adhoc

completed
2026-09-22T17:02:52.212376+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
215.6 s
total steps
231
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 two fruits beside the blue bowl, with the larger white bowl to the left. I’m moving the right gripper above the pear-shaped fruit first.
move_to
right_x0.3000right_y0.1450right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0196, -0.0334, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2962 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.5521, 9.7573, 1.7802, -0.105, 0.1587, -0.0806, -0.335, -1.7573, 9.0598, 1.8291, -0.0464, 0.1636, -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":0.30,"right_y":0.145,"right_z":0.15,"right_gripper":1},"note":"I see two fruits beside the blue bowl, with the larger white bowl to the left. I’m moving the right gripper above the pear-shaped fruit first."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe pear is slightly to the right of the gripper’s centerline. I’m correcting sideways and lowering toward its middle for a centered grasp.
move_to
right_x0.3250right_y0.1100right_z0.0520
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3904, -0.0139, -0.0334, 0.9993, 0.7448, 1.153, 0.6357, -0.2504, 0.58, 0.4126, 0.9994] state[eef_state]: left_x=0.295 left_y=0.0001 left_z=0.1798 left_yaw=0.0015 left_pitch=-0.0099 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2928 right_y=0.1432 right_z=0.1331 right_yaw=0.0342 right_pitch=-0.0527 right_roll=-0.0434 right_gripper=0.9994 state[joint_eff]: [-0.212, -1.4017, 7.1179, 1.7998, -0.0611, -0.022, -0.0171, -0.212, -3.7675, 9.0872, 1.7607, 0.4908, 0.2759, -0.0757] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.11,"right_z":0.052},"note":"The pear is slightly to the right of the gripper’s centerline. I’m correcting sideways and lowering toward its middle for a centered grasp."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe pear remains outside the right jaw, so I won’t close yet. I’m shifting the open gripper farther right and slightly forward to surround it.
move_to
right_x0.3500right_y0.0550right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4011, -0.0139, -0.0334, 0.9993, 0.5236, 1.3972, 0.3988, 0.2779, 0.4122, 0.2497, 0.9994] state[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3211 right_y=0.1078 right_z=0.0457 right_yaw=0.0325 right_pitch=-0.0823 right_roll=-0.0541 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.6205, 7.2547, 1.8486, -0.0464, -0.0171, -0.0171, 0.1573, -4.8205, 5.4632, 1.8095, 0.1636, -0.0562, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.055,"right_z":0.05},"note":"The pear remains outside the right jaw, so I won’t close yet. I’m shifting the open gripper farther right and slightly forward to surround it."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe pear is now between the open fingers but still offset toward the right. I’m making a final small centering adjustment and lowering before closing.
move_to
right_x0.3700right_y0.0250right_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.408, -0.0135, -0.0338, 0.9993, 0.2562, 1.4029, 0.4, 0.3008, 0.2153, 0.0814, 0.9994] state[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1752 left_yaw=0.0014 left_pitch=-0.0313 left_roll=-0.003 left_gripper=0.9993 right_x=0.341 right_y=0.054 right_z=0.0415 right_yaw=0.0179 right_pitch=-0.1162 right_roll=-0.0598 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.306, 7.0632, 1.8095, -0.0415, -0.0269, -0.0073, -0.1709, -3.9863, 7.0222, 1.956, 0.0757, -0.0904, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.025,"right_z":0.028},"note":"The pear is now between the open fingers but still offset toward the right. I’m making a final small centering adjustment and lowering before closing."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pear is aligned within 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]: [-0.02, 0.8074, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.104, 1.56, 0.4301, 0.392, 0.1013, -0.012, 0.9994] state[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0015 left_pitch=-0.0416 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3575 right_y=0.0229 right_z=0.0148 right_yaw=0.012 right_pitch=-0.167 right_roll=-0.0625 right_gripper=0.9994 state[joint_eff]: [-0.1709, -0.9641, 7.0085, 1.7802, -0.0806, -0.0366, -0.0122, -0.0752, -5.3128, 7.159, 1.7558, 0.0562, -0.0806, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is aligned within the jaws at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe near-zero gripper opening shows that the first close was empty; the pear is still ahead of the fingertips. I’m reopening and advancing about five centimeters, while restoring the idle arm’s parked height.
move_to
right_gripper1.0000right_x0.4030right_y0.0180right_z0.0370left_x0.2960left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.1043, 1.56, 0.4297, 0.3809, 0.0982, -0.0162, 0.0124] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0018 left_pitch=-0.0488 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3555 right_y=0.0234 right_z=0.0126 right_yaw=0.0171 right_pitch=-0.1787 right_roll=-0.0646 right_gripper=0.0124 state[joint_eff]: [-0.1983, -1.0325, 7.0085, 1.7411, -0.0415, -0.0513, -0.0122, 0.0068, -5.3538, 5.0256, 1.6972, 0.0708, -0.0122, 1.1209] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.403,"right_y":0.018,"right_z":0.037,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The near-zero gripper opening shows that the first close was empty; the pear is still ahead of the fingertips. I’m reopening and advancing about five centimeters, while restoring the idle arm’s parked height."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe pear now extends down into the jaw region instead of sitting ahead of it. I’m closing 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]: [-0.02, 0.8398, 0.6434, -0.4732, -0.0139, -0.0345, 0.9993, 0.0708, 1.631, 0.63, 0.2264, 0.0692, -0.0528, 0.9986] state[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3943 right_y=0.0193 right_z=0.0295 right_yaw=0.0281 right_pitch=-0.2064 right_roll=-0.073 right_gripper=0.9986 state[joint_eff]: [-0.4308, -1.6615, 9.5658, 1.8242, -0.0904, -0.0855, -0.0073, -0.6632, -6.1197, 7.0496, 1.6435, -0.0366, 0.0855, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear now extends down into the jaw region instead of sitting ahead of it. I’m closing for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the pear. I’m lifting a few centimeters to verify that it comes off the table.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4759, -0.0139, -0.0341, 0.9993, 0.0708, 1.631, 0.6296, 0.2268, 0.0696, -0.057, 0.5706] state[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1652 left_yaw=0.0021 left_pitch=-0.1049 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3942 right_y=0.0192 right_z=0.0294 right_yaw=0.03 right_pitch=-0.2066 right_roll=-0.0763 right_gripper=0.5706 state[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.6679, -0.0415, -0.0415, -0.0171, -0.3487, -6.7214, 5.4632, 1.5751, 0.0073, -0.0171, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper stopped at a substantial opening, consistent with holding the pear. I’m lifting a few centimeters to verify that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe pear has risen with the gripper. I’m carrying it upward and over the blue bowl before releasing it.
move_to
right_x0.4230right_y0.1650right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.0708, 1.4635, 0.7811, -0.1135, 0.0692, -0.0692, 0.4991] state[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1651 left_yaw=0.0021 left_pitch=-0.1053 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3917 right_y=0.0191 right_z=0.0907 right_yaw=0.0369 right_pitch=-0.2285 right_roll=-0.0857 right_gripper=0.4991 state[joint_eff]: [-0.2667, -1.4974, 7.3094, 1.6874, -0.0317, -0.0269, -0.0073, -0.294, -7.5009, 8.3077, 1.4628, 0.0024, 0.0904, -0.0757] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.423,"right_y":0.165,"right_z":0.19},"note":"The pear has risen with the gripper. I’m carrying it upward and over the blue bowl before releasing it."})
tool
executing move_to over 13 steps (1.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe bowl is still left of the held pear in the wrist view. I’m moving the fruit over its opening and lowering slightly for a controlled drop.
move_to
right_x0.4600right_y0.2200right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.841, 0.6415, -0.4839, -0.0139, -0.0341, 0.9993, 0.5007, 1.6703, 1.3781, -0.6044, 0.3408, 0.2283, 0.4994] state[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4177 right_y=0.1654 right_z=0.1769 right_yaw=0.0651 right_pitch=-0.2639 right_roll=-0.1031 right_gripper=0.4994 state[joint_eff]: [-0.335, -1.5795, 6.9402, 1.7021, -0.0855, -0.0708, -0.0171, 0.0889, -8.0752, 9.5521, 1.4042, 0.3101, 0.1294, 0.0269] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.22,"right_z":0.15},"note":"The bowl is still left of the held pear in the wrist view. I’m moving the fruit over its opening and lowering slightly for a controlled drop."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe pear is held off-center on the right side of the jaws. I’m compensating for that offset so the fruit itself is above the blue bowl.
move_to
right_y0.2550right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0139, -0.0341, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3634, 0.2554, 0.4995] state[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1607 left_yaw=0.0021 left_pitch=-0.1263 left_roll=-0.001 left_gripper=0.9993 right_x=0.4508 right_y=0.2194 right_z=0.1357 right_yaw=0.0934 right_pitch=-0.3148 right_roll=-0.1325 right_gripper=0.4995 state[joint_eff]: [-0.335, -1.812, 6.9402, 1.6728, -0.0415, -0.0659, -0.0073, -0.4855, -10.8376, 8.4991, 1.5165, 0.3297, 0.2613, -0.0073] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.255,"right_z":0.12},"note":"The pear is held off-center on the right side of the jaws. I’m compensating for that offset so the fruit itself is above the blue bowl."})
tool
executing move_to over 3 steps (0.3s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe arm did not follow the last sideways move, indicating a reach limitation. I’m shortening the reach and tipping the wrist forward to bring the pear fully over the bowl.
move_to
right_x0.4250right_y0.2450right_z0.1500right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0135, -0.0338, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3664, 0.2626, 0.4995] state[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1607 left_yaw=0.0016 left_pitch=-0.1263 left_roll=-0.0009 left_gripper=0.9993 right_x=0.451 right_y=0.2189 right_z=0.1358 right_yaw=0.0869 right_pitch=-0.3132 right_roll=-0.13 right_gripper=0.4995 state[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5995, -0.0366, -0.0415, -0.0171, -0.3761, -10.8376, 8.4855, 1.5263, 0.3297, 0.1587, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.245,"right_z":0.15,"right_pitch":0.25},"note":"The arm did not follow the last sideways move, indicating a reach limitation. I’m shortening the reach and tipping the wrist forward to bring the pear fully over the bowl."})
tool
executing move_to over 19 steps (1.9s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe clear overhead view shows the pear is still on the table beyond the bowl, so the earlier lift did not secure it. I’m reopening and approaching its new position directly.
move_to
right_gripper1.0000right_x0.4650right_y0.0600right_z0.1500right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0135, -0.0338, 0.9993, 0.7425, 1.8027, 0.9756, 0.3763, 0.6697, 0.1188, 0.4995] state[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4244 right_y=0.2455 right_z=0.1386 right_yaw=0.104 right_pitch=0.2133 right_roll=-0.1461 right_gripper=0.4995 state[joint_eff]: [-0.3761, -1.6479, 7.0632, 1.6484, -0.0464, -0.0366, -0.0171, 0.1026, -10.0034, 6.0239, 1.9658, 0.3297, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.465,"right_y":0.06,"right_z":0.15,"right_pitch":0.25},"note":"The clear overhead view shows the pear is still on the table beyond the bowl, so the earlier lift did not secure it. I’m reopening and approaching its new position directly."})
tool
executing move_to over 16 steps (1.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe right gripper is now directly over the pear’s table position. I’m lowering vertically with the jaws open.
move_to
right_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]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.6455, 0.7467, 0.5209, 0.1814, -0.1104, 0.9981] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1597 left_yaw=0.0019 left_pitch=-0.1308 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4629 right_y=0.061 right_z=0.1311 right_yaw=0.0842 right_pitch=0.1898 right_roll=-0.1527 right_gripper=0.9981 state[joint_eff]: [-0.3487, -1.5111, 7.0085, 1.663, -0.0415, -0.0562, -0.0073, -0.2256, -9.6342, 5.8325, 2.2735, 0.0464, -0.0366, -0.0904] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The right gripper is now directly over the pear’s table position. I’m lowering vertically with the jaws open."})
tool
executing move_to over 7 steps (0.7s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe pear fills the space between the fingertips at the bottom of the wrist view. I’m closing around it now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.964, 0.6529, 0.9157, 0.1787, -0.1169, 0.9986] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4641 right_y=0.0617 right_z=0.0407 right_yaw=0.0903 right_pitch=0.1717 right_roll=-0.1596 right_gripper=0.9986 state[joint_eff]: [0.0342, -1.5385, 6.9402, 1.5946, -0.0317, -0.0464, -0.0171, -0.0752, -7.3504, 3.2615, 1.5214, -0.0073, -0.0024, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear fills the space between the fingertips at the bottom of the wrist view. I’m closing around it now."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe jaws have stopped at the pear’s width. I’m lifting straight up to check that this grasp actually carries the fruit.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.1898, 1.9842, 0.643, 0.9417, 0.178, -0.1169, 0.7416] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0019 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.462 right_y=0.0606 right_z=0.0341 right_yaw=0.0891 right_pitch=0.1675 right_roll=-0.1597 right_gripper=0.7416 state[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.6044, -0.0611, -0.0708, -0.0171, 0.0205, -10.2359, 4.9846, 1.58, -0.0269, -0.0806, 1.0281] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws have stopped at the pear’s width. I’m lifting straight up to check that this grasp actually carries the fruit."})
tool
executing move_to over 6 steps (0.6s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe pear is visibly held between the jaws, and the blue bowl has shifted slightly left. I’m carrying the pear above the bowl’s new position.
move_to
right_x0.4300right_y0.2300right_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1905, 1.7218, 0.6956, 0.5953, 0.1776, -0.1177, 0.7414] state[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4567 right_y=0.06 right_z=0.0928 right_yaw=0.0911 right_pitch=0.1363 right_roll=-0.1634 right_gripper=0.7414 state[joint_eff]: [-0.335, -1.6615, 7.3915, 1.6679, -0.022, -0.0269, -0.0122, -0.3077, -9.1829, 8.2803, 2.0342, -0.0171, -0.0317, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.23,"right_z":0.185},"note":"The pear is visibly held between the jaws, and the blue bowl has shifted slightly left. I’m carrying the pear above the bowl’s new position."})
tool
executing move_to over 15 steps (1.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe held pear is above the blue bowl’s opening. I’m releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8513, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.6884, 1.6939, 1.0981, 0.0486, 0.5819, 0.0986, 0.7447] state[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1586 left_yaw=0.0019 left_pitch=-0.135 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4262 right_y=0.2295 right_z=0.1731 right_yaw=0.1409 right_pitch=0.1081 right_roll=-0.1842 right_gripper=0.7447 state[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5849, -0.0562, -0.0757, -0.0122, 0.2256, -7.6103, 8.6906, 1.8095, 0.3736, 0.2418, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The held pear is above the blue bowl’s opening. I’m releasing it into the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe pear has left the gripper. I’m moving back toward the remaining yellow-orange fruit, clearing the bowl so I can align the next grasp.
move_to
right_x0.3100right_y0.2550right_z0.1450right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.6899, 1.6981, 1.1049, 0.0216, 0.5869, 0.0975, 0.996] state[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1585 left_yaw=0.0019 left_pitch=-0.1354 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4248 right_y=0.2284 right_z=0.1693 right_yaw=0.1403 right_pitch=0.0885 right_roll=-0.2003 right_gripper=0.996 state[joint_eff]: [-0.3624, -1.5795, 6.9538, 1.5897, -0.0659, -0.0611, -0.0073, -0.294, -8.9231, 6.2427, 1.9414, 0.1245, 0.1148, -0.1441] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.255,"right_z":0.145,"right_pitch":0.25},"note":"The pear has left the gripper. I’m moving back toward the remaining yellow-orange fruit, clearing the bowl so I can align the next grasp."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe pear is confirmed inside the blue bowl. The remaining fruit is directly under the right gripper, so I’m lowering to grasp it.
move_to
right_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8539, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0241, 1.5856, 0.7425, 0.2478, 0.8776, 0.1955, 0.9966] state[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1579 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3123 right_y=0.2587 right_z=0.1305 right_yaw=0.1983 right_pitch=0.1837 right_roll=-0.2502 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.6386, -0.0855, -0.0611, -0.0073, 0.212, -8.2667, 6.2017, 1.8437, 0.359, 0.1343, 0.0464] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.028},"note":"The pear is confirmed inside the blue bowl. The remaining fruit is directly under the right gripper, so I’m lowering to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe yellow-orange fruit is between the open jaws. I’m closing around it at table height.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9362, 0.6174, 0.6571, 0.8734, 0.1982, 0.9966] state[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3095 right_y=0.2546 right_z=0.0237 right_yaw=0.2075 right_pitch=0.137 right_roll=-0.2952 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.7983, 6.9265, 1.6093, -0.0855, -0.0562, -0.0171, 0.0205, -8.5812, 3.5077, 1.7118, 0.2271, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow-orange fruit is between the open jaws. I’m closing around it at table height."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe gripper opening matches the fruit’s thickness. I’m lifting it first to verify the grasp before moving toward the bowl.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9522, 0.6102, 0.6712, 0.8745, 0.1986, 0.6424] state[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3083 right_y=0.2525 right_z=0.0182 right_yaw=0.2074 right_pitch=0.1313 right_roll=-0.3021 right_gripper=0.6424 state[joint_eff]: [-0.253, -1.3607, 6.9265, 1.58, -0.0611, -0.022, -0.0073, -0.212, -9.2786, 4.4103, 1.3553, 0.1929, -0.0171, 1.033] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper opening matches the fruit’s thickness. I’m lifting it first to verify the grasp before moving toward the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe yellow-orange fruit has lifted with the jaws. I’m moving it above the blue bowl alongside the pear.
move_to
right_x0.4250right_y0.2300right_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]: [-0.02, 0.8585, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.6726, 0.6765, 0.3359, 0.8627, 0.1982, 0.6423] state[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1423 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.2537 right_z=0.0883 right_yaw=0.2152 right_pitch=0.1333 right_roll=-0.2895 right_gripper=0.6423 state[joint_eff]: [-0.253, -1.4564, 7.1179, 1.5751, -0.0855, -0.0171, -0.0073, -0.2256, -7.9521, 7.5282, 1.6239, 0.3492, -0.0317, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.23,"right_z":0.2},"note":"The yellow-orange fruit has lifted with the jaws. I’m moving it above the blue bowl alongside the pear."})
tool
executing move_to over 10 steps (1.0s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe second fruit is positioned over the blue bowl. I’m opening the jaws to place it with the pear.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.7033, 1.6459, 1.0817, 0.0502, 0.6044, -0.0299, 0.6429] state[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1419 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4186 right_y=0.228 right_z=0.1892 right_yaw=0.2032 right_pitch=0.1262 right_roll=-0.2938 right_gripper=0.6429 state[joint_eff]: [-0.3487, -1.4291, 6.9265, 1.6239, -0.0464, -0.0757, -0.0122, -0.294, -7.4188, 8.294, 1.7216, 0.1001, -0.0317, 1.033] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The second fruit is positioned over the blue bowl. I’m opening the jaws to place it with the pear."})
tool
executing move_to over 4 steps (0.4s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteBoth fruits are now in the blue bowl. I’m clearing the right arm and bringing the left gripper toward the blue bowl’s left rim so it can lift and pour toward the white bowl.
move_to
right_x0.3000right_y0.0000right_z0.2100left_x0.4300left_y-0.2800left_z0.1600left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4942, -0.0135, -0.0338, 0.9993, 0.7002, 1.6474, 1.087, 0.0246, 0.5896, -0.0418, 0.9959] state[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.1567 left_yaw=0.0016 left_pitch=-0.1419 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4176 right_y=0.2281 right_z=0.1853 right_yaw=0.2196 right_pitch=0.1016 right_roll=-0.3081 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.3607, 6.9538, 1.6337, -0.0073, -0.0562, -0.0122, -0.1299, -8.335, 6.3521, 1.9121, 0.2955, 0.0513, -0.1587] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.21,"left_x":0.43,"left_y":-0.28,"left_z":0.16,"left_pitch":0.3,"left_gripper":1},"note":"Both fruits are now in the blue bowl. I’m clearing the right arm and bringing the left gripper toward the blue bowl’s left rim so it can lift and pour toward the white bowl."})
tool
executing move_to over 25 steps (2.5s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
assistant
agent noteThe pear is in the blue bowl, but the yellow-orange fruit bounced out after release and rolled to the far edge of the table, beyond the arms’ safe table-level reach. I cannot collect all the fruits and complete the requested pour without the operator moving that fruit back into reach.
give_up
hindsightRelease these lightweight fruits only after lowering them inside the blue bowl; dropping from about 18 cm let the second fruit bounce far out of reach. A substantial gripper opening alone was misleading during the first pear attempt: confirm actual fruit motion in the overhead view. The blue bowl also shifted during the initial approach, so its position needed rechecking.
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]: [-0.8219, 1.8633, 1.0584, 0.3408, -0.7708, -0.3367, 0.9993, -0.046, 0.7589, 0.6044, -0.2775, -0.0311, -0.379, 0.9965] state[eef_state]: left_x=0.4232 left_y=-0.2693 left_z=0.1419 left_yaw=-0.0031 left_pitch=0.2424 left_roll=0.0184 left_gripper=0.9993 right_x=0.304 right_y=-0.0049 right_z=0.2122 right_yaw=0.171 right_pitch=0.1073 right_roll=-0.3129 right_gripper=0.9965 state[joint_eff]: [-0.7316, -9.2376, 8.4034, 1.9072, -0.398, 0.3053, -0.0806, -0.212, -1.2786, 6.8444, 1.8339, -0.0855, 0.0073, 0.0513] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The pear is in the blue bowl, but the yellow-orange fruit bounced out after release and rolled to the far edge of the table, beyond the arms’ safe table-level reach. I cannot collect all the fruits and complete the requested pour without the operator moving that fruit back into reach.","hindsight":"Release these lightweight fruits only after lowering them inside the blue bowl; dropping from about 18 cm let the second fruit bounce far out of reach. A substantial gripper opening alone was misleading during the first pear attempt: confirm actual fruit motion in the overhead view. The blue bowl also shifted during the initial approach, so its position needed rechecking."})
tool
give_up: The pear is in the blue bowl, but the yellow-orange fruit bounced out after release and rolled to the far edge of the table, beyond the arms’ safe table-level reach. I cannot collect all the fruits and complete the requested pour without the operator moving that fruit back into reach.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.702 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]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0196, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2962 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.5521, 9.7573, 1.7802, -0.105, 0.1587, -0.0806, -0.335, -1.7573, 9.0598, 1.8291, -0.0464, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49dac6892bd88065c2521383cf54fa0afcd0a020258c5b8ae6a72c773e36a879",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf166a0ffafaa13b8295136f4a54b09ceb1b398f43b0d6db63ff260cf82039ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037a42bed8a9595720a92ac786d310ea3e6af137ba2838be36b8ab08e3a5f366",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.114 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTR1GQjijHGwL11tTy-fERU899qFvdMQHLwqlm6471oxMUy3vVLSMf9RRwX-PPr9P4u4XHMnqoMhdFLcwCljzNVRrnYR2EL3k10bBEDFWQ9kFFpKq1s7Bqb_isGwsveJx534KzgY6qa-L6852RabHVwz8rzNryJWkm4SYeJgyiy5EMEj6iNxoBuleEOYET9_FBxT5hE6Jm-ARdI3--97kM_UV9YfD-4FVnz3SnOaSFVOQE-po4igO-jeI2yKESOKqtnCGbZuZPAXRe62t53n41BGHJ3Xj3Nae-65aoLykFI_mx4navjHj6rbk5KqkvYEYW1ddefP6tHEyqUvxZcTOw0lmmP0TDM5FQrV5hxd6pwvjYWorKxCiYPHctnHsNy-vJ9RiKDfkk0Prx56hMdyXIPA2EqJ8AOojvyOKVoaHURrvjs7yDnqpfSZo5X29TFswVQnqyVDrgefYaWaB3dfudq_DhOQWwW2o57H-bz4YNzZFicFUAAVSZqu3Qwt6EZ4Ap9SjvkOoA5XpgY-Jj1uPdJaCge7u5VSgXfTAOENFeVBVSC_sLcULV3PjwW0yzXNjuIrGl2-_gzpg2-endU0ZwX2bKxmSRwuRevFFObNoghs4ll69IMPOrGPeDzO8I-dJZe9uwtSy8tDT3TDCcXcmnGXZBiMzltcNvyeq1FRZrbbAyhVCuED9kziBO7l0tAgvJC4kTTU-PCTsw8dRP3NUlUnU3Ddfix4MhT2HKI7rwfKk_3Vi2WAhUSkh-414VghRZTfPYdmZNODdtqk7h378eS0TfzqHj-crgo3eyxjJSoZuX0jsD8JPP0vcG-wtjENMqUMYEGEDDDvlUlHs-mbNAJYOtI41sSd4pNhxHgxu0ZuLqBEw6fOEYBF2x5KO4aNADKkpYhFhqT-utt8L2EyKa5apFzy5EvlMfXAy5nYre8-pbIZN5GXKLQVfKBlhzbKfVZavfHVfRHWrfsGlYRdql9d1OzfzJeykN70PZDKakmO-EjdroYv69upwKQ2HnDO9kpV5F0tpjZb3TBbSAPRTvyJVtLJVUQ4LmqFtZXbtIppvlIL3aCNxfXSFyjuh-qJ_IDiow9b7umu1zHh-kw8Sfm5FDgCVg5WtaHWTMEkkUlG0YNoDuSJgX0gyL7WZT19-zm0GgzsBOCELbkjWwMVjayOCyGHqIslJ0JMpcH6bVALHSVDmeEtreyvlyjPhuWiyfNfGYFRJUaDegcjk9Wx0DUO57yXJF9GMii0OrHdfONoLOOZsZXOjZS30of5oyAduLjJaCnqIijp8rpldoFM24dg_YU4iosiqYdpiSti4n7C6W5GeFNr7DP9Oxss3BDbrF0qcJRhm-o_uv4XGX-826ObtKzbqfYFBJ9SdTUCGPQ9vnkK4QTAJ-zh0K75x84O3P8LyRMTgk3_LjdhtoRG_6aKYa03w8RBrje_NKMzkqa-DA9Llvh19nxDPvUV2fA7eW3p95tSz0mNV0w5gckDAs6_FKedXqLBzT40yfP1GUDQPs=",
  "id": "rs_075d6a7bd07fa8da016ab2b4ccb10c87d091f72c8bacb2be86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.145,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see two fruits beside the blue bowl, with the larger white bowl to the left. I’m moving the right gripper above the pear-shaped fruit first.\"}",
  "call_id": "call_OhViYyw0Lj0lKAcI3xRJrFs1",
  "id": "fc_075d6a7bd07fa8da016ab2b4cfcb1c87d09fa7ed69d2a7e2d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OhViYyw0Lj0lKAcI3xRJrFs1",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.02, 0.8021, 0.6132, -0.3904, -0.0139, -0.0334, 0.9993, 0.7448, 1.153, 0.6357, -0.2504, 0.58, 0.4126, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0001 left_z=0.1798 left_yaw=0.0015 left_pitch=-0.0099 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2928 right_y=0.1432 right_z=0.1331 right_yaw=0.0342 right_pitch=-0.0527 right_roll=-0.0434 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.4017, 7.1179, 1.7998, -0.0611, -0.022, -0.0171, -0.212, -3.7675, 9.0872, 1.7607, 0.4908, 0.2759, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbffbed2625358a4c20f89ff7de6062b632d44767490e26c795b93a88d81f12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e339554a656c2c37c76778eb7202ede22cb2709c093a0a301db1f893367bd93a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19df16b7ce2ccb6fa219bf6cf05ca0b8ddd763cb17f27a839d8e287199cc5633",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.456 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]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6197, -0.387, -0.0196, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0 left_z=0.1821 left_yaw=-0.0007 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2962 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.5521, 9.7573, 1.7802, -0.105, 0.1587, -0.0806, -0.335, -1.7573, 9.0598, 1.8291, -0.0464, 0.1636, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTc7oA-AWIkQulmeDmAY5yhHP3RToFrzghyZ7S0FO1tcp3JLBGjPluIfliYg4AKYZayfjHRh3aY2JkPs4WliR5No4umiKIeLl1dkbGCuSGKkn3iwlofsOxbo4yENNkraFOvd9EBtbcJTZZnQ9FtJsKjHJOWq79WgYhQPOM76uEDfkg2eofvro81zyB4ayj_to1EmFoT0aexV8lcFnT-gasUTdZiTc46KHFIqaj-HqwJMgmeauXGidrjHaRX_jJKt35PESHKRjD2bovaDelavPq2kvrWe7Jd4Bbx4mMDGMP_W8yMlvksMt7MuLCShT3_I4x2TYr0MNYWK0x5vuVFoOy16fS5587Q7ZNXNd74g3k1bgSFHXh1q3aWqTQ-AX3gV8vBWGwrsLVz_QgebD83BqY18R_nbQNDJN719GpDBxKOCpNMEgo94f9kday7pF0nEJoU3ReHU-7THmM2taFNaC2CfOXAMhOXrUMJ_degLRLCAxiG4ZXAID3Rmk2ZID73DYs7poXr2CsyLYv5XEC9tbU0r6jhdwsR0a53FE8S4uXJuH-g2MixNH5J34A0GKyIlayZ6MTROSjs_tdUf_A3lAlApS2-dPJTWH5bEmhNqAlyJipnp_9C_kVDhl651f6OUm2Z2ubV_ikJp4FqIHCtwElLGIu1V2a5ICseHZtKqG4rk99xuMnz6JxSg-CQwtYDmLJrL8GvCRriz765SMI17N3AjDrpjKNQTPJ8lvsLLa77Wn0o50TQEws2Fl0A8YGAWGxmVUc4KwJlT4ckI0mnWQaBrrcMpt7g_yzxtI-bUW4j_CqW1zbgRUIQd61AXVnbTSgLXtsqgE2L5gIPye0LYertTQHlD7WlGiLmqOxwxhNf5eKDJ_sNokvliYBnCkeBxyUZO8syLqsvWQ_fyHxx2g0LabtFNp2evHQmwGByiWrnhLO5cPc_sP_qlQtdPKV5fLX8FJPnjFGLJkEt-_fob38YJEQXKIws0d-TiHWgrIMGPTBIAEcek9Z59WobPcpKnJyoagPZMMBC39aDVmk-YbZOsf-Dya8AhiF28n26WsWa5aEpDibb9nCuDXWx9cWqa-MOWs1hi5Adu_6Lw9JgjJ5BP4vzPMo0XvkNzukTHlsLsmP1mHJyefBFDOiqcd0-xDdXaCzg8RUNnCOoffplFQnYJav3tQ9hqyTtlYTZCeo2s3eSdsVNA4o59kN4bO8KbAmPbBltzGB-wNuhEZHzTnHJomZBcQysjhMts9HXVwHbb_q3mISd2WjspKERwYXQMcVyVxFqtN7YqJVbAtdry3MDIYOyu1XIrcXt0m54CoZjeTsqZ6pkCtu7q7G-hVFN3xfS5yS1lCBi_dCBxQV6jg5iyeBre1R-6HIAWC0v7VL1zUtOTtgyu83FSxCK5NrSOeIS",
  "id": "rs_075d6a7bd07fa8da016ab2b4d895f087d0a8472d18566e47c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.11,\"right_z\":0.052},\"note\":\"The pear is slightly to the right of the gripper’s centerline. I’m correcting sideways and lowering toward its middle for a centered grasp.\"}",
  "call_id": "call_BaN8EyuUBTDLiyjX8iLpAQf6",
  "id": "fc_075d6a7bd07fa8da016ab2b4daaa9c87d08df9d8476c9f403b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BaN8EyuUBTDLiyjX8iLpAQf6",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4011, -0.0139, -0.0334, 0.9993, 0.5236, 1.3972, 0.3988, 0.2779, 0.4122, 0.2497, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3211 right_y=0.1078 right_z=0.0457 right_yaw=0.0325 right_pitch=-0.0823 right_roll=-0.0541 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6205, 7.2547, 1.8486, -0.0464, -0.0171, -0.0171, 0.1573, -4.8205, 5.4632, 1.8095, 0.1636, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fc68a897d87909f2d2874bde948c398891df74a4ecace5a7757dfca335433a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7190776a5fffa7b2d9fd61ec5ea58bc5da44b01a086b7e2694a513ddb5f08c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9039a93e2102a6d5dffcdba40d84785295b74d1b8cbaea7c7dab290a28d08c4b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.835 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]: [-0.02, 0.8021, 0.6132, -0.3904, -0.0139, -0.0334, 0.9993, 0.7448, 1.153, 0.6357, -0.2504, 0.58, 0.4126, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0001 left_z=0.1798 left_yaw=0.0015 left_pitch=-0.0099 left_roll=-0.0029 left_gripper=0.9993 right_x=0.2928 right_y=0.1432 right_z=0.1331 right_yaw=0.0342 right_pitch=-0.0527 right_roll=-0.0434 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.4017, 7.1179, 1.7998, -0.0611, -0.022, -0.0171, -0.212, -3.7675, 9.0872, 1.7607, 0.4908, 0.2759, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTlbGlXM8m36eHvm6AIFQTMogg8wyDzXlLFvsYZE5-f5qJ--bIkA9xjfq9FZNTCed-P86A5dM_Z8xn7mxJqUDbgeLbOkZFMjVAXIg8wYB_ifi5hZ1pkTWHek9Me9Xgb2XR5flQ4zRKlQ9CptdTPcd5vgtthiU2DaGnAReRHLMnwT5L0kyCLv4QDsY0FGES5UAI3QjGPrV0ZlsXU_kRQ1erS3ucw5xFhJTAWs-S5vhy-6q3t2YjpzY_inyfsimSR21xfWXR_D2klSfbvVt1UhhGHMPZASQiFSe8KIP_xfKvX16MkOYsXToiD75VQFOkgVGlxhS2SA0jj-eVxX9YTixSuV8cSg9Vj1gBCaZNpgQ1POX97XXo6HnGS9dRsJYkCblKKabqp2aSCsPkjHSn8Y-Bqh7qZrLSwSm8TtV_ppXDwN-KcZ8jWUoZiUhnCgwC5pYlvkVkr15Yavz-e5euF8ekK5y_fmRmGP2m54kWB0EJX80QsiNkmBJmz6lLP5PC48XG8gJnFQWMO5yfMLzs4iFigq5QHMAQlSRGt8H0_4aPa1ocK9U_3OIQJLVRCo0zCxcffZw2p75RTWNUN80O_4PcyN56kFjj9m81XmGq4zBhBzAaqLlRXku7wf3Y9sG6hRuSOZ8BAWMs42cbqck7-Sn4PfsPITNVvXK7DxxMorvumo77vpqfP56DiL2tOM9SsRH90rehv1k8xJr6ZAwIqEJhSPylUp0IHyNb3I1LXsUlu7L2oYUdxteLb7qIyL7oRDgAiZqUt2XAFkvxsAhVHnh63hqSsXTK8QRI8Us4xVFRZSJQqLrUV_v0jg9KFWxTLbdRnibgMFdDj0Z8-xpmmkN_CNoacljwjpM5U2dqQ6hTWiL_9j5XS9atwPaWJXGpDmdN3H8JPnuVwrqB2dFmze7pdrsqJXpc16z9qTvXWGJXvWhMBuEIBg7u-5eK599LbD2Jzzs2nMTVE22Wo8mEqj4Rg9kbbbklkfZ2BGK7SPMfZLZPhzaETooek_9wi_rglfgl0lXY_Mzpaj28rqmgoGnjSHNEZ9BAf3qOc3j7IMb_q3r_Mst1VmjM4mA6Cxn8kOiuVTUBEMUc5X33pvBvCvVhE6LxsYkMJtn-wGgJjYwLp0B_5fnUj5ihEJIgpXyC5sycZ9lh1zOZTiaMZqFz3h1gdpjX4MieCa_uk7LURvsM8HUOgxvZ9-Q2rIwAtht1OpPuxqTnxP3iTrkEjVMVdpNhefGYiGid6tGC11h2uwcm8OQpKpsJya9BYBgMZ9qpKhgud1_WE4P-v8_5zoQGfVRUFhLoPII4EHX-qMi4F54DSVP4NPBNqLyvGyOAGgZFeTbxuLsbKi0AmhGRVvDL4elLaDnoHVoFTPMcy2F-YIfpLJV8=",
  "id": "rs_075d6a7bd07fa8da016ab2b4e24c0c87d0949bdedfe5b5bf32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.05},\"note\":\"The pear remains outside the right jaw, so I won’t close yet. I’m shifting the open gripper farther right and slightly forward to surround it.\"}",
  "call_id": "call_VkaTpBxhQSdz4cIwf7jeuLyw",
  "id": "fc_075d6a7bd07fa8da016ab2b4e43ea087d093679e9406c8fc6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VkaTpBxhQSdz4cIwf7jeuLyw",
  "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]: [-0.02, 0.8059, 0.6132, -0.408, -0.0135, -0.0338, 0.9993, 0.2562, 1.4029, 0.4, 0.3008, 0.2153, 0.0814, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1752 left_yaw=0.0014 left_pitch=-0.0313 left_roll=-0.003 left_gripper=0.9993 right_x=0.341 right_y=0.054 right_z=0.0415 right_yaw=0.0179 right_pitch=-0.1162 right_roll=-0.0598 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.306, 7.0632, 1.8095, -0.0415, -0.0269, -0.0073, -0.1709, -3.9863, 7.0222, 1.956, 0.0757, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3fc122e4b52c0ff3a70252285b6e86395ddaf611b8f6efe032d6e7cc6806bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b83dd0c0872b3ba1f09786b6f99fef24fa9ddd063f56564e84691ff4f387e94f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3001be1a42bd69b54c3535f55f9b65ffed0a6eb1902e27bf53b180fd442bea08",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.816 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]: [-0.02, 0.8059, 0.6132, -0.4011, -0.0139, -0.0334, 0.9993, 0.5236, 1.3972, 0.3988, 0.2779, 0.4122, 0.2497, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0026 left_gripper=0.9993 right_x=0.3211 right_y=0.1078 right_z=0.0457 right_yaw=0.0325 right_pitch=-0.0823 right_roll=-0.0541 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.6205, 7.2547, 1.8486, -0.0464, -0.0171, -0.0171, 0.1573, -4.8205, 5.4632, 1.8095, 0.1636, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTspZOFPOIkRYI-Ygc_pRYSeUqOpdCMbVvAhtewIiQYEsezsBLIwSK4Jpmg9DlZ0RzTyyO4umcx_Lhk76Uqhrj98ByfThbPTvQu3vWcIAtPM-vlD2bNbibQ4OnvVHS2vcd5dIZneTA6yHTJEFNEOiNB3O_sNo5OlctP2CexJX3xHn8DjdOo4BDsqp1NDi4y3A52TdcK9Qz_E50YCbF-kI2_-JwvNrA1QEXjrOp4T9_wQQahBr64lZ8X3R7QprloQ_vKKj3LwRsKXXu1QgFnFz1DwsyXwfTKIIv_1nVco_nP6zaLdoJmiDyx3LyBdAc-rxJ9uo_woN4R9bsHdqf3kC-yBE3odVxgRusxvEkKcIbBE6CmifGQupDz-qwVCh_tUEVGOMwNZGqjOZ5Gg16npjXNf-970AGptPjl7p1eSA86wyp_DrPyBAFOg0WnKsXg-d5FdBE5LawI5ez7bBYMx4qx7CYU3ayM6B99U7t5TsgpyBSjcq3C-5SArx6G4YDPyOaqyDc9MEWnuRblxMQsT4ezPSHseZjZrmQqJ13PaJmcsKWEQIV076kxRJg3FKrSiOII120bvGgtGGsQfaYxJ2e-OQQhlABiujw67Pu79OixRdjX7OC_Qgx59DRUbD-tMYCLe6wOL_1RWjfUIdp6_L_t0x2izZWLKpNC9VLCEXreyb7PObfz-leiO8T97wEwmtzTFUV7ToSN9_kTESFn-4TTlLQf0a-FgcTsl46Wirde6SLlMZVAeFVB5wdtVNSFvwl6_7ncOwjXYmRjeLxmiXR2zgx71WUdlvNP5QtbeZgW4Q-CYPO5DE52etkZHjqwU3zTWyaM-8TBvKd4sN7BvCvtO1J65GqH5eJx2mc3vilR2SHMLg83-UgaxajEzrPO7zeAr5fnA1q9F4vXd_UYHAlvsXdYVhvJ2W8QPPMmUqRsJbA1iS__YsnupuMKmMKy99yoebBk7JreawqkjsIMCMbPxG8_WPdo1Vdq18Ue5sslmq797mx_AUMDpValmtlww0thd7hDXWhhD--Thy6rbfm2ESHPWWTKU65ED2oHmSeQ3U2BS_8lQMMX-uHFhF5Ex7RIlHVir0PxAgEr27uG7pPbpuGaKkDBBgKCziDC-Llg-Wi-HUjXNVuOsmavhVkpmfBqeT0PnE6xCkEmvgbKSnu4IizHdLtL3GM4_wXDcQ12SWdlWlp2yzz9svFPKZWRUVYDHDtGudDjmw8cILdkAv5EuAAOWi3kNAPBLtVQJjJOc-ttg1Ku8aLiB5HhZUG4ZXwrq9RfzQi4osMsx6AZJ-ISw0S_H3ro0qWXIa5j-r7nFHLr-Lyi0_BZ0KFpm_5ssZs_grCsM37mHqhy_RBaBLtjIIsL_e1sDJswYjvym63Smbo=",
  "id": "rs_075d6a7bd07fa8da016ab2b4e8bbfc87d0b1bd8d384e2cf8f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.025,\"right_z\":0.028},\"note\":\"The pear is now between the open fingers but still offset toward the right. I’m making a final small centering adjustment and lowering before closing.\"}",
  "call_id": "call_ZNSnhOet9XSGDaBCll4Y5dbc",
  "id": "fc_075d6a7bd07fa8da016ab2b4ea953887d0b219c4fff035e4c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZNSnhOet9XSGDaBCll4Y5dbc",
  "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]: [-0.02, 0.8074, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.104, 1.56, 0.4301, 0.392, 0.1013, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0015 left_pitch=-0.0416 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3575 right_y=0.0229 right_z=0.0148 right_yaw=0.012 right_pitch=-0.167 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9641, 7.0085, 1.7802, -0.0806, -0.0366, -0.0122, -0.0752, -5.3128, 7.159, 1.7558, 0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f79e93dc0c41f4263a2560d58ec1896054bea8b7786e191343d8343279c6d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e087de817c1cd886ad72c4c1ff8883f685091baa5b7b32c69793846c4014cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4bda95869a5244427b94257cad7a4ca120f4ca08a12647b927a1d7935400b4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.965 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]: [-0.02, 0.8059, 0.6132, -0.408, -0.0135, -0.0338, 0.9993, 0.2562, 1.4029, 0.4, 0.3008, 0.2153, 0.0814, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0001 left_z=0.1752 left_yaw=0.0014 left_pitch=-0.0313 left_roll=-0.003 left_gripper=0.9993 right_x=0.341 right_y=0.054 right_z=0.0415 right_yaw=0.0179 right_pitch=-0.1162 right_roll=-0.0598 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.306, 7.0632, 1.8095, -0.0415, -0.0269, -0.0073, -0.1709, -3.9863, 7.0222, 1.956, 0.0757, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTxJovmsCuy9RDAnmXfB_AQyuAKpkhRF2o4_36wpWMgZznDKKKPBdrH-3Wc-DicadB2C6hzdlTH4BGUt_uk7FFo-RNaF1U9818Qi0oZ3WLBCO2UNYHAGNg60_UuujdghI1cz7SJYgW5jHuAYpGjT74gm6HfZrHQHo4iWG9q1GXq-9EEn7D3d00_RVWlw36sdjogzR5V1-Yn7VyrOksbsFagcckSwYszihTy0V_dd1u_qShNEc9Nd-UUd97qqADWUdbTQOxaQa8uXnz9-6UThci_mR0yOWAs0PAKtGm4phBDRoZFvB2J4XJq4fP0G_VkLO_fbLQYDsW6hWRBHdoXv86A3YC4FCKPaZux-VqXy_0vjO529xfdEPh6ouMSen9l10De97GhRKM7nU_LkTsR5SlsIRYSrQfZ7VTrL4_36_FGO9Y45wbwc2ukXJE7TCw5_P4n_TXQ26pf1ySpgPWbt2Mmi105orcefVqr9RxBaAXyWvFu0cVdq5ENVfYvQ9m_tOyq2PAbQlKGi8qjU81IyhdTXo0WzromUAyjWy_-wRgxqELKr1WFzsayMzFyxtPPoJN3uSx9xmoaDlsJC6LJvxf2lzM9RcRDLhWsNnKv5xvvc6VX-9ySq8WXJk7m9Q8cxWPMicvP53V7PG--cIXQEULmePYs7yn-aeosX9b5EaEBjk_-OBTf0b4f0VLSFmc9Gp9zQsn_jn-hGQ8jhp2JF6aP3fPDtA6BmP9sC5nyMioX9iTAXDN-qW7SXprN_YAraxOIZoFQvY7y5ksys85n1V50_EwU6MkNq5fXlhtW9eAiDs9QigzyVEX8nx3vZKtHzhYBw2rrYpYxdv3YLiIcmBdgoltmK04me72AEgu56lk9rXgrHJcJT8Xdp0VJzD4K3Az7PMXico1squxpVhcSbsv0QG9FB00JumqANAK-cpZ2TJXFifwui2AgZ9ONzSnneaRHuU6LQReXtobx_3xWakLtD2V6ix_cy2Gk28ZT78KE3GI3Q8Fscks3QI4dfyFQeDRhF8zsO5yiIPoHuGh9O0Ne-iQjHwBjzl_p4dVitlRyrNZ9RMT0z4wvGdpb_JP-dZ4Ey5ruUsifAeAr0im_Qd-cZlVCCVQOrdcs5vCcK0N_eYxb86O92EeYU0MFrbq14akXpyROGvJBkhbkBm6_1zUA0GjM7OI-9egOki92did171LIRg1U-0E-RI3S933Vs_1D",
  "id": "rs_075d6a7bd07fa8da016ab2b4ef86b887d094c15a64eb750c84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is aligned within the jaws at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_uCdOO1ciQjSSPrzKlu4Om7nz",
  "id": "fc_075d6a7bd07fa8da016ab2b4efe79087d0a53894e7e4e28450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uCdOO1ciQjSSPrzKlu4Om7nz",
  "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]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.1043, 1.56, 0.4297, 0.3809, 0.0982, -0.0162, 0.0124]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0018 left_pitch=-0.0488 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3555 right_y=0.0234 right_z=0.0126 right_yaw=0.0171 right_pitch=-0.1787 right_roll=-0.0646 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -1.0325, 7.0085, 1.7411, -0.0415, -0.0513, -0.0122, 0.0068, -5.3538, 5.0256, 1.6972, 0.0708, -0.0122, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7afcdbcf68e8a6873e861f6198d75d3811d669ba8d281d70fcd38c49585239",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771e8877b82ee68a65784edfe47c3c02444e6da7ba0e116a1a6148d69e7f427d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd84b3fd7377b089dd5915baffa9a5670c70f7aaff79bcbc1ec46308a88b551",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.724 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8074, 0.6132, -0.4168, -0.0139, -0.0334, 0.9993, 0.104, 1.56, 0.4301, 0.392, 0.1013, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0015 left_pitch=-0.0416 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3575 right_y=0.0229 right_z=0.0148 right_yaw=0.012 right_pitch=-0.167 right_roll=-0.0625 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -0.9641, 7.0085, 1.7802, -0.0806, -0.0366, -0.0122, -0.0752, -5.3128, 7.159, 1.7558, 0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrT3JC9wZWT6oo97kKn05J26wtJU-7xyk-O67jAkQFjSN_vLafC9Iyk366Iu20u0kXrtjJHh3ftA8mMWrN7bnvDm0zqoU4Jw6l1481LV_6ULGhoHF2FIPsDl4POyesmFGY5kzl8d7-8UEAHaGSTfz73xIqUa_lm5sgr-YbxBQf1UnM3kH7AmjnRKKx1EHKSynCVIEklgbG31dzywB9nBYX6Vv0y4gJHzgd8UsdKP5d1oMlThR-T-vXYT4Vr526TE0plgGMoYqbbGoSzivMv_WhDlM2YNnpy6q9EAep0j45n24opII_3GtG6eO2JP_n-jy6W3Op6rR_FKD-fR7YIkeuF2WlAVda6-4hrXMunbpX7AoDuXJ9KZlJFAJuhf8-Kidf7aKpGOZZXokiiOed32bqrf-VREv8Nz9XK5qMEdSv-ScdDV1E9YZk1Vz3fvDh3u0HN3VVBIIUk6LH6Vv2CwfPcJJNjQB1KatfVoKN1jBJSe3NggFXnZE_PDbLGw3ehi5eRSJuuzlZxs5wDoj7VMT2RyeKbd6qAmbgNn_r-SHEyx2k_Bn8_MA2RHEec2jP0V0DmyqDLPkohGLeQYMUFPvzwvilMmQq6FmHO1arejQ1258QnHAW8GcxFKyJ4S9hTZ4LszS3ZPB-KNaI6iI3pm6mK5OZE21ShaOnKkPQ3181GVqWYSdVR3ivmU_6A8ombk7T4Keqd_3dITIkG-bqhoALVF201xhd-JsdLcRPCRJdj62Qt_j1X7-59pBZ3dj1sjWN8wfeBGPP0z3SM8uyt0FwVMIo5sb3CGrpe0SFGflDd3dHC7o3Zpd3owhOLx3ibQleAfVen2CtRhLaAbZ3VJAmFx0Mdml-jyx-x-4AnQm-xAvC1_nS_pH-ekfamcgg_QOLrXlMx-MTfnT-qqAOBFwxqYj9FFPUvCiTfk7GyVKzGxcORQ6rKhwqzGobavuFdnpqIJJsHI1DJ88tKUeavYdayXD0XEHMIkULPwyYRSZkwDa0NiZmgy4wZwO0kaqbyHoQbf2z4q-StspolzdyVthG1hXgm2D0v9vYr8U1OktkOMQjCVyRB0U6mBDnvpNpe89OYskuAGrEo-Y1uJr9xQupiJ4D6-Yq_SXakIu7JtF88N7PiwHMxlyK0GjArDPlv89TRuOkIDWcU6ct8waLZRxDKfY1YrBapJ9Ur-_x0KlJFKC2iGTM85D4Q_kk7p36TKKA9G-RijZo70Kshl4Ju104LZdr-t4yjsrKLPKg97GN7EErg=",
  "id": "rs_075d6a7bd07fa8da016ab2b4f3f7a887d09d475d1399a1e8e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.403,\"right_y\":0.018,\"right_z\":0.037,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The near-zero gripper opening shows that the first close was empty; the pear is still ahead of the fingertips. I’m reopening and advancing about five centimeters, while restoring the idle arm’s parked height.\"}",
  "call_id": "call_S6K3qpsbAwstemhYcs9hxVfv",
  "id": "fc_075d6a7bd07fa8da016ab2b4f4948087d0a049406b046d214a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S6K3qpsbAwstemhYcs9hxVfv",
  "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]: [-0.02, 0.8398, 0.6434, -0.4732, -0.0139, -0.0345, 0.9993, 0.0708, 1.631, 0.63, 0.2264, 0.0692, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3943 right_y=0.0193 right_z=0.0295 right_yaw=0.0281 right_pitch=-0.2064 right_roll=-0.073 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -1.6615, 9.5658, 1.8242, -0.0904, -0.0855, -0.0073, -0.6632, -6.1197, 7.0496, 1.6435, -0.0366, 0.0855, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40aef3976d37fe8664f3a60d811bbe34a4d18cf54d29faf107ac6492c2171979",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6136415063955c44f67f13f23e320500f2e104e244680e291c8ab9f38338ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cbcced9d3228b6dc48ae14ff012cfbb732e75c3ea4f8db4a1112cf8ba2bf44",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 5.774 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6132, -0.4236, -0.0139, -0.0338, 0.9993, 0.1043, 1.56, 0.4297, 0.3809, 0.0982, -0.0162, 0.0124]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1715 left_yaw=0.0018 left_pitch=-0.0488 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3555 right_y=0.0234 right_z=0.0126 right_yaw=0.0171 right_pitch=-0.1787 right_roll=-0.0646 right_gripper=0.0124\nstate[joint_eff]: [-0.1983, -1.0325, 7.0085, 1.7411, -0.0415, -0.0513, -0.0122, 0.0068, -5.3538, 5.0256, 1.6972, 0.0708, -0.0122, 1.1209]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear now extends down into the jaw region instead of sitting ahead of it. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_QC90y2eJyzOgv43aNOyzuFDZ",
  "id": "fc_075d6a7bd07fa8da016ab2b4ff087887d0b08ab87fc06567ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QC90y2eJyzOgv43aNOyzuFDZ",
  "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]: [-0.02, 0.8398, 0.6415, -0.4759, -0.0139, -0.0341, 0.9993, 0.0708, 1.631, 0.6296, 0.2268, 0.0696, -0.057, 0.5706]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1652 left_yaw=0.0021 left_pitch=-0.1049 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3942 right_y=0.0192 right_z=0.0294 right_yaw=0.03 right_pitch=-0.2066 right_roll=-0.0763 right_gripper=0.5706\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.6679, -0.0415, -0.0415, -0.0171, -0.3487, -6.7214, 5.4632, 1.5751, 0.0073, -0.0171, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb6e362c53bb8b4fa22d5b06ba756ce2549e685984247588994e8045c3196cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ff9460c841568e4dbbfb9e8cf8ae506b51f5cd1f1aec6e91215d44c853dd05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d90876951013ccaf897140faac6c0bd1c19fe579a2236e2c73b230fb6ff1444",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.875 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6434, -0.4732, -0.0139, -0.0345, 0.9993, 0.0708, 1.631, 0.63, 0.2264, 0.0692, -0.0528, 0.9986]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3943 right_y=0.0193 right_z=0.0295 right_yaw=0.0281 right_pitch=-0.2064 right_roll=-0.073 right_gripper=0.9986\nstate[joint_eff]: [-0.4308, -1.6615, 9.5658, 1.8242, -0.0904, -0.0855, -0.0073, -0.6632, -6.1197, 7.0496, 1.6435, -0.0366, 0.0855, -0.1538]\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\":0.105},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the pear. I’m lifting a few centimeters to verify that it comes off the table.\"}",
  "call_id": "call_jOx3zPfa3YpTcodslsbQlcGv",
  "id": "fc_075d6a7bd07fa8da016ab2b505cd1c87d0bc44361f47844a75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jOx3zPfa3YpTcodslsbQlcGv",
  "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]: [-0.02, 0.8398, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.0708, 1.4635, 0.7811, -0.1135, 0.0692, -0.0692, 0.4991]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1651 left_yaw=0.0021 left_pitch=-0.1053 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3917 right_y=0.0191 right_z=0.0907 right_yaw=0.0369 right_pitch=-0.2285 right_roll=-0.0857 right_gripper=0.4991\nstate[joint_eff]: [-0.2667, -1.4974, 7.3094, 1.6874, -0.0317, -0.0269, -0.0073, -0.294, -7.5009, 8.3077, 1.4628, 0.0024, 0.0904, -0.0757]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ec3b30e282377db04b4a161e0c16b999eff73ac6f447f1db766819b5c88ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2e6e90c79e5ce852749b7a7a5f90c4e7e8c7fafbfdfe5da83267c785b40a83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d35e602ecb4be822f0078a7e1a68b19081ad4e8532c8e165aaf7b616e7770ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 9.679 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4759, -0.0139, -0.0341, 0.9993, 0.0708, 1.631, 0.6296, 0.2268, 0.0696, -0.057, 0.5706]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1652 left_yaw=0.0021 left_pitch=-0.1049 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3942 right_y=0.0192 right_z=0.0294 right_yaw=0.03 right_pitch=-0.2066 right_roll=-0.0763 right_gripper=0.5706\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.6679, -0.0415, -0.0415, -0.0171, -0.3487, -6.7214, 5.4632, 1.5751, 0.0073, -0.0171, 0.6569]\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": "gAAAAABqsrUPXmdJ4UUdMyWc0zKKLkgrM5VRwVI63ifSfLKjzzwrY2xwZINgU_lnjcoUc8WH7qBmglAkVtpCO46n7Uv74N-m0_XSfXPThElDS3RaeBb-xwENPjfkqOhs4jna4etbKi57F9MoHeVDaR8O0qvw0DnHmphWA6SRaGG6vJe3uBT8oFBN-DoRpo2C7vRrm3omYZLoTU_yoVhMGEzFqSEhhiP68GDL_ccYTRmg9B-2JOTYc6kwJ7aELr_xNqJkRivovT_6cymajHZZ-idpYvlEtb553b-BCiSbAj54IT_o2QYVwttbLYJ3gQ48hLnaq79mfRnZxj8WuuKxwVk0vOkuLJ4cC-JmZ4I6qVEB8TpKd7Cj2IqMe7oa1WvLhoB3gF4lQaF3-lcs3EjYY9uzXNOaxhWs-SW87uL8-vFfHnKndvZnV7frKAOT9kh9u62c9BfxLolaMPsRWgdYYE-M5QA1m9esAPlgxIL_pSDjfVE3Cu60ipF3XSpyTpmV19ft5XWTij2k867stRiQDHh8zPPEaQXCZi7xwGhY0bq6Ppqf2PoI164aelLYhBIxcVYD0HboziXyXbj9qF08XhOPmmQ0EqinkFxZl23i_9c0tF3PNAseDZj1sR5At2nSNlrXHvxmaPMMO8mHeI6XWcGB8v6gh1gL7uPgeomzUiaP_lIYsSPS4B7bKnMptuNf4oe3mn8YmzTAFAvCdhRxMWaEe3j4IZ5IxN5u8aGslm5094kX7ITmlKUi4KQfiDZJE7Rc4U2urO2ENoxgw4QiCgrQOJa1yVBJ9LikPBsynUiEMe75KKhwnPy-K_KXEkmIzf6p21q5rR6xvjCfaPbaLHFBS_WBr7HQmuMhqfWTFstEFWSHSjspRJm63zW9YhPXqnPuDR4z78Riq8-fEO3sTSmznLGndZdZYE6UTV6YH4FXBj1nQ-cYDHKCt6Ret-1UxMjuOCDYM7XDzpg5rjGrMw7JW864HQ9ib7Q9yxnpq087Zrs9mL9eskEe6htLirW7DWzwXVpvT75CIvWvANZdxfBvl80GXGBH_B38W3RNklczbmBrV2VdAc3J0_3l_QeyeNo_be9gwUSOnAPhnuFjTFsN8sD6eKJPNIg5vvbS5E7r6hGTL8vP3Xs94jMhrwV2NTNffhYmhysU2Ux2kHlyfLkKHrAvM3QSPVqUTqpQZetpFTzhmiR2WskMQbF7rno2moZ0prYkdXfX91CPaT5ax5a0KuT2hSUEY24H2nMA01k0FG7iBZwxGE7-v5JxKUd8z5_jpM6gXFP882zdjp_z-PRw5qAg_3M8MvukPB_3goGCyfdruhCDpnnYtnKFDssNjNwf0soKDLIneanlHSgX0cv7ysEYpZvEFaxjlKncNfbQNp4yyOaVqv744CuQQWzKuJZf0V78Sn9P5ZvwiW3ixZN4io4Vr28orTOFKIVk6j-HQt9BYtNiYqk=",
  "id": "rs_075d6a7bd07fa8da016ab2b50c1fc087d0a95e536d441ade66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.165,\"right_z\":0.19},\"note\":\"The pear has risen with the gripper. I’m carrying it upward and over the blue bowl before releasing it.\"}",
  "call_id": "call_YzxaDltBxIPAayzKl6E9x2RK",
  "id": "fc_075d6a7bd07fa8da016ab2b50e0a8487d0985594016fa38b99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YzxaDltBxIPAayzKl6E9x2RK",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.02, 0.841, 0.6415, -0.4839, -0.0139, -0.0341, 0.9993, 0.5007, 1.6703, 1.3781, -0.6044, 0.3408, 0.2283, 0.4994]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4177 right_y=0.1654 right_z=0.1769 right_yaw=0.0651 right_pitch=-0.2639 right_roll=-0.1031 right_gripper=0.4994\nstate[joint_eff]: [-0.335, -1.5795, 6.9402, 1.7021, -0.0855, -0.0708, -0.0171, 0.0889, -8.0752, 9.5521, 1.4042, 0.3101, 0.1294, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26b00d709b57854a2ac9be96f0d594d5018b9a43c3ac74f2affc6d1247b8a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4a0623ba6a7b117e1f4f79058bc06753d171c0c4eb992d4445eb76e40983a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab4af98b5fe4733d70b9b0f4d65bafd97893c4c1e1a02ce7ec5f1ea30019c9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 6.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.0708, 1.4635, 0.7811, -0.1135, 0.0692, -0.0692, 0.4991]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1651 left_yaw=0.0021 left_pitch=-0.1053 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3917 right_y=0.0191 right_z=0.0907 right_yaw=0.0369 right_pitch=-0.2285 right_roll=-0.0857 right_gripper=0.4991\nstate[joint_eff]: [-0.2667, -1.4974, 7.3094, 1.6874, -0.0317, -0.0269, -0.0073, -0.294, -7.5009, 8.3077, 1.4628, 0.0024, 0.0904, -0.0757]\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": "gAAAAABqsrUcY_qBwTg8ojDo50v12uz7GhTV7RvSg2h7Vdm7vIkeZMgouGbCI2cZXC1yQVJ9FM-8oJrGQdmQFRuv_tj31xRNnBQ1PjejrjoV_AwryGwFj0zFA9SL2NeEXgYTr9rOQdG5ygMi2d-etg5cpUB_4Am2zzsrcGvtBvgAIH9BxCDZcisMFP8TNFr39VPzBtFI6F9lo3bJnRQq5jX3RaX1-kqpykZEnY3TVdiZL4KhOKcg8hxoU49W2E79OVi_km3ylx2kDVpxbQgHqVyil_HG9sWYKoOzUPALHjjdxv5jWc4-5IsoSfy0B7FMJZQkpoTX6sAx01BPab7j5-MrkTNE5izpZoS4eX0MJQBWETaqVWqrrAsw-m8zz9K_k-_RUIMeJPqRo01s5TgUPAIqIe_y-EQ0dDhcCJWrJ8nhLra6Ep4RQpH5CzjUFysGwwwJjaJxnnjyQSipXYEpvlx3mJ2pO5eleVZTVEviPUH5zUteWw4EjaTrPyGdGjl1hb1FBYa_KQY2aZmcbz9IKg_FZ5k6xg5siAgkzNsCwH5yfDeWmqctBuErij5i9MU0F3JFarAnBtvc5e9pgHNwFuItH40L1AZU5O8ooEabhqM7JvMgp5DqHGh_-ywy4cDitqLHfAzXagKOFHauK5T3yvbBC8SVIFmxarRYS6fur-UhrIkSOIeyBxuJ8GwZ6goXKoEw5O4LO91iC9OVXnqEhph5fqpilaiUsgLq-bjfupeGZWdwbUF6QXQN71l_lL5fkkUOoDGPo-3vlhFdHi08Kn0H3BAKllbccaB1LG4PsS8TGVhCThjlu2sA2Um6dQACx2U8xLeF0WiqvgYlMD0DTV4EOQVqAllqAWH7BdnuaoxUV5D9fZGkQTpmKxuOJqwhbFTDFkAgs-Xu3OW0Q3L7Zc7AqdmWH9q0oRgwM0b8KrdiaiyJtWNac15HHRp0JZfkLNssPn_ZSJMtmJbtbxGY6jGPDD0XUHiIRltELTV11tPA9rF3sHJZ0Gnuh5Een1korq82LFzK3NZpVkWsgp_R9NE1usowLNcJJXrnD4VEtIYLqj-jA_PlYo4tRHwHnrh1RGsMRetFsvgzReirE_cQNXuERQmWjH_Dl7uTx788m9zuaePW5pFfxQn4UY1uzsI3tj-e5NuolKSQbxAmI3j3rjPhryjNCS7cI319k125HtxLwaqbhvtMifZMmDAzlO1Nrx6raBIlXSWO9rhPbOeUvpTnruTtEgeqy9yHdyvwsW-6_9nFAJzJQfZyv49x-sbGkxs6us2jefkbBDc1K3Z7VEctDdQnXMaHzATMpQg4LShPKbZtuCPWGeXp8-wWh8O4fzzo7fXY5htO5J9vl4qmWvwfiPwqnZbR2vUXhegWzbr2aTUq5dIwdaFUW692Xm1fmQ8LjoMCxWRmmOyEsO8NI9SilWaV_xxNBPxrNsaKcYneeQvcDKXbFpgEh6YpwOv15hs4hKgJlm_eYRlWHtXZnytrEGJjkvEorFtNSe6xoxckSToWT8JgM-ITI2-kmQVaSoxmhu4SLsqHO7Tl4jn2ujMqKYSL9ViHY8nz7vNVgiNphxjtaSTadcPbOH2b0PXI1olOpCPbm5O88_Tuwu5VxhKsfKixxl_i07rW9fWUyAmozlz1DPwAgmpHyeFrNc9lzcpJmDh4P7aE475PniNAbwLV2DFSihBuyb-rfrHTwslp8Gow0RHAh3uxGcE8iqIhUpL2mqMqdg-oz5U5GdtE7BlHbQgg5TkQgfZ9wJtib1LFFfW-Lz1-dLRUjaruNeHfYzPFkkEM1c3SrGkoAiKiI99c7RgDJV4d64djFnRfaYiSslfJXHY1UGBgSAetxtWa0RrbS2Zn3syv",
  "id": "rs_075d6a7bd07fa8da016ab2b514ca4887d0b81dbf22c24b06dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.22,\"right_z\":0.15},\"note\":\"The bowl is still left of the held pear in the wrist view. I’m moving the fruit over its opening and lowering slightly for a controlled drop.\"}",
  "call_id": "call_wB3x7kMCJuvC63vY0bVYbNz8",
  "id": "fc_075d6a7bd07fa8da016ab2b51ab20887d0b884c72e12e53f1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wB3x7kMCJuvC63vY0bVYbNz8",
  "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]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0139, -0.0341, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3634, 0.2554, 0.4995]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1607 left_yaw=0.0021 left_pitch=-0.1263 left_roll=-0.001 left_gripper=0.9993 right_x=0.4508 right_y=0.2194 right_z=0.1357 right_yaw=0.0934 right_pitch=-0.3148 right_roll=-0.1325 right_gripper=0.4995\nstate[joint_eff]: [-0.335, -1.812, 6.9402, 1.6728, -0.0415, -0.0659, -0.0073, -0.4855, -10.8376, 8.4991, 1.5165, 0.3297, 0.2613, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54e27858fb4e686b583e7cbdc474cac952184b3a4fc70a2cefd39cc728501a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c33ce08d3b5315d0d0c4d286d3f358826b30a5811dc211fb4391e91a448c6d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2c6f6487d43da0db4939636134d286464b7446fc9872c5942766ee0d80f6c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 8.745 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6415, -0.4839, -0.0139, -0.0341, 0.9993, 0.5007, 1.6703, 1.3781, -0.6044, 0.3408, 0.2283, 0.4994]\nstate[eef_state]: left_x=0.2875 left_y=0.0003 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4177 right_y=0.1654 right_z=0.1769 right_yaw=0.0651 right_pitch=-0.2639 right_roll=-0.1031 right_gripper=0.4994\nstate[joint_eff]: [-0.335, -1.5795, 6.9402, 1.7021, -0.0855, -0.0708, -0.0171, 0.0889, -8.0752, 9.5521, 1.4042, 0.3101, 0.1294, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUj9PvrxGv3A5QJDuSF-2dXoeWxPxHhuxDnXlhFDdvDMQOiL9bT9bN5qLHZvMS6qK4X05NXhndBDCW-ILCXkwL18_vS_22v-mLbvvmzatzUn6scjkWVBAcSmJ7stPfgCzmYqJEAbC-ej3eKP_FRP2QEKQX63WN8ystBSaTPu4B6-I17NA4QMqu839MgJIS2L5oFVExxxbqEzerOS9pWmkdtDN6AFoLTL8ZG4H0E6UOMriM12mCf6ng2W55FP-fUKM9KqJRTI8xrHcUBgIZz_eSKsuAHZDbY84siszfA36Kd9PEiubr-tykMySFp9kKnpu9ofAJUjuFVD9_49NA2H5pBGVlhXEv4xf9T6OhcKLy5FS9O_VauvdEvMhaIKVuJB46dGwu8V8ttaNx8hmnPXJPrbLbuET4n7bvC8KYCZnAjwOCDf8k1U6zl_S3nr-ZkdBEnzPxTZu8Rq4Y10J1LhQDEwBxndnxHZXrCYaVRTUUwXYNVf7RQTxhLxkWQMxKGB44nwZafzZDW4smH-aAT1chGbdm1lSMjbffE5enOvk-8LKOeFnQ99VMqP5mbZ3rBpVQuuOVqL2B17pANqs8DS9HPSJFkkTXQnJJZcXxY0fptOyXsE69sY6oGlhRwruM37Eqrj5GTswWndZYyA34MoISov-4enLOm7eULrlyFDrvUOhJBVVM5H3u_akq2Tw3giqrEEHMj8ub7lktTTz0Wuw8zzhMEoM4fJSV3JJtn3P0K5bqPQTooa14qpBX4NTnnsupAAxHpSXljMSgQ8UGgsUxg-DphNZl3Oq67hmaG3FL4c_EX-WtIs9fX4Q3TWTdwT8k0ww_eEmKOhvEWINyn8sB5AEl10sodz4DyGJ4Bi85EbORu9xyXq8zD62gdzyg2SPpSHNFPGTUIac8nfomq2swri8xvdkWdUMFfqz8y9uCzyciX3xX5GoQNf2Ct4P2o7nxj7RBPxYCKx6m3iky0iuq1JpXbs7jw6lF6I2ge5PUNU_YRngAbpxvX_OoZDl2HM4lVZbAclKWvzrdZTac0grVWKL_E9KGhmuZXso2ee5WoiRF9c530xNgVgBBvIdOB730tlfmiLlZNnkIs7_j6CrWs1iqV1VVZODWdg-uySQAefFfU1PejtklDJhJkBxCUOBEwrAkEg52FhJkfgu-WUHbg9xsUJrHOAkRjGXoUF1A8oYPBBgnxEAeLZu1b4fiZdufMepSs92LzoBRrZl-5OQHHnY3X9R4ejN5YxpDOVu6ojApzF8x-beDT_cWJ2bYxYtsL7m1wayxnMby1eO101hZCdKhfXENgslQerAOCTCpVN36nowOwnjNgOde9cyLbXC-R1bVSJrCsCvISHSIgVBI-4bx2bibruZYClu7e1qrLCmzsym6yrU2wp4ba0vMoV3YZNZ8mphGbRHb8IhLZvFr_JQqgWizCPS0_yxDTkfZyYSSnlszbG_r6rCu_t4E7aYsPnjLTZvH7DrYK27d6nAEzp2Vfdove_pbUYAuAl0X2fchY5Y5KSds-Zin3E6FAdOjPiYa0SpGovlTLJUgQQM4fCg==",
  "id": "rs_075d6a7bd07fa8da016ab2b51f4edc87d096a2e1232973ab5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.255,\"right_z\":0.12},\"note\":\"The pear is held off-center on the right side of the jaws. I’m compensating for that offset so the fruit itself is above the blue bowl.\"}",
  "call_id": "call_5TUYIkZP05BL7ErPvwplqnEW",
  "id": "fc_075d6a7bd07fa8da016ab2b522885087d09c8788a49a55e588",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5TUYIkZP05BL7ErPvwplqnEW",
  "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]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0135, -0.0338, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3664, 0.2626, 0.4995]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1607 left_yaw=0.0016 left_pitch=-0.1263 left_roll=-0.0009 left_gripper=0.9993 right_x=0.451 right_y=0.2189 right_z=0.1358 right_yaw=0.0869 right_pitch=-0.3132 right_roll=-0.13 right_gripper=0.4995\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5995, -0.0366, -0.0415, -0.0171, -0.3761, -10.8376, 8.4855, 1.5263, 0.3297, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475c3da7b7eb02120165b3e824f60c588e4f0f52c061d91d3d40c5c306a657a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdd964a2957c1f275a37bd42ff96be065b0176d9cab824f8b30dcaa0864df7d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f54aec4c99d6e5f0fa76272d34e53f909bdb44e05ee91c1701e7bfde2597e47",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.989 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0139, -0.0341, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3634, 0.2554, 0.4995]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1607 left_yaw=0.0021 left_pitch=-0.1263 left_roll=-0.001 left_gripper=0.9993 right_x=0.4508 right_y=0.2194 right_z=0.1357 right_yaw=0.0934 right_pitch=-0.3148 right_roll=-0.1325 right_gripper=0.4995\nstate[joint_eff]: [-0.335, -1.812, 6.9402, 1.6728, -0.0415, -0.0659, -0.0073, -0.4855, -10.8376, 8.4991, 1.5165, 0.3297, 0.2613, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUsnVnTButVDOxcQAfuMdBqBEqJvnGjAEsC70kLXnG4EIyWTIOgqjX8ZDn_636-19nGZeT8JLx7k5_OZwiDDXjQoCkZ0eRaXEu75RJxKoUavi-s2MGZu2doiOlIvllCzcNi4IBKDmITmTaBX6h6oObjhXm_VLtMd6vwPx1RwoO1xGOCRA5JDlx7CsZw7KWRCnJrlk9hbRgZgR_2aIvRkmlXwX6I9Pf8OsrkTEP2l8gDjgQ3GiKhFOc_I-hpb-04aXxhr9xQGtt7qn2PzeIIu8xOdZZz_ifm48ZimNU_rfFKj8gtbDiQAI59bhdUrO0uqKiNV6V9CGHHbhz4_azg-eqCcd5SVimyKv4wEviKOPkVuj2coF6iXWIvApR3O9MU2qShaUtMnDgbQ47XZP2MHu1RSHApzwXL3RypYbge5N39wMDmSO0T9YDngG1u9HS7bHneVbc519NSO0WGDs3beG7fuNXN9OUPBeNQz-0PhE4OX9s4b4AxlguccIvxseQl_riCtARzEZE_2Pf7RLOLMmnpiRLMybZFaoNBYIdzmfPwkBPmHIy2euTPDVX4pElT9sUpSgLoCQ6kIAHnPOxl2WE1h-qBM55FUwp5HZRE72oKku8MP-S_si2zbQfgvswu_fJ-JnUQBSxPaR--cZ_3cRScwN-EP67JkDh9LX20wfZRD9p7rbiGTkdcBI4OiknmgR6gR5mbwe7TxonYHQV6MfW2kwLAyiuwpywpZwVWMJKF3WFrmG5DjIRo9nINPWPrlKmRD6svH5X6bi2dGyaGqQSk_2ua2R3o_jsps-GskBJR6vuidIz5klsAOnMymkM4z29MoW6ndFy5R_QeDfeF7nm09s9qHqFZezb5BEKTdwRDrmb-O_RSvONAPKSM5rycFtjKAkT2eZ4nLh6FjDcfZnlPDd6pjoq-L1fbWWZ6Ii26vBg-WpNfWKK4cAPHWmMcH9FBP570YHR1_xvWsZtsvh2czfFKudx8y4ASF6p7HwhIdt_-fAe3NNQ8TGcvoWtJNhNCpSComzY30v2Q3S1Utl9msy4Pwh8CPqUMuQdlKLGYrWHra7ivWLx3LMr_-zVCLeL963oGSsWWl4gvYw7LQFM9d96mzpdSivOClunu4TAFsq1n8jpIPcexbnEgz8tbrJ0kJk7ZGoUw53LdCYz5HJF0-M3Lee-agSM-OHIdUxVCquGArSZP1Qeoo3oc2SoXxh9LNtkuphj6IOtUzgfbjcOH_qnOQx9tuIMAtZQY1xc1FQasIZDm57GgKB8M3r6sIiuMovmgqtg-ma0nGFakdoUAhQ==",
  "id": "rs_075d6a7bd07fa8da016ab2b529095887d09a2d0f1e8b2e3644",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.245,\"right_z\":0.15,\"right_pitch\":0.25},\"note\":\"The arm did not follow the last sideways move, indicating a reach limitation. I’m shortening the reach and tipping the wrist forward to bring the pear fully over the bowl.\"}",
  "call_id": "call_gRFm4o1bLnpJBhq5aiNFjnUR",
  "id": "fc_075d6a7bd07fa8da016ab2b52a843c87d08666dca850205bab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gRFm4o1bLnpJBhq5aiNFjnUR",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0135, -0.0338, 0.9993, 0.7425, 1.8027, 0.9756, 0.3763, 0.6697, 0.1188, 0.4995]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4244 right_y=0.2455 right_z=0.1386 right_yaw=0.104 right_pitch=0.2133 right_roll=-0.1461 right_gripper=0.4995\nstate[joint_eff]: [-0.3761, -1.6479, 7.0632, 1.6484, -0.0464, -0.0366, -0.0171, 0.1026, -10.0034, 6.0239, 1.9658, 0.3297, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2160b0be64964b1913224833b5cbef30030d48d62e8b1e7390b3f4a81cc1410f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6272e773d31e7982601a414fe1e0c474afec36dc064891d0c55f7052a59d42ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf3ab3239a9a5ae0195d793ef782f0084565d30da3fcd1a584a8f9d64a69ea3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.625 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6415, -0.4915, -0.0135, -0.0338, 0.9993, 0.5713, 1.932, 1.5719, -0.6041, 0.3664, 0.2626, 0.4995]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1607 left_yaw=0.0016 left_pitch=-0.1263 left_roll=-0.0009 left_gripper=0.9993 right_x=0.451 right_y=0.2189 right_z=0.1358 right_yaw=0.0869 right_pitch=-0.3132 right_roll=-0.13 right_gripper=0.4995\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5995, -0.0366, -0.0415, -0.0171, -0.3761, -10.8376, 8.4855, 1.5263, 0.3297, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrU9dDyPxLvxFEUruvpqBcLfirBr1eHoYvNgGH2XWiHFiD-xyYgie-4WLNsaUe2uzrIBsMkyY0NweGxtTCTSBRQyRmg44FXpT_--h06_I9KMr66bmwzSLFwFRJ1JWagOxr2ZFciyiW60qLX7jinW_p8h7EzRW2nCuxbTWfB-TVzYN5EAYb-_Ckh1faxMK4HtnYMi_pVKGmRbjlOiYd_9Eit6tir1CH5g6QhoypGKtiMDHYCECFTliYJx8T-kI6UF6K-ARe2HRIE4RGZCcU42e_Wu7AG27zuafpQfDD8_inyshTYFzhev6QAUegjP5GR0IjCKR_sHPJjFaTD7AE6QyRTqEv8RSDdqxv6LsIu2oADwOnQU3PbGZYRjCIscLT12ZELi4ds-Z2Dtqo6gF64y_dhE0eeVjBZwImPP5vFFQMwqeMpWhtEtPwF-Iivx0BnJoi_F9OWXCtjS5qu1a5XPcd6l2fQ-7eNvD1HeIhed6gQGugLvHSZk83vHK_71KKsyb-Hpf9WgXxGthNhXFlgZ2DG-vHm88foxWudq43q1HqqqbWTye4EIuC4N0v9U5qF3W-nBJpXZ4ffa4eMB0Uz9iued9R_AsE4Y45-HDOzgs-YryxlBsBYwuaxrVCkM7G1jdG-kPx4EnSX6DiD553iyM1j-bySVqLdU_ZnnqO8NlaI81_j_Wz4wyjQERWh7BHixDGg6DcJLE0ZRd27TVzsQpeoIuZ299X11HjUZoMjT1mRei0fyDdbZcFC6Rrb46LcY4DYaSo5c468i83hgBMtz669Xm6ioSAeLKFhCfzHHv6yputyuIdMPdGyu-cwJ5jEA8QmVoT7SNBG8ed_Q5XOSbkJDRDPn9YeUAS0Ju-zE-rS6UjBkJonJaQXQJapRcG1D78d5BcKDHcY8QZs33z58fpA2josxEDEatzHe8FkpissU_j-n2Zvky1teivoZcrTP4InU5rTH3h8YFdtPbCIzCb3zBhXVWDMwAamAJCAH4Y84q5DZLG34EPzUmNw7aQLVcQd_cCWh9Sl8Q-AprawHdKgV4P7YgdudkwF9iED0_PhTpfFrql_AixZxbt4u0auJybMUJ2Y9UnOrcw7F4cOXf6PT0tDytt2KUjoLfoT8jWLtMglzqOXQ6Sg0XLSRd-vTRV05RLdbCq6e8lYyIx_aSuiHnJZ6RWsF-jOcp0rSfsutqPEzkAFPQveC3c4O_cOuUslcO55ZQLAi3z8UMEWXX4qY9drPdvoVExuF6I0Hk-rQhanXFP6gnyPFlM84Uy0aQlDbbqb7WpTnBxeGLnLK-5_0JI6tnLJYjvHOUYNFjxhPGdAcqFo6LwQ60e3-RLgKGAlPRLPMSzaRNge9msk661PjKGwYMZjwHnYJ523LaVr6KpZ5Dc5S5B48ntwbwwaZWtKN2yKcjE1gNV0VkG4RTxfqX7Z6NXNJZzOdoXHpIBgkJ_k6-qom-cEeNPvAgg-49OYk0nwVfU3R8Hq0G56CBSvF3Nfmw1IdjjBGQgNqS8QJw6uZoxWEncxPwDa7rx_rJZsoORytumHP-SMaliQgbVw6Awr6N_d9cliRQmo93b6slLKsU5n1JCJFjDRrFab7rJ86",
  "id": "rs_075d6a7bd07fa8da016ab2b539446487d0bea1a3bced3f6c3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.465,\"right_y\":0.06,\"right_z\":0.15,\"right_pitch\":0.25},\"note\":\"The clear overhead view shows the pear is still on the table beyond the bowl, so the earlier lift did not secure it. I’m reopening and approaching its new position directly.\"}",
  "call_id": "call_F7vBgGdy8YtSKZSYQhBA2mhm",
  "id": "fc_075d6a7bd07fa8da016ab2b53c06b487d0a380dff46df36dc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7vBgGdy8YtSKZSYQhBA2mhm",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.6455, 0.7467, 0.5209, 0.1814, -0.1104, 0.9981]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1597 left_yaw=0.0019 left_pitch=-0.1308 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4629 right_y=0.061 right_z=0.1311 right_yaw=0.0842 right_pitch=0.1898 right_roll=-0.1527 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.5111, 7.0085, 1.663, -0.0415, -0.0562, -0.0073, -0.2256, -9.6342, 5.8325, 2.2735, 0.0464, -0.0366, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c647a2a7b5fa78154dce3dff9f592681b5e1282656a2e8236b0d4a053579d8f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1098f47e18ee2450f4158c54a9be24e70798f3d951ac9bc7652cf50062a991f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b18fb5e5ecc91e13919f6fdfee6ebb77f46f01111fe4aa10077ad54c6667c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.065 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0135, -0.0338, 0.9993, 0.7425, 1.8027, 0.9756, 0.3763, 0.6697, 0.1188, 0.4995]\nstate[eef_state]: left_x=0.2862 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4244 right_y=0.2455 right_z=0.1386 right_yaw=0.104 right_pitch=0.2133 right_roll=-0.1461 right_gripper=0.4995\nstate[joint_eff]: [-0.3761, -1.6479, 7.0632, 1.6484, -0.0464, -0.0366, -0.0171, 0.1026, -10.0034, 6.0239, 1.9658, 0.3297, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVH_yXSpbaVLI_3iIljQOLRYiI3o_B7IfulzXHHC0LC77pBNnss6NVvk3UO22OYGbe_X3d75lxgbTWMWP_3Ziro_xlLPFR6wj-KXpRHTkF7IUndX8wNs3C3RQ9sLAagjWur1wGhAl2Jp1wZiM0uMsRKI584oLCk4qkXS1wQNc73zQqoM5WFesT1kOsp01QzdIlm59jTMNGsIi4rqBhsTt6b2DfS11ct_ha5Eb20u19bztsmURE2U2Vf3zsWlQ977oT5106fhCpGlKYkrqakJ3FE8JZztJAmt3jMLmOq5baibRFmv0nHrN0tghVXcUJE0VbhpC0LSE2eLF3pOvg2Y_yphQqIRLeAWbKK1osmQ3wmFjw3g4gf-SWHKeHunLZxZWGYBxfMdghmRXy0rhUAtHWNk09VxZUbaxz9mxkauT6V02GrJsUur2cQNaKpUT-dPw-cnwmTvWdyn68ona8kRYOQcsBxGEPihM6xlshg-V__shRato3SrPS1XED6NuGYGJoCq2GpozxxfDyR8aKwJuYvxwBg5rLrAIcd33ErRchaYOZ0P2H_6IfU3NO-kOCmx-9FZllnJSHoL418j4Cwp1MzGdrXg2z6obu4PwZA-MmPdJByoCtmckcv4g8yXTzLtdaIkVqfuMvQuHYtygcwjMfDZTDFTgNaNLO8p2CML0edFre6eVGEQhqrKcLisNbpBrBIqZGuvDaGNBZwTFEzmfncnasms69tWc7p_uGYtNkbDKsK1qHUzr8EsK2ECtRdirtmb8I9hugzpQqiZDerhip1ytaNX1MhJ_wam2L8JrcaSzB5yN_kdg45_HFVGErp31pyrB1umLAfhTuy_udqRUb9jOnALp-8oxvZGFNvrKxdzYj8AgjH2KrAJ8uHofmDwEnfhCwJNj-S-UJfTystibqMnstWc4rWiDSsXBAYFNd3jc8BYkpLk7xj1ZcteIHMCj3OFO9kMFEeyPhZU59GAJ00nYNU2orhq0af7B3qM8leuc6XuVUOY8OOi4EXBm9rgOLjxOxnCD7IG_uVmLW3FcFhqBDSk7HfVeUv5uHcZ5_6a-kdDFKrjRHZcpacl55u43s-UUbYqa2n6-_CRr2YwU_MCVVajH6c4GA95xgT_gxTynWQplgAU08C9Yx7N9d2p3TSG7wqHrQ9PTGDoDe4l0EQy5YTMu0XpkcqQe2abPQq62BdqvdknW62lOY_lEGoMlydchY8XGc1IFVo1LQ5Pp1vaA==",
  "id": "rs_075d6a7bd07fa8da016ab2b54621c487d0a3d0d40650417e01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right gripper is now directly over the pear’s table position. I’m lowering vertically with the jaws open.\"}",
  "call_id": "call_SsJR1Lp0PpCbZNOBM4RWT06y",
  "id": "fc_075d6a7bd07fa8da016ab2b5467f4487d0b7253b8587b1e985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SsJR1Lp0PpCbZNOBM4RWT06y",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.964, 0.6529, 0.9157, 0.1787, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4641 right_y=0.0617 right_z=0.0407 right_yaw=0.0903 right_pitch=0.1717 right_roll=-0.1596 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.5385, 6.9402, 1.5946, -0.0317, -0.0464, -0.0171, -0.0752, -7.3504, 3.2615, 1.5214, -0.0073, -0.0024, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3717f3f2bb78d9137c2f3dade22d14506ccf287288bbaf2fdbf923c53ffc3f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd56efd889b477f567638fdfd4075b58deff4686d1610d2ef49be20416598a31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60425c8379a4f43908156997965d6e9d995eceb9052dd451d5a2974b07f23b27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.034 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]: [-0.02, 0.8474, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.6455, 0.7467, 0.5209, 0.1814, -0.1104, 0.9981]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1597 left_yaw=0.0019 left_pitch=-0.1308 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4629 right_y=0.061 right_z=0.1311 right_yaw=0.0842 right_pitch=0.1898 right_roll=-0.1527 right_gripper=0.9981\nstate[joint_eff]: [-0.3487, -1.5111, 7.0085, 1.663, -0.0415, -0.0562, -0.0073, -0.2256, -9.6342, 5.8325, 2.2735, 0.0464, -0.0366, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear fills the space between the fingertips at the bottom of the wrist view. I’m closing around it now.\"}",
  "call_id": "call_WVFyf3pDvW331DKzxeMRCBHB",
  "id": "fc_075d6a7bd07fa8da016ab2b54b01cc87d097e0bd18ce8788d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WVFyf3pDvW331DKzxeMRCBHB",
  "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]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.1898, 1.9842, 0.643, 0.9417, 0.178, -0.1169, 0.7416]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0019 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.462 right_y=0.0606 right_z=0.0341 right_yaw=0.0891 right_pitch=0.1675 right_roll=-0.1597 right_gripper=0.7416\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.6044, -0.0611, -0.0708, -0.0171, 0.0205, -10.2359, 4.9846, 1.58, -0.0269, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3200556b0c259fced6801a38020ce0dc54048e0408abaf747d1df3474dc4af1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708f7020c63a0809c00c6711cc137025401904da9663f82e84023c1194c56b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5655043020b8fbbec991224764d0e7c7ce7aa72b9bade92bf125d62a189d1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1917, 1.964, 0.6529, 0.9157, 0.1787, -0.1169, 0.9986]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4641 right_y=0.0617 right_z=0.0407 right_yaw=0.0903 right_pitch=0.1717 right_roll=-0.1596 right_gripper=0.9986\nstate[joint_eff]: [0.0342, -1.5385, 6.9402, 1.5946, -0.0317, -0.0464, -0.0171, -0.0752, -7.3504, 3.2615, 1.5214, -0.0073, -0.0024, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws have stopped at the pear’s width. I’m lifting straight up to check that this grasp actually carries the fruit.\"}",
  "call_id": "call_ekn7frpJ6hNFuAnN0tUrUJs5",
  "id": "fc_075d6a7bd07fa8da016ab2b55125a887d0b0f4f3d4c923bf6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ekn7frpJ6hNFuAnN0tUrUJs5",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1905, 1.7218, 0.6956, 0.5953, 0.1776, -0.1177, 0.7414]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4567 right_y=0.06 right_z=0.0928 right_yaw=0.0911 right_pitch=0.1363 right_roll=-0.1634 right_gripper=0.7414\nstate[joint_eff]: [-0.335, -1.6615, 7.3915, 1.6679, -0.022, -0.0269, -0.0122, -0.3077, -9.1829, 8.2803, 2.0342, -0.0171, -0.0317, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:374012cb9a695e986754474d5e2d8319ae74895b8f9dca6cf6ed22d12ec1fd9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29075af7b9c9405740474b9da61336071fffa280b630b2f074326fafb21828f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ae112d1117c0788e2088525ce6cd22e75bb5c5c6b272fdd40b306726fe8180",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.431 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.1898, 1.9842, 0.643, 0.9417, 0.178, -0.1169, 0.7416]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0019 left_pitch=-0.132 left_roll=-0.0005 left_gripper=0.9993 right_x=0.462 right_y=0.0606 right_z=0.0341 right_yaw=0.0891 right_pitch=0.1675 right_roll=-0.1597 right_gripper=0.7416\nstate[joint_eff]: [-0.2256, -1.2923, 7.3094, 1.6044, -0.0611, -0.0708, -0.0171, 0.0205, -10.2359, 4.9846, 1.58, -0.0269, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVY4qqM01PE2OHS4vRWwYx9YFZNYjMtUOWp7Vy2uqkJtYLmyidlUym5Z467wN-s6dHpUqPyrvSO0yzd9TItFxoahssd6bD5TF99dpClJYLN0_S3UdxzFkCnbISStzwwspKvzVndr5b6kM82wlZLMowrrpcqrc5k23SgMOOhXLPoA2Z6ntrp3BxpvcI4Ixf5L42XQ3yLuinc6ipr3XbLi_SZDVfQPrLGqvb__fbMoUQup6R5ejGA2z6iQUjN1hPQmsEdn1CNT0BBhM1nqyoXmrLXPcbDCcKfJKXrHvDa18_iAg96shopKJx5pWGy_vpo3NqJol4J8Ppthy8UsbFzlvxJAsJ_BvJAyAje2_jGZZcdZgPnBQcLqJOEBBSf5o3Ponp-WRvUoJGnj-MLqfg2jGuqxfbUFrtrbrwO5sylcVF0896a6RWIItdHlQL9uO7X4oE0NfJsyANKqnS6p95dkdkosNRFHUuFyXpe2GspjfqfCoICzTs1MUzLsBN0hoIBgyj4AAFHzn-G4kGGQTO7ZcY0gtC0pPeQJNQ4bcf3kJvN0gBn4fgkdqW78kFTIZ0LQeaoXJWLTLyjKzA5-OrRdu8o5XVJ4UWkXImYf5dDmE_D4EeadWKK5st_ZUIqFE8RemKpIosvSpHFHPpKnrC8R9qqleFRRK28aliPcwYARHMp0mERpaaOYgzgTStFOHkPQYZvRQsNRUf1YRAhcr8pk2xsWn8tJsyYlC68XMJos6RXsNhbPln0bkEVSF7koE-YoaeZLPufDsVlntI_c03va2opUJxzH7vgGmYAXvi7G4CU4z2Vw8LWku5BhGa4U8QFNzlI3-ShBY03Q6KzG11dwBFrR6QvavuZqxUJd-mAOXd7_VwqGPZTz3lw5O7qEaM0ZJ_MJJuXvoq4IkDPO6mNsdgBSypJ8QVF8aKA924wnuP3t8jKhuEDhOH6S67Tz8Msy2eifOqqwZX-etv6rn14joRsV2AJ_ix6pD-GE2lpQOeBScV4C93u9MLtY-lblP14Go_rwTRFIZ0KVrDT_B1Ox6fiZLlwLQcsMALtWJcUbKhE8nh9ahWB-GbZSll1hz9lz6V4qIGeqb1dCMXko7nigjo4LAClNmFOT1HloK6zstQGKP-8aoDCYbvIGdNyPdCJqismm9-nQ5iheWXD-FLJStqTQwAf8fjTjEVSrRHMAc_dp248JtGZr99A6xiqgXWS8lxLU9pXOnGepInHr23QnxRQCkPhfRvj-Xz_a83VGjyDCYTs3TqvYKGZQHhC3OPM1BhgMlw3VWxyldkZ117NliH83m3pb9hTyHLLZbfOdvoEOd7HmdVeRjzvcwyvnKqxttMINV2pHyR4hjYz8YKEJ3TUaVGu01Gb64qXGbbGe9DHs2PdYRPJ_OIetuJOR0QEepWE",
  "id": "rs_075d6a7bd07fa8da016ab2b555107c87d0a720f85372b2586a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.23,\"right_z\":0.185},\"note\":\"The pear is visibly held between the jaws, and the blue bowl has shifted slightly left. I’m carrying the pear above the bowl’s new position.\"}",
  "call_id": "call_WEfVYf5jPjBzimAfYxkNQvAf",
  "id": "fc_075d6a7bd07fa8da016ab2b557241887d094bb4372fd50e9fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WEfVYf5jPjBzimAfYxkNQvAf",
  "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]: [-0.02, 0.8513, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.6884, 1.6939, 1.0981, 0.0486, 0.5819, 0.0986, 0.7447]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1586 left_yaw=0.0019 left_pitch=-0.135 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4262 right_y=0.2295 right_z=0.1731 right_yaw=0.1409 right_pitch=0.1081 right_roll=-0.1842 right_gripper=0.7447\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5849, -0.0562, -0.0757, -0.0122, 0.2256, -7.6103, 8.6906, 1.8095, 0.3736, 0.2418, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d30e4886a4556bbfcd785a814a42f3d99ede6914a3399aa9a2db0d13c5fd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e062a547b81b314b29215adf9b3afc66458583b6b767ad0c19fc14a9a5b94072",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1b48f21418237269be99613cc5b23d1e5be1a087b77b16e9a81cf1957a373b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.495 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]: [-0.02, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.1905, 1.7218, 0.6956, 0.5953, 0.1776, -0.1177, 0.7414]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1335 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4567 right_y=0.06 right_z=0.0928 right_yaw=0.0911 right_pitch=0.1363 right_roll=-0.1634 right_gripper=0.7414\nstate[joint_eff]: [-0.335, -1.6615, 7.3915, 1.6679, -0.022, -0.0269, -0.0122, -0.3077, -9.1829, 8.2803, 2.0342, -0.0171, -0.0317, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVegv6lkF3qopvG7V4qhzC63xBLpk9vxqvWk-tpZKZrVvxaKU9iDRO2czj-viWy4kXYSddsSm917mcwbJ9zagvM0huv5ZIzlSTP62-AFIQ3WUdb2lO9vU4NNbClstKpA-YVNU1a63kF87fMHLa-TC2bX9skj1zNE8F7msrl9UOR6zXBBUJaKqZb81sjJO8CSi8rGZor9G1dAk_8y3P3pcHs5PuqNPJWLsMMT_iEJAWhdJnIdDnIPrWmrhoTbsqTW4Fy59s8kZldltC8k7xW6Ue657TaPNx08HXPRgIrSLjJRfKBbIKlfNaGisb6rRVSurD5hcbBX_cDLNqd5JLPG0TmmnhBmLsLHhlEuML5UjfmdWqq9EFdAOs_cY0RPyLaaCXCW5npKu_nwpIXDSb6x6gwifC4ewpRZgCCGDmKn_yzH8ngb2QjBzd9eiw-YVJnceupDleXuO0S1tVy9HApXQpzGjNPcryzm1HCiGsqB1cJ36yMFZeNCkhtOqCxQuJAUgkukSffOy7wGDkjRC7bAgkisbnwVd2PCv4W7CRZO-la0bdB2MM5RMfKfCzRmcbUZmS8JAMb28j8Zkyx-yKuROsLAWZHd7hmkF76Khb2WU2Tke1eT_TD2VXfLiQbHAn3tupzcgzbkbNn5h42z7gvhYlU8H9hrXj57P9kK4fwWVgDXxMqN8_vmZBaIx48DDO2ITyMe85r4NJGJr4c_fRF65jKDu8z1QhmmX3asvP0Fe1TWRWPkVrdJkYlDQY9-XErWGtLzJhslB4VlJ_XslECbp3FMI9yuKGsGldvcCnDqPGLsity29uSIQjV0iWVgf-P5-h-3QiNYrp-KqaZCnFk2vEzDgUrYiDGV5FlGeJL7hsL3epSpiqExDVfPAlpXbWyxg9oLBoNd21jd-NfPYY_uvQzTDN9g_7Rk43gmm7PXvIOcj2g95jQ622FDoZFHMDLFgpeAJJrEXhOwCaxPc8bSrS1Vo2hi9IRnQ7UuxRYF5LhMSGpbW1nbVs6aIMj4vpA_LXg_eixFJGwnUy6r0GmIlLcqPhQ40MO8-z6GtqNpCQ2eXYj-WhfGf91rrJIVYAgiwxNq57DdKvzlk-1_Tz3ofpFlLIvLqL7FTB0hMGlT3fN0SqE91GVMWJVCtCLTOILnsSEibbY9L-LwhfBJTNdqRHc_gZkUZmNhpt-DdZwj1tCH0Xs0ED1KNeQRMjbCJA38Jld",
  "id": "rs_075d6a7bd07fa8da016ab2b55cf8c887d09c9681b31be36071",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The held pear is above the blue bowl’s opening. I’m releasing it into the bowl.\"}",
  "call_id": "call_HIS9Z9di90yUTDOST5vSlW5h",
  "id": "fc_075d6a7bd07fa8da016ab2b55d775887d0aad16736cc5fe9f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HIS9Z9di90yUTDOST5vSlW5h",
  "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]: [-0.02, 0.852, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.6899, 1.6981, 1.1049, 0.0216, 0.5869, 0.0975, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1585 left_yaw=0.0019 left_pitch=-0.1354 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4248 right_y=0.2284 right_z=0.1693 right_yaw=0.1403 right_pitch=0.0885 right_roll=-0.2003 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.5795, 6.9538, 1.5897, -0.0659, -0.0611, -0.0073, -0.294, -8.9231, 6.2427, 1.9414, 0.1245, 0.1148, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cec9ce781dfd4f184247fc8663feb6d9b8fc9afb891a3d655fb89f8950be201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88bde213d2b115139787c598ee22adfa403ad38391c52144ea8e90230bc8da09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680cd188665323f416862bac935fc98994f4d6e4f19c405297f6a7862ae75d32",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.375 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]: [-0.02, 0.8513, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 0.6884, 1.6939, 1.0981, 0.0486, 0.5819, 0.0986, 0.7447]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1586 left_yaw=0.0019 left_pitch=-0.135 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4262 right_y=0.2295 right_z=0.1731 right_yaw=0.1409 right_pitch=0.1081 right_roll=-0.1842 right_gripper=0.7447\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5849, -0.0562, -0.0757, -0.0122, 0.2256, -7.6103, 8.6906, 1.8095, 0.3736, 0.2418, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVmSaUkQQBoiL0dBSoQnPc8ZchRv_ScPSsQXDlOJQWMvCrUWAB_VPwfYV2sUyDN9r3Nv7UecEwN-Y9XNOhGxPQ1zT7JJZymr_bw-TW-zB3ZzLwoS_3DwibIfW4W49jm7LF69fHVICtxEZYY66GSCxY4hfzoU22agWIpPayR6x_ct1efphvmcbw_tV2azfRB9Xqe1pvl0xM1TwQBQudC-d6Y5I2Mmp0eelzjwTvfBuTgtJ5DLJrSq6HywnlGZ6j9JTlCvQWKpySkRu-IV15bqDHZD3FrkqcYoiscsqWGiyCFoWpluvEXd5T2NSkgHTix2Wea8VfZkBW9cH0mjQIVZ4o26Cc7-XUm9FVhz6WpeQzNcM6zszLE_cKTdIw5TZOTT0neHm8GGiqd5g6opR0k2-7bIqFMR2l60zDQx3rVNFvIlhiGiZ_jH5SyMWR0TwA0UeUZFH-9OWjCy-ZUpfKBCeSeqcDis45dna0t9oeWSe4qrwCXMGI655Cno2UaOxBl3RinAvkAbsYG0l_XyWTKtUGGMcKT-dBccKPeMdZvNHED6aPDypsWBrX_01E04shIuv0AqK2OAEyr0sJW9MHD7dHjOc9NQ5hmXG1-h2MLB3W6mDbvJNFH9oijzwBYgwAK2GM3jcLlwOh3ht_gSVw_zTTZBXSVKK_2qIEZf6FrFDXCyjFahWJOISIouHZvK8vO1_wS4wRam3P_-uQShTxckrTHI2DCWlm-iYcIJ_bGuDXge1M6OI39gSyOaxUbFeB8jdTZgt5UYj2LRISu3wBIb06Au6Q5lf39J0SoIMOd_FQNCpucNVQOrriUBN2OqzdBlVPuPGtEbNmnchJ1_tVCjGZu3WKTdkkHk3Wf1Czjvof7z-yo8l79_jYVov13K0Oeh6JbmGPXYiLk9XE3soPFCVnQ7kbLfO8CftrlyUb1mFmDuxbcNDMt68nu53C9z_WbVY-kAj0xkyaQHCTFnAddAnm3598GVDunHzdZ4wf_iq2sCXpFVrQLga_yipKK9s5NcjZaBrPlH1tto00xgeNir-BkQHG5AULTGoIgeaciEkF9zLYxNkEmBBoys-zLMGpI6TPjchkV-ao14TZMJ4LLKnzv68aAdUg8_H6teLIEa35W1KJhke0KmxK6fXTpQz3PspxRDO7W5Wz_ykHO8b1mMVdR1Olf0Xoxw3RNNc36uN8IDgLoCtVlxF3Qy6uGlEW12eAjfuug4QX2Ubc3bR0_8vSmSdER0kvoiD1foBRDqRfbKC4PmvRIm-f6voAQQ05mWBts5EvzT6q59qE5GauZ0X5OMJAC5qGX2TE8_SzONAPQ3tY=",
  "id": "rs_075d6a7bd07fa8da016ab2b562c34887d0a793274d075e9bc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.255,\"right_z\":0.145,\"right_pitch\":0.25},\"note\":\"The pear has left the gripper. I’m moving back toward the remaining yellow-orange fruit, clearing the bowl so I can align the next grasp.\"}",
  "call_id": "call_akKrXplfxKBUWo8jCJXos3dl",
  "id": "fc_075d6a7bd07fa8da016ab2b5640a9c87d0bf12361f2ec2fb38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_akKrXplfxKBUWo8jCJXos3dl",
  "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]: [-0.02, 0.8539, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0241, 1.5856, 0.7425, 0.2478, 0.8776, 0.1955, 0.9966]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1579 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3123 right_y=0.2587 right_z=0.1305 right_yaw=0.1983 right_pitch=0.1837 right_roll=-0.2502 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.6386, -0.0855, -0.0611, -0.0073, 0.212, -8.2667, 6.2017, 1.8437, 0.359, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83dfb9ac59da6cddd591edd794091289887fc1eded386d19bdafa0bfdeb54ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:481355e124f65824de4ba375ce8e3621eeb961128389330f2421bd4efc5b3447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd38ac1968c6577feac83b0265276b30851cebe6c4d9c36d99804a1a9c04512d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.913 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.6899, 1.6981, 1.1049, 0.0216, 0.5869, 0.0975, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1585 left_yaw=0.0019 left_pitch=-0.1354 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4248 right_y=0.2284 right_z=0.1693 right_yaw=0.1403 right_pitch=0.0885 right_roll=-0.2003 right_gripper=0.996\nstate[joint_eff]: [-0.3624, -1.5795, 6.9538, 1.5897, -0.0659, -0.0611, -0.0073, -0.294, -8.9231, 6.2427, 1.9414, 0.1245, 0.1148, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVrUxqciAkwZdzUW5g5cI0P5AELnxXUQ7nSsgBNh-0AzI9j7K0-dU8rbgitU1keJAX0OwGRfQojODbnQM47kCBnZ0AEsUnex-6mUGNsaU1sN9l8w5ZlOeCAvkwi3ec9VICbCFFR9AFj7Dejz-GWEhq_naWKL_BeXCQUDMx6GhP6OEqQfhLhFUNbRCO66ApNS54mxFV_eO3ZBfL9htgBijjwU0g9OINuk7JLjv2BEiwyhH06g8ccHs0NYaP06Og9xhScISP4m2bf_xto9Cgh4ZaWoBR8ViaZSdvNxeGa1YcA9jCHOMAn_sBh-Qwd7HmiPxjRsgbF5fRbAxm_UOOZTBl3sOpzF0KpAHHS0_b0zdE24G2j0zJtOonsNgrkH1cBUhQ2EwULPU0mpNN56icvaUHSkIJGy8ny8eplPayhRqGDgp4lFCVkK7xvylDyfMmrp5-XiCNtB36WB_H0svaRmkLHdE_8ttK3fNw5uHzpKZ-uo9CAgk0HaLsz2XIpreme3UWRBZaO7DwExehWTzAIWack7JcBhDbVjDy8CZ8put-KIYI-LPnhpLr-ZS4zyq6Pln666xIX6R8I_NF6ggf7diZ87wxhZ0a0zqwhRVG5DPO2mdvn2OsS3zH8JRd_ylarF0ZB0i923147kMt6TZzksUG-GclD1FUaxgl600B3CCN5ktNkAl64eqrXKqiqO1OXFQ4PORgRZBu85noKqeYNF392TfKeh_AGryuqcTOrB7gGqEQT41QWWKA4_e7iETfjK1JOAYyQ5-ur2nwDvAvGiPpwbnT7mtphRVAp3fORwzWP_hDAw7935O6fFRBtEPY6LZpNtApkhIDm94j4d9J7AvtDS0QEQRFp3-R1CCtfNtkNfySntyq0BsHfY-OLSh_h2V239d679oh896ut7b23gXJaiOgBFS3CeScT54saRh2MDwHpYzomW0nI0wpH4We3nBBlB-aky0umMDW359PQLYf03V_QO8r4IOe3nRaNluLjEWqCdTnbDtJ8-EE0VHrMag9gNwAf4wVe-cbqJpNwBVofkYG4Y57RBTTw2DUoxqnxs_vJ2jApSQfH6JpdVW4i-kQBNGsWAEKNAFLS5L26KN3W6lDO1xnTaY4uYGfBXzhJo6BsinLMg4g-cf-QjnVqjap7AZNsOVQroYCreu7KffwyWDPGrVg8wDzgkmsQA79oi-sSQajvkuDiz731YxJ_UoILBYQ5hl5nF3mWgh6EX5E7vcFXGnc0SOzo3_-f6vpmCD4=",
  "id": "rs_075d6a7bd07fa8da016ab2b569b01c87d0a70cd584a8459bec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.028},\"note\":\"The pear is confirmed inside the blue bowl. The remaining fruit is directly under the right gripper, so I’m lowering to grasp it.\"}",
  "call_id": "call_5aJNFU4wq37ZQEl8NZvpZPJm",
  "id": "fc_075d6a7bd07fa8da016ab2b56a200c87d0b3f58873f27e8528",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5aJNFU4wq37ZQEl8NZvpZPJm",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9362, 0.6174, 0.6571, 0.8734, 0.1982, 0.9966]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3095 right_y=0.2546 right_z=0.0237 right_yaw=0.2075 right_pitch=0.137 right_roll=-0.2952 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7983, 6.9265, 1.6093, -0.0855, -0.0562, -0.0171, 0.0205, -8.5812, 3.5077, 1.7118, 0.2271, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280838364fdccdcdc81175a4e080b2157d5e4df5c9ade8b81247425f0569a8e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac9dce6e58f5bb2b910bf3454d7568a70d52381808c660ccd0926d498f6173e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704e05565c04da96e6c06a382b827cd2ff48a6c30f76b1237d76cdc81e1831b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.684 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8539, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0241, 1.5856, 0.7425, 0.2478, 0.8776, 0.1955, 0.9966]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1579 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3123 right_y=0.2587 right_z=0.1305 right_yaw=0.1983 right_pitch=0.1837 right_roll=-0.2502 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6752, 6.9538, 1.6386, -0.0855, -0.0611, -0.0073, 0.212, -8.2667, 6.2017, 1.8437, 0.359, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow-orange fruit is between the open jaws. I’m closing around it at table height.\"}",
  "call_id": "call_pOJfq3bssc1QCIUOi6HxzPEE",
  "id": "fc_075d6a7bd07fa8da016ab2b56eaabc87d0b1f6b15d1bcd2dfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pOJfq3bssc1QCIUOi6HxzPEE",
  "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]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9522, 0.6102, 0.6712, 0.8745, 0.1986, 0.6424]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3083 right_y=0.2525 right_z=0.0182 right_yaw=0.2074 right_pitch=0.1313 right_roll=-0.3021 right_gripper=0.6424\nstate[joint_eff]: [-0.253, -1.3607, 6.9265, 1.58, -0.0611, -0.022, -0.0073, -0.212, -9.2786, 4.4103, 1.3553, 0.1929, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11900635a44b2b424a43b626200ca46b2965e3ec28d55f36361c35cdffa1ba2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae07bc51c57519ab4c08b8fffdf9db962f55b8c64d3773a9560e34c487e21665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7799e4a2335b8ecc3ea31659d6fc51cd948728bd290a1d8148f20f53c17569ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.808 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9362, 0.6174, 0.6571, 0.8734, 0.1982, 0.9966]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3095 right_y=0.2546 right_z=0.0237 right_yaw=0.2075 right_pitch=0.137 right_roll=-0.2952 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7983, 6.9265, 1.6093, -0.0855, -0.0562, -0.0171, 0.0205, -8.5812, 3.5077, 1.7118, 0.2271, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper opening matches the fruit’s thickness. I’m lifting it first to verify the grasp before moving toward the bowl.\"}",
  "call_id": "call_CNxaU28TdCpbNiG2fmefkAC3",
  "id": "fc_075d6a7bd07fa8da016ab2b57351dc87d0b3ad988501d24847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CNxaU28TdCpbNiG2fmefkAC3",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.6726, 0.6765, 0.3359, 0.8627, 0.1982, 0.6423]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1423 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.2537 right_z=0.0883 right_yaw=0.2152 right_pitch=0.1333 right_roll=-0.2895 right_gripper=0.6423\nstate[joint_eff]: [-0.253, -1.4564, 7.1179, 1.5751, -0.0855, -0.0171, -0.0073, -0.2256, -7.9521, 7.5282, 1.6239, 0.3492, -0.0317, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:468dffe1b9146e03b7994fce76a11ebcd0311de1a0bd7bde73f27a8786a1c4b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854f5f1e3136bd4b1d7616da1777633ce29890a4f0213c7883a310eb35a3df04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561569930b8981378799fe0ac141c92466cf5f375b53090417b8ebcc015392f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.804 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8577, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.9522, 0.6102, 0.6712, 0.8745, 0.1986, 0.6424]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1569 left_yaw=0.002 left_pitch=-0.1415 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3083 right_y=0.2525 right_z=0.0182 right_yaw=0.2074 right_pitch=0.1313 right_roll=-0.3021 right_gripper=0.6424\nstate[joint_eff]: [-0.253, -1.3607, 6.9265, 1.58, -0.0611, -0.022, -0.0073, -0.212, -9.2786, 4.4103, 1.3553, 0.1929, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.23,\"right_z\":0.2},\"note\":\"The yellow-orange fruit has lifted with the jaws. I’m moving it above the blue bowl alongside the pear.\"}",
  "call_id": "call_boTP65kAHsFNn7eDMJUUN03s",
  "id": "fc_075d6a7bd07fa8da016ab2b57777d087d0ba441547991fe008",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_boTP65kAHsFNn7eDMJUUN03s",
  "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]: [-0.02, 0.8585, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.7033, 1.6459, 1.0817, 0.0502, 0.6044, -0.0299, 0.6429]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1419 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4186 right_y=0.228 right_z=0.1892 right_yaw=0.2032 right_pitch=0.1262 right_roll=-0.2938 right_gripper=0.6429\nstate[joint_eff]: [-0.3487, -1.4291, 6.9265, 1.6239, -0.0464, -0.0757, -0.0122, -0.294, -7.4188, 8.294, 1.7216, 0.1001, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb641345ee79e4f8633016bcb3817d99af386ee4959209382790a3e7a9dceeeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15a4c3f28e01541a269d5495eb8bd51f3014e3f4ae4e35cb52af35304c420ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0bf411789c1f7ba09d51792832e96f464cdfe2cbcd36ec701d44b041b60aef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 8.162 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4946, -0.0139, -0.0338, 0.9993, 1.0237, 1.6726, 0.6765, 0.3359, 0.8627, 0.1982, 0.6423]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1423 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3074 right_y=0.2537 right_z=0.0883 right_yaw=0.2152 right_pitch=0.1333 right_roll=-0.2895 right_gripper=0.6423\nstate[joint_eff]: [-0.253, -1.4564, 7.1179, 1.5751, -0.0855, -0.0171, -0.0073, -0.2256, -7.9521, 7.5282, 1.6239, 0.3492, -0.0317, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The second fruit is positioned over the blue bowl. I’m opening the jaws to place it with the pear.\"}",
  "call_id": "call_mLy8NqCP7y7WFIC2dsUmJbez",
  "id": "fc_075d6a7bd07fa8da016ab2b57da96887d0bcd5e915a6b88786",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mLy8NqCP7y7WFIC2dsUmJbez",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4942, -0.0135, -0.0338, 0.9993, 0.7002, 1.6474, 1.087, 0.0246, 0.5896, -0.0418, 0.9959]\nstate[eef_state]: left_x=0.2867 left_y=0.0002 left_z=0.1567 left_yaw=0.0016 left_pitch=-0.1419 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4176 right_y=0.2281 right_z=0.1853 right_yaw=0.2196 right_pitch=0.1016 right_roll=-0.3081 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.3607, 6.9538, 1.6337, -0.0073, -0.0562, -0.0122, -0.1299, -8.335, 6.3521, 1.9121, 0.2955, 0.0513, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e2072c8ce50449c54f981174de02ba3094b64c3d1d53b54ae22a38baa8326f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc224ea5f0ec014ff1c62e15f450554f2b138559330e1cbad5d7c3415faa9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8425039e84bde404b58ecb078fc1315c158d36d9e93ae4c065709940e93b86a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 15.25 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6415, -0.4942, -0.0139, -0.0338, 0.9993, 0.7033, 1.6459, 1.0817, 0.0502, 0.6044, -0.0299, 0.6429]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1567 left_yaw=0.002 left_pitch=-0.1419 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4186 right_y=0.228 right_z=0.1892 right_yaw=0.2032 right_pitch=0.1262 right_roll=-0.2938 right_gripper=0.6429\nstate[joint_eff]: [-0.3487, -1.4291, 6.9265, 1.6239, -0.0464, -0.0757, -0.0122, -0.294, -7.4188, 8.294, 1.7216, 0.1001, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrWGTqc7TxpTkpg5vltGeffAs_BWrOYcGb2H0Zm74NCReEbeu74t5F51DGtduyP3gXT81nQ4MbBh98IgCWK4eyZ-iczr35_yoYH7nMROxBK6X8KXwK9Qf2ENMM5jQn3NAhN_2zF7iL6bG-nN84I4tdAIOxaTikVgR8zzcEI5v6RLhn6tLcrC-vz1ObRGG5bGcqo_Kupd4BOfA2unOdqeH1yXj2IAR5K0FtLCXjU_POe3reiHxMFwhizDHjyauG5d_c7IMnFVMKKys-Rx3cDQVrJ91npYQpo5aD7EW3ooTGuv95HUfU3qB9Tr9aBSpmShwJa1USHBir-IzrgB7EuCBnHwz9VCuiFsxqRBQmjoXrAEN-Yv8VmxSYo-Ej7IsbinXf1iJgjIzbhw_o8NBd-0ujLow9atSV3U2pQemKReyyJvevOexGSDHAmsva2r5ljp7uR-Se7YhZou9DKp5tF42fdPSQTegmsxrUzeE10CeiIecTKfr6oyM0JqGczMKqu8dHpOGvvK4H4bJbrkwL-tsVcV3qabx-tgdAvp4seXMCz-B93IS_JrIdzdiXK7SGG8-J2ryxNralpGuT4D8V83cwCkTf7ikFq0iRVHRFqxC59hKflrlzfH92iwL2F--BX6mq1k9gP0xP7061HuAOiyhNCQwT38jBlU8Unx9WuX3xQQwqRpghmWmuiL35vH8rEgwBymJvojPqWndB3Bobv5G8NVvkWsW5ImyNXAAA7sWysx63-Lug3rj-PejguHlG8gNSf0XQgb4692_5qJaN5_HIf-Q2VJjR1fLqshWiFpWjHZRq02O8qMUnI06sYt8qSFgH08eFumNx4ewLfsRkFKF3ZyvPyKQjStV-4nBAOVAz1qvkW2Kjdt1Ai5gCMXphKsei62RCyto6k8Tx9s_2YXjPwxM4q3k9zMQawlvoyXgqODDnSdzwcDjXbu5J0j1ZKXy_L3sIpXBMcmiEbMxyEuexhfxOxPNXvXix-71cgY19ReEwnZE1_iTqlhGAEQnc_DvlyYmzz7FdZhS2WIEzAc3wynf4kl_ziRe0edRo_oSyRFmVpFsX4vm9mufyqovUeqc5zqHure7iv5ytuR0pDen1FVgFn5HL5LoXMnduA_glRoH7xeRPpUFiuOcY6yX0mKh0b0HGHvM9n1nToMV-WuercMkoWEgPBcJ-bW3s0YYXALrGYHFwtfxtZjnB7TWSm3Pf7bNuj4vdKdTZHU5D3vSMV_1qmG0W_DhJqPlLkTWg1LtS41BOtquR562iIeD9_QeZhuwbcCI0ZmMu1Qgx55t7x_NYGGz-MVaBqD3cM6qOO7wxVwrt_W-gfAijN9XIhyzsk89nmPSmsta_fLfAUgxPNilGGtTjxbvxPBJzjrmvR1Xs35_lEPiRc7Y7h4IU_pxNOtn2aBrCC7xVqX6d5B6zHkJ4BR7d_pSO0d2oxt6MP_PpBSHirZv15rBt02LUIjE-bALdX0Gjkzq5n3lw-9sqsy9UzTl09HrMl0vY1Kd3-FzicVjDycDx1D6d2-dZBbKcqaWVgnnIiEjsqPr-hT4KsWtQ==",
  "id": "rs_075d6a7bd07fa8da016ab2b581f79c87d0b0bcf81521110f12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.21,\"left_x\":0.43,\"left_y\":-0.28,\"left_z\":0.16,\"left_pitch\":0.3,\"left_gripper\":1},\"note\":\"Both fruits are now in the blue bowl. I’m clearing the right arm and bringing the left gripper toward the blue bowl’s left rim so it can lift and pour toward the white bowl.\"}",
  "call_id": "call_X3KUVwceAZ3xP1osib4WBDyv",
  "id": "fc_075d6a7bd07fa8da016ab2b584c9a087d08e484bb9a903c37b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X3KUVwceAZ3xP1osib4WBDyv",
  "output": "executing move_to over 25 steps (2.5s)",
  "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]: [-0.8219, 1.8633, 1.0584, 0.3408, -0.7708, -0.3367, 0.9993, -0.046, 0.7589, 0.6044, -0.2775, -0.0311, -0.379, 0.9965]\nstate[eef_state]: left_x=0.4232 left_y=-0.2693 left_z=0.1419 left_yaw=-0.0031 left_pitch=0.2424 left_roll=0.0184 left_gripper=0.9993 right_x=0.304 right_y=-0.0049 right_z=0.2122 right_yaw=0.171 right_pitch=0.1073 right_roll=-0.3129 right_gripper=0.9965\nstate[joint_eff]: [-0.7316, -9.2376, 8.4034, 1.9072, -0.398, 0.3053, -0.0806, -0.212, -1.2786, 6.8444, 1.8339, -0.0855, 0.0073, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62e2c16aaa5582a8b108650a0c9f486aa38b283f5e5c7b8eda2d727a3ab7647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d917085501ca0212cf7a52240b524fdddcb2402ac374a4f91645395738459e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37df3f5fad11aab9d5e5900a6aa5a7dcc3c600559d23021c3b58e5a4a6a84a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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