adhoc

completed
2026-09-22T18:12:16.895533+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
228.5 s
total steps
202
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 avocado on the left and two yellow/green fruits beside the blue bowl. I am bringing the right gripper above the green fruit first.
move_to
right_x0.3500right_y0.1300right_z0.1400right_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, 0.7994, 0.6136, -0.382, -0.0139, -0.0296, 0.9991, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9992] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.2667, -1.4974, 9.5658, 1.8046, -0.1099, 0.1343, -0.1001, -0.1846, -1.6479, 9.1419, 1.8486, -0.0513, 0.1685, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.13,"right_z":0.14,"right_gripper":1},"note":"I see three fruits: a dark avocado on the left and two yellow/green fruits beside the blue bowl. I am bringing the right gripper above the green fruit first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe green fruit is slightly to the right of the jaw column in the wrist view. I will shift right and forward while lowering to grasp its middle.
move_to
right_x0.3700right_y0.1000right_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, 0.8017, 0.6132, -0.3866, -0.0135, -0.0307, 0.9991, 0.5518, 1.2892, 0.6594, -0.0708, 0.4343, 0.2741, 0.9992] state[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0073 left_roll=-0.001 left_gripper=0.9991 right_x=0.3404 right_y=0.1265 right_z=0.1215 right_yaw=0.028 right_pitch=-0.0585 right_roll=-0.0392 right_gripper=0.9992 state[joint_eff]: [-0.0615, -1.0735, 7.0906, 1.7753, -0.0171, -0.0366, -0.0122, 0.2256, -5.1487, 9.347, 1.6532, 0.3834, 0.1197, -0.0952] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.10,"right_z":0.035},"note":"The green fruit is slightly to the right of the jaw column in the wrist view. I will shift right and forward while lowering to grasp its middle."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe fruit is now at fingertip level but remains a little right of center. I will center the jaws and close gently around its rounded body.
move_to
right_y0.0830right_z0.0230right_gripper0.4800
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, 0.8043, 0.6132, -0.4007, -0.0139, -0.0307, 0.9991, 0.4, 1.6005, 0.511, 0.4301, 0.3386, 0.1638, 0.9991] state[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9991 right_x=0.373 right_y=0.0979 right_z=0.0416 right_yaw=0.0138 right_pitch=-0.0504 right_roll=-0.0567 right_gripper=0.9991 state[joint_eff]: [0.0889, -1.0872, 7.3368, 1.8926, -0.0611, -0.022, -0.0122, -0.0068, -5.4359, 3.7812, 1.6386, -0.1636, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.083,"right_z":0.023,"right_gripper":0.48},"note":"The fruit is now at fingertip level but remains a little right of center. I will center the jaws and close gently around its rounded body."})
tool
executing move_to over 6 steps (0.6s)
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 jaws have stopped at about 6 cm apart, consistent with holding the fruit. I will lift it a short distance to check that it follows.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4088, -0.0135, -0.0311, 0.9991, 0.3546, 1.6375, 0.4797, 0.5667, 0.3016, 0.1291, 0.6473] state[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0336 left_roll=-0.0008 left_gripper=0.9991 right_x=0.382 right_y=0.0893 right_z=0.0422 right_yaw=0.0181 right_pitch=0.005 right_roll=-0.0412 right_gripper=0.6473 state[joint_eff]: [-0.335, -1.4154, 7.1179, 1.7753, -0.0464, -0.0708, -0.0171, -0.8, -3.7675, 3.5761, 1.1795, 0.0952, -0.0464, 0.442] 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_z":0.115},"note":"The jaws have stopped at about 6 cm apart, consistent with holding the fruit. I will lift it a short distance to check that it follows."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe green fruit has lifted with the jaws. I am carrying it above the blue bowl while returning the idle arm to its parked height.
move_to
right_x0.4900right_y0.1550right_z0.1900left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4198, -0.0139, -0.0311, 0.9991, 0.3515, 1.4055, 0.6025, 0.1902, 0.2935, 0.1192, 0.6463] state[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1727 left_yaw=0.0008 left_pitch=-0.045 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3785 right_y=0.0882 right_z=0.1004 right_yaw=0.0269 right_pitch=-0.0172 right_roll=-0.0523 right_gripper=0.6463 state[joint_eff]: [0.0068, -1.306, 6.9949, 1.8242, -0.0415, -0.0513, -0.0171, 0.1436, -6.3658, 8.3077, 1.7363, 0.1392, 0.0269, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.155,"right_z":0.19,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The green fruit has lifted with the jaws. I am carrying it above the blue bowl while returning the idle arm to its parked height."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe overhead view shows the green fruit still on the table, so it was not securely carried. I will return over it with open jaws for a firmer grasp.
move_to
right_x0.3700right_y0.0900right_z0.0900right_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, 0.8364, 0.6548, -0.4839, -0.0139, -0.0341, 0.9991, 0.4171, 1.7638, 1.3258, -0.2298, 0.3283, 0.1413, 0.6462] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.0977 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4828 right_y=0.1556 right_z=0.1748 right_yaw=0.0513 right_pitch=-0.0612 right_roll=-0.0722 right_gripper=0.6462 state[joint_eff]: [-0.4308, -1.347, 9.812, 1.7802, -0.0415, -0.0122, -0.0171, -0.4034, -9.4017, 9.1282, 1.7949, 0.2662, 0.1148, -0.0171] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.09,"right_z":0.09,"right_gripper":1},"note":"The overhead view shows the green fruit still on the table, so it was not securely carried. I will return over it with open jaws for a firmer grasp."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe fruit is centered between the jaws in the wrist view. I am lowering with the jaws fully open and moving slightly toward the base to surround its widest part.
move_to
right_x0.3520right_z0.0180right_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, 0.6537, -0.4919, -0.0139, -0.0338, 0.9991, 0.3622, 1.4151, 0.59, 0.1246, 0.2825, 0.1108, 0.9985] state[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1676 left_yaw=0.0024 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3647 right_y=0.0894 right_z=0.0791 right_yaw=0.0496 right_pitch=-0.1029 right_roll=-0.0802 right_gripper=0.9985 state[joint_eff]: [0.0752, -1.7299, 7.0632, 1.7216, -0.0513, -0.0024, -0.0122, -0.4171, -6.4479, 6.2564, 1.8828, 0.1001, -0.1294, -0.1734] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.352,"right_z":0.018,"right_gripper":1},"note":"The fruit is centered between the jaws in the wrist view. I am lowering with the jaws fully open and moving slightly toward the base to surround its widest part."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe jaws now flank the lower body of the green fruit. I will close fully to establish a secure 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]: [-0.02, 0.8398, 0.6537, -0.4938, -0.0139, -0.0338, 0.9991, 0.3779, 1.6028, 0.4259, 0.4438, 0.2829, 0.112, 0.9985] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1672 left_yaw=0.0024 left_pitch=-0.1121 left_roll=-0.001 left_gripper=0.9991 right_x=0.3479 right_y=0.0889 right_z=0.0124 right_yaw=0.0631 right_pitch=-0.1336 right_roll=-0.0896 right_gripper=0.9985 state[joint_eff]: [-0.2667, -1.4838, 6.9402, 1.6288, -0.0562, -0.0513, -0.0171, 0.1709, -5.7641, 4.7385, 1.746, 0.1978, 0.0806, -0.1685] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now flank the lower body of the green fruit. I will close fully to establish a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper is holding a substantial width rather than closing empty. I will lift and verify the fruit clears the tabletop.
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, 0.8398, 0.6537, -0.4942, -0.0139, -0.0338, 0.9991, 0.3775, 1.6028, 0.4259, 0.445, 0.2821, 0.1112, 0.7663] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1671 left_yaw=0.0024 left_pitch=-0.1125 left_roll=-0.001 left_gripper=0.9991 right_x=0.348 right_y=0.089 right_z=0.0126 right_yaw=0.0639 right_pitch=-0.1327 right_roll=-0.0894 right_gripper=0.7663 state[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6581, -0.0366, -0.0464, -0.0122, -0.0205, -5.5316, 4.7248, 1.5897, 0.0952, -0.0757, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10},"note":"The gripper is holding a substantial width rather than closing empty. I will lift and verify the fruit clears the tabletop."})
tool
executing move_to over 6 steps (0.6s)
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 green fruit is visibly moving with the jaws now. I will carry it over the blue bowl at a clear height.
move_to
right_x0.4800right_y0.1500right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8406, 0.6537, -0.4946, -0.0139, -0.0338, 0.9991, 0.3775, 1.3174, 0.5953, -0.0402, 0.2745, 0.1112, 0.7663] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1668 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.9991 right_x=0.3427 right_y=0.0882 right_z=0.085 right_yaw=0.0688 right_pitch=-0.1634 right_roll=-0.0938 right_gripper=0.7663 state[joint_eff]: [-0.2393, -1.4701, 6.9538, 1.6044, -0.0317, -0.022, -0.0122, -0.3624, -5.7915, 8.6085, 1.5849, 0.149, -0.0757, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). 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_x":0.48,"right_y":0.15,"right_z":0.21},"note":"The green fruit is visibly moving with the jaws now. I will carry it over the blue bowl at a clear height."})
tool
executing move_to over 11 steps (1.1s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe held fruit is above the blue bowl. I will lower it toward the opening before releasing.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8455, 0.6533, -0.495, -0.0139, -0.0338, 0.999, 0.3912, 1.7908, 1.5375, -0.5594, 0.2749, 0.1116, 0.7663] state[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.1194 left_roll=-0.0009 left_gripper=0.999 right_x=0.4745 right_y=0.1477 right_z=0.1921 right_yaw=0.0791 right_pitch=-0.2112 right_roll=-0.1095 right_gripper=0.7663 state[joint_eff]: [-0.2803, -1.8667, 7.2137, 1.6093, -0.0317, -0.0562, -0.0171, 0.1436, -9.6752, 9.265, 1.6532, 0.2466, 0.0806, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The held fruit is above the blue bowl. I will lower it toward the opening before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe fruit is seated over the bowl opening. I will open the jaws to leave it in the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6529, -0.4953, -0.0135, -0.0338, 0.999, 0.3908, 1.8275, 1.3136, -0.3759, 0.2714, 0.1112, 0.7663] state[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1646 left_yaw=0.0021 left_pitch=-0.1217 left_roll=-0.0011 left_gripper=0.999 right_x=0.4616 right_y=0.1428 right_z=0.1126 right_yaw=0.0758 right_pitch=-0.2854 right_roll=-0.1317 right_gripper=0.7663 state[joint_eff]: [0.0205, -1.6205, 6.9949, 1.6386, -0.0171, -0.0171, -0.0073, -0.212, -9.1829, 7.0359, 1.8291, 0.0806, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The fruit is seated over the bowl opening. I will open the jaws to leave it in the blue bowl."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe green fruit is visibly inside the blue bowl. I am moving the right arm toward the lemon and the left arm above the dark avocado, keeping the arms apart.
move_to
right_x0.3650right_y0.2250right_z0.1200right_pitch0.0000right_roll0.0000left_x0.2700left_y-0.1100left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8474, 0.6529, -0.4953, -0.0139, -0.0338, 0.9991, 0.3908, 1.8416, 1.2957, -0.3676, 0.2714, 0.1051, 0.9958] state[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1645 left_yaw=0.0024 left_pitch=-0.1221 left_roll=-0.0008 left_gripper=0.9991 right_x=0.4586 right_y=0.1416 right_z=0.1004 right_yaw=0.0769 right_pitch=-0.3083 right_roll=-0.1435 right_gripper=0.9958 state[joint_eff]: [-0.212, -1.388, 7.0496, 1.6386, -0.0269, -0.0659, -0.0073, -0.0889, -10.8376, 8.1299, 1.326, 0.1001, 0.105, -0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.225,"right_z":0.12,"right_pitch":0,"right_roll":0,"left_x":0.27,"left_y":-0.11,"left_z":0.12},"note":"The green fruit is visibly inside the blue bowl. I am moving the right arm toward the lemon and the left arm above the dark avocado, keeping the arms apart."})
tool
executing move_to over 11 steps (1.1s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe lemon is centered near the right fingertips; the avocado is farther ahead and left in the left wrist view. I will lower around the lemon and align the left gripper over the avocado.
move_to
right_x0.3500right_z0.0170left_x0.3500left_y-0.0850left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6865, 0.9962, 0.5663, -0.411, -0.466, -0.4664, 0.9991, 0.7513, 1.6249, 0.8833, -0.0219, 0.5102, 0.3534, 0.9963] state[eef_state]: left_x=0.2662 left_y=-0.1109 left_z=0.1163 left_yaw=-0.0474 left_pitch=-0.1609 left_roll=0.0155 left_gripper=0.9991 right_x=0.3616 right_y=0.2246 right_z=0.0995 right_yaw=0.1229 right_pitch=-0.0819 right_roll=-0.0523 right_gripper=0.9963 state[joint_eff]: [-0.1573, -2.4684, 6.4479, 1.5653, -0.4957, -0.0806, -0.0122, 0.1299, -9.5521, 6.106, 1.9023, 0.4176, 0.1343, 0.0464] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_z":0.017,"left_x":0.35,"left_y":-0.085,"left_z":0.08},"note":"The lemon is centered near the right fingertips; the avocado is farther ahead and left in the left wrist view. I will lower around the lemon and align the left gripper over the avocado."})
tool
executing move_to over 7 steps (0.7s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe lemon sits a little ahead of the jaws, so I will advance and close around it. The left gripper will lower around the centered avocado.
move_to
right_x0.3800right_gripper0.0000left_x0.3550left_y-0.0700left_z0.0160left_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]: [-0.3794, 1.3354, 0.5648, -0.0837, -0.2783, -0.2703, 0.999, 0.7704, 1.8107, 0.7208, 0.2722, 0.5194, 0.3672, 0.9964] state[eef_state]: left_x=0.3292 left_y=-0.0751 left_z=0.0603 left_yaw=0.0036 left_pitch=-0.2439 left_roll=0.0406 left_gripper=0.999 right_x=0.3471 right_y=0.2197 right_z=0.0161 right_yaw=0.1243 right_pitch=-0.1212 right_roll=-0.0791 right_gripper=0.9964 state[joint_eff]: [0.0479, -5.6547, 8.8547, 1.6777, -0.105, 0.1978, -0.0171, 0.2393, -7.6376, 4.465, 1.6239, 0.2613, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_gripper":0,"left_x":0.355,"left_y":-0.07,"left_z":0.016,"left_pitch":0},"note":"The lemon sits a little ahead of the jaws, so I will advance and close around it. The left gripper will lower around the centered avocado."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe right jaws have closed to the lemon's width. I will test-lift it while closing the left jaws around the avocado.
move_to
right_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3683, 1.6501, 0.3454, 0.6125, -0.3145, -0.2081, 0.9989, 0.7044, 1.869, 0.794, 0.2657, 0.4694, 0.3138, 0.4376] state[eef_state]: left_x=0.3443 left_y=-0.0705 left_z=0.0028 left_yaw=0.0007 left_pitch=-0.0851 left_roll=0.0511 left_gripper=0.9989 right_x=0.3725 right_y=0.2164 right_z=0.0128 right_yaw=0.126 right_pitch=-0.1373 right_roll=-0.0856 right_gripper=0.4376 state[joint_eff]: [0.5402, -5.4222, 3.4803, 1.5067, -0.2271, 0.1734, -0.0269, -0.5128, -7.1453, 6.9402, 1.5897, 0.1685, -0.0855, 1.033] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"left_gripper":0},"note":"The right jaws have closed to the lemon's width. I will test-lift it while closing the left jaws around the avocado."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe lemon is moving with the right gripper, and the left jaws are holding the avocado. I will carry the lemon over the bowl and test-lift the avocado.
move_to
right_x0.4800right_y0.1500right_z0.2000left_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]: [-0.3687, 1.6627, 0.3393, 0.6365, -0.321, -0.2131, 0.5433, 0.7029, 1.6855, 0.9241, -0.0853, 0.466, 0.3096, 0.4411] state[eef_state]: left_x=0.3444 left_y=-0.0695 left_z=0.0015 left_yaw=0.0081 left_pitch=-0.0785 left_roll=0.049 left_gripper=0.5433 right_x=0.3694 right_y=0.2137 right_z=0.0781 right_yaw=0.1262 right_pitch=-0.1702 right_roll=-0.1073 right_gripper=0.4411 state[joint_eff]: [0.0205, -6.4068, 4.7521, 1.3895, -0.0855, 0.0073, 1.0281, -0.0615, -10.2222, 8.1436, 1.4335, 0.2125, -0.022, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.15,"right_z":0.2,"left_z":0.1},"note":"The lemon is moving with the right gripper, and the left jaws are holding the avocado. I will carry the lemon over the bowl and test-lift the avocado."})
tool
executing move_to over 9 steps (0.9s)
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 avocado is securely lifted and the lemon is above the blue bowl. I will lower the lemon just above the rim.
move_to
right_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]: [-0.3687, 1.2743, 0.5102, 0.0742, -0.321, -0.2165, 0.5439, 0.3939, 1.766, 1.4658, -0.4667, 0.2592, 0.0788, 0.4415] state[eef_state]: left_x=0.3429 left_y=-0.0689 left_z=0.0872 left_yaw=0.0101 left_pitch=-0.0813 left_roll=0.0474 left_gripper=0.5439 right_x=0.4745 right_y=0.152 right_z=0.1889 right_yaw=0.1153 right_pitch=-0.1725 right_roll=-0.1093 right_gripper=0.4415 state[joint_eff]: [-0.1162, -5.1214, 8.8274, 1.6288, -0.1685, -0.0171, 1.0232, -0.4444, -8.7179, 8.7453, 1.4823, 0.0464, 0.0366, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The avocado is securely lifted and the lemon is above the blue bowl. I will lower the lemon just above the rim."})
tool
executing move_to over 4 steps (0.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe lemon is over the bowl opening. I will release it and raise the held avocado to carrying height.
move_to
right_gripper1.0000left_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]: [-0.3687, 1.272, 0.5167, 0.0349, -0.321, -0.2165, 0.5439, 0.3927, 1.8053, 1.2827, -0.3325, 0.2462, 0.0669, 0.443] state[eef_state]: left_x=0.339 left_y=-0.0674 left_z=0.0834 left_yaw=0.0112 left_pitch=-0.1096 left_roll=0.0587 left_gripper=0.5439 right_x=0.4605 right_y=0.148 right_z=0.1164 right_yaw=0.1263 right_pitch=-0.2606 right_roll=-0.1329 right_gripper=0.443 state[joint_eff]: [-0.2256, -4.0684, 5.8872, 1.956, -0.1783, -0.0708, 0.989, 0.253, -9.9897, 7.6786, 1.9609, 0.2369, 0.0464, 1.0037] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_z":0.2},"note":"The lemon is over the bowl opening. I will release it and raise the held avocado to carrying height."})
tool
executing move_to over 8 steps (0.8s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe lemon slipped past the far side of the blue bowl instead of staying inside. I will approach it again while the left arm keeps holding the avocado.
move_to
right_x0.5400right_y0.0650right_z0.1000right_pitch0.4500
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]: [-0.3687, 1.1587, 0.8642, -0.4419, -0.321, -0.2169, 0.5452, 0.3954, 1.816, 1.2667, -0.2676, 0.2497, 0.0669, 0.9966] state[eef_state]: left_x=0.3407 left_y=-0.068 left_z=0.1807 left_yaw=0.0121 left_pitch=-0.1245 left_roll=0.0644 left_gripper=0.5452 right_x=0.4672 right_y=0.1516 right_z=0.1156 right_yaw=0.1285 right_pitch=-0.2231 right_roll=-0.1251 right_gripper=0.9966 state[joint_eff]: [-0.0889, -5.3949, 9.4427, 1.6142, -0.1734, -0.0415, 0.9939, -0.1846, -10.2906, 7.3504, 1.7851, 0.1245, 0.0855, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.54,"right_y":0.065,"right_z":0.1,"right_pitch":0.45},"note":"The lemon slipped past the far side of the blue bowl instead of staying inside. I will approach it again while the left arm keeps holding the avocado."})
tool
executing move_to over 23 steps (2.3s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe lemon has rolled to the far fence, beyond the safe table-level reach. I will lower the avocado back onto the table and withdraw the right arm rather than chase the lemon into the fence.
move_to
left_x0.3450left_y-0.0700left_z0.0250right_x0.4000right_y0.0500right_z0.2000right_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]: [-0.3687, 1.161, 0.8639, -0.4675, -0.321, -0.2169, 0.5452, 0.1497, 2.0872, 0.9047, 1.0782, 0.0605, -0.1131, 0.9971] state[eef_state]: left_x=0.3369 left_y=-0.0666 left_z=0.1754 left_yaw=0.0135 left_pitch=-0.1507 left_roll=0.075 left_gripper=0.5452 right_x=0.539 right_y=0.0741 right_z=0.1121 right_yaw=0.1444 right_pitch=0.4598 right_roll=-0.1095 right_gripper=0.9971 state[joint_eff]: [-0.1026, -4.0547, 6.9128, 1.7363, -0.1685, -0.0513, 0.9988, -0.9641, -8.2256, 4.9299, 1.2283, 0.1783, -0.1343, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.07,"left_z":0.025,"right_x":0.4,"right_y":0.05,"right_z":0.2,"right_pitch":0},"note":"The lemon has rolled to the far fence, beyond the safe table-level reach. I will lower the avocado back onto the table and withdraw the right arm rather than chase the lemon into the fence."})
tool
executing move_to over 16 steps (1.6s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe avocado is resting on the table again. I will release it before parking the arms.
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]: [-0.3687, 1.5047, 0.4541, 0.2161, -0.321, -0.2165, 0.548, 0.1398, 1.309, 0.873, -0.1005, 0.0498, -0.1173, 0.9971] state[eef_state]: left_x=0.3349 left_y=-0.0658 left_z=0.0167 left_yaw=0.0182 left_pitch=-0.2154 left_roll=0.1019 left_gripper=0.548 right_x=0.4078 right_y=0.0521 right_z=0.1921 right_yaw=0.1463 right_pitch=0.0274 right_roll=-0.1099 right_gripper=0.9971 state[joint_eff]: [-0.294, -5.3675, 5.0667, 1.8535, -0.2027, -0.0513, 0.7985, -0.3077, -6.3521, 9.5932, 1.7509, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The avocado is resting on the table again. I will release it before parking the arms."})
tool
executing move_to over 5 steps (0.5s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe avocado is released and the pear remains in the blue bowl. I am parking both arms clear of the objects because the lemon needs to be moved back within reach.
move_to
left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000right_x0.2960right_y0.0000right_z0.2000right_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]: [-0.3687, 1.5204, 0.4442, 0.2203, -0.321, -0.2169, 0.9952, 0.1398, 1.3071, 0.8772, -0.131, 0.0498, -0.1173, 0.9971] state[eef_state]: left_x=0.3308 left_y=-0.0642 left_z=0.0092 left_yaw=0.0202 left_pitch=-0.2352 left_roll=0.11 left_gripper=0.9952 right_x=0.4045 right_y=0.0517 right_z=0.1883 right_yaw=0.1463 right_pitch=0.003 right_roll=-0.1097 right_gripper=0.9971 state[joint_eff]: [-0.0342, -6.5026, 6.0103, 1.37, -0.2125, -0.0464, -0.0366, -0.3761, -5.1487, 6.653, 2.1026, -0.0171, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"The avocado is released and the pear remains in the blue bowl. I am parking both arms clear of the objects because the lemon needs to be moved back within reach."})
tool
executing move_to over 13 steps (1.3s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe pear is in the blue bowl, but the lemon slipped during release and rolled to the far fence, beyond safe table-level reach. The avocado was safely returned to the table and both arms are parked. The pouring stage was not attempted; the lemon needs operator repositioning first.
give_up
hindsightA partial close on the pear gave a nonempty reading but did not retain it during transport; a lower grasp with full closure succeeded. Fruit placement requires more careful centering and lowering into this small blue bowl: the lemon escaped toward the far fence on release. The blue bowl's starting position is beyond the left arm's lateral limit, so relocate it toward the center before attempting to load fruit held by the left arm.
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]: [-0.1265, 0.8295, 0.6418, -0.4088, -0.2001, -0.033, 0.9962, -0.0956, 0.8299, 0.693, -0.4103, -0.1253, -0.2302, 0.9971] state[eef_state]: left_x=0.2975 left_y=0.0012 left_z=0.1835 left_yaw=0.052 left_pitch=-0.0182 left_roll=0.1017 left_gripper=0.9962 right_x=0.3035 right_y=-0.0033 right_z=0.2053 right_yaw=0.1192 right_pitch=0.0203 right_roll=-0.1157 right_gripper=0.9971 state[joint_eff]: [0.2667, -1.9077, 9.6205, 1.7411, 0.105, 0.1197, 0.0855, -0.212, -1.6068, 6.612, 1.917, -0.1734, -0.1587, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The pear is in the blue bowl, but the lemon slipped during release and rolled to the far fence, beyond safe table-level reach. The avocado was safely returned to the table and both arms are parked. The pouring stage was not attempted; the lemon needs operator repositioning first.","hindsight":"A partial close on the pear gave a nonempty reading but did not retain it during transport; a lower grasp with full closure succeeded. Fruit placement requires more careful centering and lowering into this small blue bowl: the lemon escaped toward the far fence on release. The blue bowl's starting position is beyond the left arm's lateral limit, so relocate it toward the center before attempting to load fruit held by the left arm."})
tool
give_up: The pear is in the blue bowl, but the lemon slipped during release and rolled to the far fence, beyond safe table-level reach. The avocado was safely returned to the table and both arms are parked. The pouring stage was not attempted; the lemon needs operator repositioning first.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.181 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, 0.7994, 0.6136, -0.382, -0.0139, -0.0296, 0.9991, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4974, 9.5658, 1.8046, -0.1099, 0.1343, -0.1001, -0.1846, -1.6479, 9.1419, 1.8486, -0.0513, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231048dd33130b27dc89b49185b4994be6dc8de5ede62acacb8a6a940ae7e9f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c312f94da16df03accf9c72abbee5c6c48f08d950d66b1a848137bb115cd1af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5febcc4f7c4cd41d424730bac1a67326508947378809e627f0488278191bb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 231048dd3313
wire blob c312f94da16d
wire blob 7a5febcc4f7c
call 1 attempt 0 · /responses · status 200 · 7.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssUY9Lz8OvTqrK4QSPqYGRqMFBHyiN9FD2B2ewXULN13cX4MU-6x2Uyydwgk-JPCOUmRQ0KTZBH_5S_4XgKfhJ16QhNcPVk66RzO1dLi_BhPtNDwLYoC_ucksbcAR9mIjRuLx4IuR9BLH7AlpNC_GlYxE9JykO10awAmtJCEFrOL7FLdvlErjJsxlsS4oXY1TwNqvLzdWw7krNI0Cd59QbxIp5-Vgd5uS6ItlZ6KzQgzJeR8uO72gz3i0z8QophrCWHA45riMxwoUEN7H5n2iwgETEeQAp2zzzwOM22kZmIRE1KsQnfiBloOxwlgiHSKBanWUQ1HeztMMloO9E5CxxG4p8ibjseuYpQGhdNC__JVMcTwRrfnWis5n2cW-RskQBQAqF5l5mSBFDGS9Ef7K0fieR97u1LVGfmzKXj4pMsfDUKHVhHl19cL454Er7D2bH0u2M_eWEc_NlFHsbHljQCyQZLFSgJqA2HrqlKu40a2ffPnfKY26_krpI1Df7dLtS5RnQwr5gz7yQ2sipkvIJYMcYBgeQoPdX0Y5gVI-IXP3GBhL6jgrDZ8mRjwlgrH4yBR9zFlFTUjf9vxGQ9NeQUgAwrF-516r10xcltOWvwUbSL_3u14eP_VdMd94As7-wJvtsHygTOl1oVxbkpZQnVZxuli4xC-iO04tyWsyZRBv7Sxp2fdEI7TktXJjBcm8bfg1no4d0_KmKH7XesUMTB9evjWkKrXrH8UVDP49UBozc38SREPlKm4jIaJ6NubrXnnkxG7_eQkp2Aj1x5g_zByX-wwefwVUaJ7WbsQAz-X8rrPVHfB9x1fluP063IJlImUHcki2_tXh6DuP6rCEwq17m2Hbl6A5CpIwENQYtG1Kn4dfT1b717zVULLjsNS6YAmW5RYiXlIV7v2l-NMUfrIEDRfnbMlja39CBa8xz2tD0_Xmgx3i4pmlotnVg1U6lpU4_CwgcgekRTisWpqWCFs7QOB5goobDXH58l7ZCLIs-ugOTSPN7fJf8FqWBKZV9MeD7BlNd7NHh7-HLmKfn1gbB5jrCD7o25qOxwgAZfb9pFVl8r9tItS4a1zgE9h9ra8Hvs9BpLgF4VBjBPUJsB0t-Yr3cgoONNXICmHO_cA59HUDJdtK-1LHplChx99HK1C6VdWBNDYFBOsQhpmCTW5s0GbncByy1dndEVuayohJRIN7oVKMnmHtrapavJmIJRKW9Perqj9oRx_XI-ojTCHyLPA8cTlUEPIKcEkJLdcNq7Q4FihQsCiOcnQPaBJfy4tVRBF-zF6ZcA_yiDW21oWNF-tor2NMJ6UvsXpZT6kQowlNGASbDDK5k_BMS6HP6cCdGjv-8u5BAye_jUyFCR9-S0P80DKvFG65BSy2mwC1hxkfFYszCKeawmxBvF1JV8ZEenlsDE_LiJbc_DqjjTLEgolrNV5UnTZyuUgynwEbEmN6gjarS2UAQV1jZ3UkafpNRhFRnZe-Nz6rwcnKKAcufZhEpOK8UGiEhEBYbkNeBHS92tRA16i5jS1F0K4uiJ3FCGUFL7CrMJRAa7YBrxJH6wNSYew8bsyU4qb8v7WfqZaucTqjsCS3s9oBpB1VL3UW-7NeOhCcZgUIpshzoEUk5k1Md91XOJVmEDT5ESzDEG43QFNp5r0uu4CVUI8YEcKuCao3xwoqKdfBfQ5q7r3Qg==",
  "id": "rs_02088fee5a079df4016ab2c510d19487d08874a6f776588d8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"I see three fruits: a dark avocado on the left and two yellow/green fruits beside the blue bowl. I am bringing the right gripper above the green fruit first.\"}",
  "call_id": "call_i6mPjOslTm2OZ9fHBlTXoS6x",
  "id": "fc_02088fee5a079df4016ab2c5159e6487d08868e5b62e9d57f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i6mPjOslTm2OZ9fHBlTXoS6x",
  "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, 0.8017, 0.6132, -0.3866, -0.0135, -0.0307, 0.9991, 0.5518, 1.2892, 0.6594, -0.0708, 0.4343, 0.2741, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0073 left_roll=-0.001 left_gripper=0.9991 right_x=0.3404 right_y=0.1265 right_z=0.1215 right_yaw=0.028 right_pitch=-0.0585 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.0735, 7.0906, 1.7753, -0.0171, -0.0366, -0.0122, 0.2256, -5.1487, 9.347, 1.6532, 0.3834, 0.1197, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ee78edd8c2adeb3a3844e6d336aa4a9836b6168b6ccb54532719571da36009c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7f3ffaca7af01e5c90359207bae58f9881601a6611b217f5718136b45a73bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14bcf282a05499618d4bdb29db2ffe2a10a94ffbf17e645457c2b165c09cfca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5ee78edd8c2a
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.644 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, 0.7994, 0.6136, -0.382, -0.0139, -0.0296, 0.9991, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4974, 9.5658, 1.8046, -0.1099, 0.1343, -0.1001, -0.1846, -1.6479, 9.1419, 1.8486, -0.0513, 0.1685, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUofi5ESoBwAOIqciXrmnaC81de5Porv5Lq-FgxxEjM_XT5RQIVPaYpxo0YCYbOCKInbDoAg7mS8sIPl8RCDdP3ntDiRnX_rz9wrKuXRJGBCFoKbTw6SN_4nUL2ubcmtkZAml3LfX1JruksfddpW1x2PBhP7Mo9vhEpBMkU5IEwkWbbw4H8w53sLSqDABlAJxBkyCieAhGip29-r9L7wpPEL3PeWsIUASYfsmUHua4PxVIIMLIYbzmJFDelMrOtXpTCtUm17NFJtvEwUgxsfiL2uu4cdRRC1thFu9mPUqse6Gex47yYr9IXQUHWlVgZrdJavmHxePjZu9MS5Pzq1Uwe3xEPZ0CoTLe3I5JyDKo3Al2T8XxcGLmh0mNdIuPyVGD0nm3PzFmhY_uBoa0XQ6Jy1xjJEy5OnbU1jQc-_wB19ijGJm4OMDrLUS_WVvh8Guh-Wp7k7Xdaon8Ucn8XOnR6wCQ6d7p1_BCvWc50b4DKbiBSZDN9KqpcuzRQ4wKI0duqxrfzO797Wv895B2vmmeZtYlOUlRitBzAlc-Nx-jYszxuZwnmzQZr_O4R0RpIrszP7WJVJZBQHI2yRTV6MwbJ_5JuL2_wb5zG_6CZ4oB3sQHswlc8aWooscBqHYl9ou66Jd5ivanKhVZMX6AzJMvS4co0Co1PqR9fm9bhtIC1mYTVjlABS4rmG5GXv1pNGVMES-VFGzhdUGKfB3t-OqTbzRBGuGH9W_vrBzZXx8nPwgiOe5I37gTDd-wkiFjVlGTZM-tYrXZfA1YGHwKreTvIq1cIA1WeGtbqvAM0cb7eK4DTQ-wk4NKt1KbFejjxXrGKvBacHN9qlhwKqcfDA1Z33DfNHnaMJqSR5Qk2rp63mPG_5F0sPHGMgJCYxbs6NN7Aa1DrHOyUWMRgQhs-JAEfQIadxczWxPw3bOjZZnsz_nUBOK_zrC5J6YCMGakME3A7_kAKacFwnfUplK8TPkOojlr66_RLy2lIo_iBDkp8n95BlmRVtsbmT04LGzTYzBgDM-CyxeziDIWxy9nwjWdZJj4TULC2m_XGxZPJdCi9uTFnqyiTkmPB9E9bBNUM_kPjZQ-lutGomknv098v09bnBA4SV7CIRH6UiORN6MFlLjcXxEBEi_39BV8wbi5aChF_RDVNjiFCZHvo_YWhYUwAJYXBEb3iXhCdhXFRJseHAb9rly630-bEXjg-gWeTaDqBNfJu9uAUJdqmmLs_4YDywGELrL6HhcyFhj4MXODit02kd5wVnQwWvkDd3e3-UYesyAfX2ey8IOsy0P519JCJaHoezuzT2N22zbqWHcmUTwUgCNeBBZCrK7JGw2qVSUQQrSgPyymnydz4fFt_bgQWKR21NgWU159MlzSePrGEVoLPGrR8LSuq0Ykd-k_xN0I5EGRgD7g_g13Bra31ptPlafvojEqXHn_GW_Zuo3PTf5ot4PQw9xYKCm5Yy9zleZFsBan-VVCjroMP3slTRVRWogbqvGFGrsChpJ7-c2b7GdfqQ99pxPplEx7aqljwF7Vn",
  "id": "rs_02088fee5a079df4016ab2c522b8d087d0b7b34a692a9d33b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.10,\"right_z\":0.035},\"note\":\"The green fruit is slightly to the right of the jaw column in the wrist view. I will shift right and forward while lowering to grasp its middle.\"}",
  "call_id": "call_c0VPd10oNxtLZFypwAeQva5e",
  "id": "fc_02088fee5a079df4016ab2c526cf0c87d0b22d3a0cb1228e9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c0VPd10oNxtLZFypwAeQva5e",
  "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, 0.8043, 0.6132, -0.4007, -0.0139, -0.0307, 0.9991, 0.4, 1.6005, 0.511, 0.4301, 0.3386, 0.1638, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9991 right_x=0.373 right_y=0.0979 right_z=0.0416 right_yaw=0.0138 right_pitch=-0.0504 right_roll=-0.0567 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -1.0872, 7.3368, 1.8926, -0.0611, -0.022, -0.0122, -0.0068, -5.4359, 3.7812, 1.6386, -0.1636, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177fa13ac6f097181d5fcd7f5493330666effb8147c9c760b7e1ff9853bd5fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590789e3b69b66c97edf68104bcf83ec796127a89d2337a3d3694e9ade27cb8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a9b985e4189d4915f2d1d9a4aefd816628be915639f4705859a0203a39f857",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.863 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, 0.8017, 0.6132, -0.3866, -0.0135, -0.0307, 0.9991, 0.5518, 1.2892, 0.6594, -0.0708, 0.4343, 0.2741, 0.9992]\nstate[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1807 left_yaw=0.0003 left_pitch=-0.0073 left_roll=-0.001 left_gripper=0.9991 right_x=0.3404 right_y=0.1265 right_z=0.1215 right_yaw=0.028 right_pitch=-0.0585 right_roll=-0.0392 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.0735, 7.0906, 1.7753, -0.0171, -0.0366, -0.0122, 0.2256, -5.1487, 9.347, 1.6532, 0.3834, 0.1197, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUv75CGeumkFZA3y3-qnzypMCTJzZxru7f9wd5XoTxck5syxl4vBizCZ2Cld1GAzoOgMwiGhpt8P7jlshLowLAPwAZloO0lsKNaOhQVuNGhNdRq4nfYK51-b0pCJewA_9Br-uFyzuxR638t98gsgPA7yKZTjOR1CZq2z8EyAw4Gxx1Ks-ue3rHb1yiRLwD26kS0Y6dsndcYvApPcx6mKrp3ZH7oohAjODhuN875uWlVbBndloCKqNCAnOZoP6ZIkSNRgexTOwuDQ-8TOt9NIgY3ZO-zL1UqvT4soablfXYhxJjBZKLFUHh2Humaz9IprcBr9wgJn2cdlK4I8ONyQL5ma-p7q4vJo0q343oudyiNNx7gYXyXw0UpFc4MF1_PhTqun6TGBWJi0YKDJj7-qEKQZJ3QamWU_mpa8JUi9_N5k7a1K-HL4_X7ELAObUo6itrdFvrJ6J2w0Dlr290DFpMi5-3VoLP9bEMRj1YdVeFYTSE2VOw_rWor-ROvFsU3ZZZq4B7fU4aaV0yYnx0crg1NToJDLb2RocmdaBMZzfVqFVzEMYDIgBQL0rMYiGpS-LLiSEtZJPRcb5qD-03NzuGuvDHkzRWJFLLCXVjIvcjdyMJ3EvAD4Cx4x5Nd_8bFQAoHFUOQwdOtfWdy--WPTAL4DbG1Xn5fbsI0HoOrtWSdRrszE7zCmIgpdIQbKOz015MVP9PS1lIHjkQ7XXrzgcTj__BsqqQ6amf6LMm7kvHImLmvj5PQW_7rKndy0DJ7ZWT9hcXAJo6gWAG1efviHObIOiQRrcpUdDUu7sBK30Z3hdJJeSYhn7Pgxx6L7FxJ1vtowQWxN-0xEAS5ioCX0IkmaVj28eBjcUfJUOwzVLynJz-cRn1uxGRHhWPTAl0ZUejtsc6LyNj3kAlmn5ibKTpcPbyR2ryNBhsKlfTRM75ZO8Cvl_eYAEvHElSaXhS5joXnIc97bBWgekG0Txz2KpGyNn0L4Fhap_Cz5k5jNrc4PAGCjk_UHGTG2uxi1UEllM1pKOeLW2QxvztVzuoBnKPw1zN8B-_sSh_cgrt7eKWeJ-0YJ2KUi5xt9vWUtmcGDeZdGGvAi45kdXpK6l2QvYfIUH-4YWL5-pGiNfhihKNVi1763qZ99c8uj4TZY7usClSzLqE97ErnT2qZfxFJ6fl4vKOOLEvwwU5ZOTI8AvMloThxg2ooOX1cElkBwcODlW1txceTn-3NO7zfIuKZBjAesLpUoWsy1emu1MDUXDY3pBoBYI5UIqp-I3RqiGsJ-0fa",
  "id": "rs_02088fee5a079df4016ab2c52d3af887d0b65ec6edb34fd5cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.083,\"right_z\":0.023,\"right_gripper\":0.48},\"note\":\"The fruit is now at fingertip level but remains a little right of center. I will center the jaws and close gently around its rounded body.\"}",
  "call_id": "call_juPbG5vF2wkIQT3hJPamRzrD",
  "id": "fc_02088fee5a079df4016ab2c52dea6087d081d2f41c442e180e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_juPbG5vF2wkIQT3hJPamRzrD",
  "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, -0.4088, -0.0135, -0.0311, 0.9991, 0.3546, 1.6375, 0.4797, 0.5667, 0.3016, 0.1291, 0.6473]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0336 left_roll=-0.0008 left_gripper=0.9991 right_x=0.382 right_y=0.0893 right_z=0.0422 right_yaw=0.0181 right_pitch=0.005 right_roll=-0.0412 right_gripper=0.6473\nstate[joint_eff]: [-0.335, -1.4154, 7.1179, 1.7753, -0.0464, -0.0708, -0.0171, -0.8, -3.7675, 3.5761, 1.1795, 0.0952, -0.0464, 0.442]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3d466d25f22c934de080ad7024aa827de358b5ba5941fa3e62c98910224a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61978e6495c1684523f68a5775524d3f2cafc11049c97aafb530f5cdfc4d67af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca80decaadd2e61cc214e67ed9639072414c0e8b5a5383b92e39b99114c78b27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.907 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, 0.8043, 0.6132, -0.4007, -0.0139, -0.0307, 0.9991, 0.4, 1.6005, 0.511, 0.4301, 0.3386, 0.1638, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1771 left_yaw=0.0006 left_pitch=-0.024 left_roll=-0.0005 left_gripper=0.9991 right_x=0.373 right_y=0.0979 right_z=0.0416 right_yaw=0.0138 right_pitch=-0.0504 right_roll=-0.0567 right_gripper=0.9991\nstate[joint_eff]: [0.0889, -1.0872, 7.3368, 1.8926, -0.0611, -0.022, -0.0122, -0.0068, -5.4359, 3.7812, 1.6386, -0.1636, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws have stopped at about 6 cm apart, consistent with holding the fruit. I will lift it a short distance to check that it follows.\"}",
  "call_id": "call_DfHQZVcij6GdDvvdxQlnYdmy",
  "id": "fc_02088fee5a079df4016ab2c532f35087d0aee935f4d1d8a3f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DfHQZVcij6GdDvvdxQlnYdmy",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4198, -0.0139, -0.0311, 0.9991, 0.3515, 1.4055, 0.6025, 0.1902, 0.2935, 0.1192, 0.6463]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1727 left_yaw=0.0008 left_pitch=-0.045 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3785 right_y=0.0882 right_z=0.1004 right_yaw=0.0269 right_pitch=-0.0172 right_roll=-0.0523 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.306, 6.9949, 1.8242, -0.0415, -0.0513, -0.0171, 0.1436, -6.3658, 8.3077, 1.7363, 0.1392, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7df94a0e5ae7d32140450162dd7b8fc7a9d60ee6fd9190b767e82eb116e273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e978b4ab4685501dad3089948030e534ddafafe7b4d9a50921a8e8b3a8ec21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00d03ca7ab25080c583a5ca4343c653256056411fdba060a3fc10180b62b877",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 8.364 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, -0.4088, -0.0135, -0.0311, 0.9991, 0.3546, 1.6375, 0.4797, 0.5667, 0.3016, 0.1291, 0.6473]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0336 left_roll=-0.0008 left_gripper=0.9991 right_x=0.382 right_y=0.0893 right_z=0.0422 right_yaw=0.0181 right_pitch=0.005 right_roll=-0.0412 right_gripper=0.6473\nstate[joint_eff]: [-0.335, -1.4154, 7.1179, 1.7753, -0.0464, -0.0708, -0.0171, -0.8, -3.7675, 3.5761, 1.1795, 0.0952, -0.0464, 0.442]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssU7BfTZZjQ06W2q18KHRs4A0dxWZ58kS8hZKLoVKVvB_0hmGDOeUelo6HGOgGjJUVZEydNvKrcvxDVRJ4MPxIDcNCVmELllXyhMBmwv_RRRZP_OmZqVidUjwn5oOTloybr176OHtZtwYnVzvmbyeZ5lOo8e9uvDy9Ksqgs88PE0W4nSpgbr2lV1b0s4F_tO9E6kWpYu69_Q1uTIn4FbPJRzmuwysZErEXJb41H07bslts1mmoPi2n7BzvxR9i2sw1-dXZFzMK_40sAviuc1k8jxksMfDB5f5l6LCcYNGQuPsbM0oz-d3sQ3dVMYjVIreGdueVhopFjy6gXLMSAA7w48W0X33b9vQDAeYU3VawXDCFSCxyoHVHJJSZltZfv4PwCTn2Ty21Q-G9B6s-k9yDxqZonMrtdIhEF54iYZ_xfXUHrWMb38V1l7KkGJvdobNF7RxbKmjH6CQyjSRkrP4tVR99VK9Zmc-QEdc_XrWZoIn7jddtVG4-k_WqoO1CoeRAURk4cbEgBMuApBCeZg4Aa9-EC25vbnIZusELU48hKXr-GrmTnJ76fhQsfX1dNV0Gmy2lw6HleyJacP1jrMtW_LmsztgxL4X7bgV9BxRFqNk_dpT2J-2V-HPW-AARmil1ssNoCeqQZZ1ZCg0LOw6f2eGsMmSBv6xJMaWlBiSdnjGrNH39CRSLCzF7Qh_8tiszJvsInTE3xEWCjy3UoQdhSFdDggBLLiVVB22mbdR-IRiGMuaFdW6UCEjNZdc9Ox3juWg2nMgy0FfqkuIlThSRtX_26Lcq5sBAWvxKQeorgs4GN0Sn4d_-wG_pquKH9V73wfYC47Y8Ey_xz4J7sLbGiIeecQ8O6r5zmbHU9OYr_4cYZ6AWgzKmzHlt8gZOCD1Bm6LPPg6GGv4tZcvQtiE-LzJcOGJ9X4FG33UIAn5j7HKGycrxbPHePbdDJWaqps-fJKejITTWvoXUakHYyM-RNOHN2zrdTp3j5Yt46GXiFXRz0no3o0prq-Gy8NxIZW8B5b8XF-7ThgdNWofkTSobVYa_RG9lVek2DcEddsY2ho7MHiQbfWC_YF9VW9y2DPDeQ-ooplnCn4rz-6ROyd1w34jiXpNKoKjrKvkD3XHU2cHeal3dSbse3oFS9aI9U2avwI8nhkZSZH4uXZHjI4H2aevsdGkxWprs5lKUNcSluCl1CIw8Thwty2vhzto38x26yGz-JjW-wmAm9zMeK_q7HdOR57B9SDh5qpQ_pv3rnxskKknx1UI1Ntg813KTd6EZYwyUpBiWdqhEJx_Dvtgl0PgDQBrpz96aaUriS5ZTCjHTBXr4oiJdZIU3qhatFT7T6gT54zZ9WGsZjgRrfNvugHJalNwumn9qI8ARS9_A9j-Hw=",
  "id": "rs_02088fee5a079df4016ab2c538045887d0af62003e14fdeb56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.155,\"right_z\":0.19,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The green fruit has lifted with the jaws. I am carrying it above the blue bowl while returning the idle arm to its parked height.\"}",
  "call_id": "call_9ENJLrcFoQujlTnrwXk0Hz2q",
  "id": "fc_02088fee5a079df4016ab2c53a0a7887d0af036510e3c8385d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ENJLrcFoQujlTnrwXk0Hz2q",
  "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, 0.8364, 0.6548, -0.4839, -0.0139, -0.0341, 0.9991, 0.4171, 1.7638, 1.3258, -0.2298, 0.3283, 0.1413, 0.6462]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.0977 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4828 right_y=0.1556 right_z=0.1748 right_yaw=0.0513 right_pitch=-0.0612 right_roll=-0.0722 right_gripper=0.6462\nstate[joint_eff]: [-0.4308, -1.347, 9.812, 1.7802, -0.0415, -0.0122, -0.0171, -0.4034, -9.4017, 9.1282, 1.7949, 0.2662, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ec1d092cb103ee5abebc0dace9994639eba1f7fa5c264ab67e55c5edd19af0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8d3c1cc56e904ce44c2de3700790cd291a913b48e13b20073dd925ff75ea9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce96365c03541ddc240cd39c42c353d0fb5e676d963ecc9c657548cd42d78984",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.995 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4198, -0.0139, -0.0311, 0.9991, 0.3515, 1.4055, 0.6025, 0.1902, 0.2935, 0.1192, 0.6463]\nstate[eef_state]: left_x=0.2912 left_y=0.0002 left_z=0.1727 left_yaw=0.0008 left_pitch=-0.045 left_roll=-0.0003 left_gripper=0.9991 right_x=0.3785 right_y=0.0882 right_z=0.1004 right_yaw=0.0269 right_pitch=-0.0172 right_roll=-0.0523 right_gripper=0.6463\nstate[joint_eff]: [0.0068, -1.306, 6.9949, 1.8242, -0.0415, -0.0513, -0.0171, 0.1436, -6.3658, 8.3077, 1.7363, 0.1392, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVK32TsfSn2hZ43Ha2zfRoCrXOEjLSvxGi9wXy0sh2TrHESdlnSS6ocOh9DFUgHZySf44vKHJeMpac16mic7az3lIztLUoEcPIjmxLe3Ju2JZeq459ypdIjzRrNPDe5oKUc27iUOEO1S77j1AS7CKkEl1RDdNBnrfnUXevaiuE2qP5GrqGRIgWoRVcpO1E332mcAKZr6FctfpnCGOvuh3FJnP28fAPOJZBsjpYxD3rUi9Z52SfRUjdAagoMlvvmD3ysi3fLkt8cxI5JuQvdIM9IXGARDI_SjSXpNUETtezR9kyaKAPyDaVrZ7Fpz8ejhYMkNEmMGacH_tUZgJsOSBrq9vfiIpght9JaQTU-GczuyvtT3B9oQbfmsrxt3Ae5viySY5ytcWxnlAmfFqY7cUtEtFixh02bYviF212cB7FwHX8EaBoWCmPxxztZHoC6XWYYPNmyk3GAhTiKjODMAVihEEp_cKG24anfrfl2NHnODwHnDZxiWU4L2gJloxr_eMmo92HOVggVWXjAbmERTm-mbStDH31VVwkSZ6O4ZxB56WyGrNQPqKvoI3Mj8-7IldDsqeNUXVQJz3PK6QZ7mSGTDkLMBd55Xny2vwDuqk7JRPixRa8bhAsHNVV3o65pgJCgXwzLyRGk1WFY5i7A44gW8U9zzKXj-FPluhPK5IG1d3fR0Jqmxi42Ov8BZyaBGcgxdsmf9hAla5PD8NJWb1BCxNc0OqcvDLLd79FLSs5uarRajU4p3S0zxmOqjQuYM-BgmX3VZQaR9mC_j6w8BHls8hwC5lWi_LZnDSS_deF5DXX1IQU4JE_aQfGrnZpAEicTGp9sBw42u_WXWs9K6lxOkcULrt8beaI7bT88XyhULxeI9Pxl2DiqsushHZWTRHwro0GIpZoZ2jU6GRzONKxWGQyZTUt1-f2Tusr6HNtLbQPua5udffx7h4JsnAy11-SLamGn5vhf5IL_y_hzdv1F7XquHM1_ldHqGcvGRfnrTI8jkAfJ_O4_76PTruqHO4Wavg_G1PWai4kKaTguQSVwuLZX4l3x6xmR2YBhVndP9HZzyHIbjUNrzsJsXTy-oir8D5YSeATJOT2qmGK3WxnPOw5hQryY4vtIq2GNlEllPVssXrxAiozjzEM6vj6Dihk-RKzrUkudAzlmFjv9mVDqMR9ls_McfqylMjZiOHhHAOrd_6pgr-rWz0iEukqFyIlvywZkI5VNIfuWB3l5r2V4Gv9b_4wRrt5ikavQPgOlnSOC2FOYbMtZwMEHk4SlSchUkBmBD8l1PDO0i8ruYnDusSjhk3CXjbGjB4HepIHNoYEx3MWn-BiBlkBGcQpNA-O-",
  "id": "rs_02088fee5a079df4016ab2c545cd6487d0a410773701c2f89d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.09,\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The overhead view shows the green fruit still on the table, so it was not securely carried. I will return over it with open jaws for a firmer grasp.\"}",
  "call_id": "call_Kzx1iwMZgfyPao84QQDqBWcR",
  "id": "fc_02088fee5a079df4016ab2c547bed887d0a9cf7cf6a8a9e0c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kzx1iwMZgfyPao84QQDqBWcR",
  "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, 0.8398, 0.6537, -0.4919, -0.0139, -0.0338, 0.9991, 0.3622, 1.4151, 0.59, 0.1246, 0.2825, 0.1108, 0.9985]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1676 left_yaw=0.0024 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3647 right_y=0.0894 right_z=0.0791 right_yaw=0.0496 right_pitch=-0.1029 right_roll=-0.0802 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -1.7299, 7.0632, 1.7216, -0.0513, -0.0024, -0.0122, -0.4171, -6.4479, 6.2564, 1.8828, 0.1001, -0.1294, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0e33546c053b470139a70bd79a5590c233f258235de568a4c2efbc3bc6d174",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36ca7437e78cd0b0de9ed7afb718520b597a3f3989e23ddfb59216d644cd405",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f48f1f43d79150a06cadd74785cf06fc3e0ea4229c52a7ecb025d074fcfdb26",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.416 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6548, -0.4839, -0.0139, -0.0341, 0.9991, 0.4171, 1.7638, 1.3258, -0.2298, 0.3283, 0.1413, 0.6462]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.0977 left_roll=-0.0017 left_gripper=0.9991 right_x=0.4828 right_y=0.1556 right_z=0.1748 right_yaw=0.0513 right_pitch=-0.0612 right_roll=-0.0722 right_gripper=0.6462\nstate[joint_eff]: [-0.4308, -1.347, 9.812, 1.7802, -0.0415, -0.0122, -0.0171, -0.4034, -9.4017, 9.1282, 1.7949, 0.2662, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVY-AWsDfMXxOSmaOjDVPhXcBWAUDTRf8-tgD7sbNCfdjLZlhApcY3S5WJCP0NXj9NMDaXTMJaUX40AVUastbFXq-b5aJA8qpD-A8wfA2yLGnPljtX51-wzEO-iOsPFIzLCYa7_E4JpCltmBTWEQOglGALh7Kj-0_ODQHkG96OE_7Yco0FpRW5xUx-BbYl6b4Ot-1ZfksB3RcTpERseIfH-jm9MF7ZAzzCxhlcJwiL3kXuEs3wWm6K1-dLy0S7lzdYOjEIgx-8zrANjcmBLIB6__-vWh0DOcjPg2BQINsmISH23LKbCrRBq-p2Q4LeXrokXW4MgKKu1X0O40Q_5VX--B6qbPqHBZNJqPXM5irMP1A3rNR9B-CXBy_pvoMBWQTo7K3Io6sZcyzqumWtcmBIyfaJBkxyqvOHqdY0-NjcxpJDRYa4A_LAA8C32ZHHq7je0TMAWcwfsHqKuKMeaASXeGt8Gy0kAEvR1NU0a89XhdB3Qy8T2rjQLOja3TryRlk6T20qbZTleVNDLzl4TMB0zpnN7hm2t17pg5NAAgYrpyZVF3aRhS6Hl8QjjRP-h0GFpbIVTAbE4pT04bwPlOgqA7XJQnvFqEh9dZmUpkvX0Fblfg3gQdwMfeTN7Tb9yk_AR840ePglJ7dww0_7aI6jnWeYLeGu4WaTL_3_n9hFwSnxlyy0tO1pMA2_EqAmjW0ksYANiXzTzrMzLVQlLwoiIv-zlIyqvU3jF9Mop58_MsMLkAJNocbZbiEJdqT4LbMfGgNVQvCvBxEdwdKS0JEZfTpBzg3_bmMAH_jFvHMAenoJ8oMAS6ZQ97E3DJAHhlpziWTvADQNc2MeUJL6DDKpd5mP6bHL4DRPNRGbQjTK7-YvTLRtTFkZZetWWI-xMxe0WL52paBUJDQoDmvBWBaBM5KsnzHUMGTEXbbdJZE0z6jOOgZJKZLszQyrr2Z6Oq7hmGQWX6DpRvxplJeZdTeHBu2PcCcu1rvvqrrR_PdmdLKWXeNph9p92Owb1CcRckwZ3MK_vHxocJY_U2qapUtbwa1DVlceJyhB8iA0UqSrbtXdz7W-46EVhcd9n9O5jo2eYMnCVDtca21QoE-qW38xgsHiA5-dfTW5yHDwW1vsdw-neS_C5nJLxRvt1DIyIhKszE2J6dtMEPZmyI2i3dvUfiFtLow_3pNPVUO0RM2A_7UKLFcvo_jnothF1oI83TPQj_scjG-c1lLKR_wiod1O3Xx8rxGCM_OM4SicVb1HKDP_U12jTJUBZE06kxJYnezPMGCubwx9fGIdqbBb5kp8ZpuQpmpPVa85J4a6a_jGyZIs=",
  "id": "rs_02088fee5a079df4016ab2c5544cf487d0b225aec9c77e6c84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.352,\"right_z\":0.018,\"right_gripper\":1},\"note\":\"The fruit is centered between the jaws in the wrist view. I am lowering with the jaws fully open and moving slightly toward the base to surround its widest part.\"}",
  "call_id": "call_SAvbtHfNEAtcXgznzrRYlUop",
  "id": "fc_02088fee5a079df4016ab2c555eccc87d0bb5d31e6600c5cb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SAvbtHfNEAtcXgznzrRYlUop",
  "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, 0.8398, 0.6537, -0.4938, -0.0139, -0.0338, 0.9991, 0.3779, 1.6028, 0.4259, 0.4438, 0.2829, 0.112, 0.9985]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1672 left_yaw=0.0024 left_pitch=-0.1121 left_roll=-0.001 left_gripper=0.9991 right_x=0.3479 right_y=0.0889 right_z=0.0124 right_yaw=0.0631 right_pitch=-0.1336 right_roll=-0.0896 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -1.4838, 6.9402, 1.6288, -0.0562, -0.0513, -0.0171, 0.1709, -5.7641, 4.7385, 1.746, 0.1978, 0.0806, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14363dfa887c72f87c6bd5a9094be311043a733aa2aec67b4249525d6b036562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04e6748f560567c54e6459da3ea8e1c6251b7c763215ea4ed0646a79243ca43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcae10aa9546bcd1921e118a9a3ad973ea088fc449cfacfb1c93374e4a27c51",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.547 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6537, -0.4919, -0.0139, -0.0338, 0.9991, 0.3622, 1.4151, 0.59, 0.1246, 0.2825, 0.1108, 0.9985]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1676 left_yaw=0.0024 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3647 right_y=0.0894 right_z=0.0791 right_yaw=0.0496 right_pitch=-0.1029 right_roll=-0.0802 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -1.7299, 7.0632, 1.7216, -0.0513, -0.0024, -0.0122, -0.4171, -6.4479, 6.2564, 1.8828, 0.1001, -0.1294, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now flank the lower body of the green fruit. I will close fully to establish a secure grasp.\"}",
  "call_id": "call_VVTO4sUmwEXyKvuz5ZnhfUtk",
  "id": "fc_02088fee5a079df4016ab2c55c77c887d0ac3d78716df8fb83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VVTO4sUmwEXyKvuz5ZnhfUtk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6537, -0.4942, -0.0139, -0.0338, 0.9991, 0.3775, 1.6028, 0.4259, 0.445, 0.2821, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1671 left_yaw=0.0024 left_pitch=-0.1125 left_roll=-0.001 left_gripper=0.9991 right_x=0.348 right_y=0.089 right_z=0.0126 right_yaw=0.0639 right_pitch=-0.1327 right_roll=-0.0894 right_gripper=0.7663\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6581, -0.0366, -0.0464, -0.0122, -0.0205, -5.5316, 4.7248, 1.5897, 0.0952, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155c79f1c8e4fc690fbf2832039d596bcb0adcf7f83c34eafa3603aea2cc4954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc8f78f3e69c6184bf4df0386cc4d35ba52c83704bfc0a61223abf9cd44e5840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094fc84e0318d793dee550be4cd6dbf995b796511935363463a6f316e286c67a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.977 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6537, -0.4938, -0.0139, -0.0338, 0.9991, 0.3779, 1.6028, 0.4259, 0.4438, 0.2829, 0.112, 0.9985]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1672 left_yaw=0.0024 left_pitch=-0.1121 left_roll=-0.001 left_gripper=0.9991 right_x=0.3479 right_y=0.0889 right_z=0.0124 right_yaw=0.0631 right_pitch=-0.1336 right_roll=-0.0896 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -1.4838, 6.9402, 1.6288, -0.0562, -0.0513, -0.0171, 0.1709, -5.7641, 4.7385, 1.746, 0.1978, 0.0806, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The gripper is holding a substantial width rather than closing empty. I will lift and verify the fruit clears the tabletop.\"}",
  "call_id": "call_1WwAipU5KBY2o3sjdW3ITD3p",
  "id": "fc_02088fee5a079df4016ab2c560cb0487d0a61863d633175153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1WwAipU5KBY2o3sjdW3ITD3p",
  "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, 0.8406, 0.6537, -0.4946, -0.0139, -0.0338, 0.9991, 0.3775, 1.3174, 0.5953, -0.0402, 0.2745, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1668 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.9991 right_x=0.3427 right_y=0.0882 right_z=0.085 right_yaw=0.0688 right_pitch=-0.1634 right_roll=-0.0938 right_gripper=0.7663\nstate[joint_eff]: [-0.2393, -1.4701, 6.9538, 1.6044, -0.0317, -0.022, -0.0122, -0.3624, -5.7915, 8.6085, 1.5849, 0.149, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab6a4223826d6f119c539afa5fcc5604d0e2f97503ee60beca77c4f4ab81373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a49c81cd2c326209ebc4697ea51b41f1fbd142335b7adc38d09bec9b752fd68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b1c82b9125ea86a28e8a4de1bb9e41355e0c5b11acb657ccb7336c7d2bad0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.642 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6537, -0.4942, -0.0139, -0.0338, 0.9991, 0.3775, 1.6028, 0.4259, 0.445, 0.2821, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1671 left_yaw=0.0024 left_pitch=-0.1125 left_roll=-0.001 left_gripper=0.9991 right_x=0.348 right_y=0.089 right_z=0.0126 right_yaw=0.0639 right_pitch=-0.1327 right_roll=-0.0894 right_gripper=0.7663\nstate[joint_eff]: [-0.2393, -1.3197, 6.9538, 1.6581, -0.0366, -0.0464, -0.0122, -0.0205, -5.5316, 4.7248, 1.5897, 0.0952, -0.0757, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVno_PyOF0_WLyoTMhiJTbezBvQiseLFD9IkMrzLJXWnbt0NFQ8fzK2w1O3m8X9ciVgtbYu82giq_3-QPxeg4658hxVFy41vhyEulcX_KuT_iqjLPFW82ZoHS4-S8WEh7TaADPhuxUFbZRSRjUKvE5vm3VcHqLSJO6-u4Bxf_Z1qlGDPFihhM49SjGH3_uR-q45tPS1pBWilvmr7FaAPa3JkaqhshMr9ac1ugmgOHsIXofACl7I3c_w-03iB-pQuQ2ZUCv8xDwL_9WpN8GiNBq48RZcaWIT0bpjV-BaY5_IbxBh8A0hLdQS6QE1XWa1ayUIEK-V27kdZpSO0Y7g0d2Rssp7KinfPBboTK6QqDUNNb9bXtHM1I79Dj4V-vpLjvzFobqnFqM4_HH3MQLNizEiNdw5BhpyKoRr7mroBc1JIBE4r5BYj9qRqeYHCNMxZhFE5Vw2VPevpKqjdZW4Ivhau_nqMYQpX7VbXAP-BGhD2x90JwyfpHs7Va6Z_mS2ccjguTj6WSQUyE-x96CveJ003Gp7-W8zMY2m3AwY7tfBR7GRgVqsTyF4ylJnD74HNAFahENbh9Wq8oc-lOm1Feo64t7OFWwBsQGfA3spfUC_7R3M29C9Rz9bn6fTSupQj7Hj824fwkNyf9g2JZtHg1D9rf_N3b00qR0k2nMrmsVlLSOU3Mj0JV4rg-33gnMbIopL5WGoOxkpu2EG2PVX95jLEED_ZpqwA6Dw8YIUOaPrYTyZEE7VCky9TOKX0COgsIjxieAfMIEIrp052TAM-fAUQBuEkUStxx0M04QNmtciykmlEdqOGOowAe70BnrjRwrcSKbtr7_WmebIFgh9elp0COXsdyCuQvnpCACe9prLhTcgnhnWmFNYkKLS2kxHj7B2T8tEhz9St1fTOPWO8YA0NryM60ccGvw423kjKhi3H-sZuDFCeVl5TdySdEUKyAseZZEXtWqr5p88sHyptwYzzzOqxenk5WJSg-BBXl3N_W7O7TsROsECfBkCFN44TWbWhJb-LhH0CmLgDX6h9sxMjP4knO0BMT5LQcFry_zUUcMZwTVlDvwKqOFlRkYlLSOCrTxscU0Ep5GDk8nzF5KvSSUIDsqkn0HxwLKx6634fgB97Cq0jV_SjP1V1AqONjMscK-63OiLjGwfuHscM6I2jBLks7zY8ZD1GoKxXiUO2fTgRpSUUjCczUSQxVmdys0zOYYBJ4RyTHDwp6jccQkom5gbNE2vTZDKjXY-NV7ED4o=",
  "id": "rs_02088fee5a079df4016ab2c56517e087d091eab1c893e6ec24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.15,\"right_z\":0.21},\"note\":\"The green fruit is visibly moving with the jaws now. I will carry it over the blue bowl at a clear height.\"}",
  "call_id": "call_gERAcXeJBNvm4X4IGRSyqGRV",
  "id": "fc_02088fee5a079df4016ab2c565c8e487d09b09c07ac3334788",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gERAcXeJBNvm4X4IGRSyqGRV",
  "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, 0.8455, 0.6533, -0.495, -0.0139, -0.0338, 0.999, 0.3912, 1.7908, 1.5375, -0.5594, 0.2749, 0.1116, 0.7663]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.1194 left_roll=-0.0009 left_gripper=0.999 right_x=0.4745 right_y=0.1477 right_z=0.1921 right_yaw=0.0791 right_pitch=-0.2112 right_roll=-0.1095 right_gripper=0.7663\nstate[joint_eff]: [-0.2803, -1.8667, 7.2137, 1.6093, -0.0317, -0.0562, -0.0171, 0.1436, -9.6752, 9.265, 1.6532, 0.2466, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90deb77110526e8d153d822f2cc5700b4ab523dd91f31b5290566b9be2b6cbaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23265b005dca1aa930b575c84b135e56df184d3235c68ce568ff38d1651001ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8fc15f8b435abf5f363dffde126b750c8849ea298bdb19d362ca31c5477034",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8406, 0.6537, -0.4946, -0.0139, -0.0338, 0.9991, 0.3775, 1.3174, 0.5953, -0.0402, 0.2745, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1668 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.9991 right_x=0.3427 right_y=0.0882 right_z=0.085 right_yaw=0.0688 right_pitch=-0.1634 right_roll=-0.0938 right_gripper=0.7663\nstate[joint_eff]: [-0.2393, -1.4701, 6.9538, 1.6044, -0.0317, -0.022, -0.0122, -0.3624, -5.7915, 8.6085, 1.5849, 0.149, -0.0757, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVtVVKcEzQEyi1ocM4kwm4N78mIJlO3d0cmuy-939ZEHjIkzfZmq5iHOjE4D-1kJqHVsLXbAkDOaF8XU7fON7xcbd6nkMdTx-EsA0ka2RNt4K8HqPhNmB1bP_-bVui8ywrcOxKWVu5FS5Pjh4AqJHsrSmAFom9d11_28dQbArMq7cqruxlwFvO5L5I4vkh2-9c2O4A9kEb6gXaJvxUSS81sCtiw0kvhY0Fm-gE7xNIZiPWr5LKh_cOCLzVodBRECAZqHFtRX1Nco0qHVNsVs9ZBugyQSW-YkroaPkFLAA7geVM-ay6VqAH5JdZaYUfWtpBySb4E-Ye37pKnyaFDe4hQQPNq46ZjWuNUd-6r_9sj2Gtl3bPQXxZqFwNYEa_7VLWlCkF2nqVCjI8Th4z1U6mm2D1BSfQC_VmrpfVHW3OcNQM3VDh5Dn924sZTV8lL1nnrT_uUWEsVhjzfZvjBSsqFsuetxkGcYeWN9VFdsi5Z3qbQ_jhEGPgx_v2SrWUpX7QUDzzVpwO-QAoKYZA52vbrwfcY-PQ_LMFQweT6LHTqpn7Ao3ilTYCRgobo1JfaT3tg489vci43ShwtLJo62WV8bMIgvGPsj-c1tJCGLiME1yAdVNB3F64KN3MgYcmj1aXcyGCNaSM9AiccmHxLWwejzPlkktxw1nKOM6eB0qTbGuDFe14UMH72k-fbc9JS3M46bV371qH0QjbMvi2nggr_6u67-r-d34udiyPkEFqxxyITzyoDHzMkJGDcxZo5LesIX7bhQ_0FWSIj7bu-EWLCn7ICvnZ10E80V6XKUblWSokBC7N_JWQ7aZBCtAFU0bgcJajDiftWPzWSW_zbSyCOVdw9u-ycAP0WX_CdL2N8JEZGlRtVvov6UzjK1XIoY5JPfs-2BU0RArDm4Wvd-hc3Sig10CIQuFqY4N6La8PIx8qFFm8OQU7SV5vahb-PGfP-KnMekQzTSuH4EcniE2hLITYnNHgIia8YQFAgHArxQJCPEycMmMzy6Wiqlr5pj7PlTNR9u7tDDOCD6ceFHRFRMopRIKGkzCMTduBgijeT_FBPa7PBOLOSMzHlroPyU1Lvf7t9Wo4ouFhgHovyOcXjqHhCPy7BIfNllC8sFIc3jEr0QoJKhmzGM3AjXLZHPJx23dkEylTzicIebf9zCS9GRAby_ps2LM36ZfvPA1h2nfbJLax19FWMTnpk8bA594n_xqBtjHjtLN_FIiT4TlVsTrdOaL5OR9n_mYPEjktj4po=",
  "id": "rs_02088fee5a079df4016ab2c56c199087d08e1f05362cc7f861",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The held fruit is above the blue bowl. I will lower it toward the opening before releasing.\"}",
  "call_id": "call_FKecdyZwhgKxoSfLDqq1k7UR",
  "id": "fc_02088fee5a079df4016ab2c56cc1f087d09acf5b6451a73c80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FKecdyZwhgKxoSfLDqq1k7UR",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6529, -0.4953, -0.0135, -0.0338, 0.999, 0.3908, 1.8275, 1.3136, -0.3759, 0.2714, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1646 left_yaw=0.0021 left_pitch=-0.1217 left_roll=-0.0011 left_gripper=0.999 right_x=0.4616 right_y=0.1428 right_z=0.1126 right_yaw=0.0758 right_pitch=-0.2854 right_roll=-0.1317 right_gripper=0.7663\nstate[joint_eff]: [0.0205, -1.6205, 6.9949, 1.6386, -0.0171, -0.0171, -0.0073, -0.212, -9.1829, 7.0359, 1.8291, 0.0806, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e71b359d969ed1727f62c9a83fe22ab00709c165a5675b8ab0dc71fadf510f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301200e646b563038ff1edcd3a6213c0fe5f57c0bbed4d7f2d1e173c735bd7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cd0c79d6b4e16cd8e483b6c2d53a23d3d2fc5532e6c5c13f1330d33470bc52",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 6.492 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8455, 0.6533, -0.495, -0.0139, -0.0338, 0.999, 0.3912, 1.7908, 1.5375, -0.5594, 0.2749, 0.1116, 0.7663]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1653 left_yaw=0.0024 left_pitch=-0.1194 left_roll=-0.0009 left_gripper=0.999 right_x=0.4745 right_y=0.1477 right_z=0.1921 right_yaw=0.0791 right_pitch=-0.2112 right_roll=-0.1095 right_gripper=0.7663\nstate[joint_eff]: [-0.2803, -1.8667, 7.2137, 1.6093, -0.0317, -0.0562, -0.0171, 0.1436, -9.6752, 9.265, 1.6532, 0.2466, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is seated over the bowl opening. I will open the jaws to leave it in the blue bowl.\"}",
  "call_id": "call_2Slx13rQVKIRDOuQOQUEQ4dg",
  "id": "fc_02088fee5a079df4016ab2c5713c1887d0aac2a9b967db0161",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2Slx13rQVKIRDOuQOQUEQ4dg",
  "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, 0.8474, 0.6529, -0.4953, -0.0139, -0.0338, 0.9991, 0.3908, 1.8416, 1.2957, -0.3676, 0.2714, 0.1051, 0.9958]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1645 left_yaw=0.0024 left_pitch=-0.1221 left_roll=-0.0008 left_gripper=0.9991 right_x=0.4586 right_y=0.1416 right_z=0.1004 right_yaw=0.0769 right_pitch=-0.3083 right_roll=-0.1435 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.388, 7.0496, 1.6386, -0.0269, -0.0659, -0.0073, -0.0889, -10.8376, 8.1299, 1.326, 0.1001, 0.105, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18227ef3df2d75069bb2064c8c7044203c59c184f1f81b3c6796bb4dc19525c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315b54f5a2f954d3a03cc7c12fa8ccaef435053b0fe52a34801efc994677e99b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72632e29a4149a252b268d582d3349543cc5293cd0a2f0f8e93230a538ee4c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 8.64 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, 0.8471, 0.6529, -0.4953, -0.0135, -0.0338, 0.999, 0.3908, 1.8275, 1.3136, -0.3759, 0.2714, 0.1112, 0.7663]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1646 left_yaw=0.0021 left_pitch=-0.1217 left_roll=-0.0011 left_gripper=0.999 right_x=0.4616 right_y=0.1428 right_z=0.1126 right_yaw=0.0758 right_pitch=-0.2854 right_roll=-0.1317 right_gripper=0.7663\nstate[joint_eff]: [0.0205, -1.6205, 6.9949, 1.6386, -0.0171, -0.0171, -0.0073, -0.212, -9.1829, 7.0359, 1.8291, 0.0806, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssV5DcvE9v9REqS04fdh4yYe3QNc2fek21PwrCMs5JU18lTko9hTYevjxQly38pKICc5aYdoRVw42VYJ9VJYDokTkGpUY2CWeq9Mn0MJVtPV37KMxoRUFvhFszELLSlG0BGrHy_MLY0Dmq3Dme2qDJLzXHA7g5ly_BhM25kSbhOfvgC0poDsLIhzzZwwjyFn1o-2ULIQm2dk00YShku3OAIN8MEzAnxiZmljTMuGTgTp98qmlZkYrzYdx6p2JPAu5AsNiRQje5pqfrOtYCHXhMgoqSoQwmjODT7nURnCKC7YQOYsJVetfzovk7StSaXcXQLKOH7n6Bj5Zprq2Kcde6hvLQwYZnTY7pDp-Pl8g9GEiBOxbiGT1F3j-d6nyo0Yr93BW9JRaklKCIjxoiKSYPLsV6tIuJrjAd7NfSHX60jrmmhjcymBOHiHyRkjMXAlP4mVNyT5hU08V_LZDm701TKixDh0p43M0YkJIXxlq1-Z4rWCJNJYgxG9XJqIqRrj8iqTbPbI1WRRHTUZrUPyvvukBmaydx2okNmBcZEmQjpWMzGw2nj-MjGsxcwimpyEC8PAXDW2qALuVnMhhh8g1QpzbLy4ELnFuYH4vUIrosVLYP5VC82hFObLhRQceb8ndkqNnx4fSsfWIX1jG6x69NUZCSAyCpPFHqj2eXIzjdBNVY7KTtsp1HZwaIWFrkBTbg9XIICsY5UuqZLCFRx2ZLiAsktXzcu4EKF159e2HECL1oqoMeJI5AJxNvdm-RawNUelKqqqtd7kFoyu1Mzq4u0sPwUheEn_docOnzAp9LzVqAdKQ1nD4scRTT5MGZ0e97IpJfgCLESZDJ1yefW7IiyKDtfFh9J5nTX9aNRCbhngi_2adqY1o8IWPCwMzmiCDca6X5bnBgmmDH0YdcQoK4zeEkrWUJ-3eF61bDBqOFRK2plb4tAhRT10Nu6AjjGcmOSXYTY3Ba1NwdFfas_tdWhgh51ODwhhGZvpNTLdbsQbhMBal26Mynij3anykHL1CO0TJoP-Mj0JdBZnfFw90azTvttyOXUjxiXwnC6wUypwQ6iEcryunj7Ieb7RcUQw7H_45sXgh30_hHHbWpkUKXuGeKyU5qTtfd7Tv9uywQduZMzbVV1ty-CLk_WGiIn_SgwkSoWhxOb8-l9xCccNqdIqTCbEelI-x9fMIQUK6trBg2NlCjvcHGFdCqv3MFchnnmdRbWT5qy3B8wyMs6BXzlWlA==",
  "id": "rs_02088fee5a079df4016ab2c576518487d09b49395d3cd24303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.225,\"right_z\":0.12,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.27,\"left_y\":-0.11,\"left_z\":0.12},\"note\":\"The green fruit is visibly inside the blue bowl. I am moving the right arm toward the lemon and the left arm above the dark avocado, keeping the arms apart.\"}",
  "call_id": "call_kVEXgBDJhjesZ9rs5kokOJVF",
  "id": "fc_02088fee5a079df4016ab2c57739ec87d0898c2e47cbdbb651",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kVEXgBDJhjesZ9rs5kokOJVF",
  "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]: [-0.6865, 0.9962, 0.5663, -0.411, -0.466, -0.4664, 0.9991, 0.7513, 1.6249, 0.8833, -0.0219, 0.5102, 0.3534, 0.9963]\nstate[eef_state]: left_x=0.2662 left_y=-0.1109 left_z=0.1163 left_yaw=-0.0474 left_pitch=-0.1609 left_roll=0.0155 left_gripper=0.9991 right_x=0.3616 right_y=0.2246 right_z=0.0995 right_yaw=0.1229 right_pitch=-0.0819 right_roll=-0.0523 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -2.4684, 6.4479, 1.5653, -0.4957, -0.0806, -0.0122, 0.1299, -9.5521, 6.106, 1.9023, 0.4176, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bc2e1bbe5c59e26ad1f7414ac23ae1d739c8093289171b7971709e0b9abe95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b5589235c901c3517813b133bc200da04a64cf967d53b657fc0d29685d9a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538955cce3001ba2dcc8ef8ea5097f7021b7759026e48f6d082e73467a6298df",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 8.574 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8474, 0.6529, -0.4953, -0.0139, -0.0338, 0.9991, 0.3908, 1.8416, 1.2957, -0.3676, 0.2714, 0.1051, 0.9958]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1645 left_yaw=0.0024 left_pitch=-0.1221 left_roll=-0.0008 left_gripper=0.9991 right_x=0.4586 right_y=0.1416 right_z=0.1004 right_yaw=0.0769 right_pitch=-0.3083 right_roll=-0.1435 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.388, 7.0496, 1.6386, -0.0269, -0.0659, -0.0073, -0.0889, -10.8376, 8.1299, 1.326, 0.1001, 0.105, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWCLlfBu26Y1zPSH0OBgKtS7sRqgQ7sA-jVFMyldzA-3rpB0t6su0b9TURmgUJcj0aQk23j6PocW0ABCtJ-txONATmpFLVgVtyVb11ZS_dKqoXVej5CC4Tir9HlemFxOjiNdaJPDDtFTA7vKKyFLsBcXiBbrogPVAG7AmueAwqDgfa1ezIs_E6OrMgpP8t53teJu4kZ9BoSIeZDubkEK_miBymfCpE9b3Iao-SOB9Ed8Ixc4Qu8t6ydlHqu_Vv1N3WKZzdcf9tCJ-VWk3JaZgL4VP1e28x5qQhdM611egmtXyVtcgAGvNidLlZeUtspkVteCnKkkPOursgr5tIQbZFx1WnxkSuaC7wdZX1k9xDAoxjAivGmf56Grb9wfXSILFEuzDrSqBngw7P4lJdWLfP4zwO2k5cMZ_X9P3tAuNp2Ogpx5mrMmTPIhpwSBMhUxIOwOIAM2oItNvxqsyI5Jyk-fPq7M9lpi5u2d4_0D64ZVPAcvd0dOc5nvOxfb_50jqjNNtCq3NIQ-e5Q5aev6hvn0P0Ht07_HK59i4ANxA7PA2i_WyXlgXudbeTDQqb7ICdtcQL-7qFgjaao-gNibxO9Tak-nWcBWsXxVGuz9l_wa7b9E5cmd0Mz3vPd2QK7APPdxymDtTQjftQWc0iMLgzcGPJi98x1V3tUFdCR9g1_JUkHlUj8VlhmhkET0jk-wpjNcinqR5EIs6xhWPG2nId8rxRv0wpOiyy2AsRqSFrkOQOYTtKssNlxhCp0TkU-AkFCe5JNKQdoCwkuzTrsBjNOEkWATOnguFksGSsrasGzGQFX1cRBE7jMLgYzpLKU5Bh3ZF0phReUwNVA7V-E_7cQmdUHhq0rc3hv7bLKK8HqDL2DyF13V4D8yyvOhRsH3BaxhytHhVsNlZahll0PWO9nssrhYYJ3wqr66E28t9Hc2J5O-RS4PhihvQpGivnhgYW2ZzDgdVozGM0OTNcsMDVWHRWOTvhdxRhzjltsc-ecnKLN0pzB8elUheR2aaJcNoqo1BoETtNIzeo2ZlNO8eYC_wIOHy18CF9Mxs4dniIu8ZXB2TwADD13jDIvTtn19twGhrqjyl85J9vrGB1cd-7OKrQwuZg7N1NEWkCFWgudLndWYQHYdfnRV78_u0H1e8TzWt7MbGzlR_iDZN6eskf4K0v52BYtx-_IqOgFw3XkpniqNHT0j5LZKyHACzaR6SQdUISyF28Ngyot1F7oids8wfURE2CTsy1IZxx1U-7qGtVVtY6PoiBZl_jDvqKI6oamQhesHMhx4MsSTFw_Q0faFYFD6ydrnYkPoGZcBIHpVBZ_vLrAni4vVZSEeHTVRTVxTyYNdL1D6vwGefxqasHyAdo3zAsw5a-JD_zQGNY1pdqfhqezraLkqKLFUtrd9zKoKWVnnLwv08QiejsjtvwQ4OiAvsNkZvgbU7dYIMvkXZAyYKARd2G99oDVOxj3gQIJGwEpJI5_kQXdKlNPHgc7gA==",
  "id": "rs_02088fee5a079df4016ab2c57df65c87d0954e85e62844594b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.017,\"left_x\":0.35,\"left_y\":-0.085,\"left_z\":0.08},\"note\":\"The lemon is centered near the right fingertips; the avocado is farther ahead and left in the left wrist view. I will lower around the lemon and align the left gripper over the avocado.\"}",
  "call_id": "call_yx5jk90cgYH1dMZ8oQTivFiy",
  "id": "fc_02088fee5a079df4016ab2c580b84487d094c2e6c102119709",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yx5jk90cgYH1dMZ8oQTivFiy",
  "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]: [-0.3794, 1.3354, 0.5648, -0.0837, -0.2783, -0.2703, 0.999, 0.7704, 1.8107, 0.7208, 0.2722, 0.5194, 0.3672, 0.9964]\nstate[eef_state]: left_x=0.3292 left_y=-0.0751 left_z=0.0603 left_yaw=0.0036 left_pitch=-0.2439 left_roll=0.0406 left_gripper=0.999 right_x=0.3471 right_y=0.2197 right_z=0.0161 right_yaw=0.1243 right_pitch=-0.1212 right_roll=-0.0791 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -5.6547, 8.8547, 1.6777, -0.105, 0.1978, -0.0171, 0.2393, -7.6376, 4.465, 1.6239, 0.2613, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2700c36f40b46759213d87cc479d074332c4c7460370526318106e26024fcb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e35f40398aefdecfb531ccb69d9e9ec80b0c5100ec501a6e09676c70213174bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945413b397002447c0d18a644196cb875c775845b483cd5ffeb29d4002a0d3c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.898 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6865, 0.9962, 0.5663, -0.411, -0.466, -0.4664, 0.9991, 0.7513, 1.6249, 0.8833, -0.0219, 0.5102, 0.3534, 0.9963]\nstate[eef_state]: left_x=0.2662 left_y=-0.1109 left_z=0.1163 left_yaw=-0.0474 left_pitch=-0.1609 left_roll=0.0155 left_gripper=0.9991 right_x=0.3616 right_y=0.2246 right_z=0.0995 right_yaw=0.1229 right_pitch=-0.0819 right_roll=-0.0523 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -2.4684, 6.4479, 1.5653, -0.4957, -0.0806, -0.0122, 0.1299, -9.5521, 6.106, 1.9023, 0.4176, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWMTNNHc92jbbiHnwAYZD17FuLmfaxwUSb527pctkOc8h5qeBsyMfmvPmSQWBHrOA66DdE4_q7joPsuWzpq0kYEDkAiAJXxIkPVL76gKwdyLkxzCkoL5ev5uzUikAwKBkTvqkH3UQ7AuX4NEhzLtHsiELL-8ymPUfQvVJf2SufadiDZj5axITNGA74JwM2a5Ga8fs2f3UIWrVSYVe29q4Mas4jrO3W3UB3Q6t5TN_o7p-W4xAjL-kQqZ9-C3K_7dOOsT6TKdMsdTGWiXntbgKd5_6JPhNPzi27KnZDCDbelCAW8cj1iF8jL8E87C1H9ZqU0G-wOCfxH-71bQ5jreBhGKsx0i3VRZqNEzeWx1lMiD4lw9Saq3TnONb0SCo0g7T1nqnP1WVZE9shF0CaxzZFnvA6v2O3vAk31rgROrIgq5Howts-h0NuMXE6QuECLLNI-UFP_Q_SQWrKj0e-3T1ETS3iOxXpqGXGpCHYuOVbKP1FNBepklCLXKozwjXa1Q9EVCz-lDbFUck7-tgKzxLCXt5g8PJkrbwHq9mcjGlC_99H0CN8PrvDK3HplQMhfmg6ASuUjkTlIifWy33XX2F6curB41XBz0G1LqfSMzaLZ911nKjWqBlQvDuGBjqeL6RKjrPCQ8u5zWNRt1w816nOjuGLbmWIgmwudiZpSOBpdc7EDCAnC61a9iTHH4ivLxQVI_r_4TuMNWvxV5nZHihoJiBFLKhcI8PrKwFxWNl3_Y1znGE7prftnOK8FITS6tmnm-2NIA914YmGUJkVqpj72e1z6AgCajSGDQkN_1Uka2t46VqZV5BOOMOmNKxU6vkXQxQOY8_qlKtckI6b7fCTUhqdazI9nmCAPxpHoOnJ1xOQjjvo_8La4DJ-UW_1JuPRw9Z3IqbgRWfBGXZIjpFWjbVWqrdfV1N4s9jPg2vlyQhiWa1UFk0I6k-BPufQo_k8xtY5FdAAohfAAPecjJXGzui0QzAVt1cFsIlyYpyq0tlb1sqze8KIoeuhJS8i6AQgUHT5RFNzk5XjN2e65jAAXdJ4inljit8Z58cV-nbNwRhE3dEDfisWXsiuAi8i4-j4M89aFXQzo-VjgXfMpSzIh4_raZWcwQPsl_NE1pa2SMkgCxKdkfmHqbwTsgRM-40J5H2mCn_u8d4egMpKIgJGIfN_0PhoEq2cZbOcuau8IUcRim00dZDuStZ1wyiAPkEr8DO7PHFOETw5ay_JbcyJBrANgWdOA8xneMNBO9-IabDdismQdqLY28co9u1nyAlE9Fwg4SR1-x_R69bNGr94Zm2q0hWSAe2nit8u09ucuaFwkw1arxXItxSx0uMe7p_27DLP9nc69lirS5VybqXSMqZEpc1rwpmZoo2IsIzH8O5wHq1qn6ldKAjuC4k-rZamT6DksebuDxtSg70lxZO2VNlPtIfKdybLNEtqsO0MuI6nk0UG0n73CQQZg4LXsfKPJaSVUKaXgSORL7ME96ITNOOgfGUF_sPpJp5OwJglgBsyxVTJ-uhQm03U8Cn2ZrArzXvosJAchOk0a8kM-eAPI3BOda6BCYR4fYto98e3q7GfVLyvNNsyDFGzr3tfNj8CX",
  "id": "rs_02088fee5a079df4016ab2c585cc7487d0afded4a7843141aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_gripper\":0,\"left_x\":0.355,\"left_y\":-0.07,\"left_z\":0.016,\"left_pitch\":0},\"note\":\"The lemon sits a little ahead of the jaws, so I will advance and close around it. The left gripper will lower around the centered avocado.\"}",
  "call_id": "call_baGdSLgIgK4oTY1h6VRldVT0",
  "id": "fc_02088fee5a079df4016ab2c589efc087d0914e1a16147f3e59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_baGdSLgIgK4oTY1h6VRldVT0",
  "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]: [-0.3683, 1.6501, 0.3454, 0.6125, -0.3145, -0.2081, 0.9989, 0.7044, 1.869, 0.794, 0.2657, 0.4694, 0.3138, 0.4376]\nstate[eef_state]: left_x=0.3443 left_y=-0.0705 left_z=0.0028 left_yaw=0.0007 left_pitch=-0.0851 left_roll=0.0511 left_gripper=0.9989 right_x=0.3725 right_y=0.2164 right_z=0.0128 right_yaw=0.126 right_pitch=-0.1373 right_roll=-0.0856 right_gripper=0.4376\nstate[joint_eff]: [0.5402, -5.4222, 3.4803, 1.5067, -0.2271, 0.1734, -0.0269, -0.5128, -7.1453, 6.9402, 1.5897, 0.1685, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76c0cfcfdf7e6c470cee289b261b4b5b2ab4029a39c4b3fc9457014519fe2c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8380276a3b28a8a6225e8034e5527c387d4f25bd5384f491b8a245d5274a1c1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29e07e2db9c952530dfcbb6eac9848faceca62c0506cd99600d33ad4951637b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 8.635 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 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]: [-0.3794, 1.3354, 0.5648, -0.0837, -0.2783, -0.2703, 0.999, 0.7704, 1.8107, 0.7208, 0.2722, 0.5194, 0.3672, 0.9964]\nstate[eef_state]: left_x=0.3292 left_y=-0.0751 left_z=0.0603 left_yaw=0.0036 left_pitch=-0.2439 left_roll=0.0406 left_gripper=0.999 right_x=0.3471 right_y=0.2197 right_z=0.0161 right_yaw=0.1243 right_pitch=-0.1212 right_roll=-0.0791 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -5.6547, 8.8547, 1.6777, -0.105, 0.1978, -0.0171, 0.2393, -7.6376, 4.465, 1.6239, 0.2613, 0.0317, -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_z\":0.1,\"left_gripper\":0},\"note\":\"The right jaws have closed to the lemon's width. I will test-lift it while closing the left jaws around the avocado.\"}",
  "call_id": "call_33hc330q5Snpw3KKwv01iiUI",
  "id": "fc_02088fee5a079df4016ab2c5913cfc87d084e3bc30827f7abf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_33hc330q5Snpw3KKwv01iiUI",
  "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]: [-0.3687, 1.6627, 0.3393, 0.6365, -0.321, -0.2131, 0.5433, 0.7029, 1.6855, 0.9241, -0.0853, 0.466, 0.3096, 0.4411]\nstate[eef_state]: left_x=0.3444 left_y=-0.0695 left_z=0.0015 left_yaw=0.0081 left_pitch=-0.0785 left_roll=0.049 left_gripper=0.5433 right_x=0.3694 right_y=0.2137 right_z=0.0781 right_yaw=0.1262 right_pitch=-0.1702 right_roll=-0.1073 right_gripper=0.4411\nstate[joint_eff]: [0.0205, -6.4068, 4.7521, 1.3895, -0.0855, 0.0073, 1.0281, -0.0615, -10.2222, 8.1436, 1.4335, 0.2125, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b894a5cb19c2a09ff5050034428052bfa1f6d1cc3983fb5c7691ca15b83b195",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b321a13b51b15d5cdfd974884e0724e47df84e1ba21a0a2f2addcd59407fb02d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6547c77ec42ed347fcd4bde0cbb8f45b6614a8523aa656c221c1b45bb14167",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.055 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3683, 1.6501, 0.3454, 0.6125, -0.3145, -0.2081, 0.9989, 0.7044, 1.869, 0.794, 0.2657, 0.4694, 0.3138, 0.4376]\nstate[eef_state]: left_x=0.3443 left_y=-0.0705 left_z=0.0028 left_yaw=0.0007 left_pitch=-0.0851 left_roll=0.0511 left_gripper=0.9989 right_x=0.3725 right_y=0.2164 right_z=0.0128 right_yaw=0.126 right_pitch=-0.1373 right_roll=-0.0856 right_gripper=0.4376\nstate[joint_eff]: [0.5402, -5.4222, 3.4803, 1.5067, -0.2271, 0.1734, -0.0269, -0.5128, -7.1453, 6.9402, 1.5897, 0.1685, -0.0855, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.15,\"right_z\":0.2,\"left_z\":0.1},\"note\":\"The lemon is moving with the right gripper, and the left jaws are holding the avocado. I will carry the lemon over the bowl and test-lift the avocado.\"}",
  "call_id": "call_8hCvHKgB5HYK3168OyQOBQgm",
  "id": "fc_02088fee5a079df4016ab2c59ab10887d0ac55f8b92aab2bdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8hCvHKgB5HYK3168OyQOBQgm",
  "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]: [-0.3687, 1.2743, 0.5102, 0.0742, -0.321, -0.2165, 0.5439, 0.3939, 1.766, 1.4658, -0.4667, 0.2592, 0.0788, 0.4415]\nstate[eef_state]: left_x=0.3429 left_y=-0.0689 left_z=0.0872 left_yaw=0.0101 left_pitch=-0.0813 left_roll=0.0474 left_gripper=0.5439 right_x=0.4745 right_y=0.152 right_z=0.1889 right_yaw=0.1153 right_pitch=-0.1725 right_roll=-0.1093 right_gripper=0.4415\nstate[joint_eff]: [-0.1162, -5.1214, 8.8274, 1.6288, -0.1685, -0.0171, 1.0232, -0.4444, -8.7179, 8.7453, 1.4823, 0.0464, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073a114d37591b40a1275e7c87f026d0088cd9785423bf03c3d4f97ad45f474c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e618bdb79228f9e974112be005ed0421efcecc4117e1c5e7050925e641ec077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb119a9d66d69c9a770764b47aeaad8d76e36f9793d5e317974cf0c581c1fdd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.475 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.6627, 0.3393, 0.6365, -0.321, -0.2131, 0.5433, 0.7029, 1.6855, 0.9241, -0.0853, 0.466, 0.3096, 0.4411]\nstate[eef_state]: left_x=0.3444 left_y=-0.0695 left_z=0.0015 left_yaw=0.0081 left_pitch=-0.0785 left_roll=0.049 left_gripper=0.5433 right_x=0.3694 right_y=0.2137 right_z=0.0781 right_yaw=0.1262 right_pitch=-0.1702 right_roll=-0.1073 right_gripper=0.4411\nstate[joint_eff]: [0.0205, -6.4068, 4.7521, 1.3895, -0.0855, 0.0073, 1.0281, -0.0615, -10.2222, 8.1436, 1.4335, 0.2125, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The avocado is securely lifted and the lemon is above the blue bowl. I will lower the lemon just above the rim.\"}",
  "call_id": "call_KQNB4MpnbQ6KMMSxkifcJM1R",
  "id": "fc_02088fee5a079df4016ab2c5a3320087d082201f90da251728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KQNB4MpnbQ6KMMSxkifcJM1R",
  "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]: [-0.3687, 1.272, 0.5167, 0.0349, -0.321, -0.2165, 0.5439, 0.3927, 1.8053, 1.2827, -0.3325, 0.2462, 0.0669, 0.443]\nstate[eef_state]: left_x=0.339 left_y=-0.0674 left_z=0.0834 left_yaw=0.0112 left_pitch=-0.1096 left_roll=0.0587 left_gripper=0.5439 right_x=0.4605 right_y=0.148 right_z=0.1164 right_yaw=0.1263 right_pitch=-0.2606 right_roll=-0.1329 right_gripper=0.443\nstate[joint_eff]: [-0.2256, -4.0684, 5.8872, 1.956, -0.1783, -0.0708, 0.989, 0.253, -9.9897, 7.6786, 1.9609, 0.2369, 0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38385c746d2e65ce153e0ca6037e1c430e0e2a0f282fd1ee5e6f2907ee1aa12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4a4820c0c647750695180a61f24d89cb642c31c0c8623250d81baf58414958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e00252944f368a3c452d537dacdf7a55d85227be8dde073f6b5ebf176200989",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 21.54 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.2743, 0.5102, 0.0742, -0.321, -0.2165, 0.5439, 0.3939, 1.766, 1.4658, -0.4667, 0.2592, 0.0788, 0.4415]\nstate[eef_state]: left_x=0.3429 left_y=-0.0689 left_z=0.0872 left_yaw=0.0101 left_pitch=-0.0813 left_roll=0.0474 left_gripper=0.5439 right_x=0.4745 right_y=0.152 right_z=0.1889 right_yaw=0.1153 right_pitch=-0.1725 right_roll=-0.1093 right_gripper=0.4415\nstate[joint_eff]: [-0.1162, -5.1214, 8.8274, 1.6288, -0.1685, -0.0171, 1.0232, -0.4444, -8.7179, 8.7453, 1.4823, 0.0464, 0.0366, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_z\":0.2},\"note\":\"The lemon is over the bowl opening. I will release it and raise the held avocado to carrying height.\"}",
  "call_id": "call_bfu9fM0IHiVxjmfvlmpjUZIG",
  "id": "fc_02088fee5a079df4016ab2c5a9d51487d080d79f46f064db0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bfu9fM0IHiVxjmfvlmpjUZIG",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.1587, 0.8642, -0.4419, -0.321, -0.2169, 0.5452, 0.3954, 1.816, 1.2667, -0.2676, 0.2497, 0.0669, 0.9966]\nstate[eef_state]: left_x=0.3407 left_y=-0.068 left_z=0.1807 left_yaw=0.0121 left_pitch=-0.1245 left_roll=0.0644 left_gripper=0.5452 right_x=0.4672 right_y=0.1516 right_z=0.1156 right_yaw=0.1285 right_pitch=-0.2231 right_roll=-0.1251 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -5.3949, 9.4427, 1.6142, -0.1734, -0.0415, 0.9939, -0.1846, -10.2906, 7.3504, 1.7851, 0.1245, 0.0855, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:392acfe9d9ae2169575190e090b1ad98d47399aa5b5803cd2d604944da1434f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4376dc82e6334b01e229d396df95aa2bf13653143125392b91b582e93e09b412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad60bd7dabab9fb2156aa639b8438b2987fcdd999daefd928417a4f36c7b3445",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 10.09 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.272, 0.5167, 0.0349, -0.321, -0.2165, 0.5439, 0.3927, 1.8053, 1.2827, -0.3325, 0.2462, 0.0669, 0.443]\nstate[eef_state]: left_x=0.339 left_y=-0.0674 left_z=0.0834 left_yaw=0.0112 left_pitch=-0.1096 left_roll=0.0587 left_gripper=0.5439 right_x=0.4605 right_y=0.148 right_z=0.1164 right_yaw=0.1263 right_pitch=-0.2606 right_roll=-0.1329 right_gripper=0.443\nstate[joint_eff]: [-0.2256, -4.0684, 5.8872, 1.956, -0.1783, -0.0708, 0.989, 0.253, -9.9897, 7.6786, 1.9609, 0.2369, 0.0464, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXBXkykIJIQoyCfu2vRvs1DpYy1RpzeJOw36rY3krvrb9Ebje5de0Cw_p5lXexU_ondcODAgtTmKIFcXSHKrk_qS7ck8tenmILVIa1NdJxhHsaBVFMWzgGf2kLBX4VhfpC-q5PjcGSgQEjMxudhNTqn2ObUxPjtquDLyn_rqli9GaNtH8ndOZTLmUno6pDkBfRPHEOjgBimbxwLTh_LHi0RNzegKeNe6mutVf7rOjLnqv43hVZXhZcJdh-coh59jAWbKVzrw6pOd74QJNpmdYfIqY-hmmYGLJHiz5kTVaA4oCfPOuI49_spI5KGK_8NaPbrSx4_MrK6dM9n_68L5qzGKYDQfxw5JVdvh7JuZmpMKlDgD3hkMZ4zKthXUJI7iCvEKoctuWwYs7JiHcQp2IyM0HizR5sTBxFPA08Ze2M1e90K9LVQFV72fyF3fmJ8OiD5d4MlMYHfocSXVpOsAPoXx1qQmUaKrEz-lg_sF5AhFSWbJWf6opKLNO2pNtz_NZEDRuU5W3NE7j45pRz56zcULWZIdokyhNfZZ7a2WuZttkGp_Nk4JZyNro-Hq4arvGycs70D9dEtBFWPiLqppyrlJP2uFYSJXU8oKLqN8TiM-3u590Vd5o4lVcDz6dKflzG59pTiDS50R5F1OFQZ2jp4zYidKfjJ8A1HDzxlD46M7mxZjSiZ6xYufoonJfc4EBYaN36T5tVkh6gLXxiD4gEYGavDoMgVsz7dNH2Wj_ZyNyNiZu-7EcDEedvtv2Pubw3VJ-CfYdRGHciIRRk0l-y0-xbsQu0sLWDTxoTTsXVM8IzqAqVD8uaV6Jp9LWHZZ24o2fmRsHOxE9XqQEU2GVO5Pdhwbedp9psjZvBtzroW2JK7uS4nI-3R8ORa5pztlLuMDpK39--Fs5tw30-jBuip8110-8xwkWpLhSWswpS9kUawiMXKK5BTZl3sdQuO4dhwUDaEXM9bWHy-y6IXC_nmIhRa91ZusPfKg4CInexfGPm_qqrbjoxWmU8xBXDQ8p2vkpBhPFLzjxyLE-om-9_bPpZzBQ6HnYBGtF__8VN99P1JMgXPKstwBYffTQqFJp42rWykbyvBpGzSw8BJG8qhBVbGuj29rnSYqmUujw29v69kv8KX7QjtZY4Vehj1iwhWpgFFElV_Zcn_hbc4l4fQp0MRSbdB7vX7-AZDJFC3J0FFuCD2lkIE-YWMHZcYEC5bg7XK0SPGlXOxye6FVRW3Gk_zAKB4lQt56_q-A7sOD1aktSrhObnIv3dkqjPAsIz_pcKG3Pm5O2DjD11s2VoLcAYJmgrbeuZ-OkKDxlviNY2dugpL1PwbzsXVxk8_w3_ybADFosmg5MO-D66z3nuR04SE9HJs1mPGhxrIESfQVZkXCZNvx_q8-CpA6okW1kee2TGGMEPMKuEOQPob6xlc9Lx0cGsIkSQ1wst596-MCZnaRIi3zNUpyDoCrktJsHiylF1l1ijLkliIuCV0F_403j09fuMD8HA9iP3EAsrKB1efgJUHg-F1CwfRftRuzOskKzWKQfSWqx7Sije11A-q7a5mxfLpvmKwbFxzwgQKWKePsdQYj46AEFAa45P4cme73t80nL4rFzySls5LUYM4kaoREmm5uNeo5FGwpXgPwiR6CAeF8cTPp0rhfVfKUdxjaTc_vrlwFT6rwckLTVtFmRT0XAWWljaenLGOxZErOllpzCVhZFH4mtlzfMIZ2j-W120jmbd780dzEOQJrMyyhn_zFd2ybHFKmvuN-4t_cQy3SHF78pA-CYrfaCr3Z0yl6PRItEwSuE7MaPstXf1v96CQKKjHr1YxFa9LmBLFeqiD58-2W0fN1u8wReXqfst_PkKmalSl2JVjOV8aPjfGYU0G_F6kn8-jx4hZPAvXDgmlzSBX9oXNc0faiSzZlERFUXJjRtk7BRUXd4epLHiCSjPHOvh8vurIsqOGQjhwEf6AkRD99x2SGR5nhFwAL4frOQYbh55Yh3AtxQyR9aKrA4cZoi71szxijcIO9tM8nGB5oEeSqYZHoZi6_Dt9z9vfR7KmImgP7h6vtzqW2ze1zTkUn9fUiNNpML2NgVBVvCLB8gtp6FMm6H0oHyTENEV1ALimSrH1ZI_JMOL36IIkfeBcWcrtyIokBZWVHtgWg8IIIvUIky4GTfzvLJVmOjSf0fe7OHdIUKLUQxLfCoFhGBj-eLL2hC3ehFbFjfRKiXw3Z6lPp9OKyVclc93f-7aaJ1x2vSh3QvEtMTYXYj3YsY9_gaohSDWg5SzFq948vbaHfD3gEFI1zAju8gGrdlpzWluZtQRnl6cTfsiaWOCddDfleZLp-xsyi6l7UGSMxdkBarQ7CnhvYMjNcxkdpH_gsx84IhIRm1rQkQgBrV1RqfVDLmTDET42ovvQeZ-nSyEs8AS-LB3pIx8RfeK9qx58mDpXovmTaCAmtVxD-_Ofc8X5x1_SZVRyu6Jie7vYPt6lEsCqvXDRBwun8C_xunY0TJ1G_Mah-t_kFUVzGE0Stiljw0EGDzoJwZpXl5ScoHDZoRAIGRN9Z6au6fN1_2xrWiQuhL3QP3Kfwx2LW98ZkODKaiRiwPmaoNH1VvJR42xaNmai8jm9jWX7HIm32iXxzqwBj9h-dzgT3z2Gk4yst83evQyU654N6zuT4ZEp4OwPaKcl3X66Y1-HaPkYzF7OKrDXFUE-NeSE1FIDQlexm-CsnXSKjuhXlBdpPxvvO8fEHtVy8yHrZg6xB-JwQj7UuCCiYLHfjfHijX2TGySnY7hEilMBowt8DMPO718IjYFJL2P9zXRZoqo7VmxkqXMpUoBl46zXLLCmi9CJetEm6qEH-eM9XSF-2yqsrTA5RZnm5vXOzO1Jg4i4-ypTFAFB",
  "id": "rs_02088fee5a079df4016ab2c5b1c11087d08855d0e05078044e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.065,\"right_z\":0.1,\"right_pitch\":0.45},\"note\":\"The lemon slipped past the far side of the blue bowl instead of staying inside. I will approach it again while the left arm keeps holding the avocado.\"}",
  "call_id": "call_CkikWrwUcJaTb43DIE754dQT",
  "id": "fc_02088fee5a079df4016ab2c5bf3d9c87d0bb51e07893d341e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CkikWrwUcJaTb43DIE754dQT",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.3687, 1.161, 0.8639, -0.4675, -0.321, -0.2169, 0.5452, 0.1497, 2.0872, 0.9047, 1.0782, 0.0605, -0.1131, 0.9971]\nstate[eef_state]: left_x=0.3369 left_y=-0.0666 left_z=0.1754 left_yaw=0.0135 left_pitch=-0.1507 left_roll=0.075 left_gripper=0.5452 right_x=0.539 right_y=0.0741 right_z=0.1121 right_yaw=0.1444 right_pitch=0.4598 right_roll=-0.1095 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -4.0547, 6.9128, 1.7363, -0.1685, -0.0513, 0.9988, -0.9641, -8.2256, 4.9299, 1.2283, 0.1783, -0.1343, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7677830fd7fe065f8f419b38c3bb5bb14b7b193ee024214a472f816a2769b158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31dbec354e3e4be3d1c3a667c1aeacf4a5418a3aec0cc46f4e415a048ec46699",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3048e37601092873c373e07fbd61b91f66e3ac39e2327a1b9ef4035fcb4a8c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 7.6 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]: [-0.3687, 1.1587, 0.8642, -0.4419, -0.321, -0.2169, 0.5452, 0.3954, 1.816, 1.2667, -0.2676, 0.2497, 0.0669, 0.9966]\nstate[eef_state]: left_x=0.3407 left_y=-0.068 left_z=0.1807 left_yaw=0.0121 left_pitch=-0.1245 left_roll=0.0644 left_gripper=0.5452 right_x=0.4672 right_y=0.1516 right_z=0.1156 right_yaw=0.1285 right_pitch=-0.2231 right_roll=-0.1251 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -5.3949, 9.4427, 1.6142, -0.1734, -0.0415, 0.9939, -0.1846, -10.2906, 7.3504, 1.7851, 0.1245, 0.0855, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXNhSRi5JLj1Fg2nrOTsZH8rOzuGA_xPsIFKhY64erCiZ3xqjfgKnG8ZndvMw0orGL24Huo_jTV3d_liC5HaKzb63mLkA4nqcDH5d-D8DIadSqAXu2dqTbQqc0-5wcRQIco6K_b-ID9-vwv8F9FGxbA7-6PZ4cibE_wcW3OSjcdRX4jWMzrHj1_WpiVA32gpikLnD1DdJd1LXTyJImEl-zvCLLlRM0NybQcpZ8YVRGr6TyLidoQoelPNc7ynuJbmuPesKb1H3yVuWqFCX_M91gk2OlaAZ6vKmSTNZnj6_zxKPSswZ57LZzftT-U6DRzbP2pCCkKNnuSxoaZ0EpEtpJJTFCa1PoEXKzHox-VGPaYoVAr1J77zbmEvIvEZ3v2CQwY32gWqs8fFyJCX1r3J-CHtty9qtibvxT9IGgUZ3__D26JcB4Wo_vVGpFaTxCnjYW6T9zYoUkchWgHPaAPuru1Ch_N3iIuMR0t1Tgz4AO1MrO-MvKCZhX2O1mtEjtTy_Br_m5oBZbekOp2Yq-aByn6_7_pNggwl3fPuWLix3q-7iFEDPLIIJFioB-tVpDqYgI_nuBeFi9C5-ndwPE0VbeKryiT3wPMlx7vbdpC_jyZv748q1UKHgqo1YujZWISq8pio-1POkLrgYkXZ7Fr3WuN_Uszdrt-IEpbUyMpeACc-bNSOti6wbNtCNOObSU6F4EYdIfj54oGAmPjlzmzwPt0BWgKTwlGmBVYc-28pk3aI_9BW22QHILCZq03m8TzOzqnbb2U8w0Duo8gIeT-BkPbFuaf64x2WhXwAkJphL8BPyWoXGvHj2LZ6R-gAb7izNKmsX-xC0qlXL2iLpw9DdMGH1ZCg9tHTt11KVa7Nd5Si-OE0ROu1ZDmfvxxyO65_lRFxoz9rgqwKfqdJVl5oZXF-DnTFIGK-DDFE8o1EDtUOjoCQP90tEqqWmWFTLhmLtJHgQouMDxTAjyxMDjgMJOYtaXdaQwhiPGg1Ib0AR9yZSxV_Sxh5X7wrrUys-wLGwB3yhtbb4vZujVrwFGgDm3ocvUQ7sa7dcqcRroShTqex2fcgT9Ee71zeY4zOkAil-ryS1pXLIpAma_SeqwTUVPKTRUzmGLMKeC07LbQRjeJSpkEhQYrYX3gpRpoHxjk_ri_D6dMHydrvtfzhgmZd71t19d7WbeJjY6dT50qgfDD8SdPdLKCRbJas9ruryyJdKhjPAqmKqD-Jf7YKWiu04G1i8excg8_S_YobQAqFiOARq6YMrQ33qrsI3huzYDha-JuaKSKYBwqB4l-R1I_KH8ayzvLh37n09J-g9ZDCyqkcLp3VY2Y-1hBnq3HXbQyL9_JAUyZoTMmmcgUJhEaFiONqghZtMHlIXoKXu9EMUBFN_QfD22esZmo4_gsolZd3RokAxMHWDnAcMoBbqJJJADBNa8MaH4XwCWYQ1c7nU9tb27cf7z3Zu5D-MWM3lOSc53cPLlVbllvBI_5_SIeby4XPH0KhpvooMB2a-v2Zlf-qxzY1N2l_cbak2BSEGT3G1bNGC5mF5Y0Evb_FqR42hOLgUhlUW3Glsfotgtyiow_OPQgZahSXMCeEKR8j2nQhwOOCo6SVK8bgRoCmMa726gUZA==",
  "id": "rs_02088fee5a079df4016ab2c5c84c0887d090b3c4e92baedc5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.07,\"left_z\":0.025,\"right_x\":0.4,\"right_y\":0.05,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The lemon has rolled to the far fence, beyond the safe table-level reach. I will lower the avocado back onto the table and withdraw the right arm rather than chase the lemon into the fence.\"}",
  "call_id": "call_3AryepBzrsx0z4f2BjImwGoD",
  "id": "fc_02088fee5a079df4016ab2c5cb067c87d0a261a240db4ddc53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3AryepBzrsx0z4f2BjImwGoD",
  "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]: [-0.3687, 1.5047, 0.4541, 0.2161, -0.321, -0.2165, 0.548, 0.1398, 1.309, 0.873, -0.1005, 0.0498, -0.1173, 0.9971]\nstate[eef_state]: left_x=0.3349 left_y=-0.0658 left_z=0.0167 left_yaw=0.0182 left_pitch=-0.2154 left_roll=0.1019 left_gripper=0.548 right_x=0.4078 right_y=0.0521 right_z=0.1921 right_yaw=0.1463 right_pitch=0.0274 right_roll=-0.1099 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -5.3675, 5.0667, 1.8535, -0.2027, -0.0513, 0.7985, -0.3077, -6.3521, 9.5932, 1.7509, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b4aaff16bba634c064e73f6f83d411aab10dc0e720d74b5d148e56dfd16e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5df128541f4eed2a6de89af3e5f08e818ea1a9bd3fe9e765f53faf3f3d7404",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970078ffd1d7f1c65366b6e0fc666ab76d761def9755ea38706132510b1fbef2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 8.578 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.161, 0.8639, -0.4675, -0.321, -0.2169, 0.5452, 0.1497, 2.0872, 0.9047, 1.0782, 0.0605, -0.1131, 0.9971]\nstate[eef_state]: left_x=0.3369 left_y=-0.0666 left_z=0.1754 left_yaw=0.0135 left_pitch=-0.1507 left_roll=0.075 left_gripper=0.5452 right_x=0.539 right_y=0.0741 right_z=0.1121 right_yaw=0.1444 right_pitch=0.4598 right_roll=-0.1095 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -4.0547, 6.9128, 1.7363, -0.1685, -0.0513, 0.9988, -0.9641, -8.2256, 4.9299, 1.2283, 0.1783, -0.1343, 0.0366]\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\":1},\"note\":\"The avocado is resting on the table again. I will release it before parking the arms.\"}",
  "call_id": "call_xns79olaKCVmS68yaUIRhtAh",
  "id": "fc_02088fee5a079df4016ab2c5d57e8087d0a8fa58c770a9060d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xns79olaKCVmS68yaUIRhtAh",
  "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]: [-0.3687, 1.5204, 0.4442, 0.2203, -0.321, -0.2169, 0.9952, 0.1398, 1.3071, 0.8772, -0.131, 0.0498, -0.1173, 0.9971]\nstate[eef_state]: left_x=0.3308 left_y=-0.0642 left_z=0.0092 left_yaw=0.0202 left_pitch=-0.2352 left_roll=0.11 left_gripper=0.9952 right_x=0.4045 right_y=0.0517 right_z=0.1883 right_yaw=0.1463 right_pitch=0.003 right_roll=-0.1097 right_gripper=0.9971\nstate[joint_eff]: [-0.0342, -6.5026, 6.0103, 1.37, -0.2125, -0.0464, -0.0366, -0.3761, -5.1487, 6.653, 2.1026, -0.0171, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf155ff5d5a00801d9c586a339ebf8e9ce93f3a674ab0ed57552b8451af33cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0825b16f64f4f30d9a35bb50bff889334339c42af62926fda1987d62a7efe9b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4d8a002441a943388931e1072d18a94e4946ca63b1eef2dd07a8c4b6946ff6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 9.313 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3687, 1.5047, 0.4541, 0.2161, -0.321, -0.2165, 0.548, 0.1398, 1.309, 0.873, -0.1005, 0.0498, -0.1173, 0.9971]\nstate[eef_state]: left_x=0.3349 left_y=-0.0658 left_z=0.0167 left_yaw=0.0182 left_pitch=-0.2154 left_roll=0.1019 left_gripper=0.548 right_x=0.4078 right_y=0.0521 right_z=0.1921 right_yaw=0.1463 right_pitch=0.0274 right_roll=-0.1099 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -5.3675, 5.0667, 1.8535, -0.2027, -0.0513, 0.7985, -0.3077, -6.3521, 9.5932, 1.7509, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The avocado is released and the pear remains in the blue bowl. I am parking both arms clear of the objects because the lemon needs to be moved back within reach.\"}",
  "call_id": "call_85tIgD41ZwS9WrMCfgakS0GI",
  "id": "fc_02088fee5a079df4016ab2c5dd68d487d09c53b07cc2fcfea7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_85tIgD41ZwS9WrMCfgakS0GI",
  "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]: [-0.1265, 0.8295, 0.6418, -0.4088, -0.2001, -0.033, 0.9962, -0.0956, 0.8299, 0.693, -0.4103, -0.1253, -0.2302, 0.9971]\nstate[eef_state]: left_x=0.2975 left_y=0.0012 left_z=0.1835 left_yaw=0.052 left_pitch=-0.0182 left_roll=0.1017 left_gripper=0.9962 right_x=0.3035 right_y=-0.0033 right_z=0.2053 right_yaw=0.1192 right_pitch=0.0203 right_roll=-0.1157 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -1.9077, 9.6205, 1.7411, 0.105, 0.1197, 0.0855, -0.212, -1.6068, 6.612, 1.917, -0.1734, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fae634d00c0752a79b1d5816d0c2d8a0e03b5d0143bd4ecb6a17e5e00edea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d31295fcead91a8106bbbbf9af37a0f1c37722dafe2ab8fe55e982553672376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a81a58d57703d467fb6a0079515597fb97d4dc847f251ad94cb95619f045b9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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