adhoc

completed
2026-09-22T18:17:12.705598+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
245.1 s
total steps
225
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits: a dark fruit on the left, a yellow fruit in the middle, and a pear on the right. I am positioning the right gripper above the pear to load the blue bowl first.
move_to
right_x0.3900right_y0.0800right_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]: [-0.0303, 0.7998, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.02, -0.033, 0.9991] state[eef_state]: left_x=0.2959 left_y=-0.0029 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [0.2667, -1.7436, 9.6479, 1.8193, -0.0952, 0.1099, -0.0855, -0.1573, -1.7983, 9.347, 1.8193, -0.0806, 0.1734, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.08,"right_z":0.15,"right_gripper":1},"note":"I see three fruits: a dark fruit on the left, a yellow fruit in the middle, and a pear on the right. I am positioning the right gripper above the pear to load the blue bowl first."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe pear is near the bottom of the wrist view, slightly to the right of the jaw center. I am shifting right and lowering around its body.
move_to
right_x0.4000right_y0.0550right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0322, 0.8059, 0.6132, -0.3977, -0.0139, -0.0311, 0.9993, 0.3065, 1.3411, 0.7238, -0.0418, 0.2352, 0.1242, 0.9991] state[eef_state]: left_x=0.2943 left_y=-0.0034 left_z=0.1773 left_yaw=-0.0013 left_pitch=-0.021 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3791 right_y=0.0806 right_z=0.1282 right_yaw=0.0296 right_pitch=-0.0696 right_roll=-0.0276 right_gripper=0.9991 state[joint_eff]: [0.1026, -1.6205, 7.0906, 1.8828, -0.0415, -0.0562, -0.0122, -0.3214, -5.8188, 8.841, 1.9512, 0.2173, 0.1832, -0.1001] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.055,"right_z":0.045},"note":"The pear is near the bottom of the wrist view, slightly to the right of the jaw center. I am shifting right and lowering around its body."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe pear is centered between the jaws at grasp height. I am closing to a fruit-sized opening rather than squeezing fully.
move_to
right_gripper0.4300
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]: [-0.0322, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9993, 0.1909, 1.6272, 0.5762, 0.379, 0.1402, 0.0517, 0.9991] state[eef_state]: left_x=0.2929 left_y=-0.0035 left_z=0.1746 left_yaw=-0.0016 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3972 right_y=0.0553 right_z=0.0404 right_yaw=0.0324 right_pitch=-0.096 right_roll=-0.0308 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.4838, 7.3641, 1.8095, -0.0269, -0.0464, -0.0171, 0.1026, -6.5983, 4.8752, 1.9267, 0.0952, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.43},"note":"The pear is centered between the jaws at grasp height. I am closing to a fruit-sized opening rather than squeezing fully."})
tool
executing move_to over 6 steps (0.6s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe jaws have closed around the pear-sized width. I am lifting a short distance to verify that the pear comes with the gripper.
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]: [-0.033, 0.8078, 0.6132, -0.4149, -0.0135, -0.0307, 0.9993, 0.1921, 1.6234, 0.5793, 0.4042, 0.1402, 0.0414, 0.4385] state[eef_state]: left_x=0.292 left_y=-0.0037 left_z=0.1733 left_yaw=-0.0026 left_pitch=-0.0401 left_roll=0.0004 left_gripper=0.9993 right_x=0.4021 right_y=0.0567 right_z=0.0479 right_yaw=0.0395 right_pitch=-0.0645 right_roll=-0.0341 right_gripper=0.4385 state[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.8095, -0.0464, -0.0024, -0.0122, -0.4581, -6.188, 5.5726, 1.4383, 0.0122, 0.0806, 0.525] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws have closed around the pear-sized width. I am lifting a short distance to verify that the pear comes with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe pear remains visible below the wrist camera, so the initial grip did not lift it. I am reopening and moving slightly toward the base to center the jaws lower on the fruit.
move_to
right_x0.3780right_y0.0650right_z0.0300right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8078, 0.6132, -0.4232, -0.0139, -0.0311, 0.9993, 0.1925, 1.4563, 0.7017, 0.0895, 0.1333, 0.0399, 0.4384] state[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1716 left_yaw=-0.002 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9993 right_x=0.3988 right_y=0.0574 right_z=0.099 right_yaw=0.0462 right_pitch=-0.0901 right_roll=-0.0349 right_gripper=0.4384 state[joint_eff]: [-0.1299, -1.1419, 7.241, 1.8339, -0.0415, -0.0415, -0.0122, -0.1709, -7.4051, 8.2803, 1.7851, 0.0562, -0.0562, -0.022] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.378,"right_y":0.065,"right_z":0.03,"right_gripper":0.8},"note":"The pear remains visible below the wrist camera, so the initial grip did not lift it. I am reopening and moving slightly toward the base to center the jaws lower on the fruit."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe pear’s broad body is now centered on the jaw column. I am closing fully so the settled opening can confirm contact.
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]: [-0.033, 0.8078, 0.6132, -0.424, -0.0135, -0.0311, 0.9993, 0.2359, 1.6054, 0.4957, 0.4221, 0.1627, 0.0528, 0.7999] state[eef_state]: left_x=0.2907 left_y=-0.0036 left_z=0.1714 left_yaw=-0.0023 left_pitch=-0.0492 left_roll=0.0003 left_gripper=0.9993 right_x=0.3762 right_y=0.0647 right_z=0.0282 right_yaw=0.0576 right_pitch=-0.109 right_roll=-0.0466 right_gripper=0.7999 state[joint_eff]: [0.0342, -1.1282, 7.1179, 1.7411, -0.0317, -0.0171, -0.0171, 0.1709, -5.559, 4.6154, 1.8632, 0.0855, 0.1099, -0.0269] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear’s broad body is now centered on the jaw column. I am closing fully so the settled opening can confirm contact."})
tool
executing move_to over 8 steps (0.8s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper stopped at a 6.2 cm opening, consistent with holding the pear’s broad body. I am lifting to check it clears the table.
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]: [-0.033, 0.8078, 0.6132, -0.424, -0.0139, -0.0311, 0.9993, 0.2356, 1.6054, 0.4957, 0.4267, 0.16, 0.0483, 0.656] state[eef_state]: left_x=0.2907 left_y=-0.0035 left_z=0.1714 left_yaw=-0.002 left_pitch=-0.0492 left_roll=0.0006 left_gripper=0.9993 right_x=0.3768 right_y=0.0652 right_z=0.029 right_yaw=0.062 right_pitch=-0.1049 right_roll=-0.0477 right_gripper=0.656 state[joint_eff]: [-0.1299, -1.3333, 6.9949, 1.6728, -0.0415, -0.0659, -0.0122, -0.1846, -6.106, 5.2718, 1.5751, 0.0708, -0.0269, 1.033] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper stopped at a 6.2 cm opening, consistent with holding the pear’s broad body. I am lifting to check it clears the table."})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe pear has risen with the gripper and the opening remains stable. I am carrying it above the blue bowl with clearance over the rim.
move_to
right_x0.4800right_y0.1400right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8089, 0.6132, -0.424, -0.0139, -0.0311, 0.9992, 0.2359, 1.3998, 0.6231, 0.0494, 0.1555, 0.0437, 0.656] state[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1711 left_yaw=-0.002 left_pitch=-0.0503 left_roll=0.0006 left_gripper=0.9992 right_x=0.3699 right_y=0.0645 right_z=0.0807 right_yaw=0.0678 right_pitch=-0.1492 right_roll=-0.0558 right_gripper=0.656 state[joint_eff]: [-0.0205, -1.3744, 7.1863, 1.6825, -0.0611, -0.0415, -0.0171, 0.0615, -6.8855, 8.4581, 1.7705, 0.0611, 0.022, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.14,"right_z":0.21},"note":"The pear has risen with the gripper and the opening remains stable. I am carrying it above the blue bowl with clearance over the rim."})
tool
executing move_to over 9 steps (0.9s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe pear is over the blue bowl’s opening. I am lowering it closer to the rim before releasing.
move_to
right_z0.1450
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]: [-0.033, 0.8127, 0.6132, -0.4301, -0.0135, -0.0311, 0.9993, 0.3664, 1.7607, 1.4948, -0.5278, 0.2321, 0.1024, 0.656] state[eef_state]: left_x=0.2901 left_y=-0.0036 left_z=0.1688 left_yaw=-0.0023 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9993 right_x=0.4724 right_y=0.1416 right_z=0.1924 right_yaw=0.099 right_pitch=-0.2005 right_roll=-0.0789 right_gripper=0.656 state[joint_eff]: [-0.1162, -1.2923, 7.0359, 1.7216, -0.0366, -0.0415, -0.0073, -0.4855, -9.0735, 9.1556, 1.8291, 0.2662, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.145},"note":"The pear is over the blue bowl’s opening. I am lowering it closer to the rim before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe blue bowl is directly beneath the pear. I am opening the jaws to place the pear inside.
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]: [-0.033, 0.8135, 0.6132, -0.4339, -0.0139, -0.0334, 0.9992, 0.3649, 1.7824, 1.3296, -0.3851, 0.2306, 0.094, 0.656] state[eef_state]: left_x=0.2896 left_y=-0.0035 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0649 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4653 right_y=0.1383 right_z=0.1371 right_yaw=0.1007 right_pitch=-0.2439 right_roll=-0.0957 right_gripper=0.656 state[joint_eff]: [-0.2667, -1.3197, 7.0632, 1.7216, -0.0757, -0.0562, -0.0171, 0.1573, -9.4017, 6.8991, 1.9023, 0.0415, 0.0562, 1.0379] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue bowl is directly beneath the pear. I am opening the jaws to place the pear inside."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe pear is resting inside the blue bowl. I am moving the right gripper toward the yellow fruit and refreshing the idle arm’s safe parked pose.
move_to
right_x0.3800right_y0.2350right_z0.1500left_x0.2960left_y0.0000left_z0.1820
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4347, -0.0139, -0.0334, 0.9992, 0.3645, 1.7824, 1.3296, -0.3931, 0.231, 0.0868, 0.9956] state[eef_state]: left_x=0.2895 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0008 left_pitch=-0.0656 left_roll=-0.0008 left_gripper=0.9992 right_x=0.464 right_y=0.1376 right_z=0.1358 right_yaw=0.1035 right_pitch=-0.2519 right_roll=-0.1033 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.347, 7.2, 1.663, -0.0806, -0.0611, -0.0122, -0.1983, -9.2786, 6.8991, 1.5311, 0.0171, 0.0269, -0.1636] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.235,"right_z":0.15,"left_x":0.296,"left_y":0,"left_z":0.182},"note":"The pear is resting inside the blue bowl. I am moving the right gripper toward the yellow fruit and refreshing the idle arm’s safe parked pose."})
tool
executing move_to over 9 steps (0.9s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe yellow fruit is close to the jaw center in the wrist view. I am lowering around its middle with a small lateral correction.
move_to
right_x0.3900right_y0.2470right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0135, 0.8513, 0.6449, -0.4763, -0.0067, -0.033, 0.9993, 0.7071, 1.7451, 1.3025, -0.5285, 0.4168, 0.3286, 0.9962] state[eef_state]: left_x=0.2897 left_y=0.0008 left_z=0.1636 left_yaw=0.0125 left_pitch=-0.1134 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3814 right_y=0.2365 right_z=0.1303 right_yaw=0.1449 right_pitch=-0.2931 right_roll=-0.1272 right_gripper=0.9962 state[joint_eff]: [0.4444, -1.1829, 10.1949, 1.7949, 0.0611, 0.1001, -0.0073, -0.0205, -11.3709, 8.7179, 1.2576, 0.4029, 0.1832, 0.0513] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.247,"right_z":0.025},"note":"The yellow fruit is close to the jaw center in the wrist view. I am lowering around its middle with a small lateral correction."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe yellow fruit is centered between the open fingers at table height. I am closing around 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]: [-0.0135, 0.852, 0.6468, -0.4801, -0.0071, -0.0338, 0.9992, 0.7105, 1.9293, 1.1259, -0.2188, 0.4145, 0.3328, 0.9963] state[eef_state]: left_x=0.2894 left_y=0.0009 left_z=0.1635 left_yaw=0.0132 left_pitch=-0.1161 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3827 right_y=0.2402 right_z=0.0269 right_yaw=0.1388 right_pitch=-0.337 right_roll=-0.1515 right_gripper=0.9963 state[joint_eff]: [-0.3487, -1.5932, 6.8308, 1.6581, -0.0757, -0.0464, -0.0171, 0.1026, -8.8821, 5.2855, 1.3065, 0.1978, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centered between the open fingers at table height. I am closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe jaws stopped at about 4.9 cm, indicating a grip on the yellow fruit. I am checking the grasp with a short lift.
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]: [-0.0135, 0.852, 0.6468, -0.4843, -0.0071, -0.0338, 0.9992, 0.7105, 1.9537, 1.1149, -0.2138, 0.411, 0.3294, 0.5189] state[eef_state]: left_x=0.2888 left_y=0.0009 left_z=0.1627 left_yaw=0.0133 left_pitch=-0.1203 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3787 right_y=0.2374 right_z=0.0133 right_yaw=0.1373 right_pitch=-0.3645 right_roll=-0.1687 right_gripper=0.5189 state[joint_eff]: [-0.3487, -1.4838, 6.9265, 1.6435, -0.0708, -0.0611, -0.0073, -0.0752, -11.7675, 6.8444, 1.1062, 0.2125, -0.022, 1.0281] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The jaws stopped at about 4.9 cm, indicating a grip on the yellow fruit. I am checking the grasp with a short lift."})
tool
executing move_to over 6 steps (0.6s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe yellow fruit has lifted and stays fixed between the jaws. I am carrying it over the blue bowl beside the pear.
move_to
right_x0.4800right_y0.1400right_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]: [-0.0135, 0.852, 0.6468, -0.4881, -0.0071, -0.0338, 0.9993, 0.7105, 1.85, 1.2724, -0.487, 0.4068, 0.329, 0.522] state[eef_state]: left_x=0.2882 left_y=0.0009 left_z=0.162 left_yaw=0.0133 left_pitch=-0.1241 left_roll=-0.0036 left_gripper=0.9993 right_x=0.3794 right_y=0.2389 right_z=0.0793 right_yaw=0.1383 right_pitch=-0.3765 right_roll=-0.1725 right_gripper=0.522 state[joint_eff]: [-0.335, -1.5521, 6.9265, 1.6386, -0.0806, -0.0366, -0.0073, 0.0342, -11.494, 7.9932, 1.0916, 0.2808, -0.0513, 0.8523] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.14,"right_z":0.2},"note":"The yellow fruit has lifted and stays fixed between the jaws. I am carrying it over the blue bowl beside the pear."})
tool
executing move_to over 9 steps (0.9s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe yellow fruit is aligned over the bowl opening. I am lowering slightly and releasing it into the blue bowl.
move_to
right_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]: [-0.0135, 0.852, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.3702, 1.9083, 1.7885, -0.8429, 0.2344, 0.0383, 0.522] state[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.1612 left_yaw=0.0133 left_pitch=-0.1283 left_roll=-0.0035 left_gripper=0.9993 right_x=0.476 right_y=0.1446 right_z=0.193 right_yaw=0.124 right_pitch=-0.3677 right_roll=-0.1693 right_gripper=0.522 state[joint_eff]: [-0.3214, -1.5248, 7.2547, 1.6532, -0.0269, -0.0513, -0.0171, -0.294, -9.4701, 8.212, 1.1306, 0.0513, -0.149, 0.8816] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15,"right_gripper":1},"note":"The yellow fruit is aligned over the bowl opening. I am lowering slightly and releasing it into the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe yellow fruit appears to have landed beyond the blue bowl rather than inside it; I will recheck its settled position. Meanwhile I am clearing the right arm and approaching the dark fruit with the left arm.
move_to
right_x0.3000right_y0.0000right_z0.2200left_x0.2850left_y-0.1250left_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]: [-0.0135, 0.8528, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.371, 1.9114, 1.6234, -0.7383, 0.2302, 0.0254, 0.9954] state[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.161 left_yaw=0.0133 left_pitch=-0.129 left_roll=-0.0035 left_gripper=0.9993 right_x=0.4658 right_y=0.1418 right_z=0.1418 right_yaw=0.1295 right_pitch=-0.4316 right_roll=-0.1903 right_gripper=0.9954 state[joint_eff]: [0.0205, -1.6205, 6.9812, 1.6435, -0.0464, -0.0366, -0.0171, -0.3624, -11.0974, 6.3385, 1.5458, 0.0904, 0.1832, 0.0952] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.22,"left_x":0.285,"left_y":-0.125,"left_z":0.12},"note":"The yellow fruit appears to have landed beyond the blue bowl rather than inside it; I will recheck its settled position. Meanwhile I am clearing the right arm and approaching the dark fruit with the left arm."})
tool
executing move_to over 13 steps (1.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe dark fruit is left of the jaw center. I am shifting toward it and descending to grip its body; the yellow fruit has rolled farther toward the back-right.
move_to
left_x0.3050left_y-0.0900left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6937, 1.1019, 0.6006, -0.3679, -0.4744, -0.4873, 0.9993, 0.0265, 1.2144, 1.2304, -0.9821, 0.0692, -0.2379, 0.9963] state[eef_state]: left_x=0.2777 left_y=-0.1213 left_z=0.109 left_yaw=-0.0237 left_pitch=-0.1776 left_roll=0.0243 left_gripper=0.9993 right_x=0.3121 right_y=-0.0004 right_z=0.2208 right_yaw=0.0883 right_pitch=-0.4107 right_roll=-0.1962 right_gripper=0.9963 state[joint_eff]: [-0.2667, -3.2479, 8.0479, 1.6386, -0.4029, -0.0708, -0.0122, -0.253, -4.4103, 5.7231, 1.3407, -0.1636, -0.0659, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.09,"left_z":0.025},"note":"The dark fruit is left of the jaw center. I am shifting toward it and descending to grip its body; the yellow fruit has rolled farther toward the back-right."})
tool
executing move_to over 6 steps (0.6s)
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 dark fruit is between the fingers at grasp height. I am closing around it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4953, 1.3399, 0.3733, 0.0696, -0.363, -0.3576, 0.9992, 0.0277, 1.2209, 1.2297, -1.0065, 0.0582, -0.2604, 0.9963] state[eef_state]: left_x=0.291 left_y=-0.0819 left_z=0.0178 left_yaw=0.0202 left_pitch=-0.2503 left_roll=0.0612 left_gripper=0.9992 right_x=0.3076 right_y=0.0018 right_z=0.2152 right_yaw=0.1139 right_pitch=-0.4439 right_roll=-0.1971 right_gripper=0.9963 state[joint_eff]: [0.1846, -4.588, 5.0667, 1.5897, -0.0171, 0.1441, -0.0122, -0.3761, -4.4376, 6.5573, 1.5263, 0.1343, 0.188, -0.0073] 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":{"left_gripper":0},"note":"The dark fruit is between the fingers at grasp height. I am closing around it."})
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 gripper has stopped at a fruit-sized opening. I am lifting the dark fruit to verify a stable hold.
move_to
left_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]: [-0.4931, 1.3556, 0.3573, 0.0883, -0.3584, -0.3599, 0.5318, 0.028, 1.2213, 1.2297, -1.0149, 0.0582, -0.255, 0.9963] state[eef_state]: left_x=0.2877 left_y=-0.0802 left_z=0.0107 left_yaw=0.0218 left_pitch=-0.2633 left_roll=0.063 left_gripper=0.5318 right_x=0.3059 right_y=0.0019 right_z=0.214 right_yaw=0.1115 right_pitch=-0.4521 right_roll=-0.1932 right_gripper=0.9963 state[joint_eff]: [-0.2803, -5.2718, 6.8718, 1.1795, -0.2515, -0.0513, 1.0281, -0.2393, -3.9316, 6.3385, 1.3846, 0.0024, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_z":0.105},"note":"The gripper has stopped at a fruit-sized opening. I am lifting the dark fruit to verify a stable hold."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe dark fruit is secure in the left gripper, but the blue bowl is beyond that arm’s lateral range. I am bringing the right gripper to the bowl rim so I can move the bowl toward the center.
move_to
right_x0.4450right_y0.1800right_z0.0750right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4931, 1.1255, 0.5869, -0.3717, -0.3576, -0.366, 0.5366, 0.028, 1.2213, 1.2297, -1.0157, 0.0578, -0.255, 0.9963] state[eef_state]: left_x=0.2881 left_y=-0.0805 left_z=0.0902 left_yaw=0.0246 left_pitch=-0.2638 left_roll=0.0584 left_gripper=0.5366 right_x=0.3058 right_y=0.002 right_z=0.2139 right_yaw=0.1119 right_pitch=-0.4528 right_roll=-0.1927 right_gripper=0.9963 state[joint_eff]: [-0.1983, -4.3692, 9.388, 1.3407, -0.1832, 0.0171, 1.0281, -0.1026, -3.8496, 6.4205, 1.2381, 0.022, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.18,"right_z":0.075,"right_pitch":0.4},"note":"The dark fruit is secure in the left gripper, but the blue bowl is beyond that arm’s lateral range. I am bringing the right gripper to the bowl rim so I can move the bowl toward the center."})
tool
executing move_to over 29 steps (2.9s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe open jaws straddle the near-left section of the blue bowl’s rim. I am closing gently onto that edge while keeping the pear inside.
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]: [-0.4931, 1.1267, 0.5888, -0.3962, -0.358, -0.3664, 0.5395, 0.5678, 2.0453, 0.6781, 1.0515, 0.5274, -0.0898, 0.9963] state[eef_state]: left_x=0.2845 left_y=-0.0785 left_z=0.0872 left_yaw=0.0284 left_pitch=-0.2842 left_roll=0.0706 left_gripper=0.5395 right_x=0.4344 right_y=0.1759 right_z=0.0501 right_yaw=0.1466 right_pitch=0.2825 right_roll=-0.233 right_gripper=0.9963 state[joint_eff]: [-0.253, -3.2752, 6.5983, 1.5702, -0.2271, -0.0708, 1.033, 0.4171, -9.0598, 5.3812, 2.2198, 0.2564, -0.0415, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws straddle the near-left section of the blue bowl’s rim. I am closing gently onto that edge while keeping the pear inside."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe gripper closed empty just short of the rim. I am reopening and advancing two centimeters to put one finger inside and one outside the bowl edge.
move_to
right_x0.4630right_y0.1700right_z0.0650right_gripper0.6500
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]: [-0.4931, 1.1267, 0.5888, -0.4011, -0.3576, -0.3664, 0.5395, 0.5705, 2.0644, 0.6807, 1.0721, 0.5201, -0.0971, 0.011] state[eef_state]: left_x=0.2836 left_y=-0.0781 left_z=0.0865 left_yaw=0.0288 left_pitch=-0.2886 left_roll=0.0729 left_gripper=0.5395 right_x=0.4347 right_y=0.1789 right_z=0.0467 right_yaw=0.159 right_pitch=0.2846 right_roll=-0.2363 right_gripper=0.011 state[joint_eff]: [-0.335, -3.1248, 6.4889, 1.4042, -0.2222, -0.0317, 1.0379, -0.3761, -10.5641, 3.8906, 1.5458, 0.1978, 0.0659, 0.9206] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.463,"right_y":0.17,"right_z":0.065,"right_gripper":0.65},"note":"The gripper closed empty just short of the rim. I am reopening and advancing two centimeters to put one finger inside and one outside the bowl edge."})
tool
executing move_to over 7 steps (0.7s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe bowl shifted slightly right as the fingers approached. I am following the visible left rim sideways to align the grip.
move_to
right_y0.1350right_x0.4750right_z0.0650
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]: [-0.4931, 1.1263, 0.5888, -0.4049, -0.3576, -0.3664, 0.5395, 0.5087, 2.0644, 0.746, 0.973, 0.4587, -0.1238, 0.6456] state[eef_state]: left_x=0.283 left_y=-0.0778 left_z=0.086 left_yaw=0.0294 left_pitch=-0.2916 left_roll=0.0747 left_gripper=0.5395 right_x=0.4552 right_y=0.1684 right_z=0.0451 right_yaw=0.1682 right_pitch=0.2423 right_roll=-0.2564 right_gripper=0.6456 state[joint_eff]: [-0.3214, -3.1658, 6.5026, 1.3895, -0.2027, -0.0611, 1.033, -0.5128, -11.4256, 6.1744, 1.9072, 0.1001, 0.0122, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.135,"right_x":0.475,"right_z":0.065},"note":"The bowl shifted slightly right as the fingers approached. I am following the visible left rim sideways to align the grip."})
tool
executing move_to over 3 steps (0.3s)
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 right finger is now inside the bowl and the left finger is outside its rim. I am closing to capture the rim.
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]: [-0.4931, 1.1267, 0.5888, -0.408, -0.3576, -0.3664, 0.5395, 0.4149, 2.043, 0.7532, 0.9161, 0.3756, -0.1524, 0.6466] state[eef_state]: left_x=0.2825 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2946 left_roll=0.0765 left_gripper=0.5395 right_x=0.4677 right_y=0.1391 right_z=0.043 right_yaw=0.163 right_pitch=0.2028 right_roll=-0.2636 right_gripper=0.6466 state[joint_eff]: [-0.3214, -3.0701, 6.735, 1.3455, -0.1978, -0.0269, 1.0281, -0.1026, -12.0274, 5.2308, 2.083, 0.1099, -0.0757, 0.0952] 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_gripper":0},"note":"The right finger is now inside the bowl and the left finger is outside its rim. I am closing to capture the rim."})
tool
executing move_to over 7 steps (0.7s)
step 198
assistant
agent noteThe yellow fruit has rolled to the far back edge, beyond the table-contact reach of either arm, and the bowl rim grip did not hold. I am setting the held dark fruit back down and lifting the empty right gripper clear before stopping safely.
move_to
left_z0.0350right_z0.1500right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4931, 1.1267, 0.5888, -0.4084, -0.3576, -0.3664, 0.5395, 0.3946, 2.0182, 0.754, 0.8989, 0.3428, -0.1684, 0.0108] state[eef_state]: left_x=0.2824 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2949 left_roll=0.0767 left_gripper=0.5395 right_x=0.4705 right_y=0.1355 right_z=0.0503 right_yaw=0.1791 right_pitch=0.206 right_roll=-0.2651 right_gripper=0.0108 state[joint_eff]: [-0.0068, -3.0427, 6.6256, 1.3211, -0.1685, -0.022, 1.0281, -0.2803, -10.906, 5.641, 1.9023, 0.1245, -0.0024, 0.9158] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035,"right_z":0.15,"right_gripper":0.7},"note":"The yellow fruit has rolled to the far back edge, beyond the table-contact reach of either arm, and the bowl rim grip did not hold. I am setting the held dark fruit back down and lifting the empty right gripper clear before stopping safely."})
tool
executing move_to over 7 steps (0.7s)
step 205
assistant
agent noteThe dark fruit is back at table level. I am releasing it so no fruit remains suspended in the gripper.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4931, 1.2354, 0.4469, -0.2001, -0.3573, -0.366, 0.5433, 0.3958, 1.7123, 0.8677, 0.5797, 0.3355, -0.1764, 0.6953] state[eef_state]: left_x=0.2757 left_y=-0.074 left_z=0.0332 left_yaw=0.0363 left_pitch=-0.3317 left_roll=0.099 left_gripper=0.5433 right_x=0.4765 right_y=0.14 right_z=0.1682 right_yaw=0.1854 right_pitch=0.3025 right_roll=-0.2487 right_gripper=0.6953 state[joint_eff]: [-0.1436, -3.1521, 5.641, 1.5556, -0.2418, -0.0269, 0.6716, -0.1162, -6.612, 5.8325, 1.2772, 0.0855, 0.0171, 0.0024] approver: 6 step(s) modified (delta_clamped ×6). 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":{"left_gripper":1},"note":"The dark fruit is back at table level. I am releasing it so no fruit remains suspended in the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 210
assistant
agent noteThe dark fruit is released on the table and the pear remains in the blue bowl. I am parking both arms clear of the objects.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.2960right_y0.0000right_z0.2200
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]: [-0.4931, 1.2465, 0.4355, -0.1982, -0.3576, -0.3668, 0.9954, 0.3958, 1.7046, 0.8711, 0.5343, 0.3347, -0.1787, 0.6958] state[eef_state]: left_x=0.2719 left_y=-0.0718 left_z=0.0267 left_yaw=0.0407 left_pitch=-0.3493 left_roll=0.1098 left_gripper=0.9954 right_x=0.474 right_y=0.139 right_z=0.163 right_yaw=0.1894 right_pitch=0.2685 right_roll=-0.2582 right_gripper=0.6958 state[joint_eff]: [-0.1709, -4.0957, 6.7077, 1.1893, -0.1734, -0.0513, -0.1197, -0.0752, -7.4462, 6.0376, 2.3126, 0.0415, -0.0171, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.22},"note":"The dark fruit is released on the table and the pear remains in the blue bowl. I am parking both arms clear of the objects."})
tool
executing move_to over 14 steps (1.4s)
step 224
assistant
agent noteThe task is incomplete. The pear is in the blue bowl, but the yellow fruit bounced out and rolled to the far back edge, beyond the arms’ table-contact reach. The dark fruit has been safely returned to the table and both arms are parked. Operator repositioning of the yellow fruit is needed before retrying; no pouring was performed.
give_up
hindsightRelease fruit only after lowering it well inside the bowl opening; releasing the yellow fruit near 14 cm height let it bounce out and roll beyond table-contact reach. The blue bowl initially lies beyond the left arm’s lateral bound, so bring it toward the center before collecting left-side fruit. In this trial the tool pitch and roll drifted substantially despite unchanged targets, so check orientation readback as well as grasp-point position before rim grasps and releases.
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]: [-0.1005, 1.0939, 1.008, -0.841, -0.1505, -0.0662, 0.9963, -0.0616, 0.6666, 0.4778, -0.0425, -0.0544, -0.2985, 0.6958] state[eef_state]: left_x=0.2965 left_y=0.0003 left_z=0.1897 left_yaw=0.0746 left_pitch=-0.3452 left_roll=0.1036 left_gripper=0.9963 right_x=0.3048 right_y=-0.0056 right_z=0.2319 right_yaw=0.1424 right_pitch=0.3183 right_roll=-0.2719 right_gripper=0.6958 state[joint_eff]: [0.4308, -2.5915, 8.5128, 1.2479, 0.0073, 0.2173, 0.0855, -0.1846, -0.1026, 7.0222, 2.0977, -0.0024, -0.0757, -0.0073] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. The pear is in the blue bowl, but the yellow fruit bounced out and rolled to the far back edge, beyond the arms’ table-contact reach. The dark fruit has been safely returned to the table and both arms are parked. Operator repositioning of the yellow fruit is needed before retrying; no pouring was performed.","hindsight":"Release fruit only after lowering it well inside the bowl opening; releasing the yellow fruit near 14 cm height let it bounce out and roll beyond table-contact reach. The blue bowl initially lies beyond the left arm’s lateral bound, so bring it toward the center before collecting left-side fruit. In this trial the tool pitch and roll drifted substantially despite unchanged targets, so check orientation readback as well as grasp-point position before rim grasps and releases."})
tool
give_up: The task is incomplete. The pear is in the blue bowl, but the yellow fruit bounced out and rolled to the far back edge, beyond the arms’ table-contact reach. The dark fruit has been safely returned to the table and both arms are parked. Operator repositioning of the yellow fruit is needed before retrying; no pouring was performed.
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 · 11.17 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]: [-0.0303, 0.7998, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.02, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0029 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -1.7436, 9.6479, 1.8193, -0.0952, 0.1099, -0.0855, -0.1573, -1.7983, 9.347, 1.8193, -0.0806, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:329f24050acf20c14ac1c06c8de41c00fe7fa155eac365ade0a10d901b520d55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c1ea1c24c2aa7bbf25fe500015ea91da361899911a12cd01267f8693488b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e11317b5a175a988424b636d9644cd16b913d78ee76942ddec3477b250e748f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.895 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssZBVX_XnEg2rvJGFSEf7n7iq4CnAIPbqGCXdaFqjJpQBiATK7W1GbwUCDM1NCDSyHU3-sT1TZDmlnUEleTrC4_nOK9S4L8ZA3XXoM1gPpBC2PEuvc329YQtYxddRUi44WEcCL4L-WEXfQrbb7LUBcK8mxP_1TYjinSmAzEu8By9q7ywO88XJfiqfhfVf2CKJzeukLbp3_vpRsw-QnGQQ-LpS6y82rYTgn7KgDiTm-Vxvk3nH8NiKzBoOihLHAUjUaTi96hu9Ue4ww0GraJ_i9dSdR8UFa8YxOgSKBvgjV7SOXoBLNek9p9XvSxtNX84A0VibV6VB5lZ8HEpYBY31kKymUHILX1X3M1Ye9XQHmO5T5mdAb20it6G-FFtra6xTlsr05T5phCBhXCINVTRqBlIJbApYUb1Wjt76u-9yQGcxU7IAcyuhrixrFFGvvjEGVf55hp49brsn8dDOIW04hmy2WtDOCFUqSAxnyglwpoanznMdqqcDV12w_cbhG2X64XHHnyUrkh9V-O87sWEqIsA5IQwiobFJkw7ZmTxIqyUG_fFSp35gSEqTL5StQv0Hq8mPSylj-ClcMScUeutDrADr54UgEes7Kc6npYqppJkoX-vrbCuX6Y5EbzFSYstVi6VqeO70ZcFqPknB8j5yjlXU7wJoJ6DBhzytVZBC_usNLvJAg9IQ3Fi_4Q3fADX03PlUOaZ73w5z78IsGl7ymgYk8Jp8pxwbA3HOyjJQyqFKUBeslqwVHMgB5UFF1FPb83JafH2SaLvmBp1HBZzpeuH6jx2qR-b7VFkbqkRZKIh1cji50fhG9yBxiqaTlDVN4V8tmb7cAOV5W1sPWw2oD7j2Twd-6QiAoPl3gKlpd99IouZn4OqXdVZHWU5e68UAuEDPOJMiUE5HlXlBiFBjvZ4geprQJrHcEae36mkoO7ual48dtx-VarltHfoPRrbsECL0L7B1ZUGGGSm4aXPhz-0G86kTJ7f3vXoGCEviHdw20QcxFJzEcngyNvcSyND6D_usVL3hPKbFwlyyVhZH6VFnlMdmaMdlFdBA2N-VevG_CuUuQN1yygCBSGtOMuYD-aoYr2YNkyc85z_Vv_qSxufgyZu2ktEN53hCNcyKXnR2U98yWF3nErKT3ZmYfTeJ99mcCf3GBJg5_5nHq1yahaaOQ54YT-qqujZ-BikjxdbO4r4LCZxCe0tkTn7QWj4M882hKiKIdc8h52x6HD3zQhnt1U1QFZ96OKq2c2y1Zh2z2Iok008tkXCImYsMD7SnsDpvQErUMtWZPNK-0DIjxRYk6Y04IOCBXkGzgUh2wI7jFDOZTd3qcxcYfjH27YiAFR8-0Imu8H7KhrhImSy9YlPFVKvXadY7kkUZxAnuOL7OegJwrBrE2zYHvFCF-bIlhXtISdHOa5rHGc7mvJZk_wQQDAN9HSufnnaFQPkdvigqEh9TpRMbe8pOejWzq7ZU_gJQB4tBxuupMckwO1nlLE0CiHkvvCk3qqg6PTvvmm4Lj8LpCNgV9SswXpkImOF0p5P8ThDkgIZC-ey0D21_jcVrdrsvO7VkPpI_P8PlpxCuwgtQO0XkYBqiw4NQZD_3LSt1kz5fHoUgQgbhufcXRTFXipU7Yvt1RUN-KT9lfXu4ghl0DehfqWw5uG_FQVS4R1E",
  "id": "rs_07c40d420bf06e5d016ab2c63a439c87d094da3ea69b4c6229",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.08,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits: a dark fruit on the left, a yellow fruit in the middle, and a pear on the right. I am positioning the right gripper above the pear to load the blue bowl first.\"}",
  "call_id": "call_93UfQuOkjGfeXWR1IpNu22hR",
  "id": "fc_07c40d420bf06e5d016ab2c63f8a5887d0af4ac18851c34bff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_93UfQuOkjGfeXWR1IpNu22hR",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0322, 0.8059, 0.6132, -0.3977, -0.0139, -0.0311, 0.9993, 0.3065, 1.3411, 0.7238, -0.0418, 0.2352, 0.1242, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0034 left_z=0.1773 left_yaw=-0.0013 left_pitch=-0.021 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3791 right_y=0.0806 right_z=0.1282 right_yaw=0.0296 right_pitch=-0.0696 right_roll=-0.0276 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -1.6205, 7.0906, 1.8828, -0.0415, -0.0562, -0.0122, -0.3214, -5.8188, 8.841, 1.9512, 0.2173, 0.1832, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:598fa1f3e2165c2ff43857ea863ab8f30515023fa13e592c8de3cff5872321c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e614282b1f36c0147d5b71f7e8931e4625abfb931363b575d3b059380bf032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac55bc94354aaa7b8cdfb6a57e31e9d1d82001ddd6c890c9e4f50272d8e92769",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.894 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]: [-0.0303, 0.7998, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.02, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0029 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0004 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -1.7436, 9.6479, 1.8193, -0.0952, 0.1099, -0.0855, -0.1573, -1.7983, 9.347, 1.8193, -0.0806, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssZPqscog5hj3VO6OACw_RE0NCZt3dp2EDE_xjdlyinfz5XPLHs9bphvGlAeUGl-clTmhvCoaA6U_cX_VPlsPWIAtx3PYy7wpgXZEpC8abBC6G3x_HbnoAX3Cssj6YqXkZgoeES1ioEKcYWr8YN2N7ep2aHXOyg4lE4viRafijHiXvJ4uXPAA0A1QWzdr8TBGhVh9d9Eoi9qKCkMGQP9EC0lp2Oefv_xx3Lic-lVjxGVdewj8AMNKOkl23kqFPhdNDKtYPHtsX4v29fWZDpHOlMd_VI4Lk1Z6kbkQB6yxMRMsdS8SSU2P0C64kN-drm1J7ZvZZpCrCkakwKcniiNdxtNeTpMUmi6BhjJ-Ra7AEA3jXbGqVRs46_PGffVZDBIeIrKZYfJrPeflKTsrxUGGfqSfEng0fGvPkzpQ-01Z59r54HqkUAaowb7uFOhiByNmpBnEk1LlI9LHp6HFUcYkaZBZJqg2ZzHMY0AhJ64UFj1OtFdt6klBHVtSCR-iuZMRcDHHQCxW5j6Lr_Ag97ZqKrO7ce95bfinLV7_X4hqjHRsep6XIjLFcTzEmJqQz_6yAVR6iFuw0Y-RnF71X2QkHoPkTu4TnItZlaJVYyH3cguCKmK4ZKdphshEnCYT9A-HXxGRXWa7SncU2uX2L8jYJ7Cf2ZUWkNsAXgUHoegfqy20-Rl3W8ex_uIWNdLliwg8TgqqezOYkhMl-JuAIOv32jVbN62P23NTsi8jWdzMWNqWbe9cc6gK0s5fvEttTjD8kvk1pCoFG8p_Jh-4-99iaPpiJC3I9hyF--pNqKAkhlTzIe5yayv1EYEPjtABXtZat4A5cz-O0K7RC2gS3PcvZAaMu5KNGRsle0F8m0bYtCz3R10br1h7fqe_zkc6Nlttma8B2GNwzl5vf9bLX2oocivPC66PuyfkUzZbLlUaJVlY4aLgyGVzM8bVSbcuUT_CCOeX2FhHuS-WkYdNQMC4RvdCewpy-7aLnmD-fLbBP2gLU8n0NiNdE7VaCSFrgopYoouyKdmePLdsm2uTx_C-s_FtNiODsgW_TH24oRzd5aNexqQDDX6ZwH2k7aOUgxIlD-lVIO1eZh8MiucGXhmx22jm1lMtxXX8RlDAb2JexPZg1xP4595ZdCHlC5R90kCeTXC8Nm1ESymntVlTe47rupNpCVddLDljEAHuceuyDP56e_gdp-2rsdqhrduQVEs0nXWZ7q2fbMkMtSo7AaAMrSg4O8ymCzPX-G5ocTjJnE0MRZUg7QXO9W2OJrIWcCr2cRuraGU6x9j7WuxTbstHURvww==",
  "id": "rs_07c40d420bf06e5d016ab2c64c289487d0b5466200117fb463",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.055,\"right_z\":0.045},\"note\":\"The pear is near the bottom of the wrist view, slightly to the right of the jaw center. I am shifting right and lowering around its body.\"}",
  "call_id": "call_iZhGoZyb5vrlap7CR7t2Env5",
  "id": "fc_07c40d420bf06e5d016ab2c64d69f087d09666eaae2e5bbf50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iZhGoZyb5vrlap7CR7t2Env5",
  "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]: [-0.0322, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9993, 0.1909, 1.6272, 0.5762, 0.379, 0.1402, 0.0517, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0035 left_z=0.1746 left_yaw=-0.0016 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3972 right_y=0.0553 right_z=0.0404 right_yaw=0.0324 right_pitch=-0.096 right_roll=-0.0308 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.4838, 7.3641, 1.8095, -0.0269, -0.0464, -0.0171, 0.1026, -6.5983, 4.8752, 1.9267, 0.0952, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a2e541ef3411877ba9bf65c5eab0f32a08818f285ee3b5a9f223b46632ce9b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37a9c14621436109bd1911813ba66d48812cf2c14962c2db4380ecc1a25857e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c7cf060b96777e73044978a527c57e4677513a708a67d290d5ebcb779bd25b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.816 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]: [-0.0322, 0.8059, 0.6132, -0.3977, -0.0139, -0.0311, 0.9993, 0.3065, 1.3411, 0.7238, -0.0418, 0.2352, 0.1242, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=-0.0034 left_z=0.1773 left_yaw=-0.0013 left_pitch=-0.021 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3791 right_y=0.0806 right_z=0.1282 right_yaw=0.0296 right_pitch=-0.0696 right_roll=-0.0276 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -1.6205, 7.0906, 1.8828, -0.0415, -0.0562, -0.0122, -0.3214, -5.8188, 8.841, 1.9512, 0.2173, 0.1832, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.43},\"note\":\"The pear is centered between the jaws at grasp height. I am closing to a fruit-sized opening rather than squeezing fully.\"}",
  "call_id": "call_8L5sCWO16loC5gTW30OzNr5K",
  "id": "fc_07c40d420bf06e5d016ab2c654b51887d0b60a02003d7ddf43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8L5sCWO16loC5gTW30OzNr5K",
  "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]: [-0.033, 0.8078, 0.6132, -0.4149, -0.0135, -0.0307, 0.9993, 0.1921, 1.6234, 0.5793, 0.4042, 0.1402, 0.0414, 0.4385]\nstate[eef_state]: left_x=0.292 left_y=-0.0037 left_z=0.1733 left_yaw=-0.0026 left_pitch=-0.0401 left_roll=0.0004 left_gripper=0.9993 right_x=0.4021 right_y=0.0567 right_z=0.0479 right_yaw=0.0395 right_pitch=-0.0645 right_roll=-0.0341 right_gripper=0.4385\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.8095, -0.0464, -0.0024, -0.0122, -0.4581, -6.188, 5.5726, 1.4383, 0.0122, 0.0806, 0.525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b4a962cacf77477d8a3a29c4af8a51b3f7dab9e48816c1ae6af1757ad98100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6032543e4d05589673c79c7c35f9bbebe16eb1158ad75e74eb9d44654a31ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbed61a8728f353cf099bd97ef1312a839a9f7eec6e6ea9e2244408975fcd76",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 9.003 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]: [-0.0322, 0.8078, 0.6132, -0.4084, -0.0135, -0.0311, 0.9993, 0.1909, 1.6272, 0.5762, 0.379, 0.1402, 0.0517, 0.9991]\nstate[eef_state]: left_x=0.2929 left_y=-0.0035 left_z=0.1746 left_yaw=-0.0016 left_pitch=-0.0336 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3972 right_y=0.0553 right_z=0.0404 right_yaw=0.0324 right_pitch=-0.096 right_roll=-0.0308 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.4838, 7.3641, 1.8095, -0.0269, -0.0464, -0.0171, 0.1026, -6.5983, 4.8752, 1.9267, 0.0952, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws have closed around the pear-sized width. I am lifting a short distance to verify that the pear comes with the gripper.\"}",
  "call_id": "call_I2GKHOkQTxZkdyxhHCGQFMbl",
  "id": "fc_07c40d420bf06e5d016ab2c65902ac87d09ff9d4850e2774d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I2GKHOkQTxZkdyxhHCGQFMbl",
  "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]: [-0.033, 0.8078, 0.6132, -0.4232, -0.0139, -0.0311, 0.9993, 0.1925, 1.4563, 0.7017, 0.0895, 0.1333, 0.0399, 0.4384]\nstate[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1716 left_yaw=-0.002 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9993 right_x=0.3988 right_y=0.0574 right_z=0.099 right_yaw=0.0462 right_pitch=-0.0901 right_roll=-0.0349 right_gripper=0.4384\nstate[joint_eff]: [-0.1299, -1.1419, 7.241, 1.8339, -0.0415, -0.0415, -0.0122, -0.1709, -7.4051, 8.2803, 1.7851, 0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fade9760cff64c61d688de24ed6c9a25d228a5b4356d2b96a76c492411a02cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1281c97825dc9f9927bc42a124b94433cc64c467c47484c2a440e6977f4df8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c09ad5635b2eb983cdc5e0d33b10684ad8414f7ba15101327c733d01286ee05d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 7.651 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.4149, -0.0135, -0.0307, 0.9993, 0.1921, 1.6234, 0.5793, 0.4042, 0.1402, 0.0414, 0.4385]\nstate[eef_state]: left_x=0.292 left_y=-0.0037 left_z=0.1733 left_yaw=-0.0026 left_pitch=-0.0401 left_roll=0.0004 left_gripper=0.9993 right_x=0.4021 right_y=0.0567 right_z=0.0479 right_yaw=0.0395 right_pitch=-0.0645 right_roll=-0.0341 right_gripper=0.4385\nstate[joint_eff]: [-0.1026, -1.3197, 7.0632, 1.8095, -0.0464, -0.0024, -0.0122, -0.4581, -6.188, 5.5726, 1.4383, 0.0122, 0.0806, 0.525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssZkPyUxrlXbwJD_UW6ky7DNikrSLUCAduA8qykm9CPa9L6HYZnJIOF1OHdE1XFSzwoBlJYl9gT4mzdwoIod-Zo5iT7XiRZ-1P67kJjcLbZJtWHXH27AK8e-vKT0QUkVwZ4dufuyKwwkPWCMIQ6Di0cAOnaC8ODNh7YzvQ0x67qR7GXisBYwCLWgI6iJ3dPTTIQvqBGc22Y4HQFfDoUhYIkP32r4T3SxeU1dErT7m1JCnEcCXCdPaoyEyiF8v3nueEZltQMd_pg7DxuGol5Ilruy_ZGH9qRqhgI7_djbhc3PRxW9zO9w3x-u2TUx7v8eH9ySt6W3ngekpLODr6ttivYCi_XPSSWaOsZNO73Ynstz5BZ_tZCzzectVW3b09MMUNPKHkTgPn7zfEYjmsmgJSjKBZ4jQQ3AR8vJRF9KS3lvvYlZwdsfF66smHlx93SGGHvDTqWjVDQumuoa0kvKQGDqZSjlnSWdpkcBEW2TIxTMJNP_rDCU8Mm6qNR6wGyF25ScP8IO6Yjh0rU6fzx-hzQhaQGCNylk5j4sKdzuyaBydUS_ZD7AZq0FEIEp6QOH_XQ85eLxMvsggSK--oPNXibfN42NgZWxN0sACC1D4nwCU03hzmP3YM-C1BM0BFIyAuI6TSql4a-GZw432w-eXDxdVFjGe4WtqVsRq9455ybPISHPJh-s4Z2vH5lEDuXRLz6MH1eGX9nah8jGF_oU2XTjLI8UnOPmVI5M2EzBg4S5ls4NV05QgEJxFrIJ3DPH-L33lCC0alFHvRn5vAu2NavBA5mYrZOS_QTqwMcyZfYeWeyE3VHTpwoTWhSzecBEsfRV7Gfuf_nqYHSN2Rue6OHxcJKxQpFULXEWJ6q9lq8I28aEa4Hd9N7RSSxy5XfSAOuYGPMBj0xEfbZTMbq2maD34XoMXw6kRtXbrRc6UFfvi9vUSdE3QWX8quwBvgnqEvZy3RjYe3DVyMYyDY4a0S_crSb90ECsfvntJp2RT1cxuNzh1j5JiNMd_q9TNpqOltcCfc_vHnD94Hq5oLsutif4GP9A3J2ITRak96OdP8rgZ3kkFt7eg0-Al7lL3MgC8FIbw0wPlKA7Ql9hvyKkR1vSB5u8v3OKArFPFInUU1avjiu5kmY0MRRr26r0VfaTTaBHLXVTa4PbPoKTI8XRhMBiHi18cURKf-BxlhdMR1ZwcOSnC1hECq8Sf0T60D1hDLMSUbXEpLhy7KLwBifjiOt6b_bF-8YrsB-tDeja9ZxmWj1W0Za46JZ1FXi7I1J9DjCTXmaXrko2X4rBgenq_hjFw00eqIt3T2dzAt5YRTbTvCSufFNzT-b8QS22eHx5nfFyNmuxmmMREva_wOpURRwOZFxTMPL5HUu8ZfbgLP2rvf9Yzdj71GfQUutufGCeiijZz2z5smReMqChWa67TrV_ZdrGC5ceNKuvHRQfjLm3N8YxLKlzfO9dIk3NkW8yESvi",
  "id": "rs_07c40d420bf06e5d016ab2c65fe30487d0a376c0b8aa7c56c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.378,\"right_y\":0.065,\"right_z\":0.03,\"right_gripper\":0.8},\"note\":\"The pear remains visible below the wrist camera, so the initial grip did not lift it. I am reopening and moving slightly toward the base to center the jaws lower on the fruit.\"}",
  "call_id": "call_ggM5grW65XVZ4xY4DKDot7BQ",
  "id": "fc_07c40d420bf06e5d016ab2c662293087d0a4cc611fede51bde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ggM5grW65XVZ4xY4DKDot7BQ",
  "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]: [-0.033, 0.8078, 0.6132, -0.424, -0.0135, -0.0311, 0.9993, 0.2359, 1.6054, 0.4957, 0.4221, 0.1627, 0.0528, 0.7999]\nstate[eef_state]: left_x=0.2907 left_y=-0.0036 left_z=0.1714 left_yaw=-0.0023 left_pitch=-0.0492 left_roll=0.0003 left_gripper=0.9993 right_x=0.3762 right_y=0.0647 right_z=0.0282 right_yaw=0.0576 right_pitch=-0.109 right_roll=-0.0466 right_gripper=0.7999\nstate[joint_eff]: [0.0342, -1.1282, 7.1179, 1.7411, -0.0317, -0.0171, -0.0171, 0.1709, -5.559, 4.6154, 1.8632, 0.0855, 0.1099, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43873897f05381139e8faedb6b143ea3ea33e1e2b487f9d06c40949dc3c13589",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5621956cb9d6b7fbaee2d5be6555b9cea467637a506e77f6f56bc7af9fb7655a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3ffb7db07681dff9d0180d5379a6e2aecf70db4a8c8c68ab7308493890fbb2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 9.489 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.4232, -0.0139, -0.0311, 0.9993, 0.1925, 1.4563, 0.7017, 0.0895, 0.1333, 0.0399, 0.4384]\nstate[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1716 left_yaw=-0.002 left_pitch=-0.0484 left_roll=0.0005 left_gripper=0.9993 right_x=0.3988 right_y=0.0574 right_z=0.099 right_yaw=0.0462 right_pitch=-0.0901 right_roll=-0.0349 right_gripper=0.4384\nstate[joint_eff]: [-0.1299, -1.1419, 7.241, 1.8339, -0.0415, -0.0415, -0.0122, -0.1709, -7.4051, 8.2803, 1.7851, 0.0562, -0.0562, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssZvlmtyL6fYI47auNU5tsG8wjAz6WpvYuk5uxtaid39T-xBmJ1Bkv2NdcgALG7M_WpsDY0jr4XOEbUJQ9z8rKvePj0-5UtB-D3ds4_KG15rGKSp15jJG9bS1AsHoGbaDgIgBQXRxGdz6KdCxppmiD58D74eMqlTTpku6_G4LClwvkEOlcV4mNKtMh3YRpszoJN-W63-FVVHL5hqYXOmsgrg5RL4ZiBiXUnuhwpuIQbMvXomKQykcaNLhq9w4UBr8Mij8B23r9g1k8r1xp_z7-6SbSiI33zanBR6Ul6RKdOjr8fShEaHOnYrmVYmrzLwU8J6q23xgsp3sgomsWUQoIWgw2XOtmmQ85GsDTdVlWToPr9hO1AA2GOp4ae_SpoI3EQa2exCRAkOAoiubvxI3FrlpSZk5_vrms9cBjgYdKnRTk3ZQ7PH9aHdmfa3a48lbXfUflmrtrMVpvrLxeCUO0nQmC3mGYOPZbDoVPyM0txS4KD0zEdykGECFfM7ddL8MMEGTwLRTOWcol82KljbI9bnfmJjRvX3Lo7HWCJz1nPVJ1VFX5Xm5WzTntqf0o9BBweIm2UEwM8oss6r9ZoMJDJC66nYZwWbL6yoqENU7jreTpUMGBRLNX-9tOPpyajIEheZrzLWC_eUjbt4SqWUD3Ld_HIAYNaw4RFe4PhKF6p_Y14Kw95Rz_F48-FhQVX5RPcZFal25USRGbBeC5fy1Y5o2Ug5YAgf8zTy5yP1ke16FBuH8zS3tJGUvSXI3SgqGANOlXgkQlixdrsWG-3R1ve1YxcznaI3SP3sErb1Svj7_4oGs9NWfBTc4CdbtCAq1fMVl2n6Fhf2lRQgsuSLfSVD6iW7JBbh1bOHjc4D2OvSLiV-0vfuSbacsLr-nMQorsBFuAWYypVgS8hMdx81TpOnAKmC6aWQnZopv-FEO2eDfb2CTAhtNtzj18gRqM8cUX8c22fQSAGprcNM7gLi7xsMJ7Eb4lgOE1VqPb7o_929CdhuOq5ZTxpwNsUvN0dPP6Eb9VfURpImoqscyOrxnFAGWcknmMob8B3w1S58PHTJZU7Uh7RrJ36ARo8hbNilbU2hgBIDyBJHB96FffhFGqyCR_T6u5SRgMZ4XghO_ZVvCTaC3YLEx7uuEXvV_DmOESc4FUPOhK9EkQ_JkQX9zApx4uzNcy0y7rbVedVU95pDaO2lmYjRl8byxxPx6y_H41VOFQ0dTfPqFdwzo7KeCBmIyATZb6n9It0UcXELbSZsrCf51FX9g-R-_V6xu00tPrD9Bk6sZ0W95JGUf6PqxutgX0PMvhZSIPdaXsBWlL35nkO641zv6Uq7ffeetkTEXzDAFSH7goJMkZCrCSVICJVYdA==",
  "id": "rs_07c40d420bf06e5d016ab2c66aff7487d08b7165dc9f8291dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear’s broad body is now centered on the jaw column. I am closing fully so the settled opening can confirm contact.\"}",
  "call_id": "call_1PpxafHCoZtrRSYuixN4XZg2",
  "id": "fc_07c40d420bf06e5d016ab2c66d212087d0bdee6d92184b2985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1PpxafHCoZtrRSYuixN4XZg2",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.424, -0.0139, -0.0311, 0.9993, 0.2356, 1.6054, 0.4957, 0.4267, 0.16, 0.0483, 0.656]\nstate[eef_state]: left_x=0.2907 left_y=-0.0035 left_z=0.1714 left_yaw=-0.002 left_pitch=-0.0492 left_roll=0.0006 left_gripper=0.9993 right_x=0.3768 right_y=0.0652 right_z=0.029 right_yaw=0.062 right_pitch=-0.1049 right_roll=-0.0477 right_gripper=0.656\nstate[joint_eff]: [-0.1299, -1.3333, 6.9949, 1.6728, -0.0415, -0.0659, -0.0122, -0.1846, -6.106, 5.2718, 1.5751, 0.0708, -0.0269, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8e8250b39f1462fd5fb5a7b49875ff82a885eac456460ee0dbb3056ba61dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f679ef751987b865ee8ad67718c6962cef8db4f44721163f64f7de94544504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08b2093c4c637f3c900326e00dc2f8ddfd1a3b80f02332622cc156c6cccf7c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.757 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.424, -0.0135, -0.0311, 0.9993, 0.2359, 1.6054, 0.4957, 0.4221, 0.1627, 0.0528, 0.7999]\nstate[eef_state]: left_x=0.2907 left_y=-0.0036 left_z=0.1714 left_yaw=-0.0023 left_pitch=-0.0492 left_roll=0.0003 left_gripper=0.9993 right_x=0.3762 right_y=0.0647 right_z=0.0282 right_yaw=0.0576 right_pitch=-0.109 right_roll=-0.0466 right_gripper=0.7999\nstate[joint_eff]: [0.0342, -1.1282, 7.1179, 1.7411, -0.0317, -0.0171, -0.0171, 0.1709, -5.559, 4.6154, 1.8632, 0.0855, 0.1099, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper stopped at a 6.2 cm opening, consistent with holding the pear’s broad body. I am lifting to check it clears the table.\"}",
  "call_id": "call_rL5P8buntT5KR1LjkwGGWWyG",
  "id": "fc_07c40d420bf06e5d016ab2c6777d4087d084453d0f3206c2af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rL5P8buntT5KR1LjkwGGWWyG",
  "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]: [-0.033, 0.8089, 0.6132, -0.424, -0.0139, -0.0311, 0.9992, 0.2359, 1.3998, 0.6231, 0.0494, 0.1555, 0.0437, 0.656]\nstate[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1711 left_yaw=-0.002 left_pitch=-0.0503 left_roll=0.0006 left_gripper=0.9992 right_x=0.3699 right_y=0.0645 right_z=0.0807 right_yaw=0.0678 right_pitch=-0.1492 right_roll=-0.0558 right_gripper=0.656\nstate[joint_eff]: [-0.0205, -1.3744, 7.1863, 1.6825, -0.0611, -0.0415, -0.0171, 0.0615, -6.8855, 8.4581, 1.7705, 0.0611, 0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b015d85e9552b11a7c95267003743af05079649a7a95d340ff5036157115bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e49fd7c012f345ea35260d75e14d8eaf97989481e63c515738f0d7e623a8c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19586e094929093129eaaf00a9c591932da84945be12f6954f235a5b76123524",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.485 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8078, 0.6132, -0.424, -0.0139, -0.0311, 0.9993, 0.2356, 1.6054, 0.4957, 0.4267, 0.16, 0.0483, 0.656]\nstate[eef_state]: left_x=0.2907 left_y=-0.0035 left_z=0.1714 left_yaw=-0.002 left_pitch=-0.0492 left_roll=0.0006 left_gripper=0.9993 right_x=0.3768 right_y=0.0652 right_z=0.029 right_yaw=0.062 right_pitch=-0.1049 right_roll=-0.0477 right_gripper=0.656\nstate[joint_eff]: [-0.1299, -1.3333, 6.9949, 1.6728, -0.0415, -0.0659, -0.0122, -0.1846, -6.106, 5.2718, 1.5751, 0.0708, -0.0269, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaAH3FzijXZLTeAUeYDWiiey5DR4JyqMtO4wzG1t7z7O_CYDDG4b-RGeW_amvEf6LX6LvUSdhTWCjVJPw1g-3DiREwnzb5pJt6yNwcwnMpY1TtUBLbrczgdlgzc64peOBlxFN8bBaSS2bNTslxMzTPAuOpUNg8EyFpNm3KVPoXHpJ-YTQYWlv3tRBe-bcmCiXuM-Vx4SiLIUULeWIh9k4nHNZu34namuqWOvvqHT-mp2O2AFTHCFVbgSyi4YwlGVH291X5ISv_Fbu_p_1M4t7FUgQQ6mnllAZpTIQsjQYhdwnud26-y9Xf8nliXZrI9TqssLNUmzAR97R2HoEiE_RkIXT-goNiY9zEhPXpNeV3q0o5YaSRZs7jGCv4g37dLwRvCbHgwW2Jn1710v9oTpXo2lbaH0yuNvtPIRlmTe4OjJoWKaTFWUDp1vTkiudpwI89I_bjixUegN2U1nrhQSxLhnZbjOfteG9wx-E_gOXzy0YaINRzAbGME5fpIBidpFInzdVcxM5ZRBceRBBYhUYyUWKUsI3NliU1bCu1QU1YVVIB8-gHmlT_BezwNb-FS90OphxWS7NfV28QCWNySufRI7cK4zg5WnA732Ih_ApbWdVC94XdPYVXyRqGSELNVWGi7Dm8v1TE6d70yePxt0Y0rQPSUMcEQh7aNcn0APY9W9o9Is45WRwnABGj2CLfPTsu5NBEfBeyo-eY5LbmPuU0CqAdUTj8jdWtwEwuMKnZrZLV3mQsjwJ3keHAeLQvs4_qpYPYEsnb8YbjXc3T5IbWzJ0raZMgCnBxc9zMICxM92ZAlPHO951NnJfbDftYo3iCihM4xTqeRBa6_L-O5nb-KVT0NQSx7_LcUdFKbDQVIA68hP1Ix3AU37OhFp10AAfoxrGfTc3r_GUCNqtjq25H9KKS4CJTVW3DWTvju9brcXGBr7BgOtf-Q9ZR2RjMscE5r40G8wbcrUCZwKBEiG6cQL_7_NcPCaj97QQt3Sfj44o0BcFwbXnK-0y9-39hQJgxRgJmlXLM0kWz5U3tErhp7hXKAi8pOYnOxVqMHLle2B-pLUC0m948fte1fMvD8r_T-xkzHKb6MlXhB0_lS0fTugzqq_xivQp483_LDgzkGgvC_U1WDwI8EamPWo46qod-6qpeU0rHBH-Htd9i6lfddMmC9HZ3lGqCS3JldGGYUzroob83XWyU9xmaCqKVfSVXd07ctXRJSCJM0HDFd5hrsC0ykp955FS5pKDxAowFuHtCfcEgEOcBjbKOUbNtCbuXOYPe83OXrAoJ22oxZxRcKRlJwGvqK3Ei2MV3U19p3Lek57yGhHy9C6AR-X54mLLj0lqN0ed12tn2QhTM5vlaPswV2DxEXGX0RDlnOcnsqYBo=",
  "id": "rs_07c40d420bf06e5d016ab2c67d506087d08246d7a83c4351e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.14,\"right_z\":0.21},\"note\":\"The pear has risen with the gripper and the opening remains stable. I am carrying it above the blue bowl with clearance over the rim.\"}",
  "call_id": "call_iZMRxeSUgZTMtlVLPs7dCikz",
  "id": "fc_07c40d420bf06e5d016ab2c67f3b2487d0827ce0d51801dac8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iZMRxeSUgZTMtlVLPs7dCikz",
  "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]: [-0.033, 0.8127, 0.6132, -0.4301, -0.0135, -0.0311, 0.9993, 0.3664, 1.7607, 1.4948, -0.5278, 0.2321, 0.1024, 0.656]\nstate[eef_state]: left_x=0.2901 left_y=-0.0036 left_z=0.1688 left_yaw=-0.0023 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9993 right_x=0.4724 right_y=0.1416 right_z=0.1924 right_yaw=0.099 right_pitch=-0.2005 right_roll=-0.0789 right_gripper=0.656\nstate[joint_eff]: [-0.1162, -1.2923, 7.0359, 1.7216, -0.0366, -0.0415, -0.0073, -0.4855, -9.0735, 9.1556, 1.8291, 0.2662, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:232fbb7bc9b0c203e47adc97bbd236bf859f540d65c33ca170177768da49d68e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237e43ff0e08bf827755048670e94462672ae44c3f912542a56d4a8d9300ae9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d96981ec07b6c1ff39ed4845e52b10af989757d72c494925f6720adc3f1aa5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.946 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8089, 0.6132, -0.424, -0.0139, -0.0311, 0.9992, 0.2359, 1.3998, 0.6231, 0.0494, 0.1555, 0.0437, 0.656]\nstate[eef_state]: left_x=0.2908 left_y=-0.0035 left_z=0.1711 left_yaw=-0.002 left_pitch=-0.0503 left_roll=0.0006 left_gripper=0.9992 right_x=0.3699 right_y=0.0645 right_z=0.0807 right_yaw=0.0678 right_pitch=-0.1492 right_roll=-0.0558 right_gripper=0.656\nstate[joint_eff]: [-0.0205, -1.3744, 7.1863, 1.6825, -0.0611, -0.0415, -0.0171, 0.0615, -6.8855, 8.4581, 1.7705, 0.0611, 0.022, 1.033]\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": "gAAAAABqssaKqY-U54O6Eu4JzGBBlP2EIQUfBl8JSJgl8j052NWYLopTZNJf3b7WsEWe82s8JOHzq3BSEa92BWJSLUYscyC_cHhHB9tKaUvQKBCkJ4KCMPZlz1jr4zmabWGEqnJylblR5X67Lqba8QHFDdZMeL8w35k_XMeqO9ClBh3_zCvKSpfuYuyhqjpP-qiQUCCKtocRmBKwkASxjsYs-iwjO56A1u8yqyp2Bza_zIVxeUKMlfxEwRp6Zp5JOtWAWy-44wIwWh8cY6-RgoX6OveBgEUzNIc_stAKGWSNDX63zgoaXb3ZRsgQmGc33x40ydDG9c0euzFV_240TVBUfyi-K_BWAOTP7IHn6Foah6w2cmsj7OQYcXFu4XqvxlBUJ2ZESafv_izxOt7IgaWg25G7KUgChLqARwaX_p5Jz4UNMTeuDBCv9E8LHUTJJW4H3GzkcThqbqvUmNiPSaqU54jm16fwGz2D3UMJ8uZ-hgcwSvklo2iTYqiTbNi8LHNrU1Lib5_49caImtqoM_-OPFGg82GqGqG1dO-4hZQz4z0UJIMhihZ5-DUCs3NE4jpE2UnYiBDevaNpGBNhI_errg3saqdslEa38FaFZWyKptSAG21VULvDG-SsnnXetxFRWWjg465Ed3tnLavli1zy0c1al8Dy7ZdbGc71XFIUYOmQf7NhnbITowZsz4-pnyM8BOGy7cVtvxbtS6vxrtELCQ9Eqb6cji1Yb8Kh8cC0CVnnteBrTxuzKG2o-kuFHzDy89g3cQdbvpToSd9Rktd_OyXz_b0DuuxRQ6-OIKE-nGypldNAyCGaadgH7SArOwJrENgFOGixNAWw5C_o58H8kLX-EksSAh6_7vuqPtLpsJz2ox7NmctYxMmF0UKQU3AcUqf89klC517xUVQQKfOEDPtbhjck01TqqvaWeehUBh3M_T0_fkAXjat6FPRcl6PadGcd7sWiAN3_-BaxPDtx0R6w_K4YTBEmRwgmzRpXPYpRfREYDU4_51zGlb0UIt6mbsW8pQ_W7u9hYP2FvQt0w46B89z0xoNgNWNQ1OEp2oIlQsNh633ueZ_k4s0ChSufgrQNEMw8cgI4Bb_8wLLBAaRiNmwJ_fnsGevxLSxTMxaJMtBy-GV5i5Krhz-dJB2kO5rWj9FjKLdYzAwwXNRVJuyyZBTvI_BTtG71pX8O_4LEihPTSt-0Sc9UqESyRvlmqlng7HoExa5fQQ241Y2iioNK5aHMATV6BScoTJlstl2739hr2HZxD2FAZHAbTmCZ2_6KVMwH",
  "id": "rs_07c40d420bf06e5d016ab2c687c2b087d0bdef707f262ceb1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.145},\"note\":\"The pear is over the blue bowl’s opening. I am lowering it closer to the rim before releasing.\"}",
  "call_id": "call_aKagPfqrcE5ufWXr6Nz927ID",
  "id": "fc_07c40d420bf06e5d016ab2c689201487d0b61a2c2be557b349",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aKagPfqrcE5ufWXr6Nz927ID",
  "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]: [-0.033, 0.8135, 0.6132, -0.4339, -0.0139, -0.0334, 0.9992, 0.3649, 1.7824, 1.3296, -0.3851, 0.2306, 0.094, 0.656]\nstate[eef_state]: left_x=0.2896 left_y=-0.0035 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0649 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4653 right_y=0.1383 right_z=0.1371 right_yaw=0.1007 right_pitch=-0.2439 right_roll=-0.0957 right_gripper=0.656\nstate[joint_eff]: [-0.2667, -1.3197, 7.0632, 1.7216, -0.0757, -0.0562, -0.0171, 0.1573, -9.4017, 6.8991, 1.9023, 0.0415, 0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3919cef9d560784039b99452221cc21a1250196e75ecfea82de929d0487129d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4c5d0a6afa0c04211a2e1ed6d498dd3722a834911851436046a3521af85c346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa47e885d1783526d62cbf8cccc3b7a5da034bcf6120dbff9df39e3aadaec8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 5.022 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8127, 0.6132, -0.4301, -0.0135, -0.0311, 0.9993, 0.3664, 1.7607, 1.4948, -0.5278, 0.2321, 0.1024, 0.656]\nstate[eef_state]: left_x=0.2901 left_y=-0.0036 left_z=0.1688 left_yaw=-0.0023 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9993 right_x=0.4724 right_y=0.1416 right_z=0.1924 right_yaw=0.099 right_pitch=-0.2005 right_roll=-0.0789 right_gripper=0.656\nstate[joint_eff]: [-0.1162, -1.2923, 7.0359, 1.7216, -0.0366, -0.0415, -0.0073, -0.4855, -9.0735, 9.1556, 1.8291, 0.2662, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is directly beneath the pear. I am opening the jaws to place the pear inside.\"}",
  "call_id": "call_v8P0HFdlHqLhTch3urXo311w",
  "id": "fc_07c40d420bf06e5d016ab2c6912b8487d0b71bf5e08bfe9409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v8P0HFdlHqLhTch3urXo311w",
  "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]: [-0.033, 0.8135, 0.6132, -0.4347, -0.0139, -0.0334, 0.9992, 0.3645, 1.7824, 1.3296, -0.3931, 0.231, 0.0868, 0.9956]\nstate[eef_state]: left_x=0.2895 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0008 left_pitch=-0.0656 left_roll=-0.0008 left_gripper=0.9992 right_x=0.464 right_y=0.1376 right_z=0.1358 right_yaw=0.1035 right_pitch=-0.2519 right_roll=-0.1033 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.663, -0.0806, -0.0611, -0.0122, -0.1983, -9.2786, 6.8991, 1.5311, 0.0171, 0.0269, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a6703821c9ad8a9ff6e9454a5697796410bf1d884f1fc373d703c45d85021c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d222c8de7ee4ae2c0c753ea288c957e7c3e07a63c8b49f8aec6ffdf09dafd3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62416e5c865a8c2bef1c0c7a33f75e2e5d1705ce4cff717a0162d47e1b19c2d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.521 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4339, -0.0139, -0.0334, 0.9992, 0.3649, 1.7824, 1.3296, -0.3851, 0.2306, 0.094, 0.656]\nstate[eef_state]: left_x=0.2896 left_y=-0.0035 left_z=0.1679 left_yaw=-0.0008 left_pitch=-0.0649 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4653 right_y=0.1383 right_z=0.1371 right_yaw=0.1007 right_pitch=-0.2439 right_roll=-0.0957 right_gripper=0.656\nstate[joint_eff]: [-0.2667, -1.3197, 7.0632, 1.7216, -0.0757, -0.0562, -0.0171, 0.1573, -9.4017, 6.8991, 1.9023, 0.0415, 0.0562, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaXnlzeD3w7Bf_uCmnYZjHCN4V0mzXxBBPhXRAhMCLxFh_wHgJ5P8_eEI1v2sema3jmAvrGoYQY-A7h-_xEYRAdomClqcW2e1d6h9D-pfbnb4L_yAcwjtN1SEhQmSvgUul5waVH2Mt6fmwnI02-5IBjh2nvKnl8JEE1S0nNQBWZzgbQumwvBV-cirW7rKcdv93_58gZx2qb8TKjgFZOxdypxPHvRNjpRsgXEgTO7VrVyZvUFaQzXYMfQqC7jHqYArzPQgwe-5QBAK9RoOqRYiu83nDOcIv_Lph4nY6SFFrYLDJ06g9nyFhuuIDK6xrVZUYlySgQ-x5POK0J6k_0IyvYAMMtaKVGb1nS4HNiaTFzQA_GEQatNb3W3gr6DIdR3kneZe1AELkcG-RpeWkdnFcqz5mZXJILvAnzhfTFZ3cH2IhinVUSDpHs90iITXbhZFl6UUxLW_rFnqsho6GdyIqtPGlhfZ0SYzFXPJe-2KDN_ljSdtyK5X7Dk8RlHq1X9dIVTCYGXWuXdAkCwBNNw6RVe45cH7faGAhh-sQQ1KI_M0lhT5M_kEqpEhImRAxCxFigwVGcDnw_sUbLGvOpvlDndCivwKtQgEWI99iNEgJA0j6OlNIUIr1cUtb9vqdzlP_lfHufxlSBScBiPaO2ZocwPtQ6N_y0zlemK9F76ZuQdEn1XEUfLMbkoJTJaqOBOzHAb-JfXyqQmu5n7klZwfZEXenGu3TJGlQhstIW2BQaaEO2eKBs78VHoNI0BYkVz3PkWuwP9C8phrt2wRPDq21hbI6LSgUIj0cAtJ50nF4tgeppm1mtvZhD12VHhw1hT_qn2gK1Wi2h8mZXYUf4_QWgGAZqIjsTJbpw8RpBbIZkEwUX-Wd8xIZtHqbHG2RzOBcyExXM_O7UJLXtizzRbfK-tFqvCyA5nP6yRedIETGQjoPtdZGNyukqv665tDDPgrANRRmln-dUGIig8A9uNi1ndS3sTt1Xk9Nx5R55cQizRGZ8zU4F7a3OLReTf1R_CPzw2eR2A9hKtlPEFUMMXzumnNeoBqIvCGX-ed2462DGpqwxCBEwkEmqseH45wWtlpfp1pXzYK8YIDKqjMnMkAF3P7gCbFkyWEl0WqGp4x0fu7u962uNATnJjWd0rvznSYOnZBIu4DXO5gIxoVpSRjJA3Qo3h9QqPLmzcL7st45cvvO9NOb2IO4AU8e0LnIOaxDH",
  "id": "rs_07c40d420bf06e5d016ab2c694e5ec87d0bfe1bb7b4411c0c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.235,\"right_z\":0.15,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.182},\"note\":\"The pear is resting inside the blue bowl. I am moving the right gripper toward the yellow fruit and refreshing the idle arm’s safe parked pose.\"}",
  "call_id": "call_gHJZPOJEKnLtfOsmeIXuJOO2",
  "id": "fc_07c40d420bf06e5d016ab2c69593e887d089b4e4db04719f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gHJZPOJEKnLtfOsmeIXuJOO2",
  "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]: [-0.0135, 0.8513, 0.6449, -0.4763, -0.0067, -0.033, 0.9993, 0.7071, 1.7451, 1.3025, -0.5285, 0.4168, 0.3286, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=0.0008 left_z=0.1636 left_yaw=0.0125 left_pitch=-0.1134 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3814 right_y=0.2365 right_z=0.1303 right_yaw=0.1449 right_pitch=-0.2931 right_roll=-0.1272 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -1.1829, 10.1949, 1.7949, 0.0611, 0.1001, -0.0073, -0.0205, -11.3709, 8.7179, 1.2576, 0.4029, 0.1832, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f335f2cfe23208d61c51f5637010d00a1c3e62031567c93022d82af56fdd9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b420b4ac626e054404488f0343d8ac9cc43f143baf268300177fda9b55b4d68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956136b1c8db56d89b37c8b6ceb632e9d42afc3f6203993fdb674d8de1418fb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.217 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.033, 0.8135, 0.6132, -0.4347, -0.0139, -0.0334, 0.9992, 0.3645, 1.7824, 1.3296, -0.3931, 0.231, 0.0868, 0.9956]\nstate[eef_state]: left_x=0.2895 left_y=-0.0035 left_z=0.1677 left_yaw=-0.0008 left_pitch=-0.0656 left_roll=-0.0008 left_gripper=0.9992 right_x=0.464 right_y=0.1376 right_z=0.1358 right_yaw=0.1035 right_pitch=-0.2519 right_roll=-0.1033 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.347, 7.2, 1.663, -0.0806, -0.0611, -0.0122, -0.1983, -9.2786, 6.8991, 1.5311, 0.0171, 0.0269, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssag9f-gYx6i4-OC-bCmkdWTM2WmWkknm51ZeYJHPIXs2x-0ARn8JXmgVk5J4Ibo-MpetQsChfEb4-8aYm4QJ19xiP2DzJwO0gC2YaPUvugsHQ3wfQ-kt7PpsgE3ZqLKFxgPRcKIY7guiSEwYnC8NoJKw63RMmM_iTIIykyNr8MgyLFDTdKrys08tTGjRGYYeRLKkSVuryezLLnDuLLx1u5y27CAiHntsIz9w96r47BcU0mR4sXrF5_bXyM1NQMi4s_O7WahiGHLm9p8qWEC09EpRZUMcXP0UzCALX97ijwzPIg63DGLl3pvW_8Vyw0tzdRp0SdBbXqlv5cVnsC7Gcoh4v8e8ekRv34Blgp4gOtSEjVRPzGQlpjRz9f8Bz-y8HH_b5ixntbvcB8zrQIsri0WfjqMIFZL7_YblTLYmu2hLgcuCr7QDDTrxl7AoNbAkX3VW6pOJojyT19Ieh_xNKmmnHqTLVT9np6K6oAseEXiNFe1BdivqAQwnnq3hcGprsS_woW34SVcPFmFWTlyleIHxyOSW0L7zZK1qEGDUf1lknASy2kiO5bL_Ib5X4Um24neTsAFsK8zTfHw4cWNxs_wWJfpO5fOynMxg91RiIyeXDWLilx4qdoFAxlhi4DtcHZE5YkrLUMYLmaIh4OFlVHsbpQbnTtty9XTeCHeWS_-lFBNLq2XugwPu-MUi9149ebFbzTEPmShvsn7u5m19X6ljoFBXwDCM01jj-Et6eziMoZMmWqZxZKxY4UUoOH_WcTubvZ3TlGXIsPNxaUG7J2WSx66vA_kZ5EBe-lNraN1o5ULzpckx3nY_7hKjoy0XM78sJF5nsZtBtlbg-HCJuDiTOqdffeDMM0dCB48J7MC_DbeXkkYdIy1cWJAa00TUghda8dwGiQ0uf0SCl_AwveFs_3LVyyN65y9zfas-Ao34_5O8iovKwDwW7WmPmmYCqGEX5YAipLIbPKpUh8VR_h-VGILtC1q3AV3Gon9kzQaBYwIpeXmMAXX_c2-xC4gAEk1KgpJUfP0WIHVBvGQeR1ZoK6zIKLG1IsHXBXuu5HfAvR0v_SKK3oc112JnbOj3974_HQltTSrbbwWFiOJAYwKDQu65D04H9kPA4PIEvT8S62Ozn_LGe5AVC5rMkGwDh2MNNebkyLK3VGyvtKfBhEVcJs1BXluFwGe8ghWFA8Dxj0gbF9D739bnIv-FeAl2gcY7CNXN8ZyLo5NmbRazcP0dc4mjVlcizdMBup3UyJAVqg=",
  "id": "rs_07c40d420bf06e5d016ab2c69e0c0c87d0a6a490e3dea2f8bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.247,\"right_z\":0.025},\"note\":\"The yellow fruit is close to the jaw center in the wrist view. I am lowering around its middle with a small lateral correction.\"}",
  "call_id": "call_SPYXHKt4jjkV9p289fccx9F5",
  "id": "fc_07c40d420bf06e5d016ab2c69f010c87d0bf67b315d3ee7b36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SPYXHKt4jjkV9p289fccx9F5",
  "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]: [-0.0135, 0.852, 0.6468, -0.4801, -0.0071, -0.0338, 0.9992, 0.7105, 1.9293, 1.1259, -0.2188, 0.4145, 0.3328, 0.9963]\nstate[eef_state]: left_x=0.2894 left_y=0.0009 left_z=0.1635 left_yaw=0.0132 left_pitch=-0.1161 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3827 right_y=0.2402 right_z=0.0269 right_yaw=0.1388 right_pitch=-0.337 right_roll=-0.1515 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.5932, 6.8308, 1.6581, -0.0757, -0.0464, -0.0171, 0.1026, -8.8821, 5.2855, 1.3065, 0.1978, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5adc320024df39ac8e6f90fa0069da788c674b9ee7847ade86b3e2a018dc36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c9878a83692d8deb2eb54e4a17258a6bd388902437c89394e9cf016f3efa62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbbf1f0cc7e5dee8174a3b3edc633709f148fc2dd3b5333f9f3c12e3a41588b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.738 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.8513, 0.6449, -0.4763, -0.0067, -0.033, 0.9993, 0.7071, 1.7451, 1.3025, -0.5285, 0.4168, 0.3286, 0.9962]\nstate[eef_state]: left_x=0.2897 left_y=0.0008 left_z=0.1636 left_yaw=0.0125 left_pitch=-0.1134 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3814 right_y=0.2365 right_z=0.1303 right_yaw=0.1449 right_pitch=-0.2931 right_roll=-0.1272 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -1.1829, 10.1949, 1.7949, 0.0611, 0.1001, -0.0073, -0.0205, -11.3709, 8.7179, 1.2576, 0.4029, 0.1832, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the open fingers at table height. I am closing around it.\"}",
  "call_id": "call_gmvKNbdnqfsXiLwDi5rhT7VN",
  "id": "fc_07c40d420bf06e5d016ab2c6a45d6087d0aaee6632d996ba47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gmvKNbdnqfsXiLwDi5rhT7VN",
  "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]: [-0.0135, 0.852, 0.6468, -0.4843, -0.0071, -0.0338, 0.9992, 0.7105, 1.9537, 1.1149, -0.2138, 0.411, 0.3294, 0.5189]\nstate[eef_state]: left_x=0.2888 left_y=0.0009 left_z=0.1627 left_yaw=0.0133 left_pitch=-0.1203 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3787 right_y=0.2374 right_z=0.0133 right_yaw=0.1373 right_pitch=-0.3645 right_roll=-0.1687 right_gripper=0.5189\nstate[joint_eff]: [-0.3487, -1.4838, 6.9265, 1.6435, -0.0708, -0.0611, -0.0073, -0.0752, -11.7675, 6.8444, 1.1062, 0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a9d74e8f88730c1d0ac6501383227e0ac490373a284aba66fdc156dc016b54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43337718b0ab693cab876537805eab2af2db38071d96cd9ffd7f279a8d4a86e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9971c378476c069cb44146ca98c6b14e2b18548674cf7387af469f9449df549",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.671 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.852, 0.6468, -0.4801, -0.0071, -0.0338, 0.9992, 0.7105, 1.9293, 1.1259, -0.2188, 0.4145, 0.3328, 0.9963]\nstate[eef_state]: left_x=0.2894 left_y=0.0009 left_z=0.1635 left_yaw=0.0132 left_pitch=-0.1161 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3827 right_y=0.2402 right_z=0.0269 right_yaw=0.1388 right_pitch=-0.337 right_roll=-0.1515 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.5932, 6.8308, 1.6581, -0.0757, -0.0464, -0.0171, 0.1026, -8.8821, 5.2855, 1.3065, 0.1978, -0.0366, -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 jaws stopped at about 4.9 cm, indicating a grip on the yellow fruit. I am checking the grasp with a short lift.\"}",
  "call_id": "call_IFPdBEFpsGKXO98wD5arCKk9",
  "id": "fc_07c40d420bf06e5d016ab2c6a8d6bc87d0ba14f4fbb0a5b1fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IFPdBEFpsGKXO98wD5arCKk9",
  "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]: [-0.0135, 0.852, 0.6468, -0.4881, -0.0071, -0.0338, 0.9993, 0.7105, 1.85, 1.2724, -0.487, 0.4068, 0.329, 0.522]\nstate[eef_state]: left_x=0.2882 left_y=0.0009 left_z=0.162 left_yaw=0.0133 left_pitch=-0.1241 left_roll=-0.0036 left_gripper=0.9993 right_x=0.3794 right_y=0.2389 right_z=0.0793 right_yaw=0.1383 right_pitch=-0.3765 right_roll=-0.1725 right_gripper=0.522\nstate[joint_eff]: [-0.335, -1.5521, 6.9265, 1.6386, -0.0806, -0.0366, -0.0073, 0.0342, -11.494, 7.9932, 1.0916, 0.2808, -0.0513, 0.8523]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da845f5859e1a6cbf51b701822ba8bac820f437d39b10a2c117467b6d83210a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0dac9e36da2b645c8d4d21ac5b3862cf54180ab3b59f695b686d392136b177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7129eab620ded0b5acb2988c012b0c41356158c1c8dd3024f20ca10ecb3ab1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.94 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.852, 0.6468, -0.4843, -0.0071, -0.0338, 0.9992, 0.7105, 1.9537, 1.1149, -0.2138, 0.411, 0.3294, 0.5189]\nstate[eef_state]: left_x=0.2888 left_y=0.0009 left_z=0.1627 left_yaw=0.0133 left_pitch=-0.1203 left_roll=-0.0037 left_gripper=0.9992 right_x=0.3787 right_y=0.2374 right_z=0.0133 right_yaw=0.1373 right_pitch=-0.3645 right_roll=-0.1687 right_gripper=0.5189\nstate[joint_eff]: [-0.3487, -1.4838, 6.9265, 1.6435, -0.0708, -0.0611, -0.0073, -0.0752, -11.7675, 6.8444, 1.1062, 0.2125, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.14,\"right_z\":0.2},\"note\":\"The yellow fruit has lifted and stays fixed between the jaws. I am carrying it over the blue bowl beside the pear.\"}",
  "call_id": "call_fSUWpDQGLdInvAaMSIeUGspr",
  "id": "fc_07c40d420bf06e5d016ab2c6ace04887d0bd81fad03c9da0d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fSUWpDQGLdInvAaMSIeUGspr",
  "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]: [-0.0135, 0.852, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.3702, 1.9083, 1.7885, -0.8429, 0.2344, 0.0383, 0.522]\nstate[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.1612 left_yaw=0.0133 left_pitch=-0.1283 left_roll=-0.0035 left_gripper=0.9993 right_x=0.476 right_y=0.1446 right_z=0.193 right_yaw=0.124 right_pitch=-0.3677 right_roll=-0.1693 right_gripper=0.522\nstate[joint_eff]: [-0.3214, -1.5248, 7.2547, 1.6532, -0.0269, -0.0513, -0.0171, -0.294, -9.4701, 8.212, 1.1306, 0.0513, -0.149, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abdc99014a577ffd3bfdc6d4b5f286563650169286752975c76f5fba4b5a415a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56debd0a85f6a4d8d5a0acb70e77ff7a560e83c3bad6896e433bc54de6891dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ac518a18afc964bd3f9e2bcc1c4410aedfdc249c2fc19e383d97d0976ddf433",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 11.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.852, 0.6468, -0.4881, -0.0071, -0.0338, 0.9993, 0.7105, 1.85, 1.2724, -0.487, 0.4068, 0.329, 0.522]\nstate[eef_state]: left_x=0.2882 left_y=0.0009 left_z=0.162 left_yaw=0.0133 left_pitch=-0.1241 left_roll=-0.0036 left_gripper=0.9993 right_x=0.3794 right_y=0.2389 right_z=0.0793 right_yaw=0.1383 right_pitch=-0.3765 right_roll=-0.1725 right_gripper=0.522\nstate[joint_eff]: [-0.335, -1.5521, 6.9265, 1.6386, -0.0806, -0.0366, -0.0073, 0.0342, -11.494, 7.9932, 1.0916, 0.2808, -0.0513, 0.8523]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The yellow fruit is aligned over the bowl opening. I am lowering slightly and releasing it into the blue bowl.\"}",
  "call_id": "call_vgv1IY8tKvVI1jAJTaiItXds",
  "id": "fc_07c40d420bf06e5d016ab2c6b2920887d0b1041a0fa696bc23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vgv1IY8tKvVI1jAJTaiItXds",
  "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]: [-0.0135, 0.8528, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.371, 1.9114, 1.6234, -0.7383, 0.2302, 0.0254, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.161 left_yaw=0.0133 left_pitch=-0.129 left_roll=-0.0035 left_gripper=0.9993 right_x=0.4658 right_y=0.1418 right_z=0.1418 right_yaw=0.1295 right_pitch=-0.4316 right_roll=-0.1903 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.6205, 6.9812, 1.6435, -0.0464, -0.0366, -0.0171, -0.3624, -11.0974, 6.3385, 1.5458, 0.0904, 0.1832, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529b253ce1d701da8d997865a4f5e049a62b158616d62243d1f1bf1834aad2f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee69b1f00b0a9e7501d62785ad814ca55386a4ccee33c9e49e24ba1bcbf39a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900f5e2939c18b2d8f58d514d2a58c28088f4c4fda91218e2a63d00622994043",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.082 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.852, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.3702, 1.9083, 1.7885, -0.8429, 0.2344, 0.0383, 0.522]\nstate[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.1612 left_yaw=0.0133 left_pitch=-0.1283 left_roll=-0.0035 left_gripper=0.9993 right_x=0.476 right_y=0.1446 right_z=0.193 right_yaw=0.124 right_pitch=-0.3677 right_roll=-0.1693 right_gripper=0.522\nstate[joint_eff]: [-0.3214, -1.5248, 7.2547, 1.6532, -0.0269, -0.0513, -0.0171, -0.294, -9.4701, 8.212, 1.1306, 0.0513, -0.149, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssa_CXs7mEMd3O4jugUohhMHZ36q84_sEwIv39qi0EP6YWZ2gjmhEbM65_BxUWieS4X5mGFpfXr8-CIRMK4iG3WBzaQUz6GAilR0lKHO8gac2saw3ja6Y-u2mTZgeyCTl8sTk-q0o-VIqRT7mmuk_plYJ0CmrrsqvWzKzkl5jqTYVDe5ALrd7Sg3KCIYCLOeNpbXQnVV1SjRNd2ZvziYd3j0U4Ubs6925KgsRR8VMuUWj1cPD4uejj4h_tsbPAppi5JPMN1VzX0u1ss9l1iss4evFb41EC2vimVj1Fc-an4UEILFdNLj3bOpzvImlih27Ke3oAjW4r2KOUSTogL4Ju2nBmwSCGgFlnGd1i9zuRvXmvLqHzGIm2fFoBlPvrOUl63O3ntMZ8z3ytGZkdTO9bWH-8rlKUEX-vm0Hq8CCOG5Q3WE26ruDSOykPsNWEhpUPHxa70ESv3fkgN1_Pyr44tgdfvosdkKjF3TNU2ckHTmcWxsMnrCqIbDBypmSB8ilwWSYWKBjXao2XZOGINtfsWa5JZGlkcx0LLulewxvurZF39AFQTzzk7wt_X27gHQ58vJdyiQktfQAz9w_MMWHVjk-nN1QbRkX6v7VyVvwGb9aO_waLS3UOTyrEPVN6DRUNc-PyrfVjBgLGNtuOVB-qEX9vCuPpNd4ejGvw5SoykyiNCCmkpjI4o5gDsDnaW71m8eKhxKtTupIUPm8L0sBrgTTJ4_c94yJ1xEK5zDbPLdee-u-oRxfxxnq_bUk-Qw-hpmzDI3HBoi6z0sJqpSpOVw-W4e1knLKw8U4bf76qC43ngSLvwjxS4yTmB25U9x9NqIjjwfHLuAZUg3_AlFGza8bgBnnf0p3IChTwOlXiVaAFHmU64VA1bDqlpt3wVRqmub_pChsYDw3uKFzDC856FKbn-G4EthXimQa4LW5mGi2q5UWrlbKdKXvoMbinFcJjXS9fFOnLfeQlhSuvnUzt0nlSXH7umf6RbBc0I5TWMbapvTu64gn9QywiNaMH3qiia_cN5PrswGIdcYexwfgtY09Mabl-_gccOKBD_fAznak8ALPv2854o-lrvCkyX3crEnLBzVd3in35xPSxdPJsUVAOInsProb6_SoaSaenmsUcn8dZbdI32-zTNKaEkn_--EwlpkMa7Jlcjqm3hVqKGOJUEptrhB2wGMppjrsD7IGDVAfxnenEkwg577IRUq5sPOkKFyUgDBeOLO0zfbqsufx75JX5SP6TibYdGFEDVRpytQ5ps51lnyYYy8KPyLm2HWfvsHepb1Td_EVBjm95BTxWO4iv5SyfuJ51gZYPV_mR1TJgoVH_HzjnjXlI2F4mGjXLuclHMU4dXjGs_wiG8JYmewy5068J9oYS_Ct4p4K_ORwFq1-Lsp9t-L-GRnZyZO-7Q03RpbtvLUGUgmV4yy69cYPOii5x3Jrk12rvZRL_vVPfxWTC27TcNqnY02QtD5Fg_cNX7YgW9Ey9FNI1eZh7ijL6Uf4OoScEGmdF_XxevhiyC485Bhgy57gNblnZ6AcGwuZPMwqN17Cs6ZzA17QwisHNejEoGlxZkp16AHarAofwvdrlZ0xYYNotpzUhMbqN448yyL5k28Ldq8qQ5zEnofvr1TmYSzW8HB9WJQtT-7I7uKIAbHJwWpi7IIdNaKrcE7dDGF2P-bGlx7Ni5b2e0D5QJd8nzHQBXoSANFeJZVUp7z7MI1Ys8j4oFopA47ZK5OZEDNYAly5anrSEEvbSGzLELs4Pe3vJ4JOYUH0k2FkXQ9hwjuNq85YWbefImPxhAzUGixgSHYlLZ9YEw-nK5jJNULEKgAxJ2wP9eZMqhf19LGC1_eigYmpmD5YkH6HV4UfS5eoM1SULvvL7eGMkHYB7OfCe7auqKImt008JMKkuU3SBOX8j2caWzPFPWgRt_f2h94vbf_jxw6iLt6VSSp9hPDWlzC8EACMcjW2fVyB-zKhVN34yXkM5VdE1nLcHnDug-viRpCzgQEFc7iaA==",
  "id": "rs_07c40d420bf06e5d016ab2c6b6573c87d0a88208c7e80b8906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.285,\"left_y\":-0.125,\"left_z\":0.12},\"note\":\"The yellow fruit appears to have landed beyond the blue bowl rather than inside it; I will recheck its settled position. Meanwhile I am clearing the right arm and approaching the dark fruit with the left arm.\"}",
  "call_id": "call_V85ysMBPnKGUIlZEZBi4aB9r",
  "id": "fc_07c40d420bf06e5d016ab2c6bd9d8887d0bc6cfc7c87636eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V85ysMBPnKGUIlZEZBi4aB9r",
  "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]: [-0.6937, 1.1019, 0.6006, -0.3679, -0.4744, -0.4873, 0.9993, 0.0265, 1.2144, 1.2304, -0.9821, 0.0692, -0.2379, 0.9963]\nstate[eef_state]: left_x=0.2777 left_y=-0.1213 left_z=0.109 left_yaw=-0.0237 left_pitch=-0.1776 left_roll=0.0243 left_gripper=0.9993 right_x=0.3121 right_y=-0.0004 right_z=0.2208 right_yaw=0.0883 right_pitch=-0.4107 right_roll=-0.1962 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -3.2479, 8.0479, 1.6386, -0.4029, -0.0708, -0.0122, -0.253, -4.4103, 5.7231, 1.3407, -0.1636, -0.0659, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c5b517dfa166b0b3fdd0c6bb97b90bd0af953d1ffc6985246a42c8ea72b306",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca19aee0d530ffab09b6b0e63e9f0624ccb4897e34280134dcca64f4f7cbe646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d921e7d34661b6b15ee0106fd4456771d92244b4429579170324325a14483c34",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.997 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0135, 0.8528, 0.6468, -0.4923, -0.0071, -0.0338, 0.9993, 0.371, 1.9114, 1.6234, -0.7383, 0.2302, 0.0254, 0.9954]\nstate[eef_state]: left_x=0.2875 left_y=0.0009 left_z=0.161 left_yaw=0.0133 left_pitch=-0.129 left_roll=-0.0035 left_gripper=0.9993 right_x=0.4658 right_y=0.1418 right_z=0.1418 right_yaw=0.1295 right_pitch=-0.4316 right_roll=-0.1903 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.6205, 6.9812, 1.6435, -0.0464, -0.0366, -0.0171, -0.3624, -11.0974, 6.3385, 1.5458, 0.0904, 0.1832, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbHQswN0PcqurceXOKl-qoVTY5kddMvrDHixim3I3-AsTSLo9qslgTdNNZGsvjC5GF39WAUjq_euWPNRbw3zrNa1opwQ7iExHDsIwrpsvsF0iuK4AgSoBVIo9MtS5ma_IJaBbDbyBb-lT_7FwrE46SKgnXKVFopXz3eirCSy3Ei0McxM9aqNx-7t1Fmczu9cR-0TLyzuxz_Bt4pid5cEzJbYUW5NNPCNSHxqlRHsS7M1zIahnf0tUgDjeVqwctALxzOuCGMU-3I_B8VQTP4ICEYFdwwHRljQsHYtyyrphrzhMlzOxj_wqM2JL1oMjeshySyQXmsx_puVLfQ9XfiggTb98mEwTrmf0Hjyy8Zo2bmR12pI78ZEwUtAYF5ftjOIIiKXxaAngNauwTj1dcKs9RFP5qEWR_En6iZ49ZGn3g094drVvItiw30Y5d96NuP5uMrV9HdEzq6FDUtO4y_SYrHBzL0tnujRcmBPpKgPkG0wZ3nDi2IyCgCDqd5FqZLEjxeVF7yvBZX7FVcGcgvhellHjxJhZNQaPA02WM1cc1hwRcDib98wxk3fs93mQDdFDjQmqBXg3XlUEij9hcnyIbL-Uv9qTCc3vrO02auppLXtfdQScU23k5AwLP2kqzLfXr-LKQXeeRQ5cXzZWkqSCsBVL8stAEYbs8yW6SU8Hl_8NIqpU-Ozwcp8wmP6GAVonjvhNdiyYT4WRiXt5P5Lr9bl4w-IRzAAU-5D4QosT4YOWJKGs51hBUrMSfP2wrt5_sA-BjWJVLb9ANQIy6C6KqN38m2obe6hPkSC6SX5S9OHOzdC0r2uo7qKE5czvbxrPFQsOWFeKq8bzSN6BGc-qi8xI7yNlL6DfX85HIRbtcusw_OidyOeE0ROspGHNNBGR687B_xOKG6O-a6hkPxP1VzDWfBKN8Iw-sAjG8xblJyvpWSNIlR1-8aGknXmHHh32mVGwGPphv_jGcvVbKmY4EDDmKI9Vx1jkXRCKQ2MYxMhTg8u1xqALx5th4hEShSRUjMLrZRk7zyPHAusf3vPD7Io1DP80ju0np2gYMJ6Tg17qdUe05OCLMJ-D52ch1BpP96k-VOWMlNV5DR0Dbvx6RkmAljXiDmCY8en-dmVB_2nc-Wf1WvfiNyS_frQyUxd5deHWpcmv44AGR77FvDSFES9z8qX2K0byZrN6IXvzqjBR8BN62WX0StNhkXPHHx3B3zQdT3PK-25_BX0wBtvtBvpH3llkycLKi_1dPY1-8Dz6prFPLgIFMx5yEOom47dU7KGCs49XH9XrqAvhZuEjj9fNueova9HDCj-m2R2Qup77Aj3J6NXYccW0oPn3rcjsilGKrRmY4TXSK1-Gjm_xzH5Q==",
  "id": "rs_07c40d420bf06e5d016ab2c6c392a887d092a00959363b41a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.09,\"left_z\":0.025},\"note\":\"The dark fruit is left of the jaw center. I am shifting toward it and descending to grip its body; the yellow fruit has rolled farther toward the back-right.\"}",
  "call_id": "call_cUkWdKbWpvRJs1m6Dbibieid",
  "id": "fc_07c40d420bf06e5d016ab2c6c597b887d09f6ffe4e6c85c4d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cUkWdKbWpvRJs1m6Dbibieid",
  "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]: [-0.4953, 1.3399, 0.3733, 0.0696, -0.363, -0.3576, 0.9992, 0.0277, 1.2209, 1.2297, -1.0065, 0.0582, -0.2604, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0819 left_z=0.0178 left_yaw=0.0202 left_pitch=-0.2503 left_roll=0.0612 left_gripper=0.9992 right_x=0.3076 right_y=0.0018 right_z=0.2152 right_yaw=0.1139 right_pitch=-0.4439 right_roll=-0.1971 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -4.588, 5.0667, 1.5897, -0.0171, 0.1441, -0.0122, -0.3761, -4.4376, 6.5573, 1.5263, 0.1343, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4cc16c39fd8143db95653ee6b02b9bafc124d8ee88fb0ed44f124b98ff800f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1250023a1a6910a48bd988327a27969e22ad89580da67c5bef7743ce271486",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:524aaec5e054dc3c310aa8439831fd42ba03b926dc6aaf4acf8968a8ab91fe1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 4.558 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]: [-0.6937, 1.1019, 0.6006, -0.3679, -0.4744, -0.4873, 0.9993, 0.0265, 1.2144, 1.2304, -0.9821, 0.0692, -0.2379, 0.9963]\nstate[eef_state]: left_x=0.2777 left_y=-0.1213 left_z=0.109 left_yaw=-0.0237 left_pitch=-0.1776 left_roll=0.0243 left_gripper=0.9993 right_x=0.3121 right_y=-0.0004 right_z=0.2208 right_yaw=0.0883 right_pitch=-0.4107 right_roll=-0.1962 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -3.2479, 8.0479, 1.6386, -0.4029, -0.0708, -0.0122, -0.253, -4.4103, 5.7231, 1.3407, -0.1636, -0.0659, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is between the fingers at grasp height. I am closing around it.\"}",
  "call_id": "call_zJNtAsTeIOl25eNGPyj6Kcor",
  "id": "fc_07c40d420bf06e5d016ab2c6ca752487d0abae837f7095822e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zJNtAsTeIOl25eNGPyj6Kcor",
  "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]: [-0.4931, 1.3556, 0.3573, 0.0883, -0.3584, -0.3599, 0.5318, 0.028, 1.2213, 1.2297, -1.0149, 0.0582, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2877 left_y=-0.0802 left_z=0.0107 left_yaw=0.0218 left_pitch=-0.2633 left_roll=0.063 left_gripper=0.5318 right_x=0.3059 right_y=0.0019 right_z=0.214 right_yaw=0.1115 right_pitch=-0.4521 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -5.2718, 6.8718, 1.1795, -0.2515, -0.0513, 1.0281, -0.2393, -3.9316, 6.3385, 1.3846, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47fb4e1f6f4eb04bb4b3b0c621d5acea7afb180e1835019142284b4ccb5f8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bf0dfb47b75bddbca7d435c06067e704ee6f367ee63a3d23d560c00c56b52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c144903fe8fcd66e48e59eaf5639d5008c20486925fe1da7187fc78f807f25c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 9.895 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]: [-0.4953, 1.3399, 0.3733, 0.0696, -0.363, -0.3576, 0.9992, 0.0277, 1.2209, 1.2297, -1.0065, 0.0582, -0.2604, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0819 left_z=0.0178 left_yaw=0.0202 left_pitch=-0.2503 left_roll=0.0612 left_gripper=0.9992 right_x=0.3076 right_y=0.0018 right_z=0.2152 right_yaw=0.1139 right_pitch=-0.4439 right_roll=-0.1971 right_gripper=0.9963\nstate[joint_eff]: [0.1846, -4.588, 5.0667, 1.5897, -0.0171, 0.1441, -0.0122, -0.3761, -4.4376, 6.5573, 1.5263, 0.1343, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has stopped at a fruit-sized opening. I am lifting the dark fruit to verify a stable hold.\"}",
  "call_id": "call_tHN9zdkyRtLxY0F8Ub5Rj1Fn",
  "id": "fc_07c40d420bf06e5d016ab2c6cfa9e887d0a8ff71bbcec17f2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tHN9zdkyRtLxY0F8Ub5Rj1Fn",
  "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]: [-0.4931, 1.1255, 0.5869, -0.3717, -0.3576, -0.366, 0.5366, 0.028, 1.2213, 1.2297, -1.0157, 0.0578, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2881 left_y=-0.0805 left_z=0.0902 left_yaw=0.0246 left_pitch=-0.2638 left_roll=0.0584 left_gripper=0.5366 right_x=0.3058 right_y=0.002 right_z=0.2139 right_yaw=0.1119 right_pitch=-0.4528 right_roll=-0.1927 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -4.3692, 9.388, 1.3407, -0.1832, 0.0171, 1.0281, -0.1026, -3.8496, 6.4205, 1.2381, 0.022, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c6a0cc9b89e4522630673ee78be68f108561c59739cedd4ba36aa677f80b8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8bad42a322c898ef7cda28d1aec550797b49710d622a3ef10c98cf6ac3ec6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889a6a674e0335b36afd6f443fefbdb2d25348bc31463b32db6f8e163b12e034",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 5.873 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.3556, 0.3573, 0.0883, -0.3584, -0.3599, 0.5318, 0.028, 1.2213, 1.2297, -1.0149, 0.0582, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2877 left_y=-0.0802 left_z=0.0107 left_yaw=0.0218 left_pitch=-0.2633 left_roll=0.063 left_gripper=0.5318 right_x=0.3059 right_y=0.0019 right_z=0.214 right_yaw=0.1115 right_pitch=-0.4521 right_roll=-0.1932 right_gripper=0.9963\nstate[joint_eff]: [-0.2803, -5.2718, 6.8718, 1.1795, -0.2515, -0.0513, 1.0281, -0.2393, -3.9316, 6.3385, 1.3846, 0.0024, -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": "gAAAAABqssbbwrXRzG-pdwl-oAeHJq9Dwao2WN7c_hJcwE9ZqggOsboWnqPOl3ekWpPwNcJ3nX3joJzTPWRs8Pfl4HfwaAc7b7SRfxBKIhHd45i0OpHOse_ULLnfM1mpT9lNFxzO6ExM5QXfs7OcoySo1ufujDkAoObXeKpB6L7T7WxFnOdrR_SRSVKUoQb0KJZGRRxZHx77rRU5m_-7euQ_9yzqXfWWKDdtdMmkEJF0OY4TWglDRHypVNWUV7l3m7E4aGAkdJSU8DJi7KZQQoSXZaOsUHzAFczsu5-bVUUtPUOD9zWatlx0RZHpWoNn5MQZMS_jha-CsGvxHRZWQ2IR8gVPge8IY0pI3Puz6xpAKiApObNBSjYkMMncEkkRBBCs_32BobHPE1xfZsvBYn1CCb5IToA-u_oChEsfGW4fCifrpreuLzkTZ2Jbtq4Hg6tqCuoppH2GQu54THhCuZmUIwIkufJaJO4RZ18sJSZLX78Flp-UpKoXYNESum2-M750BhzmpA9IgqLdE43Vp2s3YvbN7TSQ1WoT9kVn3mh-tWJniLOLPlZDbBkmnKU7kIIN6aiYBtKiaPveShhzsXAuG3zcubzT1zB014kLEnzSik2JNHIsRJ6KyC84Mp28XjgI5-PulWFrg_k3idhG6xOOvmQyaVHUHAiML8MsIbNH-_HaRBEk5o9uzhsRwJObtpyrd_K740ReKQmR2hxksvBwo3t7GzQkElji8IHuLvyujySbCEvrPAqCJ-oqI2kCC9LPq2a0RzJcPKOBHYJRvo7Y10M9_R1d6Qh6yO5Yv8D1IH05jJ6VLYxMi6M_tRIU5U8udT_iJkwALj7TRGbrK1mDXs_JtFnMQjPlncgwJvbF4JFwjrqda8aBxTD7IwqZEg6TEQ2jTLJZIbJBXEFEIyFwcQkEosHslKK8Elmozdw_nP8jNilbWgwwwGPKZnk687cfnX94-E5rTGEPP5Gw3XKgRIBJgTKvA--6u-JXXNiaYJpKU9fsrk8e4sd8YO4CJm7i5jEPvdNpBgH3K9P_Q-NuUQkaPnAna4QVe5IoHgwtUGE4jgoy8iV2rQ_HNyj2iTgwTKaD_2T9Hfj6IwrFI3uvDrfuKYGFKWHCnJZa9Fkvfpy2EEJJOS7ta6TD3HFDDmMDqw3G0V6hdoAxAma4-_hvZdJ0Zr23UnUMU_GPNHTyCa9dIRP6y-spnwFdpzu54Jyqq-BAa8aqy7DCr0UIbV1ntEJCqs4FZFTmEXDYtT6k3ttvCgdGWrJfVMCfw7RB59jcNQ_gXwAo7xwtBK5wuRzCeVAjQulbBUvmHGFiYtQxkOdqJ4xcQzbOx4_V_tVfQlkLI9i3A4iaFB6TEdiT9-ExmQMGIhdPwblUUiCmWt9B-phKv2uvTDAJ6EVl-DONHtJzr3oJ8yGrC3Xn1wvV7KIGRdTOHkh9__H1dGnvdWB9w34Dl5D2V7tvvKnNwDsq-fQuOlTcPuzndUTGvSHdIzERN9OjbzfEqw==",
  "id": "rs_07c40d420bf06e5d016ab2c6d6cf3487d093cbe0615b1347ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.18,\"right_z\":0.075,\"right_pitch\":0.4},\"note\":\"The dark fruit is secure in the left gripper, but the blue bowl is beyond that arm’s lateral range. I am bringing the right gripper to the bowl rim so I can move the bowl toward the center.\"}",
  "call_id": "call_MNJqtkIUqV1P2M6fXbc2tJmv",
  "id": "fc_07c40d420bf06e5d016ab2c6d966ac87d0b151704786fa8367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MNJqtkIUqV1P2M6fXbc2tJmv",
  "output": "executing move_to over 29 steps (2.9s)",
  "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]: [-0.4931, 1.1267, 0.5888, -0.3962, -0.358, -0.3664, 0.5395, 0.5678, 2.0453, 0.6781, 1.0515, 0.5274, -0.0898, 0.9963]\nstate[eef_state]: left_x=0.2845 left_y=-0.0785 left_z=0.0872 left_yaw=0.0284 left_pitch=-0.2842 left_roll=0.0706 left_gripper=0.5395 right_x=0.4344 right_y=0.1759 right_z=0.0501 right_yaw=0.1466 right_pitch=0.2825 right_roll=-0.233 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.2752, 6.5983, 1.5702, -0.2271, -0.0708, 1.033, 0.4171, -9.0598, 5.3812, 2.2198, 0.2564, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca81ca36b5590d3a07026850df21cb293c5e65b0561619dac3c0bb3f7e64fa10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb317d9d021fc4a9318f1e67e1abbf670b4a78cc6d95eb1a04e7dcabe26bc02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da08c14207ed0fe34f7b32a713510d8804b882d9640a68b79d4a22ea07a42e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.706 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.1255, 0.5869, -0.3717, -0.3576, -0.366, 0.5366, 0.028, 1.2213, 1.2297, -1.0157, 0.0578, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2881 left_y=-0.0805 left_z=0.0902 left_yaw=0.0246 left_pitch=-0.2638 left_roll=0.0584 left_gripper=0.5366 right_x=0.3058 right_y=0.002 right_z=0.2139 right_yaw=0.1119 right_pitch=-0.4528 right_roll=-0.1927 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -4.3692, 9.388, 1.3407, -0.1832, 0.0171, 1.0281, -0.1026, -3.8496, 6.4205, 1.2381, 0.022, -0.0513, -0.0122]\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": "gAAAAABqssbk37EZKYO_qBq-YiBJB5T8bWA9JgGr-nVbQeYI0DQA4i1IRwR7ZSvBagRxG-_YpTo7vWw0G1Ts184JLQLr6OpUHK1A41IGpWwkQz8gMvlfP-JLVZ775EHY0rudf9WfJQ6nVi2BKrMXwRkw2eAAdeXBX1B4tOjNos3DMpaC_ut_6zIJ3WMl1rFVNJl2xN7EqdZkPewFICQFRfIXqiUpGuVF8sKkeS2qd57x6pMmbP66yDL6QnfrlAFCucxaT8TIMqjDw6BxZvpdWpPgw3Zr224HdZJuLGI6c-Vd285TJRvGk4nm_kDMLkm8bOj3Zd-gjNZV3WC3hc83T_qCmvpSL-8qDd28UjKkZdZxG8yCpBwQ6VxpvyArooBtMdbOh80fGBigilEJxOxIBFaSR4nFuMNdTI-6vnt1FZW9356CJO_neZdkZ0DvI7EuIFBwyVtps-l-LZs7hDF9fPgKCbo2GPV6Tqc3cPgOOgtKpf5l4No6qY5SxiHlINxMQ4Jwi-gy1jv9MOvHBOTsXihctxOFZUlPg5XziTNFU7ydjS2jByEqvJFJZBw6MGuDbSpahCPeS_XPCxVgds6c8jqcHZbq8ULwah4HMD2_lQ1-3zrq6DWkpQoeEeFffZs2ToWVN8VE_FDzwlxJJbhzGehIZDvQaOjR8JzSuC0OigOlF5zIhesGqcrnpd4dPDLPgAZeLH3tNRTNwC0QRFG3Un3Cg3Txh3zzomUVPYVvy1S-0z2XRUYX9S70oH5vpJBJ-vhrgkyv5uxzzFv0C8pS-gdL_MNB_2vwe1oDLgP8da3AXAv1rqYKx4WBjmDqfkLGdTHwhvoikbVldkG5BEahcTD4Q5ki6bHjX-iWNB5jdK3p3F2w5_3hjLhn6p49AHXmlag430yL_anyIDUDDZM8RsicmJrOKbglwu3_92wgJg70AJ0a93ZmkoFC771ulBL9EvLYUAUIAQC2a2vTpg8YvoTxPZdoL43wphe6SfvsDz6DG-nwB_tCSl57k2lvd7wRB_6HzXjcGV8HC5uqodGByoHSmihXokHWiG54Pf9yXOhRQKu37LiDbCqSYuY8VO3yYtcf_ffspwpLZ6qYQgvM9TMoOg7b1C1NLvBUzZO6Dr9yAG-6-cYb2PJvXtVOeCW51Bf836ZjlGqu5TKFgAtm0e7Cmoh0kaO-ZXfs0BNPiwkGDsRiGh2pEogj2CNzqBfXxkx8QBhKsCQcgCME8YzKlaeZyCtJcPO_KPEKN2w6ZXJu8Ft7xyS2DYBEUHxgA5mHxnsv7_16aW2CbAtpaYZn7IQUoMjF0IN1zKgiROMN_VgKeu2tuvyFbCLQhWijkk_QuGbMZuWV1GEsQFmyl51xdaulpzUElKvtw_fJjIqlKE6opFW8hOvKfk-Rpn2BtfGlPupb0mfQhK-a",
  "id": "rs_07c40d420bf06e5d016ab2c6e1009c87d0acef5d83741b3d71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws straddle the near-left section of the blue bowl’s rim. I am closing gently onto that edge while keeping the pear inside.\"}",
  "call_id": "call_FsSAFwGybPny4HWfMmk6BI0S",
  "id": "fc_07c40d420bf06e5d016ab2c6e2b08087d0ba78f4fd801e59a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FsSAFwGybPny4HWfMmk6BI0S",
  "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]: [-0.4931, 1.1267, 0.5888, -0.4011, -0.3576, -0.3664, 0.5395, 0.5705, 2.0644, 0.6807, 1.0721, 0.5201, -0.0971, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0781 left_z=0.0865 left_yaw=0.0288 left_pitch=-0.2886 left_roll=0.0729 left_gripper=0.5395 right_x=0.4347 right_y=0.1789 right_z=0.0467 right_yaw=0.159 right_pitch=0.2846 right_roll=-0.2363 right_gripper=0.011\nstate[joint_eff]: [-0.335, -3.1248, 6.4889, 1.4042, -0.2222, -0.0317, 1.0379, -0.3761, -10.5641, 3.8906, 1.5458, 0.1978, 0.0659, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:690ad9985052501b96184ea608174e16c2bdf961b9169d9d63b2d4b5506e29fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b273fcd0955cf9d9dc466d6a780eaeb4278963857de6e3da87eebe7a54a9a1d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def8e19417dc1a4726ba0086693a268779237522c136fdd5e144a3a8eac50c42",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 7.687 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.1267, 0.5888, -0.3962, -0.358, -0.3664, 0.5395, 0.5678, 2.0453, 0.6781, 1.0515, 0.5274, -0.0898, 0.9963]\nstate[eef_state]: left_x=0.2845 left_y=-0.0785 left_z=0.0872 left_yaw=0.0284 left_pitch=-0.2842 left_roll=0.0706 left_gripper=0.5395 right_x=0.4344 right_y=0.1759 right_z=0.0501 right_yaw=0.1466 right_pitch=0.2825 right_roll=-0.233 right_gripper=0.9963\nstate[joint_eff]: [-0.253, -3.2752, 6.5983, 1.5702, -0.2271, -0.0708, 1.033, 0.4171, -9.0598, 5.3812, 2.2198, 0.2564, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbr12tu4i2_8jbsdRfHdegItRlBw0T4Uwcwv4S0DnobMAhP7vt1Fel-9TfusFzcSbQIVKZTEH_CdlXE2q7b9g2xHSZN3yh-Ni_ScBX7QNaEGo2ieugXx8d8C5ekDD3GduHu9Z4eIRiiqF8YqOgeDYgbYJTR_oXWnCSW2i2eDlZIBUdsqlWTCpSZJjf7eTaNMWm07lzVGDctWKtH-fgN4m53c_N4h94Gsd67RcU3EJLfLG8cmgwnoNe_v0W4ztRx2KmUXgYkQYc2KD-X39Z3_G4vzp3g8O1cuFPoC8ACmcuvOWdwCnOjg37GHot1quH24CwbRJQGDhlaboPdKC7omfiaIn4m595LZ5QYytBNUzSiUAbsKZCA1w6f0Xxmck_-F7MKKUNA95apNE6P4Ke36oHS77c_SqIKxc29aNgDnfvFCUR8hYD0tESBv5p8aNxppCHhLMVyR6KRvP4Y3mFyXS1S4gLIy3QQ5pdinMuahoZpaAs0YynvvHNvj9tNCzIV8hOp79OnjocDa7wuWpjtWkT1p5k3F9vJ8JvNs6Jlvx1WbqXvpBK7XnYJrd10TfyQ7RcxYJUlZEWb4Kgr4y-Qdahg7ATJdX3V7QMlBe3ak5Pv8b8sl1enB7Nhf6buDd4K9pWJX9wigQ-prdON-Y_m_uap9lp5fKRmyKzLIg3AVI309DfDKGSWpo7n-t2lkMvmFZXbAvJEo43o8e-u_anc_mYOjjgU5reoAG0gVRSfZB2ibpaI30B6SC3iJjyOowH6FqeWCdGnJC2CcnYcmv-CUvdbjXBaBX4_4MsV7KROwb0e1SwRsITpttzm9Ddad6wHD_MWNGk01MFtt4_altLIkHhkhNXLqdLqeKWLQqddAh5u0tDnaztzQZxEvn4vf3ereB-UrcMnKLug4ieULQFc6avLW7GhjMvZynZAHAqOG8YuUw_5Rg_5oYt1QQaW6CI0kF_2HPi2_RvztaPQYeKwgAGTmKfmVBtJ3jqji955zshNhmTud41jFX2Dn3DU0N4CX65ey5zCk6oGZv6BAo6iz7l4aQs-YXASqT-PBGmi1AKGEjmJbwimr4MM2FzLwThEMr1MTnBatAkAD3M1IGTNwFItc55l80fCGatgTsOmRSIPlmiYMyytq1sCKXwnY4pbkbma2UVeI_1jP2oS0H3AZJxkvzCgRgr-1k2wV3dkwnEHusrRuPFA0VpQGI5VUO7kTIkqLsPd5iTiUErfPPERN0xu4lZIhiqb1Z7mohQbA82iNCbLClkpDi_RF73cbhzX8RCy0uaNMszVA3TKu0I2C_FPyKgwJbdIFWiR9Nbh0K_Ccqw=",
  "id": "rs_07c40d420bf06e5d016ab2c6e7fbec87d083bfd36d6bb39a2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.463,\"right_y\":0.17,\"right_z\":0.065,\"right_gripper\":0.65},\"note\":\"The gripper closed empty just short of the rim. I am reopening and advancing two centimeters to put one finger inside and one outside the bowl edge.\"}",
  "call_id": "call_HQlMucoW32wTH9JAWiaTmMaG",
  "id": "fc_07c40d420bf06e5d016ab2c6e928bc87d08e1462066e529042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HQlMucoW32wTH9JAWiaTmMaG",
  "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]: [-0.4931, 1.1263, 0.5888, -0.4049, -0.3576, -0.3664, 0.5395, 0.5087, 2.0644, 0.746, 0.973, 0.4587, -0.1238, 0.6456]\nstate[eef_state]: left_x=0.283 left_y=-0.0778 left_z=0.086 left_yaw=0.0294 left_pitch=-0.2916 left_roll=0.0747 left_gripper=0.5395 right_x=0.4552 right_y=0.1684 right_z=0.0451 right_yaw=0.1682 right_pitch=0.2423 right_roll=-0.2564 right_gripper=0.6456\nstate[joint_eff]: [-0.3214, -3.1658, 6.5026, 1.3895, -0.2027, -0.0611, 1.033, -0.5128, -11.4256, 6.1744, 1.9072, 0.1001, 0.0122, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26823452eee4fa0863513b06ea47a3e1331d3a8c27b2bdcb00349e6e458ddce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d23f7193cbe776b3c4f18006f1f1dd5ef7354b379534bf0daa05e355b4ee694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3506ee9191cbbe4f5616974a450a5f649af182f4091cd463d349bc577a16b27e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.75 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.1267, 0.5888, -0.4011, -0.3576, -0.3664, 0.5395, 0.5705, 2.0644, 0.6807, 1.0721, 0.5201, -0.0971, 0.011]\nstate[eef_state]: left_x=0.2836 left_y=-0.0781 left_z=0.0865 left_yaw=0.0288 left_pitch=-0.2886 left_roll=0.0729 left_gripper=0.5395 right_x=0.4347 right_y=0.1789 right_z=0.0467 right_yaw=0.159 right_pitch=0.2846 right_roll=-0.2363 right_gripper=0.011\nstate[joint_eff]: [-0.335, -3.1248, 6.4889, 1.4042, -0.2222, -0.0317, 1.0379, -0.3761, -10.5641, 3.8906, 1.5458, 0.1978, 0.0659, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbzBVMPJBPYyK-M1h_LHKSzQkkglu6F4uj3sqvzoxV60gYMFJotLbs8TduwjfCR3gawoVLIkOt-6dH1iTKFYlWPbLdX6BoXC-nOeXyN0YTRyuvY1ehwiNWA0EsT0lQc3hwPs2e7JiqNx7FYkvo6g123J3_kuRz2Mk5qowX8CdIl5gWLD9ApqTE3PTUMOn3jDJ_PcQpmKgI4wTJfIZ_KyzCfuA6_aHFRbgMDLNOProuMssVXNB_9XInzaCJ8vY_IhElvXkyw93xcIKig7SJovTUjMo9wzN85a83OyXjYteGH9N2jVW-dV5tCFvMcLe89emaWQzY-dGIPLeR-uR00ZzPOJ4uq3VWu7xSHGJEJp_lF2yyZZ54EO84N-ouomOiMzIaRRmVOiO-KEoX6N4aUcAWLfUskCSLWO0KJjBYyAj8tzZ5_U9xFxLjBE3_FFzCWIEY1_L-cVvtERdeMxrGo9D1Nbum3grD8lE7zNuzfBise9okIFI1tqP9Ai6l8s5VlBavG77i-DL-a4mkW5wbLobCx9GgJg17mgqLSOoFFclrsLpnFditIDjL7J6M6IThxtzwgWziop_exzhIcxa75YrPBBOCeRnLsXXRXHeoRvbT2yDzQPfg2DfbZQavGkA-a0atiH7FMb3gKQAQQP5LXzqfD0aEZqtxdPMTp7TlsA5hF6lRzoT8bBr82u8LVXodeLD1G_pJqWA1NN9cMzqoQnWlZUkrfeBbeo9OlQYACQq4LERpfLc3li7SMFUyIUHyCv2bS9qZ8lzuxwUAb-WPArUHVnEMmhn5NVmqFOjz8wdTtd8K7_rciWXrTV-fvpeUVcsDZEJAz1y67ZKzrlcPM3gJ07HAJRG7mDZtqhKU8lAxZgXc8m2UwWPOXUh3ncbhWZBy06ReBW7sjB1nBsswR0V0UZ0LHEPvxm5ZXwW7RlO4rNSrjyMZcwFWfK0iELm9Lj6XJ80cRpHKO8YTCVZSWUgwdlGivu0-LjaV2vaaVoFfQc51hZNHRn4IF6It64iGejAHv6SBydQMPLGEom422Hy1nv0dS0bKLmEwrQVmG7WfpYsxNBfUtQfimP1vH0cgZ1aE8FLl4FfDh8-d8dLYcjEIg0UuAuVs1K1Bs2Zn5iW5ERHAw9gxIw6M61fs8RuMgPGuz-5GjhL0gSRbfyX_6u3vdwSf0NHshPJl9MPA8zbDIjtinLdUtY3wuYrcE5tDWn1yHNr1Z1DK05frAyoYaHOY0CgDgdDq5Goqqf6tAR8mRzHeKq43eAchA3hvHp40ebm0ufJoHHC_WWCKMxCsaBox7HREtss3gpji2bcgqmEHLZGvw4NV1WLNLu1zC2FQNOIoLvqGKKw6r0Zj25MrKcc5Ouw==",
  "id": "rs_07c40d420bf06e5d016ab2c6efa9f887d0b3ff97b2f0794444",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.135,\"right_x\":0.475,\"right_z\":0.065},\"note\":\"The bowl shifted slightly right as the fingers approached. I am following the visible left rim sideways to align the grip.\"}",
  "call_id": "call_WHDOv4ztuIJy8E9y6QEe3XnF",
  "id": "fc_07c40d420bf06e5d016ab2c6f1c5a887d08517a7631a22a7f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WHDOv4ztuIJy8E9y6QEe3XnF",
  "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]: [-0.4931, 1.1267, 0.5888, -0.408, -0.3576, -0.3664, 0.5395, 0.4149, 2.043, 0.7532, 0.9161, 0.3756, -0.1524, 0.6466]\nstate[eef_state]: left_x=0.2825 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2946 left_roll=0.0765 left_gripper=0.5395 right_x=0.4677 right_y=0.1391 right_z=0.043 right_yaw=0.163 right_pitch=0.2028 right_roll=-0.2636 right_gripper=0.6466\nstate[joint_eff]: [-0.3214, -3.0701, 6.735, 1.3455, -0.1978, -0.0269, 1.0281, -0.1026, -12.0274, 5.2308, 2.083, 0.1099, -0.0757, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de7c54683ee610dd30cdad09d092a1dc2a99db45a64dcd95a8bdd830f599734f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f71a194dd4252950d79f6b22dca41e1bac2e02947caadcc8a2e3014dc21513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e28c66a4b6465d44d2738623c674ac58c1106a155871d89a2487e61736d8209",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 12.89 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]: [-0.4931, 1.1263, 0.5888, -0.4049, -0.3576, -0.3664, 0.5395, 0.5087, 2.0644, 0.746, 0.973, 0.4587, -0.1238, 0.6456]\nstate[eef_state]: left_x=0.283 left_y=-0.0778 left_z=0.086 left_yaw=0.0294 left_pitch=-0.2916 left_roll=0.0747 left_gripper=0.5395 right_x=0.4552 right_y=0.1684 right_z=0.0451 right_yaw=0.1682 right_pitch=0.2423 right_roll=-0.2564 right_gripper=0.6456\nstate[joint_eff]: [-0.3214, -3.1658, 6.5026, 1.3895, -0.2027, -0.0611, 1.033, -0.5128, -11.4256, 6.1744, 1.9072, 0.1001, 0.0122, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right finger is now inside the bowl and the left finger is outside its rim. I am closing to capture the rim.\"}",
  "call_id": "call_fAycxmTtS3hZNKfaQwW4cysB",
  "id": "fc_07c40d420bf06e5d016ab2c6f5e3c887d0b35457b8fdf5758a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fAycxmTtS3hZNKfaQwW4cysB",
  "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]: [-0.4931, 1.1267, 0.5888, -0.4084, -0.3576, -0.3664, 0.5395, 0.3946, 2.0182, 0.754, 0.8989, 0.3428, -0.1684, 0.0108]\nstate[eef_state]: left_x=0.2824 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2949 left_roll=0.0767 left_gripper=0.5395 right_x=0.4705 right_y=0.1355 right_z=0.0503 right_yaw=0.1791 right_pitch=0.206 right_roll=-0.2651 right_gripper=0.0108\nstate[joint_eff]: [-0.0068, -3.0427, 6.6256, 1.3211, -0.1685, -0.022, 1.0281, -0.2803, -10.906, 5.641, 1.9023, 0.1245, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f039176006689221b136d2babf57465d76a9e11d4e23904c2bcd0e1cd458576",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75077c295bfd272e3616812d9d0a51f5986a10dc1e30135801e14d3a5de98630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13bd4a24d04401e7e772aba018db67fb78eb227f6359566895dba4a8c07c88d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.796 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.1267, 0.5888, -0.408, -0.3576, -0.3664, 0.5395, 0.4149, 2.043, 0.7532, 0.9161, 0.3756, -0.1524, 0.6466]\nstate[eef_state]: left_x=0.2825 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2946 left_roll=0.0765 left_gripper=0.5395 right_x=0.4677 right_y=0.1391 right_z=0.043 right_yaw=0.163 right_pitch=0.2028 right_roll=-0.2636 right_gripper=0.6466\nstate[joint_eff]: [-0.3214, -3.0701, 6.735, 1.3455, -0.1978, -0.0269, 1.0281, -0.1026, -12.0274, 5.2308, 2.083, 0.1099, -0.0757, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsscEJbMrZAVUtUTJWQ0RqeVhV3_3DWKOzlbKPI2N5huFmBFrfJZFbGLKuf6Zm_zdcSyy5nLFYZf5TkvurgSwEShJPEIKNdPRJ8kNtwM9lF_g_13n-oOd1w1HWEYopu6P_ZUUnA7Q2w4bzln3XLkRTTlk6MiyCSu64iVOWoFwDZ64N4gA_H2HgLXptFhBAg-j2zYTMb_Dld6ouyAgl_65Sm-d9eHuutohmRk4SZMsgVPgQpXQAz6XAX9E8RZQEBjsdKlYFLFa-sZS-8fOoOoS48ZeSxOuuxD6rrurT1LtQ1WHR8eA9m3UAEmQ4ddAWQ0617YHcI2zDEafJZo4-CtJCd6U-PObyG7R9Xl6dmV_o-ECiJfj_Z94MpX8y0mTfX4JNwF30EM5BbvT2rkCfAhBGQG07eaEKko_gp4sZ-hPfaCrIGNGNrW8u9sL2fcrv6lrffdMkXfAr-eiIUSGrKw0_PtjAgcGXPRcjBmz-wshnhEFjjj90PQ1rYTdCiXZDusiNUGD2aIb0Fm7b6lMjC0YbyNmj3uVR_i91cfJqo3C4TrsJ_AcAZsa2arTexYx2F3nVlNp71Q-_4RNBoaFujPvJpbFUSBRsy07UokKsVNewoYBcEesj6LC4kRmWtCN6tPoZ6yw4S2bVZJNLkeM6vm9IZg_LHHd32uxHU3qGQwXDZS9Gq8jiZmuSEfi0J3q2DTP7kVJ606L-phzdhstt25NCZWaKwhREjALpfdo5pINF3wGG1KYxWOkZGeZhGcj3015BDMM2Wy4xwcrIuQU6HoheXi3Yp9GiVmObg7e9d2dLk4UYSEH8-OlAbToAmtkLD-mvtomBgeX0wci6I-hg0fwqwOCPvHKjPaAJxbFj0QeH5EWqVsgmC1DC9C1LcmlQo7ScgPcuwUTTbeuc9fbKNM8E6wNHdafx30CTJRAslQjPT7gMDc2k2xJ2sQKwpl-PL_pOyMVDKhpf42Y-zWM03yuyPna__6v-ZRxR1mUkl5P05HoUb2s3ar6vKTkTrI9dxnBvnnDcQHmSFqpJks06dAAqZnYLQz_NBsEzfXFdpnkvL13K6Du_F6qMxny1QJgBLHp7exhyomRl4jxpFROndtbRbgl6jKFo8vtUWLfkmAMnU_Y9_vOgBxA1M6nS_3fZch-MPOMdbc8wtR6qoR-INqVylCAifWO20Tbhvyxam_PQLqENCwmAP4UnYVggi5qsBCP3225K81S0E_BBlLw35yypsBk3NRXGPMHvUYkqDFpAbksMe1wXPuzJlzLJeKDLrqM8ztr3jLz8JTjwZafLX7xhsdNqmdJUWQzTn9J5FIDIGAdhuOk8QWfMMfmSY7KeR-qVJQR96SHdklTqWCMS6wA6tPq20SaoIwhRWCUJVC45uVboM__1kmr-nqMepH02U6oFwMPjBTP23Gp66OSavZrMypcGvsbO3nBzUZTpdHeA-dsxYR2xUcXtSU9Ew4w91GIOHwHNA0hot2ZV6Y1LGK80qirAx6NR1Fqa0wwvNF72t1MUkW0Y8Zlnbo8qciUHswGrFcn03N1ScDp2ghwqGop8e5f0Ph5BkXQKriObo3bAHQT6mMP_2R7dI0RoUSuxwjVk56bhIvc9tJo6vkwtJPiuzERPsrO5iqoZptYVGqn8I8SjVHqKYoRtbfzrZP1lXLiCxhBTbX3OmOMoYQyz6k-oFNaGHOyVvN858jEi7Rid6iH9FHnoUkmXzqSmuG8qxN6cNoN7-r-IfAjTGU1uDUA1x9f_yVbyFXBt1BPnxQj7IlSFnvfQ2cadhcVt6yaNEsLh9FaiG1savI0H7EdmByg8jgzHm14KDOxfjYFf5dw2Myp-6iq6Oj9FIzP-HPK0FyZg2ZhRcKpCWzIW31gud8Vhj32sBFgvrqPPKqKK_-Ktr6Owos7DjZ-INBuKvPsvJQjGqrsmy-Dvf3forXQ1OS4156SagSmNXb_NhGYLMMHPzSwDX3alblYzuyQeJuetaPmA8rJglQqJVIDP2ihbVVlOVr4R8vA8XOu4r2j5gdCBD6g6FofBwxs6nYOVsqvi8lRYmjYJTaplQpY1xr-Pm62romer6M27ahP7k0ZpZtBHlWgIQ33Ns95xL1hyDgRzxCnV0UqJZeOr7kUQUVM-2_3aKPrghIC01aL3mkOPMX9iya4x-rtpLfKi_9SBmm0XvMqLtcU",
  "id": "rs_07c40d420bf06e5d016ab2c6fa981c87d0a209045f99e2aa18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"right_z\":0.15,\"right_gripper\":0.7},\"note\":\"The yellow fruit has rolled to the far back edge, beyond the table-contact reach of either arm, and the bowl rim grip did not hold. I am setting the held dark fruit back down and lifting the empty right gripper clear before stopping safely.\"}",
  "call_id": "call_oUczhmHkQ9pRA4r3ttQuTiEV",
  "id": "fc_07c40d420bf06e5d016ab2c7023e3087d09f8f41225abdd304",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oUczhmHkQ9pRA4r3ttQuTiEV",
  "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]: [-0.4931, 1.2354, 0.4469, -0.2001, -0.3573, -0.366, 0.5433, 0.3958, 1.7123, 0.8677, 0.5797, 0.3355, -0.1764, 0.6953]\nstate[eef_state]: left_x=0.2757 left_y=-0.074 left_z=0.0332 left_yaw=0.0363 left_pitch=-0.3317 left_roll=0.099 left_gripper=0.5433 right_x=0.4765 right_y=0.14 right_z=0.1682 right_yaw=0.1854 right_pitch=0.3025 right_roll=-0.2487 right_gripper=0.6953\nstate[joint_eff]: [-0.1436, -3.1521, 5.641, 1.5556, -0.2418, -0.0269, 0.6716, -0.1162, -6.612, 5.8325, 1.2772, 0.0855, 0.0171, 0.0024]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba5812937cca96e051328ba43b8bf37acf18c611eaf0119d5cba0140f048f27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d36b67e2ef87b67d10974ebcc930274075dc5fe8e2a31faac800d7801cbbff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9809db7d038392329f4c22ae47f13469618d4bad6ba5cbd7aa78a0ac3524ae2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 13.29 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.1267, 0.5888, -0.4084, -0.3576, -0.3664, 0.5395, 0.3946, 2.0182, 0.754, 0.8989, 0.3428, -0.1684, 0.0108]\nstate[eef_state]: left_x=0.2824 left_y=-0.0775 left_z=0.0855 left_yaw=0.0299 left_pitch=-0.2949 left_roll=0.0767 left_gripper=0.5395 right_x=0.4705 right_y=0.1355 right_z=0.0503 right_yaw=0.1791 right_pitch=0.206 right_roll=-0.2651 right_gripper=0.0108\nstate[joint_eff]: [-0.0068, -3.0427, 6.6256, 1.3211, -0.1685, -0.022, 1.0281, -0.2803, -10.906, 5.641, 1.9023, 0.1245, -0.0024, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsscKT7lXV75DSeNBP1tk1GU_bf4Oq6qCcM55Q2gZ2m5ih1foeaAJ_pKU1dW6tBq5bjbZ-sYXRQubH69qjM_x9hStXWuwouHAhh82NNzsjbiCgSfluUtfB8yIrq74ScdRuKJtGniVz6Ur4H4mz2D3uc8ALwhCvO5ILFEVb61quaJ0xZE4IRgX58-Y_0OgI0bY1LzZnwV67TJxjyJmUbKD9mdWI_qurdxxqJNPNgxzAzh4CMNoxy2DJXDhcMSrzleJDGUqQiFPGhkQh9fF4Vw2NU3BKSAbx9-buZdJK3zO6BtorOGKXmwOhPWgmNOU-r5VvAazKxuJ5eNNE67Lb3J2DSIdAQ0jnaQ0aRushO5hVfXYBytwdCjlPs3c4gXZlW2w37CGEwojnP_-0xOVlAmQxQcouFdi_v2Aw6e_IcKm32z1fUKbER7DrpE75bdZ_R0i8wlDdksip2RbyTaP6_d6iXtZfzBc8caCeLrQajsYBsAEamcQZ2sNT8g58k5nuMFcVqeozcYcVInNis9j0AD56EzxomcGnAg3hl9shVH-jgbdmphot8WLsIPLuSW2ALv4UvcXCW8F9m1aTcHZD1PkpNYcIhT68y-GoLN2qPlzcOAjgq5NpHFLXmugzsi8xOwF-dQYT2YTGnwazg_HkdERBA1UVj9JqOxvytGf2FcsYSUOvzp_xLanGT9-1vvzZU-1qxxTdbM6CWt70ioHbwJuZ6q2ILKPMesbQ2QMiEf-p-lX-lc6qtF6nRy1DTPzoG0wYzN6_jY5enaG93gV_9BL2h3z1A3CZDj8F2SQWTsUqEDEm7RrZQvs5QzvEV3h4iFIOoluGJynX7ZdnDxL0mJt7p7X-GLUooFO3xqwZF98VhK8HWg1VnCbqwmTqK5Q4uzeoTyxBJE6Yr1VtOOHeDPvTNVfM-L9rvmlHl1GAuuY56x7Z93y_9UORexrnG725mmoyVhlr8kH5ACAbcQotVr34fs9rMvFvwNe7u1V5h1Np7jFFpQPrPL5LUM7hdaRy55j7X2JlvFHXrXWdDTnQHzRY80hCsUr4cuSM608OTUZuULp_-tYS6e59e6eAOTPeYEO3wNa4oMCUBLMZ_ljNI8WIMJGoIjmyweCSJ78siwVmGoHDK1AkUB_M7BJUIWmsDUMvjGmVGYKW_SVfHjAvQIlvGeMLom_yWDCmPjj0Jn4LmGhdX3N6XMFCKsvh0DSN9Vs6KKlhdSsFq2QWHg0kVPdhGr2uYkz_039EoUSLhAk1orLM3Fbb2-WRmP6-snl5SJpW1b24PwwzHIrDzxMwbP19TGYUZufjWHXGr4Tx_oFYYCse2w=",
  "id": "rs_07c40d420bf06e5d016ab2c707e9e887d08b18a0f73e450dc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table level. I am releasing it so no fruit remains suspended in the gripper.\"}",
  "call_id": "call_dmO32lJayvpoqsDAQIGvEtJ7",
  "id": "fc_07c40d420bf06e5d016ab2c70934e887d09113556aab6d27a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dmO32lJayvpoqsDAQIGvEtJ7",
  "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]: [-0.4931, 1.2465, 0.4355, -0.1982, -0.3576, -0.3668, 0.9954, 0.3958, 1.7046, 0.8711, 0.5343, 0.3347, -0.1787, 0.6958]\nstate[eef_state]: left_x=0.2719 left_y=-0.0718 left_z=0.0267 left_yaw=0.0407 left_pitch=-0.3493 left_roll=0.1098 left_gripper=0.9954 right_x=0.474 right_y=0.139 right_z=0.163 right_yaw=0.1894 right_pitch=0.2685 right_roll=-0.2582 right_gripper=0.6958\nstate[joint_eff]: [-0.1709, -4.0957, 6.7077, 1.1893, -0.1734, -0.0513, -0.1197, -0.0752, -7.4462, 6.0376, 2.3126, 0.0415, -0.0171, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab5b7f5672b0c9f6f09436d22f87818471dafe6a75759076bc4905c6d45cff3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d9f674aa1091ce470bf02ce9b1b0a61a85e5fd3373a07041d02517f9840e790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a906e83e66efcabdf531d6056dc412c33661322e2eb7ab77b3f07837ced9e25",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 9.52 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.2354, 0.4469, -0.2001, -0.3573, -0.366, 0.5433, 0.3958, 1.7123, 0.8677, 0.5797, 0.3355, -0.1764, 0.6953]\nstate[eef_state]: left_x=0.2757 left_y=-0.074 left_z=0.0332 left_yaw=0.0363 left_pitch=-0.3317 left_roll=0.099 left_gripper=0.5433 right_x=0.4765 right_y=0.14 right_z=0.1682 right_yaw=0.1854 right_pitch=0.3025 right_roll=-0.2487 right_gripper=0.6953\nstate[joint_eff]: [-0.1436, -3.1521, 5.641, 1.5556, -0.2418, -0.0269, 0.6716, -0.1162, -6.612, 5.8325, 1.2772, 0.0855, 0.0171, 0.0024]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22},\"note\":\"The dark fruit is released on the table and the pear remains in the blue bowl. I am parking both arms clear of the objects.\"}",
  "call_id": "call_G2Ut9kxbVLl9yOvXER1qnkHU",
  "id": "fc_07c40d420bf06e5d016ab2c70ed4e887d0b8f8706da77e4eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G2Ut9kxbVLl9yOvXER1qnkHU",
  "output": "executing move_to over 14 steps (1.4s)",
  "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]: [-0.1005, 1.0939, 1.008, -0.841, -0.1505, -0.0662, 0.9963, -0.0616, 0.6666, 0.4778, -0.0425, -0.0544, -0.2985, 0.6958]\nstate[eef_state]: left_x=0.2965 left_y=0.0003 left_z=0.1897 left_yaw=0.0746 left_pitch=-0.3452 left_roll=0.1036 left_gripper=0.9963 right_x=0.3048 right_y=-0.0056 right_z=0.2319 right_yaw=0.1424 right_pitch=0.3183 right_roll=-0.2719 right_gripper=0.6958\nstate[joint_eff]: [0.4308, -2.5915, 8.5128, 1.2479, 0.0073, 0.2173, 0.0855, -0.1846, -0.1026, 7.0222, 2.0977, -0.0024, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5deae036909f201e9b866ddebef512038252f94ddd0db49d02d32c6811f2a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f0b70d8ec302ea13f3f2ce7408cef4a9d82c935abae4d4cb9275e52a0ce2f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36cb5d3c3b8e12d2a53d481a8d2ba9c1c4a19ecf4ac76cb899a31ec999b97356",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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