adhoc

completed
2026-09-22T17:54:19.527032+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
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
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
158.2 s
total steps
171
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits on the table, with the blue bowl behind the two fruits on the right and the large white bowl on the left. I’m positioning the right gripper over the green fruit first.
move_to
right_x0.3500right_y0.1000right_z0.1300right_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]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8001, 0.6186, -0.3874, -0.017, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3077, -1.812, 9.7846, 1.7802, -0.1294, 0.1392, -0.0855, -0.1709, -1.6068, 9.2239, 1.8291, -0.0806, -0.0562, -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":0.35,"right_y":0.10,"right_z":0.13,"right_gripper":1},"note":"I see three fruits on the table, with the blue bowl behind the two fruits on the right and the large white bowl on the left. I’m positioning the right gripper over the green fruit first."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe green fruit is to the right of the wrist camera’s grasp column. I’m shifting right and slightly forward while lowering to grasp its sides.
move_to
right_x0.3750right_y0.0640right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.3943, -0.0139, -0.0307, 0.9993, 0.4488, 1.2472, 0.5903, -0.0193, 0.3481, 0.2287, 0.9994] state[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3408 right_y=0.1012 right_z=0.1126 right_yaw=0.0358 right_pitch=-0.0604 right_roll=-0.0297 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.4154, 7.0632, 1.8681, -0.0855, -0.022, -0.022, -0.3077, -4.8205, 8.0615, 1.9219, 0.3639, 0.1783, -0.0708] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.064,"right_z":0.04},"note":"The green fruit is to the right of the wrist camera’s grasp column. I’m shifting right and slightly forward while lowering to grasp its sides."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe green fruit is still slightly right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed aside.
move_to
right_x0.3900right_y0.0390right_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8066, 0.6132, -0.4049, -0.0139, -0.0307, 0.9993, 0.2459, 1.5711, 0.4717, 0.4229, 0.1867, 0.1036, 0.9993] state[eef_state]: left_x=0.2933 left_y=-0.0002 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.029 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3707 right_y=0.0629 right_z=0.0326 right_yaw=0.0339 right_pitch=-0.0943 right_roll=-0.0337 right_gripper=0.9993 state[joint_eff]: [-0.1026, -1.6752, 7.0359, 1.8486, -0.0415, -0.0317, -0.0122, -0.1573, -6.3521, 5.3812, 1.9512, 0.0855, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.039,"right_z":0.027},"note":"The green fruit is still slightly right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed aside."})
tool
executing move_to over 2 steps (0.2s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe green fruit is now centered between the jaws at table height. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4084, -0.0139, -0.0307, 0.9993, 0.1345, 1.6531, 0.4927, 0.4377, 0.1123, 0.0406, 0.9993] state[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1746 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3775 right_y=0.0347 right_z=0.0121 right_yaw=0.0184 right_pitch=-0.149 right_roll=-0.0426 right_gripper=0.9993 state[joint_eff]: [0.0068, -1.0735, 7.0085, 1.7851, -0.0757, -0.0415, -0.0122, -0.0342, -6.6393, 7.0769, 1.7851, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit is now centered between the jaws at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed empty; the fruit remains just beyond the fingertips. I’m reopening and advancing toward it for a corrected grasp.
move_to
right_x0.4250right_y0.0400right_z0.0330right_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]: [-0.0212, 0.8078, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.1352, 1.6531, 0.4938, 0.445, 0.099, 0.0334, 0.0092] state[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.042 left_roll=-0.0006 left_gripper=0.9993 right_x=0.379 right_y=0.0376 right_z=0.0136 right_yaw=0.0346 right_pitch=-0.1418 right_roll=-0.0384 right_gripper=0.0092 state[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.7802, -0.0513, -0.0659, -0.0171, -0.1162, -6.8308, 6.4752, 1.7949, -0.0024, 0.0024, 0.735] 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":0.425,"right_y":0.04,"right_z":0.033,"right_gripper":1},"note":"The gripper closed empty; the fruit remains just beyond the fingertips. I’m reopening and advancing toward it for a corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe green fruit now fills the space between the open fingertips. I’m closing on its body for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0311, 0.9993, 0.1268, 1.7279, 0.6773, 0.3096, 0.0879, 0.0143, 0.9976] state[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=0.0002 left_pitch=-0.0488 left_roll=-0.0007 left_gripper=0.9993 right_x=0.4149 right_y=0.0409 right_z=0.024 right_yaw=0.0456 right_pitch=-0.1696 right_roll=-0.0479 right_gripper=0.9976 state[joint_eff]: [-0.2393, -1.1692, 6.9812, 1.7656, -0.0366, -0.0562, -0.0122, -0.212, -6.8855, 7.3231, 1.6581, 0.0659, 0.0855, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit now fills the space between the open fingertips. I’m closing on its body for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
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 gripper remains open by about 6.7 cm, consistent with holding the fruit. I’m lifting it a short distance to verify the grasp and restoring the idle arm’s parked height.
move_to
right_z0.0950left_x0.2960left_z0.1830
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0307, 0.9993, 0.1268, 1.7302, 0.6815, 0.3069, 0.0879, 0.0097, 0.7031] state[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=-0.0 left_pitch=-0.0488 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4157 right_y=0.041 right_z=0.0241 right_yaw=0.0481 right_pitch=-0.1705 right_roll=-0.0513 right_gripper=0.7031 state[joint_eff]: [-0.3761, -1.0188, 7.1316, 1.6777, -0.022, -0.0171, -0.0171, -0.294, -7.6786, 4.9846, 1.6093, -0.0024, -0.0171, 0.9646] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.095,"left_x":0.296,"left_z":0.183},"note":"The gripper remains open by about 6.7 cm, consistent with holding the fruit. I’m lifting it a short distance to verify the grasp and restoring the idle arm’s parked height."})
tool
executing move_to over 5 steps (0.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe green fruit lifted with the gripper. I’m carrying it up and left toward the blue bowl, keeping it above the rim.
move_to
right_x0.4900right_y0.1400right_z0.1900right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8398, 0.6361, -0.4679, -0.0135, -0.0334, 0.9993, 0.128, 1.5627, 0.799, -0.0517, 0.0875, 0.0067, 0.6966] state[eef_state]: left_x=0.2891 left_y=-0.0001 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1022 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4033 right_y=0.0399 right_z=0.0709 right_yaw=0.0501 right_pitch=-0.244 right_roll=-0.0592 right_gripper=0.6966 state[joint_eff]: [-0.1709, -1.7162, 9.4564, 1.8388, -0.0317, -0.0024, -0.0171, -0.3761, -8.759, 8.3487, 1.6874, -0.0171, -0.0073, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.14,"right_z":0.19,"right_pitch":0.1},"note":"The green fruit lifted with the gripper. I’m carrying it up and left toward the blue bowl, keeping it above the rim."})
tool
executing move_to over 12 steps (1.2s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe fruit is above the near part of the blue bowl. I’m moving a little farther forward and lowering slightly to center the drop inside the bowl.
move_to
right_x0.5350right_y0.1450right_z0.1500right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.841, 0.6357, -0.4755, -0.0135, -0.0338, 0.9993, 0.387, 1.713, 1.1492, -0.0277, 0.3031, 0.0719, 0.6993] state[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1624 left_yaw=0.0018 left_pitch=-0.1114 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4768 right_y=0.1413 right_z=0.1602 right_yaw=0.0962 right_pitch=0.0039 right_roll=-0.1053 right_gripper=0.6993 state[joint_eff]: [-0.1162, -1.5385, 7.0359, 1.7118, -0.022, -0.0269, -0.0171, -0.5949, -9.2786, 9.5248, 2.2295, 0.2906, 0.3004, 0.8913] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.145,"right_z":0.15,"right_gripper":0.7},"note":"The fruit is above the near part of the blue bowl. I’m moving a little farther forward and lowering slightly to center the drop inside the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe fruit is positioned within the blue bowl’s rim. I’m opening the jaws to release it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8452, 0.6357, -0.4763, -0.0139, -0.0334, 0.9993, 0.3492, 1.9282, 1.319, -0.0845, 0.2604, 0.0425, 0.7031] state[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1612 left_yaw=0.0019 left_pitch=-0.1163 left_roll=-0.0007 left_gripper=0.9993 right_x=0.515 right_y=0.143 right_z=0.1145 right_yaw=0.1083 right_pitch=-0.1034 right_roll=-0.1314 right_gripper=0.7031 state[joint_eff]: [-0.0889, -1.853, 7.1453, 1.6581, -0.0317, -0.022, -0.0171, -0.6085, -11.4667, 9.9214, 2.0879, 0.1538, 0.022, 0.8132] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The fruit is positioned within the blue bowl’s rim. I’m opening the jaws to release it into the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe green fruit has dropped into the blue bowl. I’m clearing the right arm toward the yellow fruit and positioning the left arm above the dark fruit.
move_to
right_x0.4250right_y0.1700right_z0.1500right_pitch0.0000left_x0.3100left_y-0.1600left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8455, 0.6353, -0.4763, -0.0139, -0.0338, 0.9993, 0.3447, 1.9392, 1.3327, -0.0715, 0.2573, 0.0341, 0.9956] state[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1609 left_yaw=0.0021 left_pitch=-0.1171 left_roll=-0.001 left_gripper=0.9993 right_x=0.5206 right_y=0.1429 right_z=0.117 right_yaw=0.1111 right_pitch=-0.0892 right_roll=-0.1324 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.5385, 6.9675, 1.5946, -0.0611, -0.0415, -0.0171, -0.3897, -11.6444, 10.0444, 2.0293, 0.1001, 0.1148, -0.1001] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.17,"right_z":0.15,"right_pitch":0,"left_x":0.31,"left_y":-0.16,"left_z":0.14},"note":"The green fruit has dropped into the blue bowl. I’m clearing the right arm toward the yellow fruit and positioning the left arm above the dark fruit."})
tool
executing move_to over 15 steps (1.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe pear is visibly inside the blue bowl. The yellow and dark fruits are each left of their gripper’s centerline, so I’m correcting both alignments while descending.
move_to
right_x0.4200right_y0.2020right_z0.0220left_x0.3550left_y-0.1320left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7448, 1.269, 0.7597, -0.3843, -0.5205, -0.5339, 0.9992, 0.5236, 1.6424, 1.008, -0.0341, 0.3969, 0.1055, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1528 left_z=0.1231 left_yaw=-0.0218 left_pitch=-0.1734 left_roll=0.031 left_gripper=0.9992 right_x=0.4262 right_y=0.1713 right_z=0.1342 right_yaw=0.1372 right_pitch=-0.0479 right_roll=-0.1551 right_gripper=0.9965 state[joint_eff]: [-0.3624, -4.8615, 9.2103, 1.5604, -0.525, -0.0708, -0.0171, 0.294, -9.3197, 6.2701, 1.8291, 0.3639, 0.1148, 0.0757] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.202,"right_z":0.022,"left_x":0.355,"left_y":-0.132,"left_z":0.03},"note":"The pear is visibly inside the blue bowl. The yellow and dark fruits are each left of their gripper’s centerline, so I’m correcting both alignments while descending."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe yellow fruit is centered between the right fingertips, so I’m grasping it. The dark fruit is still just ahead and left of the left fingertips, so I’m adjusting that gripper before closing.
move_to
left_x0.3850left_y-0.1120left_z0.0280right_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]: [-0.5529, 1.5974, 0.6098, 0.0826, -0.4118, -0.4026, 0.9993, 0.6064, 1.9301, 0.8738, 0.321, 0.4423, 0.1448, 0.9965] state[eef_state]: left_x=0.3414 left_y=-0.1234 left_z=0.0221 left_yaw=0.0175 left_pitch=-0.2368 left_roll=0.0645 left_gripper=0.9993 right_x=0.4158 right_y=0.2007 right_z=0.0214 right_yaw=0.1605 right_pitch=-0.0936 right_roll=-0.1774 right_gripper=0.9965 state[joint_eff]: [0.253, -6.9675, 5.2171, 1.663, -0.1392, 0.1636, -0.0073, 0.253, -8.8821, 4.6701, 1.7363, 0.2906, 0.1587, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.112,"left_z":0.028,"right_gripper":0},"note":"The yellow fruit is centered between the right fingertips, so I’m grasping it. The dark fruit is still just ahead and left of the left fingertips, so I’m adjusting that gripper before closing."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe right gripper has closed around the yellow fruit. I’m test-lifting it while closing the left gripper around the now-centered dark fruit.
move_to
left_gripper0.0000right_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]: [-0.4465, 1.689, 0.7155, 0.0723, -0.3565, -0.3363, 0.9993, 0.606, 1.9541, 0.8646, 0.3172, 0.4404, 0.139, 0.5134] state[eef_state]: left_x=0.3752 left_y=-0.1073 left_z=0.0207 left_yaw=0.0429 left_pitch=-0.2577 left_roll=0.0708 left_gripper=0.9993 right_x=0.4108 right_y=0.1974 right_z=0.0072 right_yaw=0.1629 right_pitch=-0.1281 right_roll=-0.1967 right_gripper=0.5134 state[joint_eff]: [0.5265, -6.3932, 7.3915, 1.4383, -0.0122, 0.2662, -0.0171, -0.212, -10.9744, 5.7641, 1.5116, 0.149, 0.0171, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.09},"note":"The right gripper has closed around the yellow fruit. I’m test-lifting it while closing the left gripper around the now-centered dark fruit."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe yellow fruit moved up with the right gripper. I’m carrying it over the blue bowl and test-lifting the dark fruit with the left arm.
move_to
right_x0.5250right_y0.1500right_z0.1900right_pitch0.1000left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4454, 1.6943, 0.7181, 0.0669, -0.3504, -0.3401, 0.5341, 0.606, 1.7763, 0.9638, 0.0002, 0.4332, 0.1383, 0.5144] state[eef_state]: left_x=0.3746 left_y=-0.1077 left_z=0.0186 left_yaw=0.0423 left_pitch=-0.2669 left_roll=0.0676 left_gripper=0.5341 right_x=0.4055 right_y=0.1952 right_z=0.0667 right_yaw=0.1666 right_pitch=-0.1666 right_roll=-0.2099 right_gripper=0.5144 state[joint_eff]: [-0.4171, -7.4462, 5.1487, 1.409, -0.2906, -0.0171, 1.0281, -0.0205, -11.1248, 8.3624, 1.5653, 0.2515, -0.0317, 0.823] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.15,"right_z":0.19,"right_pitch":0.1,"left_z":0.1},"note":"The yellow fruit moved up with the right gripper. I’m carrying it over the blue bowl and test-lifting the dark fruit with the left arm."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe yellow fruit is above the blue bowl, and the dark fruit has also lifted successfully. I’m releasing the yellow fruit and raising the dark fruit to carrying height.
move_to
right_gripper1.0000left_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]: [-0.4454, 1.541, 0.8692, -0.2749, -0.35, -0.3447, 0.5364, 0.3756, 1.8244, 1.2793, -0.0048, 0.3004, -0.0769, 0.5145] state[eef_state]: left_x=0.3698 left_y=-0.1055 left_z=0.079 left_yaw=0.0497 left_pitch=-0.2998 left_roll=0.0826 left_gripper=0.5364 right_x=0.5115 right_y=0.1493 right_z=0.1672 right_yaw=0.1658 right_pitch=0.0306 right_roll=-0.2203 right_gripper=0.5145 state[joint_eff]: [-0.335, -8.5402, 8.8684, 1.2772, -0.1978, 0.0073, 0.5983, -0.3897, -9.4154, 9.0051, 2.0733, 0.0952, 0.0952, 0.7741] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_z":0.19},"note":"The yellow fruit is above the blue bowl, and the dark fruit has also lifted successfully. I’m releasing the yellow fruit and raising the dark fruit to carrying height."})
tool
executing move_to over 8 steps (0.8s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe yellow fruit bounced out beyond the blue bowl rather than staying inside. I’m moving the right arm clear to check where it settled before attempting recovery; the left gripper still holds the dark fruit.
move_to
right_x0.3600right_y0.0200right_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]: [-0.4454, 1.4788, 1.1885, -0.6823, -0.3496, -0.3481, 0.5395, 0.374, 1.8282, 1.2831, -0.025, 0.2909, -0.0875, 0.9972] state[eef_state]: left_x=0.3711 left_y=-0.1061 left_z=0.1673 left_yaw=0.0553 left_pitch=-0.3226 left_roll=0.093 left_gripper=0.5395 right_x=0.51 right_y=0.1496 right_z=0.1626 right_yaw=0.1779 right_pitch=0.0084 right_roll=-0.2285 right_gripper=0.9972 state[joint_eff]: [-0.1299, -8.4444, 9.2923, 1.2869, -0.1929, 0.0269, 0.6178, -0.0342, -10.1675, 6.694, 1.9316, 0.1343, 0.0464, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.02,"right_z":0.2},"note":"The yellow fruit bounced out beyond the blue bowl rather than staying inside. I’m moving the right arm clear to check where it settled before attempting recovery; the left gripper still holds the dark fruit."})
tool
executing move_to over 12 steps (1.2s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe yellow fruit has settled far beyond the bowls, outside the arms’ safe table-level reach. I’m lowering the held dark fruit back onto the table so I can stop without leaving it suspended.
move_to
left_x0.3850left_y-0.1120left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4454, 1.4784, 1.19, -0.7055, -0.3466, -0.3481, 0.54, 0.0715, 1.1217, 0.7864, -0.1974, 0.0635, -0.234, 0.9979] state[eef_state]: left_x=0.3671 left_y=-0.1048 left_z=0.1649 left_yaw=0.0564 left_pitch=-0.3425 left_roll=0.1015 left_gripper=0.54 right_x=0.3685 right_y=0.0188 right_z=0.2009 right_yaw=0.1445 right_pitch=0.0199 right_roll=-0.232 right_gripper=0.9979 state[joint_eff]: [-0.3487, -6.4205, 6.4889, 1.4481, -0.2613, -0.0562, 0.6325, -0.294, -3.8632, 6.9538, 1.9805, -0.1636, -0.0806, 0.0611] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.112,"left_z":0.035},"note":"The yellow fruit has settled far beyond the bowls, outside the arms’ safe table-level reach. I’m lowering the held dark fruit back onto the table so I can stop without leaving it suspended."})
tool
executing move_to over 9 steps (0.9s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe dark fruit is back at table height. I’m releasing it gently before stopping for operator assistance with the out-of-reach yellow fruit.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.445, 1.7016, 0.8928, -0.2493, -0.3462, -0.347, 0.5398, 0.0692, 1.1267, 0.7837, -0.2287, 0.0513, -0.2512, 0.998] state[eef_state]: left_x=0.3729 left_y=-0.1075 left_z=0.0322 left_yaw=0.0679 left_pitch=-0.3988 left_roll=0.1353 left_gripper=0.5398 right_x=0.3644 right_y=0.0198 right_z=0.1913 right_yaw=0.1616 right_pitch=-0.0205 right_roll=-0.2369 right_gripper=0.998 state[joint_eff]: [0.5265, -7.8154, 5.5726, 1.4579, -0.1441, -0.0024, 0.3541, -0.0068, -4.2051, 7.4462, 2.083, 0.1099, 0.149, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is back at table height. I’m releasing it gently before stopping for operator assistance with the out-of-reach yellow fruit."})
tool
executing move_to over 5 steps (0.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe dark fruit has been released on the table, and the green fruit remains in the blue bowl. I’m parking both arms clear of the objects.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.2960right_y0.0000right_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]: [-0.4454, 1.7218, 0.8791, -0.2466, -0.3462, -0.3477, 0.9952, 0.0692, 1.1271, 0.7837, -0.2302, 0.0509, -0.2523, 0.998] state[eef_state]: left_x=0.3675 left_y=-0.105 left_z=0.0208 left_yaw=0.0747 left_pitch=-0.4259 left_roll=0.1517 left_gripper=0.9952 right_x=0.3643 right_y=0.0198 right_z=0.1909 right_yaw=0.1625 right_pitch=-0.0225 right_roll=-0.2375 right_gripper=0.998 state[joint_eff]: [-0.1709, -9.3333, 6.8581, 1.072, -0.1929, -0.0317, -0.0513, -0.335, -3.8085, 7.0496, 1.7509, -0.0073, -0.0317, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.2},"note":"The dark fruit has been released on the table, and the green fruit remains in the blue bowl. I’m parking both arms clear of the objects."})
tool
executing move_to over 12 steps (1.2s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe green fruit is in the blue bowl, but the yellow fruit bounced out during release and settled beyond the safe table-level reach of either arm. I returned the dark fruit to the table and parked both arms. The pour was not attempted; the yellow fruit needs operator repositioning before the task can continue.
give_up
hindsightVerified grasp locations were approximately right (x=0.415, y=0.041) for the green fruit, right (0.411, 0.197) for the yellow fruit, and left (0.375, -0.108) for the dark fruit. The blue bowl was reached near right (0.52, 0.145). The yellow fruit bounced far away when released from grasp height 0.16 m; lower it into the bowl rather than dropping it from above. Orientation drift was substantial during position-only moves, so explicitly maintain tool orientation when appropriate.
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]: [-0.1383, 1.1976, 1.0939, -0.9092, -0.2092, -0.1074, 0.9963, -0.0288, 0.8272, 0.7052, -0.4355, -0.0193, -0.3, 0.998] state[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1862 left_yaw=0.1103 left_pitch=-0.4181 left_roll=0.1442 left_gripper=0.9963 right_x=0.3013 right_y=-0.0017 right_z=0.2057 right_yaw=0.1492 right_pitch=-0.0078 right_roll=-0.2421 right_gripper=0.998 state[joint_eff]: [0.1983, -5.1214, 8.7179, 1.1502, -0.0366, 0.1929, 0.1001, -0.3624, -1.5795, 5.8462, 1.8974, -0.1148, -0.1197, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The green fruit is in the blue bowl, but the yellow fruit bounced out during release and settled beyond the safe table-level reach of either arm. I returned the dark fruit to the table and parked both arms. The pour was not attempted; the yellow fruit needs operator repositioning before the task can continue.","hindsight":"Verified grasp locations were approximately right (x=0.415, y=0.041) for the green fruit, right (0.411, 0.197) for the yellow fruit, and left (0.375, -0.108) for the dark fruit. The blue bowl was reached near right (0.52, 0.145). The yellow fruit bounced far away when released from grasp height 0.16 m; lower it into the bowl rather than dropping it from above. Orientation drift was substantial during position-only moves, so explicitly maintain tool orientation when appropriate."})
tool
give_up: The green fruit is in the blue bowl, but the yellow fruit bounced out during release and settled beyond the safe table-level reach of either arm. I returned the dark fruit to the table and parked both arms. The pour was not attempted; the yellow fruit needs operator repositioning before the task can continue.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.042 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "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.",
  "role": "system"
}
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "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]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8001, 0.6186, -0.3874, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.812, 9.7846, 1.7802, -0.1294, 0.1392, -0.0855, -0.1709, -1.6068, 9.2239, 1.8291, -0.0806, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2548ae75fe37dbe58fa32336c07fc9b6d855687fa7982b35c03d8f8730ec16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a505062b5782f880718714a6e02123911d02868d15fc6382dd9b6fe31099b780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ffd8f559ab8d1cb208e8b491075e8f2af8bf342e19a27792d7cef2fa10e330",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob fd2548ae75fe
wire blob a505062b5782
wire blob 54ffd8f559ab
call 1 attempt 0 · /responses · status 200 · 5.963 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssDiwBaDKkwnq3rxBrHb333M-45NLy8XLrsZGveyphtxMDu0PTengdjbC0Bqen5Qj1aRoYPMjV1zMq_416B69vtZabLQG2T0YVQKIM0HJBW5NPwwqRpK3iNZQbUhUPycLSlUe8NgvSW9FbCVuIRcqxCCVnWHpb5jHFAml-Zo4GkIgdfE0ZcIJHvWLnYh-AhCQsjtqRg6mq-hxUGf82T-v3p1t1Wox0nGJpLiKaYFCSxJtJzIV2t_7IpvKqMWp0estqzu7bLln_jQA0Or33XzsrULk-iy5IGYlyBRZ706t6BiUB40ZU7tCuJZo0WsUfTnRSGEqQ7z2wVM11XrWTJAfHtssths_jnQ-B3EzAnNuyiqemuzOXGFk686wPmbN6yCcafV5tAiUbXx0dggtg0KF7nrNJhJ5AaQK4SDJmQDKA3QhFISxK7go8xupTLefCPm6v9TTVP1jDVCwn_QD-kBOpN_zRwsKo4POX4Lxr6b-chsv9pZzsiKnt5WWVYOGHSwjoNOxpAjd8p7TdxpUJXJOnScLxhzPfp_8VEoKUjLhKmoijydYtsKt8zGKixZwIIXM-QLWRlEn7d-bN7XNL9yHlmetUKDuM9q3nIDJ63rv4DVMjIA2j7H9BO9ozhXLM84Mu2HknV_MmJ1-Lvdnz3XcnU1GmjzJmTCI50ItJ3rY5rrwMyblBmrREF7BoIC25QX9C_EoQgwlA5LGCbLB63x3S0JDsZ16BOYOd0NXE1B0CeP6ZCk0KnEdMgDHgpiL2M6cj2rEbiXsvDohNzuWqxXqdOPFpJnt4t8y4Z4AYtyE-U_yj7ggV6kHYWPytoXpdqAX7nK45RGcTeDWI9oweEgGhMvF8ty9tlhZvsSsNV-gw_kbLZdwbnrJYsJNRlZ6skVoQ53WV0hfzBUYh2cEpY4zp9jSBE8hPADYCON_HPy7vxvid-kB76Q_B5iO35d_PVKwrZwdhQmWbqSNJhXsL7CKk3bem6dyiFfsBe5-6d7d3URtynY38uliJmm_vdLU7xNIirMOmP3LJXVnm8KeoUD-gK7R4Ju5osJ7Y1gfewAUfCHlLWnMi6CupEhMBpoW6k1EeToDXK-17kWkoWEShbgaTBeFuX7nhS6_lD1CyfPnwyPXZiJr_Q-v1Al0T65AHLYNkG6eSOqZ7RWJrI_e-C5ScxedlMk2Z7nQ6cmZfBSRhsVDSPaTZRthH50S9PKG-T7bhJPAiVUwlMSbaYFTRs-O5ItMd2yOWPixU6nf2pxjsVnxrIuy7yRkn5hDc93ZOFzAfIYkG-4W6IzLkP-4IATE0OYklNmldNeS29rekYRqyqdiFRFK5cI5TwbXM_95njbFSxV-LTKBIrlLthOUP7DbdJk2LVIxzrdqs771fkbncXdgVl57fm43uUO9EHAyshMofdMShrmK61QhHgkD3q5MWwcODPpWYGSY-3Nbby9YoLbASI65jZi3u-XZI9gzwA5dGFFLjPuukVSSEBdXI_YjsgUTzOcSHjtvzwxuax1E5HXpyPRRkLB0flWdrmbCc_72LcbVjs3C7dkJvnVbDbEDkvvVGLKZsj1020Oy0cwJC_-qR1Ol_V0VAu35dmxUaVzU0axSy8c8kacb44FPqAJGE4PbNSLoKe_K4jZu0_tZOS-DP--S9WKGrZWKgDfZI6v11gdX-IwuGQnemsjhATqcxHATw==",
  "id": "rs_07766a42102359dc016ab2c0db956487d0967052ce259f7fe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.10,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"I see three fruits on the table, with the blue bowl behind the two fruits on the right and the large white bowl on the left. I’m positioning the right gripper over the green fruit first.\"}",
  "call_id": "call_OBemy5PBKuNyNT3hKCHZukvI",
  "id": "fc_07766a42102359dc016ab2c0e00bb087d0817d9740c892e83e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OBemy5PBKuNyNT3hKCHZukvI",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.3943, -0.0139, -0.0307, 0.9993, 0.4488, 1.2472, 0.5903, -0.0193, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3408 right_y=0.1012 right_z=0.1126 right_yaw=0.0358 right_pitch=-0.0604 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4154, 7.0632, 1.8681, -0.0855, -0.022, -0.022, -0.3077, -4.8205, 8.0615, 1.9219, 0.3639, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6419e50dd3e039ad7dede72d3c31a97cede35aeb17b3b55dcb248d5c5f0484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d9f3da7afbd8c6e1c844c7f7884d5a7a71ba93ac19359c7a58b744795b5c07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620d7644f7be46b50b3ff5d574758f2d69e9f46e267bf91775ca3d0d744c8062",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob db6419e50dd3
wire blob 56d9f3da7afb
wire blob 620d7644f7be
call 2 attempt 0 · /responses · status 200 · 6.001 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 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]: [-0.0212, 0.8001, 0.6132, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8001, 0.6186, -0.3874, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.812, 9.7846, 1.7802, -0.1294, 0.1392, -0.0855, -0.1709, -1.6068, 9.2239, 1.8291, -0.0806, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDwob1aAuHNvge_CWBVVXU46v6XpSbzfAryT152FwTy1-R0hjCiMq3wWp6g33MbA6-LSorfKBzlTsh0Xhbuh2U13C2cIH9iAsvHFb_rXCOhqksK-rTl06Shueo6tgMHqaxiVpfwgyZkkCg5cit6YoaIO88F98LwHltKT6usmQpiO4pfTPQWL2e4UUalwCbU5Ry4ufUVHeEns_HZz78aHgAfxhErVKy6OsinRVXv1OcSwio8mfcJgKPTf1TpBS98HiEE_SRB6gAAqf5zdR7ZE3HfpZMPfvwba_mqAMFbiJL6Sefk6q4rVZAvbQYrbSXitDjeMPjmcs_G7x0cFqIneRXyWYwqkZ34cp4br_Hv5FanDktT-RlvTegoUU9_5W8_mG_AOpmQ0dOHoQonOHqeOmKrQG98jl9CdV6US4PIn12UcosdnzITiJnD8F8qh4dtCpfueSZNOOCOCI36wyZ_spcsGiiprRTH35OyAhOi8MNfa3fTN0yg_xMHqfOyPqhbG6ryuksznlBjyL7-IcGqjTIHDxPLgXoEo0NfhlYytI2_jb5UV7ter8Oxl-AUbD_ATZsCVrgArewvIDdjGckvOGwS40beSlU6Gohz6ubts1NGdXh3SM44hAzLori9GKxMQ9frEFiRBJ7XfTB4TakXxgd-Mus2tTOlMVdKYgOqDs-Vvt1JWEi22UQcVbBli3Cfl3H3Tql2IrPBRCFbLOZzU4sz9s00plXWkbYUI1Y7g3PoERvETmnXHcTD6JK6PIT5NWuiNmaexqDxHCfstmdpCpBU1r1F_1-UVHCs-LuF-lbSJXlxfnf1Fn3hlAO2Bpt0JY0E_qkTmeiQZVcxi4DB16EM-RLnFsmGYWuIfMh3J1l4FzeyK48tbr_I5VWj64SFRd3ow7y9aEjmYcwdlsC5JuQyRb6amEUUTNR5aBMHcqCgW6psn-bzIDfid7PS0paVHSdXaZjrsiKOdbaZsU0kNkvfHzKN7bSeHW0qB6ietItc50rwTJKq4KG8LRJCmSn1xvR8yFd-QwGBBO8JvlV3OY_t0husg-0ERR_mcAic6yJ4s0XEyNkm732EyIajfABBB40Ez9AjiIVpLTyFmSaIkNkEzgtORKEmp5bvqB6UNTL918wQggsuq3Q4rPsMmeKftpNgGw8VTkUBCBlufPh1L1e93BurD3nD9x0xvSOYRXNcf7-ythWB-iwnQtsKgh9ChpjkFN-3gftnE15vgOBaN1oNv9QfMkQEUET5TaMnajG_ZBdYx9wlwGW-9UFUjHBdIPI1iiJufzYN9j5XeKZrOwC3zeX-dntCgjm5Soi-97Z8qCsipM9xyImmt2AICEoqg9_KrZeWYIQUo2lX5o9VftxUVc118m_WBD9R2YmPJQH3rXM=",
  "id": "rs_07766a42102359dc016ab2c0ec464c87d09332c5b2bbf04526",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.064,\"right_z\":0.04},\"note\":\"The green fruit is to the right of the wrist camera’s grasp column. I’m shifting right and slightly forward while lowering to grasp its sides.\"}",
  "call_id": "call_RdGEiHQJNSQDnyWCGbR60IhD",
  "id": "fc_07766a42102359dc016ab2c0ee872887d0b38090ee044adc80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RdGEiHQJNSQDnyWCGbR60IhD",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8066, 0.6132, -0.4049, -0.0139, -0.0307, 0.9993, 0.2459, 1.5711, 0.4717, 0.4229, 0.1867, 0.1036, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=-0.0002 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.029 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3707 right_y=0.0629 right_z=0.0326 right_yaw=0.0339 right_pitch=-0.0943 right_roll=-0.0337 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 7.0359, 1.8486, -0.0415, -0.0317, -0.0122, -0.1573, -6.3521, 5.3812, 1.9512, 0.0855, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e2dfbef25db873b1af06fc3301c30c1d53dd694013625932616425674ded435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d947dbf6353cdb497e0ccb5eee0ef8a448607fc34137b2bc42091feee103516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a35d205cb2e95808d00c106882c9ab4d9e892d6c8a036f159231abb9788ac4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6e2dfbef25db
wire blob 8d947dbf6353
wire blob 46a35d205cb2
call 3 attempt 0 · /responses · status 200 · 4.235 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8021, 0.6132, -0.3943, -0.0139, -0.0307, 0.9993, 0.4488, 1.2472, 0.5903, -0.0193, 0.3481, 0.2287, 0.9994]\nstate[eef_state]: left_x=0.2945 left_y=-0.0002 left_z=0.179 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3408 right_y=0.1012 right_z=0.1126 right_yaw=0.0358 right_pitch=-0.0604 right_roll=-0.0297 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4154, 7.0632, 1.8681, -0.0855, -0.022, -0.022, -0.3077, -4.8205, 8.0615, 1.9219, 0.3639, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssD4M4i5GPMxtarqJl9H-MeFiW9P01bXPX3BEKNTsnqiEeCvJWgVKPoX7YP3CNrNlgDNMH-MkoCseJLND0xwz1weLNzjGRiKu-tARiV6rWSqNEMAEQ99B1jHSw8CdpvaZl2eZ1G4HiFo4gQVcQK0wKa4ALt_3fRKD-iCViwUUZdOrQuJnTA6bFxY4wq5AgX1IyYukkHAx6ahcJyXPFCWp3MeGqSPvIdFhur9vEi2GWmiA6SOi77LNuue0jWhbDmJoXedbrET-T7ooU0gxRtI7CGZCicSYM1DQGH_5VjKsk4cnkU54eS2T5tKIPOwcKlpnzH3SG1SiukH8-DS1w4hPilLu77Twk8Cki8FT6BvOpz_1TpSz5J-PL_P6ainvabGskma50iFsPVN-BBwy0A5ryu9EDDgHQlIPVYkRTbOlLaY9ns0JvIUUzCBy-IKrImfkFMb34lKRYj2vAZjWv9LxDq_71iToJatTR2F_lItXaxiLh66mjda25_4OHlCDmmzvsGYA7nKWmjpDBuy8kjhBIHGqYS3db7xfWOWrplmKVNcN2Iq7czfMjy6Rl1NMZTVvbrIUShIzat416IPDbRt4KNdDFpu5uoE-xsQxsPbmlpg9ZLlBXonoa4poEra3xd8EGEBBKeT-f_e-t2D0zjv6IpXO2Qq8Skx9mRwJfeLLEfS7qLxK_l1Rr1uQBIcij13WScYJZPyXjZF_0sorWOJrjyZ5iL8GcOBiHIhp1ZuT4baOs68xPRiBmBRfhcnbq31V5pXXwMJQh5O7xBXQ9cH-jE7VnEDmLhMEi4BAKz5gMUza7W0HMXlGsuA9Yj-Uy5qv1-OVVqm7k1u_20RP41-ETCbZT_ZXHGrep59nYwl5QCKKT3uIf6Wx9T0kIkZYbChsZkrAsq8ffJxXYvNFeQYouFn9sh4Cy_7c6ykxV791rQCU9Dj_9-PXPQ4LTyTRH4Uv2usiWktNFGvb5ur_4EBQWTYm1HNe2R_zEGL0FVmOzfo_yadpc9m3M-S70PAoRicO96hnpyrtNIP1KFGcSkHzVBUWzBG6MdV4Z2tn2eeSt3mCyksjnqU4MGpOEj7NGFk-GN-r_qCNVP-53rypGeBa1Rk-XNc4Pk4_faqqXNoC72Q99-RGgeUDZ786WCOXYgbQD0OyWWH8CbXA4ONc9_lW34Ky6jRNlARrv_w34CZxfvm7IrnjMgXEalZTsYHqqw_rfvygj5WOzk6Z89DtiHUPgeLsxvn3FARbTXmK-1xCeoT0E42WdGVSvZ44vn4J7HRA4S3UodnuwMIdPbHsRz-a9qVgPY-4wuR-sK7Oe06cW63D4LldK1QptYm65YcPAzQIhGU",
  "id": "rs_07766a42102359dc016ab2c0f495e887d08922784976de8715",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.039,\"right_z\":0.027},\"note\":\"The green fruit is still slightly right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed aside.\"}",
  "call_id": "call_muDtXnIM6eYLKkwZNVopgV8c",
  "id": "fc_07766a42102359dc016ab2c0f6791087d09efe2157b9529fa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_muDtXnIM6eYLKkwZNVopgV8c",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4084, -0.0139, -0.0307, 0.9993, 0.1345, 1.6531, 0.4927, 0.4377, 0.1123, 0.0406, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1746 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3775 right_y=0.0347 right_z=0.0121 right_yaw=0.0184 right_pitch=-0.149 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -1.0735, 7.0085, 1.7851, -0.0757, -0.0415, -0.0122, -0.0342, -6.6393, 7.0769, 1.7851, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46039073fbb5452d2385ae30721781ad5131bc054d0c583de80c9fce0c6984f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97fb0ffe4726d57a2e5afc845173a897b1a1311667858d8acbe66044a0af1ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2626f65eefd665ae637c2b385c13d8039c83c5b66fc34f6534cd6f991592752",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b46039073fbb
wire blob 97fb0ffe4726
wire blob e2626f65eefd
call 4 attempt 0 · /responses · status 200 · 5.659 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8066, 0.6132, -0.4049, -0.0139, -0.0307, 0.9993, 0.2459, 1.5711, 0.4717, 0.4229, 0.1867, 0.1036, 0.9993]\nstate[eef_state]: left_x=0.2933 left_y=-0.0002 left_z=0.1756 left_yaw=0.0003 left_pitch=-0.029 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3707 right_y=0.0629 right_z=0.0326 right_yaw=0.0339 right_pitch=-0.0943 right_roll=-0.0337 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 7.0359, 1.8486, -0.0415, -0.0317, -0.0122, -0.1573, -6.3521, 5.3812, 1.9512, 0.0855, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is now centered between the jaws at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_oOiJorDr4OFZ67QiV7zZ1oPR",
  "id": "fc_07766a42102359dc016ab2c0fb5d1887d0af6fec421f3bc7f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOiJorDr4OFZ67QiV7zZ1oPR",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.1352, 1.6531, 0.4938, 0.445, 0.099, 0.0334, 0.0092]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.042 left_roll=-0.0006 left_gripper=0.9993 right_x=0.379 right_y=0.0376 right_z=0.0136 right_yaw=0.0346 right_pitch=-0.1418 right_roll=-0.0384 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.7802, -0.0513, -0.0659, -0.0171, -0.1162, -6.8308, 6.4752, 1.7949, -0.0024, 0.0024, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf6e9e9cdc63f55ff311ea9255788b97936a1133d7071f1fe86d4239ae87981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4b8d3e731ad12cbbb260208f75b46d88cdbe24ab753a5efb8950568dfa0b31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0f4c978eb1da8af91037cdea08475be1e0f375f3b9c610aa5eab50edff852e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob baf6e9e9cdc6
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4084, -0.0139, -0.0307, 0.9993, 0.1345, 1.6531, 0.4927, 0.4377, 0.1123, 0.0406, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1746 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3775 right_y=0.0347 right_z=0.0121 right_yaw=0.0184 right_pitch=-0.149 right_roll=-0.0426 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -1.0735, 7.0085, 1.7851, -0.0757, -0.0415, -0.0122, -0.0342, -6.6393, 7.0769, 1.7851, -0.0415, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssEDPyKyNQMVk347PTuZFqLrOeZOgbTdA7elaMqri5vE-CpYLz6SNKgJgaHsO1VIggR1UAxJmDfw-auX-rVf35Wm1NqGFCILMlWuggCugpL8MPy1b-KeyFbUKm-LY1o7MRDaUxfkAiEfDzQ6x-WB1t84MDh9y4G-qxz2kzXsdrawgdxVHWbtDPWCrDjhsRVgnJbMk6UZNe1QROx-l13PU5d8EwSFeXAv_PUAHH1NoKnG5tk4lDoMiVRAhxHqMSZpSLEjitbmWAAVsntbzc-MiuTLRxCNb_kYX1TrJxxD4DaQhJD1JUj4Grca_-Ku-RfCVSkVDXRVk2ZZjquzlE98PEUTo8twamCvZ774s9he4K0RoeO_8_9Sh4MZ0c8KAt5fhgkFNkyIHkCOdmfJGtMqIMZ6anwtpM2DzT0JoFPE-kGUM4x2s0oXGOrBDOZY4JbkwnpbP9PGTgLYgc7XIfatKJlZIScDPEBFl6IYe9wWKVQ98WMrsmln0XglGFcz8mpwDAFZ7MXmGU8nFVbDzauJHaxR5G-fRnXbSfFl66smD2i9xLCupF57E8i8qmZzJEFi0AuKLJ25uHV12FBT6wtxi-D5ofjH8RK1oXcNWYWz0hmnuww1hwqMy3iEeus5eQ_oA0owScgapYvgK_8-weRAila19eLFQ0PzZU3w9M9IhBMZfhVrPkdh6JllJGkpdzHQixNE7mHpJeCOJb1DRhzAK5fC8Izioc6m-4fafgsZ5-SJzinw-7rmMkEbcSfAAqhnyrgdshI3ubdgoEVbWbybsfMlFr1Mt1A-_JqSHhQqAloNGrM3Y7td0LbuktAAjuSkk1naHQu7Azeu31OwuXTiTiP3STGsoNZzVlVErKeJvU-hrH2OBXWrQ6MyEDfsNudKaspuxAhkeNLcHxcnme2P2T2zMAmkyJxlGPvEIgOIdEhKJTLa6wldSYh82TT1U6e6QoR1XfB0F6J_-ur-IKIjFJHHWS690nVootrVI898hDbN0nto07XRhm5meDYcqkO6OtPZassM1jkkSO0bnNciAXmB5CSLw6avXQTl46Wy8_hDW4Cc4o1GX98XaJnSGTuwfvhDbhc1YK9891qZwc5rCOkTo3WEp_iOoQ0Pz0nQjKg_VClHbABRwVPfiAyE-n02ptiStBNdyW6RM-sBMhTRAVFFKJCwzu-rIk8J9-FsEUaRQhzxd7woAFaRH6KT7JXR-Z6bFMADMO0pS1OP78FWkqH52_vwEZuusVGZeaN0KT3vXcnxVqX-ERPupRC53uMx7BrG",
  "id": "rs_07766a42102359dc016ab2c10122f087d08701437621edb67e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.04,\"right_z\":0.033,\"right_gripper\":1},\"note\":\"The gripper closed empty; the fruit remains just beyond the fingertips. I’m reopening and advancing toward it for a corrected grasp.\"}",
  "call_id": "call_qp4dFY8hcRGoFpR6hqcxbKBq",
  "id": "fc_07766a42102359dc016ab2c1022acc87d0858dea7614676360",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qp4dFY8hcRGoFpR6hqcxbKBq",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0311, 0.9993, 0.1268, 1.7279, 0.6773, 0.3096, 0.0879, 0.0143, 0.9976]\nstate[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=0.0002 left_pitch=-0.0488 left_roll=-0.0007 left_gripper=0.9993 right_x=0.4149 right_y=0.0409 right_z=0.024 right_yaw=0.0456 right_pitch=-0.1696 right_roll=-0.0479 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1692, 6.9812, 1.7656, -0.0366, -0.0562, -0.0122, -0.212, -6.8855, 7.3231, 1.6581, 0.0659, 0.0855, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb6bc69b33fea339d39d421eac51b58f766ced5864c1028f4148e661a5b224d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87845b74eec1ed9e256fbdf7415ff2ef80dc683db90638b54f8ea189823e672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6277c00cff16aa7c89a8e70250a1e985c2c31519310b5aa62c2e2208817f124",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 3.992 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 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]: [-0.0212, 0.8078, 0.6132, -0.4168, -0.0139, -0.0311, 0.9993, 0.1352, 1.6531, 0.4938, 0.445, 0.099, 0.0334, 0.0092]\nstate[eef_state]: left_x=0.2918 left_y=-0.0001 left_z=0.1729 left_yaw=0.0005 left_pitch=-0.042 left_roll=-0.0006 left_gripper=0.9993 right_x=0.379 right_y=0.0376 right_z=0.0136 right_yaw=0.0346 right_pitch=-0.1418 right_roll=-0.0384 right_gripper=0.0092\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.7802, -0.0513, -0.0659, -0.0171, -0.1162, -6.8308, 6.4752, 1.7949, -0.0024, 0.0024, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit now fills the space between the open fingertips. I’m closing on its body for the second grasp attempt.\"}",
  "call_id": "call_vvDO39lgpEH6SCfqt4WvK5Sk",
  "id": "fc_07766a42102359dc016ab2c10767b487d0ab88d621111155cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvDO39lgpEH6SCfqt4WvK5Sk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0307, 0.9993, 0.1268, 1.7302, 0.6815, 0.3069, 0.0879, 0.0097, 0.7031]\nstate[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=-0.0 left_pitch=-0.0488 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4157 right_y=0.041 right_z=0.0241 right_yaw=0.0481 right_pitch=-0.1705 right_roll=-0.0513 right_gripper=0.7031\nstate[joint_eff]: [-0.3761, -1.0188, 7.1316, 1.6777, -0.022, -0.0171, -0.0171, -0.294, -7.6786, 4.9846, 1.6093, -0.0024, -0.0171, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b760bf87d3244563d90d51e600d96030194fb1a92c1fb2754f4b187ef353f81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c23473cdc96770b8add8e5df8046b46f0cefa394624ff4b4e3ece0656761b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0355563f0e7ed636d7ebff5f59b48721d47cf72994313782aae9d7e239f9ea1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.089 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 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]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0311, 0.9993, 0.1268, 1.7279, 0.6773, 0.3096, 0.0879, 0.0143, 0.9976]\nstate[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=0.0002 left_pitch=-0.0488 left_roll=-0.0007 left_gripper=0.9993 right_x=0.4149 right_y=0.0409 right_z=0.024 right_yaw=0.0456 right_pitch=-0.1696 right_roll=-0.0479 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1692, 6.9812, 1.7656, -0.0366, -0.0562, -0.0122, -0.212, -6.8855, 7.3231, 1.6581, 0.0659, 0.0855, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_x\":0.296,\"left_z\":0.183},\"note\":\"The gripper remains open by about 6.7 cm, consistent with holding the fruit. I’m lifting it a short distance to verify the grasp and restoring the idle arm’s parked height.\"}",
  "call_id": "call_TSpgPTVqk1C7DHxPxojYGx9M",
  "id": "fc_07766a42102359dc016ab2c10b784c87d08a9a8ca25393a1c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TSpgPTVqk1C7DHxPxojYGx9M",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8398, 0.6361, -0.4679, -0.0135, -0.0334, 0.9993, 0.128, 1.5627, 0.799, -0.0517, 0.0875, 0.0067, 0.6966]\nstate[eef_state]: left_x=0.2891 left_y=-0.0001 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1022 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4033 right_y=0.0399 right_z=0.0709 right_yaw=0.0501 right_pitch=-0.244 right_roll=-0.0592 right_gripper=0.6966\nstate[joint_eff]: [-0.1709, -1.7162, 9.4564, 1.8388, -0.0317, -0.0024, -0.0171, -0.3761, -8.759, 8.3487, 1.6874, -0.0171, -0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a691264bb905f067b1e8f72cce6f4274cb138ebc214011b1524d2896b3d18a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b603cd6eda0b1dd875d65565a0262f6d5c7e411e2e3b4f048f4e3b60d6fbbeee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8c671b65de1d2f4c4d7a324eb4ed90ab48fa2515ac7796a201635b36545a0a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 7.844 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4236, -0.0135, -0.0307, 0.9993, 0.1268, 1.7302, 0.6815, 0.3069, 0.0879, 0.0097, 0.7031]\nstate[eef_state]: left_x=0.2908 left_y=-0.0002 left_z=0.1715 left_yaw=-0.0 left_pitch=-0.0488 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4157 right_y=0.041 right_z=0.0241 right_yaw=0.0481 right_pitch=-0.1705 right_roll=-0.0513 right_gripper=0.7031\nstate[joint_eff]: [-0.3761, -1.0188, 7.1316, 1.6777, -0.022, -0.0171, -0.0171, -0.294, -7.6786, 4.9846, 1.6093, -0.0024, -0.0171, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssEUTKsqsOksT7nLwAhTSF8DuTIC8-dc_NkyYHsBq3KKXLg75d70fBR_cw37purKBeTzhGsjiHKkZgJj4moN87tAJ_vBYOPKM7U16Qsa_NjwbAhNTrH2Ucq_1w_EArg5wheM97sQXMgKQQaNTpCLvJx8BlMI8alyUeToZFynF4fUkWITtbXDU-_35KP54pfVt5fIDQ854kwVVhlkdg9OUWcPjePpiNszHl0Y38mACkawHsG624om1HgjYOFxBgXqcbwKn_bIJsuqO5qeLFbDIAa7Av6e0GHEC5ToRDrujuf7eoKPDasxGlHcgtcRDOBqqCMPKHJZFOH8ULwG4zmFunGFJpJRxRWo3IYCQoTObXgrYbaEdhaRo7LyjVh7vuJKZ7eJ8M0RQBf-KI8FHLxSe4ISXrwrperIaCmuOlARPa8uNDhUeDpIynmhLZXGT5JiOAYG8UVYpspsI6UZahnlB7jEmLEGKyZaZ_n0WV2KIl7iA39whM9O-vfzIFxQlqij1z6kusdhzW183CmNSAhwsnf1OmZnIB_JHEkxR-uq0PH0nYjXVF-25V16SC22mjNmfTdmdiE-u6UazboiEuBXWuoH57gfeeV7-HZzcknW9qo3lc1YrSMuoev99fs0VPQ03-Ih_VP5yJjuEQvfRxSACVRzotVUYEbPHax0zK0eNvbO5h98WOWf10xb1CBDIqrStZjb0c17KkbdmtYcj2a4a_wfrj13ZODVB5JByMXyhAIT_9GJjvoVgH2W86nqZqMbDNXHhqqUk-EqxGkUNOARAkr-VSGBWx8pUVBelW-RRhDo6Wdsztz-2tQqLT5tXan51lQ6KHICYGt-FT2lJ7-aEXVz2E9dmdQWgtp0jMioWe1K3OiEoAE0zZMZ7vo00J2ENDM4mhKoNIzKCCofRaj5gF5ufvDrBGbvyQ6QKSffeKaVp0h58FVaovghHA2pyhui0KTQTrkgAwjTpeEo3XCT84VEB0SMKpgEKw-LBeMDYVTp5FU3kWoe_Thkbt-3u3BZ_KXx6J3w5OTDJsQNCB3U4czB0BaQRrosVH_CU-4UNO6MiRkszXo7_iarmVKvXAlUBPWocygBwKUrtU5HKL5IPixMPrAmeTSwkoaYHZEFvtZJyuax2EZH2txOKw7ZlggFtVgsxyRjdu9wJRzBFFJ6lNZAQS4iq703M01NoiW-KKVLSHkeDTbpekHr3ClxAAykUqau1Wz7CdmsaPHJCEc9f7h9fQ==",
  "id": "rs_07766a42102359dc016ab2c11248a487d0aa884dc162588fc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.14,\"right_z\":0.19,\"right_pitch\":0.1},\"note\":\"The green fruit lifted with the gripper. I’m carrying it up and left toward the blue bowl, keeping it above the rim.\"}",
  "call_id": "call_0yC43ZH8ZqcRjZnss1uvuRN5",
  "id": "fc_07766a42102359dc016ab2c112d0f487d0a69d1f7019104b97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0yC43ZH8ZqcRjZnss1uvuRN5",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.841, 0.6357, -0.4755, -0.0135, -0.0338, 0.9993, 0.387, 1.713, 1.1492, -0.0277, 0.3031, 0.0719, 0.6993]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1624 left_yaw=0.0018 left_pitch=-0.1114 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4768 right_y=0.1413 right_z=0.1602 right_yaw=0.0962 right_pitch=0.0039 right_roll=-0.1053 right_gripper=0.6993\nstate[joint_eff]: [-0.1162, -1.5385, 7.0359, 1.7118, -0.022, -0.0269, -0.0171, -0.5949, -9.2786, 9.5248, 2.2295, 0.2906, 0.3004, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9747b99259ebc29582d3166b0ff136086aaa37714071628db94247902292e45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec94bc5ea70e7ce4f61bc5cce00d694a56bd0ddfa44c55ae777985c2c153fbcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e683380ffc2ac3dc26716ca37bfad1aedf2bdcc4c6aeefc30f3ff9ad4bcc2780",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.302 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8398, 0.6361, -0.4679, -0.0135, -0.0334, 0.9993, 0.128, 1.5627, 0.799, -0.0517, 0.0875, 0.0067, 0.6966]\nstate[eef_state]: left_x=0.2891 left_y=-0.0001 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1022 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4033 right_y=0.0399 right_z=0.0709 right_yaw=0.0501 right_pitch=-0.244 right_roll=-0.0592 right_gripper=0.6966\nstate[joint_eff]: [-0.1709, -1.7162, 9.4564, 1.8388, -0.0317, -0.0024, -0.0171, -0.3761, -8.759, 8.3487, 1.6874, -0.0171, -0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssEmAZMQqCaaRZP2jNoyceKfvcnMN5n-xIdIM5ZrJZUQxhHU_sjhLaX4k9Tmk6VXRAdSXA2kTiR8gHgxLKiMvaGfI83PEGyeSmoFR7Xb4LLDjQFs0mgbOoNLmlSoCqfvIXarFK86tktgDKkE2ADTRp75F5mPptryc8CgDeQd1mUavjaMkm2wzrysVgJvpbh-0_e_8LgnAO-Z2L5OFH2A8NgGSvorDWppdCe7td_NphHTBU9CWaTljJz0n3u57jXMlsJCTQpeNOpLYkNV_RU_6NYUWhb-zsscTg8o69O4et1QtXU8XWUn1Mc4xutE2tcmBfmqS0kOi0AU6lKMPylrir8J4q4oYW9Mv2JXC4ngvTsSU8KirsAd1jl3Swu_BIf4q1R0LFuqOGEskzL7dHnwDPhD0u-WO9Gj_4IRX4FaHNOeq1IJ_S9RterdAYJpcfMTSaNctSynwK09s3iR2If8j9G_1YPl_pq7jLCTxIVk1oXC2FghT-7wDpEIH-EUNf8HJD64v90rOXAtFV-XycEArAHuCbMAkQTDhs9H-XepznB-fRE7UwqWaeXoDasIL1UbmyU50wfTpGyt-FRnbWqxPlTyU0BpWIfZ82nstIf0C0W25FLhonF7uk_Vf8ubR3p6ZnknZ7F9O5hX-unFrVL0jqbI300RXZdZfsjAm0yYXcNbWEtA92K7XvD4X78PAiOrnU6WPi1DnMC9bE2b-vO-JVOBrbpbgEO3WPZw3aosX5_sAvgfIoGjrJZPn2-I-d8EuM8VkyuAJBzHHmVqLZ19z_nloQmhzE-K1YaZCMpkLB1Y-XL4xoEvJuX6YbFH1MTkyxcnyn7_IqhqMbAiQyJJ3Fx9dd3iiIX5-u7xL5SA6Ynl5daAou8Pd0b3SBP-oBOgBXFjsyT4Cs-cycVDLwOIGvr-ovgH5FnJzqwLmWnTkFwvwmsVW4Lq1JZieEif80KGFqSybRRlEyYlRjD9lXPK2zjqSjIoj-RcqaVX6i4z7SA_qGBirJ-tK8xdsLxAnA7rOs7oUS9u1III-lC5KuIrsiH5W8lXYHvKG6DmTDxgxYlCQDKB_AqEpAax_2q5b3z0nPWOYrFb49Z176sultqcNUdAOO3kvIDFB4CXr1SIS5ARzExUwLFBAyJBsvLyxqeZPziwyjH-e3EjOWXG-KHxVV2XlTqTYuTai1E3rQVpolVup9VA2UxZ4UUzZX3QfwrPltcY3UxkOaHTGDl1Uh-C8KrzsjOVzEPpF6hwLyeQihAUK-ArLyocqfyoc_Qlk8jpb22hlIaXROL3aM93EzjasapSft6pkGeJLBnh4VRh_Ro443N5AeptxmNpXL-WeveL6vKmvfTdIT-7FsXrLyOdFMo5jJ1vWrlggMweYa57TAySypTRMiZAFPEbovKIrBxYaILbzOOgl2bSjiuWSnfl-iuiq2TpzZkaQWySC-k_YUT3yRhChmy4lUbLCBTvw8jzT0u4OAw9IpEcsI7x5VcTFcYOlirXCgw9nTuGdZu_d_j0IisrbOVh2HfN-4T4EsfBbUFPRfDXakXFG8A-1FRnhsCm9RenqLecKR3_n8VeZnjMaZdTPgcueCE321lhLzwB_4NYLT9FuPCxzu-AMDUTY3sOjg==",
  "id": "rs_07766a42102359dc016ab2c121b44c87d09871070a25b93135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.145,\"right_z\":0.15,\"right_gripper\":0.7},\"note\":\"The fruit is above the near part of the blue bowl. I’m moving a little farther forward and lowering slightly to center the drop inside the bowl.\"}",
  "call_id": "call_9ZJ6gc2buq8Xx5yQQuZVIcmg",
  "id": "fc_07766a42102359dc016ab2c124734087d0a9eb52d53a2b650a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ZJ6gc2buq8Xx5yQQuZVIcmg",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6357, -0.4763, -0.0139, -0.0334, 0.9993, 0.3492, 1.9282, 1.319, -0.0845, 0.2604, 0.0425, 0.7031]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1612 left_yaw=0.0019 left_pitch=-0.1163 left_roll=-0.0007 left_gripper=0.9993 right_x=0.515 right_y=0.143 right_z=0.1145 right_yaw=0.1083 right_pitch=-0.1034 right_roll=-0.1314 right_gripper=0.7031\nstate[joint_eff]: [-0.0889, -1.853, 7.1453, 1.6581, -0.0317, -0.022, -0.0171, -0.6085, -11.4667, 9.9214, 2.0879, 0.1538, 0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f04e1e6776fb3cb626b733a1e6679bfe56d0a67075958c923bea60d197db9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0264c2cf5d30def45ca8af40f7b5a7d9ec38fef31d25a12e01cbb7aafa363f6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1144cab1726f7a6442cacff84dd9c2a3e7c0f63a4d2815c37d2be50b53842237",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.609 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.841, 0.6357, -0.4755, -0.0135, -0.0338, 0.9993, 0.387, 1.713, 1.1492, -0.0277, 0.3031, 0.0719, 0.6993]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1624 left_yaw=0.0018 left_pitch=-0.1114 left_roll=-0.0014 left_gripper=0.9993 right_x=0.4768 right_y=0.1413 right_z=0.1602 right_yaw=0.0962 right_pitch=0.0039 right_roll=-0.1053 right_gripper=0.6993\nstate[joint_eff]: [-0.1162, -1.5385, 7.0359, 1.7118, -0.022, -0.0269, -0.0171, -0.5949, -9.2786, 9.5248, 2.2295, 0.2906, 0.3004, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is positioned within the blue bowl’s rim. I’m opening the jaws to release it into the bowl.\"}",
  "call_id": "call_1gGp1te3YQDnOHU9ayjdFhhR",
  "id": "fc_07766a42102359dc016ab2c128e0b887d08f2537795e348d75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1gGp1te3YQDnOHU9ayjdFhhR",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8455, 0.6353, -0.4763, -0.0139, -0.0338, 0.9993, 0.3447, 1.9392, 1.3327, -0.0715, 0.2573, 0.0341, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1609 left_yaw=0.0021 left_pitch=-0.1171 left_roll=-0.001 left_gripper=0.9993 right_x=0.5206 right_y=0.1429 right_z=0.117 right_yaw=0.1111 right_pitch=-0.0892 right_roll=-0.1324 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.5385, 6.9675, 1.5946, -0.0611, -0.0415, -0.0171, -0.3897, -11.6444, 10.0444, 2.0293, 0.1001, 0.1148, -0.1001]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bc57caafe78d9bbcb386d1b97d0a15967f9f490a4c1f573c3426bc462c461d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3067b6b47b7466e42fd57fcc1b2eac69a2a0eacdd8e2483c8509bf98d9d312fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f801fb1151a5eee957ca718a6885597588244852b664d8a2b817631e31f1612a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.751 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8452, 0.6357, -0.4763, -0.0139, -0.0334, 0.9993, 0.3492, 1.9282, 1.319, -0.0845, 0.2604, 0.0425, 0.7031]\nstate[eef_state]: left_x=0.288 left_y=-0.0001 left_z=0.1612 left_yaw=0.0019 left_pitch=-0.1163 left_roll=-0.0007 left_gripper=0.9993 right_x=0.515 right_y=0.143 right_z=0.1145 right_yaw=0.1083 right_pitch=-0.1034 right_roll=-0.1314 right_gripper=0.7031\nstate[joint_eff]: [-0.0889, -1.853, 7.1453, 1.6581, -0.0317, -0.022, -0.0171, -0.6085, -11.4667, 9.9214, 2.0879, 0.1538, 0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.17,\"right_z\":0.15,\"right_pitch\":0,\"left_x\":0.31,\"left_y\":-0.16,\"left_z\":0.14},\"note\":\"The green fruit has dropped into the blue bowl. I’m clearing the right arm toward the yellow fruit and positioning the left arm above the dark fruit.\"}",
  "call_id": "call_PlJuvgY7ot5jlspMNS5KEVEw",
  "id": "fc_07766a42102359dc016ab2c12c2d3087d0964582e5de89ebcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PlJuvgY7ot5jlspMNS5KEVEw",
  "output": "executing move_to over 15 steps (1.5s)",
  "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]: [-0.7448, 1.269, 0.7597, -0.3843, -0.5205, -0.5339, 0.9992, 0.5236, 1.6424, 1.008, -0.0341, 0.3969, 0.1055, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1528 left_z=0.1231 left_yaw=-0.0218 left_pitch=-0.1734 left_roll=0.031 left_gripper=0.9992 right_x=0.4262 right_y=0.1713 right_z=0.1342 right_yaw=0.1372 right_pitch=-0.0479 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -4.8615, 9.2103, 1.5604, -0.525, -0.0708, -0.0171, 0.294, -9.3197, 6.2701, 1.8291, 0.3639, 0.1148, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd74431f3979fafca0bdf3a4ff25e5a9bf39fc94e61f03517e1b9c6fbda266d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabc1b5fb7a0218af359e611ff59b66e7cce1c1f524301741e59d9b1d065fed6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4719a40ee87e8e6c46dce479be73ff0dfd740c400f5d20bccf7dddcdaa7188d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8455, 0.6353, -0.4763, -0.0139, -0.0338, 0.9993, 0.3447, 1.9392, 1.3327, -0.0715, 0.2573, 0.0341, 0.9956]\nstate[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1609 left_yaw=0.0021 left_pitch=-0.1171 left_roll=-0.001 left_gripper=0.9993 right_x=0.5206 right_y=0.1429 right_z=0.117 right_yaw=0.1111 right_pitch=-0.0892 right_roll=-0.1324 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.5385, 6.9675, 1.5946, -0.0611, -0.0415, -0.0171, -0.3897, -11.6444, 10.0444, 2.0293, 0.1001, 0.1148, -0.1001]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssE2kkPdgZaFfnnjc5i2RrM8G8nd8-Cb48QWV1q4EVBxEUAVALilH5dfspSsWQcGxOCR7A0vfzXcK6QlIZc95n8gjlzef2WHXxMKYUCTT4KTCQHwcvADmaNIyRrPyco_0PzYr1Ex61TfbLQ27De8HkZ0a62mdRPHfpts5T9acAjuWdTaRJYLgNPjKMX7rKRf_OBEUUH_9zE2KT1DshGKSYAAUzvH3dsRvWKjonuwkWc8JG9feOa6Ve2Lb_hEp1hRX2NDR_2j4ravS1kvI89pnG3oiRT3vYXpq89is8QiG9IptMftjls1Gx2pzIaPKtXFAC0oT8qjm7zj85GJ_qK02Lh1qfckD8GpfFLElJi51j7e9ofQKlAkd1j_M9yAlpgTZJ16pM7D9TN35GCH2VdNtoXjAx-k_OJJKZ_sR-DZeu_VR7DUbFLwxX3LovR5XNy7NOx79nJwJ7wQq3BMaRfriM7yKcfabGzlMbxbwj2ivk03CjWhk4y2UHJkOwzSE8SWiXU7i5bs5vYmPViv_5wqXJFX-AWIJ_YKI2iULv_fN9Bp7b5IKWKSmkPAcR6hqu4k4G-PSEXHD8X6-Oh9FFJCJXnmymBQosLJp21-o9ivyE-gGNaLPuOeXjX2bpt2mJ5gCp3fJtQEz-OoT1Pp6w43t-HWfSfD0OEaYdDTKUD8zLFBQPz96RiTvzR1PAP_bC_dRkAJ8_mMG0UGWLHC2F9quc0_AiGegUOuXxW8j-tNkypM5ZW5Tt618ReI0A5X_SUvmT7-ZALWWFvYBC0svrAp_FI94hRuDJyf-vwPCVjDk6-lVKc-x17DOYqq4ho69hxJQX7yBbfQZkZ00O9un66MT9bMzCm0SeLZig9jJ6aV2JIdFLx4_L4z6vu3CiSkRmaPemej94qDXkJoUVmPVRfrXE2nkefpOG703yqddPsby_AX9d1J85GWaF9DM37r9IA725BZVybBkLMWZIwNKRsfDuW_ydBfpNiusKRcc89C7175Oj-IvA_WjkuaGjRT9yIXcUpBtbIpN8lgwMR2tcQVJVafr-faAD4815aY1dfGboz_sLP-TiS9j27NGGlal6Iorua1Pp5ZCEelAUISvRNJ9RDQ9O-EURs6NT6EEaIinG0JzmDLBY9naNQCeBRHzL4obydRGwiNmpiND94ELfz9Aj_AjasR2qJdgKI86peheG-TMcHCDgmlCnyy6obRcAKdSyqjaPA6Z9XGUz8Ijz7VnWpBQdMyDe4gSY-T22ADA3K-M7lPZbiUkxCBWaDpxbDfu17KoUcy0ILFsoO0_0bqzpyoXTXLZIjIWiTdmYo91T0d2HRWWZP1mwHHOmf-OlSI6T-qgsMGVkpnd7fL-Uip8jCOhLUT5XeKmUthpwncLz5yjsozvlanXYijfUPzzLf0giqBD3zXN9rKg8s1YDdfPEfUPjC1ftLC7pnmWYaaVnNAV-qUVQx5-UTYYjb2I9IzEuh1T0Mnz1hAmQcIKCgWh9mmLw==",
  "id": "rs_07766a42102359dc016ab2c13194b087d0a400de0be7605180",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.202,\"right_z\":0.022,\"left_x\":0.355,\"left_y\":-0.132,\"left_z\":0.03},\"note\":\"The pear is visibly inside the blue bowl. The yellow and dark fruits are each left of their gripper’s centerline, so I’m correcting both alignments while descending.\"}",
  "call_id": "call_JPeGoPCunhrb7wYtl7aIbiZ6",
  "id": "fc_07766a42102359dc016ab2c134063487d09a2d3a78281df13c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JPeGoPCunhrb7wYtl7aIbiZ6",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.5529, 1.5974, 0.6098, 0.0826, -0.4118, -0.4026, 0.9993, 0.6064, 1.9301, 0.8738, 0.321, 0.4423, 0.1448, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.1234 left_z=0.0221 left_yaw=0.0175 left_pitch=-0.2368 left_roll=0.0645 left_gripper=0.9993 right_x=0.4158 right_y=0.2007 right_z=0.0214 right_yaw=0.1605 right_pitch=-0.0936 right_roll=-0.1774 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.9675, 5.2171, 1.663, -0.1392, 0.1636, -0.0073, 0.253, -8.8821, 4.6701, 1.7363, 0.2906, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e0f0de4a8f41f3948b148769a99af29f0d49a12c6d5359c4b27908714b0d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dee8bf4fd4a841feecf14cdc2580feb2aa59b470b819d71c306858d21522c06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05fd0283d269cb3a49616113c8c31c9d48e62d61171caaeedb7f63bf30269c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.964 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7448, 1.269, 0.7597, -0.3843, -0.5205, -0.5339, 0.9992, 0.5236, 1.6424, 1.008, -0.0341, 0.3969, 0.1055, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1528 left_z=0.1231 left_yaw=-0.0218 left_pitch=-0.1734 left_roll=0.031 left_gripper=0.9992 right_x=0.4262 right_y=0.1713 right_z=0.1342 right_yaw=0.1372 right_pitch=-0.0479 right_roll=-0.1551 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -4.8615, 9.2103, 1.5604, -0.525, -0.0708, -0.0171, 0.294, -9.3197, 6.2701, 1.8291, 0.3639, 0.1148, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssE7KKz0XrE96qauTVLHFPBRDU7JgtPnO86wAmLSN_Su0ZHfdxeGHPuqvssEG6WIyXhszszWAOkeU-tcX-1SiGMsQHmuytHe2mlt5kWbBNUWuey3tbMFQ8hqyD2eZD5BW-nA7LWjp0jRD7rh5kJLgDgspA5XLsHXJWhWe6XcPu8uYR15mVbwvSkWMALO4aKLMbB8LA8RquQOpWkC_COURNmaAB5RDlmd1kbJXgJpuw7wR9dj9ksqGg4KyWUjmU8_dsub1QkcBBTaqP2vjQWT1gChlVhuwt4_l_oQ0i6fZF96W3-qEBlvToz67yq4j0H9AQ2jRAZ-snpY6LnQGuD2S7GjuSExWpY63NU681_gmGOFfXyuJ6CLP9aBA_mN5tsCh7z32EJO9szBv5AZ4GV8sduIl51G7rEs4v6TyOAvh_Ptm3JkB-oa3x3ZqCD1Mx_QOmekBwsi7Xkt6K3LsLWXbXzho26J_Qvbr1KIV-DnjdEKUaah31jGX_LiKzBUD9CMVmw6US9XMAU1RCrbdD2chfpGh2N-JDynj8TfG5i5e7B6LEUQ2XniUVgu7R_IvDH8uxVUFCgJntqxgxEfiOaztfqPej7SdHWY8uOB7Y7hDGChD2KVof4wXWT3LExdjVBSfjQQ2y7x1kYJvWAArHdcaXsGCHEA1nWBaqvwzcpjkFB4ibje2GJm1jL8vVDXiuK4ViQAlps58p853jQpsE-yyCw4geQoNLBipqhu8Oksuer5C1ctZOVw0pahc7D43WZ65j9vVOaPpc7EKR2g4DItSU-Rb-OtCG0Jh5OvuOEt6_FWLAcVu2bqBix5Jigd29-8uyFdfGNrCJ3yCH8VHhiXjyKpFRQ534mr9Xd6ie4Z_gnVWWsQX13JeF-PQK_gjH2DV9PuIToErEEHJsHwsX9PAdy653y2bF6LNe6DDz4S241QLqpFn8n_-IeNeM_RDjhrlJnnoe3HQMWLIrIUHJrRxHqglMzeBofLgRO4p3mmK71c2HQGyxJB4y-v0dPLFE_seoLFRzAaYlnKsrpXVZfbtsfHpyNYymQi7HvvP69InPQNnzcP7B7krczo-ptZsV5QxDvCzzTeCExoUyPQyFVgneEWaW85Mnuh-ngjhgtA8ZYLTNojn0n0MqGaZrWkIgMW7G1Um9TbqDg7yM0or0OPDee6QJkR6uWVbExRU26-BjNj8bYwq8y4XYyWBtZWO3kmJ5f8ltvg-0vtM_CowuFPNQh2uE3CCL6XpiMhqFY9m9Ig0z8det_q8UXjN5XLQK9Owaqh3e2SzrGHODCFtOGNINZfSD0w5Q4_3i7xzNKa-QPhhDyPQxIefTYJFZZujJHFk2lCwdoIkCEp9uhq6skEeqrgng==",
  "id": "rs_07766a42102359dc016ab2c138846887d08d8f8c1cde29778c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.112,\"left_z\":0.028,\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the right fingertips, so I’m grasping it. The dark fruit is still just ahead and left of the left fingertips, so I’m adjusting that gripper before closing.\"}",
  "call_id": "call_L1gZboVgUxZsa9OWbvO7T32A",
  "id": "fc_07766a42102359dc016ab2c13a017487d0bee7596dd0f9acfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L1gZboVgUxZsa9OWbvO7T32A",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4465, 1.689, 0.7155, 0.0723, -0.3565, -0.3363, 0.9993, 0.606, 1.9541, 0.8646, 0.3172, 0.4404, 0.139, 0.5134]\nstate[eef_state]: left_x=0.3752 left_y=-0.1073 left_z=0.0207 left_yaw=0.0429 left_pitch=-0.2577 left_roll=0.0708 left_gripper=0.9993 right_x=0.4108 right_y=0.1974 right_z=0.0072 right_yaw=0.1629 right_pitch=-0.1281 right_roll=-0.1967 right_gripper=0.5134\nstate[joint_eff]: [0.5265, -6.3932, 7.3915, 1.4383, -0.0122, 0.2662, -0.0171, -0.212, -10.9744, 5.7641, 1.5116, 0.149, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e893561467cb59f0c01084979bb155fc28cdfde906d8c2b28b4a8c93e100c78c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575e4102d922867296d698c714d02ffc2ff7520a08dfdc5afc7bee88db3414b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0316b5cbcf6a3ab9fed0f34f96785499b1aa23bc45b302c239afb979bc459bcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.321 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5529, 1.5974, 0.6098, 0.0826, -0.4118, -0.4026, 0.9993, 0.6064, 1.9301, 0.8738, 0.321, 0.4423, 0.1448, 0.9965]\nstate[eef_state]: left_x=0.3414 left_y=-0.1234 left_z=0.0221 left_yaw=0.0175 left_pitch=-0.2368 left_roll=0.0645 left_gripper=0.9993 right_x=0.4158 right_y=0.2007 right_z=0.0214 right_yaw=0.1605 right_pitch=-0.0936 right_roll=-0.1774 right_gripper=0.9965\nstate[joint_eff]: [0.253, -6.9675, 5.2171, 1.663, -0.1392, 0.1636, -0.0073, 0.253, -8.8821, 4.6701, 1.7363, 0.2906, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.09},\"note\":\"The right gripper has closed around the yellow fruit. I’m test-lifting it while closing the left gripper around the now-centered dark fruit.\"}",
  "call_id": "call_onkBUnjvekf8v2UGuu69FRQh",
  "id": "fc_07766a42102359dc016ab2c140448887d0b6162d585ea07eeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_onkBUnjvekf8v2UGuu69FRQh",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4454, 1.6943, 0.7181, 0.0669, -0.3504, -0.3401, 0.5341, 0.606, 1.7763, 0.9638, 0.0002, 0.4332, 0.1383, 0.5144]\nstate[eef_state]: left_x=0.3746 left_y=-0.1077 left_z=0.0186 left_yaw=0.0423 left_pitch=-0.2669 left_roll=0.0676 left_gripper=0.5341 right_x=0.4055 right_y=0.1952 right_z=0.0667 right_yaw=0.1666 right_pitch=-0.1666 right_roll=-0.2099 right_gripper=0.5144\nstate[joint_eff]: [-0.4171, -7.4462, 5.1487, 1.409, -0.2906, -0.0171, 1.0281, -0.0205, -11.1248, 8.3624, 1.5653, 0.2515, -0.0317, 0.823]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0207e140e153f2d70caf158d86b794f511274009b6bac1733d12b84b69c6445d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240133f810c5c52360571125ec9c1bfc32dc543d4bc0303149b0b0c995bfd10d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abdeecfd5c1a121bc5fedbf5ff98b09f178d44ed31c71021ea64e8376db5b637",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.005 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4465, 1.689, 0.7155, 0.0723, -0.3565, -0.3363, 0.9993, 0.606, 1.9541, 0.8646, 0.3172, 0.4404, 0.139, 0.5134]\nstate[eef_state]: left_x=0.3752 left_y=-0.1073 left_z=0.0207 left_yaw=0.0429 left_pitch=-0.2577 left_roll=0.0708 left_gripper=0.9993 right_x=0.4108 right_y=0.1974 right_z=0.0072 right_yaw=0.1629 right_pitch=-0.1281 right_roll=-0.1967 right_gripper=0.5134\nstate[joint_eff]: [0.5265, -6.3932, 7.3915, 1.4383, -0.0122, 0.2662, -0.0171, -0.212, -10.9744, 5.7641, 1.5116, 0.149, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.15,\"right_z\":0.19,\"right_pitch\":0.1,\"left_z\":0.1},\"note\":\"The yellow fruit moved up with the right gripper. I’m carrying it over the blue bowl and test-lifting the dark fruit with the left arm.\"}",
  "call_id": "call_kCHK3Ipjc78MOkp68iO0vALN",
  "id": "fc_07766a42102359dc016ab2c144126087d0a5da96c5acfe0253",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kCHK3Ipjc78MOkp68iO0vALN",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.4454, 1.541, 0.8692, -0.2749, -0.35, -0.3447, 0.5364, 0.3756, 1.8244, 1.2793, -0.0048, 0.3004, -0.0769, 0.5145]\nstate[eef_state]: left_x=0.3698 left_y=-0.1055 left_z=0.079 left_yaw=0.0497 left_pitch=-0.2998 left_roll=0.0826 left_gripper=0.5364 right_x=0.5115 right_y=0.1493 right_z=0.1672 right_yaw=0.1658 right_pitch=0.0306 right_roll=-0.2203 right_gripper=0.5145\nstate[joint_eff]: [-0.335, -8.5402, 8.8684, 1.2772, -0.1978, 0.0073, 0.5983, -0.3897, -9.4154, 9.0051, 2.0733, 0.0952, 0.0952, 0.7741]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e3373549d173727714e9d5c224d20ecbeb60e27f94d2e132c23530ac0304a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a551715487c65e6769594accab183e0b47b77b3eda8a46b5b22c63a85b96eb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5968d2f6f699c2c14d6da2549cab8fe7cd861cd01779a855baa7553f624ba1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 10.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4454, 1.6943, 0.7181, 0.0669, -0.3504, -0.3401, 0.5341, 0.606, 1.7763, 0.9638, 0.0002, 0.4332, 0.1383, 0.5144]\nstate[eef_state]: left_x=0.3746 left_y=-0.1077 left_z=0.0186 left_yaw=0.0423 left_pitch=-0.2669 left_roll=0.0676 left_gripper=0.5341 right_x=0.4055 right_y=0.1952 right_z=0.0667 right_yaw=0.1666 right_pitch=-0.1666 right_roll=-0.2099 right_gripper=0.5144\nstate[joint_eff]: [-0.4171, -7.4462, 5.1487, 1.409, -0.2906, -0.0171, 1.0281, -0.0205, -11.1248, 8.3624, 1.5653, 0.2515, -0.0317, 0.823]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_z\":0.19},\"note\":\"The yellow fruit is above the blue bowl, and the dark fruit has also lifted successfully. I’m releasing the yellow fruit and raising the dark fruit to carrying height.\"}",
  "call_id": "call_KCXJrnuLxUuizpzpz51TK5IE",
  "id": "fc_07766a42102359dc016ab2c1487c3487d0beb67269cd8ee145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KCXJrnuLxUuizpzpz51TK5IE",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.4454, 1.4788, 1.1885, -0.6823, -0.3496, -0.3481, 0.5395, 0.374, 1.8282, 1.2831, -0.025, 0.2909, -0.0875, 0.9972]\nstate[eef_state]: left_x=0.3711 left_y=-0.1061 left_z=0.1673 left_yaw=0.0553 left_pitch=-0.3226 left_roll=0.093 left_gripper=0.5395 right_x=0.51 right_y=0.1496 right_z=0.1626 right_yaw=0.1779 right_pitch=0.0084 right_roll=-0.2285 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.4444, 9.2923, 1.2869, -0.1929, 0.0269, 0.6178, -0.0342, -10.1675, 6.694, 1.9316, 0.1343, 0.0464, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77331f8867a6ebf60f0c63591aae1d705d62f64abd0552a7d351d32bf3ee9fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c03c4bb491fa1d76cf05fc6d8336062b801dba5eec4d1ee2304241b18e887a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152024c214239240cd1d0a1ca114515de87202fe1ca9378ac4e75d72c08e6b40",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 6.819 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4454, 1.541, 0.8692, -0.2749, -0.35, -0.3447, 0.5364, 0.3756, 1.8244, 1.2793, -0.0048, 0.3004, -0.0769, 0.5145]\nstate[eef_state]: left_x=0.3698 left_y=-0.1055 left_z=0.079 left_yaw=0.0497 left_pitch=-0.2998 left_roll=0.0826 left_gripper=0.5364 right_x=0.5115 right_y=0.1493 right_z=0.1672 right_yaw=0.1658 right_pitch=0.0306 right_roll=-0.2203 right_gripper=0.5145\nstate[joint_eff]: [-0.335, -8.5402, 8.8684, 1.2772, -0.1978, 0.0073, 0.5983, -0.3897, -9.4154, 9.0051, 2.0733, 0.0952, 0.0952, 0.7741]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssFUtXVFbpuNyA6ZzDAD2hJWkUmuzfasv-Ji1PXXNdzSWbH0GhGSEKEMMwWW7LExuduN-M7W9ClzweC9mYvNU4BgR0K2VS5QYzHh3JrUXwIF2ML_hjAJSp2WN8J26j04cSbdLrHIcBJSiN1jqmONIJv6HxR6k2-PgAyJnYPMVhoB5llhRuDx19z078nH8ydJz1gwxgIFhZFGbYci44iLsDghKfum5QvVLE8Ej_SrDyrfmZKb4EiKenLe3MQ0WMp33erX7jjGqbvwx8s9lCt3W0FbrvOoWFZWI4CwNCiyAOlYUUWHpZJEcFSfzil6LUdThyaGj4XyQtgOBZqR5XKc-Uk7FpQCkgQ2O1SYGPrZlmR8ASs0jRcmJpORbDYXSyPY5bzsVUGggeMSWnaXwAA8GtYQX3t3GEQtOdB4sdn8LB9JskzaaDby3B-9CMGp3L_6RYSjqdRl7ovdZg2hAfVy4Z4c0sm0xG-dGNjgx2_BdObRvCJuM6xKSVd5WxJZHWK-loB5DAMgR5w_rS7YUJWDwVTRBApFxfsGSiqr1-p-NQitxvUKpolsDfmoELFM4dNYX8UFTGdH1laPt7kUXFSFGKV0ZrJDB7nyh_uxrJyRRpMv7MNR29rIC0DOBsnjpFJlnoXbmioKTu8AhKAuWL1wbrDlAnjQu24wvh_VoA8ykgEBk5tNtYs7yJCmKt2KB8UXlMU0lZzisB3HlznFsBQMzOBIscX2Tj45jIteNoeQMQh96-iAVDxHk35xFRSSSQF_3WiJO67q-gO5EhRlked-a3qZibpudBI3CmBRNxtXc6HxYP-jZmpNJutQPGuEHeY6Puetygvy_hrubzKCOHj9qkYuTEgUfwnSWNziB2mgz53lQCLlITgHdfB06kuPRygPf__aCeY5jsOI--cVh3FUhYEysW4T5da2XIJDrL5NGt2uNPakMZzK8b-eyDPyyLMZ6EKfo4gDs5XeXW6Maa1UdAVND03e0TsUc7cITkRGhyeQsHauKW0XzPK8G3WPI5KFvrE1XW4zA0-xCQeq7uVZDb7zMbTKEMVWUnNfEhhaNZ1S9vAQbo3wvDspaqzBbPhzL8UDhe2cuELmZqoKUcX60ONTscRpQi3vS4xtu4OS8D6RL6LM9T2mf7iHQQR7ax5-_96lwXdwP6l-Ncsqkd7oN2ZxQ9rkijDrK83SuVnjGXbg7_-XeWkGiZn9lZtdD3K2nzFGpwcuE4dWGQ3KLTFSnctsAYdZMlOgJREYrBr8My5CiEuJB7sPDlm6Pb8wmlU2PdACj2r-GIGHqTx8JRohtXDgyHinQMTzwZWiEJnUUBiHNn9BiRufbvi4fRMqVIy5ghDI3_z9UHpk2EjUG10USXUJI2YEvAo2hvyJHv_EF_WcXiERRrWzNRn-mqsOKDIR_wCmB2ma5izf1fz4j9icqat4PS80N4xGedi_hXH8wU4gfoc8pkIIZ74_vP6QLQ41q7kQNEeRCv_P-1reus0-J_j0u9czD-ABAGB4-O6iyNydPAKIgHfGdMuER5jFadDVrf-CCCYFVLablYR_jALi5Ff0W8CG0dhG326hCCff1uxK0gY8L5p3Uhfs8JdNtU1TdKG--Xhsp-pRJGeJf45lMvUhqdl_POtM-cvgE3gOt_sRuhDHWUN9Ulx43MEe_s0O8TvvNzks9xS2l8sLSn5v59cYw-a3nXOOX7PvyQNMieBu-i4oUzH-_RYXwq8vMu7JxrTP3ueEAmQEkPIrG3oUOS-Bf1-8En2xgdRPLl8PyVUEQ-XKPvNeOqwi8vD9OGP2C96VURysx1ua6_p5RuGz5rifuaX6cM09doiUdG74wRa-qmhh5skbSV1SAQQeSiyKpMEd2UWZvI0srOCrQTGTbUYh8_5BdOAH2I5VbyNW72YeErJ4ZdNQrbpn11FRpVizM7A_2nx5XZcCQAIv0PY5CSqCS6hCTax2eskHR4j95wTkXo67BPzCIFDyFcjatQB-OsuqInQnjEueZhnAVhSoFsLtx1wfh_ofjCff7CZgNt4fByrcWWXpQO4r26WS1s8PitRTwtkNs9LC_xcPD0vP3a5SPerBu5OZ6oW60ZewfZkd3oAAvyVP0xuAshtju385b-7kbgYuVAb3QaeY1pS-_Ms3XnB_xZ29dlTHUoQBGLofdjuyxHt3yjk9JF--Mh8wcl_UY56PajgagTnjMG_ptAUJH0yus_5GnI-YDdkuGRZPl0ztBHHL-snsAcxI1c971ZCgpWeE_r4h-7b5WWWmEGszA_Gnmvml_29_NUUMqUmdo9ov2171e9RZnVDmskwAYRo9gZuKMMHy6SZoLafvkiXfz2pfEVilhPdr19E1zRiHqbqiCf-Z61vhmpkQ04Og5NDbgOH04kYttZxLcCz8K2hTOQ==",
  "id": "rs_07766a42102359dc016ab2c14c5d5c87d088d465377cf69b26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.02,\"right_z\":0.2},\"note\":\"The yellow fruit bounced out beyond the blue bowl rather than staying inside. I’m moving the right arm clear to check where it settled before attempting recovery; the left gripper still holds the dark fruit.\"}",
  "call_id": "call_K6isOB0WExvN9ANyba6efTLB",
  "id": "fc_07766a42102359dc016ab2c1531da487d0834620f514fba448",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K6isOB0WExvN9ANyba6efTLB",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.4454, 1.4784, 1.19, -0.7055, -0.3466, -0.3481, 0.54, 0.0715, 1.1217, 0.7864, -0.1974, 0.0635, -0.234, 0.9979]\nstate[eef_state]: left_x=0.3671 left_y=-0.1048 left_z=0.1649 left_yaw=0.0564 left_pitch=-0.3425 left_roll=0.1015 left_gripper=0.54 right_x=0.3685 right_y=0.0188 right_z=0.2009 right_yaw=0.1445 right_pitch=0.0199 right_roll=-0.232 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -6.4205, 6.4889, 1.4481, -0.2613, -0.0562, 0.6325, -0.294, -3.8632, 6.9538, 1.9805, -0.1636, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671f0947d5b0f0d5cc1cdb6e0da1a8d8488d517fb37603c5d151da65f6229b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e29866a88a099cc7530072cbdcb64fa16430d49a93f29d3c9259556cbfdf67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fbcabb51ac1c386128c3ebc4527eedff13db278ee41123fbe98bc190bd9c8c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4454, 1.4788, 1.1885, -0.6823, -0.3496, -0.3481, 0.5395, 0.374, 1.8282, 1.2831, -0.025, 0.2909, -0.0875, 0.9972]\nstate[eef_state]: left_x=0.3711 left_y=-0.1061 left_z=0.1673 left_yaw=0.0553 left_pitch=-0.3226 left_roll=0.093 left_gripper=0.5395 right_x=0.51 right_y=0.1496 right_z=0.1626 right_yaw=0.1779 right_pitch=0.0084 right_roll=-0.2285 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.4444, 9.2923, 1.2869, -0.1929, 0.0269, 0.6178, -0.0342, -10.1675, 6.694, 1.9316, 0.1343, 0.0464, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssFcwBZbngEmTaA0wm3Fo8I3HeBZfRvykTZ2mIVPWJfgrMWq_jKMd9pxTT9g8kR-zWUUUwJKl2I5rX95BJdWaJmLovqoXkpll0Qbr0SSipen_11lMfDVmahiqEKr6-RbvAnUCOmN6fhRst3pKA3tsx5MGA08ev82bqCbGM4uPE1v7Ptsk6j69C37xJiv6p997z1PBufrimtRl_U93PPqHHVNfPbqu2WorprM58EsKPAge2HAHfJ2CeKduJHR66PTpzCUJe5zX8bAg0_xn12tnWC-7ley476S617In5OcOJLSLhMP2KI_IdtWGiP-OkKp1Y9r3GeEo3r39LV6u20PdNh83CxgFImk_g3o9GT9Idn7YVYHE67ojb_MdsGe6BjVT-bnYYGHSvlmYb6valg2gSfnZc0We72v7ycXBdx2zZSzmZu1Fw-3aSw_D6crp7xDAcsN0OPIqn7UV4cUu6fyY_xfY5Pbb0jrvDb4leU0jA6b4YUsXsbqPzFfcYMnC9h4Rsc1JzTjQLPQpJf0aCA-ZmHR0VLyYn2ZaFGoe95kgwatqwDOSLTkkvrjiYWOkMsjwc8jnb6irdq_cxSMsF7N7apzIv35xWzmhsKtshQW8zBygMLj3hZj8m9FfatY8xrtBQIXYKZ8AxLDuvAhqV44YZEOiJXzfVTm6-f1H-4rCrWvW7cNxTe3R7XP4R3Y0EPk0qsa0t95U6Xt6RH2xYUS6rJQNn5ObyPmtPL8g9CagdXK9ynIlB1mdi3yz4_5vPbd2oSfxlOxEVH-5S1BFnKltNFNqMXKPF0pT_GofFXmdeEjkzKOi2sdklKeRF3HsiCSCPYvarTcHmFF7CwGUEdxgt7gUPTQF3cOuqc2v3zl2eiAWlXnfvcWmkzb_E2wfflPyWfZcrGYzFy8Yh1dXb_pb_HKfFya9rLmKYIsQ84IhtC_hKbVz2Dy9QHXzNLyA5mszrirzlcMjU3JTVPKFqUj8HjCyR_2E3IMeVuuI5284-0nSaunHBDuaBLLfu2cwQzrjNo-uJOJIzwCK9JnnMqUqlWdMb4U8mt_ZlsRcD8xj6Se-ydTrOYVjb4ThyrbA_EIgN-UvasAaeRW0Ng78ciifq_GU9I1WPpsiKpdJH_sc3pZsAvJmZwTEMgFTiPK47nO24vA9Jiwp6LTEXKR0gCJ5d_66MTABPVQxwjZgHcSiq6-HHPc0PQOBlVh3Kq2uapcKakksCaSFL7gZSwvgy0nNlpYS73e8NTWgpWUKxh85z3dOG_fAe9Ss3GmrRX8Lu_2ZF5d0tNpsC_bmTyo4B7OLbjwyUvoXi_io9yVaY24KTRWvAcUE3G-EbR4g1UIsEtbvndjTyl9HBZffpu0s5Dini5yFgeu6HdV-xcC-rV_m3q0wHPR2xPuy9KdsS3di5IoDGQ4syydsWGa2YOPfepHUsOAZ7D1WvMdUXQTJ2oPV8B_kkzCR0jMFc3OxVZ2ojTGjdXVJw0ULuDjFumoehYJDV71YUFHViOTRj__BHUhqNBb9N0=",
  "id": "rs_07766a42102359dc016ab2c1594a9087d092829cce015a2a75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.112,\"left_z\":0.035},\"note\":\"The yellow fruit has settled far beyond the bowls, outside the arms’ safe table-level reach. I’m lowering the held dark fruit back onto the table so I can stop without leaving it suspended.\"}",
  "call_id": "call_FGfdBQA87tPlKWDN4ckdiY42",
  "id": "fc_07766a42102359dc016ab2c15b0af887d08e7dc6355a83d5c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FGfdBQA87tPlKWDN4ckdiY42",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.445, 1.7016, 0.8928, -0.2493, -0.3462, -0.347, 0.5398, 0.0692, 1.1267, 0.7837, -0.2287, 0.0513, -0.2512, 0.998]\nstate[eef_state]: left_x=0.3729 left_y=-0.1075 left_z=0.0322 left_yaw=0.0679 left_pitch=-0.3988 left_roll=0.1353 left_gripper=0.5398 right_x=0.3644 right_y=0.0198 right_z=0.1913 right_yaw=0.1616 right_pitch=-0.0205 right_roll=-0.2369 right_gripper=0.998\nstate[joint_eff]: [0.5265, -7.8154, 5.5726, 1.4579, -0.1441, -0.0024, 0.3541, -0.0068, -4.2051, 7.4462, 2.083, 0.1099, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423920379b4a3c21a85d96c54c29ca6767220c7b51c782dcd790cd5576c273bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59837abb7c98f140c1c315700b79eb8082ddd23a8d41990019eb95865080d05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ef136b1e27f56b566e9b0b1954fc187af4016b141e6e4c6a2947cd5dee4b91",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.713 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4454, 1.4784, 1.19, -0.7055, -0.3466, -0.3481, 0.54, 0.0715, 1.1217, 0.7864, -0.1974, 0.0635, -0.234, 0.9979]\nstate[eef_state]: left_x=0.3671 left_y=-0.1048 left_z=0.1649 left_yaw=0.0564 left_pitch=-0.3425 left_roll=0.1015 left_gripper=0.54 right_x=0.3685 right_y=0.0188 right_z=0.2009 right_yaw=0.1445 right_pitch=0.0199 right_roll=-0.232 right_gripper=0.9979\nstate[joint_eff]: [-0.3487, -6.4205, 6.4889, 1.4481, -0.2613, -0.0562, 0.6325, -0.294, -3.8632, 6.9538, 1.9805, -0.1636, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table height. I’m releasing it gently before stopping for operator assistance with the out-of-reach yellow fruit.\"}",
  "call_id": "call_b5E7hVkQkG2uCWZwSiXeHnGf",
  "id": "fc_07766a42102359dc016ab2c16016ec87d080a7f25e2d49d6ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b5E7hVkQkG2uCWZwSiXeHnGf",
  "output": "executing move_to over 5 steps (0.5s)",
  "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]: [-0.4454, 1.7218, 0.8791, -0.2466, -0.3462, -0.3477, 0.9952, 0.0692, 1.1271, 0.7837, -0.2302, 0.0509, -0.2523, 0.998]\nstate[eef_state]: left_x=0.3675 left_y=-0.105 left_z=0.0208 left_yaw=0.0747 left_pitch=-0.4259 left_roll=0.1517 left_gripper=0.9952 right_x=0.3643 right_y=0.0198 right_z=0.1909 right_yaw=0.1625 right_pitch=-0.0225 right_roll=-0.2375 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -9.3333, 6.8581, 1.072, -0.1929, -0.0317, -0.0513, -0.335, -3.8085, 7.0496, 1.7509, -0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9a95438147ee242613fcd5e0d24586e5a4b7fd0dbae4b371f3cfdfaae4e4de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24201ee235ef218c0864ec7244e1e2a3a90c3a8f1e5cb769c56cf1ee1638b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d1093907e47296c561e742ecb706659bec89725173883002aa07e9b15625c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 8.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.445, 1.7016, 0.8928, -0.2493, -0.3462, -0.347, 0.5398, 0.0692, 1.1267, 0.7837, -0.2287, 0.0513, -0.2512, 0.998]\nstate[eef_state]: left_x=0.3729 left_y=-0.1075 left_z=0.0322 left_yaw=0.0679 left_pitch=-0.3988 left_roll=0.1353 left_gripper=0.5398 right_x=0.3644 right_y=0.0198 right_z=0.1913 right_yaw=0.1616 right_pitch=-0.0205 right_roll=-0.2369 right_gripper=0.998\nstate[joint_eff]: [0.5265, -7.8154, 5.5726, 1.4579, -0.1441, -0.0024, 0.3541, -0.0068, -4.2051, 7.4462, 2.083, 0.1099, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The dark fruit has been released on the table, and the green fruit remains in the blue bowl. I’m parking both arms clear of the objects.\"}",
  "call_id": "call_YSP0MZ55vY479HKrz4NkWvo4",
  "id": "fc_07766a42102359dc016ab2c1638e4887d0880832a78979982e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YSP0MZ55vY479HKrz4NkWvo4",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.1383, 1.1976, 1.0939, -0.9092, -0.2092, -0.1074, 0.9963, -0.0288, 0.8272, 0.7052, -0.4355, -0.0193, -0.3, 0.998]\nstate[eef_state]: left_x=0.3049 left_y=-0.0018 left_z=0.1862 left_yaw=0.1103 left_pitch=-0.4181 left_roll=0.1442 left_gripper=0.9963 right_x=0.3013 right_y=-0.0017 right_z=0.2057 right_yaw=0.1492 right_pitch=-0.0078 right_roll=-0.2421 right_gripper=0.998\nstate[joint_eff]: [0.1983, -5.1214, 8.7179, 1.1502, -0.0366, 0.1929, 0.1001, -0.3624, -1.5795, 5.8462, 1.8974, -0.1148, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75341120301ea55500700e2eb99559552408b39a5269e6cd78c291662c26817",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f5c3598d3a46d0595e98e45fc978c2c7b4c1ea7da271d696a530a28bb8315c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60e27e5daab82890aa59f2af5822608edb33045190e3c4492c85900be4dec668",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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