adhoc

completed
2026-09-22T17:41:52.202545+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
226.2 s
total steps
274
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits: a dark avocado, a yellow fruit, and a pear, with the blue bowl behind them. I am positioning the right gripper above the pear first.
move_to
right_x0.3500right_y0.1300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3832, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9993] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5538, -1.6752, 9.5658, 1.8144, -0.0708, 0.1441, -0.0806, -0.3214, -1.6479, 9.1829, 1.8632, -0.0513, 0.1538, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.13,"right_z":0.15,"right_gripper":1},"note":"I see three fruits: a dark avocado, a yellow fruit, and a pear, with the blue bowl behind them. I am positioning the right gripper above the pear first."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pear is slightly right of the gripper center in the wrist view. I will center over it and lower to grasp its body.
move_to
right_x0.3700right_y0.1050right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.804, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.5571, 1.2812, 0.6968, -0.1169, 0.4335, 0.2783, 0.9992] state[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1772 left_yaw=0.0006 left_pitch=-0.0214 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3413 right_y=0.1294 right_z=0.1314 right_yaw=0.0317 right_pitch=-0.0593 right_roll=-0.0357 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.5521, 7.0769, 1.917, -0.0415, -0.0415, -0.0122, -0.1026, -4.8889, 9.1145, 1.8242, 0.359, 0.0855, -0.0952] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.105,"right_z":0.045},"note":"The pear is slightly right of the gripper center in the wrist view. I will center over it and lower to grasp its body."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe pear body is between the open fingers but remains a little off-center. I will shift slightly right and close gently around it.
move_to
right_y0.0870right_gripper0.4800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4084, -0.0139, -0.0334, 0.9993, 0.4122, 1.5833, 0.5175, 0.363, 0.3168, 0.1829, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.0019 left_pitch=-0.0313 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3651 right_y=0.1035 right_z=0.0369 right_yaw=0.0324 right_pitch=-0.0954 right_roll=-0.0449 right_gripper=0.9992 state[joint_eff]: [-0.294, -1.4838, 7.0085, 1.8486, -0.0708, -0.0073, -0.0122, -0.1846, -6.3248, 5.2444, 1.8828, 0.1148, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.087,"right_gripper":0.48},"note":"The pear body is between the open fingers but remains a little off-center. I will shift slightly right and close gently around it."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe pear shifted forward during the gentle close and is still visible ahead of the fingertips. I will reopen and move farther forward to surround its widest part.
move_to
right_x0.4080right_z0.0400right_gripper0.8500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4171, -0.0139, -0.0334, 0.9993, 0.3557, 1.5776, 0.498, 0.3626, 0.2752, 0.1455, 0.4841] state[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1732 left_yaw=0.0019 left_pitch=-0.0401 left_roll=-0.002 left_gripper=0.9993 right_x=0.3636 right_y=0.0877 right_z=0.0307 right_yaw=0.0299 right_pitch=-0.1189 right_roll=-0.0537 right_gripper=0.4841 state[joint_eff]: [-0.2667, -1.1419, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122, -0.4308, -7.3094, 4.9026, 1.7411, 0.0708, -0.0464, -0.0513] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.408,"right_z":0.04,"right_gripper":0.85},"note":"The pear shifted forward during the gentle close and is still visible ahead of the fingertips. I will reopen and move farther forward to surround its widest part."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pear now fills the gap at the fingertips. I will close fully to establish a secure grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8097, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.3069, 1.6863, 0.6456, 0.3092, 0.2329, 0.1112, 0.8482] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1709 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3985 right_y=0.0873 right_z=0.0317 right_yaw=0.0343 right_pitch=-0.1419 right_roll=-0.0575 right_gripper=0.8482 state[joint_eff]: [-0.3214, -1.6068, 7.0496, 1.7216, -0.0562, -0.0415, -0.0122, -0.3761, -6.653, 7.0085, 1.536, 0.1343, -0.0757, -0.0415] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear now fills the gap at the fingertips. I will close fully to establish a secure grasp."})
tool
executing move_to over 9 steps (0.9s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper stopped at a pear-sized opening rather than closing empty. I will lift a short distance to verify that the pear is held.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8108, 0.6132, -0.424, -0.0135, -0.0338, 0.9993, 0.3054, 1.6909, 0.6552, 0.3092, 0.2302, 0.1108, 0.6743] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0515 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4013 right_y=0.088 right_z=0.0333 right_yaw=0.0354 right_pitch=-0.1376 right_roll=-0.0547 right_gripper=0.6743 state[joint_eff]: [-0.1846, -1.2376, 6.9949, 1.7216, -0.022, -0.0806, -0.0171, 0.0752, -7.5419, 4.6154, 1.5507, 0.0757, -0.0611, 1.033] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper stopped at a pear-sized opening rather than closing empty. I will lift a short distance to verify that the pear is held."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe pear rose with the fingers, confirming the grasp. I will carry it above the blue bowl while restoring the idle arm to its parked height.
move_to
right_x0.4900right_y0.1500right_z0.2100left_x0.2960left_y0.0000left_z0.1840
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.3054, 1.5288, 0.7792, -0.0425, 0.2264, 0.1036, 0.6715] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0526 left_roll=-0.002 left_gripper=0.9993 right_x=0.3917 right_y=0.0857 right_z=0.0805 right_yaw=0.0395 right_pitch=-0.2018 right_roll=-0.0752 right_gripper=0.6715 state[joint_eff]: [-0.3624, -1.4154, 7.2, 1.7021, -0.0464, -0.0611, -0.0122, -0.1162, -8.3897, 8.7043, 1.7509, 0.0708, 0.022, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.15,"right_z":0.21,"left_x":0.296,"left_y":0,"left_z":0.184},"note":"The pear rose with the fingers, confirming the grasp. I will carry it above the blue bowl while restoring the idle arm to its parked height."})
tool
executing move_to over 9 steps (0.9s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe pear is above the near side of the blue bowl. I will move slightly farther forward and lower it toward the bowl opening before releasing.
move_to
right_x0.5200right_z0.1350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8448, 0.6434, -0.4751, -0.0139, -0.0341, 0.9993, 0.3862, 1.8591, 1.6558, -0.6605, 0.2607, 0.1421, 0.6752] state[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1649 left_yaw=0.0024 left_pitch=-0.1064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4823 right_y=0.1508 right_z=0.1915 right_yaw=0.0654 right_pitch=-0.2615 right_roll=-0.0937 right_gripper=0.6752 state[joint_eff]: [-0.3761, -1.8393, 9.5795, 1.8388, -0.0611, -0.0366, -0.0122, -0.335, -10.7829, 8.6222, 1.6874, 0.2759, 0.1587, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_z":0.135},"note":"The pear is above the near side of the blue bowl. I will move slightly farther forward and lower it toward the bowl opening before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe pear is centered over the blue bowl opening. I will release it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0135, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5354, 0.2298, 0.1112, 0.6752] state[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.5093 right_y=0.1508 right_z=0.1222 right_yaw=0.0747 right_pitch=-0.3227 right_roll=-0.1079 right_gripper=0.6752 state[joint_eff]: [-0.3624, -1.6342, 7.1179, 1.6337, -0.0611, -0.0562, -0.0122, -0.5675, -11.7402, 7.0085, 1.8339, 0.1441, -0.0073, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is centered over the blue bowl opening. I will release it into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe pear is now in the blue bowl. I will move back above the yellow fruit for the next pickup.
move_to
right_x0.4050right_y0.2150right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5438, 0.2298, 0.1032, 0.9957] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1634 left_yaw=0.0024 left_pitch=-0.111 left_roll=-0.001 left_gripper=0.9993 right_x=0.5078 right_y=0.1502 right_z=0.1209 right_yaw=0.0784 right_pitch=-0.3312 right_roll=-0.1157 right_gripper=0.9957 state[joint_eff]: [-0.3624, -1.4291, 7.0496, 1.6142, -0.0415, -0.0171, -0.0122, -0.294, -11.3983, 6.8308, 1.409, 0.0317, 0.022, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.215,"right_z":0.16},"note":"The pear is now in the blue bowl. I will move back above the yellow fruit for the next pickup."})
tool
executing move_to over 8 steps (0.8s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe yellow fruit is just left of the jaw centerline. I will align with it and descend to the fruit's middle.
move_to
right_x0.4140right_y0.2280right_z0.0270right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8467, 0.6415, -0.4805, -0.0139, -0.0338, 0.9993, 0.6029, 1.8324, 1.4925, -0.6872, 0.3576, 0.2974, 0.9963] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1625 left_yaw=0.0022 left_pitch=-0.1156 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4128 right_y=0.2135 right_z=0.1405 right_yaw=0.0924 right_pitch=-0.3705 right_roll=-0.1349 right_gripper=0.9963 state[joint_eff]: [-0.335, -1.5248, 6.9538, 1.6874, -0.0415, -0.0269, -0.0122, 1.1966, -13.2034, 6.2017, 1.2625, 0.2418, 0.1538, 0.0513] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.414,"right_y":0.228,"right_z":0.027,"right_pitch":0.2},"note":"The yellow fruit is just left of the jaw centerline. I will align with it and descend to the fruit's middle."})
tool
executing move_to over 20 steps (2.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe yellow fruit is positioned between the fingertips at table level. I will close 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]: [-0.02, 0.8471, 0.6415, -0.4911, -0.0135, -0.0341, 0.9993, 0.7185, 2.0682, 0.7918, 0.7166, 0.6224, 0.1513, 0.9963] state[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4084 right_y=0.2251 right_z=0.0137 right_yaw=0.1086 right_pitch=0.1132 right_roll=-0.1629 right_gripper=0.9963 state[joint_eff]: [-0.0889, -1.5521, 6.9949, 1.746, -0.0317, -0.0366, -0.0171, 0.6222, -9.1419, 3.9726, 1.9707, 0.3883, -0.0659, -0.0024] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is positioned between the fingertips at table level. I will close the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe gripper retained a roughly four-centimeter opening around the yellow fruit. I will lift it to confirm the pickup.
move_to
right_z0.1000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6415, -0.4919, -0.0139, -0.0338, 0.9993, 0.7181, 2.0872, 0.786, 0.7238, 0.6235, 0.1459, 0.4427] state[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1602 left_yaw=0.0022 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4062 right_y=0.2227 right_z=0.005 right_yaw=0.1112 right_pitch=0.0987 right_roll=-0.1783 right_gripper=0.4427 state[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6386, -0.0464, -0.0415, -0.0122, -0.0615, -10.8103, 4.7932, 1.5653, 0.1197, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10,"right_pitch":0.2},"note":"The gripper retained a roughly four-centimeter opening around the yellow fruit. I will lift it to confirm the pickup."})
tool
executing move_to over 7 steps (0.7s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe yellow fruit moved with the gripper. I will carry it above the blue bowl alongside the pear.
move_to
right_x0.5200right_y0.1600right_z0.1950right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4934, -0.0139, -0.0338, 0.9993, 0.725, 1.8462, 0.7803, 0.5678, 0.6395, 0.0952, 0.4441] state[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1598 left_yaw=0.0022 left_pitch=-0.1293 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4037 right_y=0.2216 right_z=0.0797 right_yaw=0.1263 right_pitch=0.164 right_roll=-0.1861 right_gripper=0.4441 state[joint_eff]: [-0.0205, -1.5385, 6.9265, 1.6337, -0.0464, -0.0464, -0.0122, 0.4034, -10.2222, 6.8171, 1.7509, 0.3883, 0.0611, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.16,"right_z":0.195,"right_pitch":0.2},"note":"The yellow fruit moved with the gripper. I will carry it above the blue bowl alongside the pear."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe yellow fruit is over the blue bowl opening, above the pear. I will release it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8478, 0.6415, -0.4946, -0.0135, -0.0341, 0.9993, 0.4179, 1.8172, 1.1908, 0.2302, 0.379, -0.0654, 0.4441] state[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.1595 left_yaw=0.0021 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.5134 right_y=0.1604 right_z=0.1828 right_yaw=0.115 right_pitch=0.1905 right_roll=-0.1892 right_gripper=0.4441 state[joint_eff]: [-0.212, -1.5658, 6.9402, 1.6044, -0.0464, -0.0611, -0.0122, -0.212, -9.0735, 8.5265, 1.7949, 0.0757, -0.0806, 1.033] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is over the blue bowl opening, above the pear. I will release it into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteBoth light-colored fruits are in the blue bowl, leaving the avocado on the table. I will park the right arm and bring the left gripper above the avocado.
move_to
right_x0.2960right_y0.0000right_z0.2000left_x0.3600left_y-0.1900left_z0.1500left_gripper1.0000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0341, 0.9993, 0.4168, 1.8179, 1.1934, 0.205, 0.3653, -0.0715, 0.9958] state[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.1312 left_roll=-0.0006 left_gripper=0.9993 right_x=0.5118 right_y=0.1615 right_z=0.1779 right_yaw=0.13 right_pitch=0.166 right_roll=-0.1965 right_gripper=0.9958 state[joint_eff]: [-0.0205, -1.5521, 7.1316, 1.6337, -0.0806, -0.0708, -0.0122, -0.0342, -9.8256, 6.7624, 2.0537, 0.1538, 0.0024, -0.0806] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.20,"left_x":0.36,"left_y":-0.19,"left_z":0.15,"left_gripper":1,"left_pitch":0.15},"note":"Both light-colored fruits are in the blue bowl, leaving the avocado on the table. I will park the right arm and bring the left gripper above the avocado."})
tool
executing move_to over 17 steps (1.7s)
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 avocado is slightly left of the jaw centerline in the wrist view. I will align and lower the fingers around its body.
move_to
left_x0.3750left_y-0.1710left_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]: [-0.7639, 1.449, 0.712, 0.0875, -0.6514, -0.4011, 0.9993, -0.0299, 0.7143, 0.5106, -0.1501, -0.0002, -0.2302, 0.9963] state[eef_state]: left_x=0.3492 left_y=-0.1812 left_z=0.1266 left_yaw=-0.0246 left_pitch=0.0679 left_roll=0.0449 left_gripper=0.9993 right_x=0.3042 right_y=-0.0055 right_z=0.2089 right_yaw=0.0811 right_pitch=0.2021 right_roll=-0.2012 right_gripper=0.9963 state[joint_eff]: [-0.4308, -6.3932, 8.4171, 1.8046, -0.4615, -0.0269, -0.0855, -0.1436, -0.2803, 6.7761, 2.1026, -0.0806, -0.1929, 0.0464] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.171,"left_z":0.025},"note":"The avocado is slightly left of the jaw centerline in the wrist view. I will align and lower the fingers around its body."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe avocado's broad middle is near the fingertips but slightly left. I will make a small centering adjustment and close around it.
move_to
left_x0.3900left_y-0.1540left_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]: [-0.6819, 1.8175, 0.5846, 0.5442, -0.5949, -0.3553, 0.9993, -0.0288, 0.72, 0.5102, -0.1841, -0.0154, -0.2504, 0.9963] state[eef_state]: left_x=0.367 left_y=-0.1658 left_z=0.0194 left_yaw=-0.0115 left_pitch=0.0138 left_roll=0.0832 left_gripper=0.9993 right_x=0.3017 right_y=-0.0024 right_z=0.1993 right_yaw=0.1054 right_pitch=0.1609 right_roll=-0.2096 right_gripper=0.9963 state[joint_eff]: [0.5128, -7.5692, 3.7812, 1.8144, -0.1978, 0.1294, -0.0171, -0.1709, -1.306, 7.3231, 2.1563, 0.0855, 0.1832, -0.0073] 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":{"left_x":0.39,"left_y":-0.154,"left_gripper":0},"note":"The avocado's broad middle is near the fingertips but slightly left. I will make a small centering adjustment and close around it."})
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 gripper has closed onto an avocado-sized width. I will lift it briefly to verify the grasp before carrying it.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6056, 1.8492, 0.5987, 0.5571, -0.5488, -0.3191, 0.5409, -0.0292, 0.72, 0.5102, -0.1856, -0.0154, -0.252, 0.9963] state[eef_state]: left_x=0.3805 left_y=-0.147 left_z=0.0112 left_yaw=0.0097 left_pitch=-0.0091 left_roll=0.093 left_gripper=0.5409 right_x=0.3016 right_y=-0.0025 right_z=0.1989 right_yaw=0.1058 right_pitch=0.1592 right_roll=-0.2109 right_gripper=0.9963 state[joint_eff]: [0.3624, -7.3094, 6.8444, 1.6484, -0.0952, 0.1148, 1.0281, 0.0342, -0.8957, 7.2957, 1.8584, -0.0122, -0.0562, -0.0073] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper has closed onto an avocado-sized width. I will lift it briefly to verify the grasp before carrying it."})
tool
executing move_to over 7 steps (0.7s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe avocado is securely lifted, but the blue bowl is beyond the left arm's lateral range. I will hold the avocado clear and position the right gripper to grasp the blue bowl's near rim and bring it toward the center.
move_to
left_x0.3900left_y-0.3000left_z0.2200right_x0.4720right_y0.1500right_z0.1500right_yaw1.5700right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6044, 1.5681, 0.717, 0.1528, -0.5449, -0.3218, 0.5432, -0.0292, 0.7219, 0.5102, -0.1856, -0.0158, -0.2523, 0.9963] state[eef_state]: left_x=0.3794 left_y=-0.1464 left_z=0.0893 left_yaw=0.0094 left_pitch=-0.0144 left_roll=0.0916 left_gripper=0.5432 right_x=0.3018 right_y=-0.0024 right_z=0.1984 right_yaw=0.1063 right_pitch=0.1573 right_roll=-0.2108 right_gripper=0.9963 state[joint_eff]: [-0.4444, -8.1026, 8.4034, 1.5849, -0.2369, -0.0073, 0.9988, -0.212, -0.9778, 7.2547, 1.8535, -0.0122, -0.0366, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.30,"left_z":0.22,"right_x":0.472,"right_y":0.15,"right_z":0.15,"right_yaw":1.57,"right_pitch":0,"right_roll":0},"note":"The avocado is securely lifted, but the blue bowl is beyond the left arm's lateral range. I will hold the avocado clear and position the right gripper to grasp the blue bowl's near rim and bring it toward the center."})
tool
executing move_to over 14 steps (1.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe right fingers are oriented across the blue bowl's near rim, clear of the pear. I will lower them to straddle that rim.
move_to
right_x0.4770right_y0.1550right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.902, 1.8511, 1.586, -0.5892, -0.7353, -0.5861, 0.5437, -0.0162, 2.3516, 2.0399, -1.0748, -0.9825, -1.4322, 0.9964] state[eef_state]: left_x=0.3917 left_y=-0.2988 left_z=0.2079 left_yaw=-0.0049 left_pitch=-0.0251 left_roll=0.0757 left_gripper=0.5437 right_x=0.4905 right_y=0.1426 right_z=0.1164 right_yaw=1.4625 right_pitch=-0.0112 right_roll=-0.0528 right_gripper=0.9964 state[joint_eff]: [-0.6359, -9.9077, 8.8274, 1.0525, -0.5592, -0.1343, 0.9548, 0.1709, -13.1077, 4.2598, -0.7937, -0.7155, -0.1538, -0.0073] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.477,"right_y":0.155,"right_z":0.045},"note":"The right fingers are oriented across the blue bowl's near rim, clear of the pear. I will lower them to straddle that rim."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe blue rim is between the right gripper's fingers. I will clamp it so the bowl can be moved upright.
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]: [-0.9039, 1.8618, 1.5883, -0.6109, -0.733, -0.5991, 0.5452, 0.004, 2.3653, 1.7668, -0.8326, -0.9813, -1.4208, 0.9964] state[eef_state]: left_x=0.3898 left_y=-0.2983 left_z=0.2009 left_yaw=-0.0006 left_pitch=-0.0446 left_roll=0.0876 left_gripper=0.5452 right_x=0.4673 right_y=0.1523 right_z=0.042 right_yaw=1.477 right_pitch=-0.0164 right_roll=0.0011 right_gripper=0.9964 state[joint_eff]: [0.0205, -10.4957, 6.4889, 1.536, -0.3932, 0.0611, 0.9304, 0.2393, -13.7915, 5.1214, 0.5104, -0.4029, 0.3053, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue rim is between the right gripper's fingers. I will clamp it so the bowl can be moved upright."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe close was nearly empty and nudged the bowl forward instead of securing its rim. I will reopen and advance to the rim's new position for one corrected grasp.
move_to
right_gripper0.8000right_x0.5190right_z0.0550
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]: [-0.9039, 1.8618, 1.5883, -0.6094, -0.7322, -0.5999, 0.5467, 0.0113, 2.3646, 1.7546, -0.725, -0.9894, -1.3952, 0.0186] state[eef_state]: left_x=0.3899 left_y=-0.2986 left_z=0.201 left_yaw=-0.0007 left_pitch=-0.0441 left_roll=0.0854 left_gripper=0.5467 right_x=0.4806 right_y=0.1566 right_z=0.0436 right_yaw=1.4713 right_pitch=0.0018 right_roll=-0.0723 right_gripper=0.0186 state[joint_eff]: [-0.0205, -10.0308, 6.6393, 1.2527, -0.3687, -0.0073, 0.8571, -0.253, -14.0376, 5.4222, 0.4518, -0.3541, 0.0415, 0.6716] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.8,"right_x":0.519,"right_z":0.055},"note":"The close was nearly empty and nudged the bowl forward instead of securing its rim. I will reopen and advance to the rim's new position for one corrected grasp."})
tool
executing move_to over 8 steps (0.8s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe near rim is now deeper between the fingers. I will close on it and check whether the bowl follows a lift.
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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7254, -0.6003, 0.5497, 0.0113, 2.5011, 2.0521, -0.8703, -0.9806, -1.4029, 0.7955] state[eef_state]: left_x=0.3895 left_y=-0.2995 left_z=0.2003 left_yaw=-0.005 left_pitch=-0.0485 left_roll=0.0821 left_gripper=0.5497 right_x=0.5185 right_y=0.1562 right_z=0.0545 right_yaw=1.4733 right_pitch=-0.0053 right_roll=-0.0952 right_gripper=0.7955 state[joint_eff]: [-0.2803, -9.9077, 6.694, 1.3211, -0.4176, -0.0611, 0.5934, -0.0889, -12.7385, 7.6103, 0.3687, -0.569, 0.0269, -0.022] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The near rim is now deeper between the fingers. I will close on it and check whether the bowl follows a lift."})
tool
executing move_to over 8 steps (0.8s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe rim is thin, so the small gripper opening alone is inconclusive. I will make a short vertical lift to see whether the bowl is actually secured.
move_to
right_z0.1400
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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7242, -0.6003, 0.5521, 0.0113, 2.5046, 2.0563, -0.8722, -0.9783, -1.4059, 0.0114] state[eef_state]: left_x=0.3894 left_y=-0.2997 left_z=0.2002 left_yaw=-0.0057 left_pitch=-0.0492 left_roll=0.0815 left_gripper=0.5521 right_x=0.519 right_y=0.156 right_z=0.0536 right_yaw=1.4743 right_pitch=-0.0077 right_roll=-0.0968 right_gripper=0.0114 state[joint_eff]: [-0.3761, -9.9214, 6.6667, 1.3065, -0.3639, -0.0073, 0.6081, -0.0752, -14.4342, 6.0513, 0.7253, -0.5299, 0.0122, 1.0183] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The rim is thin, so the small gripper opening alone is inconclusive. I will make a short vertical lift to see whether the bowl is actually secured."})
tool
executing move_to over 6 steps (0.6s)
step 210
top_cam
camera top_cam step 210
assistant
agent noteThe bowl stayed on the table, so the rim was not secured; it has been pushed farther away. I will make a final forward-tilted approach to its near edge, without pushing against the bowl.
move_to
right_x0.5750right_z0.0650right_gripper0.6500right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7181, -0.6006, 0.5517, 0.0113, 2.5042, 2.3116, -1.1217, -0.9707, -1.4063, 0.0138] state[eef_state]: left_x=0.389 left_y=-0.3005 left_z=0.1997 left_yaw=-0.0096 left_pitch=-0.0529 left_roll=0.0783 left_gripper=0.5517 right_x=0.5254 right_y=0.1553 right_z=0.117 right_yaw=1.4726 right_pitch=-0.0144 right_roll=-0.104 right_gripper=0.0138 state[joint_eff]: [-0.253, -9.853, 6.6803, 1.3553, -0.3736, -0.0659, 0.3834, -0.1436, -16.0752, 7.8974, 0.6764, -0.569, -0.0269, 0.5836] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_z":0.065,"right_gripper":0.65,"right_pitch":0.45},"note":"The bowl stayed on the table, so the rim was not secured; it has been pushed farther away. I will make a final forward-tilted approach to its near edge, without pushing against the bowl."})
tool
executing move_to over 16 steps (1.6s)
step 226
assistant
agent noteThe tilted fingers now visibly straddle the near wall of the blue bowl. I will close on the wall before lifting.
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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7177, -0.6014, 0.5536, -0.0322, 2.7094, 2.1715, -0.3836, -1.3853, -1.037, 0.6481] state[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0094 left_pitch=-0.0531 left_roll=0.0775 left_gripper=0.5536 right_x=0.5684 right_y=0.159 right_z=0.067 right_yaw=1.4826 right_pitch=0.4164 right_roll=-0.1117 right_gripper=0.6481 state[joint_eff]: [-0.1162, -10.0171, 6.8581, 1.2967, -0.3394, -0.0415, 0.652, -0.9094, -13.3812, 6.1197, 1.0379, -0.4274, 0.2466, -0.0171] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The tilted fingers now visibly straddle the near wall of the blue bowl. I will close on the wall before lifting."})
tool
executing move_to over 7 steps (0.7s)
step 233
assistant
agent noteThe bowl slid farther forward again and is now beyond a reliable rim-grasp position. I will withdraw the right arm and set the avocado back on the table rather than risk knocking the bowl or spilling the fruits.
move_to
right_x0.4500right_z0.2000right_gripper1.0000left_x0.3700left_y-0.2500left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7174, -0.6029, 0.5567, -0.0338, 2.7125, 2.1605, -0.3641, -1.393, -1.0405, 0.0113] state[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0088 left_pitch=-0.0532 left_roll=0.076 left_gripper=0.5567 right_x=0.5675 right_y=0.1584 right_z=0.0642 right_yaw=1.4899 right_pitch=0.4225 right_roll=-0.1209 right_gripper=0.0113 state[joint_eff]: [-0.0889, -9.7846, 6.653, 1.3162, -0.3639, -0.0122, 0.315, 0.0889, -15.6103, 7.2547, 0.8083, -0.4127, 0.0073, 1.0623] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_z":0.2,"right_gripper":1,"left_x":0.37,"left_y":-0.25,"left_z":0.045},"note":"The bowl slid farther forward again and is now beyond a reliable rim-grasp position. I will withdraw the right arm and set the avocado back on the table rather than risk knocking the bowl or spilling the fruits."})
tool
executing move_to over 10 steps (1.0s)
step 243
assistant
agent noteThe avocado is just above the table in a clear central area. I will lower it gently before opening the gripper.
move_to
left_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]: [-0.8616, 1.8652, 0.9684, -0.0132, -0.6872, -0.5713, 0.5592, -0.0387, 2.0995, 1.5578, -0.4225, -1.3853, -1.0836, 0.9956] state[eef_state]: left_x=0.3634 left_y=-0.2459 left_z=0.0476 left_yaw=-0.002 left_pitch=-0.0899 left_roll=0.107 left_gripper=0.5592 right_x=0.4591 right_y=0.1596 right_z=0.1808 right_yaw=1.4845 right_pitch=0.4115 right_roll=-0.1153 right_gripper=0.9956 state[joint_eff]: [0.3897, -7.706, 5.6, 1.6581, -0.315, 0.105, 0.2515, -0.6359, -13.559, 6.4479, 0.9158, -0.6716, 0.0659, -0.1197] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"The avocado is just above the table in a clear central area. I will lower it gently before opening the gripper."})
tool
executing move_to over 3 steps (0.3s)
step 246
assistant
agent noteThe avocado has reached the tabletop. I will release it there safely.
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]: [-0.8604, 1.9331, 0.9398, 0.0879, -0.6872, -0.5732, 0.5614, -0.0414, 2.0876, 1.5524, -0.4339, -1.3842, -1.0851, 0.9963] state[eef_state]: left_x=0.3649 left_y=-0.2469 left_z=0.0239 left_yaw=-0.0001 left_pitch=-0.0868 left_roll=0.102 left_gripper=0.5614 right_x=0.457 right_y=0.1584 right_z=0.1835 right_yaw=1.4799 right_pitch=0.4102 right_roll=-0.1116 right_gripper=0.9963 state[joint_eff]: [-0.3214, -8.7179, 4.547, 1.3553, -0.3541, -0.0171, 0.2125, 0.253, -10.5368, 6.694, 1.0818, -0.5495, -0.0415, 0.0708] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The avocado has reached the tabletop. I will release it there safely."})
tool
executing move_to over 5 steps (0.5s)
step 251
assistant
agent noteThe avocado is released, and the other two fruits remain in the blue bowl at the far edge. I will park both arms clear of the objects.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.2960right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8604, 1.9591, 0.9234, 0.1024, -0.6872, -0.5743, 0.9957, -0.0414, 2.0937, 1.5524, -0.4309, -1.3811, -1.0847, 0.9963] state[eef_state]: left_x=0.3612 left_y=-0.2426 left_z=0.0103 left_yaw=0.0025 left_pitch=-0.1049 left_roll=0.1223 left_gripper=0.9957 right_x=0.4579 right_y=0.1583 right_z=0.1806 right_yaw=1.4767 right_pitch=0.4076 right_roll=-0.108 right_gripper=0.9963 state[joint_eff]: [-0.0752, -9.5248, 5.2718, 1.4432, -0.3834, 0.022, -0.1148, -0.3487, -12.0137, 6.1607, 0.9695, -0.4908, -0.0171, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0},"note":"The avocado is released, and the other two fruits remain in the blue bowl at the far edge. I will park both arms clear of the objects."})
tool
executing move_to over 22 steps (2.2s)
step 273
assistant
agent noteThe pear and yellow fruit were placed in the blue bowl, but I could not secure the bowl's rim. Grasp attempts slid it to the far edge, beyond a reliable grasp within the workspace. The avocado was safely returned to the table and both arms parked. The pouring step remains undone; operator repositioning of the blue bowl is needed.
give_up
hindsightThe blue bowl initially lay beyond the left arm's lateral range, so using the left arm for the avocado required a transfer or bowl relocation. Plan all fruit pickups with the right arm or relocate the empty bowl first. Near-rim grasps at yaw 1.57 repeatedly pushed this light bowl forward rather than capturing its wall; stop earlier and remeasure instead of chasing the rim toward the reach limit.
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]: [-0.1223, 0.9054, 0.7559, -0.543, -0.2028, -0.0395, 0.9964, 0.0334, 0.8204, 0.6495, -0.3866, -0.0074, -0.1558, 0.9963] state[eef_state]: left_x=0.298 left_y=0.0028 left_z=0.1874 left_yaw=0.0626 left_pitch=-0.1098 left_roll=0.1157 left_gripper=0.9964 right_x=0.3008 right_y=0.0149 right_z=0.1922 right_yaw=0.1088 right_pitch=0.0055 right_roll=-0.1121 right_gripper=0.9963 state[joint_eff]: [0.0752, -2.3863, 9.5795, 1.619, 0.1148, 0.188, 0.0513, 0.2667, -1.7983, 9.9897, 1.8681, 0.0855, 0.1343, -0.0073] 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
give_up({"reason":"The pear and yellow fruit were placed in the blue bowl, but I could not secure the bowl's rim. Grasp attempts slid it to the far edge, beyond a reliable grasp within the workspace. The avocado was safely returned to the table and both arms parked. The pouring step remains undone; operator repositioning of the blue bowl is needed.","hindsight":"The blue bowl initially lay beyond the left arm's lateral range, so using the left arm for the avocado required a transfer or bowl relocation. Plan all fruit pickups with the right arm or relocate the empty bowl first. Near-rim grasps at yaw 1.57 repeatedly pushed this light bowl forward rather than capturing its wall; stop earlier and remeasure instead of chasing the rim toward the reach limit."})
tool
give_up: The pear and yellow fruit were placed in the blue bowl, but I could not secure the bowl's rim. Grasp attempts slid it to the far edge, beyond a reliable grasp within the workspace. The avocado was safely returned to the table and both arms parked. The pouring step remains undone; operator repositioning of the blue bowl is needed.
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 · 6.832 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]: [-0.0204, 0.8005, 0.6136, -0.3832, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.6752, 9.5658, 1.8144, -0.0708, 0.1441, -0.0806, -0.3214, -1.6479, 9.1829, 1.8632, -0.0513, 0.1538, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4de0f7ae714e30c69184bd97083aadc68b55a5b2190389e17f37a678d43086d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c9c5e0803c6bce276c56f98ad156352ab992322e925b9cec276297c3082a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f207761d01b6d33b61197a4e84cfc6f7ad24e083d44362e7cdc34fb7e4a197ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.388 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr31XUCt5LY_tQmKeK_MKsC2iNVrE9kFAWOAJanIZ0Wf9eGlSAQR75Unr-ietL-rJpPETWfdk0VaAXKGLsZz4otLN-1DXNydRMOBIMd3H25Ddov1KkXbiUq6RmCwb_CJ5u3T54FA-sGH91pHnkAjy6tmRhivL5gxjmzDId59zCGlU-cqYjyIn8_vjBaCEUQNq0hEAQ-MS5SjwClOm2Zip7umV5WkSrUnMYi01KKyBvJIkiIcL2dQZRkgo95R1uGdvKUUk-5zB2V6yL4E3NS09VQqBNdEhEaGcDZL-1bScvGvXTd_Rxn1tHk2dHCkhB-9EGaK1uV5T32DbejwFNZolWAL4zmw-AQO-HfXYylT1m4EtGPtG4FR-1PYZ9cO4fjFp2iMGi9svxxpBOn6Q_7bdiUy1AC4DQ0APH_zh3rEhtqWIpHEBAxHAe6Ldc07TRajMfc-knbhNv6woxKjeJVBd0axkamKzwQyztlmR2nfTgf2cRt6hZVGJrq5UNG5og5lOtF9D_elmGed4Zm-Eh0VwVWqtkByeUiABa1oWmf0MZGxZ9bF3tz8qCnjAxFYFqL4Eg2gz1bLPqNiY8cflhdRwk_III7804xjN0AzzT__JtbEq6He-SrfCjxV19BNUwJTSTExYgkBteFMYHZLNRBjTnlRTs2ofWVLHpDTFn7rett2u5L7qjo9wi5G5UAnSyTN50xjrIo1gwP3u8b0cyunonpZ4-ncov5jsT8_MNysY1kfBpusWHZCg2HmWpupFGY8Yi0Gr_uGGpB0HVvstf0pJ7uAaHymtQQexGNxswx-g6JvRNTab1f8PRq0cp1CI2CC0juyYPyUUN2WxKWlQcsDTJjWoxPgYnN5aD-mn6or3OkXiZpPrMuca2qWvUgZH16n3ijc0baoSarFMQwX66D-BfccGj0SBaTKELSWv2SFFebpmrrcRkHJYIW_ygtW0oAb3kRHm3LyXhJ_v47_T931vWI0nDjvDJYRnLT3i93HdfddyoKCI_9JmPH_IxRybcfQGohRcWwARCIAhfVKcTbRgCizNrmkukaBJaMZwWaVoDhsxLaKMJa81XscipTbYLQzKxCz5TpYL7IkY5mzEYsRQH3eY3VtL_oFKgmpz4N2dyE85rToC0kH9IsSYncssZXOnRBOHB2oD5ngXMbzTTFjefUrNwjPyMnNjI7I23MppuzPhoOTUkMPD_RdJIaLW7nyjEfzXEj8LtNmnr-aR2o-d8KDP2ckrsehlMLuCpEhHDeCGlLDAgjXN2NdmkfYZrFKdMAKtZZ8GWogzGI8Zwkeg9hzzwDLQ8H_jQFMrFvxd6qUSAlHCzGkJLGiUeqd0RbANXmsUW90xk9utKJROXFvepxhTvKO1QQjsmCJkt2qnsdAnq6zk84EvKw4DNTA8YaL_5wXme3QkAzv_Hho5XVfq3__iInaWyMrMDwkCD1J2jkXmgjIDlmug5nDL-rcdwRla1AX3pn-7Xph7MOtfPSmyRB7dW-Au-Qd0tECBL1RX6wVmmARyUgi8dliDMPd5Y8kaotAilz83D8RVeStUXXhSDuOVA==",
  "id": "rs_0da7bf20b0982550016ab2bdf0557887d09f7420c6796a818a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits: a dark avocado, a yellow fruit, and a pear, with the blue bowl behind them. I am positioning the right gripper above the pear first.\"}",
  "call_id": "call_MrOjSGhvgTiQ2jt9pAmy6ZCQ",
  "id": "fc_0da7bf20b0982550016ab2bdf36a6c87d0ad2074c7a28adbf3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MrOjSGhvgTiQ2jt9pAmy6ZCQ",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.5571, 1.2812, 0.6968, -0.1169, 0.4335, 0.2783, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1772 left_yaw=0.0006 left_pitch=-0.0214 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3413 right_y=0.1294 right_z=0.1314 right_yaw=0.0317 right_pitch=-0.0593 right_roll=-0.0357 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.5521, 7.0769, 1.917, -0.0415, -0.0415, -0.0122, -0.1026, -4.8889, 9.1145, 1.8242, 0.359, 0.0855, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6db7abf6764a6faa1df97d78f224e678590df6564393bc3fbec384a00786d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a897d48e13504c689c62b01ee1fed6fd9700da72ad1c16c64bdde9e560ff396",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b93fe6083f1f9138426344c4bdd008b914a68162a51c824e134398892cf431",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.178 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]: [-0.0204, 0.8005, 0.6136, -0.3832, -0.0143, -0.0299, 0.9993, -0.0227, 0.7986, 0.6189, -0.387, -0.0227, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1819 left_yaw=-0.0001 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.296 right_y=0.0009 right_z=0.1841 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -1.6752, 9.5658, 1.8144, -0.0708, 0.1441, -0.0806, -0.3214, -1.6479, 9.1829, 1.8632, -0.0513, 0.1538, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4BtcSqwzNVgF5NjRM0tmBVttonkv6cPrnaVgQbHdciFDQWK0TO0JvIwcwMH2D9n5_Jys-xRM1iTHgUSOMWIydWGZnZzqMIO-99Vb60tc81-KJ4XS5exYtHbjBtyR6BQZSiCAJAX9bxcqBffyxZDMp30sNdILI4fYREhJ8pzjb4Pb70TRzT6749NTnwpq6diHrJKph8zw9QUFz3b19HjFZk5ijeO5aFhJV8__mZWihFXiJgX9ZN67iktKio_z93mqWic0hZC1DwUHIiMm1mcJF5xovyKyERIZugkPsVNOxRBUS3meYSsbagusButAkk0Hd0nT7I-RV_yTj0wLWbriV9Q8pjVdxSXFy7rkY46loaq9ZF2SkA4vND9jCYLMuTH01Po00UJ98syZgFL5tbZD3GNo_ZRbUuCL5u9oU4bu08q8xN4PIceV6zVY4w9kstobgwpDZy_2yDfr89_JzPmnCM02rQMYIGO9QwuExIB0iuiU989uCICKeRQp5zn1OurSCmpCOhxqB-VuTyMmN6gR6RV-98OEx-eBBzhctgk8JodSB-sw6CQY2refd8qMk3D-REFaHA-PtYQrLs0pf-pbE10cAkBBMsS5GNueg3yklcB_KZwoTDT4f48-UA3B42b0nDPXhtm4bHDvf2ux4tYFGbfg3P-fdX6fRmCS-XFUxr_cwCyfI_AI8b6eDGERPKwMUyJZeE8c4W4LdiAJ1MAPgJ-eSV2wxd0nzUOOKwGi80oJ6VTCcWJnC1IRmPjkqPHvzrqsOiyEcqPY52yNHHNKv02hmmkknuePYrQBowpKum383W06nPfvcjT_OfjgDCMYcNfHVXo11ZAYNA3dS2J4BWMcSLBtFJADB9NzqHQZBKKBHVc4ywpWmqqxsn5HyxNV_bQjBtpCy3yVqX_JXeEZXnR1BXfRIC9nA9AuxAQgYzNCYQ762FnamquvbH2pGJqt-ErtI3fGtPxc6qyTKieK4dtmTENA1f5ZeLG9ZBubMkbBPkHdJzB8AnB-0YocXWWuOFb6TngdLG079SbXmti_1mU-rmPfBfOczIaU5q42yMr1dLqnKx2zAEfS_W1w5c3bFC8H1n6CuO4fBkJJ3IMVpcQsPtDfeZxh1KDlTx9l4igIr88hGRNkADywysUGgyQ7W0lxvw_S3VGjaooAicpwjp3rPeTyArIEv7Swr4VtVbovCih9bRGnrNm06dGjS-4dvJwgR3lPtQdtT3h0xuRDZl8GCoNkW4Zgm1zpzdo1-qoapbWlh6upGFlyZSyb4GeMzvS_Anh2fiYSWLAWx78TeX3puvgj3h5TAf8v_Zb6srddSGqVKm-Xz1LBgOPw8fA6gve-ay9TCWtHsbu3D_1sjdzmU7zPu4hbN5r3N1HJhoPkdjtYUt_kvWh0LT9UvP3-XvlRLYLwvHJQG5AoztZfxRaOFvmM-NiyLSf0GSWBjcMgI=",
  "id": "rs_0da7bf20b0982550016ab2bdfe0da487d092d2cad5c02efa2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.105,\"right_z\":0.045},\"note\":\"The pear is slightly right of the gripper center in the wrist view. I will center over it and lower to grasp its body.\"}",
  "call_id": "call_d2dnSAbhjem602UqqEvICHUZ",
  "id": "fc_0da7bf20b0982550016ab2bdff9ffc87d0acb569c34415143c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d2dnSAbhjem602UqqEvICHUZ",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4084, -0.0139, -0.0334, 0.9993, 0.4122, 1.5833, 0.5175, 0.363, 0.3168, 0.1829, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.0019 left_pitch=-0.0313 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3651 right_y=0.1035 right_z=0.0369 right_yaw=0.0324 right_pitch=-0.0954 right_roll=-0.0449 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.4838, 7.0085, 1.8486, -0.0708, -0.0073, -0.0122, -0.1846, -6.3248, 5.2444, 1.8828, 0.1148, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a399824882c03a013cf389d32701707ba1c0a84370aeb489010fe97860519156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c60fd0281ba211475ef949d847ffe62ee7687e4bf4e5700f46dfad22f8e95c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a57d54079ebc9f5fd90e43023bc73e412faa5392dc8f85935af1626f3ee4c31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 6.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4007, -0.0139, -0.0311, 0.9993, 0.5571, 1.2812, 0.6968, -0.1169, 0.4335, 0.2783, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1772 left_yaw=0.0006 left_pitch=-0.0214 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3413 right_y=0.1294 right_z=0.1314 right_yaw=0.0317 right_pitch=-0.0593 right_roll=-0.0357 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.5521, 7.0769, 1.917, -0.0415, -0.0415, -0.0122, -0.1026, -4.8889, 9.1145, 1.8242, 0.359, 0.0855, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4KHC7gXPQOiS7-Rm1kXc5a_A8FmYt5pSlbcyLdoMc-aVsNuyn2VxAoVeMWfKQtns5R8pOPsaXYOU_a3OB3vjuRvCOSZnVdmJ_ndZZwoIFklCElbhqLL6NEIVgjEVFqim-bOQoclWwTIim07uqY-aUToshCsJdFn8CzmK2A0HcOIvcgRCWDon2-T2c66cybrMUZDI7qTqwL5UIyiy2-qztOBlBdKmCIWXPnaA_5Qh3BOCgdQ_h9b9lhF7jrg2IhgPfObI5YQXm9F_rzyzdN0bAS4acQWtBWdqZ-CeRwJWoBe-Iy4r3DmkLF0tB_WvxxyZwiFBP8ervL1ZXjL1f7eAsJp70l_a0f9yYIAxaMGm9-Dt5qqlNgH0o16lz2Vx_Y4iAvzUoKi2L_Z6zNzq89r-gZ6Cdx-L0YRiQesQIoqfSTaF_QVkGylwFIonyBB0W5h2V7tbMeEEVnqiSXP2iKJgQ9LkdSj6HalbkROI0NDXM4Htu2Ds6lk6mu-0wsJUz1U6j2bNO7LufumgLD_QDlOpTKm5QQyEo4BZbuTCHNghO6uKDYq2pLJLDm_y2YwQe5hn06dzSrZdc76nz7wi2H5tYcEY0Tflulwf5Pg5-CZwbQxWTxRJxztMK2n2W1dSy2ET2mz3u_aYiq2sYeUueXzjxJzVB8qkfgS0ED2RFNUayNoVYIkVgZqhUYCSxDayDs8ZR3AWkweZuAAyWaFWaWIVAvoAQIVVHCa0V_olXuLOvycxBOFdtXEsADhtemcpzzhf88GCTg2psC_7QUXhzCA1B_Yv3YsIShQkYx07WcnvpbN9GmnQoBaTOaamRYcSYmoLfV9wVUweUXi8kineluBz98bgdeIs5qH7N-hST6WYshgQReec3B8sg8XOHvcG36AiBhFPCbf4ADIrrdQ0sIaB6O0dGVDeM8uMtN3R_rhgHEL7XR8HuhQeksiFruPKDV2dgNJRVmMJNldNA76xSD4C1PffBMoBCwrZHATLBU92kxn3lJ31CgoeuszluFwEqohmbyrnnFDh03_3T5g5z27sCnIv-nejfFpsDxmZE66yjuRTu0UqNYjQJyZrCxRGNoandMTj2DuG36ZzJaTHewKRLR2UR6fkFN9gWSDgbTmHkuKz3x9x6GprgoqhbAaR-1fmER9P7WuqRiPggF7qQT4IAz8zkVn8_5ze7osMjoMkZ1vIVJV4V6oyh4Z8jsbfdgcLQDamM4MXY6b6XTmSqyICuL4c4arBv6XoFc3Yrzkm-rZBsB9hSEO1GU8C4-JF_axChM",
  "id": "rs_0da7bf20b0982550016ab2be07edd887d0b1564bcde08b6b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.087,\"right_gripper\":0.48},\"note\":\"The pear body is between the open fingers but remains a little off-center. I will shift slightly right and close gently around it.\"}",
  "call_id": "call_vkkjys5j1XTRe1W5b7Kdngwz",
  "id": "fc_0da7bf20b0982550016ab2be0947bc87d0a9b981e80cd4a163",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vkkjys5j1XTRe1W5b7Kdngwz",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4171, -0.0139, -0.0334, 0.9993, 0.3557, 1.5776, 0.498, 0.3626, 0.2752, 0.1455, 0.4841]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1732 left_yaw=0.0019 left_pitch=-0.0401 left_roll=-0.002 left_gripper=0.9993 right_x=0.3636 right_y=0.0877 right_z=0.0307 right_yaw=0.0299 right_pitch=-0.1189 right_roll=-0.0537 right_gripper=0.4841\nstate[joint_eff]: [-0.2667, -1.1419, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122, -0.4308, -7.3094, 4.9026, 1.7411, 0.0708, -0.0464, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6278aba795869e5e68c45f833247a59f92fb6fd50984076dad96fd91d0ceafe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26dadce42c40202d034af3f7a68ad87be6e55d277375987df77bdea7b12957e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6628ba8d6dcc6c5e021ccf2813e398f7faa5bf83b1626564605f5e6801c8aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.098 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4084, -0.0139, -0.0334, 0.9993, 0.4122, 1.5833, 0.5175, 0.363, 0.3168, 0.1829, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.175 left_yaw=0.0019 left_pitch=-0.0313 left_roll=-0.0022 left_gripper=0.9993 right_x=0.3651 right_y=0.1035 right_z=0.0369 right_yaw=0.0324 right_pitch=-0.0954 right_roll=-0.0449 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -1.4838, 7.0085, 1.8486, -0.0708, -0.0073, -0.0122, -0.1846, -6.3248, 5.2444, 1.8828, 0.1148, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4R33rxjITFZ_48SJQ7lSU-ajFjEynIskdfj6Fo2KvB_GEXSYPXPDhx4HUccGlRUjG3775YGahg6zZRNX-wc-HPRwxAEgwkLtxXLYW83peCwEuum_AXRdiNnbiZgitfTKskr0cX2PfvDjYKgyIx-A68qRNNLAHN75tnbPQfaW-Je5_b7WKQQt7AJe5uylSYeDl2Z1fJN86bMhrhhALIqXh77fVJJ3qiOZX7JWZSwH-UnPHtMbNKN_gdMdTLWupQ6pcSxd55K-NcKyGThF8gI0V6agXPnf72d-jPWdYxtyXeEnpVDNf004BNZ7KT_NZmj7OrqRntvoO8IPut_PNuDNPby09xpDGpFQKcWTVPolhc0sYLdnewriK2UBdKjHX_HDF-d_HmndbUVZj03nyQs8BsudBG36vDDChozUryrJclLxkhOVGugiJYQ_6JaTiz_kEkuLAzl59zi-JGgAKCyt96nAOwbMXTrkk2bjsjcFsKU6lAJ4w-bFWwCHd6f-3Hz0oWhiAk00Kw7WKXsipZsp_puFo8FwjxcqEDQ7RZ0Xb7HWZnz6UyF_m6d5GzgV1mA39OOtWvJQJ9fJfsiS3dRS-P6y8g-sdU0ZcAM4FlqDb3h0hM--_n4EdgP7WkPgtTSYji6Mvc8eesu_nbYoShw_6vlmUTzskRq9CVYguevaZjSnTLrG9y5CvwDDHdUSNrbA4ubBskXY0bpuSFgb7kQpD34uIyRGcuStvQ_9a-yf66V1iH63O2kP47FNWf8OxzdmrJtPHb2uigJRjdS1WVQvjLpph2raeKZisLpilETOAbdPbMZfyzU04f_oen5HKhKavwNf987uNHv24ARYUbSDeA44B4A78e5HtivzJ1P_yMoaODLYJjU3vNpGUj3z0Kw0PzM8HUIiJ1tkux5NwQWlmFJJjEMdWSrZZItPwnAZ73fBK4kYlftMG2BTe6YmwBhMB5lNMsUI45XKm-Wol5g_ua2DbJJFucAceYUYjzl-qG2u5Vx8nl8z82lbBw0ElQ3vy8xeoJB2K03U-pA6ogA4Gw2-wamiKrGdwQ2xHozp697dALbBMohJcB5ud14iW1cFZCDVINMW84kgPn7aj05XNfBQTvo9VmDDlsmcy5ME0G8kVpmKDC9ymgHWNegfGFk3S51Lridhyh1FCgxsRLP_zkXZmPtWPtxsG5N2_lxDMKOMKwhLgo7UXSjAEgLUwQaqsLRbSo2sZxsFTriRvEKXcpIuX4oyuzwE4ZEAQV5t1aG1zQ1XywFQoU1TTGAcBpO010KfT_CKSKH34g0212WD8mix_NyUi_Z5H-n8DJ7Jbl7TvQeOMneJPTGwxUXUu_4a6B",
  "id": "rs_0da7bf20b0982550016ab2be0e1ea487d096b083b8a971b2f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_z\":0.04,\"right_gripper\":0.85},\"note\":\"The pear shifted forward during the gentle close and is still visible ahead of the fingertips. I will reopen and move farther forward to surround its widest part.\"}",
  "call_id": "call_fAukTmYELUB5jdtZVhktLMoc",
  "id": "fc_0da7bf20b0982550016ab2be0fefe087d0a175006dc88e0bc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fAukTmYELUB5jdtZVhktLMoc",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8097, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.3069, 1.6863, 0.6456, 0.3092, 0.2329, 0.1112, 0.8482]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1709 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3985 right_y=0.0873 right_z=0.0317 right_yaw=0.0343 right_pitch=-0.1419 right_roll=-0.0575 right_gripper=0.8482\nstate[joint_eff]: [-0.3214, -1.6068, 7.0496, 1.7216, -0.0562, -0.0415, -0.0122, -0.3761, -6.653, 7.0085, 1.536, 0.1343, -0.0757, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f46d9bd66a1a525106be6d6df57fa26734c289d3b69c2e9dbb4c794bdedc296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2c8cd8b80195505e0949b378149c3ed0917933905d22ea6aef5dc1e542d3c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5335c017fd5fca746e01d6cd1f098f6755c725a676e798eba3ac37bcb672d56a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.282 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8062, 0.6132, -0.4171, -0.0139, -0.0334, 0.9993, 0.3557, 1.5776, 0.498, 0.3626, 0.2752, 0.1455, 0.4841]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1732 left_yaw=0.0019 left_pitch=-0.0401 left_roll=-0.002 left_gripper=0.9993 right_x=0.3636 right_y=0.0877 right_z=0.0307 right_yaw=0.0299 right_pitch=-0.1189 right_roll=-0.0537 right_gripper=0.4841\nstate[joint_eff]: [-0.2667, -1.1419, 7.0222, 1.7851, -0.0611, -0.0464, -0.0122, -0.4308, -7.3094, 4.9026, 1.7411, 0.0708, -0.0464, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear now fills the gap at the fingertips. I will close fully to establish a secure grasp.\"}",
  "call_id": "call_vha4gsOvp661CTg2JGQ8e5nu",
  "id": "fc_0da7bf20b0982550016ab2be14443887d0b75962e1629431cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vha4gsOvp661CTg2JGQ8e5nu",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.424, -0.0135, -0.0338, 0.9993, 0.3054, 1.6909, 0.6552, 0.3092, 0.2302, 0.1108, 0.6743]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0515 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4013 right_y=0.088 right_z=0.0333 right_yaw=0.0354 right_pitch=-0.1376 right_roll=-0.0547 right_gripper=0.6743\nstate[joint_eff]: [-0.1846, -1.2376, 6.9949, 1.7216, -0.022, -0.0806, -0.0171, 0.0752, -7.5419, 4.6154, 1.5507, 0.0757, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c15270a7e73f51004899bb80fd19a3a135819c1a7dfb0ae0dab550090fc3e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769f11c9c655510f174175224609c443fc54498908c7126602cd0fee921f7853",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a559a0475f1810713f8a8e0ffaf9e676cc4042d36751a9c348a80394f0f2ec67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.614 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8097, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.3069, 1.6863, 0.6456, 0.3092, 0.2329, 0.1112, 0.8482]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1709 left_yaw=0.0021 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3985 right_y=0.0873 right_z=0.0317 right_yaw=0.0343 right_pitch=-0.1419 right_roll=-0.0575 right_gripper=0.8482\nstate[joint_eff]: [-0.3214, -1.6068, 7.0496, 1.7216, -0.0562, -0.0415, -0.0122, -0.3761, -6.653, 7.0085, 1.536, 0.1343, -0.0757, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper stopped at a pear-sized opening rather than closing empty. I will lift a short distance to verify that the pear is held.\"}",
  "call_id": "call_Eq9uQOihBD0sKW0316psOWaX",
  "id": "fc_0da7bf20b0982550016ab2be184cb887d0a408cbd5eecb518a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eq9uQOihBD0sKW0316psOWaX",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.3054, 1.5288, 0.7792, -0.0425, 0.2264, 0.1036, 0.6715]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0526 left_roll=-0.002 left_gripper=0.9993 right_x=0.3917 right_y=0.0857 right_z=0.0805 right_yaw=0.0395 right_pitch=-0.2018 right_roll=-0.0752 right_gripper=0.6715\nstate[joint_eff]: [-0.3624, -1.4154, 7.2, 1.7021, -0.0464, -0.0611, -0.0122, -0.1162, -8.3897, 8.7043, 1.7509, 0.0708, 0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da42e68b24fb6517d0dac779253fe8da1ddeb02a1c726946362e1223f155b7a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f97328a626da0100fe5c1750da8309fae51933fe30a03d27f3e1882b9fa37f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dda0aa94cffea64f9caf3982b3e847f5f30350a11bb00b751e0b164b9b3a5b74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.701 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8108, 0.6132, -0.424, -0.0135, -0.0338, 0.9993, 0.3054, 1.6909, 0.6552, 0.3092, 0.2302, 0.1108, 0.6743]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0515 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4013 right_y=0.088 right_z=0.0333 right_yaw=0.0354 right_pitch=-0.1376 right_roll=-0.0547 right_gripper=0.6743\nstate[joint_eff]: [-0.1846, -1.2376, 6.9949, 1.7216, -0.022, -0.0806, -0.0171, 0.0752, -7.5419, 4.6154, 1.5507, 0.0757, -0.0611, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4h9PFDMoZ80WMvtzg-LhnVLtiBbg1iS6FP9aGHdQELdNrYtPcTNW0nNTkO8W61W-kTv6JywN6QCkjkIk1FnLh5GJET4hfjoheLQObMBjo3nX98flbHM-8YQlLZC7eKs51zzpiApGC36KU47WZ6bUv6XTz0fElcmKbRcaFCnR_KQTQkvaf0aRt3QiGHVoy2KcWRwha9PCdti5cQonW7LraYaqZ9V9uyuxiMmLIl_voTmKqhQU8O1Wg_17KJsVzBY_xOzPnUcghRkXKzqSeWCBLDrB5BXG5cm6l9rsBlOoNjks3U5m5-iqDPLOsWFUbqD3WSCbzyUT0vZ65VWYuXcS4IZNQ0TJHFsNmk2lE-svteQJyj1rBBd_EAXDD1gCSsjfql7HaIfWEte40cl_DlhLWePeX2Og-cZ6u-WMi-9sokv49haSnkL_5Y6rMsiR9jPGkGGhat0YEnlQxx8DyMVLsV8Su0HcFUpm98EvUeh6GZWvEx5_jaXiEf3yLu926nksecKjaOtqtym-pQEWjcwi4Qd1CzpVRjGUpubL9YYx87T0rsLQaq_rHSmTeLO8DK_nTEhiZIODQNgEcRCmkZp2-5D1gjiq2Ydwn0N5xlKu-Vb8I5KDjuSNy2yjOaNtb_AZNTxD7OD_lvchGAG4I5l40Bl1uftftxFEKZF0q1k3pYwIW41Ob5o57FMMPFJNKT3gdGn18Z3CzDkMdoigTsB2uxLS8-njoT16Vs-j7zMDEMp1v5--ble9HrIvY7ei0fHepuDMWyRChJlS2RpivfkzGAe5I_TFM9kl2fW6FJSuLci_a0cNdcueglyEFxUQyRWnVm5nmGwPNCu6iADPo4iHb-aTbln-rortDF-bygzh3b3Gkv2sFxqh5KC6hp1J58-SumThAdo4zshhNTltNsbRorxsS4TOFTsJZoiU60cB0dOLxaAPiePHFqaJc9bRIA5l6XjopjFkQk1N_hKchKpiFEc8sEAzhVCJ4OSk1vw9GBq-izMso3gRQyfhVep_W6ALjqaK74XYRse6mpuGvqP46-zoGeRTfD4iVbo9FNYOnlV_jdt3iL1Emiwp-FgtiH5b43yQfjUsWA0w8KCLGYuIsskpAosYAHNIpN9l_dFn_RVdy9UU9kCGHKwG6NFT-EIEnwshS-enxS2Gdj35raXEsXqOW4Z_a0payVDgXVa7bP71cgqXnTvYKqXTLrSLsE4MFAI4CH3vffjaS_0gy1VpxFKvxv5tIqIvqTmnyZOfoYeEnyAUbTuceju5bOw4DJYGVG1zMEJnXq2kxooMonjonOjBN9ANur_IVie7_lAIPyiwEvarUixZ-_h_KAQJWh-I88",
  "id": "rs_0da7bf20b0982550016ab2be1d676087d0a97a899fa1cde1cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.15,\"right_z\":0.21,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184},\"note\":\"The pear rose with the fingers, confirming the grasp. I will carry it above the blue bowl while restoring the idle arm to its parked height.\"}",
  "call_id": "call_S4XARZ9DmuwA4fr8L95lxqSc",
  "id": "fc_0da7bf20b0982550016ab2be1f4ec087d0a2ee983c74763215",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S4XARZ9DmuwA4fr8L95lxqSc",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8448, 0.6434, -0.4751, -0.0139, -0.0341, 0.9993, 0.3862, 1.8591, 1.6558, -0.6605, 0.2607, 0.1421, 0.6752]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1649 left_yaw=0.0024 left_pitch=-0.1064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4823 right_y=0.1508 right_z=0.1915 right_yaw=0.0654 right_pitch=-0.2615 right_roll=-0.0937 right_gripper=0.6752\nstate[joint_eff]: [-0.3761, -1.8393, 9.5795, 1.8388, -0.0611, -0.0366, -0.0122, -0.335, -10.7829, 8.6222, 1.6874, 0.2759, 0.1587, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f47ca72d73f257afaec99b71faf23dfe603f017232054cb73a288108bdde0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533798308098a2aaf411ee5e57dc940328ae43f6061a6b08c24bf391e3534bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e4fbadf0f30f1ad875f94345cb66985c4c559c51b2c6ba83d02b6a491a78339",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.888 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8116, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.3054, 1.5288, 0.7792, -0.0425, 0.2264, 0.1036, 0.6715]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0526 left_roll=-0.002 left_gripper=0.9993 right_x=0.3917 right_y=0.0857 right_z=0.0805 right_yaw=0.0395 right_pitch=-0.2018 right_roll=-0.0752 right_gripper=0.6715\nstate[joint_eff]: [-0.3624, -1.4154, 7.2, 1.7021, -0.0464, -0.0611, -0.0122, -0.1162, -8.3897, 8.7043, 1.7509, 0.0708, 0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4sVknrOMArWffnMVme-1NFkCNkx5qhPknhQrn_zq4Do3RB5iKTsKHftfVyl1WVWcQneR9rlndNy6udx3LFCcF_M1h4zjl1BhnMONr4rN06FtBlwFHWllgjTX1h19-58Ru4EhvQF1PeIsSzsTifoJIEzne3vLEig0BWprvD20DtfDGbNED79T-0bbsJCvdx9mhLDarCwYARR_4nCDZG3vNeEcqK4vV4LqsSLmDcKYc05WgcREKRtkYiI6PQO8SwwnQcxlGgqM0_y7m3X6Erq2XLjO7papeQUeVKUgJC-JkxCf5w4lyyOtEDpPogN_DYA8M_ThDzXgjqAYecH3rAsAAe-DMbBxaXLKaomwru75fmlgZR4-AnHKqP4C7W7T0KyEwHaYCUjWYMbhvEV4qYWeX2e3-uYdjWIDGp33QKXy8kvD6h9tYfoWwh0ul1ued4qPI-AfHt6jqAC4WKra6Qme-CTp0nT2Od2s-hggH1DEqvWCvUS6Ve5G1QiiUnPjIKPL-b50Z909JX22KiO6OqQZYE9g4VfLv7XfEs5Tcm1FEE05Q2wpru-FV7AbrklxxXzR8qCJzfv_tUVu44RLR9nDRYcBOC2ZiNdoJMIx4ozhVa2YgBcUT5e1wiQeexYejYtJzfFGzBv1-a5X1SSHh_3o9Qh9IsmRVZGUmxFGvgs9F18egji1x90R1gDUDUmcUAB1_kntTsNwLXp615BYVdsh2-RF-OvjMSJkpvZgekf2taOTYbBr6e8CPineKWxTZzrBpyF9sdtl8_Y8cEVaRaeUq_y6szyJNHprUQgEhyFmCHCC8qNiGJNE3jWOrIRzbFLZ6X4QwjfCc7DVj1EaeY4NSUbxS7mryGoihgFtVAcVAZfWhMrLK9kDVZ17Uz_BoVDfEQZzGKyo7NKF3_neQr6-r2rnHtNDTMjDBKqQ4SGP35UCPMIOWH9u8LVGkjh3Ta4nKf2arLtU-cECYcGAi78zeVvUI0i5SWGCXdeAiOr8-5w_z0W9Zmvx6PGBWLJs0I0XoHZCRzc5odihfi6vt7sXHNHgyYbSZi048Jde4rD1P4RATO0DAohY-a8_rdFb9gstgAM-efJX-Vv1OB7oJ5DfSd-ghvk0Y_D2R7BPnjJ3Gc5Ir40mRok92mv0GPLJFiw6nR6mtZf4jbFoCFGgj-SG857qeDffn6Jq7u5nBNiZEuzNK0-tMHKaeXay8_439zsNkoh9kPHuv2PJ1QXY-Lq5oAkLP7Q9hCv60lEGDoJo2O40kGNo3ypq0RJj8nifZZyNLEkhQHMNIPvI_ysXlHL5TcmIcuHveCxqF9Os2FSu_4klObXdSxacdqOUBdur25VOZawGL-HEHkCs1sKoehr2ec2udjfx3Na3FzGXcZcNbxOOg=",
  "id": "rs_0da7bf20b0982550016ab2be29433487d0b3d28abe4d2e8ff9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_z\":0.135},\"note\":\"The pear is above the near side of the blue bowl. I will move slightly farther forward and lower it toward the bowl opening before releasing.\"}",
  "call_id": "call_wyj5jbFzneCawQcLunX012fV",
  "id": "fc_0da7bf20b0982550016ab2be2ba93887d09ed7a77951a999e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wyj5jbFzneCawQcLunX012fV",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0135, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5354, 0.2298, 0.1112, 0.6752]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.5093 right_y=0.1508 right_z=0.1222 right_yaw=0.0747 right_pitch=-0.3227 right_roll=-0.1079 right_gripper=0.6752\nstate[joint_eff]: [-0.3624, -1.6342, 7.1179, 1.6337, -0.0611, -0.0562, -0.0122, -0.5675, -11.7402, 7.0085, 1.8339, 0.1441, -0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32d4fd18574415fec1b1bdd388587ea435b09be86e57ccad4265803da11acda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db7891d2fa14e907ed81f286b95e6b1a6b6af4828259a87effdbe3d9881ec18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c348250b82e57aa6d7a04fbfccc443a837030716bcb7cda3fef31c71035c555f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 4.301 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8448, 0.6434, -0.4751, -0.0139, -0.0341, 0.9993, 0.3862, 1.8591, 1.6558, -0.6605, 0.2607, 0.1421, 0.6752]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1649 left_yaw=0.0024 left_pitch=-0.1064 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4823 right_y=0.1508 right_z=0.1915 right_yaw=0.0654 right_pitch=-0.2615 right_roll=-0.0937 right_gripper=0.6752\nstate[joint_eff]: [-0.3761, -1.8393, 9.5795, 1.8388, -0.0611, -0.0366, -0.0122, -0.335, -10.7829, 8.6222, 1.6874, 0.2759, 0.1587, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is centered over the blue bowl opening. I will release it into the bowl.\"}",
  "call_id": "call_r3L5nJjNKzDnCdB74f4RyApS",
  "id": "fc_0da7bf20b0982550016ab2be33c9d087d0b89d136434b47d79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r3L5nJjNKzDnCdB74f4RyApS",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5438, 0.2298, 0.1032, 0.9957]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1634 left_yaw=0.0024 left_pitch=-0.111 left_roll=-0.001 left_gripper=0.9993 right_x=0.5078 right_y=0.1502 right_z=0.1209 right_yaw=0.0784 right_pitch=-0.3312 right_roll=-0.1157 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.4291, 7.0496, 1.6142, -0.0415, -0.0171, -0.0122, -0.294, -11.3983, 6.8308, 1.409, 0.0317, 0.022, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45af5cd16eed2f7b1c6ca51bf5800254187dc9b8b662331c53d8ad8a3c17957f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb804dc9951db8e86fd2a94f1b79b2c2c8346884b028e892d3478095c0f37a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48ac95e0d19ed6ab3c2f7eec0c9046bceaa560820cc3d671fd71b2c2875ab4e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.647 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0135, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5354, 0.2298, 0.1112, 0.6752]\nstate[eef_state]: left_x=0.2889 left_y=0.0002 left_z=0.1634 left_yaw=0.0021 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.5093 right_y=0.1508 right_z=0.1222 right_yaw=0.0747 right_pitch=-0.3227 right_roll=-0.1079 right_gripper=0.6752\nstate[joint_eff]: [-0.3624, -1.6342, 7.1179, 1.6337, -0.0611, -0.0562, -0.0122, -0.5675, -11.7402, 7.0085, 1.8339, 0.1441, -0.0073, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr45UPxwRDoRGvrdsnXd2ktlfcoTq2UIkPyEUDzk9ZKQshKCYOkLIMf-5SOIDgTuCXsqStb9l94cVXDsmuCKxitkxviY6aLwVtsUVst110MqUtXt97TGt87aO0A7r190oxm1ocpFrvJhTg0CsDpBt4WaZ46mGkf427VrZfcs89qC-BuC9IDomtIpvRM9vzZA0-ykMDhyhE8_z9p47awygGH383kuytnWmMagaErpDr2d2q_ftlNAZouMwa3TXQ3DyNy0xSME13GFr3UvM5tCqMsQKTdpb9CeZQbaOm8ob2_Tfz1HupKivHBqeo60JuTaLZ8x7BGFnpwoopC6VShUo3nAKgP1XLxMRCxyWDDXaHfsEc_mVGR4kJ0Qci7YDzuIGZkd8cK17dm9sBCkL6bEXVBWFnrFlE6nR9ApJ4i8wMexOza9D-fjNGyo7rWRKG8i1iuOZgdEKXyN9KOuZIfy0rNXUmB1YBiBNsoT11JShrPSAwJNKxJ1oY07glyaTlNhGT3_iPDx9zal9-GJy1kjcjbGAqFA1i1mYXs73XxTQxoOq21I3HuM8MkyXtRpMHBfLzxvCllsTIRsiCli_EIBcGuLp9LW-lEmCO8Ooq4_YGWecSyv7-yflyNMZ4jNLdLZzJasoAsCuULcGhRsu5mIX7OBvui9Q_Rl1LzF45ojbaormfRPoi5DpFqwKtvDqkwmEJ6F9Cy1Xc2AM1UZZbAX7AjoSFEjAeRm_CNCYJDFx3mjSAa-wJ-9-MszsQyF1vzOqwZcNYRqGMGuX8Ka_o8CM1JYJbishr2aCQF13QydXDMs47D3BWpOvsLRXCMyVpjb1EJ5cm0vw7EJuEDBE2VeY75gZr8SfPncAMFi_l8-j06ZbBoOt_80QXQSJsiUazpg6PjM333lwWeYCJvRpF-pMuSepHEZLt5p2cf9pV-JmNInRZo_abfJGYzPba0HfcPQ18xkQjxtZSfRhb6h1MBGQjR1lItRsmbErrnmpWlx7SK31kzPu0CdunuEVp508nVJDBXz6DYKM_3IOlSTl5xPPSSifHMp5_eo_q-z6UtOZHnQckeW0_Ifx-EAUShMCU9S0jS6VVhmKft6rzDkLLWkY-RcvGBftk5_zRV9VCF-VTtuA7lRxOovoAyhrqrbiCGbBirNURHh7cndKDpOVSkbItVy3rX7IRSLAjteOjNPE9NHWUO5zcgqKQV26l7wywAqQ7eGTNpNjrdPoPguSE2iTg0_Dz33jObDBv3kvOtiP63QTG4AAiwzbUV9gved2Q_MMpOS",
  "id": "rs_0da7bf20b0982550016ab2be36dee887d0a1bc8e7a054b241c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.215,\"right_z\":0.16},\"note\":\"The pear is now in the blue bowl. I will move back above the yellow fruit for the next pickup.\"}",
  "call_id": "call_jDN4T305YwMVM4z1qzbbFXXS",
  "id": "fc_0da7bf20b0982550016ab2be380be087d0889343b9f2d053d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDN4T305YwMVM4z1qzbbFXXS",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8467, 0.6415, -0.4805, -0.0139, -0.0338, 0.9993, 0.6029, 1.8324, 1.4925, -0.6872, 0.3576, 0.2974, 0.9963]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1625 left_yaw=0.0022 left_pitch=-0.1156 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4128 right_y=0.2135 right_z=0.1405 right_yaw=0.0924 right_pitch=-0.3705 right_roll=-0.1349 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.5248, 6.9538, 1.6874, -0.0415, -0.0269, -0.0122, 1.1966, -13.2034, 6.2017, 1.2625, 0.2418, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35408a71f284eff1b986b10ca89b7dd0e5d48278af5edc5adf78f09bf81aba3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b03e43bd8640fab76741a31bb4451396e481aa6b803da2e9a6183d94233f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7224abed837a81a485891785f5f61e24c3fb12e644d747ce4b4a16b38aebb1fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.153 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6415, -0.4763, -0.0139, -0.0341, 0.9993, 0.3569, 2.0144, 1.631, -0.5438, 0.2298, 0.1032, 0.9957]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1634 left_yaw=0.0024 left_pitch=-0.111 left_roll=-0.001 left_gripper=0.9993 right_x=0.5078 right_y=0.1502 right_z=0.1209 right_yaw=0.0784 right_pitch=-0.3312 right_roll=-0.1157 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.4291, 7.0496, 1.6142, -0.0415, -0.0171, -0.0122, -0.294, -11.3983, 6.8308, 1.409, 0.0317, 0.022, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr5EYjswL8Ye-Vu6YEVTIXjw2tR4uEWFg6XEC-OjM9diMspSUF3dQKfVg0pksGQT1VgsNTTnB6NGZlvj62JffrMFkalwu5l8DHfYPP0UaOb7vUEpkeT7rlbkGYJ2c1WZcYySxpc5gTa5Z9SEJu2kj_ISJ2kIxrQA6p7lIUQHDT9kSmJGmxA_4nC2vaBIWHy0fU6atcd_p_5oRdmosqA15EEoXkP8CQHj1rM0-mbqQMLmyBwcN2tqXA2JRiZlbUA9qVhpIpdlybzFtR2MO9npjfIYnZPVenm_9XV9tflPpd5ipfD8uMtXURtVMM2jUmVrFdksQx7d2uVxRvVJxVWdJFbRkR1l6UIADIUtgLZRx1hf4xD-27jIH_utCLUVKFBuA28i09j85oGnm7Rlq8gIfR_KWepzrrHoTuJu5Ijrq3Y6oHQzXRBzIl6xhClwHAiLWCXlPq5JZgYWHFFU88VQn5ZCSBcjZa6z4UFBeds_C7lo2bdBH958k1sF-_GBopiykDuUjA1nYIacuAM-u0bb0gSaOor5geug_4WeJ7V_3Q9lbIIG4ILFLWHXrS1VXSeEARCZPZ30jn1byWcIPz_IeFOX4SZ9v3_Wvu2l-uwy4lvYvXFKY1PDkk3QFpwZbSWEFFUeHiRZzRLAjn4bsT6O38ki8U2DnEdUTk7aLMQwxHC87gG6LPddYKpLf_u7tqqb4MjIhgT7QgP9sLavEHrSs8p7id8RSoAIv3Inmt3WD2hyd09dIUx2YUM0yuOkeyzZbheKk3F1cpmrLNvFfJNWLD0Aov3EWaWxjIUeM_ORQ0qa7ej-CYFZEmuxWSX4xrZeHAx6BHzv0t-sz1-2_dLbFBFRaBn57bUlI8n3WeJ84fdJhWa4nYdP2Ebr_IoXARIj6-5pdWbzX27CRvkua9NaCLRvv0CB2Sw6MvL7L-uSwgrBjFoJxvU5XooNCnTio5boPn86ns5rzDLVH2Gcz7Ye_hBGvH6MfCsyLfz_safnmHmIchiVDMIk_0IEhHbtW5JhZQdOluEZ1H_xeBmMDRz1LOqCSIX2bxPrJ6PLTjRoHwQ-hnShnoQM8cXe8IjSX-CqS9nkOJGc_dpUZzU1cack1TsErG-YCczIst5Givnb9lc-_3dtk9iTzPneKm1zDtWyQiPYnKQzA76I32FCsm9VoHVdQw2TVXAlEWqKgTaJHftuSFNr10amFXvPHJ3Uyf4MQ2XXFmjDbksjn2wgfQefuxkjWzOw-28INr9ypyHPcBRlQsc=",
  "id": "rs_0da7bf20b0982550016ab2be4216c487d0900d846f37aad160",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.414,\"right_y\":0.228,\"right_z\":0.027,\"right_pitch\":0.2},\"note\":\"The yellow fruit is just left of the jaw centerline. I will align with it and descend to the fruit's middle.\"}",
  "call_id": "call_O2oR7D58oGyp4fpBOqf1MrE4",
  "id": "fc_0da7bf20b0982550016ab2be4372d887d0af44b8c6452b2950",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2oR7D58oGyp4fpBOqf1MrE4",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6415, -0.4911, -0.0135, -0.0341, 0.9993, 0.7185, 2.0682, 0.7918, 0.7166, 0.6224, 0.1513, 0.9963]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4084 right_y=0.2251 right_z=0.0137 right_yaw=0.1086 right_pitch=0.1132 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.5521, 6.9949, 1.746, -0.0317, -0.0366, -0.0171, 0.6222, -9.1419, 3.9726, 1.9707, 0.3883, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fb2f489356c0f9407387e6a9130cbb2752e8670086aabc47148470118c7e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9aef89adc122614b38cb36982c2620be9eb1c709690106f4f7fefc556f3e26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec59cd0bbbac704a7ce80feac25a22ba2cb3cc564e611b5613876d6562516489",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.447 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8467, 0.6415, -0.4805, -0.0139, -0.0338, 0.9993, 0.6029, 1.8324, 1.4925, -0.6872, 0.3576, 0.2974, 0.9963]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1625 left_yaw=0.0022 left_pitch=-0.1156 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4128 right_y=0.2135 right_z=0.1405 right_yaw=0.0924 right_pitch=-0.3705 right_roll=-0.1349 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -1.5248, 6.9538, 1.6874, -0.0415, -0.0269, -0.0122, 1.1966, -13.2034, 6.2017, 1.2625, 0.2418, 0.1538, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is positioned between the fingertips at table level. I will close the gripper around it.\"}",
  "call_id": "call_PWyIjvNgF7yWfGnyqwlmTMC2",
  "id": "fc_0da7bf20b0982550016ab2be48f87c87d09b10d5c4ed071526",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PWyIjvNgF7yWfGnyqwlmTMC2",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6415, -0.4919, -0.0139, -0.0338, 0.9993, 0.7181, 2.0872, 0.786, 0.7238, 0.6235, 0.1459, 0.4427]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1602 left_yaw=0.0022 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4062 right_y=0.2227 right_z=0.005 right_yaw=0.1112 right_pitch=0.0987 right_roll=-0.1783 right_gripper=0.4427\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6386, -0.0464, -0.0415, -0.0122, -0.0615, -10.8103, 4.7932, 1.5653, 0.1197, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac78aa8b71b11deb149ae0afa16d1de13d7d803584b85149c5c6e02205a5649",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc5291ed7b8bae01f0d999bb360a2b27f44e72f6dc83ca38e8894d0de76a35e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9965f843837d6937040ea2801e441b7c9ebe94b3544389d634f89aedf8adc7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6415, -0.4911, -0.0135, -0.0341, 0.9993, 0.7185, 2.0682, 0.7918, 0.7166, 0.6224, 0.1513, 0.9963]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4084 right_y=0.2251 right_z=0.0137 right_yaw=0.1086 right_pitch=0.1132 right_roll=-0.1629 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.5521, 6.9949, 1.746, -0.0317, -0.0366, -0.0171, 0.6222, -9.1419, 3.9726, 1.9707, 0.3883, -0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"right_pitch\":0.2},\"note\":\"The gripper retained a roughly four-centimeter opening around the yellow fruit. I will lift it to confirm the pickup.\"}",
  "call_id": "call_XhjMpjvqRIeQ9xmZZsKpQPgR",
  "id": "fc_0da7bf20b0982550016ab2be4cfba887d09d95967c63fd2445",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XhjMpjvqRIeQ9xmZZsKpQPgR",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4934, -0.0139, -0.0338, 0.9993, 0.725, 1.8462, 0.7803, 0.5678, 0.6395, 0.0952, 0.4441]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1598 left_yaw=0.0022 left_pitch=-0.1293 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4037 right_y=0.2216 right_z=0.0797 right_yaw=0.1263 right_pitch=0.164 right_roll=-0.1861 right_gripper=0.4441\nstate[joint_eff]: [-0.0205, -1.5385, 6.9265, 1.6337, -0.0464, -0.0464, -0.0122, 0.4034, -10.2222, 6.8171, 1.7509, 0.3883, 0.0611, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:134e3bef74ac3dca5ff43369ba6847b40916ec3efcb8666464303c8d9ca448a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af04a26a2959510878386c0c4e3f75f0c6bda980740ee8a08a8b48c8cea2a884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850bb8d2ab29f231fc9ded3570b5f5beebb2892d60b89eb802da1a5246083e15",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.453 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6415, -0.4919, -0.0139, -0.0338, 0.9993, 0.7181, 2.0872, 0.786, 0.7238, 0.6235, 0.1459, 0.4427]\nstate[eef_state]: left_x=0.2865 left_y=0.0003 left_z=0.1602 left_yaw=0.0022 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9993 right_x=0.4062 right_y=0.2227 right_z=0.005 right_yaw=0.1112 right_pitch=0.0987 right_roll=-0.1783 right_gripper=0.4427\nstate[joint_eff]: [-0.1299, -1.5385, 6.9402, 1.6386, -0.0464, -0.0415, -0.0122, -0.0615, -10.8103, 4.7932, 1.5653, 0.1197, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.16,\"right_z\":0.195,\"right_pitch\":0.2},\"note\":\"The yellow fruit moved with the gripper. I will carry it above the blue bowl alongside the pear.\"}",
  "call_id": "call_k6ECpNbq7QnLeKRTemDZoWg1",
  "id": "fc_0da7bf20b0982550016ab2be50dd1087d089c96b83cb93aa86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6ECpNbq7QnLeKRTemDZoWg1",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8478, 0.6415, -0.4946, -0.0135, -0.0341, 0.9993, 0.4179, 1.8172, 1.1908, 0.2302, 0.379, -0.0654, 0.4441]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.1595 left_yaw=0.0021 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.5134 right_y=0.1604 right_z=0.1828 right_yaw=0.115 right_pitch=0.1905 right_roll=-0.1892 right_gripper=0.4441\nstate[joint_eff]: [-0.212, -1.5658, 6.9402, 1.6044, -0.0464, -0.0611, -0.0122, -0.212, -9.0735, 8.5265, 1.7949, 0.0757, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c650e4fe80177a79462920a84b40467b078e7b9802485f3273aa37851415459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b235092497cc8a41d040b567cff21b23c65ae93a94757552468beb5b3600b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f2706cad04508488c95307da3bd105f4153b8d45d4f3fad920b8648194876c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.3 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8474, 0.6415, -0.4934, -0.0139, -0.0338, 0.9993, 0.725, 1.8462, 0.7803, 0.5678, 0.6395, 0.0952, 0.4441]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1598 left_yaw=0.0022 left_pitch=-0.1293 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4037 right_y=0.2216 right_z=0.0797 right_yaw=0.1263 right_pitch=0.164 right_roll=-0.1861 right_gripper=0.4441\nstate[joint_eff]: [-0.0205, -1.5385, 6.9265, 1.6337, -0.0464, -0.0464, -0.0122, 0.4034, -10.2222, 6.8171, 1.7509, 0.3883, 0.0611, 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 over the blue bowl opening, above the pear. I will release it into the bowl.\"}",
  "call_id": "call_d4Wj2VRoKb9g6Zt7I5aCUUiC",
  "id": "fc_0da7bf20b0982550016ab2be54c2ec87d0b0e932275f1059cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4Wj2VRoKb9g6Zt7I5aCUUiC",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0341, 0.9993, 0.4168, 1.8179, 1.1934, 0.205, 0.3653, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.1312 left_roll=-0.0006 left_gripper=0.9993 right_x=0.5118 right_y=0.1615 right_z=0.1779 right_yaw=0.13 right_pitch=0.166 right_roll=-0.1965 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.5521, 7.1316, 1.6337, -0.0806, -0.0708, -0.0122, -0.0342, -9.8256, 6.7624, 2.0537, 0.1538, 0.0024, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47b1b06f0836009b741e87a9d9d482790acad80acb88bf88640ed4cd47dce344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca0acee72759d2001236b7d563614c908177177d861049b08c4ec96a75f6724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab77ea3894df6475963d583bdae90046e879107129505bbbe06373006a073819",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.169 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]: [-0.02, 0.8478, 0.6415, -0.4946, -0.0135, -0.0341, 0.9993, 0.4179, 1.8172, 1.1908, 0.2302, 0.379, -0.0654, 0.4441]\nstate[eef_state]: left_x=0.2861 left_y=0.0002 left_z=0.1595 left_yaw=0.0021 left_pitch=-0.1308 left_roll=-0.0008 left_gripper=0.9993 right_x=0.5134 right_y=0.1604 right_z=0.1828 right_yaw=0.115 right_pitch=0.1905 right_roll=-0.1892 right_gripper=0.4441\nstate[joint_eff]: [-0.212, -1.5658, 6.9402, 1.6044, -0.0464, -0.0611, -0.0122, -0.212, -9.0735, 8.5265, 1.7949, 0.0757, -0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr5dxkY8lcv5i8HI3ELUx36yPryxqyoe5eLhrdWO_q45_mQvLaWFAfApND5tyqLph_i9mmCdc0U1OlUqRVfigKypRAsdhLrQG7gMHeJWNrRF9fdDBHuhKtRoGgxKd9RIm6gZFwUuBCkUxj8QeXNXjsyhaCDuIXnU-cKcYT0FQDNDc_Xvib9m5gKUsN3L4lnFF6Vnr19EBfUb7DjrBEMXP2LQOzPYTGfl5nNZ0zVR5ocqV1oE-A8oC_Ziw0q7srTU2vcvRmReCQyMUM0ql9NkMAqeoY6u8LfuyH9CM9ibHxhLQWJu63HMegMAZptb5txl7zc4j2GZQfNotKTsqs_b3CBvEyQeFVbLDpNyqktm3tRPaSOczpMSD8CG3d2IrIOTF9ixa64d1eE5sDOFf8VIDfCDTWHdZ4YatFB1GKhMqxbvzH_Mh2xB-L_7hvgbym1sHWcM-B0h6Y2vhi5Fxw16qXjB8PuJyvywFZSPk0znvTURNdlJc_aDSVlkqtI9CXGwnOUZaQsNo60_03Cvmktlpm9oGg9WkFKQQ5G6ni0jc6xctylRo4eT66GJO_eZOG1hoEePVOw6FH11BJ4EPTh4Lx28zQao87IfyioznKzPcewI-rjcEuq7E6P6SmtDBFAg4SOcDhoDlZcZLgYT0D4eX4UpR7Yr-F1WQQwBu9q8hOXg4Ae7Kdp7dJZyb2KiqClBtE-nDvl-NmVhTXzeXmDYEG2mEgN1LzdLcFpyf_KkqfHjPxD5CD2v87Lqj0tntwDTX1ntCM4QAKV7AGF0IKxWjy44w15akyqf_J09ybeKtgYcaEb_mVJLnhvpQ9SEUgP0Vrcul4gH4NUMG9ckD_J2ULFkMDMAHTHs242i4jbpcmhS8muMSFjQGfW23t1wa7s24RtNDwsMmDz47jE-7Spjc9Ofgk5ivapXf2xrNlE95oAwS3UZ5bdg37RyOkPr0YVN_mXTAdqAIa-9LzPMDXAB1P3r6Ni_99sPEsjpOyHbQZezxDemhUGi4sckhiuhEmh5tckT8fE_UJI3BBiIwpgbEYLmZiAgDJzEZWHswIEmIDHONp2p5pSuoKKW0p4YwLf0VZh-lr2F321pLCKuXv2i5POI24NIOLli854rpYRSUbEjrZgxZkdsvBHTXgML-KdOrrKwYCxRgJ8m1AwpITD6knstesrMYzAXHGgx2iBuA9Vw3gUOhmMn6aeIdMMSa9zSxlVRVguqmod0NOvnLCxVPkx52xiJSf-_YnuClKS9Lg-Ic3ZM_lbx59VKd3OBip1Fl5zGhHwELqPH8lX9YMEDlYtg8_N6Y40d4vodW-BGjLhXvGdyrzQrXHF09J7jh1X47gz2",
  "id": "rs_0da7bf20b0982550016ab2be58faa887d0afaa0b9d0cd65fa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.20,\"left_x\":0.36,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1,\"left_pitch\":0.15},\"note\":\"Both light-colored fruits are in the blue bowl, leaving the avocado on the table. I will park the right arm and bring the left gripper above the avocado.\"}",
  "call_id": "call_RzNdokZy3cDfwbqL8hNfBCnW",
  "id": "fc_0da7bf20b0982550016ab2be5a7eb087d09532da59f876c611",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RzNdokZy3cDfwbqL8hNfBCnW",
  "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]: [-0.7639, 1.449, 0.712, 0.0875, -0.6514, -0.4011, 0.9993, -0.0299, 0.7143, 0.5106, -0.1501, -0.0002, -0.2302, 0.9963]\nstate[eef_state]: left_x=0.3492 left_y=-0.1812 left_z=0.1266 left_yaw=-0.0246 left_pitch=0.0679 left_roll=0.0449 left_gripper=0.9993 right_x=0.3042 right_y=-0.0055 right_z=0.2089 right_yaw=0.0811 right_pitch=0.2021 right_roll=-0.2012 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -6.3932, 8.4171, 1.8046, -0.4615, -0.0269, -0.0855, -0.1436, -0.2803, 6.7761, 2.1026, -0.0806, -0.1929, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d253fe578c3178fffd8a669dde35716d5c1cb34ba1b812c1a7ca545fdf5f876f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a1dd864f832868f85fa86772bcea735fa81b9dde7e58b6411fa553ae24d4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd1afc2cdf5edb3b3d2cc81aafd93b2b968eb5a95c4a9645883bad8e33c26eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.538 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8482, 0.6415, -0.4946, -0.0139, -0.0341, 0.9993, 0.4168, 1.8179, 1.1934, 0.205, 0.3653, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=0.0003 left_z=0.1594 left_yaw=0.0025 left_pitch=-0.1312 left_roll=-0.0006 left_gripper=0.9993 right_x=0.5118 right_y=0.1615 right_z=0.1779 right_yaw=0.13 right_pitch=0.166 right_roll=-0.1965 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.5521, 7.1316, 1.6337, -0.0806, -0.0708, -0.0122, -0.0342, -9.8256, 6.7624, 2.0537, 0.1538, 0.0024, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr5ibX3ZXYs3C3zH52JIW9pcZo5pHwfpB06AxiLhSgt_Q51puhyJp4FQdlEDHJn_hM50fb0ytspNf6Ysq3MZyfnPk0HcyLJGzTNK0hhOXLwbMiJaykUOMjrKJevEDmRbdijtwTjvMOphQnq1gnPCfcij7WHmuBc7nA8P01aAQZkH4M2aAGVgARodp0fnEyhK_NzSG8s1tNpIuTG1c5L-DkZmvWfLKmSQoy9S1PJtvMz6amA854dOuGK8m3_PXpmskAL-ICnwiDTyxuc3rmpgsMcYZCWrnY1KiA2R3HFkUsObYhgoyZzeQx4W4QCL9bSCSZLp6fsDuH8kvhCy1XddUyK6CVPgblGg04EMV7Z9-Bvxku99qD7XVM8VEVBpdOUUdNbja4UJ36Y8XiDFT3p28ybjnos3lfSkHuCg6dd2CTjjcFSg9p81Phvf6lzruOFG19A1GNqUntJC_qVU9RNj7cp9iRfuq8jvdyG5qETqlBT9XEUt3DKpcY23QF_NATh-5ah3af_LurG9nhzjGDZCQZLcCbWXPNWvlbF3TIy9V-HFeeSWz2kXxbiPJGM8t2WuTt93lhP4E_BuaVPFnZBq7g0o0pPp0M6JQfsL9jQ4ujn1jg1pDFwCaLh_-VKUNHbzoRSukTm-VRzA4SHGrQcXKE0bqMMKoJDAG5rEu7K3kTYLbB7dobralFma981bNtr3ZZMzaB9RZF7vhuUdo_WUqxkD3WGeV2v14ZOYPpDH4KvaVzxEraUgWJ1kJtIncTwYNU0Pnq8UpOzsw1lkwMQo_nkXNb-5BVUWk_b0KT0zBVjqonbL-LZDKLkZSiIKrgH6C2nsP7Cpd-39weJfhav_COWBdwHngXWaO5HPIZOex5cS02HmMizmvpHhrvtdGYTBMlVj_9o8nSlNupwnUPOvpvnenhCypjdvpcqbHQxrzWTnN52TzJh848wYKaUa7wVL0DWBPBkpEnZKSFxdB6S-Qs3CAPWRPQKVe1Z3_M3xbti_nMBY6WtEc9MQNN1mguLlGCWHdxIC_VXy5n4uKVXi5CyOc5-yn_dXdZ87b4nM_gGXTKrnZaDOavFcupbaYe4-SZ-pEN5j5uokI5ydVjBPWwUenEqm1Q1oHl2KN2emh2criNr1yk4HRSyapCu6HSXK7QAh-KgZ96YNSQ_R9asUKARjNiqUdnpqrrQYOdTXSTO4yrh7MWU2MG6wqoOjfhkSvAVZrF1oRWmTFzPmmIAMt1h-jw==",
  "id": "rs_0da7bf20b0982550016ab2be60a8ec87d0a5e9079f5e87e7fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.171,\"left_z\":0.025},\"note\":\"The avocado is slightly left of the jaw centerline in the wrist view. I will align and lower the fingers around its body.\"}",
  "call_id": "call_g5OFWUYhHZPaZPnXj12ELa1L",
  "id": "fc_0da7bf20b0982550016ab2be618cb087d0a97a04017b5d280a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g5OFWUYhHZPaZPnXj12ELa1L",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6819, 1.8175, 0.5846, 0.5442, -0.5949, -0.3553, 0.9993, -0.0288, 0.72, 0.5102, -0.1841, -0.0154, -0.2504, 0.9963]\nstate[eef_state]: left_x=0.367 left_y=-0.1658 left_z=0.0194 left_yaw=-0.0115 left_pitch=0.0138 left_roll=0.0832 left_gripper=0.9993 right_x=0.3017 right_y=-0.0024 right_z=0.1993 right_yaw=0.1054 right_pitch=0.1609 right_roll=-0.2096 right_gripper=0.9963\nstate[joint_eff]: [0.5128, -7.5692, 3.7812, 1.8144, -0.1978, 0.1294, -0.0171, -0.1709, -1.306, 7.3231, 2.1563, 0.0855, 0.1832, -0.0073]\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,$blob:6d4296801d44f6383dd7ddf8988f90f51f116dc90c67d1b91e9aebd4d573de55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3def8b7809beb674a29b89f8006328a551bc9f45f0f234a14535c036ce3d3c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65354148f29ec3a6dba7be95767d8cfe7dd9e432ea176c138297d9eba75da30d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.034 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7639, 1.449, 0.712, 0.0875, -0.6514, -0.4011, 0.9993, -0.0299, 0.7143, 0.5106, -0.1501, -0.0002, -0.2302, 0.9963]\nstate[eef_state]: left_x=0.3492 left_y=-0.1812 left_z=0.1266 left_yaw=-0.0246 left_pitch=0.0679 left_roll=0.0449 left_gripper=0.9993 right_x=0.3042 right_y=-0.0055 right_z=0.2089 right_yaw=0.0811 right_pitch=0.2021 right_roll=-0.2012 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -6.3932, 8.4171, 1.8046, -0.4615, -0.0269, -0.0855, -0.1436, -0.2803, 6.7761, 2.1026, -0.0806, -0.1929, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr5ojLMnXKIlhwTrkO-UoHmECM2OUMtvqher9hI-m6oje3vJe6XcoqBVNqpUc7dJ5LziwWUv7UJKvfJ7k7XroAbZRQ2JIcpZK4lGThXKAcH7kAWrC5a_U5ZbWgdMGokXWXeCHqVZvFgPO6UL12yiVnQowC9UUWRN7RC8uorrwaW7oGdHFSWcVAtTQ6EBHAfwoiglerLP2QvQDSnEaYqOW5Yniljj2i29VsNhMVmUytuUjZS1vCjWSNrXbQFZwrWEFf-93ABOzkHz-VApS_k9UpVPpYAq4ayHXKxXPzt01DAgGvpJ9ZW4ubdVxbeUfJbz3z_HvHwe658PbY550itNbLxIkS8L7XP7ATE6YnK4W-7S_o_zuP60QP7jH_PLRPXi5lrZT00wQT-isHCVAnmejcSSQJTYNl3Q9AyLVhFEhL__6ZU5YLfiCvJwGKWWusbmF-kOvFaJxXESMDpCshJuyUWgl1-_MkmXnqUlyYBnZXq5YKQIyiAEaGXraSD7R9SigZpO7tU7RU4jA6a4ZfrwfkGGrijOLggtwH2cfstAAEzYBFb2h92BsM5WQm7ZPRyZvId-6kOcx30B_TWKc1vjVkiN_pUOmJesgH1XaxRP3Fmo7e0gBXUsCm_NpbVz_xzVbWMDnKvoNv3mL64R81m8lJnvalcwLT_-Brco-kSPFQkSVhrJja5mnGSd6xrFXYb33JGK-snKRzqgi5vZt7gNxRIORb2JrA2GkT06GErTgsRukBK8YAJBk6bA6W8zWNRF5QH2oXz12oRSh13HktCYFM1XCrTdMmsyH_zl-jKqYzP9OCoTIb1zovKlfNXCH5v1hAdyUjTRgyIkk8gsd6vsByKiuqKmiZy9YVQd8wgZmYqAmTdH0uJQSZ3lFcEKlNj5y4RgSz37ol8ven6YO7xel7mD-cJaX4ISFvti21Sb5F8-PluW9vvRKu5LuSVzluEqtm-iHYv7gKfL3dwy8EU67uElprTz1Wb4kBeObKjO3DCW2jNekNG4dM4Ji5dkFwegTRoaRZUS3quMyg5iQ1J2MU-DZm2NbXN42ZbzScaGfqLd4KaArGliqS98yTQZj06FF58URdRqxfawfNqu5O0_GwONYMbdP82b6OZKqbZRHMAJWG-sSOAtUWLRAjVGdBYRcq9z28dDVNBVzJUwkMyMzZulHDhLgh-tkgZB8NhPDqiq7eqyRE-jvlrC3eFbUthuddw6l8Yn7gynxqqOzOwQZx8f3A==",
  "id": "rs_0da7bf20b0982550016ab2be66c68487d0b9aee25e5bd1beb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.154,\"left_gripper\":0},\"note\":\"The avocado's broad middle is near the fingertips but slightly left. I will make a small centering adjustment and close around it.\"}",
  "call_id": "call_Ou1ZuZI2KQvUSZ19CB2WGRln",
  "id": "fc_0da7bf20b0982550016ab2be67760087d0aa766c22cf15464e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ou1ZuZI2KQvUSZ19CB2WGRln",
  "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]: [-0.6056, 1.8492, 0.5987, 0.5571, -0.5488, -0.3191, 0.5409, -0.0292, 0.72, 0.5102, -0.1856, -0.0154, -0.252, 0.9963]\nstate[eef_state]: left_x=0.3805 left_y=-0.147 left_z=0.0112 left_yaw=0.0097 left_pitch=-0.0091 left_roll=0.093 left_gripper=0.5409 right_x=0.3016 right_y=-0.0025 right_z=0.1989 right_yaw=0.1058 right_pitch=0.1592 right_roll=-0.2109 right_gripper=0.9963\nstate[joint_eff]: [0.3624, -7.3094, 6.8444, 1.6484, -0.0952, 0.1148, 1.0281, 0.0342, -0.8957, 7.2957, 1.8584, -0.0122, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8cc46fffe051e426d34ba6b41a8a7c7dac0eb2f2e2956db4dca8227cfdf0273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8219d1f0022f146640dd26ad9aa31fbfc08b12d52aee27b23601a7af8d03a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc22ca9d3772c5f178f9488a3a0fbd84249036409c7e50e71d2f9a187b879f73",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 12.1 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]: [-0.6819, 1.8175, 0.5846, 0.5442, -0.5949, -0.3553, 0.9993, -0.0288, 0.72, 0.5102, -0.1841, -0.0154, -0.2504, 0.9963]\nstate[eef_state]: left_x=0.367 left_y=-0.1658 left_z=0.0194 left_yaw=-0.0115 left_pitch=0.0138 left_roll=0.0832 left_gripper=0.9993 right_x=0.3017 right_y=-0.0024 right_z=0.1993 right_yaw=0.1054 right_pitch=0.1609 right_roll=-0.2096 right_gripper=0.9963\nstate[joint_eff]: [0.5128, -7.5692, 3.7812, 1.8144, -0.1978, 0.1294, -0.0171, -0.1709, -1.306, 7.3231, 2.1563, 0.0855, 0.1832, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has closed onto an avocado-sized width. I will lift it briefly to verify the grasp before carrying it.\"}",
  "call_id": "call_SIfb8O3a441M8kTQoplukz2F",
  "id": "fc_0da7bf20b0982550016ab2be6caef087d0978987adb8eaa6dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SIfb8O3a441M8kTQoplukz2F",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.5681, 0.717, 0.1528, -0.5449, -0.3218, 0.5432, -0.0292, 0.7219, 0.5102, -0.1856, -0.0158, -0.2523, 0.9963]\nstate[eef_state]: left_x=0.3794 left_y=-0.1464 left_z=0.0893 left_yaw=0.0094 left_pitch=-0.0144 left_roll=0.0916 left_gripper=0.5432 right_x=0.3018 right_y=-0.0024 right_z=0.1984 right_yaw=0.1063 right_pitch=0.1573 right_roll=-0.2108 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -8.1026, 8.4034, 1.5849, -0.2369, -0.0073, 0.9988, -0.212, -0.9778, 7.2547, 1.8535, -0.0122, -0.0366, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1208baa3cd5f9ce330e27c1d9740906f1e5b807fe535106aef3e614c20f07b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f801200dcd0082a60ad2ff03c816a18881ddf29249ea207f8e60a9159c66e161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37a4c6d18b2477748c4d23fd3d7666abdabb2d0d47510fa408c9c62bc0466a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.498 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6056, 1.8492, 0.5987, 0.5571, -0.5488, -0.3191, 0.5409, -0.0292, 0.72, 0.5102, -0.1856, -0.0154, -0.252, 0.9963]\nstate[eef_state]: left_x=0.3805 left_y=-0.147 left_z=0.0112 left_yaw=0.0097 left_pitch=-0.0091 left_roll=0.093 left_gripper=0.5409 right_x=0.3016 right_y=-0.0025 right_z=0.1989 right_yaw=0.1058 right_pitch=0.1592 right_roll=-0.2109 right_gripper=0.9963\nstate[joint_eff]: [0.3624, -7.3094, 6.8444, 1.6484, -0.0952, 0.1148, 1.0281, 0.0342, -0.8957, 7.2957, 1.8584, -0.0122, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr56o189EpOZYrkUbrOUBabKL9tRknNepK5Ann-IrA4L9Ag_ZeefVgGFlUFYVUx91UA_OhW5MJLBJQI-BwJdFYv0WNxkdW_9hogVGf73yTH-5LOgvdtfTIWAqg9-ZZ-iQokZMSQhIz9MR9o7ileBEStkmzAFTKfDs0IpdzxZxmQ9qFpFbQlLolN530NYL3EoTB4pGuqt-Up-WANsUxSjU4DZRh5U6TNNsdiqo36mfJehswwrtvj8HhPlAHB33zTxYa0BvzqbBrZFIiCmRD2XQNu2zvOm1WtSym_BOHKqOsFz5urwtqvj-wIjzHWtVctcW-BQTvl5RY6HmXbH4Kq98rA55S8fplut9PQm4er2znaS7yQBISYhhckwKhAWkiLWP32c0U1jveOLfoUiJjCUAJYMbOBQIut6l_3XSwlEesmQGAQOvavElz2QXWvQ63M4osHL9xski22hBz8CJpCGOHJctkzsnHzvhvr_XeZQX0l97qmJFz9K14uLRV7LuuK-qdmFnFUJYMjsEvyb_Q6RUP8AAbS6_egw9rkdlV7qZk0zw1a31fxO7X7nuR31YePDf5K6NCliGkaKvEZXfdcG_kH1h_5f72kUfcBYBkxNCR8DasD6AtwqdZ7rYePdQQV-e0B-cN94EYepKh6pC_bPRo47nicARpZ-yofuI4Jrw8kNlxC02MTEQpdZQ78w54Ao__hF1lat55SM7kkg9tIF-WCM9aP-8EZXUmypdnDYcqD5ZEEKebmFGGhJV6KW3-_6M6mINFAaJ4pK0JQ10YRf7jKCoBTVABqY26YZFFZllKuKD86dNEaNR-vWTwX6JeUtTSCnyn6O-bSPtLdZoxXeUlQHkla796-7YqOfZF3U-1Dci4_9-kC2-e9ULWg10U1E_9gxLD6uQHVOlitG1ZzLbdkt7azPNaLL46nEwVVwucLqDks3Gx5gvQtksAyjHFEHLZJqxxzR96kX4xLoy53a_ijCVrf08krp2yt80yc11ianTI-p6AOgM04j489iYINJOIjX-VvdtvMfu-cN7Vc7kfwVbTZ6pM85EAfatar2d01qB2hD1EVkJqLVcNLElFf7KBWivHoNwyV8AP0eMdMPnfnHf8NUJ3WxtvK36MokUOyE5aueGMSssoSyBrLeTxUQjn3Gm5s3G6Gu-8w9EjitBrpF1WD_ueIUXHUR-srVpCIPCRwPoCwdPgjocscXYhNpnVXqdVPWwPvkOf7bBsqu0qgG_C6GADDmyp6AZS7yiBL5FJLbBmXjcMnVzVpYA4Ra5HdIkN3z8ZxZvHq9Zd_rRJfBAgqveNdpua7XIjjlGq7JgvJ_j4gUzY7X-QjXP2EgiADMzc4LYOjkjwOXnFVrI_trWJgs9lxPNuOc-BljlnOiCrbZOlTd0QTSDzH8_BvHut4pFHArvcrNs4B74f11IM-ma61Hql9AnJLr6yQ-Va5BH2N19PYLPXiHnjgm1_3MDgdZ4pemUHWvI06SLl3RzgyCtniYZezI-9iqMXtyi2i_K37BO2YQHM4pUNZz17XNSmPIle3-ouFh7Xzy64lyi4wm0vqyDl22Invc3J7HDv45TxltITMxjHXh_Wk6qmuiLXCWKHyA8oYN7m49XVBJlOim26cPkqDJ0bkjrRp8q_dgq0WGRiHeJuNzuew5bb4mcJ7DVblG_Qy9ZMfxrAKJADJc5yzpeAJNfiNy8NcxwCjJeq6UoK27Bobxw7W5eyh7lwHRSNgfZyE30cAONEAXMqF4VaM9YilYhqu9nZhJ1nUCfzp09eO47jmV44RBJcHbzrGf3s19drxQCyQlpSrrWyDxRqCn8T1dPjjTxPTkndPW3cn4mM29RdeMSHXnHLJtMlxmYaE7U1DXBJ-v7Zb_a4MwAsjI77_kbiFj4MNMl7nDCZWOClS8912dGoDp2n_8i0FDwWZqh9f2HWvhkRY-HzG48tOMYUMioSpCwItshNHoUeiOYUI46XxwoZwCJJkX3pyoGi8kG5NO-rY-ZndQcTBJi9AuzfRFTozY1iYXeNfrbecbAIipSMACp9_1nmZdWAFKZATHSl3FeDcsoirVFtP26KvZgL05JJBHBnma5-q4POzRKGYUhPxtetHv6vPn_T3J6GcIJszC_-vGnOApZ0Eg8zux19XThfSJlq6vvQG2-cooqWuH783Jer4jGeLBPoVtYzIVYNCHiq6CT7IU0YLA0aZ_sbAMINaUvLyRjjlyBWdCPMRUqCJT6yNuEOCV01Xjwf9mll930f_WuwrfBSUSuw==",
  "id": "rs_0da7bf20b0982550016ab2be71b38c87d099a90fb0dbdb9326",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.30,\"left_z\":0.22,\"right_x\":0.472,\"right_y\":0.15,\"right_z\":0.15,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The avocado is securely lifted, but the blue bowl is beyond the left arm's lateral range. I will hold the avocado clear and position the right gripper to grasp the blue bowl's near rim and bring it toward the center.\"}",
  "call_id": "call_S0skvI4i0APLZkQx1LrXRWTf",
  "id": "fc_0da7bf20b0982550016ab2be78563887d09e72a9530ce65d9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S0skvI4i0APLZkQx1LrXRWTf",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.902, 1.8511, 1.586, -0.5892, -0.7353, -0.5861, 0.5437, -0.0162, 2.3516, 2.0399, -1.0748, -0.9825, -1.4322, 0.9964]\nstate[eef_state]: left_x=0.3917 left_y=-0.2988 left_z=0.2079 left_yaw=-0.0049 left_pitch=-0.0251 left_roll=0.0757 left_gripper=0.5437 right_x=0.4905 right_y=0.1426 right_z=0.1164 right_yaw=1.4625 right_pitch=-0.0112 right_roll=-0.0528 right_gripper=0.9964\nstate[joint_eff]: [-0.6359, -9.9077, 8.8274, 1.0525, -0.5592, -0.1343, 0.9548, 0.1709, -13.1077, 4.2598, -0.7937, -0.7155, -0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d2a75276bd1a563c3c4e057c545cd740ea357697f1503c99e05008568bf361",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17360073362418295e7bbd0eb11aa0f9b76c262e73b727cb8abf3f78f99a8279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13836948153a1ee1c144d94e727531fb2d0dbb1cbf5769784357bf051bfc3176",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.668 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6044, 1.5681, 0.717, 0.1528, -0.5449, -0.3218, 0.5432, -0.0292, 0.7219, 0.5102, -0.1856, -0.0158, -0.2523, 0.9963]\nstate[eef_state]: left_x=0.3794 left_y=-0.1464 left_z=0.0893 left_yaw=0.0094 left_pitch=-0.0144 left_roll=0.0916 left_gripper=0.5432 right_x=0.3018 right_y=-0.0024 right_z=0.1984 right_yaw=0.1063 right_pitch=0.1573 right_roll=-0.2108 right_gripper=0.9963\nstate[joint_eff]: [-0.4444, -8.1026, 8.4034, 1.5849, -0.2369, -0.0073, 0.9988, -0.212, -0.9778, 7.2547, 1.8535, -0.0122, -0.0366, -0.0073]\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": "gAAAAABqsr6B2B4u6k8MFFsWPxmHUELYqe_qG30MmpCzMHxHZLvAHNuox3R8fTQw8YWD-iSOzAs1bx0V68bqVRVFSNG8e05gzhhbfFWc9NUudVgbwdqKE73E-Pe2TB5hRkVNm81TSZy-yBH695IvVIT91FVpo3ojULED9cLf-QRhjag7sNZqZnzJCXxvHsVcabzwRoCykcyaRPl4X0BIu_3IyTu-JwMZ13YoG7-u6F8doug8E_AhMumiS67JfdVLHNoPv3gMAJ83ZT1oL59T5BiMR5NPTMWl0Y5jxibCOf8A9LH9aALEgztRI4rdSLkYLB6nl6ib3BYvGEQLnQk4qSVql96dvRUupjEE1yGCAKCXHc3u6SInFBOEDGWDmWxFJv26txfx9LZW7EPUm27qraiWp0vc4dqOt8Ph9Ai6K8Tqygx_3UXuzJ7zmL-psRqXhFDsklVOG4b9ZiJyYi9tKiAcC0ReqgNIdKajbO5w4soL2yw-CTwqtGZTkFxMsclNlMz-9ugUfYo4G3qqQdx3UDGKuz5nUg79kdI2j_gFQBpsu-Et-zg_pj366SBsyjryRHCoi0Hx3rjeFkm3XkoVPn36b3l-dzQSwoQ6V-e7IB1L5ZT-SiupDJfr1SRI-ZAUkX-NYpIYdyybnnkBf5yXVXf-Z-Q6yQ39MxN4t4M62X5FkCm1C81zwmK0ri8hkdhOIjTO3sjsUs9OXcGpdzPe3gOF6Yo2MgZSBAzv5f3REr3C5wKLTELGfzapyMnk5Gy2tX7xrAvVOtAVyO3stz_b64n6UbgSMMJHUiS7njtq7ZSwx8w8LP8iWvHxrKLRGi8fu5VPGkQfBJeXHdLvt9-8JIg6kxu9cYlMJN_mGbUQeRdPE9Yd5txtQagi2TLu9uFCbS5OXrR_E3xG8QGj3dwWtuFcR-xRvlR35m2g3Et90RucSGzmmRlbXRmpYWtXDK51ALwZ4wSnZ3rsEwzbE26UM-pQDcD8hNty5ArPsgsH83tr65oCqqvB0yONJmu99wi0dYB17s6KkZLBUVkGqu5vcneVotDkvEMtZUMLNYq__-9ia3jJTH5T0OOUw5pBPvKV1JPFXb7osyNj8rgQjhAtaDLKil5S0fh0mBrZWoNbHMSqxYO8vCtL7e2ZyfXnsKWUaZsabf9zYbhM4BU52WBkO6oz97PCT4GTiSCPP7bA1yCxUbpuW4XevKtsiXsLtKS4SIB_zj1nSJmd60QkEAm7jlet_Y-bizlaTm16JST1SkrJ8vMFsfLul66szRuoMHcswLBEGOXDcim6EcbmBHmflMwUfqL2DOy4xA==",
  "id": "rs_0da7bf20b0982550016ab2be7e7e1887d0b7bb4eca0ed12c8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.477,\"right_y\":0.155,\"right_z\":0.045},\"note\":\"The right fingers are oriented across the blue bowl's near rim, clear of the pear. I will lower them to straddle that rim.\"}",
  "call_id": "call_LBFpCr3LxebkNKJMz2Q327ZN",
  "id": "fc_0da7bf20b0982550016ab2be7fb84c87d0a11dc3c8a1628137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LBFpCr3LxebkNKJMz2Q327ZN",
  "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]: [-0.9039, 1.8618, 1.5883, -0.6109, -0.733, -0.5991, 0.5452, 0.004, 2.3653, 1.7668, -0.8326, -0.9813, -1.4208, 0.9964]\nstate[eef_state]: left_x=0.3898 left_y=-0.2983 left_z=0.2009 left_yaw=-0.0006 left_pitch=-0.0446 left_roll=0.0876 left_gripper=0.5452 right_x=0.4673 right_y=0.1523 right_z=0.042 right_yaw=1.477 right_pitch=-0.0164 right_roll=0.0011 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -10.4957, 6.4889, 1.536, -0.3932, 0.0611, 0.9304, 0.2393, -13.7915, 5.1214, 0.5104, -0.4029, 0.3053, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab818649aa0a1728cc427798bb2784f3219608cbe27a55f02abd3fb74af2ad84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5edc780cc4fed467845568321715bc16b220c8cc96760145891519c108278",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79b5516f12022d139dc43a04e5f9dba020ffabb0007fa8fa7a70e2c773b30cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.35 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.902, 1.8511, 1.586, -0.5892, -0.7353, -0.5861, 0.5437, -0.0162, 2.3516, 2.0399, -1.0748, -0.9825, -1.4322, 0.9964]\nstate[eef_state]: left_x=0.3917 left_y=-0.2988 left_z=0.2079 left_yaw=-0.0049 left_pitch=-0.0251 left_roll=0.0757 left_gripper=0.5437 right_x=0.4905 right_y=0.1426 right_z=0.1164 right_yaw=1.4625 right_pitch=-0.0112 right_roll=-0.0528 right_gripper=0.9964\nstate[joint_eff]: [-0.6359, -9.9077, 8.8274, 1.0525, -0.5592, -0.1343, 0.9548, 0.1709, -13.1077, 4.2598, -0.7937, -0.7155, -0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6GQs_Yw2WoLC6tfCrucyhtanuZeG9Bw8QroHJMxDSAiW1l0hnCWwRG_kNJ0RUBEwX4-1xhWQRgrY3XoHyVqsiH8AYdJWrhwKSvShkkO-RO2a_Je9wG1Pb84aO6bJCPV3l7-5ZmZVGKbOtSYNMZljY48dTjZ_PUT7hsREsCPsnq5zAczlqEaMriUCLvEHzVDrzruviR-S-2ecpx2TmnPA4o8V9u0iqwgowpveEj0PXkganT4Fkk_2ugkPq38tlzAe8RSZZv2Ow8riCEsBIhaUflLQstnaau3nzkO1IWfWaQWX6Rj2MK52TqB7zX2hnOxg83DDigSEhf98xKRnPc4M1ZqOp1Wp1ErOkZjQKD6HlOYzdjkjzmsiCtP5_Bjb27a2fBKCr9aFSGS8unCbVVeeHkKbFP-zKwF2HNnYsjzcCKTgDJhvpN4AmlqgdlwTEVpApsEpktI_LmMPkfR_n5NWcaizt031XEVIzhu4R_rHVQXjUWVZt3nmoJDBf8bBI_RaQSvgQjQmtuijYwteQvfS0jxbJP76ONNDwYQmjIOxEkEzYTCF-yquJ9Fh8_g30syqtRGkD3Wz7QQZg_ZeFAwEN1oVSF24agFDOvdUk036nH--rAJgpuppCJ3LA3tS-ip7eyIWpG1gvpMFUosAFT7en5Sd1asXgnbWJsla5G-0uGmHbfG2ySsIoXHGQRKHEn9D_C0MzoKOZ9K2yMxY3Q5ovEiNtnO1sBzw7MnotfqZ2K3kZkD-7RAOfZUwidTiD0aCFnqkmW2NV9lr-kP3YlQizkaLMgoQlkapYFTZol21-PzPv6S_OWvbSlr57nrKym3dc6kW7HcjBqI2ccZB5d9G5gZCz9BRK1O2wynrINwgwMIF2C9sUovQK4IkSK5pClhhyeUHCv-85Cu6ITdl-RNJXk637b5TcmArzONGSR0zsr4CIlXV5FhIF3uMDTkEkmJD6RvpzbGq-fbMD9VYLSG2X_X0p7D31Pxj6Nb2BWvEdNzUoE4NPeIpovt4hA1hksSPm7Z3w42xb8BuUy7AlYuEcX_AVLcF5XksiNku3I2fg1LC_oVrJet0jj5NJUcle--cPN8x2f9WrVNAVttNRz8va-9aPimRFcHrfRjKlvtAYPIHDzvY1eFWNJtmk3gOLm2body9582qRnl7ZrGxdop8oTnmVnp9FTnKmaIzA46qoT3Of_Jpi3iNnLn3MF7wOFdnvDNo0nLYXeH1xLR68w8cV2hl0MHJI-l8Nfo-2y_vyrI6bghp6w7cdxGxcyAVzJ5UFCPH1eYV_UiWAZjMQq-zWhFIRKVkwAvRRNNDJLwkS3rnx35FiQtWoUXDiPDKj8KGKn",
  "id": "rs_0da7bf20b0982550016ab2be84731c87d0be64b6d0effae970",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue rim is between the right gripper's fingers. I will clamp it so the bowl can be moved upright.\"}",
  "call_id": "call_WYcKrIYFeCFGTNJnPW2Pn6EE",
  "id": "fc_0da7bf20b0982550016ab2be856f8487d0971dd440c05bc3e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WYcKrIYFeCFGTNJnPW2Pn6EE",
  "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]: [-0.9039, 1.8618, 1.5883, -0.6094, -0.7322, -0.5999, 0.5467, 0.0113, 2.3646, 1.7546, -0.725, -0.9894, -1.3952, 0.0186]\nstate[eef_state]: left_x=0.3899 left_y=-0.2986 left_z=0.201 left_yaw=-0.0007 left_pitch=-0.0441 left_roll=0.0854 left_gripper=0.5467 right_x=0.4806 right_y=0.1566 right_z=0.0436 right_yaw=1.4713 right_pitch=0.0018 right_roll=-0.0723 right_gripper=0.0186\nstate[joint_eff]: [-0.0205, -10.0308, 6.6393, 1.2527, -0.3687, -0.0073, 0.8571, -0.253, -14.0376, 5.4222, 0.4518, -0.3541, 0.0415, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb331fb751fc3fceea512f2b48eb22c197e7ccfbfb5679c9866ec33b455200ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06007363e19b86df1d3493e6c038feb36d3e91ea8a29298a3b5b6b9dcb5f03cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ed2283cf503b16ee16065bed2786db52ccf1462f7d29da5b041827c3d7731e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.346 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6109, -0.733, -0.5991, 0.5452, 0.004, 2.3653, 1.7668, -0.8326, -0.9813, -1.4208, 0.9964]\nstate[eef_state]: left_x=0.3898 left_y=-0.2983 left_z=0.2009 left_yaw=-0.0006 left_pitch=-0.0446 left_roll=0.0876 left_gripper=0.5452 right_x=0.4673 right_y=0.1523 right_z=0.042 right_yaw=1.477 right_pitch=-0.0164 right_roll=0.0011 right_gripper=0.9964\nstate[joint_eff]: [0.0205, -10.4957, 6.4889, 1.536, -0.3932, 0.0611, 0.9304, 0.2393, -13.7915, 5.1214, 0.5104, -0.4029, 0.3053, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6MM99pl7LPHhB8qwC0R-aBoW672jje5cS_oh1lqTzS2WFLXslroCiD1TnSKTpTH62O_gotBNLQ5R30GzKoVHbaONiQ3LWmSV4xXIcyVdFYqh3WUgjcljUElECJpxlDC-I6Bn2MffntEDjODY8I_rTeOZgDGO21apbTw8XEXdakDocl9SGRUeUEaA_sLdrtAKSotua-7FkL5BGESZwLoAle2fXcZsgSktBg2lPTaSVUmeLIrAvjj5iXY8OZi4gmDKSYG9PA3md29y5NZW9e5ESauvCbgq_aCt2i1HOLY31eo3VPa12fnYyTYL1bHsuX5MAnfyOTw_PDDZeNOtmNJyUO1u3eSfPi1PesNSjavZH8mR7hDe5WLES-5P8A6oLPigsG7UF_5xJjBlNHbcMcm_xvzm0sycY5F7kOzyc8YCoKHa1zEGCbOSuscdAv_JFBLGb2gcFD54eOy2igKja6JYP597wO2zNxYbagQ4aPjOT1KfQ9N91YAkGTiWNNp9z0XsEoZqMpaq_ZSSWsVD3_EFd1g_FzKXtXFQmnvrHEz2BMLQrOBtJMuupJJjLlD7Aavvl0WIIpfH_3jJz6J_Z6P5l0AdThkbNjXIV3wufYeALBrUY6O4k6G9Ah-X4ed3LJM-pmfCigQy6bqZBqAlbrSvz8ZqTUQeHccX3Cx6boYBDMVdU4A7Vt_NDiauQB8iBpEIkJLobiuPhu4HoLVO4E0F-xEthMIO07o78vYdtjiDqs8XacEW-LTM2wlIPNbU5OV1NH_8g1V-6HqgSrAnvytYldpJnid3AtJAy2xrrnGkAplicOivaEk8EdecNlNisIhUMyCcBruSlonCBLQ85McvTOZZeXR-6e2WpNkUaUkb_SGPANyC6ljLyUE-2gZ26F22sw4wJCliR26fuKD3Ksf6cCKpPXpaIM1Sln2Ti2dg918ODNiZxt2Sm_iFRc6U1q9gHWFqPZwlCc36U-g5SXCLXZ9JK_ZtBCkHuhJBglgHlqCjFLSVVlrDzqPtPxlzD5cSCEo1KuZRmONLc433HPZctfxWJ-c6bIIaxIvg47e3GMx7O8sBP8lxCiI_XouBQBnFljj1w4NhJOBhr_SZZOnk7pvl3o1eA8HW5tp3XLdfqtuVRUunmSm3crjP6FLJfrXRbeOS0aQbL9ETsWhIns8REFxtvcRPWZB4YR_Dbtqf6yU1n_aTzXnsATRAQrgeAcGZODdUXUCxmok2Yemyr-aP3SWIhdX66MXFaUWNWZbAmA8hI=",
  "id": "rs_0da7bf20b0982550016ab2be898f6487d08d3de9a072fbbdb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.8,\"right_x\":0.519,\"right_z\":0.055},\"note\":\"The close was nearly empty and nudged the bowl forward instead of securing its rim. I will reopen and advance to the rim's new position for one corrected grasp.\"}",
  "call_id": "call_sDsrycMcxQHcBP77mT2kQI1F",
  "id": "fc_0da7bf20b0982550016ab2be8a3ba887d0aa24bde4b4a99e1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sDsrycMcxQHcBP77mT2kQI1F",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7254, -0.6003, 0.5497, 0.0113, 2.5011, 2.0521, -0.8703, -0.9806, -1.4029, 0.7955]\nstate[eef_state]: left_x=0.3895 left_y=-0.2995 left_z=0.2003 left_yaw=-0.005 left_pitch=-0.0485 left_roll=0.0821 left_gripper=0.5497 right_x=0.5185 right_y=0.1562 right_z=0.0545 right_yaw=1.4733 right_pitch=-0.0053 right_roll=-0.0952 right_gripper=0.7955\nstate[joint_eff]: [-0.2803, -9.9077, 6.694, 1.3211, -0.4176, -0.0611, 0.5934, -0.0889, -12.7385, 7.6103, 0.3687, -0.569, 0.0269, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4879670de3dd3d8b8bce3e87976857a7e050003b65b916b44d79e2325583c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1501b0c7ed1f0287a241d001ef7b9f7e5710bc1537734bfa71b90ac6e989a668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c996631002b75bc9b5b4c9b2d64a19c8a3707c0fd093cacd86a5b0ad8bc15bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.363 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 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]: [-0.9039, 1.8618, 1.5883, -0.6094, -0.7322, -0.5999, 0.5467, 0.0113, 2.3646, 1.7546, -0.725, -0.9894, -1.3952, 0.0186]\nstate[eef_state]: left_x=0.3899 left_y=-0.2986 left_z=0.201 left_yaw=-0.0007 left_pitch=-0.0441 left_roll=0.0854 left_gripper=0.5467 right_x=0.4806 right_y=0.1566 right_z=0.0436 right_yaw=1.4713 right_pitch=0.0018 right_roll=-0.0723 right_gripper=0.0186\nstate[joint_eff]: [-0.0205, -10.0308, 6.6393, 1.2527, -0.3687, -0.0073, 0.8571, -0.253, -14.0376, 5.4222, 0.4518, -0.3541, 0.0415, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6SMYjx7YIKZ2bIZChmmvHioE_YY0fbArLc_6994SFaFI2jqc8T05EmSsTQ62WwLKL6JIDMpG86rREVqPLIzGCYfCjk5cpp_L84HwPjRrJ1M2Ss1hg57bw1hiKz9v63FULcfxdpgjh4ofmTJ1rZ5-3D84j3S8PuZ0V6O02e223W9paig0dIy1lzvLx3ckAWnm9u_cwarpkF1kWEkt2uKgJmbpqBOJlvk1_kcM2tqWXrg_dtugGONOMYG8nVGjvkXno7L2Hatuh_C691hL0I-aKp9JdJwXbCuewzrsbYujDCRBy8BMMgst9aLtkEN9X8U2yim-_DMfvrG73R_fl3JY5tCZJwSdDVPSg9sUiZttUz79oi4yIuyWr0Xo9Fd4eXdlsCK_hZdtwYIUKZr087qr56S1bieFZBqJVykJWM4scAIVqzNilOSb-yvG2BgpE5JVARY6AJVd2kKX75doFSDMOaA-MxbxKD3hmNYWHjffAVTvbpASAMYTX3yy_4VzT9p-mWsDD6jvtWiKHajpKYfAkfGqtmTI4qgeNawI7X1meKqp61eqwyVubKJ_x6V6NwZHsrtqDV8uY8u4jXQPo9TAMohInbl1O__IkS3XvncDcCTSNy2nspTUyZ_1S83Z-RigJKx7vKYz8PyGBUmmqXxTT6_yWZD54qxPc3L2VFB-t194lIt5tDrmlOW0wS99Jgt1gtCKTK4DnSg2re6wwCtrq_HoocPTzM5DnaMUnIfqOMG8EFkQCh0vCmgPeD9iI0NaVGsmFU1dtQ6wBmENIULG2Hc2mLqNPkMECwbmW7d48c6YeFlgaCFpMb1tyDhlB48Ym-U-CZVj02UXJyPxl6VR2K2l-zAnqcCq6krfwsbkKApx6zyCBBsCrNWOZKHTEepuphgbLk2lOeAPN4qec4M6o6P0rZUpB1tTSjvgqg0XHf9nv5-nGcU1wDpd3KSnyM6IWKbRCe508_WsxEw3_Yyt9amzrEzXikWWgdh4vKnIiYpygJX-GR2rkJw972ZyaScO58obTDkCDqBQNsDflGrgn2Qpt35hakPPhIE27RVP-axFQtl8RlxTJM9Ys7WXyTuF57hGayfE_14vqEFJWzmS-F2ytUfx6s-sYfitChn7MxKCWlp35rlIp4Xpya3wOawGTcp14o16yfGKYTUG5Rsyrj3qyrQ2Rp4MA0Ob2R--hJlIGGM8G46L4KXWycB7E92eS2E7eXM0mQnZsHT1n-LW9mHAmky6TKMJm5sjiEPWfTSKwe5f2irPg2tKVa9asw0kXZ4u6gJPzIs9yDz4FIKTwWyaGp2iZA0zQU5zpOL6VLioPTcoX-Uq_6BRxo1_ZurF7kOUi8Y7BTZqFzjKHtLAZ7m3AdO1Gvjo8xyU3rLQDteAuLDlEaOBHxhBd7Yzp_9X9r",
  "id": "rs_0da7bf20b0982550016ab2be90320c87d086679675bc40f212",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The near rim is now deeper between the fingers. I will close on it and check whether the bowl follows a lift.\"}",
  "call_id": "call_lqCkJUo7krPO8RVhKudsPLSR",
  "id": "fc_0da7bf20b0982550016ab2be9201a087d0a916d91972ccae2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqCkJUo7krPO8RVhKudsPLSR",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7242, -0.6003, 0.5521, 0.0113, 2.5046, 2.0563, -0.8722, -0.9783, -1.4059, 0.0114]\nstate[eef_state]: left_x=0.3894 left_y=-0.2997 left_z=0.2002 left_yaw=-0.0057 left_pitch=-0.0492 left_roll=0.0815 left_gripper=0.5521 right_x=0.519 right_y=0.156 right_z=0.0536 right_yaw=1.4743 right_pitch=-0.0077 right_roll=-0.0968 right_gripper=0.0114\nstate[joint_eff]: [-0.3761, -9.9214, 6.6667, 1.3065, -0.3639, -0.0073, 0.6081, -0.0752, -14.4342, 6.0513, 0.7253, -0.5299, 0.0122, 1.0183]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbac36dfc36cc970c6cccc4aa84ae9e3be29ea3b37d5a20533c6eb79463052c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb291ff05575cd4c7a24480e1a292c059eada2d65a502ef372368db5c01592fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9510925c3337758bf925254fdf2a566bc6951ccb6b7c398aaad349db4c0413",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 9.102 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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7254, -0.6003, 0.5497, 0.0113, 2.5011, 2.0521, -0.8703, -0.9806, -1.4029, 0.7955]\nstate[eef_state]: left_x=0.3895 left_y=-0.2995 left_z=0.2003 left_yaw=-0.005 left_pitch=-0.0485 left_roll=0.0821 left_gripper=0.5497 right_x=0.5185 right_y=0.1562 right_z=0.0545 right_yaw=1.4733 right_pitch=-0.0053 right_roll=-0.0952 right_gripper=0.7955\nstate[joint_eff]: [-0.2803, -9.9077, 6.694, 1.3211, -0.4176, -0.0611, 0.5934, -0.0889, -12.7385, 7.6103, 0.3687, -0.569, 0.0269, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6ZIK2VtARqtJJTjXDTPxl6PUJ37hzTEzHKVzF_gDF5hOw9OC4pJDqj6lgo3gFv_tJH8PMJ9rJn0lzgBjiV0DojK5sKV8smij2xzIwiAxwPL4Grquk5xnJh0ZDGRG9lJjZrWlfWmGC5d8gFb8QDDQ4OjgFZhaREIyFvz99q_QMoWuNzCU2Gw2SScsbCOBDWjjn-fzRNWA5Fk316zE8i1DuHb-oJBmGgjuF34kXO3P7Tdu_PmGkk0Qk9ituXO0qDp-iGDgSIeYj7Z-_Ui52fETkJ1bOFQ2hzfTGckagTxjCGxYepvZ4Dm7FRU6w3U0o5BT97tDqnOhb9vmSH-L_4rY9eE1KtM1mPsntNCl02b8QETD7vFo7swQkQ1p7bpDxStG0ll_eEebeF6vFoCYDTKjtnb-m-7eC52wOYa2QZd1adASwa082fP6zxtru1_8G8shDA_UYPatPxl-C3XZH_OjILabryyuEP4yVsSeZuGKxovDjtg_f2EkaSJ7VhzIzWcMQxGCaQDT2xTvID7psGiTT9YgbcF7_4Df7jSDN_U14Jwl7raf5r_3HKVBRLohCja05a7kh_WlESTTzICJptLvLURk8Z9BaAau7js4gw1B6ZaCtJDBvbsdrmtPgrdHbqJ6QDCKbcLxVy452g8gPXh_RHMux_ab6Zxqg9axFjR9cqcmHoX3PPjvWzhW4Vs5HDfUKi1fbg5E0HssdQsLYcsT_xQSNNJ6lg8Ad008TDMEevbvZqqAdGFAr_AoAdMN0_YPK9zc5G87jCQEhqxJtHZkJEFDy22OlbPgOcTvWAbE3DKr9t0ifBqkQd0ypjPFvHWIK9mELJRL7kGSaGNokeA3lj-cAiQQwnLnsR4Te3ZfkWmnXYk-U8e4dqHMjWg6kPk9wBM7dTa6rtF9q9su__h3Mkrlddgdrl0exHia5K9I53OeyCwddYQVVztiJMjMp5-DjUhx78Ue72E7oVVgf_YwB5NAsTtzMofGMkZxvaFZouWRUSAI95YyAd1Id0YXMSM76dirfYQ8-qmHcZ5emnJb0Ac_pLskd8b-rVgKyVXseqo_URd19fUj-l6d0KU5VvYFcRbEaIyjHKwkleEHMVwGzSM1WDJYIl-7ROnbeagEGLVMZsnNRwmS1K_UxxZrB7ME5cA243rDKjJXiPjNrmnEwnHXmgEgrlPt_2jAYhgKpxOTFHdCtpygSUYNbkPyOzSX6QF2Pd-n4bKmJSC1PHGMHXuXHQ78n5q_Pehj3T7Ff4cR7V8wbyKbk0RFcsWUkxSbrR",
  "id": "rs_0da7bf20b0982550016ab2be97327487d0a81492d988c45f54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The rim is thin, so the small gripper opening alone is inconclusive. I will make a short vertical lift to see whether the bowl is actually secured.\"}",
  "call_id": "call_BT8XFHjS0VHDZFgcInTt881k",
  "id": "fc_0da7bf20b0982550016ab2be97bbe087d0b70fca7f1f7fefee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BT8XFHjS0VHDZFgcInTt881k",
  "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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7181, -0.6006, 0.5517, 0.0113, 2.5042, 2.3116, -1.1217, -0.9707, -1.4063, 0.0138]\nstate[eef_state]: left_x=0.389 left_y=-0.3005 left_z=0.1997 left_yaw=-0.0096 left_pitch=-0.0529 left_roll=0.0783 left_gripper=0.5517 right_x=0.5254 right_y=0.1553 right_z=0.117 right_yaw=1.4726 right_pitch=-0.0144 right_roll=-0.104 right_gripper=0.0138\nstate[joint_eff]: [-0.253, -9.853, 6.6803, 1.3553, -0.3736, -0.0659, 0.3834, -0.1436, -16.0752, 7.8974, 0.6764, -0.569, -0.0269, 0.5836]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806d1dbcf17934f7ce32d8ec0668c7fea7a369385d431fcd2b184b52d374815b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98683fee8079a29851c853c83a00fffe918946511432a35ec4f131b007619418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44412d94772cf32f5fbce01cbd3ba7078f7ada23a19d09ffdbfd8cdb41c1be96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.761 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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7242, -0.6003, 0.5521, 0.0113, 2.5046, 2.0563, -0.8722, -0.9783, -1.4059, 0.0114]\nstate[eef_state]: left_x=0.3894 left_y=-0.2997 left_z=0.2002 left_yaw=-0.0057 left_pitch=-0.0492 left_roll=0.0815 left_gripper=0.5521 right_x=0.519 right_y=0.156 right_z=0.0536 right_yaw=1.4743 right_pitch=-0.0077 right_roll=-0.0968 right_gripper=0.0114\nstate[joint_eff]: [-0.3761, -9.9214, 6.6667, 1.3065, -0.3639, -0.0073, 0.6081, -0.0752, -14.4342, 6.0513, 0.7253, -0.5299, 0.0122, 1.0183]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6iVOr1RugMQy9hpKTJi2U02UHkFggCK9A2hRIw4VSJf8rQ6WlEI7Lf8Q20VX2XWHrr-m1w2j5dPrv_pdNfyC5BeEae7eM4afMBqDkA3YihcEf9-XYfWRQrZsmKeoxCYLqhsQDGYtU-jSGi07z3HHht6KT4MFTdnkikrBks5srgnHnn0GRRO0Coxzod8BskM6aQ9OgfiQ0HSfTbVobwINUoBAX8krU95rgEf-7HS4rCZ9hJ7GsbAnSiq2kVsr8U3A0QsH5YzSoaSLn2WwwQZOHzRKzDMz1ctw3gLUeK09jSXhdCT1B9qts_xl2qsyZuqBVqrmd_GMqi2mXyt-j_fQJO5eZQ9dEUcRZiuPPDfllSx1bKU9yCZSktF6l3AZ4_kMafSB2jyxuPHjddMMYT7yKNIJOm-syMsym6_QYBWxOmffLFy7LohboAT_JdM5kd015OdDnc_3MI3_RKVDg4X017Q_y_X05H-levBZSX2mCREolNBf-wAu994lXe00GENIVtFlvXEE1jGumeetSdmtfpnt_2tTkFurwfzKZa92eLWVMGeUZS1Y1T1Wov3jxyjyWKKiDW6q6i8ryd_6ukIOqDmTDj2Nx1I96Y7xfUNi7RRJQyQPonVC2hdbn2Nr03VjCbpsG87N4FLUB-MfCSdiB0mEVileB-wpuYkOzPalDOExOszt91cq2qaw-0C5bFHoEAVVvtq_WwZUE65jhyQxSsdCU-pgGxp7TWB8UOrHhnGz4nV4YfGmTvmmbHovCAHALcDFdXX1_JQBUjUkkOGuUo9z9ecpLkppclDZGZIGsw445mATT5vt4keR0vFvgJzh99ix2GvJj6MtI3xaPYCBIGPTAG6XIKRwhuhczusIAJzXCj3wKUa2QEganNI0Iyxh1uZWFhRUuo18JChN34l62TIh-sV3qgjgym3nqe5qRWxjcILvR5FAt0Dy93UrPZySjXGvoFgB559j5QztqAjswzfjXSbSLl6vXbe8hEo5jtZpWeogV4FfVu5scfbkjK9MZTWdSs24dc28lfo9xL28GkgM4YDbRI4T8pHKx_hwq9heu-KdNSXshCbIGUETqF6xjqwRAB2TlZIK8p4XjWDnfI2afj1_NoB3jV8-b2hIYbkv7JYVYRDNbA3Kyr1-b2I9c6dx9rer5Fj7gw8XsPT2CLsudr3FKOn_OISFJ2JDt2ijAN1OeFEC_1-yC-HVW_RE_Dayr88Ue8CSsXhb4jT6Xg1I7-c_41ckebSzqSVkPK0GiwcZfE4-DGHz9XleBSwRTRF1aHch2QRBChINqKo6rZkY7t44sT8NNjFUNXdXlgSpXoSgu2zhMqTowdV2D8HOEGZ_TWBGiTrWvGM38DRgmdO1BchcO5_-zJVsRPT__hFaDW-ahK8Boi7tjX9jxOiiClppfK45rF-0lOg6gFm5oQlLNt4YFDePnMzTG6T8aLFwfiLkdDhlEVdmsS1Y_PNYzIuBokpnuziM8gEx6nPItqGMm368XPYX4hHIOBc8x531OfwfeR7GseYnHlABZRwqBHXidzbwD-3syFpSG0r3L49Oawfu4USMcPl4GN5QJsolv9Q7ah19scpdcYPCe1z8ol4NC7c4dsriR9IMugKjpPGLQWSgrTxu9s2Yr2Cm6mFZgyYa8FB3j0bXGZDnI_2htCsCqlw-ObwZCE3ZB0ssTSb3Bu5aTNqQRiDDSbkS6KSv14HCetiqCe30QPAvbBmBxiSmLNdIv2koUVRd_zUtaT5NRST5SHpbDitFWg74zzIQ-Vr_4kODQFmLb5MW8_yxaoLyVdO9Za9UKL_pnPnQ4hPkJQ2RprT1N4VxKel_IQxBsHp2OvwuObeT1_ClavtWha",
  "id": "rs_0da7bf20b0982550016ab2be9bdac087d089eb2236bb914145",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_z\":0.065,\"right_gripper\":0.65,\"right_pitch\":0.45},\"note\":\"The bowl stayed on the table, so the rim was not secured; it has been pushed farther away. I will make a final forward-tilted approach to its near edge, without pushing against the bowl.\"}",
  "call_id": "call_gIzkFECSQRnXTS1LvMRR3coX",
  "id": "fc_0da7bf20b0982550016ab2bea054e087d08535e79b5cd883b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gIzkFECSQRnXTS1LvMRR3coX",
  "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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7177, -0.6014, 0.5536, -0.0322, 2.7094, 2.1715, -0.3836, -1.3853, -1.037, 0.6481]\nstate[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0094 left_pitch=-0.0531 left_roll=0.0775 left_gripper=0.5536 right_x=0.5684 right_y=0.159 right_z=0.067 right_yaw=1.4826 right_pitch=0.4164 right_roll=-0.1117 right_gripper=0.6481\nstate[joint_eff]: [-0.1162, -10.0171, 6.8581, 1.2967, -0.3394, -0.0415, 0.652, -0.9094, -13.3812, 6.1197, 1.0379, -0.4274, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c697778f5439777b9004af0e71df39f942c43b591bd7fe94df6c7ac80688af5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a8c45c074448fb1a7ed81b74283e740e10947c68713ce2cfed90e51e89f7f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab038490b7cae931a9d20c7e06697dfd1432bcc833de5aeb024ac3ee3bf24bf4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.297 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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7181, -0.6006, 0.5517, 0.0113, 2.5042, 2.3116, -1.1217, -0.9707, -1.4063, 0.0138]\nstate[eef_state]: left_x=0.389 left_y=-0.3005 left_z=0.1997 left_yaw=-0.0096 left_pitch=-0.0529 left_roll=0.0783 left_gripper=0.5517 right_x=0.5254 right_y=0.1553 right_z=0.117 right_yaw=1.4726 right_pitch=-0.0144 right_roll=-0.104 right_gripper=0.0138\nstate[joint_eff]: [-0.253, -9.853, 6.6803, 1.3553, -0.3736, -0.0659, 0.3834, -0.1436, -16.0752, 7.8974, 0.6764, -0.569, -0.0269, 0.5836]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6op9TI3jHXX5csrba2gWaDVEEOa2_iTn8auWIcX3SncOVuJD8q-27WV1VfInKTywnZqs2SoWFLnv7ERfSmffOa3ktu94QxgUgYWrbJ7LN001rxrCGKSnWkbLyFl2OBD201b-lu6bUqnI7Z_yKePYFvQ-WiluA1fSP8khBZh_EJAkpUIY4POD1HTNE7feBCW35KE5Lv-TJJAAhlwaIKkASVuvKIoFxHJ2Uy0wpHscfcf05d8uiZnCxeA655OfvCRehRqDDfsAO9cfe6-DCdJ1yaUxOD-HoYw9pBg8-wOcwaXc0VDu-L8-OsvoMB-2di9rGQ6SGjud53gLjA_lYGgAxomb39qyYI--goxydi7Gcxy0qCl--WQG7SNJN2bPO8hVgFxUYboULc7ZPknDQA1QazCnmMNksk1pAibSSAYNCwNIWRccr0pxGK-D8sbZIHK-zOTykVeTCnphWnR_zBJAb01A81jKMhavQ9WvbRivy8CuI9ok81iWmyCf3fMtHC_GuVltLUqku1OYMCv-dZix9DRLDjJGVHaVC6y7sTirjuSEvWgbmgcIS5i_U9mTfPzAJrjSeUzc4dSkT4aXKrby3Iu454cqf8tRSLbeNN8otHIXl8oShs8pICncwc0QRLIr4Z6VGy9fOhSCK89aaXoqKWXoXuLiXP-E4TJU3BD32yRgrhp0dgbEoP8RFWVYoyQ1GGF8G3YopGUZXNI8fkqw9k2NgfnX8nhz-mY6vyJHYz2EwJzLbj-EP4RkrWWVM-JEM3cQ5liA0zy54RTgTDSn7ZTD1TrTvap0A5_Q3K7bypFhd-a7Db5PU4U7vFsGmkR2ByZbo17IPwp8lzj3Tm_C76N98MS5mqBk_Y3y7MDjtbBZAcHRV9XO_J9N5hoQl3AofUtmIjooQOaIib667qePjDjsam1lPiosSm9JSbhw1PhvDJyunG_kMq3Pt0FOoQIE0X5M4KcDhAmV2Vem8zuTtwtLcBntd2NBZI-ujpEzt3hsOHxvzYH9lB4L2xc5KXG9Fx-QtFXfOoF1Ix1gvBM6J__WYHb-bREpcMEr_iFrR1qZQfvQbMf3TUQFJVI5pmZ58L098CKkW3auV84tH4_MGCCqIORH17mOkTL-TvpKxsk84hFqxqvlK1PBsEIGFj13s0bxS26fPDUUkzeyaLKzjLKgNNsSQi9ZdhPi9YdOrt5Vc5WBcLELCR1hAjPFWopULkFxEUxMFFlePs43oy8izONe0G-Y1dVzFyYJl2Kd7C6EIHh3PFsuQdeNJfhLpMOdSbj5xV2vC-sYiEbAUB5GW7AA==",
  "id": "rs_0da7bf20b0982550016ab2bea75c6087d0a47a4b61112302cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The tilted fingers now visibly straddle the near wall of the blue bowl. I will close on the wall before lifting.\"}",
  "call_id": "call_B8sutVXurBESYeYCfXeXzOYq",
  "id": "fc_0da7bf20b0982550016ab2bea7d97c87d0a2e1eefe26424965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B8sutVXurBESYeYCfXeXzOYq",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7174, -0.6029, 0.5567, -0.0338, 2.7125, 2.1605, -0.3641, -1.393, -1.0405, 0.0113]\nstate[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0088 left_pitch=-0.0532 left_roll=0.076 left_gripper=0.5567 right_x=0.5675 right_y=0.1584 right_z=0.0642 right_yaw=1.4899 right_pitch=0.4225 right_roll=-0.1209 right_gripper=0.0113\nstate[joint_eff]: [-0.0889, -9.7846, 6.653, 1.3162, -0.3639, -0.0122, 0.315, 0.0889, -15.6103, 7.2547, 0.8083, -0.4127, 0.0073, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f782c3b6d5f6779c8239e86cd208843c70cd95163b1e727a7e74d471f79a241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c7dc3c1f1aca2c8434f8d4fedec2a929045072d949e4317bbec5a52bf28209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7569cd927e3ef3723c97fdbcd6cdff3dba376f295f6f14687f2c6f3e2edb4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.786 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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7177, -0.6014, 0.5536, -0.0322, 2.7094, 2.1715, -0.3836, -1.3853, -1.037, 0.6481]\nstate[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0094 left_pitch=-0.0531 left_roll=0.0775 left_gripper=0.5536 right_x=0.5684 right_y=0.159 right_z=0.067 right_yaw=1.4826 right_pitch=0.4164 right_roll=-0.1117 right_gripper=0.6481\nstate[joint_eff]: [-0.1162, -10.0171, 6.8581, 1.2967, -0.3394, -0.0415, 0.652, -0.9094, -13.3812, 6.1197, 1.0379, -0.4274, 0.2466, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr6vJxZbcqZBnYWGUD2fWF4rHkVW8ehpACjQnFolBUb945TZF0wJiyhi9TT3BXbfsSwqtuOHTB3jAwolVcxwOn5u3fB_mRinVLolyjCmxQGStlfBL-8Mp_xDlh4JMY5Omtcf_YTjA1b8rOIOwWPbmaBmvNkD0tNapXH6H3kdA6a6p1zrr9ezdNdZOL803k4rUHZH1j0v9Lkc4VmycvRIc-IhCMmAAfJI_ac9pCIXCVp2bSCGxo8ChaYsAouvKw_QL3_1t0uszpDkiVRi5MtDMTFkD3EfbRdZNt0g3n3_8CM0vlU75kBkP2YXyuXYOpXvuDTGP0F_IjzsrAM7ACJav-1BGet-qro9Us0OZAebJ-e4B51gyl3nXy9YLsg5g0mdd1OMCJfEHQlVNBp0FyqMd5zzF2UGrzAQj7q67LqjgkiesgcKUCLMsvepBTYx8RK9m8SOUxOolPwceMw77wacrpVHpUlEXD5AtJVtZNPh1Pf8-F8QUhE5CHASYaULbJW_pOfQjFR6zNjWfbced85t2bGRxYDZ4nRlEZ3sUTqUvwJTskwbLcZODbIKyCo19fESDbMYy4SkbhDE-Gq5lAfKOHt9VzLk1-GLXPshHJKJqECwN_nk1h8D0eGKyMX7S4duIoJHiYWuVmmAg6lExLqHQXw3w_zWv9XXtghMfERxUjYxZqdu7BM3Wxyy986Voi6_7bQE_L9uv0oGTJz4HblfPYgi38rQCt2X293ObS4KoBQvM8kMaRBZ6-Kih6KQNDZq9vviLRBFfgfFMk_JgiF59FauiHleabHRG3uxWE0WVykb5oDs7A2X7sWbLcYT3Z9arzElHVO5EzBl2oesSbbNwHbKT6zru27WV1DEg6K64vFWSmjQI6DcBM_DnjSSw76PYQe3YALBUajfhaPhBW2gFexCKfpAJZbA_ABPeIP7eidUzLX9WquGFP7u24lqFb8bIYre5xswaWW6qjXIwtJ7UQzs386_L-hZ4DwHDYjKLTvbmS1aZ-qZf9Ps9Ne-PAkyCClNfYxY8XgRQAyHofwhYikYHwoJ_aJaMVHBkqPDHpj68VlZAJWYMw7nazq7pUpx8LDLzQ-Slf9A_A8UxREDLYDwgzGc31CzrmQEVSXDZrN2PeoOKtjGgjz8FJkze6oxoGdMZ5CCvMZWcNKingJLpHa_9UhQzDgzDPIB7HqgJT4dBfgPo6KDCP5sf75sdQL0bN5jsbAEAHND6N7JobLQ8pxOoIctISlXdqJa6OvBVmougyHs6I_MB3lKAhkXrvWXZIscpLQnqxmFCE0klzfEGGLFe2FQ5jyrudtjkCVPkNO2IYQzexxqEKLsPtb9JJkJumSsfE03TiVHkHhaWmRQx1wJ3H5us-sF0PYJl-nZcFpI4v3a15qHh1xYjWslZuCBAQ8xvkdHgJcfDfkg4rDF8IUBQVeQ-VnlWK1g7vpCvyHoGMveIczeU1kcjJvRJ8BHcabEDedSSXsfJjfiID2V99DTFw==",
  "id": "rs_0da7bf20b0982550016ab2beabdc6487d0a31268ba6a9bc651",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.37,\"left_y\":-0.25,\"left_z\":0.045},\"note\":\"The bowl slid farther forward again and is now beyond a reliable rim-grasp position. I will withdraw the right arm and set the avocado back on the table rather than risk knocking the bowl or spilling the fruits.\"}",
  "call_id": "call_Z1LBdVId1G7ifx2Dchchr1ki",
  "id": "fc_0da7bf20b0982550016ab2bead827c87d0bee9199f6f9d4028",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z1LBdVId1G7ifx2Dchchr1ki",
  "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]: [-0.8616, 1.8652, 0.9684, -0.0132, -0.6872, -0.5713, 0.5592, -0.0387, 2.0995, 1.5578, -0.4225, -1.3853, -1.0836, 0.9956]\nstate[eef_state]: left_x=0.3634 left_y=-0.2459 left_z=0.0476 left_yaw=-0.002 left_pitch=-0.0899 left_roll=0.107 left_gripper=0.5592 right_x=0.4591 right_y=0.1596 right_z=0.1808 right_yaw=1.4845 right_pitch=0.4115 right_roll=-0.1153 right_gripper=0.9956\nstate[joint_eff]: [0.3897, -7.706, 5.6, 1.6581, -0.315, 0.105, 0.2515, -0.6359, -13.559, 6.4479, 0.9158, -0.6716, 0.0659, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17131958c7f97829cb01e6b3bffc3c4a42e4606a6daffc1a2124fd9ec27892ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6409d46f643fb5a5b74a691a69095c25d93b884464e542f69b6ccfdedb267e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e91aaa923dc88eed9fb388cafbacd03d1daff632fdb52c968e52fb34dc6a970",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.247 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 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]: [-0.9039, 1.8618, 1.5883, -0.6098, -0.7174, -0.6029, 0.5567, -0.0338, 2.7125, 2.1605, -0.3641, -1.393, -1.0405, 0.0113]\nstate[eef_state]: left_x=0.389 left_y=-0.3006 left_z=0.1996 left_yaw=-0.0088 left_pitch=-0.0532 left_roll=0.076 left_gripper=0.5567 right_x=0.5675 right_y=0.1584 right_z=0.0642 right_yaw=1.4899 right_pitch=0.4225 right_roll=-0.1209 right_gripper=0.0113\nstate[joint_eff]: [-0.0889, -9.7846, 6.653, 1.3162, -0.3639, -0.0122, 0.315, 0.0889, -15.6103, 7.2547, 0.8083, -0.4127, 0.0073, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The avocado is just above the table in a clear central area. I will lower it gently before opening the gripper.\"}",
  "call_id": "call_HyMGibOXVJ46s6H5aYdoFnYW",
  "id": "fc_0da7bf20b0982550016ab2beb4698487d0b78b8b3216bd7aec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HyMGibOXVJ46s6H5aYdoFnYW",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.9331, 0.9398, 0.0879, -0.6872, -0.5732, 0.5614, -0.0414, 2.0876, 1.5524, -0.4339, -1.3842, -1.0851, 0.9963]\nstate[eef_state]: left_x=0.3649 left_y=-0.2469 left_z=0.0239 left_yaw=-0.0001 left_pitch=-0.0868 left_roll=0.102 left_gripper=0.5614 right_x=0.457 right_y=0.1584 right_z=0.1835 right_yaw=1.4799 right_pitch=0.4102 right_roll=-0.1116 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -8.7179, 4.547, 1.3553, -0.3541, -0.0171, 0.2125, 0.253, -10.5368, 6.694, 1.0818, -0.5495, -0.0415, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdbe3a59b9e44e537bebcc91259ab167bca925c9b800d4d0be8464a6614e7919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d23215469eb14264c5feb1397a3c2381a26fa3bbade3b833300882dbcff584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d06733fb74037b81844b11a167c824d6dd3d921d0fdedd6a04e07cb6abf438b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.79 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 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]: [-0.8616, 1.8652, 0.9684, -0.0132, -0.6872, -0.5713, 0.5592, -0.0387, 2.0995, 1.5578, -0.4225, -1.3853, -1.0836, 0.9956]\nstate[eef_state]: left_x=0.3634 left_y=-0.2459 left_z=0.0476 left_yaw=-0.002 left_pitch=-0.0899 left_roll=0.107 left_gripper=0.5592 right_x=0.4591 right_y=0.1596 right_z=0.1808 right_yaw=1.4845 right_pitch=0.4115 right_roll=-0.1153 right_gripper=0.9956\nstate[joint_eff]: [0.3897, -7.706, 5.6, 1.6581, -0.315, 0.105, 0.2515, -0.6359, -13.559, 6.4479, 0.9158, -0.6716, 0.0659, -0.1197]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The avocado has reached the tabletop. I will release it there safely.\"}",
  "call_id": "call_NR9x0jLaoeQreaCYHvgW4KWu",
  "id": "fc_0da7bf20b0982550016ab2beb81df087d0ae0a8cb660224578",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NR9x0jLaoeQreaCYHvgW4KWu",
  "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]: [-0.8604, 1.9591, 0.9234, 0.1024, -0.6872, -0.5743, 0.9957, -0.0414, 2.0937, 1.5524, -0.4309, -1.3811, -1.0847, 0.9963]\nstate[eef_state]: left_x=0.3612 left_y=-0.2426 left_z=0.0103 left_yaw=0.0025 left_pitch=-0.1049 left_roll=0.1223 left_gripper=0.9957 right_x=0.4579 right_y=0.1583 right_z=0.1806 right_yaw=1.4767 right_pitch=0.4076 right_roll=-0.108 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.5248, 5.2718, 1.4432, -0.3834, 0.022, -0.1148, -0.3487, -12.0137, 6.1607, 0.9695, -0.4908, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9376b39d31196ef722ca8a8bae9f1ad2711c7c9b19e2c3da76f7c13a9a1723c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83393337ba39e84acc6231e53931bb70d2ac517d078374d0f17b1a602ebe76bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea17d73db2831d0dc437ddc2ea34ce679bef93ce6d4791be0875feae027f208c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 7.926 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 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]: [-0.8604, 1.9331, 0.9398, 0.0879, -0.6872, -0.5732, 0.5614, -0.0414, 2.0876, 1.5524, -0.4339, -1.3842, -1.0851, 0.9963]\nstate[eef_state]: left_x=0.3649 left_y=-0.2469 left_z=0.0239 left_yaw=-0.0001 left_pitch=-0.0868 left_roll=0.102 left_gripper=0.5614 right_x=0.457 right_y=0.1584 right_z=0.1835 right_yaw=1.4799 right_pitch=0.4102 right_roll=-0.1116 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -8.7179, 4.547, 1.3553, -0.3541, -0.0171, 0.2125, 0.253, -10.5368, 6.694, 1.0818, -0.5495, -0.0415, 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,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The avocado is released, and the other two fruits remain in the blue bowl at the far edge. I will park both arms clear of the objects.\"}",
  "call_id": "call_pMFW3EmTd0YbgZNIGk1wVBsd",
  "id": "fc_0da7bf20b0982550016ab2bebb67dc87d0bf8684e66c71357f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pMFW3EmTd0YbgZNIGk1wVBsd",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1223, 0.9054, 0.7559, -0.543, -0.2028, -0.0395, 0.9964, 0.0334, 0.8204, 0.6495, -0.3866, -0.0074, -0.1558, 0.9963]\nstate[eef_state]: left_x=0.298 left_y=0.0028 left_z=0.1874 left_yaw=0.0626 left_pitch=-0.1098 left_roll=0.1157 left_gripper=0.9964 right_x=0.3008 right_y=0.0149 right_z=0.1922 right_yaw=0.1088 right_pitch=0.0055 right_roll=-0.1121 right_gripper=0.9963\nstate[joint_eff]: [0.0752, -2.3863, 9.5795, 1.619, 0.1148, 0.188, 0.0513, 0.2667, -1.7983, 9.9897, 1.8681, 0.0855, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73ecf3725d8d824464d7e6a734e19d5a8fa9948c9ec2858c879754a6c1496ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d749b9c62cc982df21a19ab607fd375875f2e6d97ef512fb94adad75c1db2794",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e974b68d506df749e1136417a65dd6d5db545caa5eaf794df1a6b4b3487efe33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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