099, 0.2369, -0.0122, -0.1709, -10.0308, 7.3641, 1.5556, -0.0464, -0.0415, -0.1343]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0727, 0.8452, 0.7689, -0.5346, -0.1875, -0.2035, 0.9897, 0.6724, 2.2189, 1.4815, 0.379, 0.6083, 0.1577, 0.9986]\nstate[eef_state]: left_x=0.2952 left_y=0.0151 left_z=0.211 left_yaw=0.1874 left_pitch=-0.0306 left_roll=-0.0437 left_gripper=0.9897 right_x=0.5321 right_y=0.2992 right_z=0.1269 right_yaw=0.0566 right_pitch=0.276 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -1.894, 7.5966, 1.8632, -0.1441, -0.0269, -0.0122, 0.0205, -12.4513, 8.9368, 2.0195, 0.2564, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e39d6e5d323258aa9bbfb101915f7073e0edfcf534a6f25956dad200a17bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623fbe118ee41f5bc6efe1e2fdda7b6a4b40e1bdeff5cfbfd74a00a5af298413",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4516497324250d114f80dda34a8164e87aa202de3296404276f27f379fd53dd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHcz-QufAY-8aMG8bX5RebSPx-KsD__Xl4AQXdhzpKI5Kea6to_-XjWa3WgB7zyu0jGN1Tf0vohp-9Y7Tmepf9wtNnO_7OM5-qhURGpktRckfGdjYgVcV4BhFVg5S0ZbXqgnlQamkxJPQGG1wpYC7TzwazgMmdcfTi4-Pu2guNPsTM5J8fe7bcoN08hliFov8A9ehOIZ8AJyVaD1_SnK6z5lgTwf2RWfLolkYUNuAfgUtbe7h-kgbjmJPkSRoVyDcAldEJbgG5SHTyjnwaNf3R7eNaParWVjYCDbk4JVnPMAT6uVQz1aO0PIsTUQvAcdQrJXlkvzh2uvdofJCM8_Qld4cMeGIhR98Iy-noclxgTvgBSO6cWPXoGIH4cbj99HB4-0aJETdjS4zblkzriSj_7Y-B0UoOl-NfsEyCDoX7262k3UXHw6HW-WcEqnCD1WkArSzd2z1r3anZta5d3CGstzKnNyhUEFwgCnGIjFqB7XBTRXjLcmDcR2I9fprjOHjWGDLWEJPErLtTBqBY7332lns7sX-SELUaa-k7p88W6PKFsPCkrg2fAoU_mQPqthxFr9E40_AF9gvZsJUdAN0S6CUqHu2HrpP4Hq59yfyyir8JgF5asaAn3yhqVekyDmFUGwlgoX6LZ5-UpyD2VSCqCXTZ12dd4iHD71WZGUFKNhsxf7ugG5t4GgIvDpb-CFLQFLyrAVJ2Q6jZgLIeG2aaS3jad5S6FzZ_CV0RC6zXn5Tbr69p0D_9YwZ5cOOQ0tUloDPhfSW0BtrAd8X7I--KYBSH2_jyUcWC52BVcA1lAbHlNcrB6O1_a1W2iLow9SvnJ8ORITtNuVpYzxwaY_fe7t7U5k-ZmFb4QDs0NnDYHvljC3F2ltq9PocTugWCvHpYXneqcKZyc1jLjhbbmaTXE_HyQXHFB3h6nZXgB-fCofSMiLg03tdWBPiJXH_4GaOpzqhKXc_lNm8OfW1D_s76cYrBDKnYdWNKqfOZPPhmQnDBqwZ2_8a_ZA4OJH-CltBdv2s0RDvEoJI-3kYSMNnRFF-IyfP7vttdcjZJRp9hDPA1v0pDh1epzw0f7yexTvfs5UPG-MeNCHNIzrl_G4sYNkf6CSdtJdkD-_2rvkpfvxBNgr2oR9-Di09m4rAKdmKYl6uAnqKQe5I2Nv89A79e2L74oQoWLGbdru_XZ-gNipgLjLqg7n79tExbiuTnTYOqG2Erd95EqFbeF4DFgNXi3A7_q96ndThv1w8mf0G4_MWOEEpRisJuEr1c7BjfF_a62PUV3Sn1lwWdTkxno8UjBFbA==",
  "id": "rs_0efb4b57b3dc8329016ab47731fa7087d081275ee834e8f308",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.317,\"right_z\":0.025,\"right_pitch\":0.35},\"note\":\"The dark fruit is just below the wrist view and slightly left of the jaw centerline. I’m moving back a little and lowering with clearance from the white bowl’s rim.\"}",
  "call_id": "call_BZ00eiCE4tXlPjJjL4021saN",
  "id": "fc_0efb4b57b3dc8329016ab477328d0487d0a9303ef7eef78b6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BZ00eiCE4tXlPjJjL4021saN",
  "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]: [-0.0723, 0.8471, 0.7689, -0.5354, -0.1875, -0.2073, 0.9897, 0.7292, 2.3905, 1.4086, 0.8631, 0.6746, 0.1467, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0152 left_z=0.2104 left_yaw=0.1899 left_pitch=-0.0333 left_roll=-0.0462 left_gripper=0.9897 right_x=0.5229 right_y=0.324 right_z=0.0974 right_yaw=0.0008 right_pitch=0.4737 right_roll=0.0971 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.8991, 1.7167, -0.1343, -0.0122, -0.0122, 0.8, -6.5436, 3.3299, 0.2564, -0.1001, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7f181b7cbf147e5f67efcd670239f46129051d7d48a54c8586580e8677010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd46662ea9dee0e12863bc987d210273e145614b703ae258bee46ff249afadeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34236df14e9067fb833e182b273479c094b76b2786cbcbd4cc1e9e730b32ed31",
      "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 37 attempt 0 · /responses · status 200 · 3.315 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 133 changed as sent

message 137 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7986, 2.035, 1.8748, -1.5421, -1.1019, -2.0819, 0.9897, 0.0223, 1.8153, 1.0492, 0.0231, -0.0612, -0.0456, 0.7971]\nstate[eef_state]: left_x=0.3734 left_y=-0.1524 left_z=0.2198 left_yaw=1.0251 left_pitch=0.075 left_roll=-0.3068 left_gripper=0.9897 right_x=0.4832 right_y=0.0252 right_z=0.075 right_yaw=0.0936 right_pitch=-0.1728 right_roll=0.0201 right_gripper=0.7971\nstate[joint_eff]: [-0.4718, -12.6838, 5.6821, 0.149, -0.5934, -0.0757, -0.0122, -0.1573, -8.841, 6.2154, 1.8926, -0.0317, -0.0464, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0727, 0.8452, 0.7689, -0.5346, -0.1875, -0.2035, 0.9897, 0.6724, 2.2189, 1.4815, 0.379, 0.6083, 0.1577, 0.9986]\nstate[eef_state]: left_x=0.2952 left_y=0.0151 left_z=0.211 left_yaw=0.1874 left_pitch=-0.0306 left_roll=-0.0437 left_gripper=0.9897 right_x=0.5321 right_y=0.2992 right_z=0.1269 right_yaw=0.0566 right_pitch=0.276 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -1.894, 7.5966, 1.8632, -0.1441, -0.0269, -0.0122, 0.0205, -12.4513, 8.9368, 2.0195, 0.2564, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0723, 0.8471, 0.7689, -0.5354, -0.1875, -0.2073, 0.9897, 0.7292, 2.3905, 1.4086, 0.8631, 0.6746, 0.1467, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0152 left_z=0.2104 left_yaw=0.1899 left_pitch=-0.0333 left_roll=-0.0462 left_gripper=0.9897 right_x=0.5229 right_y=0.324 right_z=0.0974 right_yaw=0.0008 right_pitch=0.4737 right_roll=0.0971 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.8991, 1.7167, -0.1343, -0.0122, -0.0122, 0.8, -6.5436, 3.3299, 0.2564, -0.1001, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7f181b7cbf147e5f67efcd670239f46129051d7d48a54c8586580e8677010e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd46662ea9dee0e12863bc987d210273e145614b703ae258bee46ff249afadeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34236df14e9067fb833e182b273479c094b76b2786cbcbd4cc1e9e730b32ed31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHc56LVIi5MOfnNsrbhBWwqkpyVkRS3Q-PLIYa3d3Kxw1mu7_yXPYe7v6A3pgrEdp4b5nUnU1_ra85VSiYvGczNO5HoyOdbrdJnsNlt3-u7pYUByW_tjDIkAKDGoFoFWKN1TMHGxIymZ1Gfo9-YDMA9Z6OsY6WXjDi6EFv1BajKz_SvDqGocKKCAxSbPMvWg39juomE5lXh4S7kN7z30g1ksuBMo3uCn2RmNkAOLjm-uOoqSs55Cp8bEK_Dof5d4ru4kS40v_6BYpJScQoSBBORMKRPNoBIeLidkPlsF8UyjpQ-4ILViRY0RBLZughkDpitNQHKb1cG04Ne_w04dpRG3U13Zpdr3Ctauu1nflxQZErqcIu2JUC4sjaYPVolD4mc1NiY0_JrmmuMUGGAMMuLjJvjM_I22EynUgU4iv9iCze9mmUfF2QFBo0huNprvGkaCrcHco8N2ZeTL4cnSRAqxhTyK3-_WUz882WnsLQ9dpSo_jC7JZhxGJ4h279jng7IDU4hKX7NoenWX1qFNcidYcto7KjVWSByAfBUZQvxG84TuLnqDEBHfYZKc5fVI7FM2KoamGkQCIfIIw47uwb7neXLyiQcnckHVitGmygn5S_is-1l_O5baHWE-aPfUjsFdcwJ_i48u6Jg8-EMXF36CiSu7LUtLlWvk9igk-DO09-zoX8IAp4U-bPhejO5jVpTUCE3ui31eL_f6wreCFNgB_WZX-rw3MdMZHIWkS2Wwz0LenoaXvAPV-u1_uu6Ak_mIgwycmuZa-fCQod5BMqyRWOV1Vk6DpycQq7u_f5ZSbsMZ15tFGdXz2IcAl3ucmZ4VP8jZEGfRuCH2RNY_OrukzsYrymftqqG6ALF6oVIB42THRnGwuorpDSlOPaI-DJqUm66NChK0nagHjMlFhcgACRMcfHuOzb0HGjB6Fdrh7Gljq40XZJFzrosE_7fXpmpXjlnZmoyTp8ei-sK9YOhIVUGIKdMoMuA0b6HrhAyBcP2EUF-r9C1nCCP4iRI46bsnucNJHoZLnQBg1UmHT-4Qms7B9U3AUancMHefJxTChERj40YvsBI10goddsq5CCeR9NQBmY14j1xF6vsW7fjMSuNUYHMt5HvVsld-OaZnxpLY3pYLhcK6ZvJhuURBIhXxXpzSvE1dP0NUSlDMrfeicOB-D17kc8iADd5UaE40SaYvbwBOcJgR0YpKZpYzpWX9GSr-cmtq-xWS6gsPnKuPViK7rwDxyZxx6McnUVTUKuNCvcMEy-5FJurCWonOgFHmyszXRWsvXaVllEeBmTOdbjZwUV8jACfj9wBVJQXorYb6-VdjvdKpVKbmA2ocOoe8FdTMP4PvztiZBHLa6yDqvfHZehCXT-xDi21mj2qAo7im1gSpgqHsq9KDGaiwpSJq188mrY7RTpeqyHbvhyc1ZldSVQGBJKVT7OzCwtfvgBR8VcA5NqPbVCpJTf7W4C6SwKx8QXx7rdQeALWsB30CjySfrmNCo20nrsoExxcEGK7ck1QlYjNaeToeqF6SBjs_gAchDrXm4XKT6JIanMboD2ASoEssmXku5OqQguMpzmlcsClV3M1aDV-0kD-s9Dx4FZ3bVM1xhcoeAM5fNSNZXA9Z__DX8fS2G6Yif8kbM5EBTkXUTbPHqq9UjfS-TJNFy4PsaLGEYUra-pb5Z4KN3PXIf11J0gKH7FEVrmlEgsqydtCqpHoPH_DpiFEueN9UF4wt5bXebdCbCOM6G4RxrH-6PSjNtxXqcGt7eo4AvVTlcVzErPHPKSoE0pjiq0KBocaqa7mzOb3JZeYpHjMGrhZ747BbN9EcR6Ru4w2UAH5GkUDhW-52lsqYmIE-cpn79cNstAr3KLv_0VcCrV3H9YGFgJRcfsePdARuOYYhjOTL43UMtS_njdCsMO8v0yK62ZosuyZN-H2raPRMFi4maA==",
  "id": "rs_0efb4b57b3dc8329016ab47735830087d08515f98637663cb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.29,\"right_z\":0.23,\"right_pitch\":0.4},\"note\":\"The gripper stopped well above the requested height beside the white bowl, so this approach is obstructed. I’m lifting clear rather than forcing the jaws down or risking another bowl collision.\"}",
  "call_id": "call_Z9e4wYZ4Hl05JRDcqNBhKgxq",
  "id": "fc_0efb4b57b3dc8329016ab47737c63487d0a862d564602adb0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z9e4wYZ4Hl05JRDcqNBhKgxq",
  "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]: [-0.0723, 0.8501, 0.7689, -0.5365, -0.1875, -0.21, 0.9897, 0.709, 2.0197, 1.3643, 0.4236, 0.6415, 0.1764, 0.9986]\nstate[eef_state]: left_x=0.2955 left_y=0.0152 left_z=0.2093 left_yaw=0.1913 left_pitch=-0.0374 left_roll=-0.0473 left_gripper=0.9897 right_x=0.5003 right_y=0.2946 right_z=0.1997 right_yaw=0.0272 right_pitch=0.3828 right_roll=0.0539 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.6068, 6.8855, 1.6825, -0.1441, -0.0513, -0.0122, -0.6222, -14.0513, 10.0171, 1.9658, 0.0464, 0.2125, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd615a5be3aa0327c4f47e970b32244ad1add97bcb11a619b4f5e4d26e1bf1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b559ff9872a68d5fa1c2aaf2ef05e2e8dbc62b06c41dd287014dc44cb8ef7d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c01edea5e6e7f42ca5966995892684416710933f6ac3a2c90334c1cabb49834",
      "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 · 4.881 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 137 changed as sent

message 141 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0742, 0.8398, 0.7753, -0.5205, -0.194, -0.2005, 0.9897, 0.0223, 1.8252, 1.0367, 0.0238, -0.0612, -0.0456, 0.9985]\nstate[eef_state]: left_x=0.2972 left_y=0.0157 left_z=0.2184 left_yaw=0.1895 left_pitch=-0.0045 left_roll=-0.0444 left_gripper=0.9897 right_x=0.4791 right_y=0.0251 right_z=0.0656 right_yaw=0.0939 right_pitch=-0.1945 right_roll=0.0217 right_gripper=0.9985\nstate[joint_eff]: [0.0615, -1.6479, 6.9265, 1.7656, 0.1099, 0.2369, -0.0122, -0.1709, -10.0308, 7.3641, 1.5556, -0.0464, -0.0415, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0723, 0.8471, 0.7689, -0.5354, -0.1875, -0.2073, 0.9897, 0.7292, 2.3905, 1.4086, 0.8631, 0.6746, 0.1467, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0152 left_z=0.2104 left_yaw=0.1899 left_pitch=-0.0333 left_roll=-0.0462 left_gripper=0.9897 right_x=0.5229 right_y=0.324 right_z=0.0974 right_yaw=0.0008 right_pitch=0.4737 right_roll=0.0971 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5795, 6.8991, 1.7167, -0.1343, -0.0122, -0.0122, 0.8, -6.5436, 3.3299, 0.2564, -0.1001, -0.1001, -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 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0723, 0.8501, 0.7689, -0.5365, -0.1875, -0.21, 0.9897, 0.709, 2.0197, 1.3643, 0.4236, 0.6415, 0.1764, 0.9986]\nstate[eef_state]: left_x=0.2955 left_y=0.0152 left_z=0.2093 left_yaw=0.1913 left_pitch=-0.0374 left_roll=-0.0473 left_gripper=0.9897 right_x=0.5003 right_y=0.2946 right_z=0.1997 right_yaw=0.0272 right_pitch=0.3828 right_roll=0.0539 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -1.6068, 6.8855, 1.6825, -0.1441, -0.0513, -0.0122, -0.6222, -14.0513, 10.0171, 1.9658, 0.0464, 0.2125, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd615a5be3aa0327c4f47e970b32244ad1add97bcb11a619b4f5e4d26e1bf1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b559ff9872a68d5fa1c2aaf2ef05e2e8dbc62b06c41dd287014dc44cb8ef7d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c01edea5e6e7f42ca5966995892684416710933f6ac3a2c90334c1cabb49834",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHc9A8QEmODF-ZErdmSxa0AWYp0ajFVWgHrZHsnzNLZyXOVZHW9yJcomaazWSLlVRndc-28mSHmQ62BU729bQjKDzT_6EyWxlateDwgIDPJhuyBI6Pn8CA0MO_OPgPWn5g15hNRGYzd9bVh6H5uOoCDyWfiWbypoiP2G4Li8whGTdMt9PmTD3rMuFi1V03MS4havn-XxFYf-nDd3zGocs8lUvQB1N0rB1Ov3lITP8c6udM6wGQ_uQNzS3N509ATiV47NxfQCEzH3zbHfI4P418cDboM-A6CHL-teqlTpkI3f7vgyrUvBuKt5tH12i3ZZpE9ElX_G6chmzGZG0ZP-SVQHbVx8pM_rTQh9FkJvyWxLZ7adaZ-Ec2ESWTNNeTkdy3SGgHSKEKQEQfhr15Dqyiue10Ti1w6ULWsYXqCei1udTDE_Ydy0rB6PxTr13WLfJteAHe3Yt6MiKhK-I6TZkQTqdOC-pO4E7ZllXM6fXvEbMEw6-R_aEXwTcCullFcMlKa1o-AiN8fuWzmxuAXI-5j27VSmRGGt44nPeNxdb0_lXsnisUIYt1pxZ_1N_sBiRNyXIQt2-KQVr7nSdxZ2rUuUzxViqkbwf4XGmIlRW53_AQvxqN-zdOZCKVZ-rJ4zuVK1xklV8k36eneo7WWOv9n_0WaOfdon3K9QINxP5tUV4bHNGbhmlc3b6izlskhAhahz1EBa_lIq9laWGBHC409wFARkulVpAPiLCzm2wL2ves1zZtJK9pqHkXUzXUrJKKuQyuC9XVQ0sXEtB0u-7dXJKH39OAnMc6BgzLGYGI4uwR4oFiKvBEMScFWi7GmQqvRztmfovDPlg4evyMJl6nlPgdWXIvhlDd-dTxSibx5EnlEZcsiHhFwPfyzUc94pBZYJXvf4h-i2Qn7A-A9rvt4dPLgHszvTceBo__vPTJgpkAOCsmBr4Q0MaO3mpp0NJ9Tm0uGNtimWwggGrQQW16wRpmEGcTVwYM7RO54CSRZp2XIYyO83gmBvaUgt7iopFLTkOjRiWfnLVaDYQbQa-1F-6E_Y-RlbD415VJjHXMlo-uO9qZVTyQ9Q40Ya9jzm3v_cZ6ksbt3HBi0ivPCTFBu2CfjwD5Lxr9hcGVIe7YcWHb8rFGrudcDEpFsLZQbJ9AJUL_fa2yuCEg2TUJGXEY4XV9g1dYz8MnpPFouwRbTOQpIDb0OTBf933kYfHitbLfs0t_xcBQI997xFhrJ6xDPnnDhef07zuQtlfLvmpUhmi39nM2a1PpS6mDHvuK_18IeLkLEbCTePpA9yXejNvJK-QQ8Vn4_Uni7baROIEbEiyAcZuTGskG-xSpsEO6x4Wbve",
  "id": "rs_0efb4b57b3dc8329016ab4773b6df487d087179a4021c8d34c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"I can’t safely complete the remaining recovery and pour from this arrangement. I’m returning both open grippers to their parked positions, leaving the bowls on the table.\"}",
  "call_id": "call_YOUnUCEYtRTYHib34wDSxZfv",
  "id": "fc_0efb4b57b3dc8329016ab4773bd68487d0906c0ad901109633",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YOUnUCEYtRTYHib34wDSxZfv",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0257, 0.8337, 0.7643, -0.5407, -0.0319, -0.0582, 0.9897, 0.0029, 0.8379, 0.7578, -0.4637, 0.0525, 0.0158, 0.9985]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.2092 left_yaw=0.0252 left_pitch=-0.041 left_roll=-0.0124 left_gripper=0.9897 right_x=0.3035 right_y=-0.0048 right_z=0.2211 right_yaw=-0.0558 right_pitch=0.0255 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [0.6632, -1.9487, 7.3915, 1.9756, 0.1001, 0.2369, -0.0122, -0.1436, -1.7299, 8.0342, 1.8388, -0.0611, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38909782fda6bbe758033f705991ade2eca0584b8bf1f7b819bbbfce8c6e7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b1ebfe25d6f3968c4fe9b45f76b3aeee40722b50f622e996ed64c1c7cd7324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c97824d60ae5aa26952fbac5e49e6608775c5315bb66641d0f4fc58cd35706",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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