adhoc

completed
2026-09-22T17:10:40.715067+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
246 s
total steps
340
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 a green pear and yellow fruit beside the blue bowl, plus a dark fruit near the white bowl. I am positioning the right gripper above the pear first.
move_to
right_x0.3400right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8005, 0.6144, -0.3813, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994] state[eef_state]: left_x=0.2963 left_y=0.0001 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4991, -1.5795, 9.5111, 1.8291, -0.1001, 0.1734, -0.1099, -0.1299, -1.7983, 9.0872, 1.8535, -0.0855, 0.1538, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.12,"right_z":0.15,"right_gripper":1},"note":"I see a green pear and yellow fruit beside the blue bowl, plus a dark fruit near the white bowl. I am positioning the right gripper above the pear 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 pear is right of the jaw center in the wrist view. I am shifting right and slightly forward while lowering to grasp its body.
move_to
right_x0.3600right_y0.0800right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8024, 0.6144, -0.3866, -0.0139, -0.0307, 0.999, 0.5453, 1.2213, 0.6544, -0.1383, 0.4282, 0.271, 0.9994] state[eef_state]: left_x=0.2957 left_y=0.0001 left_z=0.181 left_yaw=0.0006 left_pitch=-0.0073 left_roll=-0.0008 left_gripper=0.999 right_x=0.3306 right_y=0.119 right_z=0.1297 right_yaw=0.0331 right_pitch=-0.0634 right_roll=-0.0369 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.1692, 7.0769, 1.746, -0.022, -0.0317, -0.0171, -0.2803, -4.5333, 9.4291, 1.8095, 0.3687, 0.2125, -0.0708] 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":0.36,"right_y":0.08,"right_z":0.045},"note":"The pear is right of the jaw center in the wrist view. I am shifting right and slightly forward while lowering to grasp its body."})
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 pear body is still to the right of the finger column, so I am making a smaller lateral correction before closing.
move_to
right_x0.3750right_y0.0430right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6144, -0.4007, -0.0139, -0.0311, 0.999, 0.3317, 1.5112, 0.4492, 0.3691, 0.2638, 0.1364, 0.9994] state[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1771 left_yaw=0.0008 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.999 right_x=0.3554 right_y=0.0775 right_z=0.0372 right_yaw=0.0263 right_pitch=-0.0976 right_roll=-0.0424 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.6068, 7.0496, 1.8926, -0.0757, -0.022, -0.0073, -0.1299, -5.8462, 5.4496, 1.8779, 0.0317, -0.1245, -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_x":0.375,"right_y":0.043,"right_z":0.025},"note":"The pear body is still to the right of the finger column, so I am making a smaller lateral correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pear is now centered between the open fingers at table level. I am closing the gripper around its lower body.
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, 0.807, 0.614, -0.4084, -0.0139, -0.0334, 0.999, 0.1665, 1.6051, 0.4503, 0.4438, 0.1467, 0.0357, 0.9994] state[eef_state]: left_x=0.293 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.999 right_x=0.3672 right_y=0.0392 right_z=0.0164 right_yaw=0.0132 right_pitch=-0.135 right_roll=-0.051 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.347, 7.0085, 1.7802, -0.0562, -0.0562, -0.0073, 0.1436, -5.8051, 5.8188, 1.8242, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is now centered between the open fingers at table level. I am closing the gripper around its lower body."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper closed empty; the pear is just beyond the fingertips. I am reopening and advancing about three centimeters beyond the previous target for another grasp.
move_to
right_gripper1.0000right_x0.4070right_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, 0.807, 0.614, -0.4168, -0.0139, -0.0334, 0.999, 0.1673, 1.6047, 0.4492, 0.4366, 0.1394, 0.033, 0.012] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1734 left_yaw=0.0021 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.999 right_x=0.3655 right_y=0.0405 right_z=0.0147 right_yaw=0.0214 right_pitch=-0.1437 right_roll=-0.0495 right_gripper=0.012 state[joint_eff]: [-0.2256, -1.306, 6.9949, 1.7705, -0.0513, -0.0757, -0.0073, -0.1162, -5.8598, 5.0667, 1.7216, 0.149, 0.0122, 1.0867] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.407,"right_z":0.035},"note":"The gripper closed empty; the pear is just beyond the fingertips. I am reopening and advancing about three centimeters beyond the previous target for another grasp."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe pear now extends into the finger opening. I am closing again to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.614, -0.4236, -0.0139, -0.0334, 0.999, 0.1463, 1.6623, 0.6125, 0.3088, 0.1177, 0.0078, 0.9957] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.999 right_x=0.3976 right_y=0.0412 right_z=0.0267 right_yaw=0.0321 right_pitch=-0.1683 right_roll=-0.057 right_gripper=0.9957 state[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7363, -0.0513, -0.0513, -0.0171, -0.6085, -6.4342, 7.1453, 1.6044, 0.0122, 0.0952, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear now extends into the finger opening. I am closing again to secure it."})
tool
executing move_to over 10 steps (1.0s)
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 second close was empty and nudged the pear forward. From the overhead view it is now beside the blue bowl, so I am repositioning above its wider middle rather than repeating the low grasp.
move_to
right_gripper1.0000right_x0.4500right_y0.0520right_z0.0800left_x0.2960left_y0.0000left_z0.1830
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.614, -0.424, -0.0139, -0.0334, 0.999, 0.1463, 1.6642, 0.6159, 0.3046, 0.1177, -0.0002, 0.0122] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.999 right_x=0.3979 right_y=0.0413 right_z=0.0264 right_yaw=0.0364 right_pitch=-0.1713 right_roll=-0.0633 right_gripper=0.0122 state[joint_eff]: [-0.1709, -1.3333, 7.159, 1.6874, -0.022, -0.0171, -0.0073, -0.3487, -7.0085, 5.0393, 1.6239, 0.0171, 0.0708, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). 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":1,"right_x":0.45,"right_y":0.052,"right_z":0.08,"left_x":0.296,"left_y":0,"left_z":0.183},"note":"The second close was empty and nudged the pear forward. From the overhead view it is now beside the blue bowl, so I am repositioning above its wider middle rather than repeating the low 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 pear is aligned with the jaw column at the bottom of the wrist view. I am lowering around its body and moving slightly forward before closing.
move_to
right_x0.4630right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8352, 0.6304, -0.4614, -0.0139, -0.0338, 0.999, 0.1551, 1.6966, 0.9112, 0.0166, 0.1173, -0.009, 0.9986] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1643 left_yaw=0.0024 left_pitch=-0.0988 left_roll=-0.0013 left_gripper=0.999 right_x=0.4426 right_y=0.0519 right_z=0.0725 right_yaw=0.0498 right_pitch=-0.1967 right_roll=-0.0723 right_gripper=0.9986 state[joint_eff]: [-0.4171, -1.3197, 9.9077, 1.79, -0.0611, -0.0464, -0.0073, -0.1983, -7.6103, 7.9658, 1.6239, 0.0562, 0.105, -0.1538] 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_x":0.463,"right_z":0.05},"note":"The pear is aligned with the jaw column at the bottom of the wrist view. I am lowering around its body and moving slightly forward before closing."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe pear's broad body fills the space between the fingertips. I am closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4686, -0.0139, -0.0338, 0.999, 0.1482, 1.8271, 0.9314, 0.0666, 0.1062, -0.0196, 0.9986] state[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1628 left_yaw=0.0024 left_pitch=-0.1072 left_roll=-0.0011 left_gripper=0.999 right_x=0.4502 right_y=0.0519 right_z=0.0326 right_yaw=0.057 right_pitch=-0.2579 right_roll=-0.0779 right_gripper=0.9986 state[joint_eff]: [-0.2803, -1.3607, 6.9265, 1.7118, -0.0659, -0.022, -0.0171, -0.5538, -9.6615, 7.6786, 1.7509, 0.0171, 0.0024, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear's broad body fills the space between the fingertips. I am closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe gripper is holding a substantial width, consistent with the pear. I am lifting to confirm the fruit comes off the table.
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]: [-0.02, 0.8371, 0.6312, -0.4751, -0.0139, -0.0338, 0.999, 0.1482, 1.8191, 0.9375, 0.1108, 0.099, -0.0269, 0.5809] state[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1615 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.999 right_x=0.4604 right_y=0.0547 right_z=0.0458 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.0727 right_gripper=0.5809 state[joint_eff]: [-0.1846, -1.2786, 6.9675, 1.7363, -0.0806, -0.0366, -0.0073, -0.335, -8.2393, 5.3675, 1.1453, 0.0415, 0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The gripper is holding a substantial width, consistent with the pear. I am lifting to confirm the fruit comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe pear remains secured during the lift. I am carrying it leftward over the blue bowl with additional height to clear the rim.
move_to
right_x0.4600right_y0.2050right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4759, -0.0139, -0.0338, 0.999, 0.1482, 1.702, 1.1004, -0.2604, 0.0952, -0.038, 0.5837] state[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1614 left_yaw=0.0024 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.999 right_x=0.4476 right_y=0.0535 right_z=0.098 right_yaw=0.0761 right_pitch=-0.2921 right_roll=-0.0848 right_gripper=0.5837 state[joint_eff]: [-0.3214, -1.2513, 6.9538, 1.6532, -0.022, -0.0513, -0.0122, -0.1983, -11.1248, 9.2239, 1.6825, 0.0171, 0.0708, 0.7839] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.205,"right_z":0.20},"note":"The pear remains secured during the lift. I am carrying it leftward over the blue bowl with additional height to clear the rim."})
tool
executing move_to over 13 steps (1.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe pear is directly above the blue bowl opening. I am releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.5182, 1.906, 1.7321, -0.7731, 0.2996, 0.218, 0.586] state[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1613 left_yaw=0.0021 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.999 right_x=0.4567 right_y=0.2045 right_z=0.1843 right_yaw=0.1189 right_pitch=-0.324 right_roll=-0.0976 right_gripper=0.586 state[joint_eff]: [-0.2256, -1.4564, 7.1453, 1.619, -0.0464, -0.0513, -0.0171, 0.253, -10.6462, 8.6632, 1.2625, 0.4274, 0.149, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is directly above the blue bowl opening. I am releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
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 pear is visibly inside the blue bowl. I am moving to the yellow fruit just in front and left of it.
move_to
right_x0.3350right_y0.2600right_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, 0.8371, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5209, 1.9118, 1.7351, -0.8051, 0.2985, 0.2134, 0.9961] state[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.1148 left_roll=-0.001 left_gripper=0.999 right_x=0.4515 right_y=0.2033 right_z=0.1783 right_yaw=0.1203 right_pitch=-0.3566 right_roll=-0.1141 right_gripper=0.9961 state[joint_eff]: [-0.3624, -1.4564, 6.9538, 1.6825, -0.0708, -0.0659, -0.0171, -0.1162, -10.6598, 6.5846, 1.5995, 0.1099, 0.0269, -0.2418] 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":0.335,"right_y":0.26,"right_z":0.1},"note":"The pear is visibly inside the blue bowl. I am moving to the yellow fruit just in front and left of it."})
tool
executing move_to over 9 steps (0.9s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe yellow fruit is centered in the wrist view. I am lowering around it and compensating the tool's backward tilt to improve finger alignment.
move_to
right_x0.3600right_y0.2600right_z0.0400right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.8215, 1.7855, 1.2591, -0.6048, 0.4286, 0.4515, 0.9966] state[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1606 left_yaw=0.0024 left_pitch=-0.1175 left_roll=-0.0009 left_gripper=0.999 right_x=0.3347 right_y=0.2573 right_z=0.09 right_yaw=0.1491 right_pitch=-0.4099 right_roll=-0.1522 right_gripper=0.9966 state[joint_eff]: [-0.212, -1.5658, 7.3231, 1.6532, -0.0806, -0.022, -0.0122, 0.1436, -11.0154, 6.5026, 1.3211, 0.3736, 0.1392, 0.0415] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.26,"right_z":0.04,"right_pitch":0.35},"note":"The yellow fruit is centered in the wrist view. I am lowering around it and compensating the tool's backward tilt to improve finger alignment."})
tool
executing move_to over 26 steps (2.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe yellow fruit is between the fingers at the bottom of the wrist view. I am closing around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8402, 0.6312, -0.4767, -0.0139, -0.0338, 0.999, 0.9081, 2.1109, 0.6716, 1.0264, 0.8005, 0.1009, 0.9966] state[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.1182 left_roll=-0.0009 left_gripper=0.999 right_x=0.3582 right_y=0.2588 right_z=0.0261 right_yaw=0.1676 right_pitch=0.2752 right_roll=-0.1814 right_gripper=0.9966 state[joint_eff]: [-0.3487, -1.2786, 7.1453, 1.6044, -0.0366, -0.0513, -0.0171, 0.4171, -8.7043, 2.9197, 1.9805, 0.3346, -0.1245, -0.0073] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is between the fingers at the bottom of the wrist view. I am closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe gripper has stopped at the yellow fruit's width. I am lifting it clear of the table to verify the grasp.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8402, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 2.1242, 0.6628, 1.0313, 0.807, 0.0937, 0.5135] state[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.1605 left_yaw=0.0021 left_pitch=-0.1179 left_roll=-0.0011 left_gripper=0.999 right_x=0.3565 right_y=0.2545 right_z=0.0196 right_yaw=0.1683 right_pitch=0.2636 right_roll=-0.2026 right_gripper=0.5135 state[joint_eff]: [-0.1846, -1.4701, 6.9538, 1.6093, -0.022, -0.0415, -0.0073, -0.2803, -9.8256, 4.2462, 1.5653, 0.0611, 0.0171, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The gripper has stopped at the yellow fruit's width. I am lifting it clear of the table to verify the grasp."})
tool
executing move_to over 9 steps (0.9s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe yellow fruit lifted with the gripper. I am bringing it over the blue bowl, leaving space beside the upright pear.
move_to
right_x0.4650right_y0.1900right_z0.2350
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, 0.8417, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 1.6783, 0.7547, 0.4896, 0.799, 0.0925, 0.5159] state[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.999 right_x=0.3553 right_y=0.2546 right_z=0.1341 right_yaw=0.1762 right_pitch=0.2583 right_roll=-0.2038 right_gripper=0.5159 state[joint_eff]: [-0.1983, -1.5795, 6.9812, 1.6386, -0.0464, -0.0562, -0.0073, -0.1162, -8.7179, 8.1846, 1.7363, 0.2857, -0.0317, 0.7497] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.19,"right_z":0.235},"note":"The yellow fruit lifted with the gripper. I am bringing it over the blue bowl, leaving space beside the upright pear."})
tool
executing move_to over 9 steps (0.9s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe yellow fruit is over the blue bowl, so I am releasing it. The left arm will approach the remaining dark fruit while staying well away from the right arm.
move_to
right_gripper1.0000left_x0.3450left_y-0.0950left_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, 0.8452, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5503, 1.6451, 1.0859, 0.1959, 0.4877, -0.0689, 0.5151] state[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1591 left_yaw=0.0024 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.999 right_x=0.4597 right_y=0.1891 right_z=0.216 right_yaw=0.1594 right_pitch=0.2348 right_roll=-0.2178 right_gripper=0.5151 state[joint_eff]: [-0.3624, -1.812, 7.1453, 1.5946, -0.0513, -0.0611, -0.0122, -0.3077, -8.6085, 8.8957, 1.8926, 0.0317, 0.0073, 0.4908] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.345,"left_y":-0.095,"left_z":0.12},"note":"The yellow fruit is over the blue bowl, so I am releasing it. The left arm will approach the remaining dark fruit while staying well away from the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteBoth colored fruits are now in the blue bowl. The dark fruit is slightly left of the left gripper, so I am aligning and lowering for its grasp while parking the right arm.
move_to
left_x0.3900left_y-0.0650left_z0.0400left_pitch0.2000right_x0.3000right_y0.0000right_z0.2200right_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]: [-0.4271, 1.2465, 0.6476, -0.2237, -0.297, -0.2882, 0.999, 0.5495, 1.6474, 1.0927, 0.1669, 0.4744, -0.0788, 0.9973] state[eef_state]: left_x=0.3275 left_y=-0.0883 left_z=0.0986 left_yaw=-0.0216 left_pitch=-0.2094 left_roll=0.0284 left_gripper=0.999 right_x=0.4587 right_y=0.1905 right_z=0.2115 right_yaw=0.1774 right_pitch=0.2091 right_roll=-0.232 right_gripper=0.9973 state[joint_eff]: [-0.212, -4.7111, 9.1419, 1.6679, -0.3443, -0.022, -0.0122, 0.0068, -8.3077, 6.3521, 2.0488, 0.2125, 0.0708, -0.022] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.04,"left_pitch":0.2,"right_x":0.3,"right_y":0,"right_z":0.22,"right_pitch":0},"note":"Both colored fruits are now in the blue bowl. The dark fruit is slightly left of the left gripper, so I am aligning and lowering for its grasp while parking the right arm."})
tool
executing move_to over 16 steps (1.6s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe dark fruit is within the finger opening; I am making a small alignment correction and closing. The yellow fruit has rolled outside the blue bowl, so I will need to put it back before pouring.
move_to
left_x0.4070left_y-0.0450left_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]: [-0.2981, 1.7992, 0.3531, 0.9615, -0.2813, -0.1181, 0.999, -0.0257, 0.8467, 0.7578, -0.4278, 0.0006, -0.2985, 0.9979] state[eef_state]: left_x=0.3807 left_y=-0.0619 left_z=0.022 left_yaw=-0.0047 left_pitch=0.1029 left_roll=0.0426 left_gripper=0.999 right_x=0.3091 right_y=-0.0045 right_z=0.2261 right_yaw=0.1237 right_pitch=0.0326 right_roll=-0.2395 right_gripper=0.9979 state[joint_eff]: [0.4034, -6.3521, 3.1521, 2.1465, -0.0073, 0.2125, -0.0073, -0.1709, -1.6205, 6.8991, 1.917, -0.0855, -0.0073, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.407,"left_y":-0.045,"left_gripper":0},"note":"The dark fruit is within the finger opening; I am making a small alignment correction and closing. The yellow fruit has rolled outside the blue bowl, so I will need to put it back before pouring."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe left gripper holds the dark fruit at a nonzero width. I am lifting to confirm it is secure before carrying it to the blue bowl.
move_to
left_z0.1700
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]: [-0.2104, 1.8462, 0.4191, 0.9295, -0.2211, -0.0967, 0.5143, -0.0242, 0.8528, 0.7578, -0.4675, -0.0124, -0.3222, 0.998] state[eef_state]: left_x=0.3995 left_y=-0.042 left_z=0.0166 left_yaw=0.0206 left_pitch=0.0826 left_roll=0.0375 left_gripper=0.5143 right_x=0.3048 right_y=-0.0016 right_z=0.2159 right_yaw=0.1486 right_pitch=-0.0146 right_roll=-0.2456 right_gripper=0.998 state[joint_eff]: [0.4855, -5.7504, 5.6957, 1.9267, 0.0757, 0.1929, 1.0281, -0.1709, -1.8803, 7.0906, 2.127, 0.105, 0.1783, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The left gripper holds the dark fruit at a nonzero width. I am lifting to confirm it is secure before carrying it to the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe dark fruit lifted successfully. I am carrying it toward the blue bowl, while the right arm approaches the escaped yellow fruit on the far-right side.
move_to
left_x0.4800left_y-0.3900left_z0.2200right_x0.3600right_y0.0550right_z0.1000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.2096, 1.3216, 0.6796, 0.1444, -0.2237, -0.1024, 0.5174, -0.0242, 0.8547, 0.7578, -0.4763, -0.0124, -0.3237, 0.998] state[eef_state]: left_x=0.4003 left_y=-0.0414 left_z=0.1537 left_yaw=0.0267 left_pitch=0.083 left_roll=0.0336 left_gripper=0.5174 right_x=0.3038 right_y=-0.0016 right_z=0.2135 right_yaw=0.1494 right_pitch=-0.0254 right_roll=-0.245 right_gripper=0.998 state[joint_eff]: [-0.2667, -6.735, 9.3607, 1.8095, -0.0757, 0.0366, 0.7009, 0.0068, -1.7299, 7.1316, 1.8437, -0.0122, -0.0269, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.39,"left_z":0.22,"right_x":0.36,"right_y":0.055,"right_z":0.1,"right_pitch":0.2},"note":"The dark fruit lifted successfully. I am carrying it toward the blue bowl, while the right arm approaches the escaped yellow fruit on the far-right side."})
tool
executing move_to over 31 steps (3.1s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe dark fruit is above the blue bowl; I am lowering it toward the opening to avoid another bounce-out. The right gripper is aligned with the yellow fruit and is moving down around it.
move_to
left_z0.1450right_x0.4010right_y0.0550right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8818, 2.3825, 2.3135, -0.6483, -0.7708, -0.5446, 0.5176, 0.2474, 1.3472, 0.3012, 0.6212, 0.2104, -0.2161, 0.998] state[eef_state]: left_x=0.4846 left_y=-0.3891 left_z=0.2074 left_yaw=0.0207 left_pitch=0.0762 left_roll=0.0194 left_gripper=0.5176 right_x=0.3549 right_y=0.0553 right_z=0.0876 right_yaw=0.1745 right_pitch=0.1317 right_roll=-0.2653 right_gripper=0.998 state[joint_eff]: [-0.8274, -15.2274, 8.4855, 0.9402, -0.525, -0.0269, 0.6862, 0.4171, -4.3009, 5.053, 2.2784, 0.2369, 0.232, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.145,"right_x":0.401,"right_y":0.055,"right_z":0.04},"note":"The dark fruit is above the blue bowl; I am lowering it toward the opening to avoid another bounce-out. The right gripper is aligned with the yellow fruit and is moving down around it."})
tool
executing move_to over 5 steps (0.5s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteThe dark fruit is over the bowl opening, and the yellow fruit is between the right fingertips. I am releasing the dark fruit and grasping the yellow one.
move_to
left_gripper1.0000right_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]: [-0.8822, 2.3753, 2.0571, -0.4767, -0.7673, -0.5476, 0.5185, 0.2054, 1.7664, 0.3733, 0.8665, 0.1745, -0.2298, 0.998] state[eef_state]: left_x=0.4787 left_y=-0.383 left_z=0.1348 left_yaw=0.0164 left_pitch=0.0263 left_roll=0.0761 left_gripper=0.5185 right_x=0.3822 right_y=0.052 right_z=0.0179 right_yaw=0.1708 right_pitch=0.0272 right_roll=-0.2664 right_gripper=0.998 state[joint_eff]: [-0.1983, -14.735, 6.3248, 1.6825, -0.3883, 0.0122, 0.4078, -0.7043, -7.1316, 5.053, 2.293, -0.0464, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_gripper":0},"note":"The dark fruit is over the bowl opening, and the yellow fruit is between the right fingertips. I am releasing the dark fruit and grasping the yellow one."})
tool
executing move_to over 10 steps (1.0s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent noteThe dark fruit bounced out toward the far edge of the table after release. I am lifting the yellow fruit and clearing the left arm so I can safely place the held fruit before assessing the escaped one.
move_to
right_z0.1600left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8822, 2.3753, 2.0407, -0.4751, -0.7662, -0.551, 0.997, 0.2054, 1.7821, 0.3786, 0.8928, 0.1635, -0.2356, 0.6381] state[eef_state]: left_x=0.4771 left_y=-0.3812 left_z=0.1285 left_yaw=0.0172 left_pitch=0.0166 left_roll=0.0843 left_gripper=0.997 right_x=0.3857 right_y=0.0547 right_z=0.0193 right_yaw=0.1831 right_pitch=0.0422 right_roll=-0.2654 right_gripper=0.6381 state[joint_eff]: [-0.3487, -13.9282, 8.0342, 1.3846, -0.315, -0.0024, -0.149, -0.0615, -7.5556, 3.3983, 1.5018, 0.1148, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.16,"left_x":0.3,"left_y":0,"left_z":0.2},"note":"The dark fruit bounced out toward the far edge of the table after release. I am lifting the yellow fruit and clearing the left arm so I can safely place the held fruit before assessing the escaped one."})
tool
executing move_to over 34 steps (3.4s)
step 284
top_cam
camera top_cam step 284
assistant
agent noteThe blue bowl is small and the pear occupies most of its opening. I am centering the yellow fruit over the bowl more carefully rather than releasing from its edge.
move_to
right_x0.4900right_y0.2900right_z0.2400
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]: [-0.1169, 0.8337, 0.6792, -0.3897, -0.2043, -0.0566, 0.9975, 0.2062, 1.2713, 0.6437, 0.0769, 0.1593, -0.2401, 0.6408] state[eef_state]: left_x=0.3045 left_y=0.0039 left_z=0.2034 left_yaw=0.0779 left_pitch=0.0343 left_roll=0.0742 left_gripper=0.9975 right_x=0.381 right_y=0.0547 right_z=0.1412 right_yaw=0.1899 right_pitch=0.0015 right_roll=-0.268 right_gripper=0.6408 state[joint_eff]: [-0.0479, -1.5658, 6.5846, 1.7802, 0.1783, 0.1197, 0.0464, -0.3077, -6.147, 9.4154, 1.8046, 0.022, -0.0269, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.29,"right_z":0.24},"note":"The blue bowl is small and the pear occupies most of its opening. I am centering the yellow fruit over the bowl more carefully rather than releasing from its edge."})
tool
executing move_to over 20 steps (2.0s)
step 304
assistant
agent noteThe yellow fruit is now above the blue bowl. I am lowering slowly so it can settle against the pear instead of falling and bouncing away.
move_to
right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 0.8387, 0.6785, -0.4076, -0.194, -0.0525, 0.9976, 0.691, 2.0159, 1.8362, -0.4911, 0.5316, 0.0177, 0.6413] state[eef_state]: left_x=0.3027 left_y=0.003 left_z=0.1978 left_yaw=0.0692 left_pitch=0.0099 left_roll=0.0769 left_gripper=0.9976 right_x=0.4861 right_y=0.2905 right_z=0.2275 right_yaw=0.2313 right_pitch=-0.0249 right_roll=-0.287 right_gripper=0.6413 state[joint_eff]: [-0.4034, -1.9214, 7.0769, 1.8828, -0.1685, -0.0659, -0.0073, 0.1026, -11.7949, 8.3624, 1.5653, 0.4371, 0.2759, 1.0281] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125},"note":"The yellow fruit is now above the blue bowl. I am lowering slowly so it can settle against the pear instead of falling and bouncing away."})
tool
executing move_to over 7 steps (0.7s)
step 311
assistant
agent noteThe yellow fruit has reached the bowl opening at low height. I am opening the gripper to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1146, 0.8413, 0.6785, -0.4156, -0.1936, -0.0525, 0.9976, 0.6937, 2.0491, 1.5192, -0.1898, 0.5228, 0.0158, 0.644] state[eef_state]: left_x=0.3018 left_y=0.0031 left_z=0.1954 left_yaw=0.0688 left_pitch=-0.0007 left_roll=0.0786 left_gripper=0.9976 right_x=0.4779 right_y=0.2873 right_z=0.1274 right_yaw=0.2409 right_pitch=-0.0715 right_roll=-0.3051 right_gripper=0.644 state[joint_eff]: [-0.3487, -1.5248, 7.0359, 1.8486, -0.0904, -0.0513, -0.0122, -0.4308, -10.0991, 6.5709, 1.8584, 0.2515, 0.0171, 0.823] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit has reached the bowl opening at low height. I am opening the gripper to leave it in the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 315
assistant
agent noteThe yellow fruit slipped to the side again rather than settling inside the crowded bowl. I am retracting the right arm to leave the scene unobstructed and assess a safe stopping point.
move_to
right_x0.3000right_y0.0000right_z0.2300
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]: [-0.1146, 0.8413, 0.6785, -0.4202, -0.1936, -0.0525, 0.9976, 0.6937, 2.067, 1.5055, -0.1875, 0.5194, 0.0105, 0.996] state[eef_state]: left_x=0.3012 left_y=0.0031 left_z=0.1944 left_yaw=0.0688 left_pitch=-0.0052 left_roll=0.0795 left_gripper=0.9976 right_x=0.4757 right_y=0.2862 right_z=0.1125 right_yaw=0.2453 right_pitch=-0.0999 right_roll=-0.3201 right_gripper=0.996 state[joint_eff]: [-0.1983, -1.3744, 7.1726, 1.7998, -0.1001, -0.0757, -0.0171, -0.3761, -13.012, 7.706, 1.4921, 0.1978, 0.0806, -0.1001] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.23},"note":"The yellow fruit slipped to the side again rather than settling inside the crowded bowl. I am retracting the right arm to leave the scene unobstructed and assess a safe stopping point."})
tool
executing move_to over 24 steps (2.4s)
step 339
assistant
agent noteI could not complete the required sequence. Only the pear is in the blue bowl; the yellow fruit slipped out, and the dark fruit bounced to the far edge behind the white bowl, apparently beyond safe table-level reach. Both arms are retracted with empty grippers. The fruits have not been poured into the white bowl.
give_up
hindsightThe blue bowl is very small relative to the pear, and releasing additional fruits against the pear caused them to bounce or slip out. Use low, carefully centered placements and verify containment after retracting. Tool orientation drift accumulated substantially during this trial, so check actual pitch and roll before precision grasps and releases. The dark fruit ended up behind the white bowl near the far edge, where table-level retrieval appears outside the safe reach.
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]: [-0.1139, 0.8463, 0.6785, -0.424, -0.1932, -0.0525, 0.9976, -0.0235, 0.9157, 0.8707, -0.5842, 0.0013, -0.4255, 0.9966] state[eef_state]: left_x=0.3011 left_y=0.0033 left_z=0.1923 left_yaw=0.0693 left_pitch=-0.0138 left_roll=0.0809 left_gripper=0.9976 right_x=0.3062 right_y=-0.0038 right_z=0.2252 right_yaw=0.1916 right_pitch=-0.0975 right_roll=-0.3245 right_gripper=0.9966 state[joint_eff]: [-0.3897, -1.7436, 7.0222, 1.7558, -0.1148, -0.0659, -0.0122, -0.1846, -2.2769, 8.2667, 1.7265, -0.1001, 0.0317, 0.0464] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the required sequence. Only the pear is in the blue bowl; the yellow fruit slipped out, and the dark fruit bounced to the far edge behind the white bowl, apparently beyond safe table-level reach. Both arms are retracted with empty grippers. The fruits have not been poured into the white bowl.","hindsight":"The blue bowl is very small relative to the pear, and releasing additional fruits against the pear caused them to bounce or slip out. Use low, carefully centered placements and verify containment after retracting. Tool orientation drift accumulated substantially during this trial, so check actual pitch and roll before precision grasps and releases. The dark fruit ended up behind the white bowl near the far edge, where table-level retrieval appears outside the safe reach."})
tool
give_up: I could not complete the required sequence. Only the pear is in the blue bowl; the yellow fruit slipped out, and the dark fruit bounced to the far edge behind the white bowl, apparently beyond safe table-level reach. Both arms are retracted with empty grippers. The fruits have not been poured into the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.502 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.3813, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0001 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.5111, 1.8291, -0.1001, 0.1734, -0.1099, -0.1299, -1.7983, 9.0872, 1.8535, -0.0855, 0.1538, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2498f1a204b18f818bc57ff9d31492a05694498f44adbea0af8fd22b4742a291",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c41448b0aa4f0e975b6a3092972e4752e3eaf6827e06fef4c02e541078284b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742403e81464ed0a6a93ce2695af505a51ea9fe5f84d7d7349bb2ef39d35d516",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.112 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsranp08bKSuiC8spKYS1uXmh-LVJob3EUMmyMRW_jT5e0EJyLZDxGyywt_j0LO6gAt3TEq9rh8u58zdlElQOFpNaEMKuDqTJLrJhw4o_cQwn5Z3KLxk46SQSJwq4YlSAhpn-g7YlcTLwJ4XoiYSLIzn5MZSx5bMWeVbGfZXSAaRaqpta9PRbbvU-WyEK2mwkDgeHWVZ5HYC7442XChUmRXu74WNh8fHSOPe1pckMgZF11ZOjS2LpXJ2A83lxPFm9Qq83xSjFUu9VKwfietDktWFT329rT_X-R7gvZqqeMnd_GEl8jG2cYX8dinE-GGhTNYprxepp0AERu1xMh3736Dp49C86160KpiNYr0nOrEklVygKFv3SdzXVWJWJPUwlBOOxh5L0K5UTdBKGMrdKZDQrR1bh2cKtn9b4aPmTNRzkodIv0dthu6NOxCcVUZaz0RgQutIpRDvswheAlQpOHuWoVB8UzPwOBuc5e0RjrjWMtbMbVvj9SgLBEAnqKIdQJOyI9uJR0uwLCeQlY5r20QMuq8bHEH8ypcxw7AF03KAsMaPrerpCot0Dt6rfQRXW_bh6Ny3MYLDr34qdxwvB1WNw3kH9G3NxrfFWo5mZRDmsde9TXPRh6uoukXISg6rKAD24of5Z436kD-AvamKPikDfEQvh530FcKNjS1d8eCdBPNscr5s4V-tb8gY-hcOnIVT87-yKKBBq_fA8aliU1imXJQEnyKj4IofncXjNT7p3xRUi3mlxApQXQ4h08yKj98cpCRBLJ8hDIiIK1k29f4nMLPd0xJRXwhLw3AWNpEU_RR9EXD_AHvfO0KHpBGM5uxphOUWtPFkLguQajpUUAbGLaBdYOKZZqYVfz3BfIqp3qMIrNjifCbPPfeSeTouMzZxAPNQ69NmxwpVTJ0tkGpl1iG66YXOlOUrCJKU9UVq7IVYTp-AD1VKT3iV2SwS4uPFbHrQ9Rfyz35P6b1gspZhQv2F8jEKzIJCt3cFHnK0gI1jWYGfV8sPq7iJCm-DNEl7wOObYC_JbJbjifPI44HHD395c2_o9HxCX8T9sJ9nEipsQbE4Gk4Ts-M7pLa0vR0vM_FFdhLfLnj2kHX-eMhHRMbmfvnewSUHZyQu19eS6Db40gK_dJZOGwSnVJgFnslYWW2AJsQjT5ONQQqmZTIjxtX8H8jbGYTa-kNCYln3XS_2fV5lzZAeCqbSOCpSj1LomJQFT7MtWvidF8kmZfAoxZ80rVETW8bkipTugtPxvlPghr4bjRnIdSCB7ZOZ9vRC0QUbfy7B3mXn3eMQ65KWOBE_pQcuTlgzbZYCpiI-XL0zre_R7OpvA2RwR6sKmZCfljypF2enYltCDTrHvmMNW9WqH0manH_ZUO23OPwH8kfmeEbKP9MAXjnUI0Jcb7pTs3vmtWU_OAtvt3KwqQgKSOnzHaSdqSiFR5qwGH4RXTBN2NM2P5uLSBfvabW6cB3irpIBP8XFRFlRhainJfV0JbWfNMk3YOAw13wcS7B66r7KOtbbrgd_rtNsUapYb577eApgyS3nK47MX49HA-dOic73Ro8l3tvNXwcQFsyOykYMe3JIVxLfbHZkJnyjjyIhULHnuXG60edb6kgZCpC2sbQ9KEIWAo7a84eyRuk1_zne01541FErMKXU0nXgUXs5iEVNelJlTRR3vsKrxbY7-s1NXzUkfVs5HM0YIBygvzd8=",
  "id": "rs_0503d622116f4a96016ab2b6a0a2cc87d0b53850d763643d01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see a green pear and yellow fruit beside the blue bowl, plus a dark fruit near the white bowl. I am positioning the right gripper above the pear first.\"}",
  "call_id": "call_xsqW8dyo7lB33fxc0YKTNiCU",
  "id": "fc_0503d622116f4a96016ab2b6a5278887d095fa70804e0abb3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xsqW8dyo7lB33fxc0YKTNiCU",
  "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, 0.8024, 0.6144, -0.3866, -0.0139, -0.0307, 0.999, 0.5453, 1.2213, 0.6544, -0.1383, 0.4282, 0.271, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=0.0001 left_z=0.181 left_yaw=0.0006 left_pitch=-0.0073 left_roll=-0.0008 left_gripper=0.999 right_x=0.3306 right_y=0.119 right_z=0.1297 right_yaw=0.0331 right_pitch=-0.0634 right_roll=-0.0369 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.1692, 7.0769, 1.746, -0.022, -0.0317, -0.0171, -0.2803, -4.5333, 9.4291, 1.8095, 0.3687, 0.2125, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d5e596fa05c4a52dc6e912beccc7588fefe266f57578359e337d840208582a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152cc88373c81f827e9f60c8031030900f5b0a690b7e59e545c9cebfcf821f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bc8df9d1a9f54e3953e0ec63d4d394edc8923810ffa40e2b5dd44cd64372df",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.3813, -0.0139, -0.0296, 0.999, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2963 left_y=0.0001 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.5795, 9.5111, 1.8291, -0.1001, 0.1734, -0.1099, -0.1299, -1.7983, 9.0872, 1.8535, -0.0855, 0.1538, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsra0anCjKxIenuj7f3AlLGv5Lup9xglqwaFZgWgR1IrzVVRD0zlGA4H9OCjOZTm4TZq0-UonbAWZmeuC23tZn4fKf5k7cf5-p0Tfso8ppy5xX73wMt04003XdGOQmksWA9kU9MhzRrvmFAHHeDAEMmOCbZiGoJjYuCA9jKSbtRdLJ1xJBnae0Yv_NmiWI3kqTXw8VNaLA8ld0gJhmS0pYeNCHnWecWBZEMwg_uDyPOi7jZqQXVfkmtJtn3qlNlkHSK-8SdursRewG5ZaGo38HTOtmkJFNlQLjSyXPzdg_cEO3kVPpEQb53WvIUoK-Wd-Zy_-UjOxhvmd6hGokCAuQ0YAMs6UaRST-vZTm03pcmTBx_ySQKOZQdRKbUHvLQWOGIff5m2vv1HStoe4HFOKXUvdrfGkll7Nx7eEGB4NHO_dc1CfXj1a9jtM4_dRKFB5X5_uCiybt82xlINvQMD75XtxmHoZz0ZYHQBrxbAL09n2uDLzLPIAEi1lq3pRMW8zZFbDVpLSz70Hv4s47nUH8GlOnK1IlAKyvUy-DcrTXUcxaN5PjjtoN9yVDjU8RIoM8HAN1tZc4cLaJxlaI2IMKVLTorXd82bdS2SHhGf-mlovaEvkWJU0P9asD3ig9lRW6W2Tq8UguGSzTDxQmI87fiJV9YUX9OTgXVprrE0ozoNrqWiuldItinhzoVs6m37LgNlhUQ5LNo9B5cOh1DQw76zcV3d645kiVo6-FjnwzsB1OaF5-p1K40lPrm4hVyyrR5MA5XXj5t-C8eq1K0XX3WEEwUAxeSN_SU7Irgv6d3Ipgcc9_tQ1fe7eGhjBbsA7UXohsAJSU90HU0Rp8bEsvkrjCKXzbQ6W1DlVaPOOZND8lWAiCX5k7VIdG3mCd4pzYOLanyk4xqlKm3JUWuR2pkIuoZ36_jTCmuZtXueEVee_4dDZqxhqQzAuUXuvj7KftTTZuRNb2K1kyW1WW70cVXOvtyWhpsVK4E2F2EqkDRLJi72ieDWof2pKXFHZEMx23dXJwY9zM7uSw5pbWs_akSXgPUshtQ50X3rw1CDMEYjoHrbvaOMpk0iQN7IEkYnQEVxfEsGQAmYI9spyB2h4cUTsjC-mv5XBkRCk_3jINkRMLsQiPhb4pyZg1Fm71AlQVVZuXHk1IG_xL6a_SI0gisJhqtFeGi4EnQVD9bYSTRxGlOXqy3bFNp4WFhWPRzvsZ_bwuWNFD5fRzV_onGPuCkgAwE4Lk3b6gcr3iH_1vNpwK9OnElu_T1OpYVsGoTfTX89xJxrONb1FAsik66W22G6PE_clmzomSHnvvZizgN_NK4dcQwtKqp9u1Z1-5g7jcVrEZq2H6iN4JjSV7Zu7oPcECvtKh-NZils4g42SkG2wi98=",
  "id": "rs_0503d622116f4a96016ab2b6b0fbec87d09406eeed5634bbb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.08,\"right_z\":0.045},\"note\":\"The pear is right of the jaw center in the wrist view. I am shifting right and slightly forward while lowering to grasp its body.\"}",
  "call_id": "call_bIrTQrImhSF3TW21G9rYeigv",
  "id": "fc_0503d622116f4a96016ab2b6b2bc2487d0b483edd55e51fa2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bIrTQrImhSF3TW21G9rYeigv",
  "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, 0.8062, 0.6144, -0.4007, -0.0139, -0.0311, 0.999, 0.3317, 1.5112, 0.4492, 0.3691, 0.2638, 0.1364, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1771 left_yaw=0.0008 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.999 right_x=0.3554 right_y=0.0775 right_z=0.0372 right_yaw=0.0263 right_pitch=-0.0976 right_roll=-0.0424 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6068, 7.0496, 1.8926, -0.0757, -0.022, -0.0073, -0.1299, -5.8462, 5.4496, 1.8779, 0.0317, -0.1245, -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,$blob:f18b5d2837e934d563a660cfd2ba5fa0d2bcd80f0f40e0d832fa72c96dbaae60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dad2b591bcbce318e049f0986a96aac7c906725955ee5065d698040e301499c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9a9668a426ef18243eeccf15f305ff0a9c92fd7c302039df6e928f5db68199",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.117 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, 0.8024, 0.6144, -0.3866, -0.0139, -0.0307, 0.999, 0.5453, 1.2213, 0.6544, -0.1383, 0.4282, 0.271, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=0.0001 left_z=0.181 left_yaw=0.0006 left_pitch=-0.0073 left_roll=-0.0008 left_gripper=0.999 right_x=0.3306 right_y=0.119 right_z=0.1297 right_yaw=0.0331 right_pitch=-0.0634 right_roll=-0.0369 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.1692, 7.0769, 1.746, -0.022, -0.0317, -0.0171, -0.2803, -4.5333, 9.4291, 1.8095, 0.3687, 0.2125, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsra9dq3GRFenArKE6FLSZi14D76Wkx5TAaoxxcLAQ_fbqaXRNYvq3Ha42390zIN-hE4uf5J51BfFGa9hMwsNdvL2aIReff_-s0mkJghP4fmohRJ01CDiknfvLf2Nen2F9EREfJKKKNeferobyxqvEkiJXSVgC7NzP8maLhTADmyqZQ6PZypWMDmffOIOOngzKICVtHvMOHIAmjc6PM9r527ipVAsvyGbAwHlPo2XVHRhcQvkW2ypBavP3-VIPvafIRE76jxXxWvOWtVEs0Jjci5gju1mLSpoTOQHodV5Nt2NEoZ3P0wN38SMDD1bxI9j0cC-oeMNztiDEu206KFsRl6UX287WVNNDoLXfYWI2ensnfstRR-mk5mbTfogyJ5Jm8GZdHXai4nWR3VZCiQDAn8KBkh9egGt9d0Vt6ZSLE6HQvr3cvPOk_aupnxX0Ao_uvP8ZA83G4lHe0jofEXNiCAfHL20L-DVsxhcX2yv9Pr43ByULvjV3NoHG6AXcGg4TIEISl_ruvGFGDHqRu9SvVq1f5PoELY-vsnj-ymwPnvh3Qoprx3_KhEfZyiVWh0Y4mzKiNgv_Q5ybmNX4-SydOSg89ZVRLOdVm3HP42jxPm3P1OIl5uLvHB2G3Pr_2BAiYblZnbivRV3WWeCdRwhvlhCBW5EQZjMJV0GM8N68TkddNGfhfJQLrxwpHG5YGvqGNuYZzBObrmOx0P9zsn1B2Obv5mw9vJBwsX3XJeIVgMOM7zh1O4df6j3EDrRwHMRqbloHyGHlFDKkN6hVe-hyVJ_gly4QC0kWeMdE9ULJQ4d-_ydkUOXMmPzgAhlkIrh9cMJhtfW3FQSDZ5JRufRPxDaWJHCbF72h_21isFEWiKg9X0nzO8FkWfG0N1ZWQNdhoE2lZb3NxRMFk0QzJyNVxZafQaVfNqybzscex7VuoIJ82RyJEJ1CIMrDDXz_LewjjUNJziEyvshP2Cz2T-0_a-8WXIbvsnuR-rptNnA2pJSCCwmcMjIdo1mtjOso2pf6PKsys2WeLdrUFqb5Zup8XqBGkpVZDOSbVQW8mx85YMR7XKle7KFUOfWJXCciXxeRP0rIYTc7a9JrhAJk-4CcZ738wFI8JzN9OZcCvXqFDathWemDUJZYQ9Fmpq90JjwLLooiMEJBW7_cxzu6VesI4__lGRfBElT1GsJEMYwikvs8cd-Bh842bBMF_CEqVdiKdwyLk_Rwgaqw1H1Ti_-v-GVWzE8hNnf6EG1j2EeTAcK3nDf0EiTwBPWX4JlJtjUhCtOpos7PfACh9yrnEnD8Tn4SyI2cm_p5YK5UoAweJwX5uNu6ydAC5BPMX-T6T68YZ6PuDF8sIB7L7afavJVdX2wbRAB8EzdZPheNx6p9kOSPBJjEqaboKC-qTcVZ7AMO7srYgFrs1I4JRWqeuPQvsnu3vDRFH7qJ9ICL6zLcnpHZMecVYrVELd_wiOH62L0LIlI",
  "id": "rs_0503d622116f4a96016ab2b6b94efc87d090de23e34e83a85c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.043,\"right_z\":0.025},\"note\":\"The pear body is still to the right of the finger column, so I am making a smaller lateral correction before closing.\"}",
  "call_id": "call_eDy6m4sZZ97yK7STteHvdy0Q",
  "id": "fc_0503d622116f4a96016ab2b6bc19d087d0b7ea85f36e10cec0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eDy6m4sZZ97yK7STteHvdy0Q",
  "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, 0.807, 0.614, -0.4084, -0.0139, -0.0334, 0.999, 0.1665, 1.6051, 0.4503, 0.4438, 0.1467, 0.0357, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.999 right_x=0.3672 right_y=0.0392 right_z=0.0164 right_yaw=0.0132 right_pitch=-0.135 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.347, 7.0085, 1.7802, -0.0562, -0.0562, -0.0073, 0.1436, -5.8051, 5.8188, 1.8242, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf8aa3d63e249e5cd524a3bfde60291fdda9a7c2d52dd10ecf8711743981ad9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4ee5ab618cd85c7448c87926739dae66ad463fc787e43c06fb96d9ad26a1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc04278055dd08b2e32afe30db2bcb0eca3e02b4dde7325f61bcbd7c8092928",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.446 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, 0.8062, 0.6144, -0.4007, -0.0139, -0.0311, 0.999, 0.3317, 1.5112, 0.4492, 0.3691, 0.2638, 0.1364, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0002 left_z=0.1771 left_yaw=0.0008 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.999 right_x=0.3554 right_y=0.0775 right_z=0.0372 right_yaw=0.0263 right_pitch=-0.0976 right_roll=-0.0424 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6068, 7.0496, 1.8926, -0.0757, -0.022, -0.0073, -0.1299, -5.8462, 5.4496, 1.8779, 0.0317, -0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now centered between the open fingers at table level. I am closing the gripper around its lower body.\"}",
  "call_id": "call_WOOP7L2pVkIlJ1BYyoLH46V9",
  "id": "fc_0503d622116f4a96016ab2b6c0588887d0b2f8d4b18f0fd58a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WOOP7L2pVkIlJ1BYyoLH46V9",
  "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, 0.807, 0.614, -0.4168, -0.0139, -0.0334, 0.999, 0.1673, 1.6047, 0.4492, 0.4366, 0.1394, 0.033, 0.012]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1734 left_yaw=0.0021 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.999 right_x=0.3655 right_y=0.0405 right_z=0.0147 right_yaw=0.0214 right_pitch=-0.1437 right_roll=-0.0495 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -1.306, 6.9949, 1.7705, -0.0513, -0.0757, -0.0073, -0.1162, -5.8598, 5.0667, 1.7216, 0.149, 0.0122, 1.0867]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff51ac152c6a3545639f2e0982b6aaef7a66e23d594ccf44b8bdd89689538d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb68ae3d980cd32ada31dbc042b28816abda53ec71c71d53bc2de6e5fe90e81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b327e92ef29bdaa1c9eac609984dc40b50ebcbfc971c816aa9fc890bd1f3ff3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.972 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, 0.807, 0.614, -0.4084, -0.0139, -0.0334, 0.999, 0.1665, 1.6051, 0.4503, 0.4438, 0.1467, 0.0357, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=0.0002 left_z=0.1751 left_yaw=0.0021 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.999 right_x=0.3672 right_y=0.0392 right_z=0.0164 right_yaw=0.0132 right_pitch=-0.135 right_roll=-0.051 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.347, 7.0085, 1.7802, -0.0562, -0.0562, -0.0073, 0.1436, -5.8051, 5.8188, 1.8242, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbG8VZqdJpqgohu7RAP3WLimfmbKhhG1dtKAoktPJYfIJAwtNxZaSA9VGJgtiET2wFZor8WMsSrplYn8t5lEm8znhc68fx8b2ZOXt8Tgxy-vrWIGDve97qHPDa2CawXcX0XZx1QwQ4O_2U59mF-VnBOdHFKiDIRI5W5fZlZ_cA0xq5fcwP64Au_Kzsy4aIeHwxO5q4YqwtdSF2lru0PZFOFw79I6-qyvnfeIVq93ICR8yXi3mgOf_QJSq6Q0RMjOIlmc-S40QJmXrzoxlzzF3XS_ysHOqgjxzVL2IGCTTCZ7-MnA7VTwtr5ZvftCbuHFFsmU9xDLE31JJay1t6das-cnNd49P3T6wbJZD7RQ7L27myZmKutVtph_WtnfSVF6KySDM8YrC4ZiBwiQ14v32BQe3r6zhIq3_Zt0MHcOXi7D1C1LPYmiK34gznu0l6mhU6AGzqn5DCTidYz8_rs2EJ-BuDQmHsBeAWeVfyLwDoYsbzUxVefHQ8xzEnYoOnwoWYsSPmPAa8Rsm6iK9sZBjnyDQa9C0asNR0OIbAMW77HAF5lkcRvtgA9h_3_rKW7pQk_2YPASk0onYwiLYX9Q8-KsNXLDN3OPxSFgi3MTbEE0jsjCn0xYbl2AMyAVqa1oGP0h9k34mWdShEcxx8obZPHY_8yGxV08QW4RQsoVceY2viPSv2DPavCfBs8CF6LvLYAe_VQpL2PsZ-kIJiOneP1PQU0dZRAKsyUnEVhfLk8hQF_6PfPTbZvT5TFL909AZ0xLvKKHMGWBXhqUPDDIiB7LHDiJ5R7USZYMt1Hd0mwmSLjlhHwk9xt7kOOQ4lZCAsz3wFjuzZJIyeFJvBX33-iONjdUYsue-Iv33OYMeKdBl0xsqdNiDIafevsDUfBHp3J1a1E_TytEp1AEjvYJP7dRIrOYt-_pGBok0yKWRfdvKaRHxj4eIhjeQ5XAaicSiAHvUoXp_Gqdp2pKqkcyXJ3eBUtnRcsuSEu8J_zyJofpAXq63PMBL8sxl6EuV8nzArLmvp3waPN_hpnxAbXaAqyzi9cBDsZo77uqsGbXB61OUVzLRi9TxkUbhU8IXgH_FXXeOfTr8XYKxW5-xM97aCG77ejpIYNXOcgZSXgAsTOASgNSPCEAHcRWcahkhyBsi1NKoQSLaW-G-2-TnEJYL_B5x3p4WpqFYOqKMv2GDmYnO2WtzciGtn8lOJXx2dVRl8XMIqa7b-DDbK56YDRzho-JMzwa6mVYDPOx-YxNzMxxlY=",
  "id": "rs_0503d622116f4a96016ab2b6c40e6087d08eefab1ca75cb227",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.407,\"right_z\":0.035},\"note\":\"The gripper closed empty; the pear is just beyond the fingertips. I am reopening and advancing about three centimeters beyond the previous target for another grasp.\"}",
  "call_id": "call_Pk2kPsb0JYmfzxlZXW9sPJjt",
  "id": "fc_0503d622116f4a96016ab2b6c5030487d0a7cde1e9d48f1590",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pk2kPsb0JYmfzxlZXW9sPJjt",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.614, -0.4236, -0.0139, -0.0334, 0.999, 0.1463, 1.6623, 0.6125, 0.3088, 0.1177, 0.0078, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.999 right_x=0.3976 right_y=0.0412 right_z=0.0267 right_yaw=0.0321 right_pitch=-0.1683 right_roll=-0.057 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7363, -0.0513, -0.0513, -0.0171, -0.6085, -6.4342, 7.1453, 1.6044, 0.0122, 0.0952, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9d0f0f91c4bd138e916dfe217b2e61dbca7aa0c2856a499cfbc487383e20ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb8eb16de0cd4f6175b905bfd3dc8fb1e796bb6973ab4d26c11f1fd48a3ada8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b2fbf3c0350e1dbc0a0705a29b62d15c7cb8a2c025e4ab845cbd651b5fbda0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.032 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, 0.807, 0.614, -0.4168, -0.0139, -0.0334, 0.999, 0.1673, 1.6047, 0.4492, 0.4366, 0.1394, 0.033, 0.012]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1734 left_yaw=0.0021 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.999 right_x=0.3655 right_y=0.0405 right_z=0.0147 right_yaw=0.0214 right_pitch=-0.1437 right_roll=-0.0495 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -1.306, 6.9949, 1.7705, -0.0513, -0.0757, -0.0073, -0.1162, -5.8598, 5.0667, 1.7216, 0.149, 0.0122, 1.0867]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear now extends into the finger opening. I am closing again to secure it.\"}",
  "call_id": "call_kmwNv5kQJuC1PopHfLVxA2Hh",
  "id": "fc_0503d622116f4a96016ab2b6cab59087d0b853a82d3baaeb3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kmwNv5kQJuC1PopHfLVxA2Hh",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.614, -0.424, -0.0139, -0.0334, 0.999, 0.1463, 1.6642, 0.6159, 0.3046, 0.1177, -0.0002, 0.0122]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.999 right_x=0.3979 right_y=0.0413 right_z=0.0264 right_yaw=0.0364 right_pitch=-0.1713 right_roll=-0.0633 right_gripper=0.0122\nstate[joint_eff]: [-0.1709, -1.3333, 7.159, 1.6874, -0.022, -0.0171, -0.0073, -0.3487, -7.0085, 5.0393, 1.6239, 0.0171, 0.0708, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f46e05d983fb1ef5ad44a0f375fe9684eae97215291d0657e53adf23028c1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a53f825a23e804140ced5afc43030c57fa7eed9128aaea3d1d514f74573a9a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94edefa313596e4f9ebc1e5d3c26ff0a5755e7c46d0d3f18853947bfa2fa232b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.487 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, 0.8078, 0.614, -0.4236, -0.0139, -0.0334, 0.999, 0.1463, 1.6623, 0.6125, 0.3088, 0.1177, 0.0078, 0.9957]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.05 left_roll=-0.0021 left_gripper=0.999 right_x=0.3976 right_y=0.0412 right_z=0.0267 right_yaw=0.0321 right_pitch=-0.1683 right_roll=-0.057 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7363, -0.0513, -0.0513, -0.0171, -0.6085, -6.4342, 7.1453, 1.6044, 0.0122, 0.0952, -0.1392]\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": "gAAAAABqsrbSXXb5HFtq7zKcDfnIqCtMrhc_J2HmwiBanxxnULaS3XD9qc7Rr4ICoxN9swnLyWcvniPzRvsdv7Zw2kD9zFM12Twq8sUIsUY4Mt16UClhacHSiB84Tnb8EZfXV6wNZwSrGbkSyPybDUlswK6Y_rS27mzKPo2qTuz4ZS4Ql-cNwg4qR63AlE3FhMedvRrXv8hLputh1PiNvU4KQBMMQzBlLSN9-WR6NhXn0t5DQxXoo3oMhJ8ZjoUE0NzZF2PekTplzZeHZxnESCCYEfKr1CnAHn97p8uqkwIujnbTCCfNZghQCFPEEEdaDJh0vwPEftSBcr2K9Rgv7cJ5_V05dx1tvhKtfwOSlbQvbFTv_OmEnoNSZQJtPOfmcONQ1FuEkKtWyi6sv2EGNJuLx8_wdLuk0JFJNVb3wMTYbEgp-RRSQOw2RADfQDulROoNSBq1XQW1LKS4ygVCRQDypwSZZmd4J3RlG7qm0J8q3vIgPiwtCweHnMPgvuQO3V-bryJb-8icOrtJAAEL9j1vjlXlBoBIepjeE7YrrhdjVUonZdy5aNdhws0bPhJG6wlu8H60qC5WdGazqWchhO-LeqC__fR95uidezMMPw07HrkNxtvunnQC4qQQPiVbq0CsaU0plnIXb0AhjBABrZ_U1BJZZcKF1R5bwPHCLUUQ8gRYp8FNf15Qs1nXg1s_pRfZ7YiiA6OzLRwmCVHPecU3PqKQlwrbXaABiBdBNubsiQ9AJFkfEw0ra6aB8S9YF7Z4QTkG-DjoqBY7wJ26K0X2YNdU4UFmA1DouwOZBI0T7f9K4LH5SOCL5YC2o4EU3IeqXrYXSbwkxC1kO7w3wEjGoEid1dciCitppgRciKuq9PMxfRj5qMzQOfE9xaDslhFxRMteoJl6-DkwGGa-h0lxvcvBDGoxOonSe237YJAuKAABH8mfU1SSFf9i2ra4ZFpmsyyj2VtXZyOknG8fLcH9Rx9Nwy588tZigE7MihOYX5OtLAwgtJBmn8jIG-L6VBN2w04MycxGEwI8eoHx3zV7fZM91MMYVysOXUR9dED_S6tAxfUdiFdWrPvt509AtiiPH5tUQcnmGu-5aRmypzBX_yQLID1kIjzBHxNI3Y_1MzI06Dxq_uLTKrSKEosoCM8dZ3R9_z-LxN33kpWLsol7e8d9yMhZSTtcyL2uTsS2G0JDblRVkeN4kib87oq3dTGlHarSSYs93oaOV9whM3N2gAaWGfZyCBm7zmZxKn3Em2q_65t7wdE4QTGvA43MIA34q6COr-Xy2lkAOenTQkiBxBUqHu9PHalDmJtnK_l538X05HdIPGtYJo5QiohXq0MC8ouiS1PQ",
  "id": "rs_0503d622116f4a96016ab2b6cea05c87d0a9555fac7d2d8f82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.45,\"right_y\":0.052,\"right_z\":0.08,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.183},\"note\":\"The second close was empty and nudged the pear forward. From the overhead view it is now beside the blue bowl, so I am repositioning above its wider middle rather than repeating the low grasp.\"}",
  "call_id": "call_MGwQymnZ7iGq4Wx355wI3fQ6",
  "id": "fc_0503d622116f4a96016ab2b6d03cfc87d097f83eeabfeb748a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MGwQymnZ7iGq4Wx355wI3fQ6",
  "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, 0.8352, 0.6304, -0.4614, -0.0139, -0.0338, 0.999, 0.1551, 1.6966, 0.9112, 0.0166, 0.1173, -0.009, 0.9986]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1643 left_yaw=0.0024 left_pitch=-0.0988 left_roll=-0.0013 left_gripper=0.999 right_x=0.4426 right_y=0.0519 right_z=0.0725 right_yaw=0.0498 right_pitch=-0.1967 right_roll=-0.0723 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -1.3197, 9.9077, 1.79, -0.0611, -0.0464, -0.0073, -0.1983, -7.6103, 7.9658, 1.6239, 0.0562, 0.105, -0.1538]\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,$blob:b9d2761974b9f5db1c349f6877d97b5504917e07eeb4a8c53475e4cd5520c2b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86068cbe907bb327ef2d1bf996381350ee57191e8871c50234128bac4a85d495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f29d6ee6b6212fb9f62abbd1335e52da6e2d53687ad9a06d515ab8197ce4efb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.371 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.614, -0.424, -0.0139, -0.0334, 0.999, 0.1463, 1.6642, 0.6159, 0.3046, 0.1177, -0.0002, 0.0122]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1718 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.999 right_x=0.3979 right_y=0.0413 right_z=0.0264 right_yaw=0.0364 right_pitch=-0.1713 right_roll=-0.0633 right_gripper=0.0122\nstate[joint_eff]: [-0.1709, -1.3333, 7.159, 1.6874, -0.022, -0.0171, -0.0073, -0.3487, -7.0085, 5.0393, 1.6239, 0.0171, 0.0708, 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": "gAAAAABqsrbbdmzj8d832_DtgITa-yzfF4vK05rabIleFP_NzM1RzXO0a8PQPFuRxhq0QH5DzExJPlUsDNQ-h3HtRqLf_OhwlgjIEiSm4m7XGsS3YGkhg2YwxQgFqNo1AsTHi3bLGuSV3b7n-py4cghpUZ1SeFzd_tbfdCKEM_mlnVREOKzsNvSgLs64qVKtUut2kRAzE32jK0GaevFu4fu5Dgi3RCToMP1lPIs8LcRRuY-djbx3eVzf1N7-GQBI0NiWYVXgcC9DltxhauRnqIn8aMyWfSSMdS6EnYXSZUeDKj22Mcs8Bd8ISplQMYgnbIMXKhdj0KSDC2rM1cJl1y8H5N1g0YyOh_34-pK5yUvAMLIz5SMBnjXBWMbzE2pnaL0BhLxxQYJvO_-C2fqVTSMkl-9qbk0Ga5DU3MFJ3oZdluq16lnKNZ54vYJGtjagRRTTAxI5KyFxNzStBh8tQcZE7G1Cx4lJyPIGWeCJeqiwjTSNDSnug3lwplaoRVIojFB0-ygcABKPcKNzVIVAV0YJB2wCahkCZnEfBt6jX21ZHY4F6gkAnYM1WAnGnkhyMgu1LMpinC9yVI_HmV4tisdOXkPiSKIG_bwIwCogiIKPrqDSRGAKLReQHdIoW4hPmmU52RRcRWcGnqPtFTAVKDryj95I9oZ8HW5FX2Hx8geCCCgKg-5fUQlSbdpB2XWVaKxdCcex_OKEX5ow4EhCyBqSm5VaaLtwu9rvzWoklEE9LcOZu6TZ0fnVRLIXXv71bB47guJctL33npVqYeGjOrGD_dh2s9ecckv49IJnORbu6c5Ch225lq7W1Fxmoc2QJ0ZClDu-_4UApAvn0dGDP_AAONBaRgPEobxvlQXbPA_6Q41GWx2W7k7NN3MMLgeX5CNDsNE_zlGqmQKXsFANHKZkRQcIzyDlJ1NTa_NPoGFn8oBZq8X-2KkNVC5V2PcRYpmLApZfRaCMm5J6Fc8v31M-aTOoqkFKGi-icoz2uEkeIngx-jAQn1d37LkkcQktEokoMykjjGKfmBPBfOJIrqbjWtGOXr9fe9FEEwQwkuXjEhZWa4cFBod5xwH3UjnGcVMt_fny-dwtX1CRU9hivQO1Q0xJMcgAD8_5sZI7Oz6Y9mK85q2ktlNv5CGD-fC32Id5-hBQD2zInlELZWqPF37J6Ru8DEoSTbbh9TxdSPpKf4YF0_MKrpCe9XbERD7-B0LRSv0usq2YtbjDVYxZkxBXxkvmanojGw==",
  "id": "rs_0503d622116f4a96016ab2b6d9015c87d0af857cbfadd754b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.463,\"right_z\":0.05},\"note\":\"The pear is aligned with the jaw column at the bottom of the wrist view. I am lowering around its body and moving slightly forward before closing.\"}",
  "call_id": "call_FcbypM3YYApK7kw68thti58o",
  "id": "fc_0503d622116f4a96016ab2b6d9be2087d08af5e70be68c9914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FcbypM3YYApK7kw68thti58o",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4686, -0.0139, -0.0338, 0.999, 0.1482, 1.8271, 0.9314, 0.0666, 0.1062, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1628 left_yaw=0.0024 left_pitch=-0.1072 left_roll=-0.0011 left_gripper=0.999 right_x=0.4502 right_y=0.0519 right_z=0.0326 right_yaw=0.057 right_pitch=-0.2579 right_roll=-0.0779 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9265, 1.7118, -0.0659, -0.022, -0.0171, -0.5538, -9.6615, 7.6786, 1.7509, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5287260eb7123ccd74eb3286be516cdf23194184804c214daee78e0092b235e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26847401cfec8a056e6d2c7728b689b7ceac802436b3e15f47bdb8aa7a5b6c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48c5c20e0019985078417b8cebcfd01c450fc80783d5a177bff4d259b62deb3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.92 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 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, 0.8352, 0.6304, -0.4614, -0.0139, -0.0338, 0.999, 0.1551, 1.6966, 0.9112, 0.0166, 0.1173, -0.009, 0.9986]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1643 left_yaw=0.0024 left_pitch=-0.0988 left_roll=-0.0013 left_gripper=0.999 right_x=0.4426 right_y=0.0519 right_z=0.0725 right_yaw=0.0498 right_pitch=-0.1967 right_roll=-0.0723 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -1.3197, 9.9077, 1.79, -0.0611, -0.0464, -0.0073, -0.1983, -7.6103, 7.9658, 1.6239, 0.0562, 0.105, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear's broad body fills the space between the fingertips. I am closing to grasp it.\"}",
  "call_id": "call_olFZJeME66LMik1mt1ebfblf",
  "id": "fc_0503d622116f4a96016ab2b6de8c7087d08e442fea996edb70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_olFZJeME66LMik1mt1ebfblf",
  "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, 0.8371, 0.6312, -0.4751, -0.0139, -0.0338, 0.999, 0.1482, 1.8191, 0.9375, 0.1108, 0.099, -0.0269, 0.5809]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1615 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.999 right_x=0.4604 right_y=0.0547 right_z=0.0458 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.0727 right_gripper=0.5809\nstate[joint_eff]: [-0.1846, -1.2786, 6.9675, 1.7363, -0.0806, -0.0366, -0.0073, -0.335, -8.2393, 5.3675, 1.1453, 0.0415, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b3e39b7bb240d36a35e7bb7814d37b2d8055e16c6fa3ce9b68aa27fc03a2d41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a50ff85ee87bd0d1a1d9699966f9841286beb34f3610a3950a26fdc3e999b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e0f3e981e1263f6758c0055e23956a7c6232e150153952a9a3d7a762bb0716",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.808 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, 0.8371, 0.6312, -0.4686, -0.0139, -0.0338, 0.999, 0.1482, 1.8271, 0.9314, 0.0666, 0.1062, -0.0196, 0.9986]\nstate[eef_state]: left_x=0.2882 left_y=0.0003 left_z=0.1628 left_yaw=0.0024 left_pitch=-0.1072 left_roll=-0.0011 left_gripper=0.999 right_x=0.4502 right_y=0.0519 right_z=0.0326 right_yaw=0.057 right_pitch=-0.2579 right_roll=-0.0779 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -1.3607, 6.9265, 1.7118, -0.0659, -0.022, -0.0171, -0.5538, -9.6615, 7.6786, 1.7509, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper is holding a substantial width, consistent with the pear. I am lifting to confirm the fruit comes off the table.\"}",
  "call_id": "call_Wgerv7pHq4JMZBgRlM8S9KSF",
  "id": "fc_0503d622116f4a96016ab2b6e9d07487d0b5d9e73404c7aeaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wgerv7pHq4JMZBgRlM8S9KSF",
  "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, 0.8371, 0.6312, -0.4759, -0.0139, -0.0338, 0.999, 0.1482, 1.702, 1.1004, -0.2604, 0.0952, -0.038, 0.5837]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1614 left_yaw=0.0024 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.999 right_x=0.4476 right_y=0.0535 right_z=0.098 right_yaw=0.0761 right_pitch=-0.2921 right_roll=-0.0848 right_gripper=0.5837\nstate[joint_eff]: [-0.3214, -1.2513, 6.9538, 1.6532, -0.022, -0.0513, -0.0122, -0.1983, -11.1248, 9.2239, 1.6825, 0.0171, 0.0708, 0.7839]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8f4f87674327bbbb35a92b8e3df69c74b03c082c0cf8c5251a50ec7f9b1dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa4c79b8e658660c2096c22e9a197c2cebca571fd356f2aa8e274c9d680bcf3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7662e4d7d12b2595974df86cc2978ea2a87687fff92255d25bc4d556e172bfe4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.812 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, 0.8371, 0.6312, -0.4751, -0.0139, -0.0338, 0.999, 0.1482, 1.8191, 0.9375, 0.1108, 0.099, -0.0269, 0.5809]\nstate[eef_state]: left_x=0.2872 left_y=0.0003 left_z=0.1615 left_yaw=0.0024 left_pitch=-0.1137 left_roll=-0.001 left_gripper=0.999 right_x=0.4604 right_y=0.0547 right_z=0.0458 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.0727 right_gripper=0.5809\nstate[joint_eff]: [-0.1846, -1.2786, 6.9675, 1.7363, -0.0806, -0.0366, -0.0073, -0.335, -8.2393, 5.3675, 1.1453, 0.0415, 0.0513, 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": "gAAAAABqsrb2SPyMhBYitmKiqBot8257yEhgWZUuMIlPVZczdeO_SAKxcQl0zQ_bvO4h48jEWcRMAd1ga1AeqBrd2masin1pCykNIBXHz_-r048HufRrr7npgfteflpafWx-5m58f1EGgOyJyiy8AsmBT9NN47p1Y55-efQYoKWFsbR-FNesIra90dkA_mhSaTiFDtu_5VmCFLqZnHZfiCjipOI8daxdwdEY2sRHkPqDvyeWVspGowTWoZQu9zbGmW-zzT4aBf8J1z_gyKAM2rqzqjG4ydcjLEbNxS3G_VvOfPyqQ-q4oN2MA6OTbQueJ_n8-SH3W-t6G4_amMzB2yJMDOZ-Oy5s7LJ6zXkP7AGeHZAU3EiATE7qxuveBe_57XUvi0Me2t2u-bqkToC1b2eAj9SdxdwYpteHqq99o9EpIpx7SJLXZD_EBKn2-hybPZ5uvilC-EJoa14W5he3DdSh3YKy-f48yykJA_pKQInJMGDGRXM8WeIoEEkFM2LwO91cWhMeKhw1Pd1kl36Jkdxl6-7_IbVpp24o3bwk0i-HAllRcBFCs-aFJ-L8PEgK5IeMHuuLKZJwTu_hRJIkSSPl_v_oy2dh97MSUkBUndkzBb6YgsFtb3bqHLnZJBRQaIzd_knB_YUbg9XAGMiEP3ielnwJ2KqJuZr9xQcGeVzjkpVV4MKrrKZ5NJfqOS1e92DhHhgDvg2Vec9pls5Qu3FtSkfuxA3ytlRjPvQYx3vtpV9ibqnDOCWh4UtyB3bvkcHik07YVM-yTJ01VhwuzhBZlDeRxZrt4vvjicYKY7NjNUnVuawQTimo3D3LbSQWSIqYr-LeTEBXMYVd0Yfc4ZsDZUMJFTzpF_lQ3fN2p2fAyE6aIktO3dmPZi-_GRT0Wve_abNDmqx1TZpIGuhI_Y-BNQjtekLVoB2gP19mPYKh0BKVGEe0Jvghks7FgtnV8UCyLqJhS_IaM1lVRdPOvarpNdAHvhler5ghsbHV6fh-Ooy6y23iIlt9sudaCRyp9Jlt7v7uPHzTWzkLanr7nKu2OvVqDaz2F8pMO7TopT5ra0uADHIcVq8Ho4dU_4Jd9QoNXm2zBH7md5OxAau01svMTr5_d8mPFndsyd2XpkQuzSsIR9Wm3TcsLQPFHzai1H-rdTOkf68UU7Sd0i4D9519Kc7qjIbJ9A2Y5LOWjYQHpaqnFFdjyC9KXk5keFTnCX1Z_u_YANYCwZWlSygX2oYh08PqNWBQQtT1u48H8mct3ih46iW3NAnCmfBriyotrEEFyaauhKcQPWApPWWgFwjGNkXJ4EL7batlLR6JGr9jysE2gJivcRG0wQzSzruw5O2l5gpB3d7SzQ50k8eDcRN8kaYsb4n88dtjSk0PfzWuvwstNXUF7ijQ05tt5BBdKpbD-lz4eKEEdpfSU9v2FeWfR4kQm7wOdQ==",
  "id": "rs_0503d622116f4a96016ab2b6f23d5087d09de36af41d0ce5df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.205,\"right_z\":0.20},\"note\":\"The pear remains secured during the lift. I am carrying it leftward over the blue bowl with additional height to clear the rim.\"}",
  "call_id": "call_8cGjVng0u3GLV7hZIbDNoQdl",
  "id": "fc_0503d622116f4a96016ab2b6f47f3887d0bed1bb3f85062174",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8cGjVng0u3GLV7hZIbDNoQdl",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.5182, 1.906, 1.7321, -0.7731, 0.2996, 0.218, 0.586]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1613 left_yaw=0.0021 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.999 right_x=0.4567 right_y=0.2045 right_z=0.1843 right_yaw=0.1189 right_pitch=-0.324 right_roll=-0.0976 right_gripper=0.586\nstate[joint_eff]: [-0.2256, -1.4564, 7.1453, 1.619, -0.0464, -0.0513, -0.0171, 0.253, -10.6462, 8.6632, 1.2625, 0.4274, 0.149, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b6d90eae44fb94da09255f6dbb48f26d0c09451912bc2df17e661b8c232bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3183e5e5dedcf37b4d3fcee42ad78455a218e80989e9fa2f72118fc6f3901b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c73d320068ef4724e67d67924d2891d422071f090bc0bf474f7a35e210effc5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.178 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4759, -0.0139, -0.0338, 0.999, 0.1482, 1.702, 1.1004, -0.2604, 0.0952, -0.038, 0.5837]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1614 left_yaw=0.0024 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.999 right_x=0.4476 right_y=0.0535 right_z=0.098 right_yaw=0.0761 right_pitch=-0.2921 right_roll=-0.0848 right_gripper=0.5837\nstate[joint_eff]: [-0.3214, -1.2513, 6.9538, 1.6532, -0.022, -0.0513, -0.0122, -0.1983, -11.1248, 9.2239, 1.6825, 0.0171, 0.0708, 0.7839]\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},\"note\":\"The pear is directly above the blue bowl opening. I am releasing it into the bowl.\"}",
  "call_id": "call_3WDCCun82d8qJ353sD8Z4eUZ",
  "id": "fc_0503d622116f4a96016ab2b6fdf9ec87d081715996e00c6adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3WDCCun82d8qJ353sD8Z4eUZ",
  "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, 0.8371, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5209, 1.9118, 1.7351, -0.8051, 0.2985, 0.2134, 0.9961]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.1148 left_roll=-0.001 left_gripper=0.999 right_x=0.4515 right_y=0.2033 right_z=0.1783 right_yaw=0.1203 right_pitch=-0.3566 right_roll=-0.1141 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.4564, 6.9538, 1.6825, -0.0708, -0.0659, -0.0171, -0.1162, -10.6598, 6.5846, 1.5995, 0.1099, 0.0269, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529713e8997117ca1c4928e2ce43ea8c9672b9ea9ce20f4e7f919b4a7c4d8d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb0dbff31c5cb627e449af5012f2af1d8c8876d7be1f478b0c5981be4fe9757",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed1de82e6754eb7485c5875775d4d9bb2770f6ad06d64b2a639b6f3bc30d52c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.677 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.5182, 1.906, 1.7321, -0.7731, 0.2996, 0.218, 0.586]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1613 left_yaw=0.0021 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.999 right_x=0.4567 right_y=0.2045 right_z=0.1843 right_yaw=0.1189 right_pitch=-0.324 right_roll=-0.0976 right_gripper=0.586\nstate[joint_eff]: [-0.2256, -1.4564, 7.1453, 1.619, -0.0464, -0.0513, -0.0171, 0.253, -10.6462, 8.6632, 1.2625, 0.4274, 0.149, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcFVprbvJYFyx3rEA9ARKqyDqJM_UZSyucy6X928jyTQbjPcr2Fa3xV-zhR5RUXsVlO8Xwkh4PmCLE7cM5GQJx5zftevbQnaCyErVRNq57WLUSDb82jq5DvreBiDBhPG64JBY1e5kHgpPsU56Z2hL5H3PES_0tnbPkkFMaC8QkithD4Bgk2yI3FsyRPgZpqhqd3Z5jPZURb0EGmGfj5qc3O7KEIRUC3jwequh5g7Fb1sdEJCjKVYaiCFWNc2wp6TOkmaYieIkw4gCnmaMq7PKw4n_i_vFbdYw8kahezjioExtiDsnGe_6ZAFhAfUJsMHgzGT8JkbDFywCLBe7Ry278cD-Qv6NEeXgmUqzO1eybD3eq4TO4pMLuI3Bal4K7Y0QxstQXZgKfDLesLLvrXVAMa8KU4bI4VOHpP8FBB0VCpf82w2Ift9SUeCwGbMnblTK70q0TJC172Nj-KDGMCIw_93hQJk-mdWVSq_y5SbSAMz0TaZLkcCjaiKc3fYcZSEfEmPN5rtD35XF5vgaKFBqpk8fiUf7hL6QPWDihrolpChIzkkmlW1sgLQpqVbw6GRKJv7WqAzcrgSbIvZYGN3fuPqIEI4Va2RUC5G9-U5AoxM4NxMWj6f-CXVDVaE_q12Ru4sK4ZJibNsCrkbaMah4ZZC7VCJwGw_FVmS4EePkldLkO3LKu_OJG8_R0IVC6jT4rGi7uWa99Q8FOJsfnasE2zu8J2Xxttc7zQLWNY-6ycrEoLEWowOcrUbffn5Rt9UeSUP55E5Q8TSSLjjCOGngFMSyIp-YVlV_ONfCVanpu4g6tNS-RYCKOgcgCDZK8IYP9Sio1zUe97eYejMvU3u3AqLYBqJuWpPViTmg5R_rL2djPGa-Tflc2aYYhRZmkgsg3UPtvFKV0OpOotF4cDBzzGvAfFpr8PlmMIQDQ5M57j5OxNRpG4S_YapFM1o8dR7s4FXDE_nTUZ12x1bpDHVlp3Th0Rf4yb3u9VtodN-i6ivE8MHA0FvU7Rozj1tVuE99SeeLRUMNcr80-VsJVdqyfxMBzdk0O0yQ-6fkd0mAdAdzfLkPNBfq-VdbIkwIjc7Fi3QEVyDo_b2DQj7ZrRHZmWX1kg_jbVch3J0ZrM80Gk2iwcqUSRv1naU3gKiNDEnz0wDCsmFRYNR0CR51xdENtSfR_lA3pWcUqhAbL39nxxD2hAlhm1bd4BPXJll_g1jx4Cw9NzKqeQPra9yFTXXLOZmDQo4_XegPQhB3KjfZApMRI=",
  "id": "rs_0503d622116f4a96016ab2b702960c87d0b1dc2f0ef9134444",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.26,\"right_z\":0.1},\"note\":\"The pear is visibly inside the blue bowl. I am moving to the yellow fruit just in front and left of it.\"}",
  "call_id": "call_xHcg2DsbmSQFLghHTqCtxfY4",
  "id": "fc_0503d622116f4a96016ab2b7038adc87d0a96dd04a599153d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xHcg2DsbmSQFLghHTqCtxfY4",
  "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, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.8215, 1.7855, 1.2591, -0.6048, 0.4286, 0.4515, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1606 left_yaw=0.0024 left_pitch=-0.1175 left_roll=-0.0009 left_gripper=0.999 right_x=0.3347 right_y=0.2573 right_z=0.09 right_yaw=0.1491 right_pitch=-0.4099 right_roll=-0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.5658, 7.3231, 1.6532, -0.0806, -0.022, -0.0122, 0.1436, -11.0154, 6.5026, 1.3211, 0.3736, 0.1392, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3ae8d01e79f26e34b6b158687927cae121f283b95e846ba654b6d241e8ebbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4241b87dbef1dfd6a786d3ed2df8536d75aabb86036ffe9fef0adfd912a4e26d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a7c42fc346e77d64a374d9f4c00ce3fcc54b67d4051a6e840290f2f146a5f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.376 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8371, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5209, 1.9118, 1.7351, -0.8051, 0.2985, 0.2134, 0.9961]\nstate[eef_state]: left_x=0.287 left_y=0.0003 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.1148 left_roll=-0.001 left_gripper=0.999 right_x=0.4515 right_y=0.2033 right_z=0.1783 right_yaw=0.1203 right_pitch=-0.3566 right_roll=-0.1141 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -1.4564, 6.9538, 1.6825, -0.0708, -0.0659, -0.0171, -0.1162, -10.6598, 6.5846, 1.5995, 0.1099, 0.0269, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcL7fIAlDVLp9GQ6qn4b9jc65yrgeddMBcl-ZdrtkW_5YKtrjEJErnTpKQWtgpq9l-Ntydp7s2s4rpiqjheurnqnV_6SAVR2R_-ZdKehAkPaeinBUkNdQs-K2E0WMTDFBJAauXW65mIGBgf44x2BJ1eoabjNUvSpyQcOCVNhXKsgh9akjRpZiHyB7_I1jchR-PYbiMcZeqog7prq1ijvlw0ozCHNaj-N7k9iazLjxJfbIFjyVudEbcvcA4XQO-RHtuUzEtD1tooafkD37PPjm6JdIP0VRO5Cx3Bxr0g1gvG2U7h5VsBmqShgUufuY8HgZjE6QpXuJ3mvq5LwOthAl4og5UqpD1LnliKiajV_1omyI1C0QcvOrKT_2nwV9VppqsG31l4V6y0sWAkl-wM5fQPEBpd1utVMH71lPXliZqKhH5UjZGLbCXTHQrGDlk2_5rW6p-b9lGbF_mspXZGNMh7n6haLABcj8WkvnyTXaumU2azFaZ5Vjs0WGwSvkdUKx_2tWjquqTH90Ti75WpCnnzvJ9owhHcSL-lbk64plw1QtdqG8gyzPKVRT6axtvss0hYoetdGY5If7hHe7g4S-iOpfy1HEMTmSfn5MLJ7JkkFqzluVlNKr8KHqzg0CcPCZovXP7WDkG47Q9-_hc2Ut8zbqsLy9xnPdrlqyeaXJKmvTsvdBQYxapR9x-jTxUzM5fObsA_Is1sZG8YBRdZXeVuwnfTLPS5wFWJj6WQHTCM3M9xyR20w4eHTgFuftV5CQ0tG5Mw8GdzicXJAr2_sSFBAhWnSkv_GX7dTRUxwPCFgEj8Z3JRtSUU8ie7gQ9p3XMoPfo0b2fLp1NGecRNZlS_RpBzSSkDlsttjiTexlRilvJqsiidiVGf_1yl8LeNoeDzumycJ113Tx1evLyaX4GKlgYmOQnCF1-QIehId_GtQY5joacF3kG8vdV_zDWJADvBgx9c-uXRsx7MXIocHcM6XK4i6x8oQvm8HL8xEBIXvBvu1Bu8Y1kevXz-cFdHmt1jHztRcIupZmPXIRaIQylrRKwBm8Vh7WrMyrk50kT6HkoiPP3fxQen1bux_l68-ljdKFSvqbWNOe41nCZDzsYEghIMhX8tW2CWGkps7PxVn8FSNQIBPkn7KxRcSACrnVpOowS9F2oucSmPGtX0Ga5rVvZY3OziinAK9NKHNjkhaCIEAnnlNstcktSqpt5otk1wLzExnAyiGqwdhKWEgyucqqjKc8IxGQDhbHa1KjoUUA9mBbgkFRqoEf1p9dris_3kfvSNNzWI8KrwEIKE-qFKzA==",
  "id": "rs_0503d622116f4a96016ab2b70887d487d094da0a0664af6745",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.26,\"right_z\":0.04,\"right_pitch\":0.35},\"note\":\"The yellow fruit is centered in the wrist view. I am lowering around it and compensating the tool's backward tilt to improve finger alignment.\"}",
  "call_id": "call_GM9zxIzsGFOv6zLevM9nEf1K",
  "id": "fc_0503d622116f4a96016ab2b709c1c087d092f19f9ddf4b198f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GM9zxIzsGFOv6zLevM9nEf1K",
  "output": "executing move_to over 26 steps (2.6s)",
  "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, 0.8402, 0.6312, -0.4767, -0.0139, -0.0338, 0.999, 0.9081, 2.1109, 0.6716, 1.0264, 0.8005, 0.1009, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.1182 left_roll=-0.0009 left_gripper=0.999 right_x=0.3582 right_y=0.2588 right_z=0.0261 right_yaw=0.1676 right_pitch=0.2752 right_roll=-0.1814 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -1.2786, 7.1453, 1.6044, -0.0366, -0.0513, -0.0171, 0.4171, -8.7043, 2.9197, 1.9805, 0.3346, -0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58b90ce171384e8e5ff916af807f1a7bf6ad90c3b253761b4eaf56df7b3adeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa9f919b1fdc59277754e9b7bc8b715daec16b9e81b4d83ded348edd767883e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f93e7d1d8280bdd2987d19aa5e5493db4621bc8e4423b417eb1fdb060aedc26",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.093 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8398, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.8215, 1.7855, 1.2591, -0.6048, 0.4286, 0.4515, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1606 left_yaw=0.0024 left_pitch=-0.1175 left_roll=-0.0009 left_gripper=0.999 right_x=0.3347 right_y=0.2573 right_z=0.09 right_yaw=0.1491 right_pitch=-0.4099 right_roll=-0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.5658, 7.3231, 1.6532, -0.0806, -0.022, -0.0122, 0.1436, -11.0154, 6.5026, 1.3211, 0.3736, 0.1392, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is between the fingers at the bottom of the wrist view. I am closing around it.\"}",
  "call_id": "call_JKhJU9HMvndDcIwnPy6e4Uag",
  "id": "fc_0503d622116f4a96016ab2b711bec087d086ebd930929e644d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JKhJU9HMvndDcIwnPy6e4Uag",
  "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, 0.8402, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 2.1242, 0.6628, 1.0313, 0.807, 0.0937, 0.5135]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.1605 left_yaw=0.0021 left_pitch=-0.1179 left_roll=-0.0011 left_gripper=0.999 right_x=0.3565 right_y=0.2545 right_z=0.0196 right_yaw=0.1683 right_pitch=0.2636 right_roll=-0.2026 right_gripper=0.5135\nstate[joint_eff]: [-0.1846, -1.4701, 6.9538, 1.6093, -0.022, -0.0415, -0.0073, -0.2803, -9.8256, 4.2462, 1.5653, 0.0611, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93aa328fdabb2931841917cc112aa7bc67345a63dc5d979eb47232ea4b838907",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889d939ab70794b319607152328e5204b88ae6b4b992071ec9c16db20be62c6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7afd6503a37d62142b62f8d772c4d20014253169717b90f4ac7feb9e411d026",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.831 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 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, 0.8402, 0.6312, -0.4767, -0.0139, -0.0338, 0.999, 0.9081, 2.1109, 0.6716, 1.0264, 0.8005, 0.1009, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.1182 left_roll=-0.0009 left_gripper=0.999 right_x=0.3582 right_y=0.2588 right_z=0.0261 right_yaw=0.1676 right_pitch=0.2752 right_roll=-0.1814 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -1.2786, 7.1453, 1.6044, -0.0366, -0.0513, -0.0171, 0.4171, -8.7043, 2.9197, 1.9805, 0.3346, -0.1245, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The gripper has stopped at the yellow fruit's width. I am lifting it clear of the table to verify the grasp.\"}",
  "call_id": "call_mr0AcoIyHvfWoG6LRbulYGaX",
  "id": "fc_0503d622116f4a96016ab2b715695487d09b6445b934697bb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mr0AcoIyHvfWoG6LRbulYGaX",
  "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, 0.8417, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 1.6783, 0.7547, 0.4896, 0.799, 0.0925, 0.5159]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.999 right_x=0.3553 right_y=0.2546 right_z=0.1341 right_yaw=0.1762 right_pitch=0.2583 right_roll=-0.2038 right_gripper=0.5159\nstate[joint_eff]: [-0.1983, -1.5795, 6.9812, 1.6386, -0.0464, -0.0562, -0.0073, -0.1162, -8.7179, 8.1846, 1.7363, 0.2857, -0.0317, 0.7497]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46ab8b963a8da071ac6350ba67cbd41bd6a010e0a47aa44deeb60f8d9dab1f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9a8594fad79d4c5359853a2a82c9a70d46d2f0bed24f63f7ce0e8f61797a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a6c57eb587812e1275954c16aa176c43c7935bbed314e68747ac1d582da860",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.919 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8402, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 2.1242, 0.6628, 1.0313, 0.807, 0.0937, 0.5135]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.1605 left_yaw=0.0021 left_pitch=-0.1179 left_roll=-0.0011 left_gripper=0.999 right_x=0.3565 right_y=0.2545 right_z=0.0196 right_yaw=0.1683 right_pitch=0.2636 right_roll=-0.2026 right_gripper=0.5135\nstate[joint_eff]: [-0.1846, -1.4701, 6.9538, 1.6093, -0.022, -0.0415, -0.0073, -0.2803, -9.8256, 4.2462, 1.5653, 0.0611, 0.0171, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.19,\"right_z\":0.235},\"note\":\"The yellow fruit lifted with the gripper. I am bringing it over the blue bowl, leaving space beside the upright pear.\"}",
  "call_id": "call_KLhCoXQ1V5IyNEfoL3mxPBG5",
  "id": "fc_0503d622116f4a96016ab2b71a074087d086cd9ba0cbac372b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KLhCoXQ1V5IyNEfoL3mxPBG5",
  "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, 0.8452, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5503, 1.6451, 1.0859, 0.1959, 0.4877, -0.0689, 0.5151]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1591 left_yaw=0.0024 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.999 right_x=0.4597 right_y=0.1891 right_z=0.216 right_yaw=0.1594 right_pitch=0.2348 right_roll=-0.2178 right_gripper=0.5151\nstate[joint_eff]: [-0.3624, -1.812, 7.1453, 1.5946, -0.0513, -0.0611, -0.0122, -0.3077, -8.6085, 8.8957, 1.8926, 0.0317, 0.0073, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf47c10258d83276faa305c24a333a4a35d8e3095e1e3239c394b59c92c98d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35753d5ff2f86a8ca498258bde5662a73f2961eadb4a5828b4fa6bf20f6ca7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cd1c9a160809ab78c50ab6e78a4923ad4fe28288e70bcc48cb45b7555bfe863",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.551 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6312, -0.4763, -0.0135, -0.0338, 0.999, 0.907, 1.6783, 0.7547, 0.4896, 0.799, 0.0925, 0.5159]\nstate[eef_state]: left_x=0.2872 left_y=0.0002 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.999 right_x=0.3553 right_y=0.2546 right_z=0.1341 right_yaw=0.1762 right_pitch=0.2583 right_roll=-0.2038 right_gripper=0.5159\nstate[joint_eff]: [-0.1983, -1.5795, 6.9812, 1.6386, -0.0464, -0.0562, -0.0073, -0.1162, -8.7179, 8.1846, 1.7363, 0.2857, -0.0317, 0.7497]\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_x\":0.345,\"left_y\":-0.095,\"left_z\":0.12},\"note\":\"The yellow fruit is over the blue bowl, so I am releasing it. The left arm will approach the remaining dark fruit while staying well away from the right arm.\"}",
  "call_id": "call_IA422HMMpVjpvkzO9TdX8v0C",
  "id": "fc_0503d622116f4a96016ab2b723f3e887d0a896b5bb19bd7814",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IA422HMMpVjpvkzO9TdX8v0C",
  "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]: [-0.4271, 1.2465, 0.6476, -0.2237, -0.297, -0.2882, 0.999, 0.5495, 1.6474, 1.0927, 0.1669, 0.4744, -0.0788, 0.9973]\nstate[eef_state]: left_x=0.3275 left_y=-0.0883 left_z=0.0986 left_yaw=-0.0216 left_pitch=-0.2094 left_roll=0.0284 left_gripper=0.999 right_x=0.4587 right_y=0.1905 right_z=0.2115 right_yaw=0.1774 right_pitch=0.2091 right_roll=-0.232 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -4.7111, 9.1419, 1.6679, -0.3443, -0.022, -0.0122, 0.0068, -8.3077, 6.3521, 2.0488, 0.2125, 0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a4ca12064ab91312ba08179b68436a454acf6f39ddfba19e4221ed0c7b47d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ae23f0f52536127e4ec6869dc21c080e6ba205dd91b765d3d4f150b5db23d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200d04e23d15b43a1215d01ba5864b8db7124a488414a82339aed1cedbdab7bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.467 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8452, 0.6312, -0.4763, -0.0139, -0.0338, 0.999, 0.5503, 1.6451, 1.0859, 0.1959, 0.4877, -0.0689, 0.5151]\nstate[eef_state]: left_x=0.2874 left_y=0.0003 left_z=0.1591 left_yaw=0.0024 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.999 right_x=0.4597 right_y=0.1891 right_z=0.216 right_yaw=0.1594 right_pitch=0.2348 right_roll=-0.2178 right_gripper=0.5151\nstate[joint_eff]: [-0.3624, -1.812, 7.1453, 1.5946, -0.0513, -0.0611, -0.0122, -0.3077, -8.6085, 8.8957, 1.8926, 0.0317, 0.0073, 0.4908]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcsHOJLOuFiLmScgXRGQfUSKjuU56kbBmNaE7Wq4vm3CVmAAaf-g5I4t5YGb5LrS8m7u09l5Q54_I120zkMouAyyjtmI2AbzAN6H8WuctHtOt0k9lX8EkbGiRAlqax1I0HOXmUQRltjC16keGjbfkCmsJM9LOC984jLmkHd-18CkVEGx7T9wMjsT-q86Og4nQxa7yvCcMgLeOWWYonZuKTsg7EeXXHd8mPJHfulUtAPd2BuYYvLIQyTcPjAiuxuFTBAUlEOkKt5mPu4Ovmuz9fiNfcx091NiLyo4-cy7OdWBPzzYA3L4gO02tj4wcKtdBkU24XyDozGWpfoAn4V_gjHorznojUNwvb42vZvTK4sCGAy7y1jPceJAU_CwLjgAjOQFnlxl1SDW2G0THXpltJ3k_Rnun8LaSkdyXZnYlI7HuffzJGyIbQWXPMmQmR_2v0Lw0zbYaADk0rMC17P-2be74CSnwfZUcojO04ZVNgmrZbqWkBwh2-Dy_eK5QvaxjanSNL6a98Nch6l9uONsyILSVXqbeRqTk9udd3mQRN30WBm_6li4vZX7jO5-CBrgZdgckkLNiUAGbo2fBOxn-TzrXVP5gNEDiXl2tqD5EI2IgWioQn8ebwcpRYwIr2TeuBV0DXKM4ax33JQU3_O15_PSEN-QarYbpOwPqEuo6VBcRhmfvh6AnJy9Sjkg70X4uji_wX1qlN8DCuZzbm1SbmIGAAxifdicC_qZQNNFZfjHq5RgAGKkDC3CBcG4lFI5pgl00FVC7rIwliJv9IzSXOY-R4MfBrj_0OC3z3bo5aXHF-eYDTwZ6hZV7g-Txo8ZJXQV_UzxM-RnISBE89jGnjZ-LiuYjtMdCeIhM45uGUrCHxmpZTDTkydzqPFKPBWU3kKGYioPNxDE0oiITTaAtWf8W24dmQKpt9ed1KSlHz9D40MumunmrlPwoTonJoO8tSXLED7PXl9-PaInPBfjYOE6vbCwxcBUb6TE3-7slbrkCkL23lKXxk52UkeI7XOTg3ln1zS0WlEqpqc1oGv2urnVx0u7kC16n2PjH9Ql99U4diWcUSX5WP3NfGN7RkNEaiXF7U9VLAp0QbkbD7jegUld6XkrPOJG5ZfoThRzLzNL1IZByXjPzjOd7IGCJJ-AE6dg2BWT17n789kG59AEuH1qL6SYmyjdwGYWfDbZlPimDDWOOiIWqpfixsATN_5whSrZHiKKTJkV5t5lOKaq4dAzYXLeAd1q48gjnKQRoKelk0=",
  "id": "rs_0503d622116f4a96016ab2b7295acc87d08379ec66e24f6273",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.04,\"left_pitch\":0.2,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0},\"note\":\"Both colored fruits are now in the blue bowl. The dark fruit is slightly left of the left gripper, so I am aligning and lowering for its grasp while parking the right arm.\"}",
  "call_id": "call_O8CbGhj30cX09aCoNRqiZ97j",
  "id": "fc_0503d622116f4a96016ab2b72a1f1087d094ac26235514af5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O8CbGhj30cX09aCoNRqiZ97j",
  "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]: [-0.2981, 1.7992, 0.3531, 0.9615, -0.2813, -0.1181, 0.999, -0.0257, 0.8467, 0.7578, -0.4278, 0.0006, -0.2985, 0.9979]\nstate[eef_state]: left_x=0.3807 left_y=-0.0619 left_z=0.022 left_yaw=-0.0047 left_pitch=0.1029 left_roll=0.0426 left_gripper=0.999 right_x=0.3091 right_y=-0.0045 right_z=0.2261 right_yaw=0.1237 right_pitch=0.0326 right_roll=-0.2395 right_gripper=0.9979\nstate[joint_eff]: [0.4034, -6.3521, 3.1521, 2.1465, -0.0073, 0.2125, -0.0073, -0.1709, -1.6205, 6.8991, 1.917, -0.0855, -0.0073, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b80cb511d9f4f2b978de0a1254f2f8312929e62dfcf7afcb73920252b94b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d025d3fac3df139ffd39ba67cc33f5b3395ff0e882cfe57e84bb217729f6113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de6afa64385e2b4fbf1d93c50b9333d6c9d03ddcfd1f9907952d4c294bd20f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.073 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 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]: [-0.4271, 1.2465, 0.6476, -0.2237, -0.297, -0.2882, 0.999, 0.5495, 1.6474, 1.0927, 0.1669, 0.4744, -0.0788, 0.9973]\nstate[eef_state]: left_x=0.3275 left_y=-0.0883 left_z=0.0986 left_yaw=-0.0216 left_pitch=-0.2094 left_roll=0.0284 left_gripper=0.999 right_x=0.4587 right_y=0.1905 right_z=0.2115 right_yaw=0.1774 right_pitch=0.2091 right_roll=-0.232 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -4.7111, 9.1419, 1.6679, -0.3443, -0.022, -0.0122, 0.0068, -8.3077, 6.3521, 2.0488, 0.2125, 0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrc1WPoFkahK8cOdGmYi9koaz3HvN0Vf6jZ_DCfbTSIZI9gXVauewj8zqmSJzBlpe36RWTpxb2YF_i2wYIElDaBG-_n4iQykTsRLt19gnHvPcpy2uym7IbcDg7phtcaE_JZWQc6VHGJhHktEI3viEWMcFCcblyYFAV_Sib5fLZuMhR32hV9FHdNEyeAGfRd50HlLPHaUoPhVJ8gcx2PGRTyJTS0Ig5WZPJLbwGroFSB5XN4wCh0BLMS-vbl8sO3Hr0F653NY_akWHMonXy7xO1PJHTj_xbCqnFrS2nlvSHBanD7BT7Ho7mZoFHqD_mIREFeSNHPPKhW0_OB-qGhzRb1-CFVwk--7uTENNiBAupmHFqmb_oDUE9xt_XgThhG2nIPgnp9BTD2uj5hrHSOaqNY6bXby2a2wYn4adzxsvrsFIYEUIauwPGN4RlcHn09gcMz1M65GTd6nFVpG-qnC0NKrqaHMv5dQWnuIt6DkM0AfWoT1DzQ3Y-c5Zl1NSEnod_f8Xkb8JkUgvLm1Tmqa3XOKrvkHTk1IXF14pteaQxZvQvZ3REYaFprLr0yqR3rJsZKdI-X3jzcSNl7Tc23PqaZ_BTUtffBnJttAGs40SqL-pBqgb7pqbvjH-NrAbyzabjNyQHcQmTsov9ZY-WZ8ZXITzmoOaM-sVO6TnzBiewQuShpAmK5fdgZxhamN8IZ-TDNcY2x2Qp3ZO0cgSPoTtBR7x7JFkVE_YPdJrN9FGpsyxc0rMNf-tbJUkEvRTjCkBbaOtv-oKl05nQidYBmzWhkw1MNFYY4jGK-raDhVhBFoqltSSGW6OK7mrteWdVWuVCf5_luhLVVTjUsNMH8nl1G8lm71fYJEzOfN6rjzX9eBpe6UbZ8aVVec2HFlUfTl8cqL2o9YcrjL1ST1zURDxoEG3UhbDFxVyQSBdRJE75kCxIRLe96OmuWvCRt8bd4inGKaYBbvR11gehSYiKve8eNgpIhm75Lm7BJNgaV_SJEK71O63c1kPbeqDHRLvVxjkmxvflEHpdwfTDgv4VLqadbTsXXjBV5ctSLq1ck-8EGY1vwcurOyrDTen-QIulbt74oG7q7JvbUGOlbbo78xhJHa9EN0TymDcOb5Xuh7R6wzgPOooWbjkmueRyPmBb7lQlB1mezxgUhveFTsmzfGtcHP9JHP675FBW6tZHH9peL1X3Gce7JgXOnSMHLW7JOWMwq5ajjZto1C-c4n3vyd4Sk6bsnpbiyvMeaprgnAXrMpDHHxLN8i7JfILeTYensHpuqUQvNZX-GONd7DtPaqBebndRFwVA_0QYjdNvct0oxFYgSOIxOceFmxiC3K2zXAaPKp_-u0jOY0yY_q1jwNV8Xm24qgaJd2Nw1V5_asgnfy3ip648YNpO7v0fdUPLvdwCy8ULJnU16oh4sEYL0U1BDw01Z6hAvVTs_aGbOXA5_A78i0UaW90Pl2a31O_qfV3uqaXvQ5js_gi4oWwVmRSOkw9QmQAhwZtJ7NyfjTlS7knqYa4kzISldxOn3rC5_5OQNvdtGkSwyU5yrGSY55GyYxa8OcMJ6SmmtZaBJ40vgS9LQ=",
  "id": "rs_0503d622116f4a96016ab2b730704887d08fe3ad45f374c2c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.407,\"left_y\":-0.045,\"left_gripper\":0},\"note\":\"The dark fruit is within the finger opening; I am making a small alignment correction and closing. The yellow fruit has rolled outside the blue bowl, so I will need to put it back before pouring.\"}",
  "call_id": "call_Nczz8qdJNquEN2cXRsSZR91A",
  "id": "fc_0503d622116f4a96016ab2b7336dd487d0b1503008a51f256a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nczz8qdJNquEN2cXRsSZR91A",
  "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]: [-0.2104, 1.8462, 0.4191, 0.9295, -0.2211, -0.0967, 0.5143, -0.0242, 0.8528, 0.7578, -0.4675, -0.0124, -0.3222, 0.998]\nstate[eef_state]: left_x=0.3995 left_y=-0.042 left_z=0.0166 left_yaw=0.0206 left_pitch=0.0826 left_roll=0.0375 left_gripper=0.5143 right_x=0.3048 right_y=-0.0016 right_z=0.2159 right_yaw=0.1486 right_pitch=-0.0146 right_roll=-0.2456 right_gripper=0.998\nstate[joint_eff]: [0.4855, -5.7504, 5.6957, 1.9267, 0.0757, 0.1929, 1.0281, -0.1709, -1.8803, 7.0906, 2.127, 0.105, 0.1783, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1626d1d6a03027be8fde3b6398f40e759ffcaa68ac90c399c9cce7c735d2b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70864220e6873e3d775d2326112c890254984100fb072e33684633676704c773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776676ba54d073414a21ecd7b96fa5b039b8b7ee756bebe15015e7a3515819c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 11.33 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2981, 1.7992, 0.3531, 0.9615, -0.2813, -0.1181, 0.999, -0.0257, 0.8467, 0.7578, -0.4278, 0.0006, -0.2985, 0.9979]\nstate[eef_state]: left_x=0.3807 left_y=-0.0619 left_z=0.022 left_yaw=-0.0047 left_pitch=0.1029 left_roll=0.0426 left_gripper=0.999 right_x=0.3091 right_y=-0.0045 right_z=0.2261 right_yaw=0.1237 right_pitch=0.0326 right_roll=-0.2395 right_gripper=0.9979\nstate[joint_eff]: [0.4034, -6.3521, 3.1521, 2.1465, -0.0073, 0.2125, -0.0073, -0.1709, -1.6205, 6.8991, 1.917, -0.0855, -0.0073, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrc8bd8GhaS6XzDEitRVI9m7X-4jr7tV2KhEjW3yo8XRARxe6HTxJRRvV2Rk8AEaGnkPJF4gH91TPvIIDU9FZcrEiRnhHWuN4S-orta5GcWTTRpUGVhnYH6V9Xt36EGIAYFa_4y7NWN_qYUEiySt4c5f5uzXOoi_U8ZZ1ih36wP1-nXmUs-1K70UTLj9W146M8_CE4Q4MfmVAn4AY5ZbgfHPSZjAeqTTs9PG4EBZPwQfvOW3ocijcwBAVLZ4nsR7x28DYumJYd7pbuM0NRXFjVQHlxS5ZZOHr4-5TbjcBOiProF48LvxKRRUeqH86navppqN6BDNs6xfor7PSp-1wru0ZJvVzNlXfhXyLe3Z8oOKGK7590hlSjVvOvfkkGLzEHkZhFFFCL18Ulq2-MfoSrChc5PrBzvWIQaPJf1uNPTy6ZNSJNQ9iPZKSxEMPsJORTAjnXibQERki65L9xUs32pl2zBY8cQgRIZLntISoWyjwu7Ds5lJJT9bsfQYnJu6DCt5SyXzgUgJziErfc4YTKpLqn8Jl0nJdO0NgDs_lZ4Aur0S2PhsGDP9-e0Z1qzvlCuIgWhqr4NilumMtOLIqXzt3BcP4uOc6tcUJOUl4mOvGnQvtiLLxecWDqZYyEzPCungtvue5N9yBB7U5s30ZkjCPuVi9vm9UlR2S24tClWxVOXLmZeUWpYiIFIhDsP_J7SE66NgNOMhHSSqUCIy_R0R1Vu0fANulB2nv3r8p4Da7I6O5_FKvpwABogbmNrVZ6m8wrbL1Zgk3nV9GPMz_t94N6ld-WeFufR01NsrccA86CchKez32UEz5UjB8lZsn9NZ4AaF0PSYxd5F7LMoLgsgJ5DGrReYti8ZIKc7JW9cJsLOITdCoHy0rvd5SVCVSexZKZB4t1fqq_34GRKHoyqpAGT3ENs02chC0-4qCP66Ux9HLvmjZr-grfUOwJDF8yyzPXYCHhNPzxkEZCTzk4rSQdBUVTnHr1yBBf4w1vzz6NZznTffMKtSrxLueijnUre8u6dGpbcCD_Uxi5zE-MwFibBrXHTwVloA6pWFHtF-ejyyTJ-bI03hp_K3pzegOr8GKIDWb9pX0TmemVYluhQmK8avhVlnYUgcfsr6upeEQsUIwTHUNCht0Bv6kV_chSVNVihsABROafE0ODriX6l5mcK4lyF1JX9Zl8hzBEKxLEBNXdnWZR5ENzQKgAIbIYu8QN3yfLQyAFAP3GDxuPly3jejxqKdhZLEXLQHSeWB-dveDrCeVVVS092R3ikCtdLe",
  "id": "rs_0503d622116f4a96016ab2b73a090087d09a30aecf4a5ef8ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper holds the dark fruit at a nonzero width. I am lifting to confirm it is secure before carrying it to the blue bowl.\"}",
  "call_id": "call_kyJUZzrm3vYtG3Mhxg9BMXFO",
  "id": "fc_0503d622116f4a96016ab2b73ae35c87d083d5d570fffde216",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kyJUZzrm3vYtG3Mhxg9BMXFO",
  "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]: [-0.2096, 1.3216, 0.6796, 0.1444, -0.2237, -0.1024, 0.5174, -0.0242, 0.8547, 0.7578, -0.4763, -0.0124, -0.3237, 0.998]\nstate[eef_state]: left_x=0.4003 left_y=-0.0414 left_z=0.1537 left_yaw=0.0267 left_pitch=0.083 left_roll=0.0336 left_gripper=0.5174 right_x=0.3038 right_y=-0.0016 right_z=0.2135 right_yaw=0.1494 right_pitch=-0.0254 right_roll=-0.245 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -6.735, 9.3607, 1.8095, -0.0757, 0.0366, 0.7009, 0.0068, -1.7299, 7.1316, 1.8437, -0.0122, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f7e307ac66b55122e539c1708a591d74283cb9e543a048a9310761d76cb322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5f30ed422b7a162fbbc451ac3221311c8ecd1c6178056163795bdc185751bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27b11776c4181aa22cfd249b2f2e32db9f63e106c2f28a3ef5a2edcd39f0d4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.878 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2104, 1.8462, 0.4191, 0.9295, -0.2211, -0.0967, 0.5143, -0.0242, 0.8528, 0.7578, -0.4675, -0.0124, -0.3222, 0.998]\nstate[eef_state]: left_x=0.3995 left_y=-0.042 left_z=0.0166 left_yaw=0.0206 left_pitch=0.0826 left_roll=0.0375 left_gripper=0.5143 right_x=0.3048 right_y=-0.0016 right_z=0.2159 right_yaw=0.1486 right_pitch=-0.0146 right_roll=-0.2456 right_gripper=0.998\nstate[joint_eff]: [0.4855, -5.7504, 5.6957, 1.9267, 0.0757, 0.1929, 1.0281, -0.1709, -1.8803, 7.0906, 2.127, 0.105, 0.1783, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrdI5UiiTfD1Y9SkX3c2V-DJH3M_vetN1kZw9r-F5GggeQvFIBETELQ4PT-Hqy4V4CnHQt0RqsZwmHYVdwdKId89DJpdAosa2q2EOwtI4RJ5Nk0JxqKjG6IksUMVhf2_T6Gd248C3TAvzBJo1Y26IL7Aodgb4XmSLBxm7rqCYWD8bS1DfEI0oEi3RFqe_hsz4C4WeaASFhNhk0PmhjoeCJ41g-JUkknijrX8iM9-k_76RWBcg3isDsdCH48fMGUyOo2xq-1LYW8JQ0uRS3cjLtmqgrMCa5473Nd6vuWxAbRVYMMkh-58zZG_FrGbFZpohqQzJaKjdW-U-r27vxhsedAD85dPCJDbkdBjAnVOx-IFUPo24LiJdEpQssTsR99sBE14C07dX6s7CzMrRvj7V_o5lWTrcGx1Zo8DgCDKBWf6SyVdi7WjVdsLHkr1Fr4s5wM7XkUWhrEu2UZ_kd0zKx3aT_UsYLuHAHF9Mp6OHAdUdR2bj-0_BE5pK2MStpxlO-K0A4CRinXe1VNQ1GU3s0k3LL2qnLCwcC0kM7VG9onMqT4KfwppOOtnCMyjjUukhYTV8CweJzY6fTQ1-Fe86rzTLU9a06WEahoGIwKfU7rRErEXtwGmFkXKOYzJkA4zG7zfpWzhoTWbn0DHdEz7voZBf2L6DiCzC5oQ638wNuO9vw58Kwq2oQOsF2vyKqmk_9q4Uc70asrf29PCsq4WtHn2U7YV9R1m8mlkTIP9-tpx_bA2ycK1BXmgrxEvpzYz_SQfZdHj3wHR6enPpFnpdkNc76bmJmAa6-BKsUX6_gv8xDM1iW22bAwTG3lW9_BISCCIDHC6kIEwhPGdsukHHn5jVNlubMBXLwsW-J_cYKtIYbAkOvuRNuoTLqvMexld1FjPj8DCTJfresDXDzsm-e7uOITZTqvuVtyZIR-lso1wgdH5XR93BK_V7fi9JpJVlB7calfOF0rIPcF0mVC_zDTb5BnE6iUcx9u-lA0H43x4gHR8qrdF7SYlCQmUhw4Xkmmb2s2NRNBD8vyRM7TNZrMYYmKKLD_OHf-VvIt6_tpvBqARvyJtjgaqaap6lABcUEIscMgKDFbnjwd_tyhg3325NnS_1jYY5s6l2leMG2-pOwMRTH_wqgR6rUkaVC6CxMCgAFgrVrC1M2Uyb5b7DQhpn8CLKwq4mH4yBK4H3hXAPsJ-21ZRTtp5Jj_oZxu3bY5WonDbNw-yS-F_jTdUfk2ESeAu0yMY9d9exyztKAIEJ_o57oK7EvrE_cBPALYY89L5ybdPCEZSnREGIaC3NikYVpGChsYlC89yftqf6FC04xk9flbRLfs0-Q3IGr4mqmjdGTy-aJvDmyaUHuUWVj4wh31yl2ZVVzuR_erKnb8nCnz6rq79cJnWCr6WuAgEVXWWsA3kHbkVa1AXwLGMzS9PUKeEd3t-vHCaw6NRswGo7bqDeNcKmO3ivqvejJJdTW2by0CZkdVJogdilRkZUsVQS9Y6_Fi1i6X3SjHm8TTwBpgPRb1lz4C4BYz_H1idygq2oiIE7YyyK5alduVcDEw0Y2IIflhlASbkZLcFbDk8ePN-OI0y2c9cKcN8uUq_TBQq2gH8w66iV4mnX0WYGKx0s-c6KhzeVOFBgWZHUvO8kPC9dytlsoCg-WkXhAHhMV3ouNhE-Ldrr_kv9Tl2KHVdD9wf1ORRje5xrPVoV-xV9hy8hsD6XT0DyzstmwvMRiwo",
  "id": "rs_0503d622116f4a96016ab2b7424d4487d0b2f03ff98e14b982",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.39,\"left_z\":0.22,\"right_x\":0.36,\"right_y\":0.055,\"right_z\":0.1,\"right_pitch\":0.2},\"note\":\"The dark fruit lifted successfully. I am carrying it toward the blue bowl, while the right arm approaches the escaped yellow fruit on the far-right side.\"}",
  "call_id": "call_LN5WwnTXVYLgJZotrHxBfGMt",
  "id": "fc_0503d622116f4a96016ab2b746824487d08e8d23be5b822f7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LN5WwnTXVYLgJZotrHxBfGMt",
  "output": "executing move_to over 31 steps (3.1s)",
  "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]: [-0.8818, 2.3825, 2.3135, -0.6483, -0.7708, -0.5446, 0.5176, 0.2474, 1.3472, 0.3012, 0.6212, 0.2104, -0.2161, 0.998]\nstate[eef_state]: left_x=0.4846 left_y=-0.3891 left_z=0.2074 left_yaw=0.0207 left_pitch=0.0762 left_roll=0.0194 left_gripper=0.5176 right_x=0.3549 right_y=0.0553 right_z=0.0876 right_yaw=0.1745 right_pitch=0.1317 right_roll=-0.2653 right_gripper=0.998\nstate[joint_eff]: [-0.8274, -15.2274, 8.4855, 0.9402, -0.525, -0.0269, 0.6862, 0.4171, -4.3009, 5.053, 2.2784, 0.2369, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b139253e11ef41cf27d4b047c1ea5ccf95c03fde62e615f9e8160428047115",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8af771a75b13cda305e39d6b86e1ecb907aeb8c46e06016b2e51db36eadf6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da21fb8f5f7da857c3aee93f83731adb93557b03fdc7573d4874bbc81811d2c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.799 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 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]: [-0.2096, 1.3216, 0.6796, 0.1444, -0.2237, -0.1024, 0.5174, -0.0242, 0.8547, 0.7578, -0.4763, -0.0124, -0.3237, 0.998]\nstate[eef_state]: left_x=0.4003 left_y=-0.0414 left_z=0.1537 left_yaw=0.0267 left_pitch=0.083 left_roll=0.0336 left_gripper=0.5174 right_x=0.3038 right_y=-0.0016 right_z=0.2135 right_yaw=0.1494 right_pitch=-0.0254 right_roll=-0.245 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -6.735, 9.3607, 1.8095, -0.0757, 0.0366, 0.7009, 0.0068, -1.7299, 7.1316, 1.8437, -0.0122, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrdROfjwnSF0T78vfSexiVz8JkT9mEyFbobY4qPnXsaoZb9FoKDX8FODR3Gvh2xd7r2rXl6ehSeNOQuaQnbgEHl6-1GC7hih3mgBLw2KRHYkxx7RfeeLwvTFaiRlkoZrAB7wbZ8-k3ZzDQvuW-gazfTpD4xMBHFZx_-_3BfppbXyM3ua_E_H2gdi81XF_UlTgX3ARXkq7mXN4ckcWhlT-6LpFI2OKJjbxIDELfxVRe9j2QC3Hoow860YV6aIIabwva7UK0Ui0BDU1sugq6d6VsgHTyHedxTfod3kGXjbfy1GBUyTSs9BFvIHT6MgMg0lqxQV1rsrbq1xG_DzI--7kzVyk8jeNZWxCRnvDD3wTA7yvbMQPl6A-3g-KM4Lckxsk_t7_tWUfmKeXSUoVVNdUlrUcXFRWrKzBOmUfdiM_ws6GU66BzZIlNbl5eVb3MeAKGMDZLccTM_vpn111adpCgB2QnpVxHIeqACUd157fkX2-3YC4VehegxlRfZ3-NPJkC8LZo2j_q7KoCLZ4_xTbN3cQffWeBkLjj6QQe1pK9WCw0d-bzsHgz_wK8LVXLc7ZBfU3WKE7OsPU81QQCMLl-1k4gV5h0kfGRP50duoy4pJHLnoUS4pd51O4kL0L0wQZNer4C31gH_qcsaRfaUmYFRSUDS-aLwV0fgbzDY16a1TntJTkfsCkHnRGW9qDUL4XVrV7fjELCmexgBaxevsynIgBAx_jrpbUDGNRDn-ZaIhc9r4YRNhL3FG0MRPu_qrJeOCBqG6wBhLHWoQPsdkwKrivBQVYepLgquVpCdFpRdcTiYOr9dB03Tj-pKlW0wMG4MzUF7Ps_9FQPQsAl0wlr6HWTG31zN7gf505tS75IZmXViWSCUwzN9-7S6Bzxgs6TZPaw3qJ4-nOfy-HalH0JW9O3REjG77c7Z5ADf3oza6dvbTsTCKTHdpdLbhZWeaNgZ8jaIG5ng_f16d8WZaiYSVphYXZGKApz348ej4zW3jP16Lk7cKHE_RrR6tCvVdELVBvJl6OTWv4PEuI790UZbKFH-PDREC01jb8trutM12RX2x1Km3VVMJbEWtgMz67AxqBoBdBLeO_5qQeHTVMwbI8WorwI7reFIX3ENytRvve5iv00RRLLnfG59NP3veBx7PlztdZfIMT2YuO-samrFlZKBL2F54mOl1XAhwfSxpdaYL4g2ZQwQrG7HQuXdieGfY5GbbegC-WuSElj6lFE-Wfrp2aoegxyYcMfvZQFLCbPgizOQQgmHjrZZkgCcMHdlD6m-tAUEpvV6j2xjUTJZG2g==",
  "id": "rs_0503d622116f4a96016ab2b74e4dbc87d08f27b00c24738dc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.145,\"right_x\":0.401,\"right_y\":0.055,\"right_z\":0.04},\"note\":\"The dark fruit is above the blue bowl; I am lowering it toward the opening to avoid another bounce-out. The right gripper is aligned with the yellow fruit and is moving down around it.\"}",
  "call_id": "call_X070ZmPQPdyho6D9QL4MhXI3",
  "id": "fc_0503d622116f4a96016ab2b74f83b087d0a6f23442a71c6750",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X070ZmPQPdyho6D9QL4MhXI3",
  "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]: [-0.8822, 2.3753, 2.0571, -0.4767, -0.7673, -0.5476, 0.5185, 0.2054, 1.7664, 0.3733, 0.8665, 0.1745, -0.2298, 0.998]\nstate[eef_state]: left_x=0.4787 left_y=-0.383 left_z=0.1348 left_yaw=0.0164 left_pitch=0.0263 left_roll=0.0761 left_gripper=0.5185 right_x=0.3822 right_y=0.052 right_z=0.0179 right_yaw=0.1708 right_pitch=0.0272 right_roll=-0.2664 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -14.735, 6.3248, 1.6825, -0.3883, 0.0122, 0.4078, -0.7043, -7.1316, 5.053, 2.293, -0.0464, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588d1690d382d4cc6719bda53a70cbfda6e8e8dba354f4615a1a22ced84c4086",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e855b9215049b12a621dcf956e5acfc9b0f1fa4a9aa6e46bcb699a5296d7e32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055d32a212dfaafd37ea42440040440b29ad09a4271e1314d445a325039aed8c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 8.154 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8818, 2.3825, 2.3135, -0.6483, -0.7708, -0.5446, 0.5176, 0.2474, 1.3472, 0.3012, 0.6212, 0.2104, -0.2161, 0.998]\nstate[eef_state]: left_x=0.4846 left_y=-0.3891 left_z=0.2074 left_yaw=0.0207 left_pitch=0.0762 left_roll=0.0194 left_gripper=0.5176 right_x=0.3549 right_y=0.0553 right_z=0.0876 right_yaw=0.1745 right_pitch=0.1317 right_roll=-0.2653 right_gripper=0.998\nstate[joint_eff]: [-0.8274, -15.2274, 8.4855, 0.9402, -0.525, -0.0269, 0.6862, 0.4171, -4.3009, 5.053, 2.2784, 0.2369, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The dark fruit is over the bowl opening, and the yellow fruit is between the right fingertips. I am releasing the dark fruit and grasping the yellow one.\"}",
  "call_id": "call_478PUHzlwGaUdaKCDZd9cATp",
  "id": "fc_0503d622116f4a96016ab2b754af9087d0b3a03c515f1a20b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_478PUHzlwGaUdaKCDZd9cATp",
  "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]: [-0.8822, 2.3753, 2.0407, -0.4751, -0.7662, -0.551, 0.997, 0.2054, 1.7821, 0.3786, 0.8928, 0.1635, -0.2356, 0.6381]\nstate[eef_state]: left_x=0.4771 left_y=-0.3812 left_z=0.1285 left_yaw=0.0172 left_pitch=0.0166 left_roll=0.0843 left_gripper=0.997 right_x=0.3857 right_y=0.0547 right_z=0.0193 right_yaw=0.1831 right_pitch=0.0422 right_roll=-0.2654 right_gripper=0.6381\nstate[joint_eff]: [-0.3487, -13.9282, 8.0342, 1.3846, -0.315, -0.0024, -0.149, -0.0615, -7.5556, 3.3983, 1.5018, 0.1148, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e666622162635d3765c6759294e3ea18af6eb32394407aff607864036e774cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65944d90597605dc2c1da9c67a12ed9324a4940ea4f8cc89f00e4fe4cea9df1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:626ac013f99343adacb3e6f55660fe2e1e88ba4a20abcabcea148f8f8e40c160",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 7.072 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 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]: [-0.8822, 2.3753, 2.0571, -0.4767, -0.7673, -0.5476, 0.5185, 0.2054, 1.7664, 0.3733, 0.8665, 0.1745, -0.2298, 0.998]\nstate[eef_state]: left_x=0.4787 left_y=-0.383 left_z=0.1348 left_yaw=0.0164 left_pitch=0.0263 left_roll=0.0761 left_gripper=0.5185 right_x=0.3822 right_y=0.052 right_z=0.0179 right_yaw=0.1708 right_pitch=0.0272 right_roll=-0.2664 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -14.735, 6.3248, 1.6825, -0.3883, 0.0122, 0.4078, -0.7043, -7.1316, 5.053, 2.293, -0.0464, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrdeIw-eL7c0tQ-cjyFoDnVa7IGiZpR-u5JBYUOwYK31XF-WKyDnh2GnEqzSKyjLFI00f9_Hzm3FRXojBQq8Zw9q4wrVb6fgs5WOs6ja2ChrTiaqsoTgkNQZC-EI-ZU4LlGWkxZlah0wNOviGN2Bpsh1amhiov4f6pQ9muNkOvryfbvrEVUh10XSZs9zGGveZ_1VY2TK6v6ZXZKdFUMwMLT3CKiOg8PDuPMxmC1PDJz9VqSSFGZgS9eU4UyZyBnXyC1FchVf70A7x8dFbZoN1nwTL0LzFsXzufiRl9BaKVKI5YDgW9FteN0xc42B4Hf-TUTu0W4rHdL2NAD7fxvsb5vM4yp6k6_2yzAZM2umjkVdDAbJ7vz-6juhJsYxuoQY846QQCtNnnRg6IpV0s9XzIG7Ivl91ah_E7tm2GnrynIdMbN-LjJJnwz_jttM2On30lRdatwM60PtpmIY7JatxDHZbDlDzflZaatP5Wk-pvkR5Hpc3Nu6fy1hTAzfnxiTVym4YXxrZW6aA7mfl6vtFjGb0jnrRJ0eKQuPc4BAxEyhPRUMd-CQdkfIFRKNwrcoQoTUOlmCAPJVDBZwcXqyDLGglGJdxmtWwQV4CBklOIYmyaX_g2iGhiC19mTCfZ69txEpITOaUgkVMt9f1f3LqjHpOAf_VgSOw1keNNxDAlq_SF_NEQUMrk3vg1a85jGmGk4C-WwmIv17IBfK5IhCNq7ydT9whV6Rg4LUqJBThAsn-FR7I61cwkZnd_HGDxrxJJHHWorr_gzskF1XRIMF5Kl_BNa_aJwGa4yd7tRZTxcb_-kMWjEDlb9CmPym4Y4rg-FnYusxj5HAqH-_fwosEar9tzLRg4KtHnNYdG5wBxQFMpfChfL71LHTP_XHpcvqgGiuzsak0PiXCMLwU4DT5F8NAvs6L-qtjmVCajlq6jIg6-4sUKF7Qcu9J7e_tlRHhZYrOfaEXDgm57Ih_JIwessp7VEGibVgICTFJ1MhqjtrExlcJnD6-xPzglTnshJiSWKjQHTQ0tJnNc5LXWfvUm7B_MS67UpirQ7z2Q6_malxdgf7a4ul7ElRw-_unUFXlioAVceEMVtwR48eK9Jd7eOqbLu0JHeb1gvq8DC7fS6U9oiNOGYbPDg-fIJkmGkLXRq85muEnv5aEF_6dAvEgBr4NLwyQLCSFiFAWzn0GT3-xdBoVMEayZgKkttO9RO9RmOlNqdAzsZaVtLhqrmMqxY7yoqKZhRS6HRsPyenvEI5-YK8rFXxSzrheJdsI9_7euujGJxPQ0kRl1h72f3snIfkmwBHekuzGEFHZkpCKIm7mZ0mn4oZk1SKYDEVjOW-6Lt6kZvuJnwbjxWUmxB3eanMGSSJFKhSbvZ4z3nhN5nCK9duqy2FrxqGCYPHnD6NxjQ1VYiCxU0cdgR-A3LW7rAAcjFhVh7OybyLc6Aam021fc6PWMoMecrao68Gob04En4g9c-xvz2d8Rn3cXvMhk3nxIfXOmdslXMhy8gkOWkn4tPemxJm0aMt5PEGkga_GWUPuk32kbJk78rfKudh-QtZ2HhWMKM0IhR0-1fXqTnusAWbTmOav7Dy5JigHFpJbmfQsGNQOFLc9SLxi0ML_q2YzuvAm0qxVKL4LafUZrt1s9gnjkm8O82nTZk08KQYTqxCY5EF2XGz-5tsopBrdpN6zAh0f5dYJtKca4EXa6IvWuj0tmePwGkhhWwwGDlflvVlDMQF8MWkN_G32fyYb7zoDELR7sGzNadg7fTdYQaPaNn5wLZMqqc51ifyE1VdP_qCTydNZDzMmzsWm4uYv170bgZrBMV0CZDBZI6O3R_Pnjo=",
  "id": "rs_0503d622116f4a96016ab2b758e6a487d0bb6c904c1f18645e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2},\"note\":\"The dark fruit bounced out toward the far edge of the table after release. I am lifting the yellow fruit and clearing the left arm so I can safely place the held fruit before assessing the escaped one.\"}",
  "call_id": "call_cRw5pWJMZsB5ubgx4kbu9NZN",
  "id": "fc_0503d622116f4a96016ab2b75c1a7887d084c7273fb4fb9fb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cRw5pWJMZsB5ubgx4kbu9NZN",
  "output": "executing move_to over 34 steps (3.4s)",
  "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]: [-0.1169, 0.8337, 0.6792, -0.3897, -0.2043, -0.0566, 0.9975, 0.2062, 1.2713, 0.6437, 0.0769, 0.1593, -0.2401, 0.6408]\nstate[eef_state]: left_x=0.3045 left_y=0.0039 left_z=0.2034 left_yaw=0.0779 left_pitch=0.0343 left_roll=0.0742 left_gripper=0.9975 right_x=0.381 right_y=0.0547 right_z=0.1412 right_yaw=0.1899 right_pitch=0.0015 right_roll=-0.268 right_gripper=0.6408\nstate[joint_eff]: [-0.0479, -1.5658, 6.5846, 1.7802, 0.1783, 0.1197, 0.0464, -0.3077, -6.147, 9.4154, 1.8046, 0.022, -0.0269, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e564510fb338c90cdd041e15530c18caf9866a996037861f274b8fb5578b04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a4b4154dce1354f6f2165b0a2a486c853dfb9de7f55645ff224f6d27664a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b5475747d9f3ea563bf463ff6d9eb409fb0c9c9b769ddb3924fcba5823bcaa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.795 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8822, 2.3753, 2.0407, -0.4751, -0.7662, -0.551, 0.997, 0.2054, 1.7821, 0.3786, 0.8928, 0.1635, -0.2356, 0.6381]\nstate[eef_state]: left_x=0.4771 left_y=-0.3812 left_z=0.1285 left_yaw=0.0172 left_pitch=0.0166 left_roll=0.0843 left_gripper=0.997 right_x=0.3857 right_y=0.0547 right_z=0.0193 right_yaw=0.1831 right_pitch=0.0422 right_roll=-0.2654 right_gripper=0.6381\nstate[joint_eff]: [-0.3487, -13.9282, 8.0342, 1.3846, -0.315, -0.0024, -0.149, -0.0615, -7.5556, 3.3983, 1.5018, 0.1148, -0.0024, 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": "gAAAAABqsrdp2XEq1qI70gzNn4U45ucguwsp4z9zANv3nIl5CKMKxkBGdAwUOoHi5o3ALEwD7lVlUKYKHCBPBx6HXjNWCwa_WKsD3EsB8tR1oTMQ8adOvQHVv6zTIygOqtrDqsqbu2pewZtv_f_oPQrMHEUyhbib0wmbGT9QEc0EuqOY8NBx5Kcui0YqcY2jFARQlL_eRezRTtYf7cCxZyiJQSpRUOuJuOf0o1CQ2pXwH6CvNT6xtFGXi2UAIyvP0z9vk5tEcizr_g4JoYOI8vZipPrrEmaDTSgmiVDUgm3JakH5faD9hzQiwMJdfufqEHL4J7PJcOtmOz4QkF5qQVKFagz8gC7PJUTWUZw8zX0wigF1tz4zyimE36goIdJt19ughE5iSSf9Zhn5vJ3wwYDmBYcNEVxIWaT5s12AiaDB9fKUeRgC54Fp_xlONMA6ltebJXbhxBjLmgXID2dyL3SlQ3txD3dXKhCu80kho-g3KPLCsWBWDIDYwuRIjLq38fpv77D9VCPvah3u3oIFv00gGid7ViXkl9fKqLd_sH0iupSJWHEyVzGDRRVvx2okzdc0Q-5I6R_3qE4ZoUKGZ6evoHp4tpy0_fbDjg0syVPVIeYs6GjX_XTY5kfWb3_V-h8QIsWurhpexZjMmI9ZkEV1myqqjY22a56q1BWn2awaQzVCxhzR6IRvT_T5zqjxSAsyI3RY8mjG66WVD5Qv82EA7AvOGL5bGN0Dt-ddbP2kxvHa2EAH25hO8020BJGpK9IcNIP8VCmBRt7MIEBWNXTZ48I2_j-2gacFV6C5Dd3uvh-txZ9tqY0MbYVQ1Sef54c5-GWUxE5pdSR5TjGf84LTfFr3Vj2G4mrEE4bFE87B9-aQgv5qOC6NgBkpGB3HppuEfoOBQW1XO_4iEXO2gpV1AjZSqmZP_bNRDH6AKJS4k7SEpbjQMmLcXzhyFB6rf5LUzNlCrjNfSiyRyvPVl5nGE0oOWzNEBapyAe_w4OJ3ymIaIn2Jn7DKVCA5WwZUk3--V_6xV6OUznqELoZcnCmWjeqE4T7nDMQioEFnbSwek2MI0jFq_ldV3wdaVkHD7JHofp1zxoGFm05_q3jizyhSSW-QT04pinLPk4NZCPZSN8u8GNTSii7G4xm02zkppgR4bJ8Z8CYUnhUrzjM48bnJ4gAZhmz2F9axyFjWYCkCczk_u6FOp4EMUv_PyKWapaa0C2gGqGIrD_V2BhgkpwvgKSrTIWtKe1wzuTYKp4OWnyAWUhyPivQCnXdNTxUoZIr9bSwkEtPGZA-SeAUak5ugACS7v6psNWwCj_-SCkDwU0Lri8R_EpAvxeTd32BPrehTNHAWR6NU8DKukANhL9dkNZj36iOyz6uw_uWDHrX54f4Depm223KfoHLp3UYQ_zZ17KD_ZTBdB6S1nNq8-hvYYYAqpQOHVG5ENS2arm8b5jG1fbOzSmGXHR2GQQ8re7WShf5-TW5hx6CHEptoUDne54fVl7squm0_L-4e59ZlGua5t2KDGec=",
  "id": "rs_0503d622116f4a96016ab2b765c9ac87d08d6ee492a157a88f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.29,\"right_z\":0.24},\"note\":\"The blue bowl is small and the pear occupies most of its opening. I am centering the yellow fruit over the bowl more carefully rather than releasing from its edge.\"}",
  "call_id": "call_aaZHRHbRKZ8Sc4MJkVApKDjk",
  "id": "fc_0503d622116f4a96016ab2b767980887d095b9ab1529a6927f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aaZHRHbRKZ8Sc4MJkVApKDjk",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.1146, 0.8387, 0.6785, -0.4076, -0.194, -0.0525, 0.9976, 0.691, 2.0159, 1.8362, -0.4911, 0.5316, 0.0177, 0.6413]\nstate[eef_state]: left_x=0.3027 left_y=0.003 left_z=0.1978 left_yaw=0.0692 left_pitch=0.0099 left_roll=0.0769 left_gripper=0.9976 right_x=0.4861 right_y=0.2905 right_z=0.2275 right_yaw=0.2313 right_pitch=-0.0249 right_roll=-0.287 right_gripper=0.6413\nstate[joint_eff]: [-0.4034, -1.9214, 7.0769, 1.8828, -0.1685, -0.0659, -0.0073, 0.1026, -11.7949, 8.3624, 1.5653, 0.4371, 0.2759, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d41b38f54a054bbd8d9d3caac5081bd97f44e8877606437f57be6d44fedc73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5131d1be4633b90498deb19c74f6fae3cd59f5b8754eb75dee7ed4e02fe9e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cdca53352b2a1f80b5e8b67e63dbd0aaaf6ad6cd291c06520d18b00dbfcb6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 3.859 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1169, 0.8337, 0.6792, -0.3897, -0.2043, -0.0566, 0.9975, 0.2062, 1.2713, 0.6437, 0.0769, 0.1593, -0.2401, 0.6408]\nstate[eef_state]: left_x=0.3045 left_y=0.0039 left_z=0.2034 left_yaw=0.0779 left_pitch=0.0343 left_roll=0.0742 left_gripper=0.9975 right_x=0.381 right_y=0.0547 right_z=0.1412 right_yaw=0.1899 right_pitch=0.0015 right_roll=-0.268 right_gripper=0.6408\nstate[joint_eff]: [-0.0479, -1.5658, 6.5846, 1.7802, 0.1783, 0.1197, 0.0464, -0.3077, -6.147, 9.4154, 1.8046, 0.022, -0.0269, 1.033]\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": "gAAAAABqsrdvHX650KkV3Po_cyB-GrPvBPmYwVAzREFYjerFtAJ4V13SkK8jbWH0_vzN7wRysyOH05DWvCnOhBFJQNcQ7NybsFRUqOP1vCwMbtiQOlwW2jd4PW0NAOLaa2k4TIVZ6jTYMyNFtZ6Z6PtTDwB9Od2chN8bA37eYZOMU0tje3-CAqIVrhkhStKosbv2TAQCbf0jNGQLuCDF3jeaKFcwKz3sp7NG_zJ1zVsfo7mhkmH2rtosR68q9WUg-WO8Zmqgd2Q-kwfw3VKlcZpNjno93zh0Nmj3A7LO_XN7GG545zHBMCS_twOOYvPH_oV4yQ8qVLguwJ--hSJidmm4_dphE3MuGOsJFFgn3gIsDBRPRYrONoJ9bTvz-ZXMX9Qtg4ptyGVuxR0yzXDym82mTtHGWQjQBXr9vR3bLzBTX9FhZqv7wesjF7l6CNnLspJbI2JpBykw0VpjOoV-BAEmWGnPSHdaSfuFmIscS8Pz3DaNX8AEdvwLiz7n7nFnfo9rI2BRSXAsDav30oGbkg5lSOrdi-mceI9-vNKIJWQ8zIDTWvMy4fX_cfZ8uudu_qmUcbGVlibmKJHHUg5kMoOMXpBtoKWsininr-dM5DshRIr8AfAX5w4NJluo00VBmd5uH9lbcD6q6qmrgYhVkfwwS-YTbL6d4dUg5NlEkhidh-iTPLA07WMwAceeZvyrDU8bZDfK0s0qusCl4PsYGqrPP12QbprFeiWLTnuqkdfLcx7Cs5S39dAhcGdFzMQQn5aG3bikRXDB7vLBI-acw9AFWmnyHuniznxiJI0LAzZzdwBadGGTGGMMcSczpFbAd6RQlGlFe7nMuPkV-ps2LbmsrVj-KNqDZfny-BtoPZhR46-j_gZ7kZECMrG6iUyPoD27YVz1d_q9HNWAmBePxWwGFx_t4sqyNzXICx4tO_V9LUemcn7g3Q3VTfdyWmNu5FO9yLgp5iCmXLLReUPzHZAgVcLH-mwES9Bp16ic3uPjw8RkmWpNYcyp8ZgzGYp4zIp3rtuti6kTpVpNgUA-GNOOBHadTOoKUtqZOdukeq6uo_ye84Qi9o3gl6n3arKZYS3E5dLvLq5DBQHWM7nYjTXqdoaLC7_TVMquIL_SPVJ4ANBoX93dYkJtLCWToW6gUeTQ_lvMq75CnbgW1TL_YoxSm3-2m1vP09WNu0uH_it--vSt5w6olXNf9JzX5dbiLJKyFEu05SKSi4ah9Hpyd1dTyuYRZ-5rHhdJ3nylceQsF4DDIoP6rQeNaApIYHMsv4r9gHQUV6uTf4KlPUcGQ0FKzo-sd8EuMjZQ9rCViEp3n2s1AhFs70A=",
  "id": "rs_0503d622116f4a96016ab2b76d466087d08a53099be26f55a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The yellow fruit is now above the blue bowl. I am lowering slowly so it can settle against the pear instead of falling and bouncing away.\"}",
  "call_id": "call_KKKASMJrlGhoOSB4nSJ3CHSS",
  "id": "fc_0503d622116f4a96016ab2b76e6bfc87d081bb09eef33f6889",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KKKASMJrlGhoOSB4nSJ3CHSS",
  "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]: [-0.1146, 0.8413, 0.6785, -0.4156, -0.1936, -0.0525, 0.9976, 0.6937, 2.0491, 1.5192, -0.1898, 0.5228, 0.0158, 0.644]\nstate[eef_state]: left_x=0.3018 left_y=0.0031 left_z=0.1954 left_yaw=0.0688 left_pitch=-0.0007 left_roll=0.0786 left_gripper=0.9976 right_x=0.4779 right_y=0.2873 right_z=0.1274 right_yaw=0.2409 right_pitch=-0.0715 right_roll=-0.3051 right_gripper=0.644\nstate[joint_eff]: [-0.3487, -1.5248, 7.0359, 1.8486, -0.0904, -0.0513, -0.0122, -0.4308, -10.0991, 6.5709, 1.8584, 0.2515, 0.0171, 0.823]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc855dbcea13daffbe7839297e50be5e72431518731c02be04f8bfd1dd0a945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5c0b0168e40aa0f323f6438a451a844d3ef32ed65e869d4f09378951c58b42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9dc16c8d38352559c786dd917f6baf93cdc77a8fde14954fb93ff76221b69c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 12.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 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]: [-0.1146, 0.8387, 0.6785, -0.4076, -0.194, -0.0525, 0.9976, 0.691, 2.0159, 1.8362, -0.4911, 0.5316, 0.0177, 0.6413]\nstate[eef_state]: left_x=0.3027 left_y=0.003 left_z=0.1978 left_yaw=0.0692 left_pitch=0.0099 left_roll=0.0769 left_gripper=0.9976 right_x=0.4861 right_y=0.2905 right_z=0.2275 right_yaw=0.2313 right_pitch=-0.0249 right_roll=-0.287 right_gripper=0.6413\nstate[joint_eff]: [-0.4034, -1.9214, 7.0769, 1.8828, -0.1685, -0.0659, -0.0073, 0.1026, -11.7949, 8.3624, 1.5653, 0.4371, 0.2759, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit has reached the bowl opening at low height. I am opening the gripper to leave it in the bowl.\"}",
  "call_id": "call_08N54WWJExpiv7hXXyq0iFxp",
  "id": "fc_0503d622116f4a96016ab2b7734a0887d098b962faed3797fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_08N54WWJExpiv7hXXyq0iFxp",
  "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]: [-0.1146, 0.8413, 0.6785, -0.4202, -0.1936, -0.0525, 0.9976, 0.6937, 2.067, 1.5055, -0.1875, 0.5194, 0.0105, 0.996]\nstate[eef_state]: left_x=0.3012 left_y=0.0031 left_z=0.1944 left_yaw=0.0688 left_pitch=-0.0052 left_roll=0.0795 left_gripper=0.9976 right_x=0.4757 right_y=0.2862 right_z=0.1125 right_yaw=0.2453 right_pitch=-0.0999 right_roll=-0.3201 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.3744, 7.1726, 1.7998, -0.1001, -0.0757, -0.0171, -0.3761, -13.012, 7.706, 1.4921, 0.1978, 0.0806, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ef78a681acd4102aa96b63b966decdb0a405e11319d99b8d802f23f333b352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609042777443efc5deb3ea9aa4cb168ce904292e8f2ed875a342ae45c4a0aa56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d715b6a3afc95cc59a9c66430c572cc69647aa762decfcea07bb7e74b8e16b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.539 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 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]: [-0.1146, 0.8413, 0.6785, -0.4156, -0.1936, -0.0525, 0.9976, 0.6937, 2.0491, 1.5192, -0.1898, 0.5228, 0.0158, 0.644]\nstate[eef_state]: left_x=0.3018 left_y=0.0031 left_z=0.1954 left_yaw=0.0688 left_pitch=-0.0007 left_roll=0.0786 left_gripper=0.9976 right_x=0.4779 right_y=0.2873 right_z=0.1274 right_yaw=0.2409 right_pitch=-0.0715 right_roll=-0.3051 right_gripper=0.644\nstate[joint_eff]: [-0.3487, -1.5248, 7.0359, 1.8486, -0.0904, -0.0513, -0.0122, -0.4308, -10.0991, 6.5709, 1.8584, 0.2515, 0.0171, 0.823]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsreBRTIdGm8EPrIwiThchN7PCJVq3_ua9zBCniOxPsP_LaEHNt_sGeURt2Jfkl9BDQP0T5mcExGuAQokZ8FKl04V25Pk5nKVpe6tOZ254zY8LYOhLzaR0LkblediaSYqgn-nbVlAS_OS5iGqtOu2-jJDZG3StMwaVpmf-Fx0fm587G7cDGgw-jE3ygeIQnNZtpiwGjv3zd0rfDAWCBMVwRQKgt7Cc6YyIzA8duyIPIHjzfMhPc-uDP0odG48F3pFhpUX5PVUVnwh70hWTXi92FPodj8Wq8qF4Xe44B0hdODwlVld1OzvpUzEQl66HfUlNy5glPxcNTVjXBh3tS7_0Z-KqG6fpLRpHI_6CEFD3Ef1o1j9JoGEeGKzy4YiStimVCeXKryzqLyqiYg7DjCs9eNePRKEWrPGLiKz4HAznx-kR16YY7SXg7ZZsKwtQQ8ENPZBaycgHChIzFFCthAVFNxFIriFijfw6w5sXiyS8oiwcIvohpEFUUwGPzKgIeVQUs0xwo4P8RPVliBaPiZfKhb3DyXjHR1s-OzfV8G4mj4zPeXrjaALIHRLfJn78YhPP9BUmC2I2Mqz56fiQc7CXr7UIP4Ax64tuvgFXFN8Ll12OjIxzj8mbdqVTIhJbsymFuQCQp5mC1vW9t5SrPtEvfUozOa6hpJMu6pd14C6mxvoX2PYwr7HrnfQ05dVmPpYXxjfZ4f3XVBQ3984cZ0Fdymi8G2aNEQ5NP_2ZuHrqUgQReipvNs_mMDODLwDVaVXKCHoS3dLmiovabHdBV0_VdsnaNqk37YQyc3hRiMXBIAUyx1Y9VUsS9hsJAIwobSQXFqk2P8w8sNLMq1ucqwTlfotpSFU_LNKn_qYAGyHsNl5xgZm7oRrHKieKSft6H1SngcREuIsyj_R_3Nnvr1JjUkkszNKKZ5gh12ngde3CQThSgvu1QZAxl_qr3x4pXm84uvmMIlVEAUdm1cP6WHg6hQoLpCzp8nLcWi-e9PrA8uR0v9BxFjmr3UGf68XcSMthB4YoFLH_gYgGivZhS8ReogRbcWQB6Io9LXYVCY_pJcj-F4NKv6W0daxfvHMK1QaW45oHR2kwKKJAPtqIVKNIRWi5oMG1bp-S37vfpYW3tXLGHzYaDvUpnqt3iEozF2O4K_9d9EKd42jUrohVBoT0YUT9z-wRCOx_fFiDrLsIgHGA285TrEdkeGRvT_JiVDl0mnGtIcIp6X7Oe1E36u5hHBw0ZLDTqbxOhaRuEQUpF6npIzagVDU0Dh69I2J5pQaDqh1YCTmynsRrSnTPeSDkc51JcqoujuBV5Mv-ndV_TapZW-aB80DIhwH_pGVZCyycQeS0zK-QNRZWzM4ecbhMZZYGrhukQpt-p-ZrFLw5ruwUATzAfnj6VUxWsCWp5z8tWqpH-mXghK0o6Pc3hDU_5_0KVTBmjW4iDPuZy84qpmRpCzZlPgAbFk_nt5u1oa1btguLEW7mTDYdpHPxMgV7Wg6YKUfSwXDHreTS-YRcsl1LxWLDd8A1S7jhqN2ehSEahRgdSwRps3Yja3ZeZCz4-ir71iqX88uBRfZuQrlCVuPvX56wL_kiCYj5jsDB-gz2TXRari33_4UnExvXl3qzlsYH900w3-Rhfu7G4rK8z-JGIpC7Uo7e1d5jg3MAxqudAB2Ynqc5UXN8jSB40wQaQ0GkIR_7NKKPzhoYYhoHYcniB08F4W3fsZnRIImc2gtXoW7JEOsdHarlvE49Kwee8MbcA==",
  "id": "rs_0503d622116f4a96016ab2b77a579087d0b6b8776adcedd67a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23},\"note\":\"The yellow fruit slipped to the side again rather than settling inside the crowded bowl. I am retracting the right arm to leave the scene unobstructed and assess a safe stopping point.\"}",
  "call_id": "call_mdEqdirmK5c0Imssv3voWyzF",
  "id": "fc_0503d622116f4a96016ab2b77fb42087d082eddd001ac35513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mdEqdirmK5c0Imssv3voWyzF",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.1139, 0.8463, 0.6785, -0.424, -0.1932, -0.0525, 0.9976, -0.0235, 0.9157, 0.8707, -0.5842, 0.0013, -0.4255, 0.9966]\nstate[eef_state]: left_x=0.3011 left_y=0.0033 left_z=0.1923 left_yaw=0.0693 left_pitch=-0.0138 left_roll=0.0809 left_gripper=0.9976 right_x=0.3062 right_y=-0.0038 right_z=0.2252 right_yaw=0.1916 right_pitch=-0.0975 right_roll=-0.3245 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -1.7436, 7.0222, 1.7558, -0.1148, -0.0659, -0.0122, -0.1846, -2.2769, 8.2667, 1.7265, -0.1001, 0.0317, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9dc6e73565e03ff496de7c1019a2bbabb5319b9a99a48f28ff5f2524c17b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0439471d4fd4b07d5c97dba5c9a1ad0edc32a644264e0cfb2f33b4cb6591fbf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd41d194ef789d059ac30106d911986cda1b6174b150075e4b018c68bdaa2ec0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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