adhoc

completed
2026-09-22T17:46:22.263910+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
264 s
total steps
301
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 near the left arm, a yellow fruit beside the blue bowl, and a green fruit on the right. I’m positioning the right gripper above the green fruit first.
move_to
right_x0.3600right_y0.1050right_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]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0299, 0.9989, -0.0227, 0.7986, 0.6193, -0.387, -0.017, -0.0334, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.812, 9.5658, 1.8193, -0.1294, 0.1343, -0.1245, -0.1299, -1.6479, 9.2923, 1.8926, -0.0952, 0.1783, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.105,"right_z":0.15,"right_gripper":1},"note":"I see three fruits: a dark fruit near the left arm, a yellow fruit beside the blue bowl, and a green fruit on the right. I’m positioning the right gripper above the green fruit first."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe green fruit is slightly to the right of the jaw centre in the wrist view. I’m shifting right and lowering the open gripper around its middle.
move_to
right_x0.3750right_y0.0750right_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]: [-0.02, 0.8021, 0.6132, -0.3866, -0.0139, -0.0307, 0.9988, 0.4488, 1.2652, 0.6758, -0.0937, 0.3553, 0.2031, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1806 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3499 right_y=0.1043 right_z=0.1289 right_yaw=0.0321 right_pitch=-0.0676 right_roll=-0.0403 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.4154, 7.0906, 1.8095, -0.0464, -0.0708, -0.022, -0.1026, -5.0256, 8.8137, 1.9316, 0.3004, 0.2369, -0.0757] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.075,"right_z":0.045},"note":"The green fruit is slightly to the right of the jaw centre in the wrist view. I’m shifting right and lowering the open gripper around its middle."})
tool
executing move_to over 6 steps (0.6s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteAt grasp height, the green fruit is still outside the right finger. I’m moving the gripper another four centimetres to the right to centre it before closing.
move_to
right_y0.0350right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4007, -0.0139, -0.0307, 0.9988, 0.2974, 1.5581, 0.5034, 0.374, 0.2302, 0.1116, 0.9994] state[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1767 left_yaw=0.0001 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9988 right_x=0.3721 right_y=0.0756 right_z=0.0403 right_yaw=0.0332 right_pitch=-0.0939 right_roll=-0.0383 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.4291, 7.2, 1.8632, -0.0708, -0.0269, -0.0171, -0.1026, -6.1197, 5.1214, 1.873, 0.1099, -0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.035,"right_z":0.035},"note":"At grasp height, the green fruit is still outside the right finger. I’m moving the gripper another four centimetres to the right to centre it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe green pear is now nearer the jaw column but remains ahead of the fingertips. I’m advancing slightly and aligning with its wider body.
move_to
right_x0.4150right_y0.0120right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4084, -0.0135, -0.0311, 0.9988, 0.1326, 1.5578, 0.4618, 0.3981, 0.1104, 0.0135, 0.9994] state[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1751 left_yaw=-0.0 left_pitch=-0.032 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3691 right_y=0.0332 right_z=0.0278 right_yaw=0.0217 right_pitch=-0.1274 right_roll=-0.0431 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.8144, -0.0171, -0.0611, -0.0171, 0.0068, -6.6667, 4.7521, 1.9267, -0.0171, -0.105, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.012,"right_z":0.03},"note":"The green pear is now nearer the jaw column but remains ahead of the fingertips. I’m advancing slightly and aligning with its wider body."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe right arm did not advance at the low pose, so I’m lifting and tilting the tool forward to reach the pear without dragging along the table. I’m also restoring the idle arm’s safe parked height.
move_to
right_x0.4100right_y0.0100right_z0.1000right_pitch0.3500left_x0.2960left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4156, -0.0139, -0.0307, 0.9988, 0.1307, 1.5578, 0.4587, 0.4004, 0.099, 0.0139, 0.9994] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1736 left_yaw=0.0001 left_pitch=-0.0393 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3684 right_y=0.0344 right_z=0.027 right_yaw=0.0293 right_pitch=-0.1289 right_roll=-0.0355 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.8095, -0.0366, -0.0806, -0.0171, 0.0205, -6.6803, 4.8205, 1.917, 0.0024, -0.1148, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.01,"right_z":0.10,"right_pitch":0.35,"left_x":0.296,"left_y":0,"left_z":0.20},"note":"The right arm did not advance at the low pose, so I’m lifting and tilting the tool forward to reach the pear without dragging along the table. I’m also restoring the idle arm’s safe parked height."})
tool
executing move_to over 16 steps (1.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe lifted, tilted pose reaches the pear successfully. I’m lowering around the pear’s body with a small leftward correction.
move_to
right_x0.4050right_y0.0350right_z0.0350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6987, -0.5133, -0.0135, -0.0338, 0.9988, 0.0257, 1.676, 0.366, 1.0554, 0.0025, -0.0536, 0.9994] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1835 left_yaw=0.0015 left_pitch=-0.0855 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4077 right_y=0.0136 right_z=0.0914 right_yaw=0.0437 right_pitch=0.3112 right_roll=-0.033 right_gripper=0.9994 state[joint_eff]: [-0.4308, -1.6342, 9.5111, 1.8535, -0.0415, 0.0171, -0.0171, -0.5265, -5.7504, 4.547, 2.3761, 0.0611, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.035,"right_z":0.035,"right_gripper":1},"note":"The lifted, tilted pose reaches the pear successfully. I’m lowering around the pear’s body with a small leftward correction."})
tool
executing move_to over 4 steps (0.4s)
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’s body is between the open jaws. I’m closing to a moderate width so the rounded fruit is held without squeezing it out sideways.
move_to
right_gripper0.4600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8448, 0.6983, -0.5201, -0.0139, -0.0338, 0.9988, 0.1078, 2.0083, 0.3393, 1.2999, 0.0593, -0.0479, 0.9994] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1806 left_yaw=0.0018 left_pitch=-0.0977 left_roll=-0.0013 left_gripper=0.9988 right_x=0.396 right_y=0.0359 right_z=0.0127 right_yaw=0.0732 right_pitch=0.1971 right_roll=-0.0464 right_gripper=0.9994 state[joint_eff]: [-0.212, -1.7709, 6.9675, 1.7802, -0.0464, -0.0464, -0.0122, 0.212, -7.5556, 3.3436, 2.464, 0.2466, 0.1343, -0.0757] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.46},"note":"The pear’s body is between the open jaws. I’m closing to a moderate width so the rounded fruit is held without squeezing it out sideways."})
tool
executing move_to over 6 steps (0.6s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe jaws have stopped at a fruit-sized opening. I’m lifting a few centimetres to check that the pear moves with the gripper.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8455, 0.6983, -0.5209, -0.0139, -0.0338, 0.9988, 0.1093, 2.0212, 0.337, 1.3415, 0.0547, -0.046, 0.7654] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1803 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3975 right_y=0.0375 right_z=0.0168 right_yaw=0.0774 right_pitch=0.2234 right_roll=-0.042 right_gripper=0.7654 state[joint_eff]: [-0.335, -1.4154, 7.0769, 1.6679, -0.0757, -0.0611, -0.0122, -0.1709, -8.1436, 2.7282, 1.4237, 0.0171, -0.0757, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The jaws have stopped at a fruit-sized opening. I’m lifting a few centimetres to check that the pear moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear lifted with the jaws, confirming the grasp. I’m carrying it above the blue bowl with clearance over the rim.
move_to
right_x0.4800right_y0.1600right_z0.2000right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8482, 0.6983, -0.5301, -0.0135, -0.0338, 0.9988, 0.1093, 1.5528, 0.3622, 0.8478, 0.0475, -0.046, 0.7695] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.111 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3925 right_y=0.0382 right_z=0.0881 right_yaw=0.0837 right_pitch=0.2233 right_roll=-0.0395 right_gripper=0.7695 state[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.7216, -0.0269, -0.0366, -0.0122, -0.0479, -6.188, 8.0342, 2.2344, 0.0513, -0.0317, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.16,"right_z":0.2,"right_pitch":0.35},"note":"The pear lifted with the jaws, confirming the grasp. I’m carrying it above the blue bowl with clearance over the rim."})
tool
executing move_to over 11 steps (1.1s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe pear is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing.
move_to
right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6983, -0.5362, -0.0139, -0.0338, 0.9988, 0.4358, 1.6909, 0.9089, 0.4931, 0.3279, -0.0032, 0.7695] state[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1756 left_yaw=0.0019 left_pitch=-0.1209 left_roll=-0.0008 left_gripper=0.9988 right_x=0.4716 right_y=0.1608 right_z=0.1766 right_yaw=0.1401 right_pitch=0.2913 right_roll=-0.0773 right_gripper=0.7695 state[joint_eff]: [-0.3761, -1.8256, 6.8991, 1.6679, -0.0269, -0.0366, -0.0122, 0.1299, -8.4581, 8.2667, 2.1563, 0.1978, 0.2515, 1.0232] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125},"note":"The pear is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe pear is lowered inside the blue bowl’s rim. I’m opening the jaws to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6983, -0.5369, -0.0135, -0.0338, 0.9988, 0.4412, 1.8263, 0.8181, 0.6079, 0.3283, -0.001, 0.7695] state[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1755 left_yaw=0.0016 left_pitch=-0.1217 left_roll=-0.001 left_gripper=0.9988 right_x=0.4631 right_y=0.1596 right_z=0.0999 right_yaw=0.1517 right_pitch=0.1848 right_roll=-0.1082 right_gripper=0.7695 state[joint_eff]: [-0.1573, -1.5248, 6.8991, 1.6093, -0.0269, 0.0122, -0.0122, -0.4308, -10.5094, 6.5299, 2.757, 0.0708, -0.0806, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is lowered inside the blue bowl’s rim. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe pear is visible resting in the blue bowl. I’m approaching the yellow fruit with the right arm and the dark fruit with the left, keeping the two grippers well apart.
move_to
right_x0.4000right_y0.2100right_z0.1300right_pitch0.3000left_x0.2900left_y-0.1200left_z0.0800left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6983, -0.5388, -0.0135, -0.0338, 0.9988, 0.4416, 1.8465, 0.8043, 0.6186, 0.3195, -0.0086, 0.9959] state[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1751 left_yaw=0.0016 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9988 right_x=0.4599 right_y=0.16 right_z=0.0872 right_yaw=0.1648 right_pitch=0.161 right_roll=-0.1186 right_gripper=0.9959 state[joint_eff]: [-0.3624, -1.2786, 6.8991, 1.6728, -0.0366, -0.0562, -0.0122, -0.1162, -10.4, 6.5983, 1.8779, 0.0562, 0.0659, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.13,"right_pitch":0.3,"left_x":0.29,"left_y":-0.12,"left_z":0.08,"left_pitch":0.2},"note":"The pear is visible resting in the blue bowl. I’m approaching the yellow fruit with the right arm and the dark fruit with the left, keeping the two grippers well apart."})
tool
executing move_to over 11 steps (1.1s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe dark fruit is forward and slightly left of the left fingertips, while the yellow fruit is beneath the right gripper. I’m making the final low approaches to both fruits.
move_to
left_x0.3350left_y-0.0950left_z0.0250right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7612, 1.235, 0.2089, 0.3882, -0.6327, -0.3454, 0.9988, 0.6773, 1.7245, 0.6899, 0.6754, 0.5278, 0.0177, 0.9966] state[eef_state]: left_x=0.2788 left_y=-0.1164 left_z=0.0564 left_yaw=-0.0661 left_pitch=0.0663 left_roll=0.0776 left_gripper=0.9988 right_x=0.4009 right_y=0.2129 right_z=0.1149 right_yaw=0.204 right_pitch=0.2516 right_roll=-0.1448 right_gripper=0.9966 state[joint_eff]: [-0.0615, -4.6154, 4.8068, 1.9316, -0.5592, -0.0855, -0.0171, 0.1983, -9.1282, 5.1761, 1.956, 0.2662, 0.1001, 0.0562] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.095,"left_z":0.025,"right_z":0.035},"note":"The dark fruit is forward and slightly left of the left fingertips, while the yellow fruit is beneath the right gripper. I’m making the final low approaches to both fruits."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe yellow fruit is centred between the right fingers, so I’m grasping it. The left gripper needs a small forward adjustment around the dark fruit.
move_to
left_x0.3450left_y-0.0800left_z0.0300left_pitch0.3500right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5056, 1.6157, 0.231, 0.7361, -0.458, -0.2096, 0.9988, 0.6781, 2.0201, 0.6315, 0.9806, 0.5259, 0.0105, 0.9966] state[eef_state]: left_x=0.3181 left_y=-0.0827 left_z=0.0082 left_yaw=-0.021 left_pitch=-0.0075 left_roll=0.1131 left_gripper=0.9988 right_x=0.3982 right_y=0.2115 right_z=0.0315 right_yaw=0.2155 right_pitch=0.2071 right_roll=-0.1738 right_gripper=0.9966 state[joint_eff]: [0.1299, -5.5316, 5.2581, 2.044, -0.0708, 0.1148, -0.0122, -0.0889, -7.7197, 3.5761, 1.6435, 0.0904, 0.0952, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.08,"left_z":0.03,"left_pitch":0.35,"right_gripper":0.35},"note":"The yellow fruit is centred between the right fingers, so I’m grasping it. The left gripper needs a small forward adjustment around the dark fruit."})
tool
executing move_to over 12 steps (1.2s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe right gripper has a fruit-sized opening; I’m lifting the yellow fruit to verify its hold. The left fingertips are touching the table, so I’m raising them slightly to grasp the dark fruit higher on its body.
move_to
left_x0.3500left_y-0.0750left_z0.0650left_pitch0.3000right_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]: [-0.4931, 1.7519, 0.2218, 0.9493, -0.4641, -0.1425, 0.9977, 0.6785, 2.0335, 0.6289, 0.9958, 0.5198, 0.0071, 0.5225] state[eef_state]: left_x=0.3283 left_y=-0.0826 left_z=0.0044 left_yaw=-0.0388 left_pitch=0.0502 left_roll=0.1428 left_gripper=0.9977 right_x=0.3975 right_y=0.2123 right_z=0.028 right_yaw=0.2229 right_pitch=0.205 right_roll=-0.1752 right_gripper=0.5225 state[joint_eff]: [0.1573, -5.5316, 2.2085, -1.0232, -0.2759, 0.9792, -0.1197, -0.0889, -9.6205, 4.0, 1.6581, 0.1587, 0.0024, 0.8864] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.075,"left_z":0.065,"left_pitch":0.3,"right_z":0.1},"note":"The right gripper has a fruit-sized opening; I’m lifting the yellow fruit to verify its hold. The left fingertips are touching the table, so I’m raising them slightly to grasp the dark fruit higher on its body."})
tool
executing move_to over 9 steps (0.9s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe yellow fruit rose with the right gripper, and the dark fruit is now centred in the left jaws. I’m grasping the dark fruit while carrying the yellow fruit over the blue bowl.
move_to
left_gripper0.3500right_x0.4800right_y0.1600right_z0.1900right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4503, 1.726, 0.1928, 1.1732, -0.4778, -0.0433, 0.998, 0.6781, 1.7725, 0.6579, 0.6807, 0.5186, 0.0067, 0.5254] state[eef_state]: left_x=0.3454 left_y=-0.0728 left_z=0.0505 left_yaw=-0.0243 left_pitch=0.2454 left_roll=0.1449 left_gripper=0.998 right_x=0.3935 right_y=0.2091 right_z=0.0833 right_yaw=0.2259 right_pitch=0.1822 right_roll=-0.1864 right_gripper=0.5254 state[joint_eff]: [0.5265, -5.9829, 3.2068, 2.0391, 0.0024, 0.2418, 0.0171, -0.0342, -9.0188, 7.6513, 1.746, 0.1441, -0.0513, 0.2906] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35,"right_x":0.48,"right_y":0.16,"right_z":0.19,"right_pitch":0.35},"note":"The yellow fruit rose with the right gripper, and the dark fruit is now centred in the left jaws. I’m grasping the dark fruit while carrying the yellow fruit over the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe left jaws are around the narrow upper part of the dark fruit, so I’m securing that grasp. I’m lowering the yellow fruit just inside the blue bowl’s opening.
move_to
left_gripper0.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.45, 1.726, 0.1925, 1.1725, -0.4786, -0.0452, 0.3552, 0.4294, 1.7279, 0.8726, 0.5766, 0.3134, -0.1257, 0.5275] state[eef_state]: left_x=0.3452 left_y=-0.0724 left_z=0.0503 left_yaw=-0.0224 left_pitch=0.2446 left_roll=0.1438 left_gripper=0.3552 right_x=0.4726 right_y=0.1604 right_z=0.1619 right_yaw=0.2135 right_pitch=0.2911 right_roll=-0.1933 right_gripper=0.5275 state[joint_eff]: [-0.1436, -5.2581, 3.1932, 1.8437, -0.0952, -0.0366, 0.0952, -0.212, -10.3179, 8.1299, 1.9316, 0.0024, -0.1197, 0.2125] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_z":0.13},"note":"The left jaws are around the narrow upper part of the dark fruit, so I’m securing that grasp. I’m lowering the yellow fruit just inside the blue bowl’s opening."})
tool
executing move_to over 4 steps (0.4s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe left gripper closed empty, so I’m opening and shifting slightly right and lower for one corrected attempt. The yellow fruit is positioned over the blue bowl, and I’m releasing it now.
move_to
left_gripper1.0000left_x0.3500left_y-0.0950left_z0.0250right_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]: [-0.4492, 1.7248, 0.194, 1.1919, -0.4835, -0.049, 0.009, 0.4313, 1.8076, 0.8242, 0.6498, 0.2977, -0.1394, 0.5297] state[eef_state]: left_x=0.3471 left_y=-0.0722 left_z=0.0554 left_yaw=-0.0128 left_pitch=0.2657 left_roll=0.1321 left_gripper=0.009 right_x=0.4686 right_y=0.1625 right_z=0.1199 right_yaw=0.2395 right_pitch=0.2348 right_roll=-0.2136 right_gripper=0.5297 state[joint_eff]: [0.0205, -5.1897, 3.1248, 1.663, -0.0513, 0.0122, 0.7399, -0.0342, -9.0188, 5.9419, 2.3516, 0.1343, 0.0708, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_y":-0.095,"left_z":0.025,"right_gripper":1},"note":"The left gripper closed empty, so I’m opening and shifting slightly right and lower for one corrected attempt. The yellow fruit is positioned over the blue bowl, and I’m releasing it now."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe dark fruit is now clearly centred between the left fingers at a lower height. I’m closing around it and parking the right arm clear of the bowl.
move_to
left_gripper0.0000right_x0.3000right_y0.0000right_z0.2300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.535, 1.9774, 0.2321, 1.3518, -0.5549, -0.0841, 0.9949, 0.4301, 1.8198, 0.8185, 0.6453, 0.2939, -0.1429, 0.9973] state[eef_state]: left_x=0.3457 left_y=-0.0925 left_z=0.0185 left_yaw=-0.0248 left_pitch=0.2314 left_roll=0.1469 left_gripper=0.9949 right_x=0.4671 right_y=0.1619 right_z=0.1107 right_yaw=0.2445 right_pitch=0.2121 right_roll=-0.2199 right_gripper=0.9973 state[joint_eff]: [-0.5812, -5.6, 3.0564, 2.0, -0.3004, 0.0415, -0.0415, 0.0479, -9.6752, 6.147, 1.9023, 0.0366, 0.0073, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.30,"right_y":0,"right_z":0.23,"right_pitch":0},"note":"The dark fruit is now clearly centred between the left fingers at a lower height. I’m closing around it and parking the right arm clear of the bowl."})
tool
executing move_to over 14 steps (1.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left gripper has stopped at a substantial opening around the dark fruit. I’m lifting it to verify the grasp before transporting it.
move_to
left_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]: [-0.5354, 1.9862, 0.2329, 1.3468, -0.5579, -0.0834, 0.5563, -0.1017, 0.8616, 0.7639, -0.4259, -0.1276, -0.3634, 0.9979] state[eef_state]: left_x=0.3448 left_y=-0.0916 left_z=0.015 left_yaw=-0.0244 left_pitch=0.2206 left_roll=0.1552 left_gripper=0.5563 right_x=0.3114 right_y=-0.0056 right_z=0.2257 right_yaw=0.1902 right_pitch=0.0302 right_roll=-0.2317 right_gripper=0.9979 state[joint_eff]: [-0.1573, -6.9538, 1.894, 1.79, -0.1294, -0.0659, 1.0281, -0.1436, -1.7162, 9.1419, 1.7949, -0.1148, -0.0415, 0.0513] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The left gripper has stopped at a substantial opening around the dark fruit. I’m lifting it to verify the grasp before transporting it."})
tool
executing move_to over 6 steps (0.6s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe dark fruit is securely lifted. Because the blue bowl is beyond the left arm’s sideways reach, I’m holding the fruit near the centre and approaching the bowl’s left rim with the right gripper to bring it closer.
move_to
left_x0.4300left_y-0.3300left_z0.2200left_pitch0.3500right_x0.4750right_y0.2150right_z0.1600right_pitch0.3500right_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]: [-0.5373, 1.4158, 0.2787, 0.7776, -0.5613, -0.0864, 0.557, -0.1009, 0.8658, 0.767, -0.4637, -0.1425, -0.3824, 0.998] state[eef_state]: left_x=0.3441 left_y=-0.0914 left_z=0.0987 left_yaw=-0.0161 left_pitch=0.2622 left_roll=0.1295 left_gripper=0.557 right_x=0.3073 right_y=-0.0023 right_z=0.2181 right_yaw=0.2135 right_pitch=-0.0071 right_roll=-0.229 right_gripper=0.998 state[joint_eff]: [-0.1846, -4.3829, 8.0068, 1.7411, -0.1099, -0.0171, 0.6764, -0.2393, -2.0171, 6.694, 2.1123, 0.0757, 0.1294, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.33,"left_z":0.22,"left_pitch":0.35,"right_x":0.475,"right_y":0.215,"right_z":0.16,"right_pitch":0.35,"right_gripper":1},"note":"The dark fruit is securely lifted. Because the blue bowl is beyond the left arm’s sideways reach, I’m holding the fruit near the centre and approaching the bowl’s left rim with the right gripper to bring it closer."})
tool
executing move_to over 22 steps (2.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe arms are crowded near the bowl, so I’m moving the held dark fruit back out of the way. The right gripper will descend onto the bowl’s left rim.
move_to
left_x0.3000left_y-0.1800left_z0.2400right_x0.4800right_y0.2250right_z0.0700
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]: [-0.8906, 1.9461, 1.3487, 0.1543, -1.0027, -0.21, 0.5587, 0.5362, 1.8309, 0.9165, 0.5976, 0.4789, -0.1375, 0.9987] state[eef_state]: left_x=0.4346 left_y=-0.2947 left_z=0.1988 left_yaw=0.052 left_pitch=0.3266 left_roll=0.1956 left_gripper=0.5587 right_x=0.4702 right_y=0.1889 right_z=0.1392 right_yaw=0.1848 right_pitch=0.2667 right_roll=-0.2646 right_gripper=0.9987 state[joint_eff]: [-3.4393, -10.6462, 10.4821, 1.8632, 0.5836, 0.0122, 0.3932, 3.2615, -8.6632, 8.2667, 2.1758, -0.232, 0.0122, -0.149] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.18,"left_z":0.24,"right_x":0.48,"right_y":0.225,"right_z":0.07},"note":"The arms are crowded near the bowl, so I’m moving the held dark fruit back out of the way. The right gripper will descend onto the bowl’s left rim."})
tool
executing move_to over 11 steps (1.1s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe right fingers straddle the blue bowl’s left rim, away from the fruits. I’m closing on the rim to lift the bowl.
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]: [-1.0126, 1.2892, 0.8413, -0.0799, -1.0843, -0.3161, 0.5601, 0.6003, 2.0933, 0.9543, 0.7708, 0.5236, -0.1371, 0.9986] state[eef_state]: left_x=0.3079 left_y=-0.1915 left_z=0.2369 left_yaw=0.0306 left_pitch=0.3228 left_roll=0.1841 left_gripper=0.5601 right_x=0.4746 right_y=0.2222 right_z=0.0632 right_yaw=0.2147 right_pitch=0.2241 right_roll=-0.2978 right_gripper=0.9986 state[joint_eff]: [-0.3624, -5.0393, 6.9402, 1.5751, -0.4225, -0.1294, 0.6374, 0.3624, -9.5521, 6.8444, 2.1319, 0.315, 0.2222, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingers straddle the blue bowl’s left rim, away from the fruits. I’m closing on the rim to lift the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe rim grasp closed empty just outside the bowl. I’m opening and moving slightly forward and inward so one finger enters the bowl and the other stays outside its wall.
move_to
right_gripper0.7000right_x0.4950right_y0.1950right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1043, -1.0836, -0.3374, 0.5626, 0.6003, 2.1113, 0.9543, 0.7589, 0.5194, -0.1413, 0.0106] state[eef_state]: left_x=0.3055 left_y=-0.1904 left_z=0.2293 left_yaw=0.0275 left_pitch=0.3064 left_roll=0.1951 left_gripper=0.5626 right_x=0.4728 right_y=0.2218 right_z=0.0518 right_yaw=0.2229 right_pitch=0.1952 right_roll=-0.3116 right_gripper=0.0106 state[joint_eff]: [0.1299, -4.8205, 7.4872, 1.7118, -0.3492, 0.2076, 0.2418, -0.1162, -11.9179, 4.9709, 1.917, 0.149, -0.0073, 0.8816] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7,"right_x":0.495,"right_y":0.195,"right_z":0.075},"note":"The rim grasp closed empty just outside the bowl. I’m opening and moving slightly forward and inward so one finger enters the bowl and the other stays outside its wall."})
tool
executing move_to over 7 steps (0.7s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe bowl wall now lies between the right fingers. I’m closing gently on that wall for the corrected rim grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1089, -1.0836, -0.3386, 0.5647, 0.5179, 2.0926, 0.9581, 0.6888, 0.4385, -0.1829, 0.6952] state[eef_state]: left_x=0.3053 left_y=-0.1901 left_z=0.2287 left_yaw=0.0269 left_pitch=0.3042 left_roll=0.1981 left_gripper=0.5647 right_x=0.4848 right_y=0.194 right_z=0.0452 right_yaw=0.2331 right_pitch=0.1323 right_roll=-0.3341 right_gripper=0.6952 state[joint_eff]: [-0.1162, -4.6701, 6.7214, 1.4823, -0.3248, -0.0171, 0.2076, -0.6906, -13.3402, 7.5966, 1.8095, 0.0904, 0.1245, -0.1343] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bowl wall now lies between the right fingers. I’m closing gently on that wall for the corrected rim grasp."})
tool
executing move_to over 7 steps (0.7s)
step 209
top_cam
camera top_cam step 209
assistant
agent noteThe second close also appears empty; the overhead view shows the fingers behind the bowl’s side rim. I’m correcting from that view by lifting and approaching the rim farther forward.
move_to
right_gripper0.7500right_x0.5350right_y0.1900right_z0.1250right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0828, -0.3408, 0.5662, 0.5152, 2.0892, 0.9619, 0.6754, 0.4313, -0.1841, 0.0177] state[eef_state]: left_x=0.3053 left_y=-0.1902 left_z=0.2286 left_yaw=0.0275 left_pitch=0.3039 left_roll=0.1959 left_gripper=0.5662 right_x=0.4851 right_y=0.1939 right_z=0.0453 right_yaw=0.2374 right_pitch=0.1253 right_roll=-0.3338 right_gripper=0.0177 state[joint_eff]: [-0.0615, -4.8615, 6.8581, 1.4628, -0.3248, 0.0073, 0.1441, 0.2393, -9.9624, 4.8205, 2.0391, 0.2271, -0.0952, 0.6325] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.75,"right_x":0.535,"right_y":0.19,"right_z":0.125,"right_pitch":0.5},"note":"The second close also appears empty; the overhead view shows the fingers behind the bowl’s side rim. I’m correcting from that view by lifting and approaching the rim farther forward."})
tool
executing move_to over 13 steps (1.3s)
step 222
assistant
agent noteThe right gripper is now aligned with the bowl’s side wall rather than behind it. I’m lowering slightly and closing to capture the rim.
move_to
right_z0.0800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0805, -0.3412, 0.5675, 0.4637, 2.1643, 1.0271, 1.0092, 0.3874, -0.2962, 0.7473] state[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.026 left_pitch=0.3028 left_roll=0.1949 left_gripper=0.5675 right_x=0.5265 right_y=0.1927 right_z=0.1042 right_yaw=0.263 right_pitch=0.4167 right_roll=-0.3522 right_gripper=0.7473 state[joint_eff]: [-0.294, -4.8342, 6.8171, 1.4481, -0.3443, -0.0317, 0.1197, -0.8274, -10.0718, 7.6376, 2.3419, 0.0415, 0.0904, -0.0952] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"right_gripper":0},"note":"The right gripper is now aligned with the bowl’s side wall rather than behind it. I’m lowering slightly and closing to capture the rim."})
tool
executing move_to over 8 steps (0.8s)
step 230
assistant
agent noteThe opening is very narrow, which could be the thin bowl rim rather than a secure hold. I’m making a short vertical lift to check whether the bowl actually follows.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3412, 0.5683, 0.4625, 2.2223, 1.0271, 1.0542, 0.387, -0.2996, 0.0099] state[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0259 left_pitch=0.3026 left_roll=0.1952 left_gripper=0.5683 right_x=0.527 right_y=0.1923 right_z=0.0835 right_yaw=0.2652 right_pitch=0.4033 right_roll=-0.3586 right_gripper=0.0099 state[joint_eff]: [-0.0205, -4.8342, 6.7214, 1.4676, -0.3394, -0.0171, 0.0708, 0.0752, -9.7026, 4.6154, 2.2637, 0.0415, 0.0073, 0.8327] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The opening is very narrow, which could be the thin bowl rim rather than a secure hold. I’m making a short vertical lift to check whether the bowl actually follows."})
tool
executing move_to over 7 steps (0.7s)
step 237
assistant
agent noteThe bowl appears to have risen with the gripper, although the arm obscures much of it. I’m bringing it toward the centre so the left arm can add the final fruit.
move_to
right_x0.4400right_y0.3500right_z0.1700right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3416, 0.5697, 0.4625, 1.9797, 1.0904, 0.7246, 0.3798, -0.3004, 0.0105] state[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0261 left_pitch=0.3027 left_roll=0.1949 left_gripper=0.5697 right_x=0.5262 right_y=0.1932 right_z=0.1637 right_yaw=0.2742 right_pitch=0.3797 right_roll=-0.3632 right_gripper=0.0105 state[joint_eff]: [-0.0615, -4.8615, 6.7077, 1.4237, -0.3297, -0.022, 0.1294, -0.3624, -13.0256, 8.4444, 2.0244, 0.0708, -0.0122, 0.7448] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.35,"right_z":0.17,"right_pitch":0.35},"note":"The bowl appears to have risen with the gripper, although the arm obscures much of it. I’m bringing it toward the centre so the left arm can add the final fruit."})
tool
executing move_to over 14 steps (1.4s)
step 251
assistant
agent noteWith the right arm moved aside, I can see the blue bowl never left the table; the rim grasps were unsuccessful. I’m returning the held dark fruit safely to the table and clearing the right arm rather than attempting an insecure pour.
move_to
left_x0.3500left_y-0.0950left_z0.0550right_x0.3000right_y0.0000right_z0.2300right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.115, -1.0851, -0.3408, 0.5705, 0.8761, 2.046, 1.2591, 0.5144, 0.7521, -0.207, 0.0126] state[eef_state]: left_x=0.3051 left_y=-0.1894 left_z=0.2281 left_yaw=0.0277 left_pitch=0.3021 left_roll=0.2018 left_gripper=0.5705 right_x=0.4409 right_y=0.3462 right_z=0.1622 right_yaw=0.3159 right_pitch=0.3289 right_roll=-0.3881 right_gripper=0.0126 state[joint_eff]: [-0.0479, -4.7385, 6.7214, 1.917, 0.0122, -0.0269, 0.0659, 0.7863, -10.3043, 8.9231, 1.8828, 0.3736, 0.1636, 0.735] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.095,"left_z":0.055,"right_x":0.3,"right_y":0,"right_z":0.23,"right_gripper":1,"right_pitch":0},"note":"With the right arm moved aside, I can see the blue bowl never left the table; the rim grasps were unsuccessful. I’m returning the held dark fruit safely to the table and clearing the right arm rather than attempting an insecure pour."})
tool
executing move_to over 29 steps (2.9s)
step 280
assistant
agent noteThe dark fruit is back above its original clear area of table. I’m lowering it the last few centimetres before releasing it.
move_to
left_z0.0200
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]: [-0.6052, 1.813, 0.2749, 1.1301, -0.7269, -0.0631, 0.5712, -0.0788, 0.8291, 0.7288, -0.44, -0.0788, -0.5217, 0.9981] state[eef_state]: left_x=0.346 left_y=-0.0922 left_z=0.0454 left_yaw=0.0362 left_pitch=0.2537 left_roll=0.2333 left_gripper=0.5712 right_x=0.3031 right_y=-0.0064 right_z=0.2153 right_yaw=0.2519 right_pitch=-0.0195 right_roll=-0.3843 right_gripper=0.9981 state[joint_eff]: [0.294, -5.8325, 2.7556, 2.0635, -0.1245, 0.0855, 0.0611, -0.1299, -1.9624, 9.9761, 1.9023, -0.1978, -0.0122, -0.0708] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.02},"note":"The dark fruit is back above its original clear area of table. I’m lowering it the last few centimetres before releasing it."})
tool
executing move_to over 2 steps (0.2s)
step 282
assistant
agent noteThe dark fruit is at table height. I’m opening the left gripper to leave it resting safely on the table.
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]: [-0.6025, 1.9381, 0.2794, 1.269, -0.7212, -0.0593, 0.5719, -0.0875, 0.8253, 0.7353, -0.4725, -0.1196, -0.5507, 0.9986] state[eef_state]: left_x=0.3489 left_y=-0.0941 left_z=0.0323 left_yaw=0.0349 left_pitch=0.2666 left_roll=0.2239 left_gripper=0.5719 right_x=0.2991 right_y=-0.0015 right_z=0.213 right_yaw=0.2931 right_pitch=-0.0386 right_roll=-0.3806 right_gripper=0.9986 state[joint_eff]: [-0.4718, -6.4068, 2.0718, 2.1465, -0.3883, -0.0562, 0.0562, 0.253, -0.6632, 6.4342, 2.1319, 0.0513, 0.1001, 0.0415] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is at table height. I’m opening the left gripper to leave it resting safely on the table."})
tool
executing move_to over 5 steps (0.5s)
step 287
assistant
agent noteThe dark fruit has been released onto the table. I’m retracting the left arm to leave both bowls and the fruit unobstructed.
move_to
left_x0.2960left_y0.0000left_z0.2200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6044, 1.9522, 0.2756, 1.2629, -0.7238, -0.0601, 0.9953, -0.0872, 0.8337, 0.7338, -0.4767, -0.1097, -0.5442, 0.9986] state[eef_state]: left_x=0.3463 left_y=-0.0927 left_z=0.0259 left_yaw=0.0319 left_pitch=0.248 left_roll=0.2388 left_gripper=0.9953 right_x=0.2993 right_y=-0.0031 right_z=0.209 right_yaw=0.2819 right_pitch=-0.0524 right_roll=-0.3751 right_gripper=0.9986 state[joint_eff]: [0.0205, -7.2547, 2.5231, 1.7118, -0.1587, 0.022, 0.0122, 0.0068, -1.6752, 7.0906, 1.7851, -0.1685, -0.1197, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.22,"left_pitch":0},"note":"The dark fruit has been released onto the table. I’m retracting the left arm to leave both bowls and the fruit unobstructed."})
tool
executing move_to over 13 steps (1.3s)
step 300
assistant
agent noteI placed the green and yellow fruits in the blue bowl, but could not secure a reliable grip on the bowl for repositioning and pouring. The dark fruit is safely back on the table, both arms are retracted, and the white bowl remains empty. The requested sequence is incomplete.
give_up
hindsightThe blue bowl's centre lies beyond the left arm's lateral reach, so plan to use the right arm for all fruit transfers or reposition the bowl before loading it. The successful dark-fruit grasp was approximately left x=0.35, y=-0.095, z=0.025 with forward pitch. Narrow rim closes around 0.01 were empty: lifting while occluded did not establish a bowl grasp; moving aside revealed the bowl still on the table. Forward pitch helped overcome stalled low approaches, but achieved pitch and roll deviated substantially from targets.
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]: [-0.2214, 0.8505, 0.7166, -0.408, -0.3729, 0.0185, 0.9959, -0.0872, 0.8379, 0.7338, -0.4847, -0.1097, -0.5503, 0.9986] state[eef_state]: left_x=0.3055 left_y=0.0009 left_z=0.2164 left_yaw=0.0733 left_pitch=0.0532 left_roll=0.2234 left_gripper=0.9959 right_x=0.2986 right_y=-0.0031 right_z=0.2062 right_yaw=0.2852 right_pitch=-0.065 right_roll=-0.3756 right_gripper=0.9986 state[joint_eff]: [0.2393, -2.5915, 8.6906, 1.5507, 0.0708, 0.1294, 0.0513, -0.212, -1.7573, 6.9812, 1.8291, -0.0757, 0.0562, -0.0122] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I placed the green and yellow fruits in the blue bowl, but could not secure a reliable grip on the bowl for repositioning and pouring. The dark fruit is safely back on the table, both arms are retracted, and the white bowl remains empty. The requested sequence is incomplete.","hindsight":"The blue bowl's centre lies beyond the left arm's lateral reach, so plan to use the right arm for all fruit transfers or reposition the bowl before loading it. The successful dark-fruit grasp was approximately left x=0.35, y=-0.095, z=0.025 with forward pitch. Narrow rim closes around 0.01 were empty: lifting while occluded did not establish a bowl grasp; moving aside revealed the bowl still on the table. Forward pitch helped overcome stalled low approaches, but achieved pitch and roll deviated substantially from targets."})
tool
give_up: I placed the green and yellow fruits in the blue bowl, but could not secure a reliable grip on the bowl for repositioning and pouring. The dark fruit is safely back on the table, both arms are retracted, and the white bowl remains empty. The requested sequence is incomplete.
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 · 8.109 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]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0299, 0.9989, -0.0227, 0.7986, 0.6193, -0.387, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.812, 9.5658, 1.8193, -0.1294, 0.1343, -0.1245, -0.1299, -1.6479, 9.2923, 1.8926, -0.0952, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e669762b4e15f6c18778b02078ba733de3e92a87eee8a766522a5b7e5f840b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e4147cdf76fdaf5618f220ff4970e8d2aae1a9beee20da7212d8fe4170a429",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6d8d35d04c9596b4b52aa86083f1eb41e42c23dc2b410b87b9ea0c55376ebc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 6.274 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr8EnnkJvHyvdrbcRdFf9w1u-vRYC2RRRUk9NP4VCWLdXklpbFaAlFU9-kgdYuc3LqtN8YBMp9E_sPE21y-WoiZEq49xfw3v5qyfNhALqLkev6y48OvsEW413Y7_baAvIo-lFsYdhos2XIXNbJLBBRaZjnlz3m_TJhxEUjgEZ9o1dh5ZRGo0DHuT1D8z0nFECfbQCYmzs6_CgrSGnr7XdvKK9fnBaBMi3zTSI3CfIvRg8w9U7ZLmfQmfp5ouUO3JM5vAJ0lJ4obORMWng0dMYA7DWeiHlK71tErqCxYIcCqcSH7edt57KgEql1HMrFDb5M7Bap9rfzn_Lshpi0G86Xc7R_gn0jmRSO412-10_VWjfxiDxCJ1f3XygRlsx-X1GHBmhKADwVJ4vG0wB6RjjLhVo2OUprjeRmhRl581MlaoPMdcM7h49U3TvYLLNY5okc74y3GCDexlD_ZScF7zzn0Y4yRQisFnRGIK-3conOnpNUZM48F-SAGvNtsc5Flf3dj_9xiTKAJiuXrNIEJB4KhoTGd2dzw8x_lz2cjJ95O6vKdM1a8zagY-FqjxrEKHNBa0QEZBBnWcPWtcRV4oPxyLKq-TmvW5httgkcl4Yx7ItZxySW2R6MYDIUJlyBrYb-QTlk8DpbgdBL19GNRmatd8W-or8CR-Hrv8xMv57NzRP9o3rX1M-x7XSS_QFqfjy1zkZcfJ5nMpbHOBR3FVG9FMygKTZgcmHpxXFSQvjQmjV-adfgkKKBrPzffBVL52CYPFgmGILP-LIIiQTwRbqvIDzTmKeu6qp6EPWz1M7CZIJb4HgGvr--4sCZQfAkqDenU1RO-4uQJW-AEVTfKYOvn5U8jTeaKAUNGRjkuZiPVEPgMmxEKeQQFn0twQHqFAE0ALdADATOLVbpLS1OdkHtDIyUVfSoeogmo0AcW67tYBeC4lXQ5jjzE_Ixipb0GHUhUABpsEguIqcJ72ROQb-EsqvMe4k_Res7HNPdMASz5gAEEIUGPrKkCNxXFPQ3IuTT7ztbZdSFUqv-d3J2oY4VoBi8tAEovIKsb4uF28wfll7UDzyCz_6_5BVe6dO0Sa1x90g3Mzg8A_4s7VWTXpzbHihkDROic8EK5uuVBylQOYhySjCJh_ZvPywm1rW3ov_9ypfUqMurfmTcqBBLOQW8oOv9ds_hwEMZQMOwhrjAVGixjSM3eSRoq9hIJdB1UatWHnaqSdIYImM9B7PkBZkW_xwf7tr4oIo-g7of781WriM94ro6yCgEea4TwfLUbBHx3FBrEIXxRHF6V448wuYrps8QEq2Wkf43RzfPbpwOZA8HCa3b_tKjjRc-4tarC0DcN3AL8oKmwOljLM8lgk1Cylu1A9E9K2R1j9rYpz3RYmGxnSG_jaibqB6FhKBaTeAJRWT0pojqB_a5Xx55xztpbngIaBnmpvqMbjh8NvS9IR-lz4BoVPZBVs8Mj4_76obQEkwFCLLJ245wpoywTq0vha-GnSLGQVS4ecztsbP2Mdp3DIZfCONtg8wZsWJ-DeVl0f2UDIKBkSMIi9ZVmo7NQ9gEy1z2VsZ2K7lZeEP9G30iOlD4n7W8bDaqPrW-itwf32WfCJeU-4Ott61ROhviluk92A5Vwjg2VKzUaBpNy_PD5PYU9jZe0MItaedwNSwOwC",
  "id": "rs_0ef580bbe87f04cc016ab2befe52a087d0aba0607e5c9d47f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.105,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits: a dark fruit near the left arm, a yellow fruit beside the blue bowl, and a green fruit on the right. I’m positioning the right gripper above the green fruit first.\"}",
  "call_id": "call_UCdc31quHdrCAV8A5ePOIBsa",
  "id": "fc_0ef580bbe87f04cc016ab2bf01eaac87d0a13b90e4f419408a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCdc31quHdrCAV8A5ePOIBsa",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3866, -0.0139, -0.0307, 0.9988, 0.4488, 1.2652, 0.6758, -0.0937, 0.3553, 0.2031, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1806 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3499 right_y=0.1043 right_z=0.1289 right_yaw=0.0321 right_pitch=-0.0676 right_roll=-0.0403 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.4154, 7.0906, 1.8095, -0.0464, -0.0708, -0.022, -0.1026, -5.0256, 8.8137, 1.9316, 0.3004, 0.2369, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68a117666b7389cf2fc81b4c1cda73f4104b28d9cbf3a58c3d6505791c02ccf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959a169d34cc47c86e89bfaf1ccdb3584955b8d12b03b37d1dde39beee701142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4f572a8bc1f02251490d2de88f5139878059aa0e06ebe2f72d70c9961b57c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 8.326 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]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0299, 0.9989, -0.0227, 0.7986, 0.6193, -0.387, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=-0.0001 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.812, 9.5658, 1.8193, -0.1294, 0.1343, -0.1245, -0.1299, -1.6479, 9.2923, 1.8926, -0.0952, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr8SOdC3wKZIKedfw1O_Z5MnslExl7IzA0A8chKvuS-DpM8-Gx_7Ig2u1HG3WRCFcd3uCcaoLdmhRlKEAhFjwqHz23LiHQgfAKuzzFIQFGkdsWc_7LiGG5yeOVD_PRKmlUt8dKkJ9aaH8FTTHSPFVmezYhzyrCorW5FK8_x2GTFXSJoLN49yX5i556f3QAtcSxjeMOKsI_HAqcWu0faWCuJAnKBMBboNqPuyWajLMXCRb6CJ580BUCvosbSrzCgL5NttTgJ2U5HuuwYlntLzqZIUSAbrTcGM36qgcWfri4dLwFDjC6uqNkVQN-4rJ6LwazL02-rUx_GIiTECLQK3sABZuCmR2ZCw2ma_8BmAKrFshNEbdprlOSvN-VSP41O5ummpHawklY-_V4Gn6EhwExCbs03lpl9qXbb3F-Su8mjmlm-eWtV70F6Kbcl-4TA8jojXsGwjYg03eSV3LwXArv-Jj4KJKkYKEfX0Td4N1DE8hyq__e8H3MSapJLsl-mSAckAgIsoIXhWfO8jxHNl55J2C2nT3fczFCVNQcgvSbvuII9rMR9hOE6OkYIcqzsfPkoU32FAhf1_vD6YDWCQ-TvwJnKf-iSjTRR3aRoAV0_U06ii_wPY44eBl0CZfN0f6Wg4dFpxUtrzvccMoCMeGdtwyeQNmrSq3mlsBR4S4oU7jV98Ey0F9FSnqzdvkp5JiTOom9qoJ3Wr-eNuTkObhZG81fEqa7OSLUhJh-5q8XKoIBUeyT-vuQMRe7j1-mLUOb8Vcuiab8jU0U2-YhzHiD6BfbrH_JZTa2g9dIVyYWecz-L7-9HwIqwVt_RvnbZDWim6SZevJPZmE-l7wHp4fRmwMM4Da6AadQ8pXDg6bylbu_SyN7Cd6MZ2E52DdKOrUe95YiYzO-a_wiP6K0Tmwr_CGgdzuM1Ayle_trrByFAdg-Qc16g2eyMHf9mnYGJORKSOWV6mca7i_TTwVvzyhDjC5-dCKt01YwkAEmkMDfXjyFvTPcgXtoD_2c1TMbmALUntn-Z1ZI5a0ZzQxdmN7dnNfy0XolHSU_B2NFR52dTVkxOrHlvZTsViQflEr4qkGyQazjALCcRsQGpbXwUivllUfzin3HGa2OtHOEfdUOBe-ILrSAiRDryqvXvj109lC--drGMBn6H-Pqq567t-qEo8AGemGR6-ch49Ooyfe22hXPEWvsDJW50jA6_EHhZjreArwYmi2sFxETOZE2aadYxGFfF_aLSUzprNRowiVHWcFmbu61j4wJsmlj8GMkQpMB2VoQzvWkO_h2Dwm4L0XrHfoNYwle8df36vBE9tsCEvVbkknd8JJ-nf6EZ4zKmcH2F53vZvBcFQXxzhCyhVa7N2rEefrEn0nPE2zatkVl0mcVeaflhdSvAsAwDilhy-xyZ5UaDESZnAFS4uwEJav-3_-OxaIEzYT0KUAvZGu7o5PYZMyLAaGqrmg2dx_9TzflzM5-aZv_UtMX4z4zrmvFRGyA==",
  "id": "rs_0ef580bbe87f04cc016ab2bf0f499087d08a6dbace8e612f68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.075,\"right_z\":0.045},\"note\":\"The green fruit is slightly to the right of the jaw centre in the wrist view. I’m shifting right and lowering the open gripper around its middle.\"}",
  "call_id": "call_5CN9q62EKYBnYKlraSX76vgY",
  "id": "fc_0ef580bbe87f04cc016ab2bf11974087d08a991b13a15579e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5CN9q62EKYBnYKlraSX76vgY",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4007, -0.0139, -0.0307, 0.9988, 0.2974, 1.5581, 0.5034, 0.374, 0.2302, 0.1116, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1767 left_yaw=0.0001 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9988 right_x=0.3721 right_y=0.0756 right_z=0.0403 right_yaw=0.0332 right_pitch=-0.0939 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4291, 7.2, 1.8632, -0.0708, -0.0269, -0.0171, -0.1026, -6.1197, 5.1214, 1.873, 0.1099, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88ac446a3489770071cd0ead191da7432779c5b6b39ffcc58616aac21117446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c4f3861c976628427baf8f5f5361c8a5e90c64b776d501147d459313d15091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f51a90eeee253812e1239e40675a761ac4c0f85b014f06669524eb12bb09c93",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 4.749 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3866, -0.0139, -0.0307, 0.9988, 0.4488, 1.2652, 0.6758, -0.0937, 0.3553, 0.2031, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0001 left_z=0.1806 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3499 right_y=0.1043 right_z=0.1289 right_yaw=0.0321 right_pitch=-0.0676 right_roll=-0.0403 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.4154, 7.0906, 1.8095, -0.0464, -0.0708, -0.022, -0.1026, -5.0256, 8.8137, 1.9316, 0.3004, 0.2369, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr8dupg9a08bsd3XOhPLqaj9saT2C0w6ku6k6RosohOda4QBr-eZMvrHMT-D5BWoWSzizA7l5PfcwD6QW2539tydHjJJXZfIX7Oq2pW37MN3eQEt6THpAf06oOzgkjz_pKwuoDjaK60zerGGQz-AwhpGqFSWxAxELvaRFSL4rLloWWt42Vsycotld5pNCDmBdvqPCg1tP4p81nkA8vh0mHHSaYvNMLbUoXBjcmPGsdLoD3gMj7hGjg64rvvRvvtgS6xVVTSBI0FCP1sPQf3BtN0Ghej2DeWpqEHdLQIDSTCEtqfJXpVWBsaz4by3lzJd7viDXAtUp02znKNQr8OYIEXDnmhVpsecg_RYcrOnEKNIrFcW6TrTHdseWWg_V8DOLJeNWxk9awHr0gnodvjMQn1T7fdWwPTck3Lcp91I6X0tHV2FxCvkhvXJhotwXmNbVprBc8O7uGg4_Q4Uj-ta_dck8A_pYcyE5LNmchWMldTGcZEu-eaePZqq2PcZh65zfkSD4uCcoMTJty70n3_yPCVPIJbnk9muMjjpLPgWQynf_uin4AmISI8Ps5LT_upjag5mwGqjlfeTQ96K1jvk-dBWANXV3UC0O5O0alz8L4FmBN5k1UXseNfkCn1LkUq92kiIFy9frPNV2YTTWJrXbRI_UDGwhaS9eKMwmrLNrTV5kTNFByu2KZVpVlNMgcd5GZyqf3DpNdUAMM5rxKYwFtQ7mCO_4Xql3tmME9u2dKBgUdO9VBthVG1erJ_tnOetU_lJW70Ftb8F1KySjCT1FklHa4kj7L8qiZOj3EifSgfJQSleI5T5eXi8xPvMpBAFxjKmOMpVncdU0EO3hASjY6ETk9vBTDrztwLd5t9FlLKNMuqsG9drSEKquxGYFIAS99aLvtTZ0OMNbH1ub4pxDy68UKlAedStLURFBFIMyfkVM_8yG5ds7t5Buq9bwsHvh_hYKHVouO_kLQ4sN7-QZkMfc41m7jhI6BwfjI7MCNMD235asNoD4HTlueqmLp3fVupcUjt2F_DqcI5cIMSY2NS3yGq-hSYzD-Fn3fovpLR-ylC6_mam2oKwXDLE8cD2raqMIr8KnEf7PiuFEmOuCV7bsNJCK0k15uZjL9aPEsLP8N-ur-YTKfVx2OTAEkrAFLotvnWO0JV1OyLhfmLzvE8-vIVigJE8p9hBXqWBkyuINRHEEfGordA76N9w-IaDJoQVA2MyOgA5YZ1DRWIwjCpE6q86793CvTuSBH4GOIFfSMel12nQN0pKu8_HhhDC72AH4SbXXlIlYHjtQUCa8JjheW7CY7-IC4QBsaxFhLgqkWhRmIrt1ua1kt0B2F4QkJY3ft9RaUjasEiSNgEnQQohP3cxOjH69xp4fc5N4j9-kf2sljMScTulY_vsgd5hRG5uX1zJl5c0rmUpKaajBDikp1H9GeqwIhPnBvL7l2-Cc_Z63JDkk0sed_rYQI7Aa0z-x81IWRraR_qWth_tYNe3Cp80OfkSw9cSMUg5kC6nmpaTMjW8peW8Zr5eHKMsASxRqYgRBcsRiWiq-rNWakyzBxwO_m4zM-NwA5f2VERlAOz9KsrAm5HJ0rIVEbuwC0WPBh0Hx228KzUKkLQGfJct3uaqu_CwXqJoy6mrmmoVf5tWgmm18FdzY06taGXo5lrjDxEgDSN-GYABh9aY4YLtkR0Ch_oc9dijaeL9g-T2PeKBHetaNIpRvJYIF5F05s3YIBvSAxmNmyEihqAnjGcQ_poHI5w7nXwDfJpDz7RwJr_sgmaq1C3nBGR36b3RIAIj",
  "id": "rs_0ef580bbe87f04cc016ab2bf1762b087d09e2793fdfb72e3be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.035,\"right_z\":0.035},\"note\":\"At grasp height, the green fruit is still outside the right finger. I’m moving the gripper another four centimetres to the right to centre it before closing.\"}",
  "call_id": "call_pGZbsGDkXoNGGQVTDkLLLYYa",
  "id": "fc_0ef580bbe87f04cc016ab2bf1c2e2087d09ece8b5825972713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pGZbsGDkXoNGGQVTDkLLLYYa",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4084, -0.0135, -0.0311, 0.9988, 0.1326, 1.5578, 0.4618, 0.3981, 0.1104, 0.0135, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1751 left_yaw=-0.0 left_pitch=-0.032 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3691 right_y=0.0332 right_z=0.0278 right_yaw=0.0217 right_pitch=-0.1274 right_roll=-0.0431 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.8144, -0.0171, -0.0611, -0.0171, 0.0068, -6.6667, 4.7521, 1.9267, -0.0171, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a96c73467f9963827001711af4326da1b3d0b8f1b551d75f3ff14253c77b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53ef4ae7d059f432fa97eefc3a9fd134c2e29a9afb9cf43d64b3915433c8f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b53b758ba3a31cf0e45012963b3c7085c922b996833478038aca1745bfb2df0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.506 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4007, -0.0139, -0.0307, 0.9988, 0.2974, 1.5581, 0.5034, 0.374, 0.2302, 0.1116, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1767 left_yaw=0.0001 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9988 right_x=0.3721 right_y=0.0756 right_z=0.0403 right_yaw=0.0332 right_pitch=-0.0939 right_roll=-0.0383 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4291, 7.2, 1.8632, -0.0708, -0.0269, -0.0171, -0.1026, -6.1197, 5.1214, 1.873, 0.1099, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr8jXjJ1cyDGa8MqOiJYCTgVvST54U3GRo9jDtWYScyDMifNYQTaozjk4I7BS0M6rUCgW06mY88WPUdxxpFIUU3lrgoLXlVaT3BBffIdCZqNHU2SgmLwVxSsUdX25kbA1i2N2LIjbZcTdQZYlHzH3rPqvwuQsYufmHjnV_cWKuTo5_qOo1W0fzIga6ACTr2zRZqc4flp2iOZguoB9ha7GiJY5TopLrJXy6krSJu63p8I5JejMImCBIpCiAlp7O65i18qR6BOUGSAemo0HYJNanrUkXPSsrBeqZr2Vm2ShSNnWIelAUP1HqksLYC54WAW5kgoRG7Lrq_zblCwpHIzZt4RWKy-ZGFN0urHmd547_i9KsToKgzaYc10SJ5ctW8Ss0GR2D9PmmIjFK2LKiKgP7kLL4FOocvRQ63xmSjQnfqV_TmmRXnGFRaJIrIcQfqoRhWDPHR-p6X1G4ekvV7V2lli9pEQX_J0j8mOdkA8W-veXG5hA6L0zQJzEgtz00BWIs3I2JJXdsfpI7eAbzlX4GMOmqsnTABYYhJM10GsJLJftkwzuJckVdiNieszNVwQNraHsc3QVIVo4Wpdyn7WsVMcjuqa0PBMypSI6nXoAVU3Z2Q1ZLgAysNnlQOuAxd-FG2yOLC6qxEC1zWnJdwK4ggp1L1IAJ5PtHyxSbwwMPEfythtL2LuLWwmhOLvjQkRyrO-6ouThTfYcS_swcmghZuSG3Bd-I-hKLHRN4sQ36TOmduLRVmHfX0D56xkfQYyKGdSQZqyYkUB6Tg1QlGSKr-nMMA41IZz-ZpbZAw5uUg18LpLRczUp6Y6ANhx-XWK761tJOFxlhCtzQvnFIwiwvOkM9OY3vS4eyzVh_vYIXNlWmLzJex8EHn3q3Zegt-UWM4OCXDkR3MbEcQjPyaeWKRFq4MhSJ0ISx-6TA4b98xUAq0z0CvMPshUnJ1d0CpY8v3tD0ICr6VX4-Cp2hqzNjbsdrU6MzsmiO520Chf8NvBrwulDrcyDz6tSRTqerYnDq6rUXsmIdQfU-4Azn-pcjNn_H89cl5oKsaewv4XEm4vyaSsI37roKi6kFEnH2cBL0XByDxRLrTtF2DAOODFPAsymLEpYVZVD335aKUvAmIx01F9IsKgeXxQ1Mjxm8KYY11cRYGN7eP9GjIovi5a719IbZvMQgabIzp5HgecRsYFU89YW6TRY74_xv_h2yUX5Cv8O3c2wOfx_hQYi9f3k3a_AZN6KcoElbO5ldlDCGSElgMzK880XHb9zPv2AVVIMx_5wNnLTXnU0VVyHiLknNcK2hzQTFz_GZr8Pa4s95mtX5D3c1Tz5rxFdMpFEUN8c_t0TX8NE9I3WLg3knUtabL2t08g9OdqJtT0ep_tihiUYpTfwCvPTIQeXNSTaRrdX_koLPoWS9GFm9cPq4QMMY65IQ==",
  "id": "rs_0ef580bbe87f04cc016ab2bf20afbc87d08c9801b5da4da9de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.012,\"right_z\":0.03},\"note\":\"The green pear is now nearer the jaw column but remains ahead of the fingertips. I’m advancing slightly and aligning with its wider body.\"}",
  "call_id": "call_4rzKD5NYVnVAXw66pgNAFAeM",
  "id": "fc_0ef580bbe87f04cc016ab2bf21f78887d09c9fc8eb7877e00d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rzKD5NYVnVAXw66pgNAFAeM",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4156, -0.0139, -0.0307, 0.9988, 0.1307, 1.5578, 0.4587, 0.4004, 0.099, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1736 left_yaw=0.0001 left_pitch=-0.0393 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3684 right_y=0.0344 right_z=0.027 right_yaw=0.0293 right_pitch=-0.1289 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.8095, -0.0366, -0.0806, -0.0171, 0.0205, -6.6803, 4.8205, 1.917, 0.0024, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7cdcaf2feb80b39152b8d2e6848de25d833869d0fd7b80303346963de0d758c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa76b0550fc7d3f12a7f96e4323b3c03ea0d1aafc11345c1258a8abc7d3cfa56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4167e95b9cf201718d7f476fcb71ace3f726e5f0b300dab0bee34e4b4b7fea09",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.685 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4084, -0.0135, -0.0311, 0.9988, 0.1326, 1.5578, 0.4618, 0.3981, 0.1104, 0.0135, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1751 left_yaw=-0.0 left_pitch=-0.032 left_roll=-0.0007 left_gripper=0.9988 right_x=0.3691 right_y=0.0332 right_z=0.0278 right_yaw=0.0217 right_pitch=-0.1274 right_roll=-0.0431 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.8144, -0.0171, -0.0611, -0.0171, 0.0068, -6.6667, 4.7521, 1.9267, -0.0171, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr8pQZKQFprLtxzKvYbGKx2vwA82NyYix1icocmUrP37TWqptYjBjaoXnR2Z7Y5Ie8Eo4nnK1pbwCPvYgVXKSmgnNHP6bAbYeQ26sVvnkoxL9-aX85o0uhBGVA6zcBqtAPFGRJBzwgYx1NfgMytycrzlau_EPtb2S58k3JlpT1ctLXLYx732FquppSlNdCWFxSj00BXA8JECVluyvLaYH3-Wdpr9J0gX5zka97EWJ2m1pppQ45g4X3XeITIvCi_jyORW28yzeO6WBJLSmBABFMfXfDsUoNSDHTNsVqB8N8Q5_0GHEPs5SjNikF4GP3GB8CGMAQ0cWK0vcXy0gq3ddcslNmI18bpVlcBg_2DKlAFGYyDl6upaxSwvpqhJR20CuCwQ4RpRQcVAFwZNk_iOCFe5WlvCThn9UtmjQZ3wqAoJTOFtBd01Z66rd-B6VzpPrxAc1nVno727uUcYTxKOsTcPMInWP-TQbFqhV9gZVNdpKQRrliyat-QHQbt-BFoFyKQd9tWnZ8PChoXrrKDXPHAnw8V4UnOGy7kKnJxAUcaxkqb0uDpHd0zeVPwg4HN_Ukz9I8S-B7k6q7M5emhKaKUqTrwarjSovsz_cfvbxPdLYfTUolbAJa9RBGEfF9gSeOCX2la_G2PF6vE8TPxWS9lJ9UZ_pxBKo89yR5pqtsTdP68DfYwnB__LRMIacO6UKX3PY7GfzsvdVl84i5POBghy3GETKH0oeCYwfPRRJVJ0drvkqjGtmKkiXzQ5UFQRnw4SjWP1HXA59PtsUNYASXO4WxopXxY3x_3L1WY_g5KpG8KvR4xKA4eE6QANxRNcPHhOFia8oSs_8d7Vu0Qyu5EoQf_Qk7H3onQoA6ckBZBxkuJlG336OQclj6QXJh_De9xZSp1H8ZA5arAtgMZE53OH25FI_QeCYwePP-_0ijWK9pY12zy0YSBCnavHjxrJX6uhF8QTyJdH3GeSdoMBNe-jM1DlDazFOOWThlZdEuUacIt9zauvuREBNxCFzsTt3yn7HNYpF0EL770KoNSQMgJ1lrmw3LJ7oOVsU32auCvnbUhmvb5PCptnItOJgyBD3OAgDbNs_DzotHRskjDnmXzfqpD_pTlV6Tj-UDOQ2Bj1c3bRWD5SXyTRCacz477_EDP1V8SgZ6uPijgsklvgwCQEgOj1DZYX7TpV0Svt1rZ1Vce8DJtx-ijbVAZr077nT5nYNOGjrHPrkJTy3Q5bzbX5j-7zzwMl_TLD1idGfvUa8NywkBqz6xFagMzESB9lYhpubqyW3TZQ9MMfCuv8mg7lsw==",
  "id": "rs_0ef580bbe87f04cc016ab2bf25e18887d08c81584330ff0dc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.01,\"right_z\":0.10,\"right_pitch\":0.35,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.20},\"note\":\"The right arm did not advance at the low pose, so I’m lifting and tilting the tool forward to reach the pear without dragging along the table. I’m also restoring the idle arm’s safe parked height.\"}",
  "call_id": "call_ydDW7QwuabxCQr4qV9e9NKyV",
  "id": "fc_0ef580bbe87f04cc016ab2bf26aef887d0bd830b9a6f908e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ydDW7QwuabxCQr4qV9e9NKyV",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6987, -0.5133, -0.0135, -0.0338, 0.9988, 0.0257, 1.676, 0.366, 1.0554, 0.0025, -0.0536, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1835 left_yaw=0.0015 left_pitch=-0.0855 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4077 right_y=0.0136 right_z=0.0914 right_yaw=0.0437 right_pitch=0.3112 right_roll=-0.033 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.6342, 9.5111, 1.8535, -0.0415, 0.0171, -0.0171, -0.5265, -5.7504, 4.547, 2.3761, 0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457097132ca80b1090e1b678ea2eeaf8a1575e32a758be4041e65fa52fd77352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927aecd1419192fa80c15335962cd7323cd0067cb3c619e1a8deea0c61d51368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c97cf03b9a07b3e63a642ba6b06afaa9b0d9d483b443d2c27a06572efd510b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.245 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4156, -0.0139, -0.0307, 0.9988, 0.1307, 1.5578, 0.4587, 0.4004, 0.099, 0.0139, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1736 left_yaw=0.0001 left_pitch=-0.0393 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3684 right_y=0.0344 right_z=0.027 right_yaw=0.0293 right_pitch=-0.1289 right_roll=-0.0355 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.3197, 7.0359, 1.8095, -0.0366, -0.0806, -0.0171, 0.0205, -6.6803, 4.8205, 1.917, 0.0024, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr868CUHlgNRIVMbXtM8hLYy0Ljcjlfv3UOazSaQ-6hbk-X46kL-_U5vCYFKEjh17Jb4F4KuBdQLIczZhCOjo_kGkR7hmuhCHJL0i-cyoRc4i2ZNiLMXWD2NPcQKXPqqrjg4i5Tl8wKiL4TAYCR88CI2F6adrJib_-cUwXfBQ7QUe446fB_qpWNSNWl4mXrwTfgBpy2dZ_yZQZ7-Nzky2DaQCwidAcl0jfBY0bNy0YwIESpdmDPZfz2aLCj2BF6jalXQArJj6bawE02OTVAka9SQED1PWJ11xKTCsVsINkQzEVHyLfMAroRb6OpCaGD7a8f3LE0sgvPb_nH75mqvhu6U_hvNo_KF6qV78c0T_E4LwfC4njOlpFdCyd9lIwyqUKjtO8nKNQxFsQ3DikcyObabNxLSMDtm1NAqZFbdoKAvcEbFD6-YtRVi2t-h1Lqq4DUHtOy31UxifkIa4YJR1z3BzPM6e8H2HWTRmLtUAUEngXPVdfqrQjdxPnWoTI46sT8hEz_y3MKixfav71ynDWZKljAfgOsF2aeBoyU85nlJH6gvaNSnmJ72Y7H3B-ylMaHRk9mB7gAGtNFc1LgEOpF4PlvWnrnj41rk9vuCUkuA15rDJ4QJaih7qUtwTtA8qxgMUEa7Iy-nqTXFRnjuakAceAeq1TTo-_eCUgf3ckZIRfCBkF0YmdCJ_YQB5tcWFbej0nlEDcpsfVCKroBK8Ly4IOvmg2qBxEq_QuZkrNr0eYrjR3pn8uuvEcbmk1Esv3YQQkDY6x0auQnyKl1DiENPRNFSud69L5GUcLVsMNrbpDYsz_mkFwP8WvANhJHn2XKQEva76_J8BlXzPqtUH11OnKn8fKHJtPld33RJq5RmKzIU8yym1yB_mp27WMhY4d3dZQ6sncpO4XXkFiBkNOja2U40pNJR4zDGdy1lNDKDEZY2xTW6Mo66Mj7wnQR0mEK0OhjzeZ3aHgbeHuHTNsWFPqpWAKpSs4p4YsUT1ignBPiWYJ2tRSOYWMl7ITZCwio4Dz33uIcZho-ApgOaL6eU4dkuu1KNidAD2cmAgE8rZsunjRr02bhDSz-wv90nlGjcVOxyDjwe0J4ohm2NMHHeqHPrOg1ax3BZl4FMzjOIEWw_GbDxV29xVvDiBh1aeDRYwtPlVRWQVXUe8JQjDOrjHZisNzbGfLaK7If0LQM33Xj6mbGemSk8sQZzetXlDn3uzlE5gYNBgeIMD_u3gCPCHi6Rb6PaWLYTC15y4wxrqffdb4e2cCfUUJoAkpymC1MtimHzxfyeca-Caq9IFSd-LdVjwkd7wFUIFUDJCg2HW7MfEN-5H17PAOSjZvo6fw_t0X6-q2gwMJpKOXmk5x0yrTsxPB6sGfzu7qHoQo8jpZ36F2Jalq-GTb9DE5tLF9YN",
  "id": "rs_0ef580bbe87f04cc016ab2bf365f3087d0906a79053d87b2e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.035,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The lifted, tilted pose reaches the pear successfully. I’m lowering around the pear’s body with a small leftward correction.\"}",
  "call_id": "call_7QgHZ4eLtdOjQBDt99ZEUhTg",
  "id": "fc_0ef580bbe87f04cc016ab2bf38ea1087d0a5b32592874b9684",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7QgHZ4eLtdOjQBDt99ZEUhTg",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8448, 0.6983, -0.5201, -0.0139, -0.0338, 0.9988, 0.1078, 2.0083, 0.3393, 1.2999, 0.0593, -0.0479, 0.9994]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1806 left_yaw=0.0018 left_pitch=-0.0977 left_roll=-0.0013 left_gripper=0.9988 right_x=0.396 right_y=0.0359 right_z=0.0127 right_yaw=0.0732 right_pitch=0.1971 right_roll=-0.0464 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.7709, 6.9675, 1.7802, -0.0464, -0.0464, -0.0122, 0.212, -7.5556, 3.3436, 2.464, 0.2466, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16177f99cc440935d6cc5bcca568d3e0da5f3cf0f2a4b5e5cb365b5c4af14cad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d811c87e70a6e0e8a7b9f9d6b9bd1d94b0aa9525bc40b62827f946bce35715",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1b0801998eaafa2b46b30d1dc5801ede6243d176301093e592ff287705b39b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.194 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6987, -0.5133, -0.0135, -0.0338, 0.9988, 0.0257, 1.676, 0.366, 1.0554, 0.0025, -0.0536, 0.9994]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1835 left_yaw=0.0015 left_pitch=-0.0855 left_roll=-0.0018 left_gripper=0.9988 right_x=0.4077 right_y=0.0136 right_z=0.0914 right_yaw=0.0437 right_pitch=0.3112 right_roll=-0.033 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.6342, 9.5111, 1.8535, -0.0415, 0.0171, -0.0171, -0.5265, -5.7504, 4.547, 2.3761, 0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.46},\"note\":\"The pear’s body is between the open jaws. I’m closing to a moderate width so the rounded fruit is held without squeezing it out sideways.\"}",
  "call_id": "call_qJ4MC1dpOY6iE88d4ctDBxIV",
  "id": "fc_0ef580bbe87f04cc016ab2bf3ccf1087d0a9c5bf6d0e3b5b10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qJ4MC1dpOY6iE88d4ctDBxIV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6983, -0.5209, -0.0139, -0.0338, 0.9988, 0.1093, 2.0212, 0.337, 1.3415, 0.0547, -0.046, 0.7654]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1803 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3975 right_y=0.0375 right_z=0.0168 right_yaw=0.0774 right_pitch=0.2234 right_roll=-0.042 right_gripper=0.7654\nstate[joint_eff]: [-0.335, -1.4154, 7.0769, 1.6679, -0.0757, -0.0611, -0.0122, -0.1709, -8.1436, 2.7282, 1.4237, 0.0171, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87bb09e11face22d6969010607e52abde3c07d34106d2870005d8f3f6f1651e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c942538d6e071164eb16dd3936edcf548c6294bd9ecfc49b1faf4c4331e0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbd17417741d9fd6e074358eb16a281d053e69f6fb988fdf2efbf92057746fc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8448, 0.6983, -0.5201, -0.0139, -0.0338, 0.9988, 0.1078, 2.0083, 0.3393, 1.2999, 0.0593, -0.0479, 0.9994]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1806 left_yaw=0.0018 left_pitch=-0.0977 left_roll=-0.0013 left_gripper=0.9988 right_x=0.396 right_y=0.0359 right_z=0.0127 right_yaw=0.0732 right_pitch=0.1971 right_roll=-0.0464 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.7709, 6.9675, 1.7802, -0.0464, -0.0464, -0.0122, 0.212, -7.5556, 3.3436, 2.464, 0.2466, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The jaws have stopped at a fruit-sized opening. I’m lifting a few centimetres to check that the pear moves with the gripper.\"}",
  "call_id": "call_fnAC1lqEjJ8Dqdc5EP5LMGZT",
  "id": "fc_0ef580bbe87f04cc016ab2bf40540087d09b66574e39217d8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fnAC1lqEjJ8Dqdc5EP5LMGZT",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6983, -0.5301, -0.0135, -0.0338, 0.9988, 0.1093, 1.5528, 0.3622, 0.8478, 0.0475, -0.046, 0.7695]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.111 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3925 right_y=0.0382 right_z=0.0881 right_yaw=0.0837 right_pitch=0.2233 right_roll=-0.0395 right_gripper=0.7695\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.7216, -0.0269, -0.0366, -0.0122, -0.0479, -6.188, 8.0342, 2.2344, 0.0513, -0.0317, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ead7cb152ae3b5bcc65cbbffffb85300be9a98c20bffe08a80b8cd7acb5b683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e196712e7bcbf935732bdabed8a58506b2ee838666ed6e37ffa1c608f9101b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a087e1b65b65fd792f4c93747b72027e3f4c7f96377f0783c75af64d3e8e90",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.131 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6983, -0.5209, -0.0139, -0.0338, 0.9988, 0.1093, 2.0212, 0.337, 1.3415, 0.0547, -0.046, 0.7654]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1803 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3975 right_y=0.0375 right_z=0.0168 right_yaw=0.0774 right_pitch=0.2234 right_roll=-0.042 right_gripper=0.7654\nstate[joint_eff]: [-0.335, -1.4154, 7.0769, 1.6679, -0.0757, -0.0611, -0.0122, -0.1709, -8.1436, 2.7282, 1.4237, 0.0171, -0.0757, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9HhShz2WaOxd_ChYenr8GWLdfuVaGU_0St6b80KZhv1dHh200W8ibVUqkUGadrTqlDQUJJ581W86l5v4-RFNe34K_jkylAFbpNJogIJ7CSFR4N5A86_NLC8HdutaScdhREkx2iFzf6IYtun-sD1XB6A7uWhiHWRxFWndl7A4uttxC9_S0LJ63wglf7FSLM8FgbB3CJ8E6KCiFbyv5znSO44_PQOFPMbDnxhVFY9KiBMBHH_hyw1z_WE6m1oMjwLqaMXdesupdb5nd5UFJCjlQkr7Sj59DhzaktGZ6osdheiLC6SNK5Fnl-fLovH8wWAmnn_U4ArbWXe2dj7Rs4aG6QfvMBfABea88oxMKQG0B5N6ri_hpY-cuZcbK38pY7WvsicehZqtkyHgptetHvhm0S8xpaYosXlAZ5kvF9_6L3hMMuFnZGRsvEsPCDt1AyXU_p5ru1lzO72AHVu2PiQZ0bV0lVvuNPGT4pu539MvklAY4-YX2YJRG-rvDlFwfCsSQZZQkRboxr6-GvBKMndJWML8DNiyPmSxRrPOHkIvwqBkJtVPUefppnygqz1br08SlVuGTvwKZKxb0C8Dfia63JJRD67C8Xw60XZjMf26EE9Dv_Kr3eTIyomcCWwqgzSjso_WjMIocYdq5l1RjnqxwDu2-NPJiIjOWM0Z5FwSd59d050ESl1Lg-QWZReiUMic4pDxIUOp6PdCbhLdEtA8z2slDZ2XHvOM5UBfA0mcIeudPGpafckEMzfQbfb9wwd8LxuzOvoU1p5RcaBzATPyb0gcBjMkZ6lhEU9vV7nyPrJ4TlxJtB575jPPzbvIJeQhf6awUuvYl4eX4YPMlQeQhdRssXVAh1V1WR9IvCnupH_hm_Ign7gr7KgxOMoZfTsTZ0rXr-vy72g8IV7s1prC53GwaTbwF9uQGCV_wS35BXsvn877o5zuhtLUHV9fa0VKj_Lv8IzL2pLVtuXqbBL-W5LzKIHj6dujqvp9qbxc1y5bRLDD_-K6w2YkrOwXm3y_cQT_bO8vA_k_RcWR5zYkebuJEVJOTDnb8_oI1GMHBpU2r5ratz8XkayqYosH8-vYUgKG6C7GNj9E3jXSvRhrdnlGSbzkIwSMofawP7x-A1-zXbYoxHPYhKB1-mUR5bETtNQnL77J3HPLLfE4wDTcNT2kRDISHpuQ2H1DUk4NuVxLeDNqGZvHs1gaIrN_sy8coxaBiBABcFaEJehiOQnlrFgST7Sndn-I-0nmwT4aw53DLZxVZOmr7R4hjAVbiWlb7yXbtNw-aPs5hjTLAQDS0viDaehnhgM6I13cHbp_CBidwxsT96g1_vVGPPOOKX_5yN",
  "id": "rs_0ef580bbe87f04cc016ab2bf443df887d0b7093d87897ce89f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.2,\"right_pitch\":0.35},\"note\":\"The pear lifted with the jaws, confirming the grasp. I’m carrying it above the blue bowl with clearance over the rim.\"}",
  "call_id": "call_XoRqrY2vJngE9CTSn3bf71sI",
  "id": "fc_0ef580bbe87f04cc016ab2bf46162487d0a9b889b92325d610",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoRqrY2vJngE9CTSn3bf71sI",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5362, -0.0139, -0.0338, 0.9988, 0.4358, 1.6909, 0.9089, 0.4931, 0.3279, -0.0032, 0.7695]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1756 left_yaw=0.0019 left_pitch=-0.1209 left_roll=-0.0008 left_gripper=0.9988 right_x=0.4716 right_y=0.1608 right_z=0.1766 right_yaw=0.1401 right_pitch=0.2913 right_roll=-0.0773 right_gripper=0.7695\nstate[joint_eff]: [-0.3761, -1.8256, 6.8991, 1.6679, -0.0269, -0.0366, -0.0122, 0.1299, -8.4581, 8.2667, 2.1563, 0.1978, 0.2515, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47bb28e0ba7e8464514736e513a4abbdc2e53db7066a3b9b9f2e010ca7e6173e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff944f74073fa141551a5a07908c759f4511154e2cecbf9dfcf6c144d5364646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b718bd08a03edec6d1aee664e53a9175d8ac78ec71051e4df05395afe496dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6983, -0.5301, -0.0135, -0.0338, 0.9988, 0.1093, 1.5528, 0.3622, 0.8478, 0.0475, -0.046, 0.7695]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.111 left_roll=-0.0012 left_gripper=0.9988 right_x=0.3925 right_y=0.0382 right_z=0.0881 right_yaw=0.0837 right_pitch=0.2233 right_roll=-0.0395 right_gripper=0.7695\nstate[joint_eff]: [-0.0752, -1.7026, 6.9128, 1.7216, -0.0269, -0.0366, -0.0122, -0.0479, -6.188, 8.0342, 2.2344, 0.0513, -0.0317, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9Mb5428SmVOtXNyiMwvT-Y3PHDD6-aBGhtKezWHF8DbeuOa-Xte9EwFXaETp5chrJEOsd8K9OlaY5SST9JIvmb6Qo_dv7gqvioIIMW-Kd0YMvkZ09WRfFmUno4e2kOs_fyPRxTKVGBTdUho--6JV7hUkPA4WgR25pCrdFzxKdSybq3ssdfYnEWOW_4q23AgnKPIUfPzh-VJ39WghsZ1_EddHNv28-PUrELklKJ1MLmLVE3TPu5rbS_SzIaQc5SH_G7ecSkDoDz-l1eXbKh4b_e3Sbt6wiOhHTu3tvqda6ztNklJq8vxVDp_ruAZ3Kd2_R_b0zQ8RLTx-KBn7fjTvmel6WDv1fyPAmkDanS2Rz9-JW-qbQI4Ew2iDtKHdFwbuizqJ_qK6GZw6-4BWXaZTrviiRgrU1DuP5rNCTzs5NN3rGeQW8qnhFTlrj9zrOuyN-dAcJqVrlvh6A47m8JHNDos5cZw-R21Fyicr68h-_GdYakL2uwStAohGhnMV73WkH2JD-SatDxsCc8pXxb2F8-AZ-jq8pCrSMkDikVHTvNWL1jk9ku9QAJKQfE-oNqxIysRSndtSi7tZvWT4qQFZaF6PyoMtaFOp7XHUnO0bAvxSofeKl83h5kCO0KY81dAMmlCTN3FxEoPwvK7Od5BV28fme2ql_kFH3UZJec97ghRo5jbh2tEE60ssK9H5YHFQpMsS0m19rVNodBpVZx3IQVYH5CVprJWxx4-pO1F-q5Nc6v3RGsUrQ8IzbK-OsK-pMlBDTWm7B8BlknQHvkPcrNyVvaeMrYbNmlTrYwKtwqNTcAMYcNAn0VcYMTZhTpNM9jkvFP7sHm-sXpeGiJQI0Q67NXsTgNQGZ7VVJmSC0FbkBg6gLIdanuLpZO_b3OUD4mKM_-7Zv7n8KdxfVc2IIivlSipmEwWn1aubdj6QWpLW5wq4_HMtXGz_aeFQBeSBnbKNt1HCfarVr9sbjP1V1IeOMqGWiJA1LYdNCdzgLHupS6Enf3KDY716YFtUEEN7YnvTT0C4QhpvxpdS2El98pVbbm7LEDZuuIhe654VkN8l3F_pSKycVBjKohLbsZjZhtRR7WkxcK3EeLnlphIREgLaVoFQ1qo5PxYEa-7rLbP4UwtlGtFMPNooeTdcO-AFeeBnYD_Zkh_GVvbzctqxKeGqZ0ouQAJQ1wgzuEpBxWfRcd1kjMPSjSGIFSh8dsNMw_bsIA-CQdFtfb5U1lOmW4pQYGAPm49FRDck_fVYq6UDlNiArK05G2jVCMBoCPwXtSZ8tFXqIZ1R3Jbk1Qghps0T-YKYRBpbBrH8LkPRCbtJ0=",
  "id": "rs_0ef580bbe87f04cc016ab2bf4a692c87d085af46ca6095e20e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The pear is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing.\"}",
  "call_id": "call_sAkzlBhYDvRPWkYyhhsYQXKH",
  "id": "fc_0ef580bbe87f04cc016ab2bf4bef3487d09b07f12c98dd17f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sAkzlBhYDvRPWkYyhhsYQXKH",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5369, -0.0135, -0.0338, 0.9988, 0.4412, 1.8263, 0.8181, 0.6079, 0.3283, -0.001, 0.7695]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1755 left_yaw=0.0016 left_pitch=-0.1217 left_roll=-0.001 left_gripper=0.9988 right_x=0.4631 right_y=0.1596 right_z=0.0999 right_yaw=0.1517 right_pitch=0.1848 right_roll=-0.1082 right_gripper=0.7695\nstate[joint_eff]: [-0.1573, -1.5248, 6.8991, 1.6093, -0.0269, 0.0122, -0.0122, -0.4308, -10.5094, 6.5299, 2.757, 0.0708, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98983a6921fa13ea7b404e36d47e89e1caa3e0d9b241506dec6ba5856ae3bef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5e135f3fe67ec5ec9d293c33dc34045d2e0092114a99371e2869f8782713fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28771592c19a3d27e0b864f17d400ab9c24c9c1e8fcafaf6d4ccd79de94e106",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 5.945 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5362, -0.0139, -0.0338, 0.9988, 0.4358, 1.6909, 0.9089, 0.4931, 0.3279, -0.0032, 0.7695]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1756 left_yaw=0.0019 left_pitch=-0.1209 left_roll=-0.0008 left_gripper=0.9988 right_x=0.4716 right_y=0.1608 right_z=0.1766 right_yaw=0.1401 right_pitch=0.2913 right_roll=-0.0773 right_gripper=0.7695\nstate[joint_eff]: [-0.3761, -1.8256, 6.8991, 1.6679, -0.0269, -0.0366, -0.0122, 0.1299, -8.4581, 8.2667, 2.1563, 0.1978, 0.2515, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered inside the blue bowl’s rim. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_kOyoPkhPH8slPhnfeSXoU4nZ",
  "id": "fc_0ef580bbe87f04cc016ab2bf4fd22c87d0903407ac4269b034",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kOyoPkhPH8slPhnfeSXoU4nZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5388, -0.0135, -0.0338, 0.9988, 0.4416, 1.8465, 0.8043, 0.6186, 0.3195, -0.0086, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1751 left_yaw=0.0016 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9988 right_x=0.4599 right_y=0.16 right_z=0.0872 right_yaw=0.1648 right_pitch=0.161 right_roll=-0.1186 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.2786, 6.8991, 1.6728, -0.0366, -0.0562, -0.0122, -0.1162, -10.4, 6.5983, 1.8779, 0.0562, 0.0659, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cab7d5f310479422649d0c0dc156b3b68890cb81d6af28ab01904aef312ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d087922eda386f01bb793bfa7cb8c65fea2c69d7d2bf216716cd5dda7165a3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26bb73550086c7dcf75da256ecc13deee4c7fedbc1dc8eac6dc646de2fd3dae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.638 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5369, -0.0135, -0.0338, 0.9988, 0.4412, 1.8263, 0.8181, 0.6079, 0.3283, -0.001, 0.7695]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1755 left_yaw=0.0016 left_pitch=-0.1217 left_roll=-0.001 left_gripper=0.9988 right_x=0.4631 right_y=0.1596 right_z=0.0999 right_yaw=0.1517 right_pitch=0.1848 right_roll=-0.1082 right_gripper=0.7695\nstate[joint_eff]: [-0.1573, -1.5248, 6.8991, 1.6093, -0.0269, 0.0122, -0.0122, -0.4308, -10.5094, 6.5299, 2.757, 0.0708, -0.0806, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9Xy310OFHf80jL6oTmxGFuVP5HR6F5FgXRwzv7kr1KfPYPDnGKUoRhdvC9V-a5iKZBPEjnQ4iKaoNBlG9V5LXQF9GjaxD0Rg7yVOH13udp18lX3Ltjt7X4dApOdbJtWKnKSwDkKFqL7ME1YSEiNp-yrG50HCz3sJilxAA_2h3bKfwKm_gpY5AF0NYu5oyw6W1oKGAP-LQKBEGrcOXEH44zzUPkzBTN8HPizGcI0oVTD4lDTb8nd7O9b49hVRV_vgOPPTCVbZDV3b3blvaFHME4icYKPzUb9XrSsg35XAOycwlXfIdUKZ0nS4PMI3a2Yg0WRCqvUWMDkDiSebrdTUtakLbkpPkoWUyz3m_vPeY7wQ9gxSUKXHMC-isXh29gjlRjwpJHcn_Mv_bTqEs7KT5HM5q3xdKgXOo7MkIAtCXPLEl6LokMvsXO9xsOdyx6k9ggpUkaq_5LNhv4rFxhehY6fm7eIR9aF1yk7ztszmbF7HTh-eLksjtLgvF6qgIfVYnK_SrPOcXjwYPunX2M-K2B5LFLB3X_uAKr5NqrBWExfg8J0-UjyvlFtqvmEo0YyodjUtDO-iIPVPksFmOXMNATlrz8wWZxF-wDUsJ2QvKFnIW96A0-eQ5xODnSYMa9S--rou8rSUhx8OX4xiXW5k9DQ3NkpO6u4fe-jN9OIBZKBLeERZvH6ypF3b1PR5fUn2wdnxozH4G3VqkrLKXQEpOZLDND28wzuLkKqmRqwI68hrakbd_n9PiHiTZMmSePO6aufowMQjY41uKH0mSGgKOuuaQIH_lKNfg85Sk3Zd7VsFWj7-UI6baYisSYgMFKuNnRXnwenIvDgH1DHBmSJZzYH7wzxI-u-TFuJBiybm4V-bB1xBRP3trf0EiBrknfreO2jusbQYQ_cL1keIQDfS0NPQOSF9w1a-hJ6lfuo69a_PBPaeItr5ffzC40U1BXwbSKFXPQ_CKzyS6p-D78QuV5TbkZET04TwbqfoobPcFgw2PcUvnR6ywT7Xi4OoaJWU6aBoHRIh7QMer1cYvqOPLoy4rYUzJ5AKpgUGIyhK_aOogA4XHwVvfFKcTtUevXKzh6ZzBZ3CofXLxrHsYR78Tap-U82L9qEwdKaSCRRJq9Sc-yt4BVwHW_hvMJp7jYeUJfDxLRZcZnhV7kp2paSMpF_mUgzTCykF2dLmd1vSL0p5mwdiqaMkZ_iuuKhj9Qt6KCXyqiBgO1vt3EtHTGWP9o3ns2kubqGqtLqslVBoB2vWz9xX1DwNnOf1cr4-BXTB7SnnG6q6HvwR508xuq6S8ZWnd9gBM5ulyqGPkKNqq_yAvWP28YGseDtTjFAmPr20_g3y88GqK7KhVqDkfoS02oUwwn5TkG7YMKeXkBz-Aq5CDbsJjOSYDIqhiQ-1PBec0XoCgPvgHZIDYmRNtR-CFkr76rUNdzvNv_IyNuQOp4_qdl3qGmxf6JNYJ2QIRGEQVc",
  "id": "rs_0ef580bbe87f04cc016ab2bf536b0887d08256abd7be20560e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.13,\"right_pitch\":0.3,\"left_x\":0.29,\"left_y\":-0.12,\"left_z\":0.08,\"left_pitch\":0.2},\"note\":\"The pear is visible resting in the blue bowl. I’m approaching the yellow fruit with the right arm and the dark fruit with the left, keeping the two grippers well apart.\"}",
  "call_id": "call_xhSvQYZAEBhcx42YV2l0vT0n",
  "id": "fc_0ef580bbe87f04cc016ab2bf551cf087d0be8b7244bf4205e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xhSvQYZAEBhcx42YV2l0vT0n",
  "output": "executing move_to over 11 steps (1.1s)",
  "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]: [-0.7612, 1.235, 0.2089, 0.3882, -0.6327, -0.3454, 0.9988, 0.6773, 1.7245, 0.6899, 0.6754, 0.5278, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2788 left_y=-0.1164 left_z=0.0564 left_yaw=-0.0661 left_pitch=0.0663 left_roll=0.0776 left_gripper=0.9988 right_x=0.4009 right_y=0.2129 right_z=0.1149 right_yaw=0.204 right_pitch=0.2516 right_roll=-0.1448 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -4.6154, 4.8068, 1.9316, -0.5592, -0.0855, -0.0171, 0.1983, -9.1282, 5.1761, 1.956, 0.2662, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35b3a2a51d5c30f682ea6850b04c6dfa9cb7b445f0afe0336d800b79083d8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419310ae10da5d7ca8cdbe7eec332ceca9bf9c774072085ca869060f3dd1ca4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e88575c2ccd1e9f2205a1a783c0189f45c4b13b6fee5c67a111070c34a0d8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.797 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6983, -0.5388, -0.0135, -0.0338, 0.9988, 0.4416, 1.8465, 0.8043, 0.6186, 0.3195, -0.0086, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=0.0002 left_z=0.1751 left_yaw=0.0016 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9988 right_x=0.4599 right_y=0.16 right_z=0.0872 right_yaw=0.1648 right_pitch=0.161 right_roll=-0.1186 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -1.2786, 6.8991, 1.6728, -0.0366, -0.0562, -0.0122, -0.1162, -10.4, 6.5983, 1.8779, 0.0562, 0.0659, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9e-qlhdPomKN4F7PqQk4iHDZdszigZlwEqql2F6X2_1VLHpXYVIEl5trMEX__ljvOPtGdgzcjWsfHYDcaHT130IC5iVeLmXto1ijptvBHGXv8WfAn330PRTijlmozGNKGIuxTBy1MVFWblotmF2ElRbIFmIw_vWOj5QRnQ0zzrqAH7GD-meZ5RUY103z_E4Ps1HZbYii0erfVYgPp8V6xI7iiXgVX4l-vRzVHqLBPa76_XwVV6mD-WozbnHF58E4ngy0eZ-2SPFoZzMxw0m3CtisNfFt6vJPwbrKjqEwcgb9Pj7yrrXdg-suxYPuiDESR-dZethXodULp1sw7BNepB459wYD860Cb2e69xZo9mXcgS-4xoW9rObPpHbBkdyk7eeGZUY7DIC0KvMhVJtlM74xtDBX6uq_uC3ZqtNKh3zLlYFfm0q2cDg4ugIeMkygwCusT0o3BStRILwKfcZoTs6bOT_20jp6ch22SCubSyKP2ahFZyXtpF6NF0RwMhh6RfeU8f09hulFDD1mV5BXrX_d5wyEsSH_gSkc3ujKn8KoYcytphl3uiOfLDJlavmbQaA903NbbX2-LojNkFmZfvI9vguT5bFGvXTTmPwvxFJbxwXYjN0kdW7_0jei0XHvOYrLyH5y3XaE-JOdQlEshXK5jOb6RaoAxYgz7-VpxVahPlZMCleyRHOYWa0KMVCQT3oTVmpsxH4QMsc4huf8Z9BMqAv5slBk7zcxDJEFfG0mhZt0aWrqpg2EeBOiJ3mnyldvjn2ZGv8b8RMq4reN_fjT1Ile87rrOC5OfsB5Z3bdDAuKbikbuFKTgduCNrvSSDAKOa8xcTCRPsdBU9EQvIeMcz_B85VrA6i9SCOOAYeNbk6U8bva5NXtXIgOJYz6r9OvTciG3B0c-Pc7AB9WnTPzpEiHHBKCmqCvojI1yr6nvhyB997YGdw7fTfmvZhpjD6gmuo4YyckG5Yv4AAD8WfkczQN8bqt0IZgK-ofB7WH49J0YL2_qqAkH9fuKldi0p_ZrlQKV8p2uwMDF44huF8LOhbvBK__xiA8O4gwHCjOal9Fy5mWS614Zm6uP8aLnepXT4vOAq01cqLoO5nQN2nWbH79Luq9orXTXoVJeEV-SLFiKzgDVxnDt7eFpTX3w1iaQCrvFb8XDYGw2sEvLr2jqs-alYklxE8StRbvfbLA_WzeDOcr94MV7HdrpRslqoLlzgis8jwl3e3H1EnEF9ICRpFq5L7eXBtfviCHPfYwO5_P0FJ0q6221pOXX_CWQlambsjRRQ6dY2OD7uwHNgyshgvyZBP4n_dsycYmqJZQgHI6tb0ExfhOs3I5N52xBtZ9e376kxerV7APW-dry0q68TUCO0eNv4AvrOMLTh1lGu1qV_jisarTf5YbeTkBjkfkCW5Ga2JO3OPc8U5U_biMe9cd4CZR_M5yt50Ua9tn1QAdxry7Mf49MTqXKGj3EUzeIoVt_Aa9dbrZXqSPXSUw==",
  "id": "rs_0ef580bbe87f04cc016ab2bf5ab1d087d08dd287f1e1379170",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.095,\"left_z\":0.025,\"right_z\":0.035},\"note\":\"The dark fruit is forward and slightly left of the left fingertips, while the yellow fruit is beneath the right gripper. I’m making the final low approaches to both fruits.\"}",
  "call_id": "call_HOsXLnUeDubAUQ6PaB3wab1C",
  "id": "fc_0ef580bbe87f04cc016ab2bf5cff9487d0960d0f220a67bae7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HOsXLnUeDubAUQ6PaB3wab1C",
  "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]: [-0.5056, 1.6157, 0.231, 0.7361, -0.458, -0.2096, 0.9988, 0.6781, 2.0201, 0.6315, 0.9806, 0.5259, 0.0105, 0.9966]\nstate[eef_state]: left_x=0.3181 left_y=-0.0827 left_z=0.0082 left_yaw=-0.021 left_pitch=-0.0075 left_roll=0.1131 left_gripper=0.9988 right_x=0.3982 right_y=0.2115 right_z=0.0315 right_yaw=0.2155 right_pitch=0.2071 right_roll=-0.1738 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -5.5316, 5.2581, 2.044, -0.0708, 0.1148, -0.0122, -0.0889, -7.7197, 3.5761, 1.6435, 0.0904, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c70df68d225ddbee53164ae4ac42a38b77f9ecf77e0b14d3d1c72f06ccf2085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501dfbb4faf78a813398ccbe41932e8a5db61bd50af9433f9b1fb18d97c95c18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5b0fc7a4e3edf698aefa299a808645bad203939bae813081a28ae351386cc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.568 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7612, 1.235, 0.2089, 0.3882, -0.6327, -0.3454, 0.9988, 0.6773, 1.7245, 0.6899, 0.6754, 0.5278, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2788 left_y=-0.1164 left_z=0.0564 left_yaw=-0.0661 left_pitch=0.0663 left_roll=0.0776 left_gripper=0.9988 right_x=0.4009 right_y=0.2129 right_z=0.1149 right_yaw=0.204 right_pitch=0.2516 right_roll=-0.1448 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -4.6154, 4.8068, 1.9316, -0.5592, -0.0855, -0.0171, 0.1983, -9.1282, 5.1761, 1.956, 0.2662, 0.1001, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9lAriK8RgswmHBiR2bTq0X2UJ1AZnq95FqGSFrlEP_hZukVWR_n7McQY46FclMPzEdQboxbP-kfctu9Xsgn2G6u2J8riMQz2OSiq_nS577n9iI9WWgz9KO9Odet0-Ub3WIadb8mAnUgKhd9JKbCf5gBr3hIrCQ4cxnO-74129SROCvVpHdmak37C8-Dq3jiG1aHjaxnMDEBNKhDyVWVQVATWJIRFca7aKm8FBo2xFtMnxGTOl9X4dYroXE6QaoTiiBZTshaY4ZFB3ZfQx2HJP4N3YzGlgeuCku9ii2myTteOqyGdcakXr8bgpX17l0lWNrGWiz45AZQwjbqsxRzodTEHVb0dY3qNHX1rHicfMuARvzkqV4b_xkjVV1laxlEPfVBf3rl38030-ejO6H9-mhiQyeOPKa5sypUdI1gJX09ENzSBCHpiGlbO7BO30b43_tHnjTrTcLtWcIL5XH9JRn03jhBZ66tUh-1ly4FVbx45aNO7_E889iE3FgwKezEA2fZfnvwPkCo2hO1MUKKAM-obsJGBqHD3BX4wlaXl0QJvMPv-hFGGy8sGnoyS8-picc6FmPSZcnIJqgg9Q5LZQGv9FwAKsuqnqTMFE_XcJIQIqcvzhAxvNecJo1dBi-aNRpEbysRWwrr0K4BqS8ypJrkTVd2s9TNGet02JoLnQvFuwJ9Rq5591oJlfYrJRGP0FV5L2VuWGeam12CyH1ofbXdtPJChjZs_qXxIxIHO1C0RetyxMHCQROnr1hCAhFA2HSR38iarIOn7jXK3NnTa1CJ4XAQVU7Sc100DfXT8KQXLHTjzlJ8-qMBDMYyBK_GmUlRBBNcWdZmDcmlbvfkTA8MC_LYN66fZKasdzzv8bZGuj_FScCmSfD2boROUby9ETkdKWs1Nh6m2lx3iwiHJwG-cz8bdPBdi8saHrecH7B0tZ0rphQc_uHI02h2OcsxNrpbSeYA4jz8kpxqZprTFRaYmef5u1h77cxmrkl8B2IW9VyTQR3FLbvsySCg79kIsgY9MOCiC1Fkepqv9akq3z7jjkYLKAcEP8PIXSHXewXnL7JWjN3qrIUU6L1OGuZCQRTmIIWTnqxZ_Q065L7dTw7rBiSIAvF2PANSvzdnGkXifdZtqot1_senIuCWGya2LEGMNLi7zXAr_TtHKW-FT4Lv88dNubKdCRylSUp3MZdtJRrO8eU2c1Dv-HnWCXUiDATW6wHCx72snCMPMbal4OWu0PyH4MSWws2QDgKrhD1vJQkuCjoQS3QdY2-dVWmcPN1YXIl2GeklEQjVPE3dWxmM_CIKLa7HzcCypDlF6T0-xF1nIhjuY2-r70rHbZt9JH_",
  "id": "rs_0ef580bbe87f04cc016ab2bf620ddc87d094c31408f491f4e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.08,\"left_z\":0.03,\"left_pitch\":0.35,\"right_gripper\":0.35},\"note\":\"The yellow fruit is centred between the right fingers, so I’m grasping it. The left gripper needs a small forward adjustment around the dark fruit.\"}",
  "call_id": "call_5NSLShs4mZreItM2aoAmQbtV",
  "id": "fc_0ef580bbe87f04cc016ab2bf6311b887d091056c03d3e1224b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5NSLShs4mZreItM2aoAmQbtV",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4931, 1.7519, 0.2218, 0.9493, -0.4641, -0.1425, 0.9977, 0.6785, 2.0335, 0.6289, 0.9958, 0.5198, 0.0071, 0.5225]\nstate[eef_state]: left_x=0.3283 left_y=-0.0826 left_z=0.0044 left_yaw=-0.0388 left_pitch=0.0502 left_roll=0.1428 left_gripper=0.9977 right_x=0.3975 right_y=0.2123 right_z=0.028 right_yaw=0.2229 right_pitch=0.205 right_roll=-0.1752 right_gripper=0.5225\nstate[joint_eff]: [0.1573, -5.5316, 2.2085, -1.0232, -0.2759, 0.9792, -0.1197, -0.0889, -9.6205, 4.0, 1.6581, 0.1587, 0.0024, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f469bebf69bc51d94f8d9903cf87261a771cf941a8013dd5e9e0de01477ae4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881dd9836bdfa46e36ef7267694ec7e2f97a615482df1b66acb79431cc4514bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b206eb47eedec9b572898d3e7645ae1cdbfa2f97351fe9b2e6ec2d59e5d713",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.799 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5056, 1.6157, 0.231, 0.7361, -0.458, -0.2096, 0.9988, 0.6781, 2.0201, 0.6315, 0.9806, 0.5259, 0.0105, 0.9966]\nstate[eef_state]: left_x=0.3181 left_y=-0.0827 left_z=0.0082 left_yaw=-0.021 left_pitch=-0.0075 left_roll=0.1131 left_gripper=0.9988 right_x=0.3982 right_y=0.2115 right_z=0.0315 right_yaw=0.2155 right_pitch=0.2071 right_roll=-0.1738 right_gripper=0.9966\nstate[joint_eff]: [0.1299, -5.5316, 5.2581, 2.044, -0.0708, 0.1148, -0.0122, -0.0889, -7.7197, 3.5761, 1.6435, 0.0904, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr9qdx3-_k8LLMznxTAgKO3EioxWcHVjAIy5FnJ4X4iG6htSrbS9EXF5yH5XBUjkZWI6SK35hqXcay0ee_Rp-cBDNzla4XOwT9vSed40dP4UE-jLPheH-r8ZKVv71JN42kTTL3VowA620NO2s1Wt0nLzWRgDze47vJdn8_cynTny-lLJmlsFvvAPxwmEv_dv0e8WEKQCDCi4k-G5mdXF1QOocaIO-z-v558Mouu1TwS3UQxWgoLmsPSnGJLyYW6AerqZ0Iy_RVqp9gs6Q7cXgQZbg7KBT3VHYZPQF300-FLYHDi8HclyFHDNzA-IMpFL70bfeEdj-O_OeIZha2xBbYBMp43HvJkGdaHVtBWPjkw0LnQbbxJ_lyGHlzPKDubuc-Wl_FIGnbx2XzNi_GeRd2S7HlT1BamxKsV16pgSDJol4K23GbE-0nnlZ3VqdC4Hgeo24I7u00zEWnNRBJfdeS0-bY_3wFHokYA4rAffVnn4rVMPQH5HQ-61m8sBNDxWoZMvIdVpKkIluGe-4eQU6Vf8dWGYoV_65w9vPgeqvhZM1T-03ocYwqcL6MXXhSg9Zu0uhBgwtS3Acp97upznXK4-Yxd4qCJM0n5l-dpXR8lZtRw2KS24P7o-vtS7H66GsIp85zy__8HaFztxglGC_HutE_adIWOgqlVKciSQBZI_bii9a-mMLqV_6vlN_lFTZ5EtfkOUhcfpdKl2wA1LuzDtlddO3iwRdrBhSRZ_c29CK2Ny-C4gSUSOPT7t4nSk-5Nj6YXwdApdUbYmKnCxLdK9dnDR9h6zZwZg9wntqu2eANE1IFSo2dTqvp8JNW5rZS9gUwTTHIyCdqAvLziD6ZOjtCKFDfs8eB1TWSQO5EafUOt1pO5w4AnVf2g6fl6mtSUkdpAbBhVNq2DUh10vKLze3DHn441gDIDOlaPVSDypy-IZmZZHzmgEnJAllG2jPiGOMwXcRVwUmxBV-7OXwCAVHWoxYhr9P4il6VG9oGLmu-L6NiGlJyCJ7bSjLSuY3_qHIE5AD2sXOH05DPFyGUr-VLMH0TvA4fogMtZ-wggjHqrTQYPuKj4UwIdgXEDVIYSbaiAW0OWurdiS--ybqO4gYWDgFFsmr4H_q7VqC4UDdrKtT27PnuQylPIePXmVoAd6YLg6PjVPDNQhqLGovvsouLug5-6CR2ngpQFM7FH9KB-X4aVRrznpAFcGsrthAsMTzZynY_8WdQA8UGBMxmzJXfrZq06QMRAThLP3JY0QMJ4=",
  "id": "rs_0ef580bbe87f04cc016ab2bf681ba087d0a97364087b52840a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.075,\"left_z\":0.065,\"left_pitch\":0.3,\"right_z\":0.1},\"note\":\"The right gripper has a fruit-sized opening; I’m lifting the yellow fruit to verify its hold. The left fingertips are touching the table, so I’m raising them slightly to grasp the dark fruit higher on its body.\"}",
  "call_id": "call_M2B3iGYFXNnYKeovYhY9MOdO",
  "id": "fc_0ef580bbe87f04cc016ab2bf68acb887d0bf74fb02286432d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2B3iGYFXNnYKeovYhY9MOdO",
  "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]: [-0.4503, 1.726, 0.1928, 1.1732, -0.4778, -0.0433, 0.998, 0.6781, 1.7725, 0.6579, 0.6807, 0.5186, 0.0067, 0.5254]\nstate[eef_state]: left_x=0.3454 left_y=-0.0728 left_z=0.0505 left_yaw=-0.0243 left_pitch=0.2454 left_roll=0.1449 left_gripper=0.998 right_x=0.3935 right_y=0.2091 right_z=0.0833 right_yaw=0.2259 right_pitch=0.1822 right_roll=-0.1864 right_gripper=0.5254\nstate[joint_eff]: [0.5265, -5.9829, 3.2068, 2.0391, 0.0024, 0.2418, 0.0171, -0.0342, -9.0188, 7.6513, 1.746, 0.1441, -0.0513, 0.2906]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d93e85eb934950003b14c0fa1760a6741f7d5c379f001f425a511b2bdc191e40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717d7a02675222bd36480c11f7830ce33b68597521175c2c2fd8f555867d0a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5122f85c95ca1d8509137d32426e3c7c6c593f9bb8dda1e2339f42fff6dc1bb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.222 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]: [-0.4931, 1.7519, 0.2218, 0.9493, -0.4641, -0.1425, 0.9977, 0.6785, 2.0335, 0.6289, 0.9958, 0.5198, 0.0071, 0.5225]\nstate[eef_state]: left_x=0.3283 left_y=-0.0826 left_z=0.0044 left_yaw=-0.0388 left_pitch=0.0502 left_roll=0.1428 left_gripper=0.9977 right_x=0.3975 right_y=0.2123 right_z=0.028 right_yaw=0.2229 right_pitch=0.205 right_roll=-0.1752 right_gripper=0.5225\nstate[joint_eff]: [0.1573, -5.5316, 2.2085, -1.0232, -0.2759, 0.9792, -0.1197, -0.0889, -9.6205, 4.0, 1.6581, 0.1587, 0.0024, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35,\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.19,\"right_pitch\":0.35},\"note\":\"The yellow fruit rose with the right gripper, and the dark fruit is now centred in the left jaws. I’m grasping the dark fruit while carrying the yellow fruit over the blue bowl.\"}",
  "call_id": "call_svyAFVmP9NCLiXyhrSo3ppK3",
  "id": "fc_0ef580bbe87f04cc016ab2bf6ff4f887d0b94f2c7bfc6469c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_svyAFVmP9NCLiXyhrSo3ppK3",
  "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]: [-0.45, 1.726, 0.1925, 1.1725, -0.4786, -0.0452, 0.3552, 0.4294, 1.7279, 0.8726, 0.5766, 0.3134, -0.1257, 0.5275]\nstate[eef_state]: left_x=0.3452 left_y=-0.0724 left_z=0.0503 left_yaw=-0.0224 left_pitch=0.2446 left_roll=0.1438 left_gripper=0.3552 right_x=0.4726 right_y=0.1604 right_z=0.1619 right_yaw=0.2135 right_pitch=0.2911 right_roll=-0.1933 right_gripper=0.5275\nstate[joint_eff]: [-0.1436, -5.2581, 3.1932, 1.8437, -0.0952, -0.0366, 0.0952, -0.212, -10.3179, 8.1299, 1.9316, 0.0024, -0.1197, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c908285a3ec580803d43a826759e5bc4159a55fc5df81d81e1478dbf5dfab5bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c1cbb5d6cabc40e86587e4e33aa5511dd4233b4ddbe12bb021daee8a357a62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6bbde24221f931bebe4cba495535b173550ef2ba90d3b7bc551ec206e863b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 13.96 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4503, 1.726, 0.1928, 1.1732, -0.4778, -0.0433, 0.998, 0.6781, 1.7725, 0.6579, 0.6807, 0.5186, 0.0067, 0.5254]\nstate[eef_state]: left_x=0.3454 left_y=-0.0728 left_z=0.0505 left_yaw=-0.0243 left_pitch=0.2454 left_roll=0.1449 left_gripper=0.998 right_x=0.3935 right_y=0.2091 right_z=0.0833 right_yaw=0.2259 right_pitch=0.1822 right_roll=-0.1864 right_gripper=0.5254\nstate[joint_eff]: [0.5265, -5.9829, 3.2068, 2.0391, 0.0024, 0.2418, 0.0171, -0.0342, -9.0188, 7.6513, 1.746, 0.1441, -0.0513, 0.2906]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr93HCZaYiQA8ibh6lR1VelI1H99Zu73Ql9iw_NEekfgVOHO94o3y9DWZY4pbaKA77SU-XQWCN535-CO8WB9uSsXMJ5pAn2ZGl78RElV0EtjmyYTT42IzvlM084P4a2sFvTesVl4R0okma7EvxC3PViLWOqs6PQZPnZfMAXjbLFzAuKRKnpB32c64OrYt8oWZVNnl1gTMHD9_cXWsyFnRs-jkU7yD9z3WdzJnmNoEZmwWto2-dUc-b2yzfPoqEJFnb0cnaS7pZI01PM1rtVFDeAI3FzPgsVn2iWh147MVVdX4rMwt94e06ObA5ZlWfR1SXcvpeg9Mrp6NKxTlcPklz8ZWH0ivO1DqcbVuao7i4J5pIQcXVoDkUjz6Dq3Dhis85UAJYBUpJD64ISP-4k8rfkImMwzhk7hZrd3GvznV86vbiKLgeZ_2fzJhRQuStkDBVUTOWbrdMWEC52ZElWhejNrRTmz8pT-4EIZ3qBrHWSvuxsa3JB-t2EA7Sv_l6gAdScuAOS4rg7zjpl4rcamtGHOIKZ3Evjga3_7E1f8MbRUmSa07_3oABBGGI8LfsC8IC2xEAEyk45-S6rNIb0qd6PEmqE57SBzBjELAl7B_jHQGhrCTtecXvtqsemqx1JzjEQXsyoVoUAmHkq6bb_G6_JDX0ZwlMFu37ABD1ylrnl_lp-9yNVfQiZ1ASMVGJLg1QqIptFj4heXk4Wfh7_RuoqnuqbjNhVQVVnggIgBf4bEsz5q-Y2m-HczmB8dL77BtbPQhMo3fRAPeScTRADySKP-YQPGwHUYkOtDDFn0vpLB_WbjBTwc2flJpM2Mran2MARznlvabbDVq7XhcJichvekNdbHTH284N_KLoNlaYA1OiU0lpBNS8f1wKKKyzzZo6xoyHDwmEiiSXzVwMHXPLne7b9nCeuK7Gp4eOAGPwDTmu0CNb5amjKDN2EskQhJsLHdDxq2PrcaPIP9de8gShRC9mc8KYhs1uxkUQ7KEz1D2K3Dnyi5cLccedrzeqqQK5Y9VcGMlS01k8x5uAOBWgSjRxrHcvius4PYjEe6rfUtve7YJImM-8qClmbsDG2xk82Rsa5a14bX9nIac1HXtT32twB-jSdmp8bQeKycrFIeHP_2Eu-WmhRgtdyND-dZf5m69arXVuu3eb_bytcTch5005kK0yAEKKcc5P0Ql4dayECCFAEwvpkY_ktmazFn-Stnl1s1-4skNwGriD02aKsWuQIDLS46saQUXsfIVRI3ZoPq7cdm-xWmuKJteOufKJsn",
  "id": "rs_0ef580bbe87f04cc016ab2bf74782887d099a84f836519a5c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_z\":0.13},\"note\":\"The left jaws are around the narrow upper part of the dark fruit, so I’m securing that grasp. I’m lowering the yellow fruit just inside the blue bowl’s opening.\"}",
  "call_id": "call_Uusx8XlsPBUblMH8I30fZihj",
  "id": "fc_0ef580bbe87f04cc016ab2bf755f3487d0a137a54db2063520",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uusx8XlsPBUblMH8I30fZihj",
  "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]: [-0.4492, 1.7248, 0.194, 1.1919, -0.4835, -0.049, 0.009, 0.4313, 1.8076, 0.8242, 0.6498, 0.2977, -0.1394, 0.5297]\nstate[eef_state]: left_x=0.3471 left_y=-0.0722 left_z=0.0554 left_yaw=-0.0128 left_pitch=0.2657 left_roll=0.1321 left_gripper=0.009 right_x=0.4686 right_y=0.1625 right_z=0.1199 right_yaw=0.2395 right_pitch=0.2348 right_roll=-0.2136 right_gripper=0.5297\nstate[joint_eff]: [0.0205, -5.1897, 3.1248, 1.663, -0.0513, 0.0122, 0.7399, -0.0342, -9.0188, 5.9419, 2.3516, 0.1343, 0.0708, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f19b5a3d1382cf94ccabea40ebbf15ef8ff21064366010516fd1812976f4ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02948de81994df5c5f3e87eed2b51f3485b8195702ea365e7e2d6aab92a7fb60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9de7ce9aea850a9d841da867cdb77b4a49323c4e20cc0bb23515ec5d49b210d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.261 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]: [-0.45, 1.726, 0.1925, 1.1725, -0.4786, -0.0452, 0.3552, 0.4294, 1.7279, 0.8726, 0.5766, 0.3134, -0.1257, 0.5275]\nstate[eef_state]: left_x=0.3452 left_y=-0.0724 left_z=0.0503 left_yaw=-0.0224 left_pitch=0.2446 left_roll=0.1438 left_gripper=0.3552 right_x=0.4726 right_y=0.1604 right_z=0.1619 right_yaw=0.2135 right_pitch=0.2911 right_roll=-0.1933 right_gripper=0.5275\nstate[joint_eff]: [-0.1436, -5.2581, 3.1932, 1.8437, -0.0952, -0.0366, 0.0952, -0.212, -10.3179, 8.1299, 1.9316, 0.0024, -0.1197, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-FL1VdnAofsstPK7G7PdRquCL8HWZRq6BrF7QNew1tAtFKKaQR7RPDoApHiXaBgCNu1rSV8eEi2cn1VdIcLLiEFoev_O0Gpz9REW_C2HyUp7Lg9d7s2xtcgJSxDO9WIVlRWMGbygYXBtDBuSu1OLDRh-dubMCZL1ZpEcx1bFXeVXVtG2ZpFMTnHhAy2hEUE37JPOcMB1nfCRqhgQmL7mcrPQPPmCxKMt9EHh6YYcdRFvgZ9u0yvXFqwbGunXeMBcZjmKBcdvXOUCO4bJcRKE3PA4YypuCytv-6VMeJhzzPmaDhfnbpGr7EO1iPLDiLtmNH5fgcJXaejPc9BdCCeUbrcCsHvMcObT8WmxFgDIlA5xDQAcLWvGlCf1IkdeweejWsfa7KjJKC2jysb_kaZl49N0_TMKqQMbvoNtzD5U7OGuM8jSMFgtR9TpGp-R7rSyI9Tot2pQPCorBNGpyO6oGERIcObAW9ZoxnIKYnnMuyaRMy_sOJ_8pmZ32tr-q6MMKPZU9jtvHIlRQXHPFX-R2MFAUo8Qn5g9tOVI8oWtE_Y4e422lR15tPdpYeBlhsJWDRVGHZkqyLPSJO82JAGMcFZNhHM9vxtGIg1gPYy8Zrkaud7bndj27XFLQYn_esm6Wm_bbJCTelBJ1b530Z_CeD_UyMhkR7OKpuZtEvprI2KYFHjhQByAaoKDvSgzZZZD1tlelvOXl5ZqvCrzITPfS0LcaMmAdldfxDx2fBpoLY4AwcHTPxIdF_njx_lYyKqiC54ow2_zRl4Rwe6pFmqSgkouXZWFk3KF8oeu2fzRKhbe_TRH4cBl9DiZqyRb5uIqggfb6XJY7XyVGydZWPjrNCfWcAL--Bw-7TUp8ntaFXKsxm9Akjo2jZz2TBWE6mYBlmvq1ko5a5uzcOPrCHnOKHFgbql4k3aUdpbM63UR50hnM0L3sYzl1fGynBeh-UjHAeLg6KdA466P54-FxkzHeIm_5h60o61H_B42cvaXGyRc9l6ks3Xtj2fQ-034uUJQjx3PV4KTNC6M5h_rQr49JoFxQxLwloUwsalS00q20GI5V6o7PXvlMc2acLRjiJ9AVIyy_i8BFYOna702LMoOATW_KXM7_InZqBGEuk6PNWdDH24wKtJwetOODPP-3KWPIy_hPkGWbeR4N-P59G1AvefQ1fJqit2gMJ8wPFXBuuJJCKbCwlvzFDnaV_J-rgMHaEeskZHN4lUFUYhG2CIM7CCC9Fha7IIs6-6NNvcBAJl1L9wlhjK4I5VZrI2QQMHG5DoHbF76uBA-NL4fm2OSf2rQZ8KF9zn9jjVWK0yx2uLaSYAWCw6FJGFstqF7IXw-2wo6ZN54b3S5L0wMVANL5yUsbFSz8gYgM0UWzk51UrRuUjFXyU-Y3rZ-mzx4VP7LiD7-aY-LIo3_YLTx0sQKRx8bVWb8X2yOwiKNCXoCrUyTMIVbWXphAsKOfCYQM3cU0VKVuY9xQ0DZ4Z5Zd_9HA6xMbK_vCvVNutkTO3_LoDA9J01kCT7HRZx7l7eavHw8RwQFPJP6vAYKsEnu8oqre8qA==",
  "id": "rs_0ef580bbe87f04cc016ab2bf7975c887d09ce50d0934fb100f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":-0.095,\"left_z\":0.025,\"right_gripper\":1},\"note\":\"The left gripper closed empty, so I’m opening and shifting slightly right and lower for one corrected attempt. The yellow fruit is positioned over the blue bowl, and I’m releasing it now.\"}",
  "call_id": "call_4yTwd9L8kYpJfaOpUC5rRNJY",
  "id": "fc_0ef580bbe87f04cc016ab2bf7c4f1c87d0a805ae54275704a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4yTwd9L8kYpJfaOpUC5rRNJY",
  "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]: [-0.535, 1.9774, 0.2321, 1.3518, -0.5549, -0.0841, 0.9949, 0.4301, 1.8198, 0.8185, 0.6453, 0.2939, -0.1429, 0.9973]\nstate[eef_state]: left_x=0.3457 left_y=-0.0925 left_z=0.0185 left_yaw=-0.0248 left_pitch=0.2314 left_roll=0.1469 left_gripper=0.9949 right_x=0.4671 right_y=0.1619 right_z=0.1107 right_yaw=0.2445 right_pitch=0.2121 right_roll=-0.2199 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -5.6, 3.0564, 2.0, -0.3004, 0.0415, -0.0415, 0.0479, -9.6752, 6.147, 1.9023, 0.0366, 0.0073, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fea69c42362b2085379b1f435492256ff69f2c5d209a7a44eaecca50c311e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88759af354eb2a470f0888ba1e594626cdcda58281539330d54c9d3689d5aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f15573eca979f38d1c641f12b5aa36f12d139466083361321a1a199dbac9e70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.309 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]: [-0.4492, 1.7248, 0.194, 1.1919, -0.4835, -0.049, 0.009, 0.4313, 1.8076, 0.8242, 0.6498, 0.2977, -0.1394, 0.5297]\nstate[eef_state]: left_x=0.3471 left_y=-0.0722 left_z=0.0554 left_yaw=-0.0128 left_pitch=0.2657 left_roll=0.1321 left_gripper=0.009 right_x=0.4686 right_y=0.1625 right_z=0.1199 right_yaw=0.2395 right_pitch=0.2348 right_roll=-0.2136 right_gripper=0.5297\nstate[joint_eff]: [0.0205, -5.1897, 3.1248, 1.663, -0.0513, 0.0122, 0.7399, -0.0342, -9.0188, 5.9419, 2.3516, 0.1343, 0.0708, 0.2173]\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,\"right_x\":0.30,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0},\"note\":\"The dark fruit is now clearly centred between the left fingers at a lower height. I’m closing around it and parking the right arm clear of the bowl.\"}",
  "call_id": "call_VVCidenLRNjQuxrhKyO626IB",
  "id": "fc_0ef580bbe87f04cc016ab2bf89ad0487d0a47f45ec1b288eb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VVCidenLRNjQuxrhKyO626IB",
  "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]: [-0.5354, 1.9862, 0.2329, 1.3468, -0.5579, -0.0834, 0.5563, -0.1017, 0.8616, 0.7639, -0.4259, -0.1276, -0.3634, 0.9979]\nstate[eef_state]: left_x=0.3448 left_y=-0.0916 left_z=0.015 left_yaw=-0.0244 left_pitch=0.2206 left_roll=0.1552 left_gripper=0.5563 right_x=0.3114 right_y=-0.0056 right_z=0.2257 right_yaw=0.1902 right_pitch=0.0302 right_roll=-0.2317 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -6.9538, 1.894, 1.79, -0.1294, -0.0659, 1.0281, -0.1436, -1.7162, 9.1419, 1.7949, -0.1148, -0.0415, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe837d06b16ba5a45121b505b254ae8a60cdcc38c7f4624b3fc66f4657cb8f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea40a133756d10c2b70683aa9a5e97a9b2f595ea20c12347dd9f895a3d2af4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af206b0e434aead8694dcda4e3b413243d5a93e8cb307a797fe38869a3e407f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 13.64 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.535, 1.9774, 0.2321, 1.3518, -0.5549, -0.0841, 0.9949, 0.4301, 1.8198, 0.8185, 0.6453, 0.2939, -0.1429, 0.9973]\nstate[eef_state]: left_x=0.3457 left_y=-0.0925 left_z=0.0185 left_yaw=-0.0248 left_pitch=0.2314 left_roll=0.1469 left_gripper=0.9949 right_x=0.4671 right_y=0.1619 right_z=0.1107 right_yaw=0.2445 right_pitch=0.2121 right_roll=-0.2199 right_gripper=0.9973\nstate[joint_eff]: [-0.5812, -5.6, 3.0564, 2.0, -0.3004, 0.0415, -0.0415, 0.0479, -9.6752, 6.147, 1.9023, 0.0366, 0.0073, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The left gripper has stopped at a substantial opening around the dark fruit. I’m lifting it to verify the grasp before transporting it.\"}",
  "call_id": "call_n7F0e406oieW0sbZCAKeQ4Ji",
  "id": "fc_0ef580bbe87f04cc016ab2bf91660087d0a1115a8679f36099",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n7F0e406oieW0sbZCAKeQ4Ji",
  "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]: [-0.5373, 1.4158, 0.2787, 0.7776, -0.5613, -0.0864, 0.557, -0.1009, 0.8658, 0.767, -0.4637, -0.1425, -0.3824, 0.998]\nstate[eef_state]: left_x=0.3441 left_y=-0.0914 left_z=0.0987 left_yaw=-0.0161 left_pitch=0.2622 left_roll=0.1295 left_gripper=0.557 right_x=0.3073 right_y=-0.0023 right_z=0.2181 right_yaw=0.2135 right_pitch=-0.0071 right_roll=-0.229 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -4.3829, 8.0068, 1.7411, -0.1099, -0.0171, 0.6764, -0.2393, -2.0171, 6.694, 2.1123, 0.0757, 0.1294, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548ea2465bfb8dbffb8228a8790165135f587a669c559cf35c7feaed8db2ce84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576a8aa3f78d360affb05ae003a8e17ea479cc5abed81dc086948489b041aa32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1827b7d4f2b39e7ce9baaac0cdaa7b41241cb4ab724ccd55357dcd3d153f84c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.466 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5354, 1.9862, 0.2329, 1.3468, -0.5579, -0.0834, 0.5563, -0.1017, 0.8616, 0.7639, -0.4259, -0.1276, -0.3634, 0.9979]\nstate[eef_state]: left_x=0.3448 left_y=-0.0916 left_z=0.015 left_yaw=-0.0244 left_pitch=0.2206 left_roll=0.1552 left_gripper=0.5563 right_x=0.3114 right_y=-0.0056 right_z=0.2257 right_yaw=0.1902 right_pitch=0.0302 right_roll=-0.2317 right_gripper=0.9979\nstate[joint_eff]: [-0.1573, -6.9538, 1.894, 1.79, -0.1294, -0.0659, 1.0281, -0.1436, -1.7162, 9.1419, 1.7949, -0.1148, -0.0415, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-hnzAR8cAHE7-pAWMJMCzM-fiskSL4bSxK7X9WxQeyprH0AphQn50uH2J6XvJVq_nTo3cxPEFMKbr1m-GyeYNabHzgEx7Wh-0nohE5LpD1V_I1nVxKqn-N5kOWJgJr1sDDLx_jUtIztRS9vNFKUbwKpWY4Vjzid5Xrm-HF2ECvCxzd-mcAOHUCF-e0oA95KJDB2HSMmV8Xuy582guSE0fZhF6LoReb1GQ_wA6QOXCAcgDAfu_6qMILkHME6-yOwQRnmBKUMpkzDOIRD__kD_PcsXRZ0bT5dLs32od8CvyvHsZThjgI4ZxArA8fPNQLj3RADZfO9Nb1uuYjAsbCF854G4oL2UC7grf_Y5WchwmFRW37ylfpOdis1cmQ1-1rCdWvrELFAHy19oS5qJ7Kcd9jKW45VIjDWMZvrjRGUNJklcMNG9VKuTHkUAaVUs_8bEflu-3-tocUEI_KGdHiC9DV6wKQ2aXnmbF-yeRU2R3pNWCABNo5u5JF9zh02U_-ABJOBE_2eX0XFlPz1qEzpHoE02Px0PoeBwAF5kmlRuHf-b8AA5NWhtXTDJsE7cvCQIJWno0U8cQMsKwBdLIna9h7D2bgdUe2gUOpPBdY2C4opdq_roCnU4Sr-B4BFctWIa5ZD5rQ2gWwdQ4-q2U2_r81szfABPvCUXsBcw-zsNuXY4rAMRF-UIF4EZZjZY1pFFiKq8cxNI2s2rEIMMDjeKZvGgM__xE1xwfhvgbNFkJOL3sBisPm9LB82oAPruvi5nJTF5v8NVQfJ-HLm2r5kLzJPyCeWuDyB6JDgr5VoIVbtynUkZGj2vRiU6sK2DO_j86n_25PUnyTFfM1fyuEirgAJ9hQbnr56RPd3RZInhka1kQM5rFuZanQuxsLpD1aWPuMeWDmsXJxL6bGFAjeFsogxGNo8roTO3xCDIpOH202sBfBno_t3zHMBvLN3zteOF5eV4N6aAGanpy-KcVyrXVv2t370rj61ZYBiY1t4eMlPmZj_chYROdKZIZpIedcMk195Ea2rwJC-JI0Ulz4QMbC50ORSQFfkbIKom5SGPDN4rh4HoPj0R5b50wuxCWI6mS5lZj1NsU29QYXNlYiL79cplMrmWkw_2PzZYjBQ-ZbBTUlAckM1MWJDxt77GYRbKvrn2G_XqCQeawz5cSsc0M6lTObHT2DqoH02-cGDQW8CnGHN2FAMh2_g7KG_FPCPNVYcHAewHzIjA-lsg0lJC8HJkrf1CEmWLYCjJXcuL-vLmjen1LYYSC146LDdLClYBQi8ZnkrO4OOBV6nJiBurRC3a8Ya8iVF1B7z5qG0lqn_pF6XwqDDdXu9zeJ8fzuYz-V-8e6pTP-Q7SBeEoODRuWkviD8SGf6wL9dLWFdIHXa3bHOT3mZHd05MsadAoln3aOXZFH-MsUY73mVD9a5QrK533dfYZ6Mj24x44M5fLtHDbu5Lg-PJZNbBiQ-YfxkW6oXSCn0jFxA_fKq4HIZS-uv98YIUIOY74hgoUr6a8Vto0BRMNVn0IkdmOuvxR0ZLDKuOxubDNlAKmaihcyfKeVlCFnIt1ZIzjxK2CTCCNKD8aWRTwDZvZpingNGaNZdQddbqAsUpG4QUFoSIrC-trfzS0bJAPrXdQlcYtpQ_wXNiz5Wx6D91pYtgWfpaVQdrS07X8TdI_BU46piR0lBwscjfbgtqHJRc9Dy0BSL4nOgDsV3Z6ZlPmuo0NSHdAVkLCR_rd8BLYsDvaxwsOT1ZLcJxr4fP9TGiwxEqnQcyVuGnMDW5Qhl-s5xxyV9YJ3rYe-W11aRspkZCyTm_5Wi2He-Wz5rOG5Xibux6Tz_0HfdM9XYtT66L9E0-AFDUcDOV-w--Ge64dqm-_0mFcWUztxFWckZ_W2oIbLSE2lQcyNI7KEuSjM8U0ZGul2XSq7lN5sbtbDpSWtKj5nKtzMRrEV_SG8BwvQs65JbApDo-FYfzBwsFdLdfkeEmTGMh46_q076O7CAb1ngXX_ftFoPVM5Bd0qeaGD7xz3fewlLIZuoE2yJHPaY6RrOjlnND3ygFqp36NQVoxEr5Sgt-I5WTnPlYBSx8BLTm1ctUTZeuWzxAcr_qBoQaxA-W1-QnLCJegpttdgb7arNureGMFcY5mo1jkSyIkTtYDTOgXM7NBCIk9GXmBt3N1pbIw-KcY_ld6nA0SNbJtiKt4Htpwlqitku7Mt8i0EPbFLEE6L8c8Wma5Nx8RVaxVXM2wCU1D83tZiI6kJ4aHmT_LFNindNE4PRg89IGX2etH4XwN_U7b0xqU59eZnkOlE0CDjX8ArDpCnsyWHBNF-D43O5QGeyI1B3IOoGkJdchNdtIxyDm-pcCL80clEXmaStmzT973YEEsT14lIZYBCTyAP_4Pm6Nc7tFY8bTxdAHur6px-0JI2ZgPStM1qb4NTx2cB0hd0m0dvAu1ZXCAg-hOTTnl-we8-Jg==",
  "id": "rs_0ef580bbe87f04cc016ab2bf960c0087d0b7eb3fe2bf8cedfe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.33,\"left_z\":0.22,\"left_pitch\":0.35,\"right_x\":0.475,\"right_y\":0.215,\"right_z\":0.16,\"right_pitch\":0.35,\"right_gripper\":1},\"note\":\"The dark fruit is securely lifted. Because the blue bowl is beyond the left arm’s sideways reach, I’m holding the fruit near the centre and approaching the bowl’s left rim with the right gripper to bring it closer.\"}",
  "call_id": "call_ExZcuCP14ixaPvIXDwxOPOZC",
  "id": "fc_0ef580bbe87f04cc016ab2bf9e744887d09cf98b8527e31e08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ExZcuCP14ixaPvIXDwxOPOZC",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8906, 1.9461, 1.3487, 0.1543, -1.0027, -0.21, 0.5587, 0.5362, 1.8309, 0.9165, 0.5976, 0.4789, -0.1375, 0.9987]\nstate[eef_state]: left_x=0.4346 left_y=-0.2947 left_z=0.1988 left_yaw=0.052 left_pitch=0.3266 left_roll=0.1956 left_gripper=0.5587 right_x=0.4702 right_y=0.1889 right_z=0.1392 right_yaw=0.1848 right_pitch=0.2667 right_roll=-0.2646 right_gripper=0.9987\nstate[joint_eff]: [-3.4393, -10.6462, 10.4821, 1.8632, 0.5836, 0.0122, 0.3932, 3.2615, -8.6632, 8.2667, 2.1758, -0.232, 0.0122, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1193ab58fd731ca3fc407f898aa8336cc598e8a39a3a8d043b924a07d9508d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f85fb372edf8eb879431681afc70634e09fcec0e90ebd4011471bbf8212d9af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:699421ac6124ed340716165f3427d54febf5db12f4429d0eb6d7b7d749865a19",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.321 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]: [-0.5373, 1.4158, 0.2787, 0.7776, -0.5613, -0.0864, 0.557, -0.1009, 0.8658, 0.767, -0.4637, -0.1425, -0.3824, 0.998]\nstate[eef_state]: left_x=0.3441 left_y=-0.0914 left_z=0.0987 left_yaw=-0.0161 left_pitch=0.2622 left_roll=0.1295 left_gripper=0.557 right_x=0.3073 right_y=-0.0023 right_z=0.2181 right_yaw=0.2135 right_pitch=-0.0071 right_roll=-0.229 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -4.3829, 8.0068, 1.7411, -0.1099, -0.0171, 0.6764, -0.2393, -2.0171, 6.694, 2.1123, 0.0757, 0.1294, -0.0024]\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": "gAAAAABqsr-pmSIU2y3OwL80kYkFAbEna1NyojLug_pB3KhXuRm9Q97-tiwMcIKR3sp0x2ydJbjNLoJkV2drahb0XbOh79B3M0Jl3mZDYtjd-ntGFIPwY4yl3MZuOHvJyBmhaEkGod6UpA6uHnrE99DMUYXF847BTPKcvkzBCV65q6U--196oDztJQl1CM9c0wT2gUs-4_v1vj8Xh3TAe_Mx1YKFV7S0NBinOokqo5YXEjtI49MGt7KM52y-HmZpK1YUgmEv78nKgPsIVcYGbWBPlpnVx4JffQCCdIXnER1m5ToQW4rk_F47H7gz8maE9wYvQA29whpBa72zxSTXoXq4MY7smED6T0JTU-c74zURyh3RW5Pn1kbTjZ1OuUl4mN_1FvHenaPPK7cswfLpsKkKs_WG8AlWAEgvLwxkoSLt9BfHgHZaEkB7k9OKvMjzeZ280jraNKIlqZGNjUXOeOIVbLVaJoEciMcdwiP5dGo5kEx0h6D3HDPhnlL_I5mWALBRV-XtLml9XSy1pF0siThh0e41NbpNNXX3bfMU0i1EMmR0EECzZqLl3b90OBLI6kAHrpUtGrI61Tcwz1l_IFTMC1gH4yZKGSJ_KiiJ7lFDvFfZWmlO7DLiXApVbapcrbS4bk8xP4PR4ArUJGpco0rfqR1oaIpAPe7_dzF8EEcWp0EzqHyO7pkY-U05pQApAL-_B0ss19IM3I6pdVT0WkrEd6nrNBIX-t1GBxusALYLtE4LAXOHSPE22HNWX2F11Hzhz-MWkK8BAQToOImXbpfUz2hrv77-3lDzL9a75xqB14IoBDFzbq8ESJTD3kp3ImsoqnnaAkn70HMzYQVf6DoDFKeeJ0Jg5iayelAX3luMKWF25Si-xH4iLyuwZq_QOtrebaTgNqL9WyTEJnn61TCUxTHRdmVAt8aPV-aYOJ8pj7bIcDHJLYR9jD871S4kyL-8qjc71O3qxt-BNJT393TWzSQUEhrArwTt2rqfMmr_B3GaT_XZF-4mnlFVwPbn_SKfwhjOjsoQoS_VK6d1Nsqqrf-ABYMyZ8nD6YeJZt2SaeK_xc9DP18ohMU3RhDrzMmVvefSZlKwhRLpZewAB0u09wIWi0_P-BMB8DbWprQguQySYNYFgELyDmc69GIPnhS1Cuu7DyoBXvYvIUKAJ9N_0FQKVLxSuYRcgj-KXwnSfl39SCBxNsxUGpKHCcO8YkVdVszQZlJC-i0m7N-ADxGNtNAd1JaKzwXZMr3kaf7tQGjpXZZWNQ2fvrhi30aoSil9tZ2uR9TC5lJM1m4liRraT8GnW5JJk0nL96oFzVSCY9iQ15S0akXNlYqYYGyOdYDe6OPXRnjm",
  "id": "rs_0ef580bbe87f04cc016ab2bfa58ed887d0b425eea940948599",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.18,\"left_z\":0.24,\"right_x\":0.48,\"right_y\":0.225,\"right_z\":0.07},\"note\":\"The arms are crowded near the bowl, so I’m moving the held dark fruit back out of the way. The right gripper will descend onto the bowl’s left rim.\"}",
  "call_id": "call_hCHolVtQXumlnQDjo4gL5Mis",
  "id": "fc_0ef580bbe87f04cc016ab2bfa6f59087d0b7ef7152c8ae76eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hCHolVtQXumlnQDjo4gL5Mis",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0126, 1.2892, 0.8413, -0.0799, -1.0843, -0.3161, 0.5601, 0.6003, 2.0933, 0.9543, 0.7708, 0.5236, -0.1371, 0.9986]\nstate[eef_state]: left_x=0.3079 left_y=-0.1915 left_z=0.2369 left_yaw=0.0306 left_pitch=0.3228 left_roll=0.1841 left_gripper=0.5601 right_x=0.4746 right_y=0.2222 right_z=0.0632 right_yaw=0.2147 right_pitch=0.2241 right_roll=-0.2978 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -5.0393, 6.9402, 1.5751, -0.4225, -0.1294, 0.6374, 0.3624, -9.5521, 6.8444, 2.1319, 0.315, 0.2222, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7570f7769aa111e7dd8c27c6a16346a172bc086c61f60400f5d417a97d3ce859",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c1ea8a3e661101768792626ae4c7a999c3e971355fb97d66e0ba15e65b6701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa830195ec9d10b22eff61147e4e273437119f599f92d665ae8a346b2d3d066",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.453 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]: [-0.8906, 1.9461, 1.3487, 0.1543, -1.0027, -0.21, 0.5587, 0.5362, 1.8309, 0.9165, 0.5976, 0.4789, -0.1375, 0.9987]\nstate[eef_state]: left_x=0.4346 left_y=-0.2947 left_z=0.1988 left_yaw=0.052 left_pitch=0.3266 left_roll=0.1956 left_gripper=0.5587 right_x=0.4702 right_y=0.1889 right_z=0.1392 right_yaw=0.1848 right_pitch=0.2667 right_roll=-0.2646 right_gripper=0.9987\nstate[joint_eff]: [-3.4393, -10.6462, 10.4821, 1.8632, 0.5836, 0.0122, 0.3932, 3.2615, -8.6632, 8.2667, 2.1758, -0.232, 0.0122, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-vLr-O3193HL5EGw4ct8cW8er6V5l3J5_eUbJNCzMY3C8HwXBUNkjL3K4u7pZ76gY_Q1xBVeMVA9UTqz87qH6h2sZlBRmjO5R1V5vmul4ZdTJgLrd7jrIj89JquAzAsFM25p4H0bQUdjDumjNMd4A3hg8bOdnxgRlAPYA5Q3E9AnJ1DeaJSJqSMhB-etSC1nOlLTaJuvpfiX0BiLJfIlxiOs9vN1F1mxvgxdl51H2a1qZ8PiqSqkX6gIScLbBbyfpf4AuZIiQ6dn9aUnSgnIiiUvdE6hBWQRAuMS8EkhUpTcFrOZYyn5voEHaf5NkNLtvSXBlfXQ_LHuojC4eBsdZ8H50GLrdfbDN9FQ2A49ifx9y8Ndl_ZoERahrxSShim_uZ9I7mvA_lX7sx2JcYFaAlqwCZNMS8XEPJBrJLkdLJOyQH7QT-_HLqr9FSf4g8BMp1jiiVcWUJ9dk2Dqd6X6Sxd_qhqcfnZAE9zW1AYBG_lI45OuIYamk_MFZCa0FQiS5Dxnsdr0vxajuFVkBvbh5aPu14YR4gFg0KaFGO-DSxAuwAdcXNYWTRQUJEnEIvy6uAL9nV8fSCsUNtVnGMoNk2Pp6p3kg6QGLqQA1FNEDuiqnc364nmgyJYIvwFRTq_Kvy8W2LPh5SJotRQRqKEIF7d7Qr1eWwjzML1wjU34M3xN9CD6faFIa1WRKULwSmBYCgiVO7vC-wgPGvIKGS_LtI_j6wYkqNb_3S5HtAq7eJSPcPKKtnaNx4eUL9PubDsKHi4dlLmR7y0QnQsBD5Lil-9s5cgQmnBLgmXZ_HO_bQrNH_NCPpGWWXTte-ehAGHVGkuOi3RsLn3vGaNE4eBXuOL1TjgQ7llnW2BG3pERVBrfhzkAd99oQnq5x93gtUyTVRB-oJbwlfKxUBYRfIVT_ml5TE5FG__P5ULRx0A-piL7FUNdptDXP__soLUiXB9JVnJbkS9jIpE_Rq5r33as7vb8b5W8uDD_EBFaOLPePRAa8dKK1cgFk7_sJY_G5Vm2pwcV1MtAz82mvfQpfUHwPqmRxiwGNs9LsL9JqJSWgaE3V2RBroMwH9Bpefzq8Y93Sg3emv02oSGkyggNc563D0WmdTQWWbHX7W5DQ1ci0sAizfsTRwGALeZxNKXymdE-wSVgJf97FkbjHfLWn1bnQx1X5hC7Up1xmnPaN_SxoewWzxg53FXzEJAOz72YxIbfYyA-h25Et4ntWFMjCyfunxrg==",
  "id": "rs_0ef580bbe87f04cc016ab2bfad863487d0be9743c6103aedcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers straddle the blue bowl’s left rim, away from the fruits. I’m closing on the rim to lift the bowl.\"}",
  "call_id": "call_iBxJUFozPhVoUUcy6Ik5grcQ",
  "id": "fc_0ef580bbe87f04cc016ab2bfae5f5487d0b3f41ae5782cb007",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iBxJUFozPhVoUUcy6Ik5grcQ",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1043, -1.0836, -0.3374, 0.5626, 0.6003, 2.1113, 0.9543, 0.7589, 0.5194, -0.1413, 0.0106]\nstate[eef_state]: left_x=0.3055 left_y=-0.1904 left_z=0.2293 left_yaw=0.0275 left_pitch=0.3064 left_roll=0.1951 left_gripper=0.5626 right_x=0.4728 right_y=0.2218 right_z=0.0518 right_yaw=0.2229 right_pitch=0.1952 right_roll=-0.3116 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -4.8205, 7.4872, 1.7118, -0.3492, 0.2076, 0.2418, -0.1162, -11.9179, 4.9709, 1.917, 0.149, -0.0073, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9d210d7d81d34900785801d0b155bb1558dac285ac77a2f275065b1bd604be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3997dd9781bd74c5526792d59903de75c6284f9c96c272c04ca585def44694a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a35b063fff0bc6e45f841436835a185986735e69fda29ec01ecc02831a898b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.627 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]: [-1.0126, 1.2892, 0.8413, -0.0799, -1.0843, -0.3161, 0.5601, 0.6003, 2.0933, 0.9543, 0.7708, 0.5236, -0.1371, 0.9986]\nstate[eef_state]: left_x=0.3079 left_y=-0.1915 left_z=0.2369 left_yaw=0.0306 left_pitch=0.3228 left_roll=0.1841 left_gripper=0.5601 right_x=0.4746 right_y=0.2222 right_z=0.0632 right_yaw=0.2147 right_pitch=0.2241 right_roll=-0.2978 right_gripper=0.9986\nstate[joint_eff]: [-0.3624, -5.0393, 6.9402, 1.5751, -0.4225, -0.1294, 0.6374, 0.3624, -9.5521, 6.8444, 2.1319, 0.315, 0.2222, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr-12fk0i8DKXaVLEhlWQYAv3IAr_iKDoqgn8AKgdW2Hx5nA01CeOuubqTNbZh6-Ns64JqPxgMDlsb9O-NGziIsBKJW1_RTwpC2mScIRPci8LT9FzcOaBFBcicS6nxtWVV0TBvKluxOLqEwd1zZfpNbst-xi8vsxMoY3lz_ybZGMaNzhLschEX9V_1tMiE87V80_72vwZiGsOhqgSMT6RJRN9nIP2sqvcobO60wQ0izq_57rb9-iY9-5r2MpJr9uLLcdzgBBZmkhCMumGJhEfYK1ciItA42jyP6jkbQ8MO-bEMT0nnauessU5i5aAM7ukB00aISUUqwwi3UXk_g-3sQV9Uq0s06G61CtKV804Sf_pL4GKKl7_nqCWmbUd9sW6Lfez3B5_h508Cfal-QG9xLYgEp53Lbbi9W4op93OygFyFoWqKlfKaK_6y6P-gF2X2IZAudPGUAzfQoBjnKE_DnYW6F-ZEIzj_lMQBXx6c_zER4O57i8qjXGQhTAmXqndCsgL30BUB9kVxFevuBqDmF508_5fw7MALr2n-DThPh3Wcng-_s2yz41ryMIg7-L74qBRgRp3Cr8PdgVxoC5jZkMJdYcI8l4Zgqc0qIFv7dMfTaWzfavHbCxft7vGbqG4zsxI4NGrigCY9VDPESkrcKzuogsdexLHTSeg3tGsstfW7jjCr01pB8s1OVsg4Iro42ukNW14nlnwowcsIP-x6_LOpdHTpPBOfYmle-VR7vfntuz3rqOpNx5PzePC9g0YwM0wifJXvxNk2PpLH2GdeKXPTV0b5Ef5QEmQ2nytxpRe65TfLweMjbu0djYL66NdS4CTSR2mcRKU3XDYE6efLpcSeNi9Ex6frCtAzHqnJk3EGREcutzxhdewVBDmyAiiGqYXm6Q1XcfVIMat_a3GdrSA8IpxyQ-_57pR7_2On4C-U5Jj-y5wrS2joIn_XQbwHcG2iQxHajF7J9fvJ3-onh_1trNAfZPK4-HRitecmFz7dM04lguJh7Kikr7XT3QSA3C76jpz2ifhIcKVq130PT-Fej7qVQ3nv6qZ8xd7hhdKLXVJc9S4PYZ6XlfbnIwdRT7R9Rh9IAwA7msL7a6IockhExxj-keIu4brAHKTyyUJa0hBbgIJZV44O_iZzuvQBkdjTtJR1GYnKzOrqr30aUGO3Nl3F7OHktO6YZ8-Qjbn5bMq-1ak02dW6Vk_4xndYdXQP6NSgLJYskP59fwVxFKJLsS12J3FdpW1RckxFlkF3ZoeJrpLdlw2fVD3NYpFz6tHucDqG3w3D8kitYBzr7CC9DXvaAM-wvaGJPKA2Dk1h2zaI5pLF7gqpKWc1YQ6HtY",
  "id": "rs_0ef580bbe87f04cc016ab2bfb2bc0c87d08e5379658e01936c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7,\"right_x\":0.495,\"right_y\":0.195,\"right_z\":0.075},\"note\":\"The rim grasp closed empty just outside the bowl. I’m opening and moving slightly forward and inward so one finger enters the bowl and the other stays outside its wall.\"}",
  "call_id": "call_IdDSNPwQ9E8GJIqtttBIvAw6",
  "id": "fc_0ef580bbe87f04cc016ab2bfb3ded887d08b68d9180e104ff5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IdDSNPwQ9E8GJIqtttBIvAw6",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1089, -1.0836, -0.3386, 0.5647, 0.5179, 2.0926, 0.9581, 0.6888, 0.4385, -0.1829, 0.6952]\nstate[eef_state]: left_x=0.3053 left_y=-0.1901 left_z=0.2287 left_yaw=0.0269 left_pitch=0.3042 left_roll=0.1981 left_gripper=0.5647 right_x=0.4848 right_y=0.194 right_z=0.0452 right_yaw=0.2331 right_pitch=0.1323 right_roll=-0.3341 right_gripper=0.6952\nstate[joint_eff]: [-0.1162, -4.6701, 6.7214, 1.4823, -0.3248, -0.0171, 0.2076, -0.6906, -13.3402, 7.5966, 1.8095, 0.0904, 0.1245, -0.1343]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251c48ab14d9df16ae80fc8eb9d19d21b7efed30470598588392436b0bf5ac3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df18f9d766ed1c9bccb738ee661e073682dfb246ea46f07e1e4ef97877882ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe832300744d22309e6d44acd1b094f49b4e61f5076447a1de33db0268d3119",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.556 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]: [-1.0168, 1.2915, 0.8318, -0.1043, -1.0836, -0.3374, 0.5626, 0.6003, 2.1113, 0.9543, 0.7589, 0.5194, -0.1413, 0.0106]\nstate[eef_state]: left_x=0.3055 left_y=-0.1904 left_z=0.2293 left_yaw=0.0275 left_pitch=0.3064 left_roll=0.1951 left_gripper=0.5626 right_x=0.4728 right_y=0.2218 right_z=0.0518 right_yaw=0.2229 right_pitch=0.1952 right_roll=-0.3116 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -4.8205, 7.4872, 1.7118, -0.3492, 0.2076, 0.2418, -0.1162, -11.9179, 4.9709, 1.917, 0.149, -0.0073, 0.8816]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl wall now lies between the right fingers. I’m closing gently on that wall for the corrected rim grasp.\"}",
  "call_id": "call_v1JMo3gHvB5lCwANkMHTitkH",
  "id": "fc_0ef580bbe87f04cc016ab2bfbaa6e487d0950e4b726651a6cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v1JMo3gHvB5lCwANkMHTitkH",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0828, -0.3408, 0.5662, 0.5152, 2.0892, 0.9619, 0.6754, 0.4313, -0.1841, 0.0177]\nstate[eef_state]: left_x=0.3053 left_y=-0.1902 left_z=0.2286 left_yaw=0.0275 left_pitch=0.3039 left_roll=0.1959 left_gripper=0.5662 right_x=0.4851 right_y=0.1939 right_z=0.0453 right_yaw=0.2374 right_pitch=0.1253 right_roll=-0.3338 right_gripper=0.0177\nstate[joint_eff]: [-0.0615, -4.8615, 6.8581, 1.4628, -0.3248, 0.0073, 0.1441, 0.2393, -9.9624, 4.8205, 2.0391, 0.2271, -0.0952, 0.6325]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c914e708216f08621feb196af0a87647786cc31ef1989ee5944adea07e2f2997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816dffbb763beda1647a7b80322848168f5cf555b41771e80b84f7ae194c76e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0d0a20f504f5f4ed970b0017c2b34634b540e1f79de4697fde256f7c59b2e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.377 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1089, -1.0836, -0.3386, 0.5647, 0.5179, 2.0926, 0.9581, 0.6888, 0.4385, -0.1829, 0.6952]\nstate[eef_state]: left_x=0.3053 left_y=-0.1901 left_z=0.2287 left_yaw=0.0269 left_pitch=0.3042 left_roll=0.1981 left_gripper=0.5647 right_x=0.4848 right_y=0.194 right_z=0.0452 right_yaw=0.2331 right_pitch=0.1323 right_roll=-0.3341 right_gripper=0.6952\nstate[joint_eff]: [-0.1162, -4.6701, 6.7214, 1.4823, -0.3248, -0.0171, 0.2076, -0.6906, -13.3402, 7.5966, 1.8095, 0.0904, 0.1245, -0.1343]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_D5wR_2BOsC5M3QNG4Tq031fNFnTufFDTyaWihbA8w3ZVGo_MySbnXP_LopbO55SD2WZD70rH2Qe1FQxpJEXg_Fnv6YkpNdurwObU5Oyc--7Wu9kvGWuSVpbkA8zYTlVolKJbksrC5Tv1mcev7-8kMzykOdF6Gm1vAGVFODCDYnUqe9cTI0PpT_NbB9Nbu3jQmIV2ktsaHmYOUqP5toFcRJ2zvdRWBW8UlSMVkiBaaWWE-A_6xFtMZws9LZ3j9e-VCZ4cE25pPUm6l0vckvNhoKXLQ4CRO7QrbTBdnBQM_3MtWWKidzgJvqdj6K7FwVJJ1cbPROkk4VSnCTBcA3PfYutb7FTQy6QySRc3B5S6mZEg5QBLHEX6BXqZv7DCUi-mSFao6iJ9r7RlSdROkbus7oByLVNgOA3ioZC30WByOIoEKxky9TBWOz86ZnjYZJhrADsu60Hhf2NN7OdcJYRPPqaafbyoLB9-gCAhOpAjL8vrn0k-HBAGYaDB5UAaB2rHnIEjHOAmgxNrKncqHX_JoPI0ZUJnOyQwxAVxzpnr15ZNlPtPociBc49DnSicpTaRdIVhYkB8Z5bLnlKWHbGQtTj0yttNOyU0YOyXAmncTDO7BAFKsUQUCkikkbdIjwkO0PQsTY9djj33DitMvzdLPWqLvL2M1OjeXiWutp4C1lYWMMAZ0Y5C1sq1wAggFwYoNz174rJ-ELcI7qXHg30RZK9R3ETQan5e18AA_gegD_b37UAD4_jG7Scc8wP5K_2Tm3Tp9cLMPJrr5BBpwgZe0dWgGQzVt7OTVFQ0BuiM0CfY7FayTU32N9ikzJa5q3x97FVVrLpyT7FkXNyYXC_FTH6F9DpUQZQJb9HoEz96mcqrtoFv_NGdSMzZdbbRtcr3vXV8KbTQjWOfgLmQpku7y8Ppd9KBVyGVP-DpJmy5D0X_27Ig7RBtC-oCrWOM55hTPFUD9R5MjekwgabeO6o_lpQ5TLnkNVdd3fkbp0gQYR54GLg54c72S5DCc-kr3oilSRIcAhJbzr2iIS6fUm5JTyHnFFHk3qU06tVj69tzXrIPimF8aokHh3fSzukmpeC1gZQ5ocwgEG8XuCmdInRFEUJNtglt95Frm2X_jUSScygeXe5r4mANZsU8t4kidHOhnBPtnI7_O3Ep5uSk3XA2XtFkKgvaZGufEuAshtWISrdOfLZUQF7LVu4GTsKH0EP5jdlr9xItGz-VmQGPJtvrTzXCoat3U55a-cq_7FIGpFcycq6xGr8AP4uT7uiigO2TZ73VS95CgdIUBsevBJEbChxdCf8FP784w2bkUM4h1Lm-Wvj5vaBrYOyzr62VZQGVgnxYyOAOWG3lxKFddsMm9_4JYOmKffkAfOke1L7mXQ8olXO5ONt3b8RkNvqn9VpOSIhdjL_qbxqURSW6wGfuvlTnU7C3iQURJ8jyqoPV7tUc=",
  "id": "rs_0ef580bbe87f04cc016ab2bfbecf9887d082b18f16216d5d2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.75,\"right_x\":0.535,\"right_y\":0.19,\"right_z\":0.125,\"right_pitch\":0.5},\"note\":\"The second close also appears empty; the overhead view shows the fingers behind the bowl’s side rim. I’m correcting from that view by lifting and approaching the rim farther forward.\"}",
  "call_id": "call_nhN6XFwDMVCTtANyjejxSAlx",
  "id": "fc_0ef580bbe87f04cc016ab2bfc0df2087d0a35e1e9461567b79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nhN6XFwDMVCTtANyjejxSAlx",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0805, -0.3412, 0.5675, 0.4637, 2.1643, 1.0271, 1.0092, 0.3874, -0.2962, 0.7473]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.026 left_pitch=0.3028 left_roll=0.1949 left_gripper=0.5675 right_x=0.5265 right_y=0.1927 right_z=0.1042 right_yaw=0.263 right_pitch=0.4167 right_roll=-0.3522 right_gripper=0.7473\nstate[joint_eff]: [-0.294, -4.8342, 6.8171, 1.4481, -0.3443, -0.0317, 0.1197, -0.8274, -10.0718, 7.6376, 2.3419, 0.0415, 0.0904, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e28073409e5d4bfe0f1b9c20c7cb5374bd9cfd076ce656b1fec03121b6aa55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e105a5d71eada87e3aa0ac8f9ce5396db2ccd5a6ffb6c78ae2b157d4c4ffeae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2f85c8e54328400097c9098ffe3170b7bd2242c9cc2088546bb88b3e78151d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.011 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]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0828, -0.3408, 0.5662, 0.5152, 2.0892, 0.9619, 0.6754, 0.4313, -0.1841, 0.0177]\nstate[eef_state]: left_x=0.3053 left_y=-0.1902 left_z=0.2286 left_yaw=0.0275 left_pitch=0.3039 left_roll=0.1959 left_gripper=0.5662 right_x=0.4851 right_y=0.1939 right_z=0.0453 right_yaw=0.2374 right_pitch=0.1253 right_roll=-0.3338 right_gripper=0.0177\nstate[joint_eff]: [-0.0615, -4.8615, 6.8581, 1.4628, -0.3248, 0.0073, 0.1441, 0.2393, -9.9624, 4.8205, 2.0391, 0.2271, -0.0952, 0.6325]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_KSOs0hpHSTO7A3uwkK-mRON0UonTrjfltaowFkSWsFLtPzXBNeyLN_AObuVIMYmk4PF4oK6wEJEpa1KU5RhrQdVZ7qcZB-UJbplMy1t85MiSAcw7TGYdb32niGhKKKu8psp6LFRS6Djz-WxZkrUR7wbYU3a365k4XXQiWG8enb-ADvmC1iIpLgGpAqhHPc1ePX4Ej83Vw3zHOoRDf2VA_k4HOAD4CXV7zEFZB7MwZZDU6fVw8nJVSAz9jS_81lNP6qVOskuhM_4td7kfDxPtr_K6xzY4vhw4Je_7sr060B18r7UVJ7j6dBKCMLiSnQClT0tHtACJPrFXbGQFZBES2egEmm19oYkx9tLXeuLMz_6Ir6Xdl1geYlkyOTJGlWDdsteXSuEfPqPZdBV9_KRq6rRAEh7SKfMgOgi3JKU7JKxA8g3NwrPiz3diCii8p0fy1a2hEgOUWn09O3FNqDskG5v2uoj5FO4jhLFZbxxHaz5SBa5kM4qH7oXWg8X5SvqlOBq1IL9UZ3T8iTYTKVvgSN4fVIvBd36ZBSKD85_2fl9SWwT8WM1pf59mwl-InQqyPs7tInrFO-jItliuGmfaO641pQ05ptdkAAepnPkyVN3V3Ybwwc-G9f9gXTwtZGcqTjqC49kn0_8dbyXC9kl_Vd9LeBizHXCbIUlQAu6MQFaWNouyb1cRRhcKopTFf1SAqBEg0T3HnLlQLltJJ_R5PBvZO5uRouH3H8gihUDpF3Y82t1_C4Zj1FO1px2fOiE7f2FqvTmTOBO-UrkSu4cYFfSjcDskn6H-5_zrdfiD-5_-KRHrZrs0iLjs3i4FO1hZlNipKyds4hPFIb3xwkqEnl1LSfIZofzLeaGDpzIhmjtxNwu2MQ3095IEvxc9Zv3foZMdXNcHs-ZDvDsbJW-912MU2p-yD9qskz_MdRzF38ORIICXtAKZ5rDoKCXmF-g1DkXCqIPcOifxuutU4HNPwmdvA3qIJ40bZ6bAx5hWY1CZNi2-2SpVfvJuJHiPnnJMzyvsO8DuilLQUEmw6u2uay85kpyfEuinJhyZA7hQYsEvizweG-MQdlrasbXppCMUioesinBY7MIScq9qNAPSyNec4Ldy1VB_GG9lBGuo4jG5HG5vY3j75mG6OCp7k8nCbUdzsW1YKnL7zCfiZzns9kyC4SNRddhnoWQYJDyyeJIG3SUkveEgH5AnVWgbcConqsPEd3Snovv-jB3KKuq1pdCxar5G4rZlCrmwlZ75oitM=",
  "id": "rs_0ef580bbe87f04cc016ab2bfc7ca2487d09786835258775f78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_gripper\":0},\"note\":\"The right gripper is now aligned with the bowl’s side wall rather than behind it. I’m lowering slightly and closing to capture the rim.\"}",
  "call_id": "call_Ztk4SZ4gmfM3ZsZcOEyeXyX2",
  "id": "fc_0ef580bbe87f04cc016ab2bfc904b887d09e3d3cf48545a582",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ztk4SZ4gmfM3ZsZcOEyeXyX2",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3412, 0.5683, 0.4625, 2.2223, 1.0271, 1.0542, 0.387, -0.2996, 0.0099]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0259 left_pitch=0.3026 left_roll=0.1952 left_gripper=0.5683 right_x=0.527 right_y=0.1923 right_z=0.0835 right_yaw=0.2652 right_pitch=0.4033 right_roll=-0.3586 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -4.8342, 6.7214, 1.4676, -0.3394, -0.0171, 0.0708, 0.0752, -9.7026, 4.6154, 2.2637, 0.0415, 0.0073, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677bda83e9938ece7b22990dc9f361653bc796f66da265e69bd0e0220571a843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a7119a93fee04ce52317cf11e44d7879ada399b2ad3265e049ff023d6bf78e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1621c99f345c3b5e756cbc28d995cdb0641b3e994b943e0cf8555df34bdc5596",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 6.791 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1093, -1.0805, -0.3412, 0.5675, 0.4637, 2.1643, 1.0271, 1.0092, 0.3874, -0.2962, 0.7473]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.026 left_pitch=0.3028 left_roll=0.1949 left_gripper=0.5675 right_x=0.5265 right_y=0.1927 right_z=0.1042 right_yaw=0.263 right_pitch=0.4167 right_roll=-0.3522 right_gripper=0.7473\nstate[joint_eff]: [-0.294, -4.8342, 6.8171, 1.4481, -0.3443, -0.0317, 0.1197, -0.8274, -10.0718, 7.6376, 2.3419, 0.0415, 0.0904, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_PHsaEQprpvaYnnlaBsRig6xkxWeeD2MBTkDQ1vw2KHu2daODZyfQc2yfooJW_tHzjRtf0lxgbHk6OdJNdVl5hpoJcBwOPkgecelsWe90MvnM9gVxfv5rrjiw4wrMQxrA6K64Pgj7W0KJHOFOGq5yrOxHFLuw6_QDWEoWi7TbFOG79rF0jNAjCHbU9dAKDVxlK0MZ6Jzhu126m94-ZCLRZCLdtPKwHKr-yi8ogl40La1I2bFq7YyAaQvewbm_AluM6UvDfmFsE0aJQZpEThDQuxzjGsLXTIT_smy2PWHkkEkARyrEFLMQxjHsGL7AIPvE_oWHvlLYvKEQCPRFAxvVQbVFqY1GYKbleCM9qUCiIP2t6vZ_jR8luq8OYAAdMUODzCmKxDfipb660IjUB3J07aPkkwqXUc5W8euzzwK6FX8B4Kbyt6fWb2AmxoXZP_6xE7AMR8UB3bICe0TdOLMXWuVzFtlqqO2XEt_ghrQxBUpVTuISbY85G0XXvWyB1urTKjM_Jl8mdjFLQ2EEtSAeICjQcAM5hEF4sGIFS08Wg90RWIHSdpBuqEcegOvOBL0tEn1SU7i1LeHSc6DnwG01Zhnh-KBZR9JOkOT0xhcyru3hF8rAFDDOG4jK1ffoehBFeepGe8CQMRdwLA_aVkZ111VGqzyaBCNGMmgSRcWrZwHB7M8oex2LvAfF_oIT5_WpUTcydcw8OYH6gKdBxemMfuoNaXivvHC1XbaUDpxqSxe8jWzkebo6I_lWBMKWnbRgSiS_5CFKagaxlXhns6FLNKZea7lG4R4EGpQ-DpDNitm996gYoCuc1VfJ7zqqqM99PdHRKrhbv0upOF-lY0C9lXPrIV3nzukUEw7EOr9qi4dKFwZM0wASiA5ARRPnmOfyGrN5tZfovv4FP4m54tPu-ydY0yzVYD9pDlcsPp71i8K9xr9pcHs4IuSRdo7SkU3wfgDLe6qu320jnU9mTgWL2p1XJxVqvNacnbl-fjvQWwQJF1RWiEFyRtBbOnLrMM8sNTMyE6cktbzivjIgulB8B-5DYXOhpVa5lb-9-Z9vCOnj_thsgpemvmDxrb8MImHm-fD2inZPVYvReak9wfOZbSWym8EBToFW5n9T64BD296KRsnqozEOjUbrjuKs_EzDcXVqPtjdBtasVmsoPOypObqpWZsqQ-dQYCV3fUQZ2avWzyzkgFJJ3UAleTmVpwS2ojLPc5rAMFQCWxXGjf8pjoaNlsZQDK4IQ04s56lhoMas=",
  "id": "rs_0ef580bbe87f04cc016ab2bfcd8b3887d0a6e1e28cc74b8633",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The opening is very narrow, which could be the thin bowl rim rather than a secure hold. I’m making a short vertical lift to check whether the bowl actually follows.\"}",
  "call_id": "call_eTr2PYeurXVGg94SMiW0aaEv",
  "id": "fc_0ef580bbe87f04cc016ab2bfce180087d0b318112b10d22985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eTr2PYeurXVGg94SMiW0aaEv",
  "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]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3416, 0.5697, 0.4625, 1.9797, 1.0904, 0.7246, 0.3798, -0.3004, 0.0105]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0261 left_pitch=0.3027 left_roll=0.1949 left_gripper=0.5697 right_x=0.5262 right_y=0.1932 right_z=0.1637 right_yaw=0.2742 right_pitch=0.3797 right_roll=-0.3632 right_gripper=0.0105\nstate[joint_eff]: [-0.0615, -4.8615, 6.7077, 1.4237, -0.3297, -0.022, 0.1294, -0.3624, -13.0256, 8.4444, 2.0244, 0.0708, -0.0122, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d55a57974a5eb783670d248a9536d9d92cef383d506cbd96acbeeb94ed85d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335cb363c7a99bec4343a79f7920a7d4df21a88add0631a1f71b0a1396a1efff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6229bdcb1a1c16a8529950ccdba968a5f3b341ebb7ac24a4bacaac8e2f8f1da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 8.414 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3412, 0.5683, 0.4625, 2.2223, 1.0271, 1.0542, 0.387, -0.2996, 0.0099]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0259 left_pitch=0.3026 left_roll=0.1952 left_gripper=0.5683 right_x=0.527 right_y=0.1923 right_z=0.0835 right_yaw=0.2652 right_pitch=0.4033 right_roll=-0.3586 right_gripper=0.0099\nstate[joint_eff]: [-0.0205, -4.8342, 6.7214, 1.4676, -0.3394, -0.0171, 0.0708, 0.0752, -9.7026, 4.6154, 2.2637, 0.0415, 0.0073, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_WgrbifHrl39gxCxsA6PWqPXDkbp9776VjTzIGOXkzwpQBg9LvgOqh616wb495v40EAsLJD5zaU2CYK4FbIGMn1faSNTMNWOsc6J2PlRi8SVXz5wEswzXk80w_M4mi9OITmvHgIkazQTcMitum9n0OyFG-Y0UyGoGO6CC_Y1xb-zmdnxiwUhhp1dpWcr3coq-XgGl9ofWrgiGc-pxbY4p0QiigXRktNRXZhlM1ZLbITjOHxW-XsD3Ncey5n7wtTwkp6AFD21lcj5vIbxAMr3ATbmCUHpIen9kpwY7Xl3BrMgjJYjzWnbRly3UK8rM8hiuEberuX9MP4xrBe6YoWbtBCwOMXMD7v6YKcjxto_cXNoyPs_IQGdXGFjDPpW1-qfWqrwn3jql5uJQrtOLCJAdkdl-5KI9SaReIjAKLeAv4VcSeCSCwPpiMv1I8OC43k6wCqKk5j24jR9qWZPsuI50EgpkQ_CHmndFp1VsDG7ZvUqiVeNTDp5V0JjDCgxy39SGMh8-mveEmGrrkYw5kvcGABHgcB5QvTrA0y7aRFvdO9rScyknByy97Efo8sFwU0Mm1y-tb5opdlrugmkntBzUeuRZH-FtHpje4sWlHocnvkszQKX2hs6fDhRdF3S4Ae8bM1RQ_QCBkAfaJaaB1WhyD26DsbzByLVL6RYMwlz11W05oCUOzj823PMJ5XZ8geXA_q_kHUyGMDBR8wZzlHQL8irASWyLjOvnYLLpdLgVsP-uScaeibOacNZpnCR_f3kgsRFpcEdPulZtxQ5tBr_zRhrrLe0apeYzi7Zh5tsGPZTxcVUZgClm6aNA1KN_S1e4jQrsoKsvHBAMosFxT320jgw1PJ-pbqANL8OglZHtMLujy_amn4O5-PTDcijGVjIgeZzSmIlDfVULs9OgYpvLpz9ifBMTIh_rcBKJrKaRlkyDsjwYV5o0cNdIJSJX3tQRDrjKcy76NqcPC-xVOoDT9nhqH4cfsFLbMqL2bklnW0vpr0sPN0UaQ1AK-j6L8JqeAXK5icFlHfX4_VuOdGrJnwCaE6de1Tp97QQIQ-w_JtDx6Ft_KrOhvwlUtpkdrsaMTHT-074sN_T_980nytEXBPGQ1VwuqprC7EOUXZKI7Zj8ewdHuWZ7s8wi-RyjVp95trh374DKyZ6KoJlh55nShWamklOF5j23pig9qU35-kjxfNO6q_Gq3Sf3s7KVqV4RTXEBgNNX421_SLfkZrQScMiCiuQGIwBCsQjarm4NXPvmO_PkNIMXS2KjMSfWs1XZa3E4HytkdA8fcKN6vyP66Ug==",
  "id": "rs_0ef580bbe87f04cc016ab2bfd4213487d09a4d1d30c12c6539",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.35,\"right_z\":0.17,\"right_pitch\":0.35},\"note\":\"The bowl appears to have risen with the gripper, although the arm obscures much of it. I’m bringing it toward the centre so the left arm can add the final fruit.\"}",
  "call_id": "call_nBDPm6DweXQ5z2TRMp9JBdru",
  "id": "fc_0ef580bbe87f04cc016ab2bfd5442487d0b45ba3217ef4d2a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBDPm6DweXQ5z2TRMp9JBdru",
  "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]: [-1.0168, 1.2915, 0.8318, -0.115, -1.0851, -0.3408, 0.5705, 0.8761, 2.046, 1.2591, 0.5144, 0.7521, -0.207, 0.0126]\nstate[eef_state]: left_x=0.3051 left_y=-0.1894 left_z=0.2281 left_yaw=0.0277 left_pitch=0.3021 left_roll=0.2018 left_gripper=0.5705 right_x=0.4409 right_y=0.3462 right_z=0.1622 right_yaw=0.3159 right_pitch=0.3289 right_roll=-0.3881 right_gripper=0.0126\nstate[joint_eff]: [-0.0479, -4.7385, 6.7214, 1.917, 0.0122, -0.0269, 0.0659, 0.7863, -10.3043, 8.9231, 1.8828, 0.3736, 0.1636, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b3bfd9de80807ebdcad18e4be58ce0771c1741ba50660f0c2691083bc65b39f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f6f0e7312abf35b927f1d18cc28279a82eb4cc86cf4ca525d079f6486ad1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e42480ded5cb0247f739f6b5735e1b6231fc2ed5713a5c45f1d142fd368332",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.687 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.1097, -1.0805, -0.3416, 0.5697, 0.4625, 1.9797, 1.0904, 0.7246, 0.3798, -0.3004, 0.0105]\nstate[eef_state]: left_x=0.3053 left_y=-0.1905 left_z=0.2284 left_yaw=0.0261 left_pitch=0.3027 left_roll=0.1949 left_gripper=0.5697 right_x=0.5262 right_y=0.1932 right_z=0.1637 right_yaw=0.2742 right_pitch=0.3797 right_roll=-0.3632 right_gripper=0.0105\nstate[joint_eff]: [-0.0615, -4.8615, 6.7077, 1.4237, -0.3297, -0.022, 0.1294, -0.3624, -13.0256, 8.4444, 2.0244, 0.0708, -0.0122, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr_g0uCeDgOsvSFjew6LwIBcyMN5Qbbdu3e3ZjZOgerLVb_sXkE3O8wrAgZk605Xeg05GJxfz4ciwnqmNXzcY0IWEgOpyUo-_c1YC1p51jTPmeQVj5WH2ld2i9PItIo-4knchYwUfehytNusqPyWqhlG_KnvD1OLDbhKcLoTxWsvJprxbp2DRmNL8EmdGrE6noVJNsw7aisK5zv5jMiQ3c3vR8aEwKTwgFbBdHNIA5yy19hJnmQ4ACEaaCX2CEEJ6RMuluinJRIhABg3dFRyez2SsAlDUeE68GFs694n9CFWm_KxJYjFu8CVpG7XvJSF_JfTwAsyZFp_S6wYEJSic4aPNRikwHfsR-c5cFVV-JoMipS9OZGVDB78gnC8z7EdnIp0503nlG_h4kBkZ9xDwEZv5BFp_MBgyzbVE1_T487-vlN7puDR8rNB-0_bhpNl8RFvv_Ufx-0YkfDLHObB5XB9hfY1bNu_M-9_l7TH1cnZIPf3_qmLdumVYj5MUiz4hLAQyBu9sFDbVufjVBJ_Pzwc7oRvPXmzWEBGZYTVwWD7If2OwpGgGMib-H5aNygViobvrGxAvAZX3J4KU00WGflL8IFtBX3BzDAY-S6_IGKCkHNNBbEacwh2MDsRxDi6hILHSMlRe7nlEQqFuAIStxgzaKi9Otc1YJBnFV_e7mVJ5yRs9MLlS6FEOq1qgIoab30fGUA5nlB6NgksR94CszRDlN0DQ9-NSls9pc3z0RFYkxZLg_RIj8r_n_hLuEiB2m4aeKZANLwtuPUb55zB7iZ2AvzC66c014YClJYZamR7QbO7gEAUoWZ5SX6rsKjincZb_pfkFZyV3SLJ2z8-snNIubO40P6wU8imwNPU5yl4CMNZguLW4wYmo7BcLvN60VT4_fQV8tDdh2sCV_ssO3Z4RVEtfRmgl0FwjdO7cHV9Jfa6Z6KfYVJ7H85h5l3fCOndjG4P9mpsFvGBuKimNopKk7VyY8TKbhFzt-AYx-xGby9KY5G03eKJsi8QKRTTbh3NNRDQC4AiYVz4SPXrSZoFhLSRH7ptp0juw4g3JWKJEYyi8Zuc_C2hM3c1lR95AhSMSuscrcIDRyuRpgSxrDpf9dWavzvaxZTiTGkONWE36dor6_Lx_EANicwekJhZl9NRd9Fbd2Tjk1WK1uvALCu6egbPRva30vCsdPql1q0E51qS8B6OGFbXP8UAVCmNy3gZxuWlvf_HEyYCoHhHXy_LUhQfuoomAp1w3pylmI6ozwWjzCxj6pf4VNkeh0Y91Ns1cLlWSN8CxRFgGmGwXkRaMRFSCNMuJSR8uwvCJ2wPpaGKxFSOffZ4prq3dPiwah5PSvU1ASH7k3imXiT4uRyKvVnLksfdHr-ggKwIMsKrgpQ9zXo0zAKZaoGeQoTlyb2j5FytHn3pljR7petb2jkZcv7Cpow2t316p4omKaNjPQK47SUTrtKYArufDT7SYkCUPPYPlKRPtFl2GtgEEzmgqlMIg2OKws57aUGjNO1mv-LfrEQnLaf-yqHjNxAYygj3igu4cfMTDzFEtf6LtTMCcBDQVXPBdDO1ldjZkgWEX595mHSzCDY_ksXn53CECy4siUs4XM8gtdA2gfsLd_bnXrUAuDZlV-QqWD9Mhk6cIlNkWThicJi0h831AYNOiKGEghiboqUxhIk4vpzfYebg0A==",
  "id": "rs_0ef580bbe87f04cc016ab2bfda74b087d0897dae2612f71028",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.095,\"left_z\":0.055,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"With the right arm moved aside, I can see the blue bowl never left the table; the rim grasps were unsuccessful. I’m returning the held dark fruit safely to the table and clearing the right arm rather than attempting an insecure pour.\"}",
  "call_id": "call_rIIm8Ufqd84NM1AScIzcNQ1L",
  "id": "fc_0ef580bbe87f04cc016ab2bfde893487d09e2c40eb3f56a009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rIIm8Ufqd84NM1AScIzcNQ1L",
  "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]: [-0.6052, 1.813, 0.2749, 1.1301, -0.7269, -0.0631, 0.5712, -0.0788, 0.8291, 0.7288, -0.44, -0.0788, -0.5217, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.0922 left_z=0.0454 left_yaw=0.0362 left_pitch=0.2537 left_roll=0.2333 left_gripper=0.5712 right_x=0.3031 right_y=-0.0064 right_z=0.2153 right_yaw=0.2519 right_pitch=-0.0195 right_roll=-0.3843 right_gripper=0.9981\nstate[joint_eff]: [0.294, -5.8325, 2.7556, 2.0635, -0.1245, 0.0855, 0.0611, -0.1299, -1.9624, 9.9761, 1.9023, -0.1978, -0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78322958ed0ef17e5f3926832f4574ecad0dd4d47f303371c168b34027129f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b649c281dda1a71c44f788bb6bc1e44871b0358a9e27bd8238c443aae7ccad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed16faabd5066d4fb6bd49b303f565a1b06f66c22f58c61b27814c3f671d66d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.253 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 111 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0168, 1.2915, 0.8318, -0.115, -1.0851, -0.3408, 0.5705, 0.8761, 2.046, 1.2591, 0.5144, 0.7521, -0.207, 0.0126]\nstate[eef_state]: left_x=0.3051 left_y=-0.1894 left_z=0.2281 left_yaw=0.0277 left_pitch=0.3021 left_roll=0.2018 left_gripper=0.5705 right_x=0.4409 right_y=0.3462 right_z=0.1622 right_yaw=0.3159 right_pitch=0.3289 right_roll=-0.3881 right_gripper=0.0126\nstate[joint_eff]: [-0.0479, -4.7385, 6.7214, 1.917, 0.0122, -0.0269, 0.0659, 0.7863, -10.3043, 8.9231, 1.8828, 0.3736, 0.1636, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The dark fruit is back above its original clear area of table. I’m lowering it the last few centimetres before releasing it.\"}",
  "call_id": "call_pWYe3A0V9a8aDPj0cqicGvXD",
  "id": "fc_0ef580bbe87f04cc016ab2bfe5c8cc87d0b5454adaa9da4b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pWYe3A0V9a8aDPj0cqicGvXD",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6025, 1.9381, 0.2794, 1.269, -0.7212, -0.0593, 0.5719, -0.0875, 0.8253, 0.7353, -0.4725, -0.1196, -0.5507, 0.9986]\nstate[eef_state]: left_x=0.3489 left_y=-0.0941 left_z=0.0323 left_yaw=0.0349 left_pitch=0.2666 left_roll=0.2239 left_gripper=0.5719 right_x=0.2991 right_y=-0.0015 right_z=0.213 right_yaw=0.2931 right_pitch=-0.0386 right_roll=-0.3806 right_gripper=0.9986\nstate[joint_eff]: [-0.4718, -6.4068, 2.0718, 2.1465, -0.3883, -0.0562, 0.0562, 0.253, -0.6632, 6.4342, 2.1319, 0.0513, 0.1001, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5710e23ce539fe85e8a148f6cec965832279d679ad116ed5e9f306c6ddac80b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fea220285a959bb4ed38f87e5d7542518a68dd73efe55c943ba6cf81572708e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be99ef4476e90f2f2bc21d744d80c29bba7fa4f693658b7d30fcd522da9b593",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.813 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6052, 1.813, 0.2749, 1.1301, -0.7269, -0.0631, 0.5712, -0.0788, 0.8291, 0.7288, -0.44, -0.0788, -0.5217, 0.9981]\nstate[eef_state]: left_x=0.346 left_y=-0.0922 left_z=0.0454 left_yaw=0.0362 left_pitch=0.2537 left_roll=0.2333 left_gripper=0.5712 right_x=0.3031 right_y=-0.0064 right_z=0.2153 right_yaw=0.2519 right_pitch=-0.0195 right_roll=-0.3843 right_gripper=0.9981\nstate[joint_eff]: [0.294, -5.8325, 2.7556, 2.0635, -0.1245, 0.0855, 0.0611, -0.1299, -1.9624, 9.9761, 1.9023, -0.1978, -0.0122, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is at table height. I’m opening the left gripper to leave it resting safely on the table.\"}",
  "call_id": "call_0TXrWu6CCKY8BgFnVnX5isbK",
  "id": "fc_0ef580bbe87f04cc016ab2bfe9848487d0b4f1dd5007674319",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0TXrWu6CCKY8BgFnVnX5isbK",
  "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]: [-0.6044, 1.9522, 0.2756, 1.2629, -0.7238, -0.0601, 0.9953, -0.0872, 0.8337, 0.7338, -0.4767, -0.1097, -0.5442, 0.9986]\nstate[eef_state]: left_x=0.3463 left_y=-0.0927 left_z=0.0259 left_yaw=0.0319 left_pitch=0.248 left_roll=0.2388 left_gripper=0.9953 right_x=0.2993 right_y=-0.0031 right_z=0.209 right_yaw=0.2819 right_pitch=-0.0524 right_roll=-0.3751 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -7.2547, 2.5231, 1.7118, -0.1587, 0.022, 0.0122, 0.0068, -1.6752, 7.0906, 1.7851, -0.1685, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75691336d341dc57eeb0c689d24cc2e8d6e2066804c5d2128da4a58dd2b8f9e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb476553eb49812b5d2ca1dd72388e2415c9ba75de5e5bd406b9af822ede22db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5313248099bb98fc2932fd4e9812aa92fb64e221a28cb2f5b87322a24aa7d62b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 7.169 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6025, 1.9381, 0.2794, 1.269, -0.7212, -0.0593, 0.5719, -0.0875, 0.8253, 0.7353, -0.4725, -0.1196, -0.5507, 0.9986]\nstate[eef_state]: left_x=0.3489 left_y=-0.0941 left_z=0.0323 left_yaw=0.0349 left_pitch=0.2666 left_roll=0.2239 left_gripper=0.5719 right_x=0.2991 right_y=-0.0015 right_z=0.213 right_yaw=0.2931 right_pitch=-0.0386 right_roll=-0.3806 right_gripper=0.9986\nstate[joint_eff]: [-0.4718, -6.4068, 2.0718, 2.1465, -0.3883, -0.0562, 0.0562, 0.253, -0.6632, 6.4342, 2.1319, 0.0513, 0.1001, 0.0415]",
      "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\":0.22,\"left_pitch\":0},\"note\":\"The dark fruit has been released onto the table. I’m retracting the left arm to leave both bowls and the fruit unobstructed.\"}",
  "call_id": "call_uZfWpWJNnFJRe5A98qD5IEdu",
  "id": "fc_0ef580bbe87f04cc016ab2bff1005487d0b08910cf507c8332",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uZfWpWJNnFJRe5A98qD5IEdu",
  "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]: [-0.2214, 0.8505, 0.7166, -0.408, -0.3729, 0.0185, 0.9959, -0.0872, 0.8379, 0.7338, -0.4847, -0.1097, -0.5503, 0.9986]\nstate[eef_state]: left_x=0.3055 left_y=0.0009 left_z=0.2164 left_yaw=0.0733 left_pitch=0.0532 left_roll=0.2234 left_gripper=0.9959 right_x=0.2986 right_y=-0.0031 right_z=0.2062 right_yaw=0.2852 right_pitch=-0.065 right_roll=-0.3756 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -2.5915, 8.6906, 1.5507, 0.0708, 0.1294, 0.0513, -0.212, -1.7573, 6.9812, 1.8291, -0.0757, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97ff7a30413776393e5cbaa6b6514f361fd5b2c57c7a56bf125915706afb6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b11d7d422d0afd2d464ff5b06152cb9c137f794526247fa776b8dd283dbfe06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09210a14b8bd62b72ab1a9569f78b8ab8cdc455c57ecea85e176a5114de875c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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