adhoc

completed
2026-09-22T16:34:31.606888+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
250.2 s
total steps
364
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits on the table, an empty blue bowl on the right, and the large white bowl on the left. I am approaching the dark fruit with the left gripper.
move_to
left_x0.3300left_y-0.0950left_z0.1000left_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]: [-0.0322, 0.7998, 0.6136, -0.3824, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6197, -0.387, -0.0158, -0.033, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0034 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0003 right_z=0.1845 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.3214, -1.5385, 9.7846, 1.8193, -0.149, 0.1148, -0.0855, -0.212, -1.6615, 9.0735, 1.8584, -0.0757, 0.1783, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.095,"left_z":0.10,"left_gripper":1},"note":"I see three fruits on the table, an empty blue bowl on the right, and the large white bowl on the left. I am approaching the dark fruit with the left gripper."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe dark fruit is centered in the left wrist view near the fingertips. I am lowering the open jaws around it.
move_to
left_x0.3400left_y-0.0950left_z0.0180
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]: [-0.4889, 1.2114, 0.4576, 0.0959, -0.3828, -0.289, 0.9993, -0.0227, 0.8024, 0.6178, -0.3943, -0.0158, -0.0341, 0.9994] state[eef_state]: left_x=0.3259 left_y=-0.0945 left_z=0.0923 left_yaw=-0.0098 left_pitch=-0.0344 left_roll=0.0111 left_gripper=0.9993 right_x=0.2951 right_y=-0.0003 right_z=0.181 right_yaw=0.0006 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.2256, -4.0547, 6.5573, 1.9023, -0.3004, -0.0757, -0.0855, -0.0479, -1.5385, 7.3094, 1.7802, -0.0513, -0.0659, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.095,"left_z":0.018},"note":"The dark fruit is centered in the left wrist view near the fingertips. I am lowering the open jaws around it."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe dark fruit sits between the open jaws at table level. I am closing to grasp it before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4644, 1.6089, 0.3401, 0.5838, -0.3702, -0.2852, 0.9993, -0.0227, 0.807, 0.6178, -0.395, -0.0154, -0.0349, 0.9994] state[eef_state]: left_x=0.3361 left_y=-0.0929 left_z=0.0114 left_yaw=0.003 left_pitch=-0.0621 left_roll=0.0196 left_gripper=0.9993 right_x=0.2953 right_y=-0.0004 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.0183 right_roll=-0.0014 right_gripper=0.9994 state[joint_eff]: [0.1436, -5.6137, 4.2462, 1.8242, -0.0952, 0.1343, -0.0122, -0.3487, -1.4974, 7.0359, 1.7167, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark fruit sits between the open jaws at table level. I am closing to grasp it before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper has stopped at a fruit-sized opening, consistent with a grasp. I am lifting slightly to verify the dark fruit follows.
move_to
left_z0.0850
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]: [-0.4652, 1.6093, 0.3401, 0.5808, -0.3702, -0.2886, 0.5406, -0.0227, 0.807, 0.6178, -0.3946, -0.0151, -0.0368, 0.9994] state[eef_state]: left_x=0.3356 left_y=-0.0929 left_z=0.0107 left_yaw=0.0042 left_pitch=-0.0651 left_roll=0.0184 left_gripper=0.5406 right_x=0.2954 right_y=-0.0005 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.018 right_roll=-0.0032 right_gripper=0.9994 state[joint_eff]: [-0.1573, -5.3128, 4.3282, 1.619, -0.188, -0.0317, 1.0281, -0.0752, -1.1966, 7.0632, 1.7411, -0.0171, -0.0073, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085},"note":"The gripper has stopped at a fruit-sized opening, consistent with a grasp. I am lifting slightly to verify the dark fruit follows."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe dark fruit is raised with the jaws. I am carrying it above the near-left side of the blue bowl, keeping it clear of the table.
move_to
left_x0.4700left_y-0.3900left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4648, 1.2972, 0.466, 0.1253, -0.3702, -0.2935, 0.5398, -0.0227, 0.8097, 0.6178, -0.395, -0.0154, -0.0368, 0.9994] state[eef_state]: left_x=0.3314 left_y=-0.0907 left_z=0.0735 left_yaw=0.0078 left_pitch=-0.0808 left_roll=0.0224 left_gripper=0.5398 right_x=0.2955 right_y=-0.0004 right_z=0.1789 right_yaw=0.0017 right_pitch=-0.021 right_roll=-0.0029 right_gripper=0.9994 state[joint_eff]: [-0.0615, -4.9026, 8.2256, 1.5897, -0.2125, 0.0024, 1.033, -0.0752, -1.3744, 7.0769, 1.6874, -0.022, -0.0269, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.39,"left_z":0.19},"note":"The dark fruit is raised with the jaws. I am carrying it above the near-left side of the blue bowl, keeping it clear of the table."})
tool
executing move_to over 27 steps (2.7s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe fruit is above the bowl’s left side but needs a small forward adjustment. I am lowering toward the opening while staying above the rim.
move_to
left_x0.5100left_y-0.4000left_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]: [-0.8722, 2.4573, 2.4676, -0.9207, -0.6476, -0.6361, 0.5398, -0.0227, 0.8116, 0.6178, -0.4099, -0.0154, -0.0376, 0.9994] state[eef_state]: left_x=0.4692 left_y=-0.3874 left_z=0.1749 left_yaw=0.0081 left_pitch=-0.1127 left_roll=0.0369 left_gripper=0.5398 right_x=0.2936 right_y=-0.0003 right_z=0.1753 right_yaw=0.0021 right_pitch=-0.0378 right_roll=-0.0031 right_gripper=0.9994 state[joint_eff]: [-0.6496, -14.2154, 9.2376, 1.2918, -0.4908, 0.0269, 1.0281, -0.0889, -1.3197, 7.1179, 1.8242, -0.0073, -0.0415, -0.0171] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.4,"left_z":0.13},"note":"The fruit is above the bowl’s left side but needs a small forward adjustment. I am lowering toward the opening while staying above the rim."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe dark fruit is over the left portion of the blue bowl opening. I am opening the jaws to let it settle into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8314, 2.7773, 2.8689, -1.0077, -0.6281, -0.617, 0.5421, -0.0227, 0.8154, 0.6178, -0.4183, -0.0154, -0.0376, 0.9993] state[eef_state]: left_x=0.5072 left_y=-0.3968 left_z=0.1194 left_yaw=0.026 left_pitch=-0.1284 left_roll=0.0461 left_gripper=0.5421 right_x=0.2926 right_y=-0.0003 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.05 right_roll=-0.0028 right_gripper=0.9993 state[joint_eff]: [-0.212, -15.3368, 8.9915, 1.2967, -0.2515, 0.2271, 0.6325, -0.3487, -1.4701, 7.0085, 1.7705, -0.0757, -0.0317, -0.0171] 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":{"left_gripper":1},"note":"The dark fruit is over the left portion of the blue bowl opening. I am opening the jaws to let it settle into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe jaws have released the dark fruit; I am clearing the view by parking the left arm. The right arm is approaching the green pear next.
move_to
left_x0.2960left_y-0.0030left_z0.1900right_x0.3400right_y0.0950right_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]: [-0.8314, 2.7773, 2.87, -1.0157, -0.6285, -0.6262, 0.9953, -0.0227, 0.8154, 0.6178, -0.421, -0.0154, -0.0372, 0.9994] state[eef_state]: left_x=0.5063 left_y=-0.3958 left_z=0.1188 left_yaw=0.0319 left_pitch=-0.1325 left_roll=0.0445 left_gripper=0.9953 right_x=0.2922 right_y=-0.0003 right_z=0.172 right_yaw=0.002 right_pitch=-0.0527 right_roll=-0.0024 right_gripper=0.9994 state[joint_eff]: [-0.253, -14.9402, 7.747, 1.2479, -0.3101, 0.0562, -0.1245, -0.1026, -1.3744, 7.0222, 1.7363, -0.0611, -0.0415, -0.0073] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":-0.003,"left_z":0.19,"right_x":0.34,"right_y":0.095,"right_z":0.12},"note":"The jaws have released the dark fruit; I am clearing the view by parking the left arm. The right arm is approaching the green pear next."})
tool
executing move_to over 35 steps (3.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe pear is close to the jaw centerline. The cleared overhead view also shows that the dark fruit missed the blue bowl and rolled toward the front, so I will recover it after this grasp.
move_to
right_x0.3550right_y0.0850right_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]: [-0.1081, 0.9276, 0.791, -0.5552, -0.1555, -0.1055, 0.9963, 0.432, 1.2152, 0.5819, -0.0734, 0.3332, 0.2188, 0.9994] state[eef_state]: left_x=0.3026 left_y=-0.0017 left_z=0.1934 left_yaw=0.0847 left_pitch=-0.1132 left_roll=0.0352 left_gripper=0.9963 right_x=0.3328 right_y=0.0938 right_z=0.1091 right_yaw=0.0254 right_pitch=-0.0951 right_roll=-0.0239 right_gripper=0.9994 state[joint_eff]: [0.3214, -2.3453, 6.5436, 1.5946, 0.1685, 0.149, 0.0952, 0.3077, -3.6718, 7.8838, 1.8437, 0.2173, 0.1538, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.085,"right_z":0.025},"note":"The pear is close to the jaw centerline. The cleared overhead view also shows that the dark fruit missed the blue bowl and rolled toward the front, so I will recover it after this grasp."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe pear is between the right jaws near the tabletop. 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]: [-0.1055, 0.9329, 0.7887, -0.5728, -0.1452, -0.102, 0.9964, 0.363, 1.5543, 0.4431, 0.3241, 0.2836, 0.1753, 0.9994] state[eef_state]: left_x=0.3 left_y=-0.0025 left_z=0.1875 left_yaw=0.0774 left_pitch=-0.1392 left_roll=0.036 left_gripper=0.9964 right_x=0.341 right_y=0.0805 right_z=0.0134 right_yaw=0.0165 right_pitch=-0.1834 right_roll=-0.0556 right_gripper=0.9994 state[joint_eff]: [-0.5538, -2.4957, 7.0632, 1.7411, -0.1636, -0.0757, -0.0073, -0.5265, -6.1607, 4.3145, 1.8339, 0.1099, -0.0611, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is between the right jaws near the tabletop. I am closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe right gripper has a substantial opening around the pear. I am lifting to confirm it is securely held.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.9333, 0.7887, -0.5732, -0.1448, -0.104, 0.9964, 0.3588, 1.5612, 0.4343, 0.3691, 0.276, 0.1726, 0.8147] state[eef_state]: left_x=0.2999 left_y=-0.0024 left_z=0.1873 left_yaw=0.0786 left_pitch=-0.14 left_roll=0.0345 left_gripper=0.9964 right_x=0.3446 right_y=0.0816 right_z=0.0157 right_yaw=0.0218 right_pitch=-0.1576 right_roll=-0.0425 right_gripper=0.8147 state[joint_eff]: [-0.0889, -2.0718, 6.9538, 1.6386, -0.1099, 0.0122, -0.0122, 0.1436, -6.0923, 5.641, 1.1062, 0.1343, -0.0073, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The right gripper has a substantial opening around the pear. I am lifting to confirm it is securely held."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe pear has lifted with the gripper. I am moving it above the blue bowl using the right arm, which can reach the bowl’s center more directly.
move_to
right_x0.5100right_y0.1450right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1051, 0.936, 0.7887, -0.5743, -0.1444, -0.1047, 0.9964, 0.3588, 1.3132, 0.5934, -0.0425, 0.2718, 0.1719, 0.8111] state[eef_state]: left_x=0.2999 left_y=-0.0025 left_z=0.1864 left_yaw=0.0788 left_pitch=-0.1438 left_roll=0.0343 left_gripper=0.9964 right_x=0.3434 right_y=0.082 right_z=0.0851 right_yaw=0.0254 right_pitch=-0.1628 right_roll=-0.0418 right_gripper=0.8111 state[joint_eff]: [-0.0752, -2.2359, 6.8855, 1.5849, -0.0611, -0.0415, -0.0122, -0.0615, -5.7641, 8.8821, 1.7705, 0.1685, -0.0269, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.145,"right_z":0.19},"note":"The pear has lifted with the gripper. I am moving it above the blue bowl using the right arm, which can reach the bowl’s center more directly."})
tool
executing move_to over 13 steps (1.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe pear is above the bowl, slightly toward its right edge. I am centering it and lowering it close to the opening before releasing.
move_to
right_x0.5000right_y0.1700right_z0.1100
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]: [-0.1051, 0.9417, 0.7887, -0.5812, -0.1444, -0.1043, 0.9964, 0.3588, 1.8793, 1.5635, -0.4763, 0.2619, 0.1642, 0.8123] state[eef_state]: left_x=0.2992 left_y=-0.0024 left_z=0.1835 left_yaw=0.0789 left_pitch=-0.1562 left_roll=0.037 left_gripper=0.9964 right_x=0.5025 right_y=0.1434 right_z=0.1733 right_yaw=0.0361 right_pitch=-0.1935 right_roll=-0.0506 right_gripper=0.8123 state[joint_eff]: [-0.1436, -2.4137, 6.8581, 1.6288, -0.0855, -0.0366, -0.0122, -0.1709, -10.7556, 8.5538, 1.4139, 0.2613, 0.0415, 0.8767] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.17,"right_z":0.11},"note":"The pear is above the bowl, slightly toward its right edge. I am centering it and lowering it close to the opening before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe pear is positioned just inside the blue bowl’s rim. 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]: [-0.1051, 0.9436, 0.7887, -0.5819, -0.1448, -0.1043, 0.9964, 0.4198, 1.9598, 1.422, -0.3534, 0.2813, 0.1837, 0.8162] state[eef_state]: left_x=0.2992 left_y=-0.0023 left_z=0.1828 left_yaw=0.0793 left_pitch=-0.1587 left_roll=0.0377 left_gripper=0.9964 right_x=0.4861 right_y=0.1672 right_z=0.0959 right_yaw=0.0621 right_pitch=-0.2814 right_roll=-0.0848 right_gripper=0.8162 state[joint_eff]: [-0.212, -2.3043, 6.8581, 1.5995, -0.1099, -0.0269, -0.0122, -0.1573, -11.2889, 6.8581, 2.0244, 0.2906, 0.1978, 0.7399] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is positioned just inside the blue bowl’s rim. I am releasing it into the bowl."})
tool
executing move_to over 2 steps (0.2s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe pear has been released into the blue bowl. I am withdrawing toward the yellow fruit for the next pickup.
move_to
right_x0.3700right_y0.2850right_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]: [-0.1051, 0.9443, 0.7887, -0.5846, -0.1448, -0.1047, 0.9964, 0.424, 1.9732, 1.4117, -0.3298, 0.2821, 0.1833, 0.9913] state[eef_state]: left_x=0.2989 left_y=-0.0023 left_z=0.1821 left_yaw=0.0796 left_pitch=-0.1621 left_roll=0.0381 left_gripper=0.9964 right_x=0.4867 right_y=0.1697 right_z=0.0889 right_yaw=0.0659 right_pitch=-0.2812 right_roll=-0.0856 right_gripper=0.9913 state[joint_eff]: [-0.0615, -2.2222, 7.0496, 1.6288, -0.0806, -0.0269, -0.0122, -0.5265, -11.9453, 7.3368, 1.453, 0.1294, 0.0464, 0.2564] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.285,"right_z":0.13},"note":"The pear has been released into the blue bowl. I am withdrawing toward the yellow fruit for the next pickup."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe arm did not track the retreat, and the wrist view confirms the pear is in the bowl. I am first lifting straight clear of the rim before moving sideways.
move_to
right_x0.4800right_y0.1650right_z0.2100right_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]: [-0.1051, 0.9447, 0.7887, -0.5877, -0.1448, -0.1043, 0.9964, 0.421, 1.9732, 1.4117, -0.3599, 0.2829, 0.1829, 0.992] state[eef_state]: left_x=0.2984 left_y=-0.0022 left_z=0.1815 left_yaw=0.0795 left_pitch=-0.1655 left_roll=0.039 left_gripper=0.9964 right_x=0.482 right_y=0.1657 right_z=0.0845 right_yaw=0.0592 right_pitch=-0.3092 right_roll=-0.0976 right_gripper=0.992 state[joint_eff]: [-0.3077, -2.1675, 6.8444, 1.6093, -0.0757, -0.022, -0.0122, -0.1299, -11.8906, 7.6103, 1.3993, 0.1001, -0.0611, 0.0611] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.165,"right_z":0.21,"right_pitch":0.2},"note":"The arm did not track the retreat, and the wrist view confirms the pear is in the bowl. I am first lifting straight clear of the rim before moving sideways."})
tool
executing move_to over 17 steps (1.7s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe gripper is now clear of the bowl. I am approaching the yellow fruit from above.
move_to
right_x0.3600right_y0.2850right_z0.0900right_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]: [-0.1051, 0.9482, 0.7887, -0.5957, -0.1444, -0.1043, 0.9964, 0.4728, 1.7138, 1.1522, 0.0654, 0.4156, 0.0608, 0.9921] state[eef_state]: left_x=0.2973 left_y=-0.0022 left_z=0.1791 left_yaw=0.0795 left_pitch=-0.1768 left_roll=0.0409 left_gripper=0.9964 right_x=0.4768 right_y=0.1678 right_z=0.1835 right_yaw=0.0824 right_pitch=0.1106 right_roll=-0.1194 right_gripper=0.9921 state[joint_eff]: [0.0205, -2.441, 6.9402, 1.6728, -0.1197, -0.0317, -0.0171, -0.0615, -10.8103, 6.4342, 2.1123, 0.3687, -0.022, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.285,"right_z":0.09,"right_pitch":0},"note":"The gripper is now clear of the bowl. I am approaching the yellow fruit from above."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe yellow fruit is at the bottom of the wrist view, aligned with the jaws. I am lowering around it.
move_to
right_x0.3600right_y0.2780right_z0.0150
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]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1043, 0.9964, 0.9077, 1.8278, 1.042, 0.0124, 0.6922, 0.3794, 0.9921] state[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1805 left_roll=0.0418 left_gripper=0.9964 right_x=0.3632 right_y=0.2877 right_z=0.0926 right_yaw=0.1357 right_pitch=-0.0079 right_roll=-0.1304 right_gripper=0.9921 state[joint_eff]: [-0.0752, -1.9761, 6.8444, 1.5556, -0.1294, -0.0317, -0.0122, 0.1299, -8.7726, 6.8034, 1.3553, 0.4078, 0.149, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.278,"right_z":0.015},"note":"The yellow fruit is at the bottom of the wrist view, aligned with the jaws. I am lowering around it."})
tool
executing move_to over 6 steps (0.6s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe yellow fruit remains centered between the fingertips. I am closing the gripper 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]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1047, 0.9964, 0.8982, 1.9888, 0.9005, 0.2577, 0.6788, 0.3759, 0.9921] state[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0802 left_pitch=-0.1805 left_roll=0.0415 left_gripper=0.9964 right_x=0.3544 right_y=0.2726 right_z=0.0109 right_yaw=0.1362 right_pitch=-0.0561 right_roll=-0.1661 right_gripper=0.9921 state[joint_eff]: [-0.253, -2.1675, 6.8444, 1.5458, -0.1392, -0.0464, -0.0171, -0.1162, -9.1556, 4.7248, 1.7802, 0.3932, -0.0659, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit remains centered between the fingertips. I am closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe gripper opening indicates a grasp on the yellow fruit. I am lifting it to verify it follows before transport.
move_to
right_z0.0900
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]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1444, -0.1043, 0.9964, 0.8982, 1.9957, 0.8925, 0.2642, 0.6762, 0.3744, 0.5385] state[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0797 left_pitch=-0.1809 left_roll=0.0416 left_gripper=0.9964 right_x=0.3527 right_y=0.2711 right_z=0.0064 right_yaw=0.1386 right_pitch=-0.0637 right_roll=-0.1717 right_gripper=0.5385 state[joint_eff]: [-0.0479, -2.1675, 6.8444, 1.5409, -0.1001, -0.0513, -0.0122, -0.1709, -9.9624, 5.4906, 1.3016, 0.2222, -0.0269, 1.0281] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The gripper opening indicates a grasp on the yellow fruit. I am lifting it to verify it follows before transport."})
tool
executing move_to over 6 steps (0.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe yellow fruit is held above the table. I am carrying it over the blue bowl beside the pear.
move_to
right_x0.5000right_y0.1700right_z0.1800
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]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1448, -0.1043, 0.9964, 0.8982, 1.8088, 0.9859, -0.0189, 0.6724, 0.374, 0.5401] state[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1809 left_roll=0.0419 left_gripper=0.9964 right_x=0.3522 right_y=0.2713 right_z=0.0746 right_yaw=0.1413 right_pitch=-0.0676 right_roll=-0.1718 right_gripper=0.5401 state[joint_eff]: [-0.1983, -2.1265, 6.8444, 1.5849, -0.105, -0.0415, -0.0122, -0.2256, -10.0171, 7.6239, 1.3895, 0.2662, -0.0611, 0.7888] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.17,"right_z":0.18},"note":"The yellow fruit is held above the table. I am carrying it over the blue bowl beside the pear."})
tool
executing move_to over 12 steps (1.2s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe yellow fruit is over the bowl opening, so I am lowering slightly and releasing it. Meanwhile, the left arm is approaching the fallen dark fruit at the front of the table.
move_to
right_z0.1150right_gripper1.0000left_x0.1600left_y-0.2900left_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]: [-0.1051, 0.9482, 0.7887, -0.6033, -0.1444, -0.1047, 0.9964, 0.4423, 1.8225, 1.3968, -0.2436, 0.3462, 0.0273, 0.5398] state[eef_state]: left_x=0.296 left_y=-0.0021 left_z=0.1777 left_yaw=0.08 left_pitch=-0.1843 left_roll=0.042 left_gripper=0.9964 right_x=0.4932 right_y=0.1712 right_z=0.1747 right_yaw=0.1284 right_pitch=-0.0678 right_roll=-0.1719 right_gripper=0.5398 state[joint_eff]: [-0.212, -1.9897, 6.8444, 1.5458, -0.1001, -0.0513, -0.0122, -0.2256, -8.9368, 8.4718, 1.5604, 0.1832, 0.1148, 0.4371] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115,"right_gripper":1,"left_x":0.16,"left_y":-0.29,"left_z":0.1},"note":"The yellow fruit is over the bowl opening, so I am lowering slightly and releasing it. Meanwhile, the left arm is approaching the fallen dark fruit at the front of the table."})
tool
executing move_to over 26 steps (2.6s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe yellow fruit bounced out and is now beside the bowl; I will recover it rather than proceed to pouring. The left jaws are lowering around the dark fruit, while the right arm approaches the yellow fruit.
move_to
left_x0.1600left_y-0.3050left_z0.0120right_x0.4300right_y0.3300right_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]: [-1.4654, 1.7264, 1.1355, -0.9737, -0.7929, -1.491, 0.9964, 0.4431, 1.8778, 1.243, -0.0502, 0.3355, 0.0174, 0.9986] state[eef_state]: left_x=0.1601 left_y=-0.2835 left_z=0.0923 left_yaw=0.0643 left_pitch=-0.21 left_roll=0.0702 left_gripper=0.9964 right_x=0.4898 right_y=0.172 right_z=0.117 right_yaw=0.1429 right_pitch=-0.0857 right_roll=-0.1782 right_gripper=0.9986 state[joint_eff]: [-0.6359, -7.6103, 7.5282, 0.0366, -0.6911, -0.149, -0.0073, -0.1299, -9.2103, 6.188, 1.9951, 0.2125, 0.0904, -0.0708] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.16,"left_y":-0.305,"left_z":0.012,"right_x":0.43,"right_y":0.33,"right_z":0.12},"note":"The yellow fruit bounced out and is now beside the bowl; I will recover it rather than proceed to pouring. The left jaws are lowering around the dark fruit, while the right arm approaches the yellow fruit."})
tool
executing move_to over 14 steps (1.4s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe dark fruit is between the left jaws, and the yellow fruit is just below the right wrist image. I am grasping the dark fruit and lowering the right gripper around the yellow fruit.
move_to
left_gripper0.0000right_x0.4000right_y0.3550right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.4693, 1.9358, 1.0718, -0.7322, -0.7929, -1.5085, 0.9964, 0.8288, 2.0586, 1.5177, -0.3172, 0.5919, 0.2745, 0.9986] state[eef_state]: left_x=0.1606 left_y=-0.2991 left_z=0.0175 left_yaw=0.0769 left_pitch=-0.2105 left_roll=0.0898 left_gripper=0.9964 right_x=0.4257 right_y=0.3238 right_z=0.1067 right_yaw=0.1812 right_pitch=-0.1298 right_roll=-0.2149 right_gripper=0.9986 state[joint_eff]: [-0.6359, -7.6376, 4.4103, 0.5299, -0.4762, 0.0317, -0.0122, 0.253, -11.0838, 8.9368, 1.5995, 0.5299, 0.2808, -0.0024] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.4,"right_y":0.355,"right_z":0.015},"note":"The dark fruit is between the left jaws, and the yellow fruit is just below the right wrist image. I am grasping the dark fruit and lowering the right gripper around the yellow fruit."})
tool
executing move_to over 10 steps (1.0s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
right_cam
camera right_cam step 263
assistant
agent noteThe left gripper has caught the dark fruit; I am lifting it to check the grasp. The right jaws are closing around the recovered yellow fruit.
move_to
left_z0.0900right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.4685, 1.943, 1.0698, -0.7284, -0.7914, -1.5116, 0.5399, 0.9089, 2.2223, 1.4303, -0.1268, 0.6296, 0.3374, 0.9986] state[eef_state]: left_x=0.1605 left_y=-0.2984 left_z=0.0147 left_yaw=0.0805 left_pitch=-0.212 left_roll=0.093 left_gripper=0.5399 right_x=0.4013 right_y=0.3517 right_z=0.0206 right_yaw=0.1956 right_pitch=-0.1509 right_roll=-0.228 right_gripper=0.9986 state[joint_eff]: [-0.1573, -9.0188, 4.8479, 0.2222, -0.4908, 0.022, 1.0281, 0.759, -11.0701, 5.3812, 1.4432, 0.4615, 0.0952, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"right_gripper":0},"note":"The left gripper has caught the dark fruit; I am lifting it to check the grasp. The right jaws are closing around the recovered yellow fruit."})
tool
executing move_to over 10 steps (1.0s)
step 273
top_cam
camera top_cam step 273
assistant
agent noteThe dark fruit is lifted securely. I am carrying it toward the bowl while lifting the yellow fruit to verify the second grasp.
move_to
right_z0.1000left_x0.4700left_y-0.4000left_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]: [-1.4685, 1.8435, 1.1912, -0.9752, -0.77, -1.5188, 0.5399, 0.907, 2.2353, 1.4273, -0.1284, 0.6308, 0.3302, 0.4449] state[eef_state]: left_x=0.1576 left_y=-0.2963 left_z=0.0688 left_yaw=0.0912 left_pitch=-0.2335 left_roll=0.114 left_gripper=0.5399 right_x=0.4006 right_y=0.3488 right_z=0.013 right_yaw=0.1949 right_pitch=-0.1645 right_roll=-0.2458 right_gripper=0.4449 state[joint_eff]: [-0.1846, -10.8786, 7.8291, -0.0269, -0.7057, 0.0464, 1.0281, -0.0342, -13.3265, 6.065, 1.3016, 0.2027, 0.022, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"left_x":0.47,"left_y":-0.4,"left_z":0.2},"note":"The dark fruit is lifted securely. I am carrying it toward the bowl while lifting the yellow fruit to verify the second grasp."})
tool
executing move_to over 25 steps (2.5s)
step 298
assistant
agent noteThe arms came too close and did not track their targets. I am moving the left arm aside and positioning the yellow fruit carefully over the bowl with the right arm.
move_to
left_x0.3000left_y-0.1700left_z0.2000right_x0.5000right_y0.1700right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.2057, 2.5519, 2.8067, -1.6993, -0.6098, -1.1965, 0.5439, 0.5678, 2.0186, 1.623, -0.4355, 0.6121, 0.3145, 0.4456] state[eef_state]: left_x=0.2722 left_y=-0.4187 left_z=0.1656 left_yaw=0.1006 left_pitch=-0.3847 left_roll=0.1169 left_gripper=0.5439 right_x=0.498 right_y=0.2016 right_z=0.1525 right_yaw=-0.1138 right_pitch=-0.0948 right_roll=-0.1786 right_gripper=0.4456 state[joint_eff]: [25.9624, -8.6906, 8.6769, 3.7534, -0.6032, 0.2515, 0.696, 26.8786, -4.3009, 3.0291, 1.6435, 0.5397, 0.1441, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.17,"left_z":0.2,"right_x":0.5,"right_y":0.17,"right_z":0.105},"note":"The arms came too close and did not track their targets. I am moving the left arm aside and positioning the yellow fruit carefully over the bowl with the right arm."})
tool
executing move_to over 23 steps (2.3s)
step 321
assistant
agent noteThe yellow fruit is held low over the blue bowl alongside the pear. I am releasing it without any sideways motion.
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]: [-0.7902, 1.4864, 1.3972, -1.0836, -0.4995, -0.749, 0.5471, 0.4999, 2.0148, 1.4139, -0.2249, 0.5629, 0.2573, 0.4456] state[eef_state]: left_x=0.2979 left_y=-0.1755 left_z=0.2056 left_yaw=0.1087 left_pitch=-0.3756 left_roll=0.0832 left_gripper=0.5471 right_x=0.4983 right_y=0.1689 right_z=0.1002 right_yaw=-0.1147 right_pitch=-0.1183 right_roll=-0.1914 right_gripper=0.4456 state[joint_eff]: [0.3624, -5.9829, 6.694, 1.16, -0.3541, 0.1978, 0.6129, -0.0615, -11.8222, 5.8598, 1.7753, 0.1832, 0.0024, 1.0379] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is held low over the blue bowl alongside the pear. I am releasing it without any sideways motion."})
tool
executing move_to over 6 steps (0.6s)
step 327
assistant
agent noteThe blue bowl is offset from where I estimated, and I cannot confirm the yellow fruit stayed inside. I am parking the right arm and lowering the held dark fruit to a safe spot rather than risk spilling or another arm contact.
move_to
left_x0.3100left_y-0.1700left_z0.0400right_x0.2960right_y0.0000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7876, 1.4944, 1.3743, -1.084, -0.4923, -0.741, 0.5471, 0.5011, 2.0148, 1.4086, -0.231, 0.5594, 0.2497, 0.9957] state[eef_state]: left_x=0.2954 left_y=-0.1732 left_z=0.1948 left_yaw=0.1124 left_pitch=-0.4006 left_roll=0.1101 left_gripper=0.5471 right_x=0.496 right_y=0.1689 right_z=0.097 right_yaw=-0.1078 right_pitch=-0.1299 right_roll=-0.2019 right_gripper=0.9957 state[joint_eff]: [-0.4581, -6.7761, 8.0889, 0.9109, -0.3883, -0.1148, 0.7399, -0.1299, -11.1932, 6.8718, 1.4481, 0.2222, 0.0806, 0.0464] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.17,"left_z":0.04,"right_x":0.296,"right_y":0,"right_z":0.22},"note":"The blue bowl is offset from where I estimated, and I cannot confirm the yellow fruit stayed inside. I am parking the right arm and lowering the held dark fruit to a safe spot rather than risk spilling or another arm contact."})
tool
executing move_to over 16 steps (1.6s)
step 343
assistant
agent noteThe pear is in the blue bowl, but the yellow fruit has rolled behind the white bowl. I am releasing the dark fruit onto the table before stopping.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7483, 1.636, 0.8917, -0.4839, -0.4763, -0.7055, 0.549, 0.1997, 0.981, 0.9157, -0.6395, 0.3634, 0.0341, 0.9965] state[eef_state]: left_x=0.3025 left_y=-0.1654 left_z=0.0399 left_yaw=0.1294 left_pitch=-0.4294 left_roll=0.1417 left_gripper=0.549 right_x=0.3066 right_y=0.0017 right_z=0.2231 right_yaw=-0.1329 right_pitch=-0.0973 right_roll=-0.188 right_gripper=0.9965 state[joint_eff]: [0.5402, -6.9675, 5.5863, 1.1355, -0.2515, 0.0659, 0.7009, -0.1573, -2.2359, 6.7077, 1.7363, 0.1343, -0.0659, 0.0708] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The pear is in the blue bowl, but the yellow fruit has rolled behind the white bowl. I am releasing the dark fruit onto the table before stopping."})
tool
executing move_to over 5 steps (0.5s)
step 348
assistant
agent noteThe dark fruit has been released onto the table. I am lifting and parking the left arm clear of the objects.
move_to
left_x0.2960left_y-0.0030left_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]: [-0.7483, 1.6459, 0.8814, -0.4755, -0.477, -0.7067, 0.9953, 0.2001, 0.9874, 0.9157, -0.6701, 0.3462, 0.0181, 0.9965] state[eef_state]: left_x=0.3008 left_y=-0.1637 left_z=0.0344 left_yaw=0.1347 left_pitch=-0.4363 left_roll=0.1515 left_gripper=0.9953 right_x=0.3028 right_y=0.0039 right_z=0.2152 right_yaw=-0.1112 right_pitch=-0.1377 right_roll=-0.2015 right_gripper=0.9965 state[joint_eff]: [-0.1573, -7.6923, 6.3932, 0.7888, -0.2808, -0.0269, -0.0415, -0.1162, -2.7829, 6.7487, 1.8339, 0.2515, 0.1343, -0.0024] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":-0.003,"left_z":0.2},"note":"The dark fruit has been released onto the table. I am lifting and parking the left arm clear of the objects."})
tool
executing move_to over 15 steps (1.5s)
step 363
assistant
agent noteI could not reliably load all the fruits into the blue bowl. The pear is inside, but the yellow fruit rolled behind the white bowl and the dark fruit is on the table. Both arms are parked, and I did not attempt the pour with the loading step incomplete.
give_up
hindsightThe blue bowl is farther toward the right arm's outer side than my estimated right_y=0.17 placement; releases there missed or bounced out. The left arm's y=-0.40 limit does not reach the bowl center. Do not transport the left arm across the center while the right arm is picking up there: the arms contacted and both poses deviated severely. Lower rounded fruits fully into the opening before opening, rather than releasing during descent.
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]: [-0.1764, 1.2148, 1.1156, -0.9634, -0.2485, -0.2005, 0.9963, 0.2001, 0.9878, 0.9157, -0.6792, 0.3424, 0.0147, 0.9965] state[eef_state]: left_x=0.2988 left_y=-0.0055 left_z=0.1842 left_yaw=0.1807 left_pitch=-0.448 left_roll=0.146 left_gripper=0.9963 right_x=0.3014 right_y=0.0043 right_z=0.2133 right_yaw=-0.1067 right_pitch=-0.148 right_roll=-0.2046 right_gripper=0.9965 state[joint_eff]: [0.2393, -5.3675, 8.7179, 1.033, -0.0269, 0.232, 0.0904, 0.0068, -2.359, 6.7624, 1.6142, 0.1441, 0.0122, -0.0122] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not reliably load all the fruits into the blue bowl. The pear is inside, but the yellow fruit rolled behind the white bowl and the dark fruit is on the table. Both arms are parked, and I did not attempt the pour with the loading step incomplete.","hindsight":"The blue bowl is farther toward the right arm's outer side than my estimated right_y=0.17 placement; releases there missed or bounced out. The left arm's y=-0.40 limit does not reach the bowl center. Do not transport the left arm across the center while the right arm is picking up there: the arms contacted and both poses deviated severely. Lower rounded fruits fully into the opening before opening, rather than releasing during descent."})
tool
give_up: I could not reliably load all the fruits into the blue bowl. The pear is inside, but the yellow fruit rolled behind the white bowl and the dark fruit is on the table. Both arms are parked, and I did not attempt the pour with the loading step incomplete.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.807 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]: [-0.0322, 0.7998, 0.6136, -0.3824, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6197, -0.387, -0.0158, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0034 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0003 right_z=0.1845 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -1.5385, 9.7846, 1.8193, -0.149, 0.1148, -0.0855, -0.212, -1.6615, 9.0735, 1.8584, -0.0757, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87a0e65b6c0f74bd328eb46212c9f5493a8c1e25be7aaa61aff390f76df6c42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569f5e7470e2cf52379c58b8d99468814aa59259cf389ebab2bbeda3fbaaf5bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c9755db9e06badafcd899eeb9107e5c564add7cc23101980691ef0d6dba7d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.293 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4ui_5DO3wCpkUvlQKBybkLe_pGEE8_1Kn7R4FMQtW2ZXCPkA3inoYvTWbCv2HpE2hqMafYncFRBYTWYO9HGkeoTcOScShRp-7oVUg8Yjf3ao_uiNmd9AFgZIvf8j8R8ZqWJuzskqRfZcefV6Bujkr0yPMjjvXLNPdvBZsm5Bd97Z_FITihQUU7kCYbzrdJR86gRdn9py02EWn2iEVY1eMHHOcpcqLSaKuwFCg2HdzIphu85rXVOEu-p8uywQtBXPPGhuFUQ7GxhGBiOk58Sm8KtJ462s6puVnb4u-yLiDvF5P7NVPKaRx8Oe5CuLY_R4_p_Fy7zrt6tyE3IIJYpJ0bugV_PRi7rLSBx4CLI1FUtWHWMt_KlpB5jRudr9Lqi5V-o8gvapWS-6D8N3b4WW-MwvlmpCwtDVBM--wB1FxYbhzJ_tgC5lww57PGAmTCDaGGWrlkQ-Zl3Cj_S-1yffesD22HAH6e8y8m5CTL_SB5x0OneeDUA0QGXJ7QuXP5e_t2FA_RtafJicFU6rOYbpToYpvsWBWSYJwyZ5_ROty9DdnYfPGyhQVI-GPbqGZKaHYRBWewCX_K4H9Y0NuS_GLucoMmcqRW18muR91tjUBBdeVemDuzvwMY2gy4d7Ltg9Ph6IRiXi7H5gcTTfIHmpevpMUPiuAx6qvDD7zmp2eriGK91TpsPhrR_N23jpYIQC2i0y26dUP3dkQrlrsU-Oql14YZAOk-locImz2-Cl0rJamEkz1XcGwLDPRpx6RMKM4yE9KD8uoNK3DEe8frTGuCuryoNWffA8zqQeyTrlMEtO8gKs1XgilV9PAwIv_WcQg2F-asDbFW0B9YTSXipdb_WKpVvv69FROdUWwcU-oIunhbYpNymWRYWpLWgtjGJHZh2_VUddkPnKB7cbo3lsX-UnixE8QRfbImv2fEmneQMzzhGGJOh8t5i-dY5-MIxxVLSgkTizJ4phtWq05Hr7SPeZVFEKg2ONR4QeWs_YTTA6gyDH6OoLRU5HJ3y5VoqIY9K7WnwVVA6MuDafe08NIh7NStjHkT8hEWcEhGrapIN35XYFw9wJsVYqLE_AcYPVC8C3tIVxep94ny9lLr-lDdAtmAYbSRsaHiVbOGgjmguBcJfZM_aeet-TMdjo_XRcjXCPFgX9QSHSM8l491doAp6886SJfGzKmA30YxUlT4hqPlFuATCoR0l7OUutvsMErK3PNDysrLoIMpZ44LacnA285OzzmEpScC04AF6GyX6FgBgKYkSyVwlRS8DGFjJIsEVCa4S--KMv4c2TQEQXWHhx3Iz3ZFp8dqBBesmVjYABoFfye7HkT075rB-IOpHi-5XSvnJbYweGLQoD663mRw42d5uAn9JdVf8qM6wzMq5sBbsuM-6Uw6nkus6nlS2cFwcxSdcJenfLTgxYteR1TM8PLxmqvdhMug4464ujQCdchxeRWc3uWYfabKApo0hJmwWBEQXFIaFQwKq_ahUsQi1z53ofWG2Muz6-IEavRmlKtqXzQGzKZ3KyrO-yO8b3o8IC6plp9ZP4ZbmkPD0FjHaSYCXk1Es3XA9Z_VEvYGF24Owx4LBTqcER-0HKEQ755dOEWxrXRjZ5uG7tnekwgrrg==",
  "id": "rs_08eb5c18c986e4fd016ab2ae2812cc87d08583cadd5333c293",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.095,\"left_z\":0.10,\"left_gripper\":1},\"note\":\"I see three fruits on the table, an empty blue bowl on the right, and the large white bowl on the left. I am approaching the dark fruit with the left gripper.\"}",
  "call_id": "call_Q5BlZsVteGn6iQTsnOKwIOAi",
  "id": "fc_08eb5c18c986e4fd016ab2ae2c49f087d0bd49bb343e4d643c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q5BlZsVteGn6iQTsnOKwIOAi",
  "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]: [-0.4889, 1.2114, 0.4576, 0.0959, -0.3828, -0.289, 0.9993, -0.0227, 0.8024, 0.6178, -0.3943, -0.0158, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3259 left_y=-0.0945 left_z=0.0923 left_yaw=-0.0098 left_pitch=-0.0344 left_roll=0.0111 left_gripper=0.9993 right_x=0.2951 right_y=-0.0003 right_z=0.181 right_yaw=0.0006 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -4.0547, 6.5573, 1.9023, -0.3004, -0.0757, -0.0855, -0.0479, -1.5385, 7.3094, 1.7802, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624c81ed0c30a359b092f9edc1e62f0d582490b1c825ca49b4647e5029c5ef06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63287a351c0a7a9f391767bde584dabbec6e084ed9984e181dbca18d869411e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176d24cd3a4b0a3f8cf40db981c137997dca5bfd4cb4b65dd5d4a0b77af40a17",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.47 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]: [-0.0322, 0.7998, 0.6136, -0.3824, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6197, -0.387, -0.0158, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0034 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0003 right_z=0.1845 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -1.5385, 9.7846, 1.8193, -0.149, 0.1148, -0.0855, -0.212, -1.6615, 9.0735, 1.8584, -0.0757, 0.1783, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.095,\"left_z\":0.018},\"note\":\"The dark fruit is centered in the left wrist view near the fingertips. I am lowering the open jaws around it.\"}",
  "call_id": "call_a5R8lol93H46NQZr9r2HXYMm",
  "id": "fc_08eb5c18c986e4fd016ab2ae35a35087d0a792c2aacb751671",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a5R8lol93H46NQZr9r2HXYMm",
  "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]: [-0.4644, 1.6089, 0.3401, 0.5838, -0.3702, -0.2852, 0.9993, -0.0227, 0.807, 0.6178, -0.395, -0.0154, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3361 left_y=-0.0929 left_z=0.0114 left_yaw=0.003 left_pitch=-0.0621 left_roll=0.0196 left_gripper=0.9993 right_x=0.2953 right_y=-0.0004 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.0183 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.6137, 4.2462, 1.8242, -0.0952, 0.1343, -0.0122, -0.3487, -1.4974, 7.0359, 1.7167, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5a50c4411bbe0c0caaedc814b57429a1f367f23d6d2487383d187daa95e8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499565d0a47cee8cf378bedc41f1f1f350e24085d54c76ee0f13f372b0bde3ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9bb20c95653add7861698b32835e44dee3e54bc7ff874d98b39f356c9151769",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.14 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]: [-0.4889, 1.2114, 0.4576, 0.0959, -0.3828, -0.289, 0.9993, -0.0227, 0.8024, 0.6178, -0.3943, -0.0158, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.3259 left_y=-0.0945 left_z=0.0923 left_yaw=-0.0098 left_pitch=-0.0344 left_roll=0.0111 left_gripper=0.9993 right_x=0.2951 right_y=-0.0003 right_z=0.181 right_yaw=0.0006 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -4.0547, 6.5573, 1.9023, -0.3004, -0.0757, -0.0855, -0.0479, -1.5385, 7.3094, 1.7802, -0.0513, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit sits between the open jaws at table level. I am closing to grasp it before lifting.\"}",
  "call_id": "call_EZeXnluBNIhhvkFkss4bogzU",
  "id": "fc_08eb5c18c986e4fd016ab2ae3c2ff487d0ae49d11980b9cd38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EZeXnluBNIhhvkFkss4bogzU",
  "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]: [-0.4652, 1.6093, 0.3401, 0.5808, -0.3702, -0.2886, 0.5406, -0.0227, 0.807, 0.6178, -0.3946, -0.0151, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3356 left_y=-0.0929 left_z=0.0107 left_yaw=0.0042 left_pitch=-0.0651 left_roll=0.0184 left_gripper=0.5406 right_x=0.2954 right_y=-0.0005 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.018 right_roll=-0.0032 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.3128, 4.3282, 1.619, -0.188, -0.0317, 1.0281, -0.0752, -1.1966, 7.0632, 1.7411, -0.0171, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61cb88a5ce765804e058b9648eebf9e0a802cd15028bf57acfc221b2e69dbce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a24f36907a1d78505aba50daaa9cf6cae91502339e169bb56d286b7b5dc08c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3682b5497910d8e7a66f401d6dd2bfed43fcae5e17f8911d993e316d948bdfc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 6.817 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 9 changed as sent

message 9 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]: [-0.4644, 1.6089, 0.3401, 0.5838, -0.3702, -0.2852, 0.9993, -0.0227, 0.807, 0.6178, -0.395, -0.0154, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3361 left_y=-0.0929 left_z=0.0114 left_yaw=0.003 left_pitch=-0.0621 left_roll=0.0196 left_gripper=0.9993 right_x=0.2953 right_y=-0.0004 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.0183 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -5.6137, 4.2462, 1.8242, -0.0952, 0.1343, -0.0122, -0.3487, -1.4974, 7.0359, 1.7167, -0.0611, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper has stopped at a fruit-sized opening, consistent with a grasp. I am lifting slightly to verify the dark fruit follows.\"}",
  "call_id": "call_v7O216SUONmUmF6DycFdm9SM",
  "id": "fc_08eb5c18c986e4fd016ab2ae40f40487d091069d14ebdafced",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v7O216SUONmUmF6DycFdm9SM",
  "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]: [-0.4648, 1.2972, 0.466, 0.1253, -0.3702, -0.2935, 0.5398, -0.0227, 0.8097, 0.6178, -0.395, -0.0154, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.0907 left_z=0.0735 left_yaw=0.0078 left_pitch=-0.0808 left_roll=0.0224 left_gripper=0.5398 right_x=0.2955 right_y=-0.0004 right_z=0.1789 right_yaw=0.0017 right_pitch=-0.021 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -4.9026, 8.2256, 1.5897, -0.2125, 0.0024, 1.033, -0.0752, -1.3744, 7.0769, 1.6874, -0.022, -0.0269, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:900676a479954bc4eaeab138c090fdc12b51bedaaf97bccc3b82757722b4177f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224f181a798135b46661b49694bf15cc93f4a0e4fd288cce1e7924763ba3187f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab718f39418e0027fe2bf083652e4f92e3d2b56d3b32e5ba03303406e64e05c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 7.382 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 12 changed as sent

message 12 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]: [-0.4652, 1.6093, 0.3401, 0.5808, -0.3702, -0.2886, 0.5406, -0.0227, 0.807, 0.6178, -0.3946, -0.0151, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3356 left_y=-0.0929 left_z=0.0107 left_yaw=0.0042 left_pitch=-0.0651 left_roll=0.0184 left_gripper=0.5406 right_x=0.2954 right_y=-0.0005 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.018 right_roll=-0.0032 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.3128, 4.3282, 1.619, -0.188, -0.0317, 1.0281, -0.0752, -1.1966, 7.0632, 1.7411, -0.0171, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5Kb9lGMQqqGx1P1DDQPqssGBf9IiYo1bs_oqTqjfh87itEyQWmsTwf1r8NQ2fH8kB4L07-vyThpOVF8lRhIPVpveTXCyyvL_-NDy6fhB2YYSPhsVQlaU6E4h43V0H-iygfysA7jAHOy1opNujLiq_6w694LRnml83dotyEtIEND8KamXO2DItXmGD6Lv9bWB_exUIVCh1C4hA-aF1g_sc8Igv_CoaW6MNav3Zv57cC-Fs5hhNbNb6BbuTPWxXWKrU9IQC8EjqiX3Q4qK__R3Mcb82bWnFDw6ViTYqlD8XbgwpPe36U_w366prNM7CqCWSj6R0Ap1EWOCBwNiE92llCP2B92bkRjD61lBn-y8ojLWqv-107nLM0G-glHAcDn0FvuQl5llp460RMcTTN409kRrAepk4k4wvTz-0k_FnTQWKzw-YoMuf5uFuzT5AsX0R5eR5UXB669lgH1P8pQqGgCzaN7RtyeBb9XXDv5rQ4PTKOaB_736RV_At5YcwDq0d0X1snFpRbauqcviZOAmFltxhrSS1FHy9puncP_LgoTloBy-ib2pNTW8CpQzHamZa-eAgFHFxzAMmt2zlP_471EpKmhjp8zzQkxLbVWmpCooMRWidM6uzZSQIRmezErIDse2t6iGJFK7W5GSKItuLyoqlDKxbR37LmPv9p8C5ik9aMwVNIK_MzPXCA2aWXMgLKG6yNMHvZ1khStKWEJ6xCmJmeyZMM8kUVQnVlDaYqH_mCCgx2Pe64oCST8KWtsMVW5bo9MUmblcanItrsxP7BPMCKP8jHtWNl45e_MQ5PAIN9NbCtNcdsTmy01UnReTg2OU6CVd_IWJtxmO_ubHHn3W-ZSMnEhEYkbTbF_0UrI4byKI4GOiyN3v-6PwU_wQLvm-GkQ1YOp0a-Gzrd1V-doHpw_Ukwo2q_1cR4KB4CM4VoDL6_XjRCVjpiH3XUiYaBS76HnKMYPyAyr9XauQGiLuDIwcLxRj6-DJUYorQxgg7pWmKEzUXxa-oW8hDRhMf4CP3RRnMQztOpscMR20joSD6W5Kho4Sf22WvWgElEB8tiytUNIPp5D72fD30wsnmTQLjwqbTifOQpD4b_jXGjehBwUhM3P8aV6TbDZse93dctCQSDx8VA-Ev5i8NVcBsEs_dQjFHq7xZ17GiS1M0OySsd-6Wa3LYsUScUqJO_Q3vQJJsVVxlNMSVk8cs7m7w6UpdMf514A4TDO-oP5GXNgBBBjjYWZf9F5Y3Un2XpGUgRTu3NEadJzTfb18kl_T5eglVq0Blk9lcMfZmFHOQl461qwbKl75TE-qNlQ5zR6PRJ3k04vtbNUqAxe_oMeizsaw-K_mCsrmxu1s7MiAHuUvcvcAeC-10WZhSDUehqa1TtGEqjuBQSEzTtZ1ktPgQG8KfuYs63wNgGFMWVZ8CcfZNYdd7djdKwXXzcxrA4-vk=",
  "id": "rs_08eb5c18c986e4fd016ab2ae461ab087d0948470b38c555851",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit is raised with the jaws. I am carrying it above the near-left side of the blue bowl, keeping it clear of the table.\"}",
  "call_id": "call_HmuvXcIuV0qiXOCDPYHAvENr",
  "id": "fc_08eb5c18c986e4fd016ab2ae48d6ec87d0b142a3d31f2760b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HmuvXcIuV0qiXOCDPYHAvENr",
  "output": "executing move_to over 27 steps (2.7s)",
  "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]: [-0.8722, 2.4573, 2.4676, -0.9207, -0.6476, -0.6361, 0.5398, -0.0227, 0.8116, 0.6178, -0.4099, -0.0154, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.4692 left_y=-0.3874 left_z=0.1749 left_yaw=0.0081 left_pitch=-0.1127 left_roll=0.0369 left_gripper=0.5398 right_x=0.2936 right_y=-0.0003 right_z=0.1753 right_yaw=0.0021 right_pitch=-0.0378 right_roll=-0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -14.2154, 9.2376, 1.2918, -0.4908, 0.0269, 1.0281, -0.0889, -1.3197, 7.1179, 1.8242, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9005e510b6080aea570aca086f753d283cc8279ad933fde93fb3c887cc16cf38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebe61a61aee4f94d7278301117f7b3230376b3d9dcc6c8a0f1ff8f1aaf6d8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3c83afc85370cd229d97b20ed3679e8348d24512c534372d87a7abd52990e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.163 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 15 changed as sent

message 15 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]: [-0.4648, 1.2972, 0.466, 0.1253, -0.3702, -0.2935, 0.5398, -0.0227, 0.8097, 0.6178, -0.395, -0.0154, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3314 left_y=-0.0907 left_z=0.0735 left_yaw=0.0078 left_pitch=-0.0808 left_roll=0.0224 left_gripper=0.5398 right_x=0.2955 right_y=-0.0004 right_z=0.1789 right_yaw=0.0017 right_pitch=-0.021 right_roll=-0.0029 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -4.9026, 8.2256, 1.5897, -0.2125, 0.0024, 1.033, -0.0752, -1.3744, 7.0769, 1.6874, -0.022, -0.0269, -0.0171]\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": "gAAAAABqsq5bckGUXvg-_qEFszDhYPdUXFrPNNrvdXYmYtEERUC0odvVxmjRFmLr96XAh5H0vaf6k5H6CCMKHctoD0MmGe-KlYeDHexCMBAp_wJ5yHJLcuYEI-fJwbn9yOhM5AYkJ3-TtyWjjlNpNusGfNsDbVBtajJh4Nk2rADRIl8hEV9x1yJOdJHtiHZPlGbY1kBQ75854k8Bbz06tw_n1ZjhZQ16oxMCpz56PJokTRgydHsdt7YvXxINHuBaRV7F28Ol4fiexbOOmhgtJqSEqoVKMTk4xQJB9LM4BCFPXGwP76bs6ScggUGnOvld3kQgrd-ydJz0q0QCjMQn_Odphv6utxGNA0IdZql1wB6dy3ob8gEOhpdkkF_z8Dc_u9udLycao8I0fuenpOTF79po0Ht3-1vuVccAh5ytZyZvsPelUiAD-aWwjrfZFYqZ0rUxU__iykVzch5VZejIHKNCGgh6cX5_N5oBJ_GYptO9zJk0eA_i_pN1oq7xzyGGy9wEIkrepRWowSb8G_VmpGxcH9qDhgYbQWtz-egprrNV8lkarhs9VRnQ2KlggAOIt3IjzHRxXTpo5tqUMgLu1xxWEf8kkm7i5Or7IXMbCnk2AAtisqimVMgFDodyZDwh28mR1FI46v2-gDJMZbaXETvT2eMqh-A5WMfsmlumx31_YucdSJGpNKhEpVtv9hFFqsFEXOoT6_yOq0u6HC3bs-OqaA7TSqy5F8m7Jvi3tDu7AIGsKIkByOkgSaP18yCOqyNFr2n3yUKLuO-CitzJJE0JnydXOYcVrtDgE0KPdBNuENB3p46WWKY7adInXDLvtrN5T7RVd9fSKBO-fCp2vCeyzBJWScMG2qMp7v0bI6b0I32XS0GfhTdhAMBk0Ce5-HYbgEhHqf2AWacFepwWvDaqSs-CsQ0FvWBDHGcJOLKSLXye5nW_JmqA_Hm5w23S8VwodEoRDSRr0iVV8vVF_J_PJdnGiN4as6c-7D23Lbs_-kM_jb55IeCkPeIE9Fpak15PDjmBbmxA1SaOtZuamYTRTAMgH7fJl_GRpcBafWk9TTkSKnq966ov6CsrHcRW1baIHZkcKtwW8lfRPx2eBNaGo_Gwuyva7Hg9eB8i1EvDC2SWPhyeLKkLypnB64l_19yCIrHFRxQL8znxRzfaOJEoLbssGw_Bj5SL1HpK-1l9FgiIZXiH0LP2EeM17XKJOa7cl_F8LEhRA2Ld9x9FKUPz1XoqnDVLHDOOEwldMMvwGzgyeNRe4SCe7320amF0NczWeDfD5Kfqu86hmgk_xCk8_SWw2wilTWZPTuWbn7CvKDIaZbpFJCWQ1VtSOscTvONP5pB3PmmBuCmjWfDyEtu-wyX2i7IxgxeAeRnzYChxlMBF6HIRe745wb15Kg48jiKaL8edQ5BdFD07UTJG90fM0zsOYe4xhNeP_IsaW0htgo6hRiNtp7Q=",
  "id": "rs_08eb5c18c986e4fd016ab2ae57615c87d0b3dfcd129359c0fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.4,\"left_z\":0.13},\"note\":\"The fruit is above the bowl’s left side but needs a small forward adjustment. I am lowering toward the opening while staying above the rim.\"}",
  "call_id": "call_12Gvb8HO7KvUvr5oukIHoJAU",
  "id": "fc_08eb5c18c986e4fd016ab2ae5930d487d08ec27497c933b0d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_12Gvb8HO7KvUvr5oukIHoJAU",
  "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]: [-0.8314, 2.7773, 2.8689, -1.0077, -0.6281, -0.617, 0.5421, -0.0227, 0.8154, 0.6178, -0.4183, -0.0154, -0.0376, 0.9993]\nstate[eef_state]: left_x=0.5072 left_y=-0.3968 left_z=0.1194 left_yaw=0.026 left_pitch=-0.1284 left_roll=0.0461 left_gripper=0.5421 right_x=0.2926 right_y=-0.0003 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.05 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -15.3368, 8.9915, 1.2967, -0.2515, 0.2271, 0.6325, -0.3487, -1.4701, 7.0085, 1.7705, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b18f45cdf5360ee785dbca4f7f6db2ba980f3e6caffe380144e46c5adb3bbec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a008e8c9dc405138f44275a40a1291a21403042764f4b1595b69e86ce184c70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae932ea2924c391256be3ada8cc8cc15970a6fc288ce263bd19697c9fccb4300",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.875 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 19 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]: [-0.8722, 2.4573, 2.4676, -0.9207, -0.6476, -0.6361, 0.5398, -0.0227, 0.8116, 0.6178, -0.4099, -0.0154, -0.0376, 0.9994]\nstate[eef_state]: left_x=0.4692 left_y=-0.3874 left_z=0.1749 left_yaw=0.0081 left_pitch=-0.1127 left_roll=0.0369 left_gripper=0.5398 right_x=0.2936 right_y=-0.0003 right_z=0.1753 right_yaw=0.0021 right_pitch=-0.0378 right_roll=-0.0031 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -14.2154, 9.2376, 1.2918, -0.4908, 0.0269, 1.0281, -0.0889, -1.3197, 7.1179, 1.8242, -0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5i4K6mzNuwiy3BAPEKIZlQj-YgBqecDTojRlf71z5vC4klDCWr4ZS0vOgpAldGO7AGoViXygWmncI3LfYn5jfuJiecL9n1Fafv83vhK_KT7nw4Cjkk1ZnqIt3ln2YUa0fAfqiwrXIsGm57qnDQZ0bpqYaIiyv2mig91If6ozZxXnCicVqsNJXpvM7cCV66gUqbGhUozHv-pitI6OrFlhu_PfUgZJELQhiOaTnrWAkFPMHmdij1o6ZzR_LQXjQv5H4snIoMsEfVaPiEwXHA7a4xbWvYmdcP2E7pXlWeo4OBqoAQALT1Zbc_nTBZSpsvG6jsBR-f90-yj22PcYTyuZL5WWPtarpXUuFS-kBsP2KjmjDb0l9P2LSEfrmM7y-i2z7G3yb8NK98Khqs58vE-_qLdGTxEFobgXh3-AdhJ5U85BzefKTR73bnNQvxXCI9wB9WPgIx0d44ZNxPqKl4_UvMe0royDdhn2o1ov6PkFmDX7gA6XKUtO_zmNrFWDHGBGtqG4ZMpfHuqlFkdqlBk-GnbDVD7rb7L3jiQeQJ7vG5DuyH7m7IPWrR9q1XRGnYGSmxhyh63i7FlNZ7NgLV6o_aNguuI0U_-UWwsvMujaDkcsMEdQp2I34ODiY7zSfMe_IgLLOmnR2J4Huk5krMBqpQoLKaUPqNUMs_5np_at4eGyXmNmYUC-hq5Kud2nu2ZhRfuSnpLh7WPzDGXIC0makNl52dGUxJXu5zXz8-axHXrSGsgA6dARsRrrdezfU86yTM1jBLriseYHN3zMWMXK4ILS08kfUwQv3QeB1or57hOkVNNyPbGOLBRCMI36fTBIeOahnXxjhhWm4O2CcdkU5NsCW08cc4OAlCjS1UI0XeiAQGjdhqHveUXlOJo3Ilt_lRStQUvn_xLJTvRRyY_AeuAnEj7_JG5MqSIMS4ycKXhRyDk8XStM_cs_maQU5Pw-NbG4haN7PepC2hyhvzW3PCEXavbqx2d1cF2N3UHrxmMDqAi5yBcpHwlPZ_EBcmFT5IqFg4lhRe-20VbtzkP2sCSTygIomixCDlIdp6pRC5ySIzB29secPm3d3u6P0a0i8LoBvmEHPD205xaALj0oiUkEbYCF-LruWPh1BNcVtSFpDc4sh-_78VNreGQ5hSetreEDYrzEaTucJ3Bzuy_J1LayqnjkLaN6g5Q5Hs7RzEdPDQWGnrWlV6XORCVSbc7jRPYZv3hIklt7gKRcT9WKVMC5_BOKodCaR-LRB_c0yJbpYbzEIu74WxJVogs_a7d-r4QwDGUrfHGGBVuBnk3naiQ89ddb-fcAaT42hY6UtXcGLmNioXf6eschF-W_KQGy8QNMEwc0H61SVbI9v8ubTvjfayDFEOwzgLwX1vYKpkspM-6kLvwxg_SV-LklxnuxCKpavskiuy9O2MuMsUrJw9NdNjduWTHDP3U2JF_aB4iT-E5P8ohuoBPjQl04A1tScsk5yb4Jf62iVBHxA_F3fizg==",
  "id": "rs_08eb5c18c986e4fd016ab2ae5f749887d08fb0220f2cbe1d24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is over the left portion of the blue bowl opening. I am opening the jaws to let it settle into the bowl.\"}",
  "call_id": "call_BmSpv9asIAJAkqf1imUE5UaZ",
  "id": "fc_08eb5c18c986e4fd016ab2ae61690c87d0a1b75daa10ab96f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BmSpv9asIAJAkqf1imUE5UaZ",
  "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]: [-0.8314, 2.7773, 2.87, -1.0157, -0.6285, -0.6262, 0.9953, -0.0227, 0.8154, 0.6178, -0.421, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.5063 left_y=-0.3958 left_z=0.1188 left_yaw=0.0319 left_pitch=-0.1325 left_roll=0.0445 left_gripper=0.9953 right_x=0.2922 right_y=-0.0003 right_z=0.172 right_yaw=0.002 right_pitch=-0.0527 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -14.9402, 7.747, 1.2479, -0.3101, 0.0562, -0.1245, -0.1026, -1.3744, 7.0222, 1.7363, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b61a0e043c304861243d8200e4b546cfdd8b71518c2088eed28965cb21b2bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e836927ae72f60c3891c8bad0c1dd5cf0740be53e3115aa495387cbb5851663d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0cde99a44fc0206fbefdf01f4199d47aa4d259515498f90e94bca9817aeb70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.171 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 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]: [-0.8314, 2.7773, 2.8689, -1.0077, -0.6281, -0.617, 0.5421, -0.0227, 0.8154, 0.6178, -0.4183, -0.0154, -0.0376, 0.9993]\nstate[eef_state]: left_x=0.5072 left_y=-0.3968 left_z=0.1194 left_yaw=0.026 left_pitch=-0.1284 left_roll=0.0461 left_gripper=0.5421 right_x=0.2926 right_y=-0.0003 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.05 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -15.3368, 8.9915, 1.2967, -0.2515, 0.2271, 0.6325, -0.3487, -1.4701, 7.0085, 1.7705, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq5qN15Ct_QHUumB5YdGIO6Q5Jsu5ZgADLC7hWPWI_2_f8aEvO_VgIX1fVCWpCa6SYYDZaeQ54klArRfgZ2ZfSQXMY_LDKddoo3H42V82wWJNaG92uElfRIycY616kDiAJBKwxD7iKXjN0fU7BA-lPL9M_Tfps5AYUbZCpxu1eKuPYlvKV21dPBYfdtDaU9wWSwogjgnHDsXQYkSNZtkx_npp623mNWBieZolAxLNJQn2Cf6w4eTKHuR31Ht7mX_dFRiKIvzkCbISspOb4Ew5tgajlBGY04vidXaORqI6pyQytltdsQl4MplPhjmenSXrdRhiWHOIwWBO8LNbJRfq6jycYl1YbHConR53K-Ru0MzfT_p6v28a9etsm3o8aC-CGuyVl0rFiWwLID9ME9uZZoWw9AMsHk-bG75D0LcpKQ-O9sckZPDsu3V-zn6OxPuunhr9iiLmgfxAKiv_GV5mR_JTcWl68WpeNjYWg8nSAY5fGF3at25I7rKrm2Kn0aKaf-OcABHC7hMNVgBW5AZT8ZTC2LfWT6Ihh9VTiRABzVpcH-DalZ4nkwHozxz9PVDfEfF91LzFrTEiY9pa66vs53cGavJY3y0xmvgzbguN9u5W74ccBHjz94_jgFS8M2tBrgn2ddSFUTqtOqjfP8xAyAD7991YBRR2S7bKo30tydACb8f_zhZn_-WiRsaiyLKdg9bbrnpuH3wQtfqXMUJb02avSEU8Iq-LHm-AU4ijINE0oTHglLKQnV0Gvh5kO6NXrfnFLlPeWbeNJKFLKizptcV3GtRr_TbKlKolVsKgIIzt0xZcAXVlx2LIfzS6FAPb4pTSAeXQdB9VXsigwSsP3mEABUZNsDaGPo2uZ1UbCEF6b3uHSwoH5HBKD-tgqkkLDQXgoJ23ioaxtvRzuXnzqciaM0REzz-BdEcqycgDaRlMT3-RlLKB71tdbEnVcY1UPMCd835GPbyAYI7pE-MEFgXfBF3xBUj_beekh7kWcj9naigCCMK5UGptwCyTkL-6kUelXAvieu0_k261yG6RjrYO_U0GJ-Wts6HZ6pNnvPq-mzou9U5ZsFYbmgv4BDGpDUYf1OFtsxj8owNicrZRXS0CMBh1jfifMBSEns_jiX7w_4XLydKGKwj676251F3XIcrQZFKCJr8SnpL1V4Cf6TWMbN2muf-1X4AbXRKMHGA5es3gFFuLj3AW3OGqpM8_C83jfg0yJkvwNFKrIlQIPRL1A==",
  "id": "rs_08eb5c18c986e4fd016ab2ae66c3e887d0bd08ab453247ad6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":-0.003,\"left_z\":0.19,\"right_x\":0.34,\"right_y\":0.095,\"right_z\":0.12},\"note\":\"The jaws have released the dark fruit; I am clearing the view by parking the left arm. The right arm is approaching the green pear next.\"}",
  "call_id": "call_sXzbqWIIx8irEg4xqwf02sF9",
  "id": "fc_08eb5c18c986e4fd016ab2ae67c2ac87d0a055f9cc3cd1e6e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sXzbqWIIx8irEg4xqwf02sF9",
  "output": "executing move_to over 35 steps (3.5s)",
  "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]: [-0.1081, 0.9276, 0.791, -0.5552, -0.1555, -0.1055, 0.9963, 0.432, 1.2152, 0.5819, -0.0734, 0.3332, 0.2188, 0.9994]\nstate[eef_state]: left_x=0.3026 left_y=-0.0017 left_z=0.1934 left_yaw=0.0847 left_pitch=-0.1132 left_roll=0.0352 left_gripper=0.9963 right_x=0.3328 right_y=0.0938 right_z=0.1091 right_yaw=0.0254 right_pitch=-0.0951 right_roll=-0.0239 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -2.3453, 6.5436, 1.5946, 0.1685, 0.149, 0.0952, 0.3077, -3.6718, 7.8838, 1.8437, 0.2173, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe69c524d79e3bda06bc4dfea2f51cebb1ee1040efc7c4c8a9a3af80d1957766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b139c8bc7ba9c0e92571a87eb8cd60f07e10858004d005faa1716712766a6a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decfdab1f31e817339eef2d46f2d80d0f7280e4176e767614bbced75479eeafa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.976 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8314, 2.7773, 2.87, -1.0157, -0.6285, -0.6262, 0.9953, -0.0227, 0.8154, 0.6178, -0.421, -0.0154, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.5063 left_y=-0.3958 left_z=0.1188 left_yaw=0.0319 left_pitch=-0.1325 left_roll=0.0445 left_gripper=0.9953 right_x=0.2922 right_y=-0.0003 right_z=0.172 right_yaw=0.002 right_pitch=-0.0527 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -14.9402, 7.747, 1.2479, -0.3101, 0.0562, -0.1245, -0.1026, -1.3744, 7.0222, 1.7363, -0.0611, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq58225C_nBzi9eUCJnrDPac2LNvXAOVjudTN6qRxxW4gw-DVIPGyvFLBNd4sOogMvFfF94J0tYHT-uYpkJtvatOgeFGoymD5Wxv2nA9RlE6eZ_bhyAS9HiqZlwZSCWrDKY8Nak5nyk9VW6GMoTGY56XDu1TruXSQmysRniuhpjrZBD7jglZdgs2_n4kCyQx2MNcJv_rCuQ90SYRN1Tzup5Rz2jKN5JP8z1HEXVsp_03jyXvGpaLsIxVOEIYzaI_Mw2M2kRRfDFLZo-e1lgAyJXPbOu0tf9IaovLbmW57pYHiebv785INtYwhNw2XeaQX_Zrb2765DA2fzl-Zdi_7OmBZWDOLT1SBWi5PWghn8dLJp2bufbkHbpwJtQ30esPJEjWm6Fz0BzMIXp73QNvZI_daW4FAZX88SmmCz2SdT_Xd3ITrSd-td76dB-CDBRukWh6Ft4evIOMH-643PqsKUaj-VKOrgAhGrBFXg55bKCqcowSbZ5f521H0HYFi3a4hVqx6h-9YyVS1f9wHUDGUzjOBOSCm-z83T5rcf1FY3t-KXbd-G3prT9GCeKh9bf-HKdm6pXtsGKc7-TfnOaL-2v9U7QBfYlkdMmKoQ85KxEasD0l8CYmTKiRZRtS6RuE2On5vn1w9bSFS6c5rhKsAatcp-panGOaze8snozBTv9o1MjolE6Do-DKp0rLWRr3zg7k_WpbvEsWwHj_l7bCzGEJtOQ2MPAbGvM6gDGaf25QuHwhp8zsK8VKIyXSaChCd4KdUAMzqzYDrjjhj8vbE9vKkc__kDfcEtMyriBp2ZIOCn6s_ZcnWGWLzmxFt9n2iRBaO_T4j_vFpYHY-X9lsLtjopARcs4mYSw2VSSxaBmcqAehziVK4-Q9UM4ISxOZ_dN9xCUqYRQKVwFUch0mxbB6SO0kLCvbxkTkLFOt9SPwcOFnSKNrtoMBf81A7HV5U1eD40Ldf-FtZtR4-KJE9YqGkJD-Dc1Bb0WTMaPz0FaUnuSTB8w9wYIEo4MCsTAQdCDaf4jj8ivhF71q1pmXafecg4vn6vFE0QERWMhQ9nc3ZDmiE9qrL7aZYtXPknRW8lmbB14wLtrFEj5pujBMpYUK1yizBFUEFv3dEPirGwVGqW0mTmYXNPf80r9WXRdBKUvea53tO825xxEJ8SZ4Dl2Y4bJHG6jH5AxS-p7TuN3ykjZrOYMVQHwuqRa6QFGLYaF4d0eIvkJMQ4aVyHoARAy3oFs9Y-94FOqlo-lnKfe85D2rGUBvZ6-HV3P8gTTTGbwbGBLAVTr2SpdGbMD_sJnHm-nARITYrpmmOxojOX6fK54=",
  "id": "rs_08eb5c18c986e4fd016ab2ae7933d487d0b1928f54a3642273",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.085,\"right_z\":0.025},\"note\":\"The pear is close to the jaw centerline. The cleared overhead view also shows that the dark fruit missed the blue bowl and rolled toward the front, so I will recover it after this grasp.\"}",
  "call_id": "call_SFmcEXlgroPdFYZJGqEpZMa3",
  "id": "fc_08eb5c18c986e4fd016ab2ae7a131887d08a1ec9159790f51c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SFmcEXlgroPdFYZJGqEpZMa3",
  "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]: [-0.1055, 0.9329, 0.7887, -0.5728, -0.1452, -0.102, 0.9964, 0.363, 1.5543, 0.4431, 0.3241, 0.2836, 0.1753, 0.9994]\nstate[eef_state]: left_x=0.3 left_y=-0.0025 left_z=0.1875 left_yaw=0.0774 left_pitch=-0.1392 left_roll=0.036 left_gripper=0.9964 right_x=0.341 right_y=0.0805 right_z=0.0134 right_yaw=0.0165 right_pitch=-0.1834 right_roll=-0.0556 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -2.4957, 7.0632, 1.7411, -0.1636, -0.0757, -0.0073, -0.5265, -6.1607, 4.3145, 1.8339, 0.1099, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c96c2944d8b456b7d5a137a7718b877110acbfbc956b297df626fb7d870f4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93cbb6cd271c6c4bf887b2cbafa2a09bd537d680871485aa995d703bfbadcc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc50c42fb72fc0bf6b73a9ccaf4bba5cbd95a6fa3c88dc06bb83c58c30d45fb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 4.795 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1081, 0.9276, 0.791, -0.5552, -0.1555, -0.1055, 0.9963, 0.432, 1.2152, 0.5819, -0.0734, 0.3332, 0.2188, 0.9994]\nstate[eef_state]: left_x=0.3026 left_y=-0.0017 left_z=0.1934 left_yaw=0.0847 left_pitch=-0.1132 left_roll=0.0352 left_gripper=0.9963 right_x=0.3328 right_y=0.0938 right_z=0.1091 right_yaw=0.0254 right_pitch=-0.0951 right_roll=-0.0239 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -2.3453, 6.5436, 1.5946, 0.1685, 0.149, 0.0952, 0.3077, -3.6718, 7.8838, 1.8437, 0.2173, 0.1538, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is between the right jaws near the tabletop. I am closing around it.\"}",
  "call_id": "call_xsVDeHUpnozsrTR3LFxqO2pg",
  "id": "fc_08eb5c18c986e4fd016ab2ae80e5a087d096d956a318948a98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xsVDeHUpnozsrTR3LFxqO2pg",
  "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]: [-0.1051, 0.9333, 0.7887, -0.5732, -0.1448, -0.104, 0.9964, 0.3588, 1.5612, 0.4343, 0.3691, 0.276, 0.1726, 0.8147]\nstate[eef_state]: left_x=0.2999 left_y=-0.0024 left_z=0.1873 left_yaw=0.0786 left_pitch=-0.14 left_roll=0.0345 left_gripper=0.9964 right_x=0.3446 right_y=0.0816 right_z=0.0157 right_yaw=0.0218 right_pitch=-0.1576 right_roll=-0.0425 right_gripper=0.8147\nstate[joint_eff]: [-0.0889, -2.0718, 6.9538, 1.6386, -0.1099, 0.0122, -0.0122, 0.1436, -6.0923, 5.641, 1.1062, 0.1343, -0.0073, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5c43aec9832301b16f73878ac091e739dabf166a19daf69f7ed5f0a6f5037a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9102ddc224a6b3dd1ab2e700d17f21131724dfae65c2a67af2de5843864d4b79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11384b783d9dd47482c5862a80a949ef45f6f84833fdb23a2aadad6d30188051",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.116 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]: [-0.1055, 0.9329, 0.7887, -0.5728, -0.1452, -0.102, 0.9964, 0.363, 1.5543, 0.4431, 0.3241, 0.2836, 0.1753, 0.9994]\nstate[eef_state]: left_x=0.3 left_y=-0.0025 left_z=0.1875 left_yaw=0.0774 left_pitch=-0.1392 left_roll=0.036 left_gripper=0.9964 right_x=0.341 right_y=0.0805 right_z=0.0134 right_yaw=0.0165 right_pitch=-0.1834 right_roll=-0.0556 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -2.4957, 7.0632, 1.7411, -0.1636, -0.0757, -0.0073, -0.5265, -6.1607, 4.3145, 1.8339, 0.1099, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The right gripper has a substantial opening around the pear. I am lifting to confirm it is securely held.\"}",
  "call_id": "call_yyOUTRiKVLgij5wzHUN5U8Aw",
  "id": "fc_08eb5c18c986e4fd016ab2ae8712e087d0b188da0d1f857ecc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yyOUTRiKVLgij5wzHUN5U8Aw",
  "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]: [-0.1051, 0.936, 0.7887, -0.5743, -0.1444, -0.1047, 0.9964, 0.3588, 1.3132, 0.5934, -0.0425, 0.2718, 0.1719, 0.8111]\nstate[eef_state]: left_x=0.2999 left_y=-0.0025 left_z=0.1864 left_yaw=0.0788 left_pitch=-0.1438 left_roll=0.0343 left_gripper=0.9964 right_x=0.3434 right_y=0.082 right_z=0.0851 right_yaw=0.0254 right_pitch=-0.1628 right_roll=-0.0418 right_gripper=0.8111\nstate[joint_eff]: [-0.0752, -2.2359, 6.8855, 1.5849, -0.0611, -0.0415, -0.0122, -0.0615, -5.7641, 8.8821, 1.7705, 0.1685, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c94892b56f524633d6c285116e18898dbaae9a41c1b5f087a6678f13d58330",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7232ef098e1c2d25323530536a250bd03f9557918bd417b5cc15ab2763b73c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a14093e1f91afde7f3add8a67a33cd7b5f60fe342c17cdeb5165c9dd42be7cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.593 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]: [-0.1051, 0.9333, 0.7887, -0.5732, -0.1448, -0.104, 0.9964, 0.3588, 1.5612, 0.4343, 0.3691, 0.276, 0.1726, 0.8147]\nstate[eef_state]: left_x=0.2999 left_y=-0.0024 left_z=0.1873 left_yaw=0.0786 left_pitch=-0.14 left_roll=0.0345 left_gripper=0.9964 right_x=0.3446 right_y=0.0816 right_z=0.0157 right_yaw=0.0218 right_pitch=-0.1576 right_roll=-0.0425 right_gripper=0.8147\nstate[joint_eff]: [-0.0889, -2.0718, 6.9538, 1.6386, -0.1099, 0.0122, -0.0122, 0.1436, -6.0923, 5.641, 1.1062, 0.1343, -0.0073, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6PVr_vQpgpQZcNvMpsgrg5pM25uXtUZWsU2HqFcGZEGbayiswz9cOpacEjxPVV1GYRd79Uv5S_lrMI1Gu1D_wfezSC8z2R5UKiNzFd7E1L_nMCi1lOE9XXCufXAyKe4onG4L3AqAUrIWEWzfmUgK3qHUeLz_35bFwiMGvHhT5LfLfvv3T8p5YPcCtWCYoXsAJKBHr3OKunL_Qxy5Xs-I2b-GAAA8iDpGdHUTxgaUuiFERSg0jB_DXKsPPACoTfnknPQMMkKePpdxeTMfnqqJS3e0vdtbcvFoLg9LGL1Rj8iOIRejySePzNcvuZXm09Eh5uM7escsYGVXqawsmvbZV4Hf43Xvh7O3wkGjw70mPrrf8DdwBU0Qka_QVvK1AQoh8UFO9ht8ag161GWy3LZsQppX1vZ5KHrLcbFL-0L7QcrC3uMPEd6K4pUwL6eqD0kmooEZXPQy8oENLljwebAjtlSkun-LyHJIvT55q7a6p2fU5dRtBzqcDwVYqdPKjP3ByD7o_PU7WBXaXWlT39-fpJ_MeQmZmlfjvyv6opV4Y3qNSsauKD0xAVhXAMld-dIw_u707vGbpDlvqV5x-E9s2DU1P1VaNzrWuux7OjE9W0DqJVQ53vn2lbGeWGE_nRpBnpm4pLz6pvnrm1vnOW2SAM_akhApir8_BbljoRkaVjcDGCuRCObjAQzI73jEp1Acbg6leMu100gpGm2XAVzTVUfej4mE1IR3lp5Yy4P1RReNofmo6X7IzXjs7kvNCKHMHfoXl88hVqqfn-h1H2IvLaxzIY_uGv3cJWTuJ1C6i7IPn19kH5jbooWKaiwdujpNb5C-1g6evKT-e3vjMq_kncLuWjIbgodV-QHfkSYLLE5UvWsBnBU_O__KgvpwKRSj9VvREF45VjMyNKdeYYgo3KUZJDh2FY7VKsBtoLdI_rZIrFnf42FJFhfLJGK96RyyqyT0KLaaa-ojJAxdZPwjGMs7N3rGGydtiYdgN6TAO_EdV5ygtsiIEVDxWuOJ0np7vcIK64LsfzftcP71SerEsBltHzu6Rvn2OruISftjBqdBR1hyLXDn2rMI8N2tgQ-pGyrVvVUzaJqF5aEgBd8--ImK5wNNGsXpq0G3kT3l_ZnXHqsDq6iGE7-bSGC52GxFexfGYZe09VBfsrL4KhV6B0y6c56I2s4iwdGePCLx5hJT0HwueGd6SOeadkyr66gL5Q1hlJe5Y69u9TPPMKqFiqk85cOS8etNMGEJJfnPWRJS7KhxLVp4jUHweYyCKeaujdngEbTtxiLmXzPXcoW-4_5PUsmEWs47ePIv2S8bBRevCNaan11x5HVE0T38taCCVHZwXQIWeAAWx5gFPUxaQsM9-fugiZYpPdpvgcB17BeB1vGwBLZBuxZbkYvKdTRj6qQMcHn3zUd_vUMbVL5n1syvlS3WQUxiqPRa5bOefhm5uFGlDwB9B-n4hjJAVMa0S6Ro_pe6b1vG74ZjL94sm12LzUVtqcZ8IXZerf_lcDCi-uSVIj53IjNfdtdHR1zh-A53q0dC_VkO6Fz43dD7KTAynDZddJg5Vc-S6gdF5QELNJvzjx8-kINydPNhFbMt60",
  "id": "rs_08eb5c18c986e4fd016ab2ae8b2fd487d0a3f44ffa08c91dee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.145,\"right_z\":0.19},\"note\":\"The pear has lifted with the gripper. I am moving it above the blue bowl using the right arm, which can reach the bowl’s center more directly.\"}",
  "call_id": "call_W3EraR5bSxFjjLK1alDKphVZ",
  "id": "fc_08eb5c18c986e4fd016ab2ae8ec54487d093cd6a0be2e2c7b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W3EraR5bSxFjjLK1alDKphVZ",
  "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]: [-0.1051, 0.9417, 0.7887, -0.5812, -0.1444, -0.1043, 0.9964, 0.3588, 1.8793, 1.5635, -0.4763, 0.2619, 0.1642, 0.8123]\nstate[eef_state]: left_x=0.2992 left_y=-0.0024 left_z=0.1835 left_yaw=0.0789 left_pitch=-0.1562 left_roll=0.037 left_gripper=0.9964 right_x=0.5025 right_y=0.1434 right_z=0.1733 right_yaw=0.0361 right_pitch=-0.1935 right_roll=-0.0506 right_gripper=0.8123\nstate[joint_eff]: [-0.1436, -2.4137, 6.8581, 1.6288, -0.0855, -0.0366, -0.0122, -0.1709, -10.7556, 8.5538, 1.4139, 0.2613, 0.0415, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e882761f2405c4ddfdf3390a1e53d790721bfd51e66878bbea061f088deecff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a755407d20cad14c0f0dfbd2782c79cd90dee2c56c47cd85026f8f2d356c1aa2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0bb66d6b9b1ee79ca53a22e91fa6211551d9ebfa62638ce61129924ef96f21",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.669 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 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]: [-0.1051, 0.936, 0.7887, -0.5743, -0.1444, -0.1047, 0.9964, 0.3588, 1.3132, 0.5934, -0.0425, 0.2718, 0.1719, 0.8111]\nstate[eef_state]: left_x=0.2999 left_y=-0.0025 left_z=0.1864 left_yaw=0.0788 left_pitch=-0.1438 left_roll=0.0343 left_gripper=0.9964 right_x=0.3434 right_y=0.082 right_z=0.0851 right_yaw=0.0254 right_pitch=-0.1628 right_roll=-0.0418 right_gripper=0.8111\nstate[joint_eff]: [-0.0752, -2.2359, 6.8855, 1.5849, -0.0611, -0.0415, -0.0122, -0.0615, -5.7641, 8.8821, 1.7705, 0.1685, -0.0269, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6WkCqIQZeQZIqMV_DRXFyW4MXF_aCXrLH6zChY0qhr4LaXq0zGTHEy0JmEjeY4UkkR7T46fm6hpgu7DZXjJtI8E5_BK82HQsufjJlZD5h6iIVW621MGtlUS37vwNoM78fPZHwRgOJtNNKtKphRzyLaZHVJFn78Uld4dKnp3cuiiFWFZYJ9XbUd2lcKTNZrV6I1uz8WP9UO30XjekWDN6KVh81P1QlPr63RQXrOC8gzCcnd8YV60ufO6Vpw0hcAEdpwMQBnjkwDcINmQm2U02qdg_izf2apHZkgb0uZjlJ0MPDjsPe2ZsHaoZJwtbDZ0dE-BEJVq-YFMfJ06FytATcyaO64YXMGbdT2lpNvVFIUzGt5PjXZNdbGqN_H0W_rKNnXtCgs_Pw2kOu2daEVLViJjZqM9EgyEFhgtv7v-uy-_PzQBwrXZur7B9M_TSWds547Mp7mVZgSx3mbROeAP-tZp37rlUqhsZIbUPeSqgsSfIuBbMNKpnnwYr83QDmwpDjEZoOzjNolX0MjMw-SGxJo5ZKxzXqGoqTidPOv8AzsC-tIZ6viXnZPPH_0sZwtmTvuUT9lu9QfvNsF3cPHhOpg7aLnCPrmYSVGAlBaxMj_YMEw3s0aeWgbveSEYh7zaRo1FtEcLOf8vNZyC45iCw_m7k4Lx7QmCsjWI9oFxMuoXJQ2ymcDRBUlvFackq_ZRz5zv6Sckm2rCn7pFerJ31Ch13FqV02I45wW-6qs4wFH3967GFrXBOKFl7zc4mgu35Z0MZdj2HwN0r8L7ONRBAkdEijlmRmxGyetlMPq00IbzdaoMlytydAf5cCyykLPEzp1BZZxb9iDgHPbmtH6Uvyye_BZG2oPPVqHqk67NaPy2eyxhqlG3BQxEQFMmtcXlsNmkvbS18ftZFI5oEt6aOpa1s8ehqgTBwPdfGlHJ2B4lSjlTp5QW5JoGv2iYjBIlytJYLlTia41w_LPsJzjhmlvmHep6wrHMDehrQPxOt3w9YnEVu2jl-NCTr_2sIEY0oEQHmU70VT35GldP93hDdPHKJyGVayw9CT4FRcWRUi-xZ7utj3xuArlmCYEc-3nPdKabYU1ZPOqSrKVmWG99XD9bN7F7T3_YAfmhlwAvMGXNUt-sLINaiwbE7GQRzHKwFgbyJQpHNK56PDtmv32CxMtV1BzlBjq2EAJsmX2rAtOW0XjW6rEz7No-hZnYzOkRjIauKMNt6wOMyn8L9u1wQ9r2Hm-bYjHvaOA5AfVgGLjocCdazkIIbZcLvvFZ6B3gwunwCP_Ko5oN57eGb9YfSweVJTq1BHV6qb6HQtvirbGYd7GfJTqWvz7eISdFAYRnZYZ",
  "id": "rs_08eb5c18c986e4fd016ab2ae933ce487d08fc66bfb10d0add0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.17,\"right_z\":0.11},\"note\":\"The pear is above the bowl, slightly toward its right edge. I am centering it and lowering it close to the opening before releasing.\"}",
  "call_id": "call_fSlATwm6rPUcgSdfulQ7rE49",
  "id": "fc_08eb5c18c986e4fd016ab2ae952a1c87d09e731446b9924d1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fSlATwm6rPUcgSdfulQ7rE49",
  "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]: [-0.1051, 0.9436, 0.7887, -0.5819, -0.1448, -0.1043, 0.9964, 0.4198, 1.9598, 1.422, -0.3534, 0.2813, 0.1837, 0.8162]\nstate[eef_state]: left_x=0.2992 left_y=-0.0023 left_z=0.1828 left_yaw=0.0793 left_pitch=-0.1587 left_roll=0.0377 left_gripper=0.9964 right_x=0.4861 right_y=0.1672 right_z=0.0959 right_yaw=0.0621 right_pitch=-0.2814 right_roll=-0.0848 right_gripper=0.8162\nstate[joint_eff]: [-0.212, -2.3043, 6.8581, 1.5995, -0.1099, -0.0269, -0.0122, -0.1573, -11.2889, 6.8581, 2.0244, 0.2906, 0.1978, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6150f50c2febf1fb6219260451e0dde0a2b84aac1c54a2d60235106a4299af1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85dc62e252071aa5f019a6c87afd47a028fb009d5d5fad3611e611c9712f8c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3020b324d76a8fc0da3276e2dcb3df1e2b6f400c7b2f187a02d18989d1c6e1ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.629 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]: [-0.1051, 0.9417, 0.7887, -0.5812, -0.1444, -0.1043, 0.9964, 0.3588, 1.8793, 1.5635, -0.4763, 0.2619, 0.1642, 0.8123]\nstate[eef_state]: left_x=0.2992 left_y=-0.0024 left_z=0.1835 left_yaw=0.0789 left_pitch=-0.1562 left_roll=0.037 left_gripper=0.9964 right_x=0.5025 right_y=0.1434 right_z=0.1733 right_yaw=0.0361 right_pitch=-0.1935 right_roll=-0.0506 right_gripper=0.8123\nstate[joint_eff]: [-0.1436, -2.4137, 6.8581, 1.6288, -0.0855, -0.0366, -0.0122, -0.1709, -10.7556, 8.5538, 1.4139, 0.2613, 0.0415, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is positioned just inside the blue bowl’s rim. I am releasing it into the bowl.\"}",
  "call_id": "call_iWEUkJX1whHV9BCtaNLEPoVt",
  "id": "fc_08eb5c18c986e4fd016ab2ae99b8a087d0a3c6f76463fa0d2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iWEUkJX1whHV9BCtaNLEPoVt",
  "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]: [-0.1051, 0.9443, 0.7887, -0.5846, -0.1448, -0.1047, 0.9964, 0.424, 1.9732, 1.4117, -0.3298, 0.2821, 0.1833, 0.9913]\nstate[eef_state]: left_x=0.2989 left_y=-0.0023 left_z=0.1821 left_yaw=0.0796 left_pitch=-0.1621 left_roll=0.0381 left_gripper=0.9964 right_x=0.4867 right_y=0.1697 right_z=0.0889 right_yaw=0.0659 right_pitch=-0.2812 right_roll=-0.0856 right_gripper=0.9913\nstate[joint_eff]: [-0.0615, -2.2222, 7.0496, 1.6288, -0.0806, -0.0269, -0.0122, -0.5265, -11.9453, 7.3368, 1.453, 0.1294, 0.0464, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1ba53b6f01305ba6b8b55ffdd1ce9faf18c46309729deff485fdd0677c70f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e566933a06a9cc1ffb22bd6f0838a6fdccf8dd42bca8d11fa986436750c09bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544c367923fbc32172670195c06c8b17c6cbc255fead12e23f0656dd2d0e99db",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.76 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]: [-0.1051, 0.9436, 0.7887, -0.5819, -0.1448, -0.1043, 0.9964, 0.4198, 1.9598, 1.422, -0.3534, 0.2813, 0.1837, 0.8162]\nstate[eef_state]: left_x=0.2992 left_y=-0.0023 left_z=0.1828 left_yaw=0.0793 left_pitch=-0.1587 left_roll=0.0377 left_gripper=0.9964 right_x=0.4861 right_y=0.1672 right_z=0.0959 right_yaw=0.0621 right_pitch=-0.2814 right_roll=-0.0848 right_gripper=0.8162\nstate[joint_eff]: [-0.212, -2.3043, 6.8581, 1.5995, -0.1099, -0.0269, -0.0122, -0.1573, -11.2889, 6.8581, 2.0244, 0.2906, 0.1978, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6f3ghc-nr_DAPLF9tNfqrNg9_TX-stmvHTXr7rLzZqr6RFDrwOLhB6hDnpTQht5zBiMDnLc4JYPq_ykIANcp2c6Me4X8k8NN6cM9Mt6tm0jYo1G5LW2F3C-j0RUSLfSqIsuMo-D0aN8a0d6NbvAw1WGYDJOyo-whm1QwEVTrjp2nFZcGr8qPDXznFer_1DRpcTCF0YXfXJKjWb5OvLuIBORMxmxzQ6vkhwEU4yfXCHY_F47F5silpJyfWNKxUZlhje5qOvTAUJXF4N_YwseqzpYL-xMwI_if-rOGYD44dT8wbxZc5zJPJIkqk7bJf1bTgu9yHN9-tiltJb4fwbakGBDWuL0x1oxtaNtBmpLrdcOdkyI8QvI53BUEVTM63CXSDqfKIqnd2ybVBe7fA95AHkoiMoHluZaIs6uidD9XRy6MYXLbrSevZkrsSBxsfzj-qIaWp73HERWmOFv-JCWVE-rJ-miKEKrSY7Gc1432GX7Ky9kz4DRLQT4GJecrLcy_eZgAiSXqPngLcyqYLXAxLk66ikh3WFtXT3mgu_pOZib6A3a-jifU9BPlM8m2NVXv9xPZSrnzkhkfo4lwYQbKTkZj2BOIkl2QMcihmr3uEO2csobzdVCFlXLq3k9JLB0V5ujXCTIR9pk_YXgGrvxfpl_PWGdn3D9odbgCgwv93omuc4ZiNszcBZ_8XzuIvkGbqoOwFFvFTOfHwHAkiNGme4O8MJJVAl0aIoOB6MwfNdrOePUuS9CICRaN3-JYetd_rG57UY1jr6HEwCDcKelh6W3c8HUknl4tYL8-5OGlfTpe3wzPIYh_EiwdXE5yhVg9PhaGQnl49qxN9x9plHl3plMRrpAKuMIpyvVhlvlmnH5Gq0XoQJFM-ff-wsZBVF9gzZiyLvtPUJC_2g6VAs4n7qvOq7QH6G61Bi65pjeitGZqMiqVIkiqa8gz4Adcjy-SsJHap3lwShS_quT0MZ5XaCSye8ibrU2YQI_VrPC2Oh1fK1CdCSqoigFdDbmuqSQ4dy7cuQDiKxMo3d2tlWiRqQDNz0daY92YVxExn8ljK6b2XYKHNPqlnVldT5mLpZhT8zXKQJ0XJ26xLuMJKEwancdDRaazpWt0bYgre5ngotjQRYa1ndv85hmrMwszBCzPSXHsjF60eEiiaBfX9b7Ag4RozIxc1XCU_m5-39eqP3g2ZJrHsdduHUCwHoZnIumBaJE2Zjbu47LhxArlZEaNMODzCI1n_LMp9F73vEBKQ3alo=",
  "id": "rs_08eb5c18c986e4fd016ab2ae9ce5ac87d0a9524b174c02989b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.285,\"right_z\":0.13},\"note\":\"The pear has been released into the blue bowl. I am withdrawing toward the yellow fruit for the next pickup.\"}",
  "call_id": "call_Lsyc7pKxmwLBWCTntpNx8sOD",
  "id": "fc_08eb5c18c986e4fd016ab2ae9df22887d08dceb8860616fdae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lsyc7pKxmwLBWCTntpNx8sOD",
  "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]: [-0.1051, 0.9447, 0.7887, -0.5877, -0.1448, -0.1043, 0.9964, 0.421, 1.9732, 1.4117, -0.3599, 0.2829, 0.1829, 0.992]\nstate[eef_state]: left_x=0.2984 left_y=-0.0022 left_z=0.1815 left_yaw=0.0795 left_pitch=-0.1655 left_roll=0.039 left_gripper=0.9964 right_x=0.482 right_y=0.1657 right_z=0.0845 right_yaw=0.0592 right_pitch=-0.3092 right_roll=-0.0976 right_gripper=0.992\nstate[joint_eff]: [-0.3077, -2.1675, 6.8444, 1.6093, -0.0757, -0.022, -0.0122, -0.1299, -11.8906, 7.6103, 1.3993, 0.1001, -0.0611, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cfeadb4f5d0c8be8d2fd73945909c8fde1d36bce84e3fe27d9466c6d991d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340c195a4f9850b8c1a4d3023eaf0ffce3f38eba296342d9e221ae456aef9db0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88a0a02cf7aa09435bb2c24ce0a1b4c212bc6363d6943fe2ab0a0311730cfa0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.497 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9443, 0.7887, -0.5846, -0.1448, -0.1047, 0.9964, 0.424, 1.9732, 1.4117, -0.3298, 0.2821, 0.1833, 0.9913]\nstate[eef_state]: left_x=0.2989 left_y=-0.0023 left_z=0.1821 left_yaw=0.0796 left_pitch=-0.1621 left_roll=0.0381 left_gripper=0.9964 right_x=0.4867 right_y=0.1697 right_z=0.0889 right_yaw=0.0659 right_pitch=-0.2812 right_roll=-0.0856 right_gripper=0.9913\nstate[joint_eff]: [-0.0615, -2.2222, 7.0496, 1.6288, -0.0806, -0.0269, -0.0122, -0.5265, -11.9453, 7.3368, 1.453, 0.1294, 0.0464, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6lT7pB_VSUuflNPsgKiA8nK7bnYsuMBgJc4lmZLnEwvXJqZEvq9Pd5S9RaCNfmeCV8wKTnOgxL4PeVYkNuhRMuk3JvG1Zcl7k50tssqonKPm_c4HtoAUl6OeI7nJkHqqXnU5o9NQlSguJBNlB51GZTeNd1OarW5lEx6_omMFc1SEc9_IKVaO21r3cTPSXNDSxtnm2xWlb3Z7D2PREbCFsTJR2AfEQvsbTmT0eJqnQLNpWh2AuspBHEYCNWx7KPZ5qESvADaYoiIMG2vI4kkC12YkyDgdVeU7xa2u3XweaIJwC2pgy9D7OPujZqtk463eFkO5fESXy1IShK4vKIHjJn8DWkLJG5OtOwocZVQGLb9X6z29PH4lSVL5ns7X1b2d71fgUb3sT21BJ49Gresxw7G86dXwiJq9AqxGfNf3m0589aygxekiWvpSazbxtz07P_9ZG-RB9cfTZOmDHijpfx8W6eoJPWA6HxzElajgxyQrd1SNR4JuGlvrLqB1Mbu3c9lBUo2A0tKHOOZhyTodt9WJtm5nDA0q69VTXlNDVJV6UF5pP-9T9ytqNL4xL7O5RWlRe6vriwKoLZGDdF69W_v9elC9YOH2J2W6Zk7xm__xu4i3YH9nU9mdRzEm25xfX895Cj1kI2EZa_X9qMrC-28lEa1nK2XxPiQY0XmyKqCXbrqG-3RgbtHfhNK2a3GxzZ9WHRD2m1fKSxzXNOkrMH9h3GB9amce4dAuyp8QMHD5q5-fjpeZtKEltdwtTeX4LNdhkSEmrjNxA9k6aaavAtcMQJOJX-cAhy1jcvDvVWTLVtgD1t5qeOdmKTzStIb2cv3ubEuS1IKJRWt6rKQM0qCzstYWlIHkcE_EAlwsR_aqxwJw3Op3oJhGCgNLSYpLq_Ch8HA9mH1nixt2gWN4-qArRJJq_SYaan7gwLfw_q4oDAt7EbCjL2iJ-rv5ikizXt9RwF1sSbN2QN2k38FFV-GSvf7SW29FcUhDOUz4tRUQf8KP6So_3m_AC4uutHkVvAB0U3pcAUWAks5V0i2r1nw47rcIv0j2832kMOoLb3YOGaXoSfFFOyb_tAomLF9qSbAOtRYRg-phECI-VWgSQ4Fvavf2q7qbxxGtaDhMM71W2aTYzR6S8iqvlFWu4-Uh6vH4uT3GUjikEQpSMEzkxOB2rkMDIhwsiDTSnnz0WXyV6uxJPvCs18aQmt6DkstxQ_bXAwoRQLXELgaIxbXwBD0w==",
  "id": "rs_08eb5c18c986e4fd016ab2aea2ba9c87d0a25058a73b6cacc3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.165,\"right_z\":0.21,\"right_pitch\":0.2},\"note\":\"The arm did not track the retreat, and the wrist view confirms the pear is in the bowl. I am first lifting straight clear of the rim before moving sideways.\"}",
  "call_id": "call_O2TdvRYgarHRGkpoERQEoQ7V",
  "id": "fc_08eb5c18c986e4fd016ab2aea3136087d08f64048f36e52263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2TdvRYgarHRGkpoERQEoQ7V",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.1051, 0.9482, 0.7887, -0.5957, -0.1444, -0.1043, 0.9964, 0.4728, 1.7138, 1.1522, 0.0654, 0.4156, 0.0608, 0.9921]\nstate[eef_state]: left_x=0.2973 left_y=-0.0022 left_z=0.1791 left_yaw=0.0795 left_pitch=-0.1768 left_roll=0.0409 left_gripper=0.9964 right_x=0.4768 right_y=0.1678 right_z=0.1835 right_yaw=0.0824 right_pitch=0.1106 right_roll=-0.1194 right_gripper=0.9921\nstate[joint_eff]: [0.0205, -2.441, 6.9402, 1.6728, -0.1197, -0.0317, -0.0171, -0.0615, -10.8103, 6.4342, 2.1123, 0.3687, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa23e6bd055004b422bfb8c20adb25095d116ee0879407c1b301ee7eb19fd1d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b408a6f27f0f7dba29a545e077c7cf71c2f2d3bd139a074ebf368417a9756f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497b49abd4f8ef65de67ccbb8a5e87bb66c5c72759fcc41278a6521559f65916",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.579 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]: [-0.1051, 0.9447, 0.7887, -0.5877, -0.1448, -0.1043, 0.9964, 0.421, 1.9732, 1.4117, -0.3599, 0.2829, 0.1829, 0.992]\nstate[eef_state]: left_x=0.2984 left_y=-0.0022 left_z=0.1815 left_yaw=0.0795 left_pitch=-0.1655 left_roll=0.039 left_gripper=0.9964 right_x=0.482 right_y=0.1657 right_z=0.0845 right_yaw=0.0592 right_pitch=-0.3092 right_roll=-0.0976 right_gripper=0.992\nstate[joint_eff]: [-0.3077, -2.1675, 6.8444, 1.6093, -0.0757, -0.022, -0.0122, -0.1299, -11.8906, 7.6103, 1.3993, 0.1001, -0.0611, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.285,\"right_z\":0.09,\"right_pitch\":0},\"note\":\"The gripper is now clear of the bowl. I am approaching the yellow fruit from above.\"}",
  "call_id": "call_TfoXK1GsN13UQ6PAnRErxd5U",
  "id": "fc_08eb5c18c986e4fd016ab2aea8fa2487d0982d0bacbff7e38c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TfoXK1GsN13UQ6PAnRErxd5U",
  "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]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1043, 0.9964, 0.9077, 1.8278, 1.042, 0.0124, 0.6922, 0.3794, 0.9921]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1805 left_roll=0.0418 left_gripper=0.9964 right_x=0.3632 right_y=0.2877 right_z=0.0926 right_yaw=0.1357 right_pitch=-0.0079 right_roll=-0.1304 right_gripper=0.9921\nstate[joint_eff]: [-0.0752, -1.9761, 6.8444, 1.5556, -0.1294, -0.0317, -0.0122, 0.1299, -8.7726, 6.8034, 1.3553, 0.4078, 0.149, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9348201d9018d6110f84ff06865c046d3445cdee80f2a0dc05b78f6ba54ca925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aa2207e54aae8479fad6a7bbd4db07b076848e72d1beb4b0ab24e327be6b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9990b811ceb02a494a81acf6a3e9d7c02382442ea5ccf971a646db902edc03cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.387 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 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]: [-0.1051, 0.9482, 0.7887, -0.5957, -0.1444, -0.1043, 0.9964, 0.4728, 1.7138, 1.1522, 0.0654, 0.4156, 0.0608, 0.9921]\nstate[eef_state]: left_x=0.2973 left_y=-0.0022 left_z=0.1791 left_yaw=0.0795 left_pitch=-0.1768 left_roll=0.0409 left_gripper=0.9964 right_x=0.4768 right_y=0.1678 right_z=0.1835 right_yaw=0.0824 right_pitch=0.1106 right_roll=-0.1194 right_gripper=0.9921\nstate[joint_eff]: [0.0205, -2.441, 6.9402, 1.6728, -0.1197, -0.0317, -0.0171, -0.0615, -10.8103, 6.4342, 2.1123, 0.3687, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.278,\"right_z\":0.015},\"note\":\"The yellow fruit is at the bottom of the wrist view, aligned with the jaws. I am lowering around it.\"}",
  "call_id": "call_e98hjtwYFGs35Z1AzYeElPG1",
  "id": "fc_08eb5c18c986e4fd016ab2aead8f9887d095793273023dc26d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e98hjtwYFGs35Z1AzYeElPG1",
  "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]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1047, 0.9964, 0.8982, 1.9888, 0.9005, 0.2577, 0.6788, 0.3759, 0.9921]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0802 left_pitch=-0.1805 left_roll=0.0415 left_gripper=0.9964 right_x=0.3544 right_y=0.2726 right_z=0.0109 right_yaw=0.1362 right_pitch=-0.0561 right_roll=-0.1661 right_gripper=0.9921\nstate[joint_eff]: [-0.253, -2.1675, 6.8444, 1.5458, -0.1392, -0.0464, -0.0171, -0.1162, -9.1556, 4.7248, 1.7802, 0.3932, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50520ad5995a0ab14ce7d414a1f9484134e1ca22703fbf269b2e62bb0f793d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d73e1069efe012a9d7751107c7c530f663f17bbe0e8c8126aca333cf0ada7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be7e3507f348b01b283c67603df5d26e867304f7310a0969ff74f4a1232431a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 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]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1043, 0.9964, 0.9077, 1.8278, 1.042, 0.0124, 0.6922, 0.3794, 0.9921]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1805 left_roll=0.0418 left_gripper=0.9964 right_x=0.3632 right_y=0.2877 right_z=0.0926 right_yaw=0.1357 right_pitch=-0.0079 right_roll=-0.1304 right_gripper=0.9921\nstate[joint_eff]: [-0.0752, -1.9761, 6.8444, 1.5556, -0.1294, -0.0317, -0.0122, 0.1299, -8.7726, 6.8034, 1.3553, 0.4078, 0.149, -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 yellow fruit remains centered between the fingertips. I am closing the gripper around it.\"}",
  "call_id": "call_DhF8Kp4WbL2gSlaCQkS52XD1",
  "id": "fc_08eb5c18c986e4fd016ab2aeb49d0487d09eeb66009a18a1de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DhF8Kp4WbL2gSlaCQkS52XD1",
  "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]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1444, -0.1043, 0.9964, 0.8982, 1.9957, 0.8925, 0.2642, 0.6762, 0.3744, 0.5385]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0797 left_pitch=-0.1809 left_roll=0.0416 left_gripper=0.9964 right_x=0.3527 right_y=0.2711 right_z=0.0064 right_yaw=0.1386 right_pitch=-0.0637 right_roll=-0.1717 right_gripper=0.5385\nstate[joint_eff]: [-0.0479, -2.1675, 6.8444, 1.5409, -0.1001, -0.0513, -0.0122, -0.1709, -9.9624, 5.4906, 1.3016, 0.2222, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade645b8cc9af7d3a4d20f63bf3e7cc89646185c8854f38b4564e298c081fc61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e959eba7b187512c19e3d75a9e48224b2bd0eb4290ab3f4253266ede373be02b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d486fdc6ac6179452017b26c104028bd1a92ee3bccccb80fb36ba5863de6c02",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.062 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9482, 0.7887, -0.5995, -0.1448, -0.1047, 0.9964, 0.8982, 1.9888, 0.9005, 0.2577, 0.6788, 0.3759, 0.9921]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0802 left_pitch=-0.1805 left_roll=0.0415 left_gripper=0.9964 right_x=0.3544 right_y=0.2726 right_z=0.0109 right_yaw=0.1362 right_pitch=-0.0561 right_roll=-0.1661 right_gripper=0.9921\nstate[joint_eff]: [-0.253, -2.1675, 6.8444, 1.5458, -0.1392, -0.0464, -0.0171, -0.1162, -9.1556, 4.7248, 1.7802, 0.3932, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper opening indicates a grasp on the yellow fruit. I am lifting it to verify it follows before transport.\"}",
  "call_id": "call_dZn6j4gsTtx5oxRD3fE8WCqM",
  "id": "fc_08eb5c18c986e4fd016ab2aeb8f81487d0ab5832838c70bde5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dZn6j4gsTtx5oxRD3fE8WCqM",
  "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]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1448, -0.1043, 0.9964, 0.8982, 1.8088, 0.9859, -0.0189, 0.6724, 0.374, 0.5401]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1809 left_roll=0.0419 left_gripper=0.9964 right_x=0.3522 right_y=0.2713 right_z=0.0746 right_yaw=0.1413 right_pitch=-0.0676 right_roll=-0.1718 right_gripper=0.5401\nstate[joint_eff]: [-0.1983, -2.1265, 6.8444, 1.5849, -0.105, -0.0415, -0.0122, -0.2256, -10.0171, 7.6239, 1.3895, 0.2662, -0.0611, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ae78f6973991c66bb17228ae77aa263e8bc1ce9158eec32e853233ec935fd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661d6a0449c8e9d70d865e8d28dd59d0371700f0bd1cdab68bc39db2a55a1416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fe8ea5ab28eac687c83c04e64092cc328831837ce39a003e308a0a2e6cd72f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.24 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]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1444, -0.1043, 0.9964, 0.8982, 1.9957, 0.8925, 0.2642, 0.6762, 0.3744, 0.5385]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.0797 left_pitch=-0.1809 left_roll=0.0416 left_gripper=0.9964 right_x=0.3527 right_y=0.2711 right_z=0.0064 right_yaw=0.1386 right_pitch=-0.0637 right_roll=-0.1717 right_gripper=0.5385\nstate[joint_eff]: [-0.0479, -2.1675, 6.8444, 1.5409, -0.1001, -0.0513, -0.0122, -0.1709, -9.9624, 5.4906, 1.3016, 0.2222, -0.0269, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq6-ZE0i-AR87upoZSpo26f7Gbksjju3m3v52CnFchH-aZUJZjMlq51jDHbl3jNDIvJiLyneMqvceWnd147VqlKeifNn8REp15nriGjk_Row15We-m3en2seEGImLS4DmYzIqjngz92iMk7lUrzIfLaZj8XCvYSS7kAJ9HfPkoMeCnZ5bRppu4BbjLz-eUemsPqW8uxhamr6PcjwlBWn8dJZ2BTqWHxGgirgz40-3jSFkKjeXQWHoP1gVuQ-6kIBTSxsncOugIO2h6kkRZVeQkaWzbkZL3SLL7CNcZwPXdgw3WHFBLBnTVVYiXFFGFy6jei6CUm6X9ystDRx-Ih7XzMs4eGUifJxfTmvQzKn_WmKLFQvV3cSQfMKUK3SrwCDfMS3-rACTQRd60uiX0n_lM7mh5uuLCYWDYr_GpeLCon7sGvYfriJXVCCjcC37hlDDkEqlSj4djMPdn7zaC9Z_MRFbAihpgW25yHf_3XIi_hJfdLyCQ7UfDgFUfBzsBier5z5-1K0GQTdtIcSQ5uOKBTdPGZMLkNu1VkyTYH6InSxOTyc7Fj4ofvwF4Y-D373lDKY52KG-qksXIaDZNM77Dm9KdAysfHPbz2bcQpcRAo2jYbH4HKc2dAlD89YCqRq_ea8f52PuhgosAEkusT9GBiGvi27ASpB9voeFNHw7RrnXCx7gs5XNfifeYhmuV3CS3wOqy2e2ofhhjCsBUcWLIbfrTiJ04Tc2MRP2Z6PHDf-5SSndjuWIn7Vp2WbTgUI6AuOvy_QORrjSZhkxvFW9h_K94v6wrwL5oilYnlJlTE89MHQk5cXCx047R2nmqsOZol7yX1Kxdcd5NeRW74Gneys4eVJwG1N2CoyZXqa0unS8QI1MGq8iLhr2nWxHGOhJg9qmledKqHjJ5WrrQwtqIQAUg5EUweBWPLdM-i0O5V2OJNC8W5mqMHQ0ZhbWdwP6CbMi-FSb4DZymjiG6UdMlXc7M5aPNgkTrf6_ZxP92WntPp525UfzV8LnEjLlFS_VB5hnuufPgKxccnvCT_LRJ8jt8hCKVIbNaaU-IkPf9t7p4lJO9kz7Xcb9PmI6UIP4hog3EvjsZYJt_qe3ikpy9yHmgUFrc2X5cvY9W77w34K6nSC1F5xVG6uncWyt_lmH7SwgdxpvGFKc4393sQ8KpNLgicJj2CAFfoLj976KFBOdg79d73W-_7QF-ToDGmIMLhK",
  "id": "rs_08eb5c18c986e4fd016ab2aebce54487d0844fabeef9e51f19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.17,\"right_z\":0.18},\"note\":\"The yellow fruit is held above the table. I am carrying it over the blue bowl beside the pear.\"}",
  "call_id": "call_AzFKHoAnPDsGGDo0kCUWqiTO",
  "id": "fc_08eb5c18c986e4fd016ab2aebd44b487d0bfa0be4c2367514c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AzFKHoAnPDsGGDo0kCUWqiTO",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9482, 0.7887, -0.6033, -0.1444, -0.1047, 0.9964, 0.4423, 1.8225, 1.3968, -0.2436, 0.3462, 0.0273, 0.5398]\nstate[eef_state]: left_x=0.296 left_y=-0.0021 left_z=0.1777 left_yaw=0.08 left_pitch=-0.1843 left_roll=0.042 left_gripper=0.9964 right_x=0.4932 right_y=0.1712 right_z=0.1747 right_yaw=0.1284 right_pitch=-0.0678 right_roll=-0.1719 right_gripper=0.5398\nstate[joint_eff]: [-0.212, -1.9897, 6.8444, 1.5458, -0.1001, -0.0513, -0.0122, -0.2256, -8.9368, 8.4718, 1.5604, 0.1832, 0.1148, 0.4371]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:241ea48e3501e7ebaef8cec66d411af3958af707b3325c6c7a7bc5026c4f6f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0824a24c00f174e9da017b7f5deb57ae202633b26501538b419f0ceb5e1173f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d12c08456fe612b7e10c51489e256d97578e3ced28f61ab0f877befb7261ffe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 12.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9482, 0.7887, -0.5999, -0.1448, -0.1043, 0.9964, 0.8982, 1.8088, 0.9859, -0.0189, 0.6724, 0.374, 0.5401]\nstate[eef_state]: left_x=0.2966 left_y=-0.0021 left_z=0.1784 left_yaw=0.08 left_pitch=-0.1809 left_roll=0.0419 left_gripper=0.9964 right_x=0.3522 right_y=0.2713 right_z=0.0746 right_yaw=0.1413 right_pitch=-0.0676 right_roll=-0.1718 right_gripper=0.5401\nstate[joint_eff]: [-0.1983, -2.1265, 6.8444, 1.5849, -0.105, -0.0415, -0.0122, -0.2256, -10.0171, 7.6239, 1.3895, 0.2662, -0.0611, 0.7888]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_gripper\":1,\"left_x\":0.16,\"left_y\":-0.29,\"left_z\":0.1},\"note\":\"The yellow fruit is over the bowl opening, so I am lowering slightly and releasing it. Meanwhile, the left arm is approaching the fallen dark fruit at the front of the table.\"}",
  "call_id": "call_rIyxDljpffYiLaDhnIVMiCg4",
  "id": "fc_08eb5c18c986e4fd016ab2aec24be887d09d9622bdd2b1041e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rIyxDljpffYiLaDhnIVMiCg4",
  "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]: [-1.4654, 1.7264, 1.1355, -0.9737, -0.7929, -1.491, 0.9964, 0.4431, 1.8778, 1.243, -0.0502, 0.3355, 0.0174, 0.9986]\nstate[eef_state]: left_x=0.1601 left_y=-0.2835 left_z=0.0923 left_yaw=0.0643 left_pitch=-0.21 left_roll=0.0702 left_gripper=0.9964 right_x=0.4898 right_y=0.172 right_z=0.117 right_yaw=0.1429 right_pitch=-0.0857 right_roll=-0.1782 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.6103, 7.5282, 0.0366, -0.6911, -0.149, -0.0073, -0.1299, -9.2103, 6.188, 1.9951, 0.2125, 0.0904, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d526e2e1b5c7fc98d6478523000a573648decacf74cfaf516cfaa5361e7415d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059bc9278ce6bb532f6bf44a35d991ad5c6dcbf74fb1e085f5f0a37c2914ab5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9fba71cd89202c6f2c6f5d19aa335fdfefb1f96585e98c5a907494a3a09f00",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 7.172 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1051, 0.9482, 0.7887, -0.6033, -0.1444, -0.1047, 0.9964, 0.4423, 1.8225, 1.3968, -0.2436, 0.3462, 0.0273, 0.5398]\nstate[eef_state]: left_x=0.296 left_y=-0.0021 left_z=0.1777 left_yaw=0.08 left_pitch=-0.1843 left_roll=0.042 left_gripper=0.9964 right_x=0.4932 right_y=0.1712 right_z=0.1747 right_yaw=0.1284 right_pitch=-0.0678 right_roll=-0.1719 right_gripper=0.5398\nstate[joint_eff]: [-0.212, -1.9897, 6.8444, 1.5458, -0.1001, -0.0513, -0.0122, -0.2256, -8.9368, 8.4718, 1.5604, 0.1832, 0.1148, 0.4371]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7TCgaFrHjMPecfkxoyGQDmuKC7T6NzUiqHofvuSCLqOxKYXphEtiV74BP5Y-HKSTN6zzBzGyacJbEVCp-Dh4hYyfHB3AcOlSz3JQwAMs7DXCeJ-c0w3-yvuJ3P0AMRlO_fWFjci998gmSi8vc_xxcsWv_8KTemBZCFGtYIOF1k8M3-s8_kBSdB6nqUmX83wwVtN6lfcsN8o8zAql4kEL6wIfnRt5I5wI6kuFTmhYpw7n2RlkWK7Yft6NNgmqwbanTWjh4Cc9GqcXn8KjcOz2d14qbm4O_o58k_Eee57PLflHfpC0v873vXLOH8v3hIp0nNcQgbDAeg7J7WjRfwydRcb6HhXrlrDLWCF_etOcL_xcg-Qv3OKYToYcRAkFKPeHdYk4cS9oGXHviVPuv6HE8iBsv-i7eSCIDzsGr-6sXd9UahIJne8_j28fXIoz0DhCYmPte0-NJdciXMH9voswMpuVvV3MWcnRC140rEv57banDT1Uwsby0IdQoyz1nF2Fj9eEFEGjbL-vjH6LaTQY41E88zAlSyk59sNFkqgZKaEPNRt35NAYiWor4fM-UmuAHW4rawLWYr13xUMjQAXNRDwDZzp9aD92Vm6_Apo5HwP29CUfJRdhHmyRhj1WJkwd9wS8sZNptGu2e9xVby09P2GpO8w07knpA_uCia34eLIktrns3YbfQhlmGMcg7PHcqc9puBMtKNsyZEZrAA7DO4aapCHr0_TnSPn3nWO5qjTUjtOEMoyaaPxQQhz27FTcPA0RB5x3t2lI2IPFC9f2uEdC_2GRALr20RpenmB3g-cKlYp7JRPx87IOQKyqjWCT3j1BMXAMmTsvapuO1U9qPHP9fiv2x8HpYnspPc3Q-ICWZCCj6KpW4j0pY7ffB4ByQ-PIDeb5HBW5YjnDYVoLfMhVX05QVEfutLGNKryQ8OsWAyqm8xX5woLP6E2c_Xk42Z2G9A_ipbEScP3ZOhA1K71GOEZ2i78EpcAX4bv0rHFfngVeAsyIdLZWVEbpc-oQj_1-z9ZMJmx8goUfPEdt_yhCt_rnhPS9b6LpZcibrPVZElu-lWpnq0VXqhWntnt0PuVY8-vzhdoTkdeI5sWpwkJ12ouZkpyUGwRtIwfI7CjtzFozAhsXQGh2IgBT2BTfVVYC5B5Hf7YL8ix2SoRwAMP3a0XhfNUzTEFDY_MjGvDgb6uckCv4qJV8OxfO9lIdFVRiuRaD0ddSuhB0y4cG97IIYi4ZWXiUNYFud6NtHSOC_3BObGy02c38XO-NieFGHtebP-IKR5hBFVTWUrCHCUulaPRhi1-CnvsN5u4qLkSSNBfvIA7YUBisyy59U9iQaXSd1bY7FKN9minvXIuqvZXzWH2S4aaZcTLcfoZnjJhN8QS8wucyzMuR5jK1TtVv5YwKlOB62ZPSifFOmbOAUXHtuNe2wuPtHOrI3u1KbkU9tKsXl4Iy9sXd0PHL7VaPS0rbLfg65BLMASbi82Y5rU4A==",
  "id": "rs_08eb5c18c986e4fd016ab2aece04c887d0a333c9be0122e124",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.16,\"left_y\":-0.305,\"left_z\":0.012,\"right_x\":0.43,\"right_y\":0.33,\"right_z\":0.12},\"note\":\"The yellow fruit bounced out and is now beside the bowl; I will recover it rather than proceed to pouring. The left jaws are lowering around the dark fruit, while the right arm approaches the yellow fruit.\"}",
  "call_id": "call_V3NmOeof5RDHMqAd1ztCUQw1",
  "id": "fc_08eb5c18c986e4fd016ab2aed06d7c87d081d723f3dfbb36d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V3NmOeof5RDHMqAd1ztCUQw1",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4693, 1.9358, 1.0718, -0.7322, -0.7929, -1.5085, 0.9964, 0.8288, 2.0586, 1.5177, -0.3172, 0.5919, 0.2745, 0.9986]\nstate[eef_state]: left_x=0.1606 left_y=-0.2991 left_z=0.0175 left_yaw=0.0769 left_pitch=-0.2105 left_roll=0.0898 left_gripper=0.9964 right_x=0.4257 right_y=0.3238 right_z=0.1067 right_yaw=0.1812 right_pitch=-0.1298 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.6376, 4.4103, 0.5299, -0.4762, 0.0317, -0.0122, 0.253, -11.0838, 8.9368, 1.5995, 0.5299, 0.2808, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b37afb08d5ec68ea649a8fdf758ab5e8f34b7447364cc4240ede236f25aa911a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d72c23faec94581ae8f3dede61a5f67c1fc9d834544b13751a45cb6ce55be7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62c7ebbb0cb52a614bedbf432399be61a1407fa5a9b23f4ab9c7a401f68c34b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 4.225 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4654, 1.7264, 1.1355, -0.9737, -0.7929, -1.491, 0.9964, 0.4431, 1.8778, 1.243, -0.0502, 0.3355, 0.0174, 0.9986]\nstate[eef_state]: left_x=0.1601 left_y=-0.2835 left_z=0.0923 left_yaw=0.0643 left_pitch=-0.21 left_roll=0.0702 left_gripper=0.9964 right_x=0.4898 right_y=0.172 right_z=0.117 right_yaw=0.1429 right_pitch=-0.0857 right_roll=-0.1782 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.6103, 7.5282, 0.0366, -0.6911, -0.149, -0.0073, -0.1299, -9.2103, 6.188, 1.9951, 0.2125, 0.0904, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.4,\"right_y\":0.355,\"right_z\":0.015},\"note\":\"The dark fruit is between the left jaws, and the yellow fruit is just below the right wrist image. I am grasping the dark fruit and lowering the right gripper around the yellow fruit.\"}",
  "call_id": "call_0kjOHvINKQV6CKva7ol7wC8T",
  "id": "fc_08eb5c18c986e4fd016ab2aed9c5e487d08ff735722168632a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0kjOHvINKQV6CKva7ol7wC8T",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4685, 1.943, 1.0698, -0.7284, -0.7914, -1.5116, 0.5399, 0.9089, 2.2223, 1.4303, -0.1268, 0.6296, 0.3374, 0.9986]\nstate[eef_state]: left_x=0.1605 left_y=-0.2984 left_z=0.0147 left_yaw=0.0805 left_pitch=-0.212 left_roll=0.093 left_gripper=0.5399 right_x=0.4013 right_y=0.3517 right_z=0.0206 right_yaw=0.1956 right_pitch=-0.1509 right_roll=-0.228 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -9.0188, 4.8479, 0.2222, -0.4908, 0.022, 1.0281, 0.759, -11.0701, 5.3812, 1.4432, 0.4615, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c9ed9a16fcf53a23b2db8bf82483988fa6f6c121bcfff45d37b6839c721b18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f95ddbaef448c99028735aa80236bf376bb5f7ee836bf3e0541d38c4bb709f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3405247797b63d7198f1fabde9f7237a33eac74d82bcd76527533ad205a0422f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.166 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4693, 1.9358, 1.0718, -0.7322, -0.7929, -1.5085, 0.9964, 0.8288, 2.0586, 1.5177, -0.3172, 0.5919, 0.2745, 0.9986]\nstate[eef_state]: left_x=0.1606 left_y=-0.2991 left_z=0.0175 left_yaw=0.0769 left_pitch=-0.2105 left_roll=0.0898 left_gripper=0.9964 right_x=0.4257 right_y=0.3238 right_z=0.1067 right_yaw=0.1812 right_pitch=-0.1298 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.6359, -7.6376, 4.4103, 0.5299, -0.4762, 0.0317, -0.0122, 0.253, -11.0838, 8.9368, 1.5995, 0.5299, 0.2808, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7gQ6o2CkOQtYhN74CA9FUnCEuedtr4_OVza89ByaVjIAL42_S7hsf1bLqHk4f_luD3_rXN1GKqem64d0YXLyp0N3DqGCnpAMJvEieAoFHSrmVijG2r3jPgj9SHZ8Bb_axVGFqgJsRrablD5lEwybZxiibBY2mE8ck2hktMbEeRZnp3GrCIBYnqBxjpyHEpdA6tAeT5fo9IM1yPx6sicIBU3J7VSbcw1F_po-jCFprPraAG9fySSRL4T6uqxWmdA6bec7g1Mh_-2qBsdI1LwhVyJjr7onxlu0uN9fvAxnCx6Ryxb8Bx4enA7NF59j7Q6BflTyC2Bb1CaLKI3bV3HR8eAo1kmTfvtpfeC0KK5RCplcEo6RmA0uc6_su5L4FCL1Vn_kwSNvSb0Un1x5LQy6LkNBCTeyp2fpCQLq-3KCc4TfXbwE8jT8XW1YiFYa98-bQaSbg0vCc4MkI9jsFBdiloglUhyKShpyXhYYaFa5_scu1QlYRGVuZ0K8L_3fk1Tru1eQ6djqanM9VB9-C4YPTaVuikgu4SRx4chuLJiEUihqJeApjWRNvnfkm1vd0RLXiM1cRsFmFPezKRJn69w7jDbc4ovYhALweaA03-JhUsUrERTgUgDsAsRy7vRb2mYsl6b8gYddCi_IG-7qb_LFvGsxEF2jHRulS-W4SlStaTHsE01g27Jft4yhLofe6c4iAx67gKSYdI44yqJyP5g4vyDTx0VqcN4fNgGAMjDRyzWofaM7qgpLbbOih1z2oPfbXcPOJSTJVGfIu97mcfxgLbFllGS56gnK3zFSLfXkjxoLxkoobPV68W7f1BctLnO4QjXb-QZGFB8SdfHEecwwCXcWRbZTw-_pdW2d0b37j1xCvGr-xOfDPyZNHsYcUSk5KNsJkgdjVh2PGArPgY4YHiYvDMJSuYhYKR8to0t0M61XzHQRwZ-ut06pcjOHUhiVYT3kLrlJ0PbFo25evDex16izEG2CVC2sxfw4OwOm3sjZpLGmpRPttibwAdBBLbh4-UlVEbaQRa9aV9kWukYZl05tApxG7wXOC-rUf4yCF6iIu6XvQ9MU4D4VqP1pQEvq1xAinzAX7uRlXKFleLPBROHs_DdDLFikPucTGY0FqRqJImkJUn5hPxNrnU7DIMJaAy12t1LpQW8xFriMHWGcnMZ7iL0fD0TiApkfhc_ox4hteXQ7QqVlRRSdIt5GnClfyfvwPmA8QxIogSrrDHFgGeLj2xBOzp14njfTNpJ1pY0FS65Mmy6yZbk2pT4FgoerSpORxk7tcRaJJg6OxEvRv4yg==",
  "id": "rs_08eb5c18c986e4fd016ab2aede96c087d0acb84bf60ea9d033",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_gripper\":0},\"note\":\"The left gripper has caught the dark fruit; I am lifting it to check the grasp. The right jaws are closing around the recovered yellow fruit.\"}",
  "call_id": "call_pudwEKhidhpeKI2oc208GiSP",
  "id": "fc_08eb5c18c986e4fd016ab2aedf6bbc87d08981e56c7d7e5e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pudwEKhidhpeKI2oc208GiSP",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4685, 1.8435, 1.1912, -0.9752, -0.77, -1.5188, 0.5399, 0.907, 2.2353, 1.4273, -0.1284, 0.6308, 0.3302, 0.4449]\nstate[eef_state]: left_x=0.1576 left_y=-0.2963 left_z=0.0688 left_yaw=0.0912 left_pitch=-0.2335 left_roll=0.114 left_gripper=0.5399 right_x=0.4006 right_y=0.3488 right_z=0.013 right_yaw=0.1949 right_pitch=-0.1645 right_roll=-0.2458 right_gripper=0.4449\nstate[joint_eff]: [-0.1846, -10.8786, 7.8291, -0.0269, -0.7057, 0.0464, 1.0281, -0.0342, -13.3265, 6.065, 1.3016, 0.2027, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044dac47e62b1044184c5a45dddf3d33688e99ca74ba5e874e720db43d0557f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99883e64f246fa589ede8797724f11a0c3cfa382089f1e44d473aed185c1d789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ed56f110daf5eb789e9ee55ad898d6a6a7ba704274b3db42af3ac4bb7cb7d4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.435 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4685, 1.943, 1.0698, -0.7284, -0.7914, -1.5116, 0.5399, 0.9089, 2.2223, 1.4303, -0.1268, 0.6296, 0.3374, 0.9986]\nstate[eef_state]: left_x=0.1605 left_y=-0.2984 left_z=0.0147 left_yaw=0.0805 left_pitch=-0.212 left_roll=0.093 left_gripper=0.5399 right_x=0.4013 right_y=0.3517 right_z=0.0206 right_yaw=0.1956 right_pitch=-0.1509 right_roll=-0.228 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -9.0188, 4.8479, 0.2222, -0.4908, 0.022, 1.0281, 0.759, -11.0701, 5.3812, 1.4432, 0.4615, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq7mNLj_WF96oAQX9QaO7slKZyX_rq94aX1CnNvGglsgGquAlYdlDbh02xsSpKre3piwdltqwpc-R59-R0ILEmsd4kvXnyTHaBeFxCOfzzdAvPRib8_vlDYdcww5sE0BzZHmq_h8BYKBaEP3KJXJEBPID9HsOjguM2OWkWqot7d8OO8NDy3FbXWaqw_8hpZm7Ufswyj5DECylvW7LwQ1unFR3cONkBDvvMu2D-LIfSTremDMVHaG126XiGj5ICLFpSTLs9h-UZGYom-F_cWTizwyK15WyFSvzjpoFJqpYrZANS-JAyBcCNSk4P7CTZSecLok7XN7PXvozJ8GPin3KfwLvYa_h_J9zudQaJfhHQW4o9O3bTosp94m1bSWJD7XEH6rPHLxF3q5v7kSai4CAYIipPRsrD74iI-mK-kAOK8jgBf--oPUH2H0nFRKkmcba3CCFqM4Y9Y6IIxOTe13JeptgKNG-SscIy73tDTPg0rR7QWV_wMw4PTqzlhgYqPgIDAbT9BFOL1d1TtSatymH6RrKyHSvJWfjv5fXz_IJiyrYQPbId88Q3lXxbuvcwoOxfKb3i_-kJdbVqyDDW8-E0Furs3RAmcA4xFmj8nCVlj_4jSmB9Fp_5SMsshdDpwrT288SEWDRDPvPZi0_2u6al8w070BtvtlUsc3g6po0OCqjTlRLVQ0x_fSEZr6lb-V6YU2f4fnGhefoUgAn3BTOE3aE7jVJYxDE3cZW8Q8WG4el-vBYaWGMOaIdOMZrqEro4MqJLWajFHSozyn0IzFAUXuatMZTANbr_s22j8wUIGTYc6tCQbBBMQGvl0afCj4_92gEfqa8CTLD17-cP2fawAru1odE1rp-Xl5wDOgdM4BkIW5ao7AjSPQTHEpVsFf6rVU369tXlaRz8Chy305DHl_KZDVFrhrwf11i-fmpLL_jYIxWoCYVCFL-U5vx4tyUOubE-ZCPuPRS5z7rIHrro_G5fIQfRaK3eZgRZguMA-0kEFYgpk5ecHl5Pjor7PyhUoQtflL-v4sztO6uAdFXSshEMrBR25DvFEpXi-Tb0XlOPM771kOqpdFtAO0o2FPWoTXT3eaVa7BmerEXWPExeSYLaPKNujhSXrKCp_TnXaHE4GKcHcX5YteL0_8kK8xTH04VVhOqJPsuXUj5cPkspfcp_Q4n6Y7HhMb-rP_CCM4-GcMDDQJfC9GKh8IK6Fb6E72Q28jeu--dSl3wBSS_HNkoyX-Xd7BwQr6_mNHdYCeONyzq1obqYM24hzh4FwzrBRGYJZI3HnbnpfAHKfWPoPrVpAERi78KU4HwMocVExSydU=",
  "id": "rs_08eb5c18c986e4fd016ab2aee45cdc87d0a233c20f814fa2e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"left_x\":0.47,\"left_y\":-0.4,\"left_z\":0.2},\"note\":\"The dark fruit is lifted securely. I am carrying it toward the bowl while lifting the yellow fruit to verify the second grasp.\"}",
  "call_id": "call_aE22vw70A8wYMXzZwP6HyoMR",
  "id": "fc_08eb5c18c986e4fd016ab2aee53fc487d0bd8d02b46b081cff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aE22vw70A8wYMXzZwP6HyoMR",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2057, 2.5519, 2.8067, -1.6993, -0.6098, -1.1965, 0.5439, 0.5678, 2.0186, 1.623, -0.4355, 0.6121, 0.3145, 0.4456]\nstate[eef_state]: left_x=0.2722 left_y=-0.4187 left_z=0.1656 left_yaw=0.1006 left_pitch=-0.3847 left_roll=0.1169 left_gripper=0.5439 right_x=0.498 right_y=0.2016 right_z=0.1525 right_yaw=-0.1138 right_pitch=-0.0948 right_roll=-0.1786 right_gripper=0.4456\nstate[joint_eff]: [25.9624, -8.6906, 8.6769, 3.7534, -0.6032, 0.2515, 0.696, 26.8786, -4.3009, 3.0291, 1.6435, 0.5397, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf62e46accdaa4b069ff9f72b59621fd47acbe142e59ef6fcdf5805c8157e73d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:415680e945b5a1af7ea2cae4afb98ab674c42fdcaa819130667a4be47f2939bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc4f9d9a275300fc67d929d94a71f3b4862ec28f35d81323a01df6fe8e869208",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.375 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.4685, 1.8435, 1.1912, -0.9752, -0.77, -1.5188, 0.5399, 0.907, 2.2353, 1.4273, -0.1284, 0.6308, 0.3302, 0.4449]\nstate[eef_state]: left_x=0.1576 left_y=-0.2963 left_z=0.0688 left_yaw=0.0912 left_pitch=-0.2335 left_roll=0.114 left_gripper=0.5399 right_x=0.4006 right_y=0.3488 right_z=0.013 right_yaw=0.1949 right_pitch=-0.1645 right_roll=-0.2458 right_gripper=0.4449\nstate[joint_eff]: [-0.1846, -10.8786, 7.8291, -0.0269, -0.7057, 0.0464, 1.0281, -0.0342, -13.3265, 6.065, 1.3016, 0.2027, 0.022, 1.0281]\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": "gAAAAABqsq7utYJ35wU4JXn_kIsPBQhrnDdOIbGUFcG_yKR42VMyUo6krRKBOHF0CVCQ9QdklURrMYmXEN-TAOtbHNtQOhwOk1NUYk2Mioo3IbV3yBNnna3PYU5CSe-rdgxwY6T7bvatnQBGPyJjKWNddYCVxBu1C0VTEAqeRdB1-BO6iVrC3lvkb9lTnq7eGasOQqSZVpktf_jaQI_blk2WCDgdsrN2DgW2uhD3HS8EhkDmlP16Hu_p8BIDm_ihFu629P_JNqHwuLqbSYBextFGkcItiOyELhtBgxffLgCNfXAJ-Ga-wOyHINL1eF9pEazPg5waqi-6Tvvriu9AMB_aF05o_EKUUfeOJ_2Md5tbaomSYarcz8GC_1k-tg2EnFR-K4JDj1LlyhDozJTvrtrZxyR27YWV77T91BAAMcQ2n5JAWYx2rF7alWZNFP4_6vFWyP58Sk3PCzyYsJLP0dZEGe9uR5cCnG9UW3tPyK12VjpaLbW6TmNf_nkvybAgvu30riObTN3gWOgp7kH3bkwq6g50jXf6YYfOnBLoaroIoXpBafskqtO61YjiZYSAYknYMu-_TbtsdMEU4PQqWZXYqUCpVdccX_GkiqGeLvJJtHLy0FbAD0xbNgDv2gyWpILGCzdyQTKFjj6ioeFAX8cyNZE2h1yfbtAhwPOuUw_NJ_1ADvgGpaHeZvuwj94hGFXR9FfMZmdcry4hfFHJpRlrOJ5vpOYkBbqbcEgQnSW80vE4HPbPx4EsMgdhdWhbeKWRkrEsNMuTSqVOQR28SQDI5TrtrZiL500n396pq41FiF2cRoaPvJUfi7gm9rL-qmZp9g8owHzu9PrbEPEWgT_0W_WAkp4pYpI1zg9wBv--XhgKcELy8wdO0e1WPEeXoKRimDy87wwZYFm20ZIDcrAz6DPn4WYB6u_FPZaxF5LBNQmQSqyJvtKz7l8oCYUX_1DExfSAJaXABHg-M8pB0pxgcIlZdLoWwYrjmDW-DIgNUv1JTtzmwzGEtmCyozhzcfdYzndv184ur1LWStnnw1tDzoEZY8JiKec38gN9cUbSsDaSR8738FJK166k7ku-ealQgJFJivBqH4qNVJrO7b_quj_sOJlXEKraMgLa_wC48dgzefQCwS-f1SP-tqSdJbA5BrGMGFM6PnPJYo3vLGmr6GRs4RA8UeMRpyPioY1K85wNN_inFooI1awExY4bTk1pe2HAnjWuzJK95Qu0cqkZ5xikJg-F7J6DsELrUZ_16e9ZHXY9DKEJ_u6RXbhs2EZ9OUpx1Yxg6m3bcUC2Nkhyj1VhnLe4IA==",
  "id": "rs_08eb5c18c986e4fd016ab2aeebb12487d0a692d558356c289d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.2,\"right_x\":0.5,\"right_y\":0.17,\"right_z\":0.105},\"note\":\"The arms came too close and did not track their targets. I am moving the left arm aside and positioning the yellow fruit carefully over the bowl with the right arm.\"}",
  "call_id": "call_CVSJwpCfet6LmKer5AzVlLY9",
  "id": "fc_08eb5c18c986e4fd016ab2aeec8d8887d09a06b5fdd2619592",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CVSJwpCfet6LmKer5AzVlLY9",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.4864, 1.3972, -1.0836, -0.4995, -0.749, 0.5471, 0.4999, 2.0148, 1.4139, -0.2249, 0.5629, 0.2573, 0.4456]\nstate[eef_state]: left_x=0.2979 left_y=-0.1755 left_z=0.2056 left_yaw=0.1087 left_pitch=-0.3756 left_roll=0.0832 left_gripper=0.5471 right_x=0.4983 right_y=0.1689 right_z=0.1002 right_yaw=-0.1147 right_pitch=-0.1183 right_roll=-0.1914 right_gripper=0.4456\nstate[joint_eff]: [0.3624, -5.9829, 6.694, 1.16, -0.3541, 0.1978, 0.6129, -0.0615, -11.8222, 5.8598, 1.7753, 0.1832, 0.0024, 1.0379]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee78315ecad0a95b1da8af29b6dd21fcc0f2d87cb5f1f7d5298135b9cf1dd99d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f22bb4d7658597958c16e15dc848da179ff973535ec6887c82a47f43f447de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e4b9a3b02f280f32b306e27105af98d539a6594adef62e12a6b98df8db3c27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 11.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.2057, 2.5519, 2.8067, -1.6993, -0.6098, -1.1965, 0.5439, 0.5678, 2.0186, 1.623, -0.4355, 0.6121, 0.3145, 0.4456]\nstate[eef_state]: left_x=0.2722 left_y=-0.4187 left_z=0.1656 left_yaw=0.1006 left_pitch=-0.3847 left_roll=0.1169 left_gripper=0.5439 right_x=0.498 right_y=0.2016 right_z=0.1525 right_yaw=-0.1138 right_pitch=-0.0948 right_roll=-0.1786 right_gripper=0.4456\nstate[joint_eff]: [25.9624, -8.6906, 8.6769, 3.7534, -0.6032, 0.2515, 0.696, 26.8786, -4.3009, 3.0291, 1.6435, 0.5397, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is held low over the blue bowl alongside the pear. I am releasing it without any sideways motion.\"}",
  "call_id": "call_vOfChWoQXj02rxUJ0bJgyjtH",
  "id": "fc_08eb5c18c986e4fd016ab2aef322d487d0ade1a2e9c6294772",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vOfChWoQXj02rxUJ0bJgyjtH",
  "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]: [-0.7876, 1.4944, 1.3743, -1.084, -0.4923, -0.741, 0.5471, 0.5011, 2.0148, 1.4086, -0.231, 0.5594, 0.2497, 0.9957]\nstate[eef_state]: left_x=0.2954 left_y=-0.1732 left_z=0.1948 left_yaw=0.1124 left_pitch=-0.4006 left_roll=0.1101 left_gripper=0.5471 right_x=0.496 right_y=0.1689 right_z=0.097 right_yaw=-0.1078 right_pitch=-0.1299 right_roll=-0.2019 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -6.7761, 8.0889, 0.9109, -0.3883, -0.1148, 0.7399, -0.1299, -11.1932, 6.8718, 1.4481, 0.2222, 0.0806, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5a097a75419e33e1e436699ab224594fb3288e67aba776e4efe3cf4198c6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a54f490e0c554deb38988630369a88913c3d1d9589a1974e2de0984758c4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22250de81b4c6e1b1c2a0afb9bac629772f2bd00bbb0c39681fd8942313c9756",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 4.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 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]: [-0.7902, 1.4864, 1.3972, -1.0836, -0.4995, -0.749, 0.5471, 0.4999, 2.0148, 1.4139, -0.2249, 0.5629, 0.2573, 0.4456]\nstate[eef_state]: left_x=0.2979 left_y=-0.1755 left_z=0.2056 left_yaw=0.1087 left_pitch=-0.3756 left_roll=0.0832 left_gripper=0.5471 right_x=0.4983 right_y=0.1689 right_z=0.1002 right_yaw=-0.1147 right_pitch=-0.1183 right_roll=-0.1914 right_gripper=0.4456\nstate[joint_eff]: [0.3624, -5.9829, 6.694, 1.16, -0.3541, 0.1978, 0.6129, -0.0615, -11.8222, 5.8598, 1.7753, 0.1832, 0.0024, 1.0379]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq8ApaBGLG6NRwfrigNmfMqdCe9qB0gMk_cMKaGuY0_5p17KobLo3u6yO5HLz4IbXckTCFWIbXlBAGHBJM0pvcRgknvvgWBxpt37cwPAZih_BZovBRezv8VSAvZ1e4rerr0p37owscHNFB__3ZwShR_zO6pgywH9CJ-q8IQ_xecwISVkkrbXEeeUzr7nibNx-a5bhbUd6CY4s3xExe_Y65ghbrCXNz6D10Nog8xWbkd9Ys0LtoEXNggxZ_63KvtreAHbj2JlCI8uBiuUhLL5rkrZ1f_qF3bjis_Av_GABnMKhxE_lmEnSjUvCKXeSh63-Qlh5x8hPmgUAtBbDv3rdNqgz9u9gR7jFvbM3MTc7EJLkVMow8PcVIV_JM62Fj812vVq9NqWOke7Wmzv2RDuKYfsFXoeeT4hRP49Rn8q-jFSjdaCq4TwHU_GoyxLrokYYTpPhXVGjeZpsCawQYA5BDF9lC6xiCTxJR_fKKbMKGQ665dYY1us02VnV7D2tAjvhu5SXSUuH_BgOjmrFeEyJeo_n4h75IJG4dj4wv8fVJXIZ6hk0b4c9EpLYGVfgCVsHkiPelMTzh1GsTwhepW7JGvLv7ONbV4xnkL3q7FLqvZBnKReK5UOhqyYxeUmkJh6mlRYF-HPTlkrZwWR4pZ6FkKVDg5Rr9SzJy_BEMcfJDZeBh7p4fV0RSPYvlhFfLdrLmM4kyD5osobtObXYKbT_ueaRIHppIJgMlYb3ls6MlIXJ0Fb8eLxP9lE-40zT3xSTbAJbsIqfOtiKWLtnQpms34Jxi3SCLueGZGq92SovyK-bLLbC9LndL5F7urb2KM5-DBjx5lIpv6xNIfdAu5R4AzRfjRqbR0MHxlHb5dBUlHic1asPclbHKgHGuh4qzLowd7tRH-TPk0k9kbZ-c0m2DyesniPKuAnE02bonj86ngiNjVoFpupI1tcRf7RVyTkFkbt-1aUl2AOsZqYnPGl553BsOVELQSvVEN5vo5VJlSVEKtLzGtl4Si8CFgvXmUCP6x8T4V-sf23tm7oU_7m49OO6QoBjmrKM6GZb3woO3Q7H-9SZ7NydNPCepGCgO_KlcEUA1GszkARQrKSkkL1r_YzQTtPp65RU2WKLp4pD6Y6ZoYXRZcswq247SkKhlJonpRWOfoCnvGHE0s_QAQYaJlos09R3gt54Mr4i4fyfemGE-tARRi2Fg25mgXM739T9z6bm9rqhj91ALc5tTIHy-jwh6qgz-KBYpPixJ6KHOiKsTPKlEK3ygeExzkHi3ZopxVzl1Dw4uBb1y0w1HbMDRAaHAWZSc5ORc_KJ_Nrt01fB9iu_y8pRO4JEzpMkPndP3FPI_cJy1rXw8P3gT0CWzk8ls7h9ZYWQcgWJ1R-ZPUGWmLZ7zkhJ0l5CR8gcdoSDN0a85bzcqMP2uiEssA63y5Wcissl0BJ7Eq9i6QRxXyPqRpgiR-LQtMn3Ke5ujYhFZ5SL2thE_fiDLjMFQTSkqgQf3Cs8KHCB0hU7k3ZHbfhVH_1Bkw0H0hdjdYbCTESdKpU-6HByGY5D8fqfiW4x2AofcIN5kO11HVCPk1H9HmTcB3QzexFzxQkh2DC94Lo5cJr8MBsyuiXr8nHdb5TeIyyNfmFrzu-PnZ447h9lk3qX9JMEtzW5fLcDJifnD6eoI7HBD7-f5a_4o3WiRr1Nh7Tuulcy_rSVLcPNrogQITQ8TS1_-aNFx07JErOAQZuz6ebtTYCeMVAB-XlRNwupeaOY1ULQ41ZKfHqY_ivhwA8n1fabz4K7gOzjUISR_0oGE0M086X-O5Y9b1riyxrdZLQyX2Vq9CKF6J8p_wcSqxVwUUcMp0fYqqnPqrRG7FX5Sg0mCUq8sEUgxio7UF3Tc-V3X4AQi5MJ1poPRQO1ZyiUmPGQZnpvZssvKtLPiKhT9GHYB4L-Wrf7pguk8lAwl2G0xkCtU4fg_3xBLaTkVZYlc20zaevoswEvtA-PqLBrVSQQrSTT2zyGe5kXUX8DgWO1LNdb5sqRVuErBQRequ4iGqFR1MhQm_lJEYsh8EZz8aqy40Sn3VbBOB-0AsOSuygsQ==",
  "id": "rs_08eb5c18c986e4fd016ab2aef7ee1487d091834bec5208eb63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.17,\"left_z\":0.04,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22},\"note\":\"The blue bowl is offset from where I estimated, and I cannot confirm the yellow fruit stayed inside. I am parking the right arm and lowering the held dark fruit to a safe spot rather than risk spilling or another arm contact.\"}",
  "call_id": "call_UKs3Y0HB2GC5jVv4nDrqADOz",
  "id": "fc_08eb5c18c986e4fd016ab2aefdec7487d0ace06b948d590a21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UKs3Y0HB2GC5jVv4nDrqADOz",
  "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]: [-0.7483, 1.636, 0.8917, -0.4839, -0.4763, -0.7055, 0.549, 0.1997, 0.981, 0.9157, -0.6395, 0.3634, 0.0341, 0.9965]\nstate[eef_state]: left_x=0.3025 left_y=-0.1654 left_z=0.0399 left_yaw=0.1294 left_pitch=-0.4294 left_roll=0.1417 left_gripper=0.549 right_x=0.3066 right_y=0.0017 right_z=0.2231 right_yaw=-0.1329 right_pitch=-0.0973 right_roll=-0.188 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.9675, 5.5863, 1.1355, -0.2515, 0.0659, 0.7009, -0.1573, -2.2359, 6.7077, 1.7363, 0.1343, -0.0659, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b21d7a1c37e66bf4a47437b3306b6dc3968ddfc6aa6a1c53e463c27cb22026d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a3b889ffb03ac81b67554b1011c45f05861e4e77c3f99bc80b866317263ccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef40fb301b9e77e57f5c7192d25892fa1abef2ce7878711b63a42ff8a940bf76",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.432 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 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]: [-0.7876, 1.4944, 1.3743, -1.084, -0.4923, -0.741, 0.5471, 0.5011, 2.0148, 1.4086, -0.231, 0.5594, 0.2497, 0.9957]\nstate[eef_state]: left_x=0.2954 left_y=-0.1732 left_z=0.1948 left_yaw=0.1124 left_pitch=-0.4006 left_roll=0.1101 left_gripper=0.5471 right_x=0.496 right_y=0.1689 right_z=0.097 right_yaw=-0.1078 right_pitch=-0.1299 right_roll=-0.2019 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -6.7761, 8.0889, 0.9109, -0.3883, -0.1148, 0.7399, -0.1299, -11.1932, 6.8718, 1.4481, 0.2222, 0.0806, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq8GsRKQbh7JnJ3w0gzmIyp02tlupBeiG5LGPN82lLLA7pvRZ7HzbT5YL_aAuXEt_ObzGNVQLzLDEmUoUVtmWPEDeqYfFSzLxe-26IubYWZjPjamiQHtzTufJj7hSix0vJ6Qg6RW2GBspldze4Qtj914DQDf9RswV9s8PM1IULrCkmcspMxu3z3SQ_AQc8HAV9Amm5Ghhqdhe8xoiJNKyxcdTcfwIKqNThz-jxiXT9A-Ahrp_7e3FwGDSOgY9YvL2bgHuXGFkDaVLa86Ng6gD7gVMn6Jt8jfsnwdc91V3U7lMfkU6LvlYpqs92PPlmNjciZ5JKdw-gZ3XGw1-5l1xiKujZZDzPbsJixFtRgg6mc4w1tfGcSUOPUoTL8PzXfjw9FK5sFoO4JmVeHEtW6k_HuFgCfTo59HCpukASdIOHmx9u_Xqxmrg9MaMU96DaBh-Nt4ah_nLpSXFzXV61aG9M8-3uwxxtjJYgzQNCL8m4ng8sVyg6NTh2UQ46WlYOBLjzWKa_gO6bMh_ViL4mFtEiZnX9VH6mTfO_SDwuMfPjGYrMsjKwNfKa-sV71_vwGrvGQkn3Vs4NIeAK62Eh5XhzkbtzPiZNgAXAHI87rMAraQo9dmMup8tFbtqdw-SlgCL_E-SYYv2n6ZOsuGIpiVJKBG97F2X072LK3fke-a0rAKnQnI8suEM26Wxf8_5HEDEl8dHXPgsQkuuXxXpIArnLuhEpj0oeemkw7P5wwKFDJt_YaENJOMKT9Fgdo_zzeqKmMXNUg4YOQqd2S0tj-pZN-tJ8mRpVp6wnqNlyexDn8_AhY4I8cWY8Vu75Gqk2BScVopzyRtd9mpCQnHx4fp5PdOR6_K2qg6zZ_FoPHu458naikKjmcohvQ0-xLOv4rEGvY6vXmaWev6gSIlAFHBKmRWJc5m0qT6RhuchkTPO8_rzlldPDZRXQ0qF-LKP6HMYEd9VQMehddcCTkyE8yHHJpVjxwtBr1qLWr5g_lujaxWPii1J32fIkPZbtTlK84e41jy-4rVW_3pF43hOuQckRySpJCLKzTih8yfXU_fJs6w7zBYGR0IejveHlSHkfs1KjYbtOOrcG8CoL0K2duW9k-tNSS9mqKpxG9bujV__Zf-ip1kc12cmKGp7Y_A2ISyQ_v-AYM2apwfqluBjvByG3eU0tilL_qcJu9zD4gnwwSw79KDGUXVHzvOsgJ1plbYhqkuTwb_72dVt392UYpdeCRkbw==",
  "id": "rs_08eb5c18c986e4fd016ab2af053b7c87d0af0438f3bcf69e4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pear is in the blue bowl, but the yellow fruit has rolled behind the white bowl. I am releasing the dark fruit onto the table before stopping.\"}",
  "call_id": "call_BtglOe2TFmsr7oxz04EgMHwp",
  "id": "fc_08eb5c18c986e4fd016ab2af05b7c887d09a8c4f6d53a17746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BtglOe2TFmsr7oxz04EgMHwp",
  "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]: [-0.7483, 1.6459, 0.8814, -0.4755, -0.477, -0.7067, 0.9953, 0.2001, 0.9874, 0.9157, -0.6701, 0.3462, 0.0181, 0.9965]\nstate[eef_state]: left_x=0.3008 left_y=-0.1637 left_z=0.0344 left_yaw=0.1347 left_pitch=-0.4363 left_roll=0.1515 left_gripper=0.9953 right_x=0.3028 right_y=0.0039 right_z=0.2152 right_yaw=-0.1112 right_pitch=-0.1377 right_roll=-0.2015 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -7.6923, 6.3932, 0.7888, -0.2808, -0.0269, -0.0415, -0.1162, -2.7829, 6.7487, 1.8339, 0.2515, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ad65c7e65b0e266cd4182fbe8fbf27424f7e52fe803947ef0c8d39e9de5d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e073192864fc92328172a24f29fe3ef53379a730bac09bd8dc353157cc54e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84f6e9b37a28d5c2f712732e162bd7f8a79eee63f3b8ce6621095ce0e9b3757",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 7.499 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 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]: [-0.7483, 1.636, 0.8917, -0.4839, -0.4763, -0.7055, 0.549, 0.1997, 0.981, 0.9157, -0.6395, 0.3634, 0.0341, 0.9965]\nstate[eef_state]: left_x=0.3025 left_y=-0.1654 left_z=0.0399 left_yaw=0.1294 left_pitch=-0.4294 left_roll=0.1417 left_gripper=0.549 right_x=0.3066 right_y=0.0017 right_z=0.2231 right_yaw=-0.1329 right_pitch=-0.0973 right_roll=-0.188 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.9675, 5.5863, 1.1355, -0.2515, 0.0659, 0.7009, -0.1573, -2.2359, 6.7077, 1.7363, 0.1343, -0.0659, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":-0.003,\"left_z\":0.2},\"note\":\"The dark fruit has been released onto the table. I am lifting and parking the left arm clear of the objects.\"}",
  "call_id": "call_uAaAYc6orVotccuv8DZUJ3OO",
  "id": "fc_08eb5c18c986e4fd016ab2af0c531487d0870b30642d2f2519",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uAaAYc6orVotccuv8DZUJ3OO",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1764, 1.2148, 1.1156, -0.9634, -0.2485, -0.2005, 0.9963, 0.2001, 0.9878, 0.9157, -0.6792, 0.3424, 0.0147, 0.9965]\nstate[eef_state]: left_x=0.2988 left_y=-0.0055 left_z=0.1842 left_yaw=0.1807 left_pitch=-0.448 left_roll=0.146 left_gripper=0.9963 right_x=0.3014 right_y=0.0043 right_z=0.2133 right_yaw=-0.1067 right_pitch=-0.148 right_roll=-0.2046 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -5.3675, 8.7179, 1.033, -0.0269, 0.232, 0.0904, 0.0068, -2.359, 6.7624, 1.6142, 0.1441, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7875a405aba15748ac01ff20e28db579ecfe0b866f32ea2089fb1fcdb3bc4df5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a455a1e72f19b206f7efae20a84c8bb4a69112cc440076220cc1d82542ae0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e953437f3a5dceb9d9bafef5ea629e2e098168cd9824612796f2a21a9638f0d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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