adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0296, 0.9989, -0.0219, 0.8001, 0.6189, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0008 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.7162, 9.5658, 1.7851, -0.1148, 0.1441, -0.1245, -0.335, -1.6615, 9.1282, 1.8388, -0.0317, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253c1e8a2005b9837638a007d8f641bec2daebf585fddc7f0551a3a3c0daab4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a774c10c2ccd7dd2e7657ce15e7f40d2a16a6e76823b5d3eec39eb89b161aded",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c10ad38e061aead27ee973e3be39aef4237047e260ddecf725082e91ee56ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrmezJzkx-_neN4MrT0EaWQ02G5tgbOoOIQR6LLNEPusejlP4pu52O2HYoZQLDUm7sHe3BpuBVfauD1xygrfK61L-GJXf1At1bea11ZDkaWTHeaZ8795c6Vy6IB6K-Aek57n6w8NT-M6bMEGxi0wycJbySob6bUFFdmGM0Uiv4-qf_CCOZqH7QfDr8NHSfRj08vjoxbTv40zNIVhx2sUBNWX7hrWyCIQCo8YnKv7MfJddhvoOgSntXcBvioE8scy4f8tCwzzEgRPy5gAvNLMQy_llcwP-vZY4j3OJhU84X6LBQ2KOe2uuHkKc66c91yJEHjjDACKpZlKVC2VDXTALhR9Mbjgwjv41gSm1rcsPoBgtygvx5xloMJvPNopud1O5EBoIoD5YNtbMw3uYUoR5ghgAct7PT1i-zOyX6EM3VOneXXG0illpwDXmJKW_Zxzix8oCqLA9TtM4QoWbYXqRUkOB2KpWoP0BPdgCcrbLS7EvDd9gTnqIPoK418fciveE3Mj8kFxVimXB0J6kHT78nX--_ZxdcnqvkmXuPgq5vEO7wrZN_jcFncyMdvg6uHA9fy9rfCB3z9GqoFB76ZkjPbLhBX3tdcSwZK-v0nfoqqEDo0TQvgx5WO_t9EWbqBBP671PnxE25badlxOwBYA68JgiZVsQGv-xZX3ktWKY35VIMaEjltTl8COaGJ8I_xNWNaifksEegGdoiZl3SFVvymHgCGdA1JLhW4RSEPCc2hRfBdr5GGjeoP1C51_TNVC68K4jCxFmjSdXh4CFc1-Af-_jAwZXwgoWk6tuk4f9ur_YT0XuZ4OcuDi1VdwX7YMKZBatDHaC9wfUVAH-G--88jjF9rylbbQmbIKHlLx46oGS63AWvhc9XbEogVbKgBxUCgAL1zblq0SXSGzdv-Me2cjslBsv0_MQANXiEPxR-AuCebEvgm0Mh7TyiCsSMPCZlzGgLLol8S4Aj23hfGYJ8Ty4aDYuKSFtNdD6Uk31sZGKpx-73irzhyiLgo3eWiIXEWGBoR5cq2EoWZ4f6_0SwC451C_DqL5rAX59EsEXKH5WBNmdn9YKoWKaiQ2OBI62cNkTuNFUQ5D78DbKj1zEqjRnbsCWL4ZBtu7Fme_ApwTHookpLtlyVW94dZWjJSDLvw2CMRpiefKGzV2ORAnhcwKKWLjPyzz5mKrn9VOqUsPctCgo6LHjRXUQSOa5p0l_NGU9upnJ6D0hAmWCtV3DBH-R96sqWdZ9b_tiQ5bWOqU8G0ZtdyKrIo5E1O83wn0olhFrkLU1cuDnJOcf5SQWKjelOwvJhMG5lDh6GfKNXceuu1Ak_0oSdVnHZB1OLGO6T-Gtc5jtyxDo1QPjajG8vd2BlXjWzbILlDaLAuP_X2-d1bd-UGgM3WtIaG40DC9-WdgTSFaTmT2q7RaSB9IUcESDdb6YiHrXo17Kt1m2ibIBAljOSml58C_s9-PGjneu-csxqH2Mmakz1_jPf2wHjlrWYxDW924Gcp0TGD73tvDo2W9gKX6qXwRMT63UeTvpPH9",
  "id": "rs_062d98ba4d39c4f9016ab2b999694887d0896231ef6062cd43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.12,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"I see three fruits: a dark avocado near the left arm, a yellow fruit in the middle, and a pear beside the blue bowl. I’m positioning the left gripper above the avocado to pick it up first.\"}",
  "call_id": "call_qkYG3Aog7I0xo546rCl1l8Wu",
  "id": "fc_062d98ba4d39c4f9016ab2b99c4fcc87d092e14e87a0edc010",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qkYG3Aog7I0xo546rCl1l8Wu",
  "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]: [-0.5983, 1.2095, 0.5701, -0.0769, -0.4793, -0.3676, 0.999, -0.0227, 0.8005, 0.6178, -0.3943, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3208 left_y=-0.1158 left_z=0.1121 left_yaw=-0.0103 left_pitch=-0.0543 left_roll=0.0286 left_gripper=0.999 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0015 right_pitch=-0.0084 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -4.1094, 8.7043, 1.8974, -0.3492, -0.105, -0.1148, -0.1573, -1.1282, 7.1453, 1.7607, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1494bcd77d6c360fa2f4cf5b2a9b290344cb2ebed89aa4320d7a704b08098bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a4acde584048343068c5d6e58a256e295a55ed94d65c28483a83cb66cde62a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89bdc401b61251f0fe217d8cf239bab6c65e41b0fb542743e24a2cf370d4d93b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.7994, 0.6136, -0.382, -0.0139, -0.0296, 0.9989, -0.0219, 0.8001, 0.6189, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.296 right_y=0.0008 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -1.7162, 9.5658, 1.7851, -0.1148, 0.1441, -0.1245, -0.335, -1.6615, 9.1282, 1.8388, -0.0317, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrmpHauuP-26knIQwmsCivHG-eXBk5JXluStgCLvcsQGyDDevQFBYWT9Ri-sW2Qh0MnUOiPH1AfeVoD6Oc3iIhi2_3IOpjaOd02cAu3UTZieu04XI9uYz9vJzrFzD9YXlzXANflnk0VV4NjE_V5uAZhZEyO4kcmFdjnMfYryJmpKHnpXiPR8Ps6JOGYUbQQ3aZtOkAkS8Ul0n9rBfTq0lMVBf4tslnM_ImJ9Os48bAHHlxooz6Amlg5mjJpNgElDpV_hYDWr5xioQa70H79NTxbKqJggEuejjIFn6iNOUYO6bkZf7aHai3CEnzhlCUbCpkBU-JgiSKvDHAEXWAqeF94t6xKibZ1SyfhFTvxFnjyNlE5yU7i86sD-wYel7APk8P6f2VYM9s1_3ZExgE8tSULesMqe-2sgvrFMTMIW_oP95Apb2sfBqJKVBvpAgCav1KpSuY3XRp7xCeVi6rBopNwcVUn1ktBMrWfjvSwSj1YNjbk78JsdFR3znRWFaOJtqkZ-tGamysSwxLp2wrEcldYvqKbFhQK1nIdB1pdUrmbacHcfS8JhuMizrST1hWHJtpRE6eQqdPsJYat_BPn8vOqpyN10v9qZdMH57G0hPLST4qP-ttHOc6WVzN2o0Ux9DpSZ9S0Ht7E5YD8pyGQlPCX0YDRABO9O5s_pSd0jzy7yiqbYp_P1cCVU9au0r5kkkqty34CntldlLi7aFzDskQbeESJDgPLehx9lm6h2nNMCCxbIcsWLuhYypfaDrSAS1VroVhnKxSGwLLqRHkor4Yv9L98Un02vQk8H3OoxZxmbIhZSmvK9ZrdWZCLaCMH_kB-ZPPZ1XRgKN6BZvq_6nHqeurwfBxb27GT80oo3_9Awca1TT0z-jauUwNZKRVBvN8tKDn2FuRakj03B0JL2PPuz9VjWnnSsSgJxHo9IfiF5jn0JAUb1succuY8mdpl-pgbL1IYZgJDdsdp5nFOrJHN7b7B-hWmMsJ09ZEPKAvpuLIvB58ZT1N0YIq1nPQ6VZR2dD9sW8shVTav4T5j2Q3y8phsBMaVOflG4Fj0h2NVR5J59ByiP_nlgkvvh55aVy5cLy4BXG3Qrqkv-91YznaJUzP97j8P31H7fipEW6Sbf7GPnnXj4EtalUaeToe7ev-sIT5mYfygUPJwdl6gmco1vNqpMhQAeny0DKSNwQHYJrs9H5E4pmL_z2YyleWklmc7vYELHXIy64v7ZXhOuZL3M5_lUMkjD0rZ_ESx0GOD2lM7vxHA9J64-HT8ljtOM0MjqA6jMqWweD0I3ROozPJC1_BfrD6d3NGbFfB6iDZDKwARsTmpldoVtat-hdBYRmcUTt3_FbTpmqr_UPCYIlpNM1Mof0m71ZtLW-LLdclZWrkw=",
  "id": "rs_062d98ba4d39c4f9016ab2b9a63d5887d0a7dccdf611aa1ba7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.078,\"left_z\":0.035},\"note\":\"The avocado is left of the jaw centerline in the wrist view. I’m shifting left and lowering the open jaws around its sides.\"}",
  "call_id": "call_ltDfrw9u5PfZnl1W40oYHrl8",
  "id": "fc_062d98ba4d39c4f9016ab2b9a896d087d08a91b1ec1a6b33ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ltDfrw9u5PfZnl1W40oYHrl8",
  "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]: [-0.4229, 1.4216, 0.3466, 0.458, -0.3691, -0.2497, 0.9989, -0.0227, 0.8017, 0.6178, -0.3946, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3393 left_y=-0.0789 left_z=0.0504 left_yaw=0.0119 left_pitch=-0.0023 left_roll=0.0182 left_gripper=0.9989 right_x=0.295 right_y=0.001 right_z=0.1812 right_yaw=0.0013 right_pitch=-0.0099 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -3.535, 3.9726, 1.3895, 0.0855, 0.0562, -0.022, -0.3487, -1.1009, 7.0222, 1.79, -0.0073, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec620f9b51d441c05e2f51b32c70086ac2eb9520a42e63b43e4660f0db3ba5fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5806d9d1579486e9a9da0afe1c11225bbd026f3de8fbaaf63659236eb740c1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c937190d36c86af9d78b0eba940a17b57b5de043f0f5a23707c89b2b9083e89",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5983, 1.2095, 0.5701, -0.0769, -0.4793, -0.3676, 0.999, -0.0227, 0.8005, 0.6178, -0.3943, -0.0235, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.3208 left_y=-0.1158 left_z=0.1121 left_yaw=-0.0103 left_pitch=-0.0543 left_roll=0.0286 left_gripper=0.999 right_x=0.295 right_y=0.001 right_z=0.1816 right_yaw=0.0015 right_pitch=-0.0084 right_roll=0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -4.1094, 8.7043, 1.8974, -0.3492, -0.105, -0.1148, -0.1573, -1.1282, 7.1453, 1.7607, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrm1Yu03PgXMhxOw4Qmpjt6__HXxRMbPc0Mm4ogct3foQ8QVholYiF39Inmi81x6mzVgItwzOnDlmmG-VyPIeYhxxbFbDiyDTdOucwum2DWyRVXg0Zs3LDlQS20LXxVn_kedf3s0m1vwHSswZl9nPzvLWab4ODvS72ox7ZJ0WaR952CwSf8GXFtYqMBEGsz3RFb1JbykJhaN8ulJoh9XPkUxFLjuTyu9P8d92SfxKEk1B6tGYURowzTPpTY-TMExoksCnnTS8ayAGoBYr_EkgRYu1ya44bjPCjyyzf5BUrM3YObENn7tLIbwN6irAh0OmOG2Yj3sLB1AT_lgEUDjs-jPWVL_3HGrcgZiJcyam4lDhL3vEtUxqx8dd9XFNYz92F06un5HguzAqOVKNyyCLFW-HzY3VxmGqQ6RBPTRJqG2OC0oSNVhKcI98HyJnyoe8uQAZP490orj-NzgGJVTQ-rwvlrwgbKsYvzyuKrHi8Lx0O8Rqwk8c-zZ4uWt8V5dUxYjgSOhEuYMob38E6zqbYHR3LaU_2F_z7XSlTj1qwBKGWiDpZaZZ1wcy5aHLGh8sFMPz-WHcPxX4TH14aKe46SzoG7ProeSGiDVf109SiEX_fYGU_YuF3iiXM0G9VqL539XHAE2rOVjO4kQf1dwc4iidNveJPahahmR7y53Dr-RHDJxwAUyq8gjkxrBRZZ5QWPxtWUOEj_oRk2coqby_m-26QB4wzt2Vw6GUSemYOW06GvoPVbgBW1RJuIjrspjlEhntDc_TihTf4h5rpqJ5IoIJk44g3EHrzcnyOi7L_LqbNXC5R-OLjunQQaP4n6_FgLLXDQE6IUaAgsgHzrwaXRnvGz_tfyKSJlihU8IQvM9aem-eBB3gwY8iuL6155kkNzhOTF7fhbpm8aJXMvhkN5Vv7grLmH-Jf8dLbyD7Z9z7yrhJg6iaoiG3lV7oiQxSVYKTIC1p2fLau9oc38YOyOjT3XjZsRYz9G6sJSMiWDhJKHnmYirJPBTRnsgyb_vQJGJiXnGUtDZ7asmWF0d0PbDkKR_ll0NY15gXsn0VfHk3NSxst-mmFUl7zfFBHwibfDpEV7HTY_kI8OU5V6zAZYPqCbYaoI_KQkNbvMUPR3_qQTnqxbhfiIQGt8Bh1eTbs_dM5_0Rc0fT4BukL9V7ogbFzkpWydH7VCJmOLCmApuynm0cmtWGMiSJhqXHZb8yPq49XEHkWUmzYBHCpCYLoTYOrSRokzsfE_IEzEkGT0EfcrqeOOZeV5SrR9PV8dqrV-6zP8WjFvMf3lkfJLU5VE0uzSXoZIFoJ2YRyh_ikcQBnmvb0ogTVCfPkBfF0ousOvjMyrCy2sWwk8ndpgvfOLtOHFzU6lut8LRqusCTK-IJyqQzSqVdGpURm9dr6QLPt7tBu78juRfcui6Xf9aKsdEJYcJ3SC8KccLR7XHzM1ePpYwLfFzddm9_q7yNzsdvqokOqcICswWtisCcZaebRFMbP6lL78U0tTDzqFazb3WELD63LdCuIh3QFHZWo6VoSzpC_feOW8SsxA1ZOw4IG5fzDy1ZKLEJXFfty6av3v3O0nDzPIhoKNzYYw8-Be5pVzc94qLPhqLzJubuxYUBfZkvSzwtewuj6-BC8ner6xsFPb6R_duAfbTWAaj4SbRzFsYsyfoFW2jZSiurkEwB9hZSaLWqI0-qCQS9svtYyPxG-A=",
  "id": "rs_062d98ba4d39c4f9016ab2b9ae38e887d0a607e4613589ab1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.06,\"left_z\":0.025},\"note\":\"The avocado is still just left and toward the base of the gripper. I’m bringing the jaws back slightly to center the grasp rather than closing off-center.\"}",
  "call_id": "call_HzhewbUzwNDfnQDWt3VTJyZ5",
  "id": "fc_062d98ba4d39c4f9016ab2b9b3c1ac87d0b689ec6aee9d358c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HzhewbUzwNDfnQDWt3VTJyZ5",
  "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]: [-0.4419, 1.314, 0.1326, 0.6014, -0.3809, -0.255, 0.9989, -0.0227, 0.8051, 0.6178, -0.395, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2984 left_y=-0.0646 left_z=0.0353 left_yaw=0.0056 left_pitch=0.034 left_roll=0.0038 left_gripper=0.9989 right_x=0.2952 right_y=0.001 right_z=0.1801 right_yaw=0.0013 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.453, 5.2991, 1.7851, -0.2027, -0.0757, -0.0122, -0.3487, -1.5658, 7.0222, 1.7216, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb61f269ed94fbe24484dde734c33f6515060a06c3b93067b5057623e96f087",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0e22056880cc14d5276c0f40e09155a28b762fdd089973051684e1a0093b35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2531a10ac0349f183feba275374b3ace78f6f23c5eeeec36e4f61837d1ab3b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4229, 1.4216, 0.3466, 0.458, -0.3691, -0.2497, 0.9989, -0.0227, 0.8017, 0.6178, -0.3946, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3393 left_y=-0.0789 left_z=0.0504 left_yaw=0.0119 left_pitch=-0.0023 left_roll=0.0182 left_gripper=0.9989 right_x=0.295 right_y=0.001 right_z=0.1812 right_yaw=0.0013 right_pitch=-0.0099 right_roll=0.002 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -3.535, 3.9726, 1.3895, 0.0855, 0.0562, -0.022, -0.3487, -1.1009, 7.0222, 1.79, -0.0073, -0.0757, -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": "gAAAAABqsrm8_5fxKx1jL4z_EY3y93RcBVI_kPokDxL40Xm3CfBXQCq7PvKoWNgfwORquapzGRlW6TTdyZ3c35jaoY0SQFgAXbMvox6l2qwWItSGpKRpfUAcn0XAsq_bH5JNAvD_j8k1ogwm3zLtch33SiJBM_CZ_3w3rb6G-C0QTwKCkjK2u3S-0u1l-5JB0UWYRVkSxKyM_aGPMvu1grWnsvQzD1ZcHTOch9ySXLFaBCbB9LMc5_ftsIgDOT3iS2N2aSkvZG06wvFabY0h6jU7HawwHog9SGXnMK_VjjHaHQFjaWONxjEYHEEVwQZNFEquHPRMr-Oj-Hwh2cWDhfbSmx_ocFu1vnklCcuSCRP-gga9Dqrjguc5G_H2U_gTPI3RNjL646tfmiSGhItBcmnnGbdsQI9aMIhV27GvVerO__IaVjRT7K36tP21cQJOWAV8sC0OU9m8KU-973iB74OA2_TyssCs4SKU2rPmoQ6C4dYTFNkFoRqWC-ku-1WPnyvXInLItxCgV-bdkjaCSUFL4-kskOOeGcXL9UAG6ZyHVJc6SyvvrBF68XpJsncLlapRDV8xEZEUQ1o7Yf25OnvLT3meBTyNRYAs-VWlsYACYg_SXaRBgs0QuYCxsIBfSvuItmPK7UtYWLQewyI3_6zsgQPb_Ba5p0gzC5sRazNYhVaJw07dYTbgts6bomPpjltEiBNluTcUmVmcbkxjhdsHOIMzIL_ODDwwdHBfKJHkMI-RISMRVzdhb2mRTTP45I8odVbvxLZZyg9Bm9HqhHI2Kl0i2AtovV8jxiIXpiSZpDw2US12YMLh1vHrZyYseKj-ZIDZrVesx6nKVRX-tQF8OV36tunBXSHuZk0LpuCPdB9nFmxgYpMIc-4OBlDqnwcxhjauuuMxJ9Z_MnINwBA-nVeU2Gl5UQkgzRfWx0dUR0sjd7kOEtssoxH8bdNRBYE7jlZZXFaCyrmJQKt2BXfi2azR9sdXqAK2woObkG4KhBe2KhO4LaPjGx0pePi8qlyfOhf9ebRoL0lEWdYk5WB-b-QAw1UWD-Q3eJRyWHLSItnKx5-vqvk9FEvPY6EhOZccNBq8Xl2Zb9OMoCnLs1I_tYIOxyCD1gGLQC0cgSYjEbMpqwsHqS0X8eUumRIbscJbT2nQkb6z4ss3gtnz1dHnD9qA-9xT3qqodiZOlgGdO8cwN_PlN-pAdWc1GQiP4LHoPjiC36d_YxnjQRfM2n6gvyYJK-_6uO7hBiczF9IkAGQLQJ1bF6IwnarwJ8M2o5W8RwGndsGVV3KngvJSbDudjmKSem0VsxAYNytCNVuGG4cJXEt86EOIvyvBkoiGeew1zXu-8mMWQ761yr_mNZaRhhi72OooZ5yJnTPJXdwYhCSZOjw6tlt4TA39b7hZqpOK1HyHVIJR2eyVNLPwC1iAuC7FLJY6tg==",
  "id": "rs_062d98ba4d39c4f9016ab2b9b9255887d093b9924a1cea27ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.008,\"left_z\":0.025},\"note\":\"The wrist camera shows the avocado outside the left jaw. I’m correcting the lateral alignment so it will sit between the fingers.\"}",
  "call_id": "call_hO6RGm2goo6qiYTemhyZaTsF",
  "id": "fc_062d98ba4d39c4f9016ab2b9bac12c87d0bc369085b3cbdbca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hO6RGm2goo6qiYTemhyZaTsF",
  "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]: [-0.0807, 1.4101, 0.0959, 0.749, -0.0883, -0.0746, 0.9989, -0.0227, 0.8089, 0.6174, -0.3946, -0.0238, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3065 left_y=-0.0056 left_z=0.0193 left_yaw=0.0262 left_pitch=0.0051 left_roll=0.0017 left_gripper=0.9989 right_x=0.2955 right_y=0.0011 right_z=0.179 right_yaw=0.0016 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.2752, 4.2872, 2.044, 0.0855, 0.1148, -0.0122, -0.2803, -1.5521, 7.0496, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e2e3390b2bcf288d81c86f7c06c271f3adf3dcacba36b50b92c2696ce54e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac77161fbab8c79ccbecc68bc7e0fa86e0ca110324f0fb56316ec214478efc46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9d01ab4357317937d7fd2fb4976e5f6fbcc42d03070fad0e9d637b74895867",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4419, 1.314, 0.1326, 0.6014, -0.3809, -0.255, 0.9989, -0.0227, 0.8051, 0.6178, -0.395, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.2984 left_y=-0.0646 left_z=0.0353 left_yaw=0.0056 left_pitch=0.034 left_roll=0.0038 left_gripper=0.9989 right_x=0.2952 right_y=0.001 right_z=0.1801 right_yaw=0.0013 right_pitch=-0.0137 right_roll=0.0021 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -3.453, 5.2991, 1.7851, -0.2027, -0.0757, -0.0122, -0.3487, -1.5658, 7.0222, 1.7216, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnFHBZ10HKjL7oodFNOU2IH98Euv6Kofk2SPwpnlWJqev94gkV3vaZhL_MDFe3YWpBZtVrrvuFKnWdsTT_rVTGR3SsYbDHsLyoRnpFi0aIVdXTx3cEf4rPd-izav4czwqdqt1VIl9t2TK7Qn3ruvsA1MDJJiW5nL86l_NaWQ2gW7bXijECIPwHDdlUwQdUWFYepwOWop_4IvZuHuTG4-X8d-JgnRMmTHAlOwYA2ZtgIx9NmJlRTQPWDfAf9ESJDBCwhkEh9wJEqpOrfNsDDpXxiSBR8BuBfQqmESYzHr1csrchSL99T4u_zM2ajSKShdmL2U7zxUJs16N4z3BtMowckLYrmcS1nMn90j-t5-GdhDcLbuI784C8I-cY27iLtEHOcsXVffkhy0n2jXrOBUe1I-l1jHtBuiehZ2VV8-TmUE48WBp7x3gNAV76RiQsHUM1U9iIj8fMKH3hua9_F5rcPNbCIOSbKGXtwSPEZ65a5Zw7XtqaGudPe1co5KBWDVonxCfYJlz6SsFmezN1VluL5BYxlWkLANlSpo_jdNdhEfS3f1r3Po-uy-ELFKYDFAVgGwfWZd-D1cMEcKlHxGrbqje5nj1zAcWwIYZeZpR-qy0m7EYN3-1ol4q3vwc9wMzXgLTfa1anFvbQTN4tHiK_acawO8JHsKvskK0TJzVkq8ntWP-GBLRD5PMoCyeTFw9K945IaBdFFbKnxQaHY_Ds0nrpUkZolsnuq26ixt0ddVx1c5pLPENuUugnXXdDtBXvd9ugGNpSy1LkEpLJCHqVLRIZutbYP6JjEy8BQupvpMznc1lYqcWAnPW76AcTSQHXspbPODbjpvvluj6ykca4FwqV0yFBahJEiulfVHF4hpN0z1n0SpOohMYefSOABdleMv14H1S9b4Mv7OZtuHRpW2W7rOo99PkeRcdFZc9TRw507oGIlxwoXZ7hkDhW0w2BhZBtqT2Tz-on0dpOMLS6Cg9vQ9q4eunANbZPOCUn_kwHIcyXjaiwzvDIduCDK8Q-R1E7jF2zWiVAfX9sa2_kz2xzfDS3giAYfcFJSDgPgJkB8DyVFZocZ0TkDGNYuzK2lWhsQ1kljQ9dP-q_P2qidBnNWl3pAJ-mSWySI7FQdlq-vjcSfuPIiUj1_Id9HAjs0nvQ6_IQ2DpCd8rmSNVIqK9rstDpwTdRsG_G42BZe5R41A3WVa_Qeh_-UFoJIasnP2qx3buDBwYz3kCwrK8G64A==",
  "id": "rs_062d98ba4d39c4f9016ab2b9c3c24087d0ac06ffd5c7e927bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The avocado is now underneath the gripper and out of the wrist camera’s near field. I’m closing the jaws to secure it.\"}",
  "call_id": "call_ThEDqHTuBvSaNhnmOFdUS3KU",
  "id": "fc_062d98ba4d39c4f9016ab2b9c4230887d0be23f1ab66681ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ThEDqHTuBvSaNhnmOFdUS3KU",
  "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]: [-0.0807, 1.4101, 0.0959, 0.7441, -0.0891, -0.0776, 0.008, -0.0227, 0.8089, 0.6178, -0.3946, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3058 left_y=-0.0054 left_z=0.0182 left_yaw=0.0285 left_pitch=0.0002 left_roll=0.0 left_gripper=0.008 right_x=0.2955 right_y=0.001 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0171 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -3.4393, 4.2325, 1.7851, -0.0366, -0.0122, 0.569, -0.335, -1.306, 7.2274, 1.7265, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a33986fe13db65039794162aef03768e45aec651650afe9fb3fc155a179f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a7e4870d8570e945c92a172afbaa4f5f35267954ba8a0823f03d6d2f54b2dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3774e6ec8c50af900a838e7bb4a26053159dc62351517bdbb292482201d7e748",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 1.4101, 0.0959, 0.749, -0.0883, -0.0746, 0.9989, -0.0227, 0.8089, 0.6174, -0.3946, -0.0238, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3065 left_y=-0.0056 left_z=0.0193 left_yaw=0.0262 left_pitch=0.0051 left_roll=0.0017 left_gripper=0.9989 right_x=0.2955 right_y=0.0011 right_z=0.179 right_yaw=0.0016 right_pitch=-0.0175 right_roll=0.0024 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.2752, 4.2872, 2.044, 0.0855, 0.1148, -0.0122, -0.2803, -1.5521, 7.0496, 1.6923, -0.0415, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnNwvDBdsT5bGTQVLrwRx8w9EW9cxIPtcr_3mr2s8komHQIWFAUpUsvScsnTdd7aKyoJBkCSnJEh6cFRW51rxqNPSqD9V_XQGWIWd6t_0ZDv0Zn-SUiuNoiLVDCavdPq5lFOIfrFTZ3rI23-3o5jwxJ6pB53Jky8sWogj4Cm9TGtJctQ7xy7o5RJywdP6LgAYGE0xbp-nA2HOosS2rAT_MUAOUJP3GKfBR6buDNg3tV7N0mulZZnl8i4ev-RjrX6wIqsQ6Q1V1TNCDkpgNI2f1YaIfkVEtL7_jzFBw2n11tCvLMuhO7dRwKwDCsNNlY8cFBYOB4wj-_DNh-iF-cQ8pkgZYC3BQaO6yMvyxCujJKV4bU3fYklBa0Si1fmQ2i5SLfRykt-W-hKbq3S-a4bYbwnRal8uo9lQA9Z_GhMcl-nnWgPg_57tnLQPPTc_ifR2YSBk0ZrPvxC6KMajjw7fs17zFS_Tq0zOiHR7JsZPNV-lhcjAZoJYWUAUZMSbDUvcKENLqT_B-DoZBc_1w1bLduOt3nzAB-Md9qDNstBdMj-g6rX7wBUTIjc5tHdXNjEHJzCwo1hAZtV9Gd44rQ4OfpbI2UVgy7p0rX1hG_LVgnsbbxMc65vBuqsWiVoX90kqWpgSAEFym0Bm-qcw7Joaqd-gpEg0jlu3u7QVdv_aqpJgNwFAXdL5pewuloFXOpXzvS1J_EJV_jZ1qj03vH6GJIWHGYtKLwYIuR1AWeRDoQxja5BG-YPl64eVKmEy6xKkvogIVM99L4uXovkxPwKaGRRpd3-G9VMOv2AUrV-nkfLDGSBzE2TzWuhft0-_CqZG4DzkatO5grWWIzMzvn2l_kSLCf5HjoIemM6GOaqUctLkw0KFNB7JzZCBiaMc3ghbz8SssJraDu-5H-T4-FmoFIjI-ktlA1QHy_0ReSo48dmRED4pDtjtMbvWGOPSk7KD3GtIxCUvPjH05VzmJfzAV-_VAUud6RRlxWgpXUxhEBukUz0MszPuQ4RGGGHbiBdCSurBcwmTjX_DNjjV5dZ-JOA3u1ZiXMB94eX9_QyktwSRi1rBJBUYvfFKKjPECutklOJfnoz9iloTETO65TOJmfZhf0tFKjsqqUK9EcuA4oDOKNEHZqBioTGyFRvCdUzWbt2QR44qh9ZwvMlGTgHDA0VvwR441gmnfL12WTapveTa9mFfjYDQnleGw1eQn27RciWSZ2U2mY-aZwIN6wRVg8dpjl2qX8Tw3eOklkB1m1D1p95dnegyQlKj4d4XWIs7f-jOHaeej3E2klGqqXQPtMEvnjMgNpdMtcPbufv1lIS2EPs8QrlrQTidn6Dgu64VcqRTgi8ODrdoyMcPCgTbQsZVQ5Gxeh9iUqHWP1NbDk6POlC9hsDb3OBTtXTGJ2Dz5Q",
  "id": "rs_062d98ba4d39c4f9016ab2b9c908c887d0bb77ac4626879b9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.183,\"left_gripper\":1,\"right_x\":0.34,\"right_y\":0.125,\"right_z\":0.15},\"note\":\"The left gripper closed empty; the dark shape was gripper hardware rather than a fruit. The visible fruits are the yellow fruit and pear, so I’m parking the left arm and approaching the pear with the right arm.\"}",
  "call_id": "call_tJqXz5sTcswqfEkoxHMEIOWD",
  "id": "fc_062d98ba4d39c4f9016ab2b9ca9e2c87d0b4ebc9dadc119ba1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tJqXz5sTcswqfEkoxHMEIOWD",
  "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]: [-0.0544, 0.8112, 0.5892, -0.3866, -0.0769, -0.0746, 0.9977, 0.5594, 1.2362, 0.6834, -0.1757, 0.4335, 0.3077, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=0.0012 left_z=0.1674 left_yaw=0.043 left_pitch=-0.0388 left_roll=-0.0002 left_gripper=0.9977 right_x=0.3302 right_y=0.1234 right_z=0.1306 right_yaw=0.0294 right_pitch=-0.0807 right_roll=-0.0416 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.2085, 9.4154, 1.7314, 0.0562, 0.0757, -0.2466, -0.3077, -4.7521, 8.6222, 1.9316, 0.2662, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e53cc2c85ffeace13fbb7dd683d922c58af810845c56bb510ac73a4f51f894e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd05802c244d929bd2cd92cb38fbf2045875742e0a56213e8df56a891193ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f744af1042c0fc44b2fed970894dfd50291a7dddc1a109ce9f37f093ee1aa4fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 1.4101, 0.0959, 0.7441, -0.0891, -0.0776, 0.008, -0.0227, 0.8089, 0.6178, -0.3946, -0.0235, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3058 left_y=-0.0054 left_z=0.0182 left_yaw=0.0285 left_pitch=0.0002 left_roll=0.0 left_gripper=0.008 right_x=0.2955 right_y=0.001 right_z=0.1792 right_yaw=0.0013 right_pitch=-0.0171 right_roll=0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -3.4393, 4.2325, 1.7851, -0.0366, -0.0122, 0.569, -0.335, -1.306, 7.2274, 1.7265, -0.0317, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnZVw-trqbIS5HSZ7-52lNxB7jU-D8wk0gQjWp9c2OlrAZat4G2r-rlu2yqB7KsgQrOC_9SFGS_12-Ec-TUAoiUKFM6yp78HPGNWIVnv53kY6d2z7CLa-5yxW7fONCklIE5lFapcq4vuYX_gU1Xve_9_VIo0PT_AeqxeFi4MPplcZhjRZp--ituwPsL74HdmWWdEry1Ur59V74g6-bl5tIX02rqzCOr3lSZyODSzTRJ5M_CgMj4gqe9tOuzO7QOWN4T9azw5ZvZai2ld3sdsci5cEb5W5MdaPqFX3EuFjGMFnirbeLBEH2yrgzAKoxwgUFavnzYuaI8HvVxqw0ZZwzlRhgFAobM9vl_EL5lzBW8_bdSVte3e8skHvqKHB0E3RnucLSlyBkeddGuc5S8GxV0UNw1wWtuQ9XJ_rAd7ZQ-XMssW57dI82GNmK4WNNnZS46VMUbB4EHThEH-u4sspWSl__MYc0KZdxw8A4m652KRVNH6pcvV1oSeRf4dqvUi1HPuNatm9vNHNxRK2_NhDfvLa_zSc2BF0UYPUM4UnPoD1RyO223SbCo_M9Nq2tV08C68TLKiNwz8obBplFF0i5TNqC6evbUF3dRkBlD1bEfi6kuuBZBvjt8lU_gT4lie0wa4I-HDypLkyl2vXlY5gsZ9cF8iKhYKO1MIMMaLC1aDrXMuK1_dZWKp9S-9PXvmVFhoOqTDn3KY3Q221xK60f5DabwnknLfCgVaV6JmIwc3dZZvL8E6G7-h3CJXC9o4t04xXU5clYKUlxNGXgh6N6rVtm5j9KRrXrwKxvZFERqIQyJ02_kC_NeNtncvA1XQiWurb-S73tNXCeVChX7f3wVqYS0S4TxTN0ANn5YhytD2Veg1kel7D9m1Rh4UuHoH5p2tit9J5rG1zKYtfjlShdAvpc2DUfvF5SXRP6PhMLRwVBQf6mj7FwClgWt7kecl879JCkd92yJsABWf0Bm_OgIld8iLf5808IDeIPAZTT4GSRTkPnCh3inlYdE4_tiubA0h5gwgKkTzBWbLYq8vhFEUEBawhRB02NmKo18q0YbqDeFXcdGWPNt2IkECRixYxFz2zOqA6CPWHtCVYBwWqwtw39WLlJRzreX_4BrSB5Ub8r1F6O8ME3Dl2YnpHCbvQ0DY6V8Hcj842aT7oJT61PaqVKIqOHci82eeqKsmHW12HR-62h00Hl-QW0rbXE4Lifx5Ix87uG8OWQBqnj3UV10ny90TNgmRFHpfcrY1dbutibYYK-lZz1nCP_R0cMiaS89",
  "id": "rs_062d98ba4d39c4f9016ab2b9d7103c87d0bedaa80912433356",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.10,\"right_z\":0.045},\"note\":\"The pear is slightly right of the jaw centerline. I’m shifting toward it and lowering the open fingers around its lower body.\"}",
  "call_id": "call_s6jkYrG0ifL3KY22StITFc7D",
  "id": "fc_062d98ba4d39c4f9016ab2b9d8145c87d0b52eff553e84047d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s6jkYrG0ifL3KY22StITFc7D",
  "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]: [-0.0555, 0.8131, 0.5888, -0.4004, -0.0807, -0.0757, 0.9979, 0.4026, 1.5524, 0.5156, 0.3157, 0.3157, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=0.0017 left_z=0.164 left_yaw=0.0457 left_pitch=-0.0546 left_roll=0.0026 left_gripper=0.9979 right_x=0.3608 right_y=0.098 right_z=0.0386 right_yaw=0.0276 right_pitch=-0.111 right_roll=-0.0551 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.347, 7.0222, 1.8877, -0.0024, -0.0415, 0.0073, -0.2256, -5.9282, 5.2718, 1.8926, 0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20eb93f10cd87fc13676e2fc0aecd8562a96c02e70438680be18aaa0d45fe446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d163dfdd4418e323d46851161269ce3fe6000d2c81649cdafd4a5530d44a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861aef068bf2ce3128ad21fe39147994f574dfb09be0a1e000936c0e06bf929b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0544, 0.8112, 0.5892, -0.3866, -0.0769, -0.0746, 0.9977, 0.5594, 1.2362, 0.6834, -0.1757, 0.4335, 0.3077, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=0.0012 left_z=0.1674 left_yaw=0.043 left_pitch=-0.0388 left_roll=-0.0002 left_gripper=0.9977 right_x=0.3302 right_y=0.1234 right_z=0.1306 right_yaw=0.0294 right_pitch=-0.0807 right_roll=-0.0416 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.2085, 9.4154, 1.7314, 0.0562, 0.0757, -0.2466, -0.3077, -4.7521, 8.6222, 1.9316, 0.2662, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrnkaZUwYmauGRdw1gOyvOJphoaomURiaJu0CmsfVbIKeg3tmK-_yJsMmglEOnpBbPnY9Mrzp-rUE7k_vxgO_pa4FwRTRUUHP0hjHjUOJNu4Yj7a_k51msCBw7JGxJ2xvIGOzSMLIAcJ-npn8PHmWRuCEwvMRg11yAJKjSvY24c9j51hCc5ZyMaeg6-cuKtRlABvb7gXGuibTF_ITdl4zVx7UYcRWzyM_XpLnBqfy0X7JLcmdqNjyBmyFZ8IlubuRykHdkmljy2wnEZ62YsOhVxAStm5JM4tB6el0mAg7yNLpp-si1dCSRUMqWKEmcWz9MyEeyi0AAudL-_aX0n1oPV8-NpA6R1monyF9TDOZNyOGYTZCpcOn5wym9dX6lJs2XHakC2qKn-1vOtZvQ48dvgYvFEVUz4si5cF0AUUrGPzkvgO0RchqseYtCUUlDgbLdPRHKRrkTBsDvNZoqk3TscvX3JE8wD-IGnIrKvDMX-Pf4npUNHYD2HZOXa5Q4plk0XpU73cYjroS6-XuLwhmwb-xMxuScVp4JdpInNDtS4deX2MeR9Y7sIZVcxfn-xUOGCO_ZS4KY1HFeWXxH2jlifXgJOUMFv9pK5vErDcBO7fj6uQ8vIpa8WP9KU6e0NYZKC2ERnXmhDmz1jqFz2qDuafaaX8j4ch-k9F0_ihZJ5ONT-ujVCDAD3ycNkRlQTl8UJnRXkHoadhBIywtJTGS_jGxrL-BFNINB7uKhlfMZ9nIeubuGKrf3FhHPClWw9ADB4B9uelUfO6npy-9OO1qMkJemzmgWiRgRK020EmKEVw25uQ63-Osm8BgVdGjwKjAuXylNzYZtZGh0XyMhMFMTsa6jasICekdEj-VmlWEf69Qua4ouZIe7KHm0rNznrqxyhWvr-LxOthxyH5K5k2D7e12WD0Dw4nknXnmLovQ8TD1q31IHfYwT03zo72QJ-n3OK4ZbzXaWN0oQZdtIpb2l2HsH8VgQDETsnZNA0dKetdDdUnmwTqVnGkEAWkOi7YtRDHjpNo18IEeKpKCnq7_UkUwN3RArK4wQkumR8u0mmX37BkHdpzHODjlJI9GuzLZed7kPQZTCkoa8pAGFMNIHHnWYMeHI1wJ2TxkV-pIU_Egu4c8ZuA8WZB5B9oF-bRA3RNyMNdeIsQrtdLQUSAPPwf5hqhHGmTwDC5KxEqGTYhqmQ4P3S-0xg_yR860Wb3Ej3tEnCz1gSkJZnkyAje2mldrjE8f98cZrHK23KlDDC4dDpuo3ljuBJarvfZq5XMPz8PVQaBw2VeCMk3Ahz4WgGCETdURNDuaCZM47Jmuo1BycU=",
  "id": "rs_062d98ba4d39c4f9016ab2b9e2211887d0b4e14bdc54246c6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.074,\"right_x\":0.375,\"right_z\":0.032},\"note\":\"The pear remains a little right of center at grasp height. I’m making a small lateral correction before closing so the rounded fruit does not slip sideways.\"}",
  "call_id": "call_36umcOq4LHsytRsTdZaii2jy",
  "id": "fc_062d98ba4d39c4f9016ab2b9e3433887d091d7044180d99b95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_36umcOq4LHsytRsTdZaii2jy",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0555, 0.8131, 0.5888, -0.408, -0.0807, -0.0776, 0.9979, 0.2916, 1.6009, 0.5156, 0.3508, 0.2329, 0.1295, 0.9994]\nstate[eef_state]: left_x=0.29 left_y=0.0017 left_z=0.1625 left_yaw=0.0468 left_pitch=-0.0621 left_roll=0.0019 left_gripper=0.9979 right_x=0.3698 right_y=0.0722 right_z=0.0252 right_yaw=0.0213 right_pitch=-0.143 right_roll=-0.0592 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2103, 6.9949, 1.8046, -0.0415, -0.0122, -0.0122, 0.1573, -6.3521, 5.2581, 1.8877, 0.0464, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67b3408937d99fc8f4c674fc5b867f69cb51b2ce7cba34707fb8978a0ff4d079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:675af34220296594d9355c60189c9b4a9b209ea4bf8c5c3876b0cfcec86d9dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4671de00871de3990446b64c49edd3d373f53d185087befb30c344760d83fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0555, 0.8131, 0.5888, -0.4004, -0.0807, -0.0757, 0.9979, 0.4026, 1.5524, 0.5156, 0.3157, 0.3157, 0.1974, 0.9994]\nstate[eef_state]: left_x=0.2911 left_y=0.0017 left_z=0.164 left_yaw=0.0457 left_pitch=-0.0546 left_roll=0.0026 left_gripper=0.9979 right_x=0.3608 right_y=0.098 right_z=0.0386 right_yaw=0.0276 right_pitch=-0.111 right_roll=-0.0551 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.347, 7.0222, 1.8877, -0.0024, -0.0415, 0.0073, -0.2256, -5.9282, 5.2718, 1.8926, 0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The pear’s body is now between the jaws. I’m closing partway around it to avoid squeezing the rounded fruit out of the grasp.\"}",
  "call_id": "call_rTfGF3a02nM94SZhKno3Ypn5",
  "id": "fc_062d98ba4d39c4f9016ab2b9e7e5c487d098806d6af8b1beb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTfGF3a02nM94SZhKno3Ypn5",
  "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]: [-0.0555, 0.8131, 0.5888, -0.4088, -0.0807, -0.078, 0.9979, 0.2913, 1.6009, 0.5156, 0.3485, 0.2298, 0.1223, 0.745]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1623 left_yaw=0.047 left_pitch=-0.0629 left_roll=0.0016 left_gripper=0.9979 right_x=0.3695 right_y=0.0725 right_z=0.0247 right_yaw=0.0273 right_pitch=-0.146 right_roll=-0.0634 right_gripper=0.745\nstate[joint_eff]: [-0.1846, -1.2103, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.0752, -6.106, 5.135, 1.6044, 0.0415, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7076bc575753e373cecf963e715c1b4b5b138c9fd929984194ff6344d0483642",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63472fe9bda40458b384eb905e9d70763ed2b94afe189238e4bb3e26d291760a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8518dd7ae159a9ebc96fc68ac2ba8ce6ce28cc56a8412e2fc84664810c081ca0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0555, 0.8131, 0.5888, -0.408, -0.0807, -0.0776, 0.9979, 0.2916, 1.6009, 0.5156, 0.3508, 0.2329, 0.1295, 0.9994]\nstate[eef_state]: left_x=0.29 left_y=0.0017 left_z=0.1625 left_yaw=0.0468 left_pitch=-0.0621 left_roll=0.0019 left_gripper=0.9979 right_x=0.3698 right_y=0.0722 right_z=0.0252 right_yaw=0.0213 right_pitch=-0.143 right_roll=-0.0592 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.2103, 6.9949, 1.8046, -0.0415, -0.0122, -0.0122, 0.1573, -6.3521, 5.2581, 1.8877, 0.0464, -0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at a substantial width around the pear. I’m lifting a short distance to confirm it is held securely.\"}",
  "call_id": "call_B5Ffl7KUcmwiMCLLlvxUb7zf",
  "id": "fc_062d98ba4d39c4f9016ab2b9ec217c87d09ff18163bf22c952",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B5Ffl7KUcmwiMCLLlvxUb7zf",
  "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]: [-0.0555, 0.8131, 0.5888, -0.4164, -0.0807, -0.078, 0.9979, 0.2913, 1.3819, 0.6724, -0.0792, 0.2264, 0.1188, 0.7493]\nstate[eef_state]: left_x=0.2888 left_y=0.0018 left_z=0.1608 left_yaw=0.0471 left_pitch=-0.0705 left_roll=0.0024 left_gripper=0.9979 right_x=0.3611 right_y=0.0706 right_z=0.0855 right_yaw=0.0297 right_pitch=-0.1968 right_roll=-0.0773 right_gripper=0.7493\nstate[joint_eff]: [-0.3487, -1.2239, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122, -0.3487, -6.7624, 8.9641, 1.6874, 0.0904, -0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa4a19e7116e5a328806ba2da534e19473255287968d5a8077ad42ff93309c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58785004e40263004f106d192b2cf4e8a606398aa1051c6c0974402cfd0aea32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca1c4741afe8cd2fde3c1bb605f537cbec37c01bc5b1b2b15a58b02e691746b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0555, 0.8131, 0.5888, -0.4088, -0.0807, -0.078, 0.9979, 0.2913, 1.6009, 0.5156, 0.3485, 0.2298, 0.1223, 0.745]\nstate[eef_state]: left_x=0.2899 left_y=0.0017 left_z=0.1623 left_yaw=0.047 left_pitch=-0.0629 left_roll=0.0016 left_gripper=0.9979 right_x=0.3695 right_y=0.0725 right_z=0.0247 right_yaw=0.0273 right_pitch=-0.146 right_roll=-0.0634 right_gripper=0.745\nstate[joint_eff]: [-0.1846, -1.2103, 6.9812, 1.6972, -0.0513, -0.0464, -0.0122, -0.0752, -6.106, 5.135, 1.6044, 0.0415, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrn0yzb4aPmGPznPLkeVZRy0d3gGqo_ELWyvg5OdgNSoWlgJ1WGAdZtUYMSLIxAFpE4uT4U6tnQgxldr_rriOH1TzlkU3Q2DfB4LlIPLtQUscY0clBnsksoW-SqoDpmvYQ0CujfsJdPkLvtLdsPJHWCfF40Lun9X76D-3oUQPFw11ksTKn1EmmIw8QD1zlYwqn3we4eSV2YGdQMf-VMpr-XZ4-ya7R7Uz7JI7ZbQDCUJODbI8y9dNhhJDN4fBxPPljD0Rn2QRaQfT05rlo9BiNNsFKCF4GC5Or6l0luZcqumNg_XQ0Nkon18YZ_4snt-tFXuoVJ4o-DyZt35lxpWl0o9Q6_tdW2tiM_Bqpl4E96mQ3Tp57F6JfbKSviQXKCMOt66FROrHSDqaXVLbMmew8T2pJC2gPUJkQZGqLv789vT-GW6FjJlO0IzIlI-uuXFTLnEdhWvVELgFO5q48RvkXOIJatVYk3-bfV9Bems_qxjXkf4eb2mgWEtjxbISAcUCRXmYAExz-X4sU6XmYQ9fPLNaZDk4xJSfoXOpzMVPkAeI6utDEAwICwGXdZXKJgMpEpgHp-EN_ja4tMIdstQX0nH_0KfgZBpUrblKVYsSrwfFZMwP3E_GiZdAgCrtq6R2qZVulgfLs85TxA9E1GRJcViDGqS9GliUOvWlT4A-_ZouglfZIaAUjHxcC1LpFy0rdCX06I9d6k_zac2w_EwM-wdIT35wlRqycCzKrbYC5VrQ5L4t8_27KrUid_ZrZbT2ADFqH1TmFu73djr-ymXugPGgHY1QVndNjfhy5ddReiPtHeLRe5FWUvL_-rDwAgejcUrtHEJrTH48v5AmS-YPBT2ErOY59UYPf_w4nyAYHpu6nsL0JqhTXgjkFV2Y2Wutf-oth2KpbY5rh-LnjcRGT7yY49EYkU_mQQo5cYNXGMBaxo3YbAz0M5C5I5AvpBWXEbeuktjADebxzTgPVnz0niLQ5wHfuQWTWfWkJekSX3cwrpsumh7E07NbJuO8X0Z4-G-AYeBmR6jeu9Io7a-ZeN1v-oy99zcQbFvkJSUpQOoJHHBufE8FgGO_JBWjsEriHu0pnCIgKkQ0JgidPDeCLWkBItXEQm_Z5whi5Qsxfo3ywP4u-zAtyb4c1Mk7uGUgZZIs801B28d9imUnM0jPIGZNvSbZopvBoDFLtO1hay1m4hLMgNkwZy5e9JoORW2q0LyaxuAH2c-9x5_6Uu82YjDeBOKN2eoLII9bisS9295dCFtz7bBwPUktG6VQjsRFCKFUik37tneq0q8GfBxOdYqHIGePZiTgD_p7RMFHGf-LqRnzxnfASVdK95hgT0X8B2gMT7MTzJDjWtcl3MN4tk77Q==",
  "id": "rs_062d98ba4d39c4f9016ab2b9f17fe487d0bea6d2ff71d40641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.16,\"right_z\":0.19},\"note\":\"The pear rose with the gripper, confirming the grasp. I’m carrying it up and over the blue bowl.\"}",
  "call_id": "call_tGayM2bgo5nyX6fvEYEvJq7V",
  "id": "fc_062d98ba4d39c4f9016ab2b9f33f0487d08a23cb26dce85894",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tGayM2bgo5nyX6fvEYEvJq7V",
  "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]: [-0.0563, 0.8154, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.453, 1.7515, 1.4418, -0.5438, 0.3138, 0.2108, 0.7514]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1587 left_yaw=0.0464 left_pitch=-0.0804 left_roll=0.0034 left_gripper=0.9979 right_x=0.45 right_y=0.1624 right_z=0.1749 right_yaw=0.0636 right_pitch=-0.2338 right_roll=-0.0939 right_gripper=0.7514\nstate[joint_eff]: [0.0479, -1.4291, 6.9675, 1.7216, -0.0659, -0.0171, -0.0171, 0.0068, -9.5795, 8.5402, 1.3944, 0.359, 0.3004, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cd7aefd604a2ffe31b05416f1aa13561f5fce31a10d30ab0cf1e2e85b30b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b3554b0c0f1a2b91b45a0b3d64a72660d127e9b47af317c49c12d2b8b2fe6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9674f2a8fed5be8125cb679b188e2e5215271efd6d7954acc8c04c95403aeb3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0555, 0.8131, 0.5888, -0.4164, -0.0807, -0.078, 0.9979, 0.2913, 1.3819, 0.6724, -0.0792, 0.2264, 0.1188, 0.7493]\nstate[eef_state]: left_x=0.2888 left_y=0.0018 left_z=0.1608 left_yaw=0.0471 left_pitch=-0.0705 left_roll=0.0024 left_gripper=0.9979 right_x=0.3611 right_y=0.0706 right_z=0.0855 right_yaw=0.0297 right_pitch=-0.1968 right_roll=-0.0773 right_gripper=0.7493\nstate[joint_eff]: [-0.3487, -1.2239, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122, -0.3487, -6.7624, 8.9641, 1.6874, 0.0904, -0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrn6SSf-qYb-bcWBThkAlqj4icM2taSIAPotBGtZhfxVXLuHhWbeg8CwaNjSZSKkf9jD3fITPWS3AOInKIUDe6XvWFBnCvknGIlsVSdPU5GIlrdFWEZbhnXgjXZ2DQSMfUp5UUvWP48aV_TAv4NgKVCM6ESs-qishUhEnUSlEySi0SNkFW7_7BFzv6RbyCSXsTkRIDDBCPRIFs3YsCQ0VjfL245M8pUeW6DOOGePfg6VVABj3428pl0sdR6WQ80j5SIiE7PbcSLLM-JICJEDCvRmDMdHjxn3ZZdLZXt0rYKgBLn47K1tHVsbNuGCXQu0EQ6GwfWfl_mHJGhyubpt9BjU6cfd4LLpHkBDuH3YZGhq-tsnkoSYRh3LxunaBs1aUfwPKN-_bGXzmWxesImnGzZYRl6AVSVMOYb9tTNYbcE5nGzeoWIkrhSRKRfnkGhTyyz57Zt4PpEWHhoPkqkf6KqwasOuQx6BWc0erDEwklkTyj18mwAiWJrGQTBZur7qs90vvQTAikGF9sHY4pd-H_NXdVdvpc-VQ3ljbXLSo8DISMDAQtfG7jZkilCYmS1H9-JksqQxvCBIooybE1xHCJDykYpRZyYdv6n49c_arGkRhGkj3CrqWBM4qVpfeX7jjJQZ0LMOVtCvjQll4wFqmID6w1Ed49EYYCJp8KyXxlFFCNnviA2Uu-c5G5GDetZXV_HmduQOBZvqZoRLCvlmsImA9D3n1yocLgTBbt5M1edNVyMcxIhF4UYEUTfdnz53_ulaA45tZDU4J5AOoP_vlkyA-8ZROKbLiVy_mdNiJnjkqJdTF-5ITWA2fBiSJzb5qE9B-hosM1gY8PfxZcR4ssyqX02CnsVefUoIBkOVOEjd2ysO4v0a8Kzdx5tE3fkMjh1UAD5QpcY8_fh5MzcincF3vi-bvdmA0vq1aycF_x4KUi_5gDOd2PnN0zxEs54DSx0hSP8wYYhA0dbZ3ykU0In0VuCqxJSxkW6rQ2LTgczAVVaygiZv6Gq_h9JO_N_cK6kcHH0OX1HJFPC4JnDIp1Mq7Kzxm_go1x-Dn-THsjEoD5l5ZzngHZf-jMa1VcV4a5KFxjaCr4_1rTFjnZfrv7YZrt-GGnhFBw1_lTLzpL5EkVWo3EBvdMQMEernATi0VWQ_y6aZ4hodZIvAdSB7F_Co5dIbf3q8G-a3NnPF78w_qAWI8Fz4Y5dBx49slOSkQgl3MesThW6hJNsyFkEPV3fqIMOTIbNHLOIIagyJq36oize8VG-LOI0F43-hOunxqHuH",
  "id": "rs_062d98ba4d39c4f9016ab2b9f864b487d0b0ae07564b9ced3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The pear is positioned above the blue bowl. I’m lowering it toward the bowl before releasing.\"}",
  "call_id": "call_C3t08YOI3jfQKrEssQ46Ijyb",
  "id": "fc_062d98ba4d39c4f9016ab2b9f9287087d0a3d0f91fdd3259eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C3t08YOI3jfQKrEssQ46Ijyb",
  "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]: [-0.0566, 0.815, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.4545, 1.7996, 1.2354, -0.3328, 0.3092, 0.2054, 0.7514]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1588 left_yaw=0.046 left_pitch=-0.08 left_roll=0.0034 left_gripper=0.9979 right_x=0.4423 right_y=0.1603 right_z=0.1027 right_yaw=0.0676 right_pitch=-0.2757 right_roll=-0.1113 right_gripper=0.7514\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.6728, -0.0513, -0.0708, -0.0171, -0.2667, -9.2923, 6.6256, 1.7753, 0.1148, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e87e6a696600c6499088bb077dffe8b94744641780346bd657ebcb3691daa5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc1523af35ceff6fbc9b641da8d9ab57b67026d620368a82b15c6cd74737c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1eac4db6461222266ea540316bc97bf9c205f00ae15285e60fcf687e4183e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0563, 0.8154, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.453, 1.7515, 1.4418, -0.5438, 0.3138, 0.2108, 0.7514]\nstate[eef_state]: left_x=0.2878 left_y=0.0016 left_z=0.1587 left_yaw=0.0464 left_pitch=-0.0804 left_roll=0.0034 left_gripper=0.9979 right_x=0.45 right_y=0.1624 right_z=0.1749 right_yaw=0.0636 right_pitch=-0.2338 right_roll=-0.0939 right_gripper=0.7514\nstate[joint_eff]: [0.0479, -1.4291, 6.9675, 1.7216, -0.0659, -0.0171, -0.0171, 0.0068, -9.5795, 8.5402, 1.3944, 0.359, 0.3004, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered into the blue bowl’s opening. I’m opening the fingers to leave it in the bowl.\"}",
  "call_id": "call_pOuZpvPUjlZEaFARncz5b6sH",
  "id": "fc_062d98ba4d39c4f9016ab2ba01f21487d0b64136403ee61784",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pOuZpvPUjlZEaFARncz5b6sH",
  "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]: [-0.0566, 0.815, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.4545, 1.7996, 1.2354, -0.3382, 0.3092, 0.1989, 0.9959]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1588 left_yaw=0.046 left_pitch=-0.08 left_roll=0.0034 left_gripper=0.9979 right_x=0.4414 right_y=0.1598 right_z=0.1019 right_yaw=0.0706 right_pitch=-0.281 right_roll=-0.1178 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.2103, 7.0085, 1.6923, -0.0464, -0.022, -0.0122, -0.1983, -9.0051, 6.4752, 1.409, 0.0757, 0.0904, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec2bfac5ff67a6df7d17bc2d26a51ce126fef8031ff20bbb130c1304861984e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984c537dccdf72dc00e485e6d761708e1e8e9d19d37fd782f170e697179c2ac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f06a8eb634154741bf60653cb6f14cd2c632bbd33ad5f980f470583d3aba19",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0566, 0.815, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.4545, 1.7996, 1.2354, -0.3328, 0.3092, 0.2054, 0.7514]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1588 left_yaw=0.046 left_pitch=-0.08 left_roll=0.0034 left_gripper=0.9979 right_x=0.4423 right_y=0.1603 right_z=0.1027 right_yaw=0.0676 right_pitch=-0.2757 right_roll=-0.1113 right_gripper=0.7514\nstate[joint_eff]: [-0.1026, -1.3197, 6.9675, 1.6728, -0.0513, -0.0708, -0.0171, -0.2667, -9.2923, 6.6256, 1.7753, 0.1148, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsroMySUYh6CZas-FulaQtCiD9FIgfrjE9sas5I3RCjLbHFO8hx3ZFVwBfPiyD3hQzzqWqipYF3x4bIARI2io8SuUUImua1ra9Ktpf45rVdxjUB3Wtl_46WRiZA_j2hNSEdq-FNZUCohl87i1AEpNEagxxPX9umPF1TVkiulmTlanalovNXXWIcBWrc2fdbcd5UpohLKzwb6XY3Jl_nBNGY8iPbr88G2UbDEPZxp8cwgOuXDcB2aQH_pkZtl0ioxGeRb4oMMMs0iwJA9JuKMTR9iBbPpwhJ0TtcaAY5MXr8SZf9f5wNKvIOP2-kUegdMm40pjsknRFgcy4iUQwItiru8_q6E_01zJDmUs_3MKlxPbH6ZWOK9Vk1sqLVHAE93uODGuUxzfaopt6Et8UJ7U674QBp9tVx5fsFdJQ7MkvHLIbU5swhz8RK2oMSCD07WN8UdzJmAOqvSQ1Y6hLKvsTTJ5DOL15kwtTuNXc-BsThs_WjcBmJT27U5xA8wGS1-oTtI-YYgN0eGnv_wuGbF6Cafmx6KvDOJp8ohAoOjowOz9_bFpkfAkTUsJiE1yDoiqu52FBhzYYcwfUdg9YEjLefdtBtItG322knoiY5MnuTuIo3EARTjK33WsdzgDqagg4WMDYHmPKsj0RkKsb_zkB9zc3CzCdL_HkwGinXMgDhSAtG1BPpCnet9dT3v40_qoLtEjKrswhbMHgj-7p9TDxO4NUOOkSyXdt-EvzrgEc29iF4-URUqay0hJaV_c-ek4-Vlxp1PqSkGsBMEUQUO63ZyhvWJ7eg8uao2n1vugZ_GjJ0BAENCWNbUSgtwZszEjFgbEdS0VbO6Cn6eg1GYkd-USz5DNvK8WcgxKz2Hr4q6jHw-NnMR-Q6kRmjMOs014LwY6fZ4K3tLd6V2YoHDAY-FVVmxQvFzn-wtho83WhrEJF3cjYmXFnyoVv1EpXNk3AZl24mMJGnfeQj3_-rfc0raEVG2P9xr7sui58zX9jPRAoOi_NmmbV8hrR689BxE5X_iRPUf3hAi-fdTZe8Xt0_9R1DGkW0Jvj8CgSMe2XJ7bVaRcRSLFUlVJHYM-A4pHmsjeKk3OX_nsV858JRMID7JmmWKMJCLDIAmhAg5iVlisZZwRIl8inrPQ_hJfIEJQhrzm8gfxaBYj_SEBZHboxsKVyzj_EOqnGPjbcgIwFNNWCaaLG9zPsj-Ce2U1LwVakWJmCB6jaB5R7bFYlkzIRLtDnf_KgQoLof8xtC7iPmWEZSfwLKDYQks_f7wmZTXjIfT0Vtsv2A_hr4UnmPGYdvUPzW6K4evFPQLiUXBGvpC2I7_HwYd5vJIWYjU5peqroqZu2SCTsedl4iNloE_hL0nXqA==",
  "id": "rs_062d98ba4d39c4f9016ab2ba08a86487d0be78d5f463cd3511",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.365,\"left_y\":-0.31,\"left_z\":0.15},\"note\":\"The pear is visibly resting in the blue bowl. I’m clearing the right arm and bringing the left gripper toward the remaining yellow fruit.\"}",
  "call_id": "call_fpeT01GZETp7dqkhI4Cq3AcP",
  "id": "fc_062d98ba4d39c4f9016ab2ba0a624087d09ce23c54619efb9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fpeT01GZETp7dqkhI4Cq3AcP",
  "output": "executing move_to over 28 steps (2.8s)",
  "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]: [-0.9527, 1.8648, 1.3952, -0.5011, -0.7177, -0.7719, 0.9979, 0.0051, 1.0473, 0.9691, -0.767, 0.0364, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3624 left_y=-0.303 left_z=0.1398 left_yaw=0.0397 left_pitch=-0.1031 left_roll=0.0116 left_gripper=0.9979 right_x=0.3007 right_y=-0.0013 right_z=0.197 right_yaw=0.0447 right_pitch=-0.2813 right_roll=-0.1208 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.7179, 1.0183, -0.5495, 0.0073, -0.0122, -0.2256, -3.3162, 7.3915, 1.5849, -0.1001, -0.0269, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3264d0e806fac9f6ba33ace112806f822456f5f456e92ae82cce149e234521f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454377dce2a530e0445746545d50aefee632b276fe603cdf15197491f3661000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41958437651397c48696927c59803540da83914f1b5103b10422f752eb0fc601",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0566, 0.815, 0.5888, -0.424, -0.0807, -0.078, 0.9979, 0.4545, 1.7996, 1.2354, -0.3382, 0.3092, 0.1989, 0.9959]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1588 left_yaw=0.046 left_pitch=-0.08 left_roll=0.0034 left_gripper=0.9979 right_x=0.4414 right_y=0.1598 right_z=0.1019 right_yaw=0.0706 right_pitch=-0.281 right_roll=-0.1178 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.2103, 7.0085, 1.6923, -0.0464, -0.022, -0.0122, -0.1983, -9.0051, 6.4752, 1.409, 0.0757, 0.0904, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsroVX9uwuy6rCrQLb_OyZC1EbG6qyHVStxG0HXdOqZd3T84hyV5URDgSnCCekzleyGItGbPmx4uOUuAUNsHf2znn7_16wdJuMLzH7iUms7kz-cqQNNCYf_EBbGWKVZfnZTKKNhrvZhNSEVts1oXJbpY64ZBhFR_51Ul0tcywqD5IKI7hopDWwdB9uNsmpjllLChI5YYM2yOHQEuJMs5_ON-nnBdvvZMWf5GM1vTNXvWF648t2wqi3FpVLD1rUzPctXLEE1gHTLBbb6r3g8dBrSrosFl4t0Y_9m9bkD8QqtWs7hqMK4BmAxKvHhGCio-EpxlRvkEHew2pTYhPli6Lirjyo3q4qQnuKKf2pbV31f2j4ZPHP81seolt3OlkTnGeBiV4b3io_Yw16CY-kduzOGabTcLbb2IU32dBq7By1MeeIaKLxqHDFKFOWgyyk9DlZ68O1XquJnSMP3ZDpXirlqapVBaLbbHRKl-cEvDrCDADDSkB3mySKRNl1SinXhHOuFSmfdwh_yoCJ--gRs1Fxt7B5ouBiPYR54XiTU5SvivXezA62N9HJkULZLm1sk_01nhGuQCmCwTn4BwODlzBX0SdE-GJmTVrO8AobQHTC4FlZ10veoFo3sL7AiKDP1E8A86PvUWLZNdURMgF7Jl1E87rE0UKAd4dSbPRXMinrpq3N3r31Y39UljGrNANlS5kxsrDdVWGruByEfiQcNzqvFD3-SsAvXg1N6nbr9EiEGhHTBse3hw2scnOgZr6eSyaVI2XnU8Rzb4bd2Sb5rfdp1DXo18ESM6d1LyvgyN9xwVhmuajUc5pFDn1UzaAXbjgwiRKa7y7XMjfLBI_H2xUIuLfCuWlx6ILaZiYQrsMNUSWX6IwkjyBgjvLgaRdbDfoC5_e6lLxlx979vGHoWdRNcPZ-UWOgkz9fsPRI7G1AeKVwTtn7twpW1M8e2egd0PtmJBombxFFWXTL0TX3rhA6_CLktWlIWohLcfPWPuMceTKdpymSHUenMZ5vP-X9XVMmCYgjDYZS1_xkouqwVb7BN97L6Qd186Hki1O6biYkZGT47PMBm7Jk5J95RUrT4q-8o6W68k-V5weIqIbNx_onRtPg3XD1OYf8rZ1wkqalDSrgUdjwQB-Q7q-88eatLZ5Ofgig2mckdPjDYBH3dSzt1mrm5XFAydmtQnym1BcgAo6AgHDfHHExuPH_iuvZznanKr-F7i6_gL71LQ-wFh_JAklKA==",
  "id": "rs_062d98ba4d39c4f9016ab2ba12fbe887d0b97793a9fbd88deb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.345,\"left_z\":0.035},\"note\":\"The yellow fruit is just right of the left gripper’s centerline. I’m moving over its center and descending for a side grasp.\"}",
  "call_id": "call_4jQpTeYHk7Xk5PAzwDjPqnDb",
  "id": "fc_062d98ba4d39c4f9016ab2ba138ba887d09ed8f7a725402751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4jQpTeYHk7Xk5PAzwDjPqnDb",
  "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]: [-0.9516, 2.1769, 1.4151, -0.2729, -0.7105, -0.7826, 0.9979, 0.0048, 1.0508, 0.9691, -0.7841, 0.0288, -0.1467, 0.9965]\nstate[eef_state]: left_x=0.383 left_y=-0.3327 left_z=0.028 left_yaw=0.049 left_pitch=-0.1429 left_roll=0.0542 left_gripper=0.9979 right_x=0.2978 right_y=-0.0001 right_z=0.1932 right_yaw=0.0594 right_pitch=-0.3025 right_roll=-0.1237 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -11.5761, 8.5402, 1.2772, -0.3492, 0.1099, -0.0122, -0.0205, -2.7145, 6.6803, 1.6239, 0.0659, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893d8c8a0e2ec827b6079f74e9c797c4116990bb82919085d26858f26ec83872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cd7fa2ccee5e7b26b45b150b4a63af6e13f66b48a449449f6d333f0917cf9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5eb2786c49b04bf625fd269215f8614465f7512109e9e27bd7775ef84f3878",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9527, 1.8648, 1.3952, -0.5011, -0.7177, -0.7719, 0.9979, 0.0051, 1.0473, 0.9691, -0.767, 0.0364, -0.1322, 0.9965]\nstate[eef_state]: left_x=0.3624 left_y=-0.303 left_z=0.1398 left_yaw=0.0397 left_pitch=-0.1031 left_roll=0.0116 left_gripper=0.9979 right_x=0.3007 right_y=-0.0013 right_z=0.197 right_yaw=0.0447 right_pitch=-0.2813 right_roll=-0.1208 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -9.6889, 8.7179, 1.0183, -0.5495, 0.0073, -0.0122, -0.2256, -3.3162, 7.3915, 1.5849, -0.1001, -0.0269, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrobrGOhuZ0hQh9b5qpBfddRWTiFCHZg8Tia9hQgXXlDrOl_b9bvMfsLpMcrId3soGOj7hf90u0qcZ76ma4WWIOcXIwbr_ZqfVPBbzwIN7aZQXNURNSYWktmSBpPKXobRzUImBaEWMwpK8O70Bibb5FxLO93dEIswDI1_pR0smH4zdlqlZcFhVQRwIF9j2gu5Fm0Mghff5JUr1VUJLaYyviCg1dlno-o0Q4gCYo95pRWMcQpC5J-HE3sCfV923q7wqGk2IBptZ0tC2dtMH6cYdZ5-fe1mB5dMCv-odUtG5OQnOHywjZLCQtkXkGnxbai1eYkRLCtfCNMNP-Te43Pr8Up4Ggc-tZO3gdfnlGMKxfe_DHuFV7GSQo5kPWw3JRY5kJAv7-FD__D2wHNvTIBXp3WzZtgBtlhqNIxqh-ay3mU1aNi0S2dxyS2KL-JRI1AEubYpGCPb82c2CSsgDjXcuxg8myCVMRrGIw068w_LGI42itNXf-KTQhRjQg0hRHGbsh0Pdnq_qyRF1I9RzH1EWSRW2lzs2PMMRRW34MNzErszGN1ht4TRQTT3XzcDWEBBXwvGPgcTJDXi_sxFrftquD227z_-bkv8D1hz87eruAOzY5jbgHKdDscuGmq__juYihD6pS_nA6SHhwWm7ktHOTVqoY-A5n8brDdLoDm095xQJhU7JTn9eyQIIrLnmsW0OKPQqvUnmgmXTv8l4BXZIzTeqOgWGHvN533OVJ19BondppgjZW_zGeYD-qhGTfqCksZDKeIev_dG7nyE846BNNWaEMeiDNEBpzC8bYm2LCozZ39LkmtOK3wtFNoD8Hu_eHAbk0i7Cz0AKn47idWtxe8eEvIUURwgvCkxcnhm8dTJyOky7KB57omtDz98RpSV2EG01LUnQb7NnvLK2OAlK2yU8tDsJX0EH_b9SMeP6r_XaNzVQprGzWnS2jfiyvkg3YkHps6m1kdNv5uTQp4A4HGOY0F-GSXD7i7k8JrPBDNLrsYToiILyf72uT5-yfTu2tV4H30Kgkxdz9cIdbKk2mUOEUeJBxUcg9cvqlY4hmDUEVBYTLc9uhWzCmKFOuIKSNuSyR2ap-oeIR7t57OmQkjDvF7TTlHPme9T7K0ydwmxC3qw0hhaTs4Ct-mY0uODDd6oBDOEf6aBE23n5w6Uq-DD13KjOuFOZgK1Q5DcEuUZcP-v24b7uWAMkdEyzg36LGLFTIhLIag6YeftuRR4TgY9iGPllshJt1DbowsZXVwOwEQ8IZD6_a8DXCHV-fHaKWBUZmVfDLd4osjPPW9lmKonaH5_Do0R5XN8osngoksS6c=",
  "id": "rs_062d98ba4d39c4f9016ab2ba18badc87d0817b8dedaa64aff5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.348,\"left_z\":0.03},\"note\":\"The yellow fruit is centered laterally but still a little ahead of the fingertips. I’m advancing a small amount to grasp its middle.\"}",
  "call_id": "call_yztzxAItrNSDfJg4KCqlVlwr",
  "id": "fc_062d98ba4d39c4f9016ab2ba19dbcc87d09143254769fe5646",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yztzxAItrNSDfJg4KCqlVlwr",
  "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]: [-0.9203, 2.2723, 1.5604, -0.3038, -0.6949, -0.7658, 0.9979, 0.0044, 1.0512, 0.9691, -0.7883, 0.0284, -0.1474, 0.9965]\nstate[eef_state]: left_x=0.4099 left_y=-0.3459 left_z=0.0243 left_yaw=0.0597 left_pitch=-0.144 left_roll=0.0435 left_gripper=0.9979 right_x=0.297 right_y=-0.0001 right_z=0.1924 right_yaw=0.0599 right_pitch=-0.3071 right_roll=-0.1237 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -12.2188, 7.0769, 0.9158, -0.2222, 0.1538, -0.0122, -0.1436, -2.4274, 6.7214, 1.4676, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c61cab641519de04d71fcd17b47d179149502e8b11bf07caa4efaeaec73f60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a4e1ef8b905b3db79d4af3204d6d5d17a1e6d4f3f4b4e39f696d8692ec8725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39390e2f9b99cbe2a898c8b4ca8430afa21035935a2f1bfbb6a7293ff695440c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 2.1769, 1.4151, -0.2729, -0.7105, -0.7826, 0.9979, 0.0048, 1.0508, 0.9691, -0.7841, 0.0288, -0.1467, 0.9965]\nstate[eef_state]: left_x=0.383 left_y=-0.3327 left_z=0.028 left_yaw=0.049 left_pitch=-0.1429 left_roll=0.0542 left_gripper=0.9979 right_x=0.2978 right_y=-0.0001 right_z=0.1932 right_yaw=0.0594 right_pitch=-0.3025 right_roll=-0.1237 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -11.5761, 8.5402, 1.2772, -0.3492, 0.1099, -0.0122, -0.0205, -2.7145, 6.6803, 1.6239, 0.0659, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrofzLfkRO7QGfNNNDkQnz687a-IjkSp2VO0TAR2bcr_2bMaKQKwjNg1t6BmrtkasIQtS7RKaLCtZmOFUug8XIKAhPSjbRUfsI8xSsKOkEUQuU5jZs6UihJr9HMrnIhD9SH9Hu2sJ37fy8tyXGJQ9gjRMjGaW6HEpHW0xdr602AZlq6C9GuGb0tPOMjf25M8i3EyVlV8yNHKBBZw6-m-nVj-Ctt_zU3yL4wVrqsDH7Ea94cgM58f14QdYLHR88T-6EuvvZV7GRCa_F_-9Hy5EbkMvSpOx5P4wZgZM1EFrHUbOHhlE5rkS3hXN_Vovge0yUjSmupJx2XX54TFVmJGstDWoDp6CYshvMv4UvAZhcvofzM3LK_blkWHL6aGl378dEHj5HN87tdt5nTgHC8Ibr6H08D-1FquBYRXp6a1PhvnldywiXvZdcd0V_KkWxRM4YQ4HbOW36NoNRdfINYOvC8kntkdY1w--LiAjHvjxeX4jipZhMlsVsRuiD9so6C7UrQyG42PUUWxOTjS3U6Q4cPbr7acTN0MUZYwo-SfuG54d4OybyIQsbUCZI0zAxzV35eTWgBfLpsS1A0_FTfZiH9Ux-eAV38CPVeOWqjiGtN2eQgHmtZr12aKuSbauo4us-Qu49SwhUP_gPG5aBM-dkFJkG4zAPakIIbQi3HSLC5FG0LNmCpbCI_npfzRPwqbTcDgRn5T7YfkqBPGSOqNhfhVCif73u8JLz_oSrGYIaXgXLyBdAfQwfgXTayCJbPEWk4BKit2eB3MEFA8XoHMhq7EtBq1EvpjpisutjJ9u9lFUqbDekukoTQQUDNfYawoo_CHjZuORzs9Sopug9cMhzDKulSt7hrwnPEUhvTR9jmYxan8NnweNK715mIli4TdL052uVwMRjFVIyK181Fzi8Jfwo4YcFxWbTpOL08k-PTEna2M_NtzdvemsYJ3QHWtSsWzS7twIp0L6zZvQnP-2U6D3O7pOBZKORlxzN9X0zrp5CVKVnrbaEj1WOdGdQz_QVjA0mnyTM7_iSyCuKOEYw8Epy2GyDfZgfMq55A25pHas9U_2k4uqzHFlC0HHioINOWlDFjJje3F6BlA4LhE9SoYvxojXMZ_pQHThTWukqxjsHXhKRFUnmPkF3Ka2PL6EJvdZs3N-F5yNAi491iyAuMU3FOIAfFnPlBqMZeEv__QydoYNMeY4_wd0vhc_tx1SurvA14Mj9VdGpmjvlJCLiMIfw==",
  "id": "rs_062d98ba4d39c4f9016ab2ba1e206c87d08d37c4c972b928e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"The yellow fruit is between the open fingers at table height. I’m closing gently around its sides.\"}",
  "call_id": "call_yTA4QXzrgc79P9Ir3zmmcFh2",
  "id": "fc_062d98ba4d39c4f9016ab2ba1ebf5087d0ab30b2d44c49d3fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yTA4QXzrgc79P9Ir3zmmcFh2",
  "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]: [-0.9169, 2.2871, 1.5658, -0.3099, -0.6884, -0.7673, 0.5101, 0.0044, 1.0512, 0.9691, -0.7906, 0.0284, -0.1478, 0.9965]\nstate[eef_state]: left_x=0.4101 left_y=-0.3447 left_z=0.0173 left_yaw=0.0621 left_pitch=-0.1573 left_roll=0.0524 left_gripper=0.5101 right_x=0.2966 right_y=-0.0001 right_z=0.1921 right_yaw=0.0601 right_pitch=-0.3094 right_roll=-0.1238 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -13.7778, 5.7368, 1.16, -0.4225, -0.0513, 0.9744, -0.0205, -2.7282, 6.8444, 1.4774, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511c0692f8a2ba97dd9b119feeb861e046116440940ec80614487eb95b99abf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71030a5cdcf2b5df4f6a85d9e5e9ddd113dd26d7895db73f65dd9a11962ced0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9943f232a85910ca29cce3ff6a1a00e1bbbb9ad614661d19199828d4331647",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9203, 2.2723, 1.5604, -0.3038, -0.6949, -0.7658, 0.9979, 0.0044, 1.0512, 0.9691, -0.7883, 0.0284, -0.1474, 0.9965]\nstate[eef_state]: left_x=0.4099 left_y=-0.3459 left_z=0.0243 left_yaw=0.0597 left_pitch=-0.144 left_roll=0.0435 left_gripper=0.9979 right_x=0.297 right_y=-0.0001 right_z=0.1924 right_yaw=0.0599 right_pitch=-0.3071 right_roll=-0.1237 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -12.2188, 7.0769, 0.9158, -0.2222, 0.1538, -0.0122, -0.1436, -2.4274, 6.7214, 1.4676, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrolMAt3Jgoi3DKPagdhAGUeH-K6druGZ3nbywOZo21MM9BYuZDKB_ys1HXA_s1ZjPnKfTGzTc2xmddXTgW4U_zJm0ElpkpMv3gjWqSQ8Ozz-kiryTcOpQqwGJKuvuOpXRCcjrV8hvl3yPze-K0CIGUrt_cmMTDng6Zt-zRF2bwZK5zje7QRnX6G03PNcMq1DfztaXx_SRizI5NasGYH7hsrkQc1XRJbr4WG7EwPqQiBcyQ9G96240SI73ROKZJrUdT9BpBCyOpkE0j55I1ju13D7H_cnlAQIzVXGdvECiLjPWJM_s07HcMet7a-NiZXzIGc-4-bFiz-AC-WPtHVO2ea-CNqhXe_9T9C2KWXpAH8IgUxeCxv7zRukkMWsx6m78Lj7UfytWWXtmh6e3AgOMHhK8F7HcpCRVzJyFunS9Ba2YEzBLdQuU4k-LXZQ2wkEKVzbu-kf6Gw1HdNnt2bW5nNajPD7K7185O8b5c4hPACEH8cwXAGwAryWibrbJcZ-QGwls0cZTHlvO9HTLLjRmZpfbvWmk27Wn5_MJrE2UU8I_MDD8Nzo05AoISBgppVB7BW7FgYhIWOWoH3fcMQ-SVP0uGKQigPU4MoTw-NrU-KZNXOohtK3KEoy_yJXyvo3RPpwSmMswZD3Z5bo9f14Nt1JdYCZ8dBalhJN2mdjkKHXRuodaPCVLY_5bEfVbY3KlVs7fdsWQAP_PRfyVuDvEKAa0XK2ZTu_fIGwN9bf9mOngtH4bX3FqIoQa6Lshqb9Swr6qEU_w_4RpFxwnFotEEVCv2irFtD5Vxcazq-O_EWNecfDnpcQGMq9pNXoG8P8O5KQiXIZQlnkXs2SLaAiEYvSZ0eISsYXgSnfDg4Bkx01xEUNwSoEGZq7a99jpE80fmvT-bF-jg9EahUVvmmnWXuhc6PN_IwnD_Sbal0kn80yUvYFO6HXw78Zy5zdkXf7LQscaEoizGcTNneu4aFT6EtFKRXwtyO10gafcqx-vkW7AtvR7NHl2K2PX_jO58ieEtCD8UfbID2cBFa5QgHmano89piWoETcYke_y6QwPUtrlNcZNWGPNe9HYfn_hNAmihQLCgQU6khn0sX6Gzkol-mpdhLrZjbzOHgxFu7_VziyY8rUQXWqueS3axzSHfXnZT4f0e1dur1E0r6S6Se_iJRmRC5VI5WVRGgU0OJHljQ4OUC9zORbJlFdoRf1U9KxFOSciJbvSKUqWctcVO2Ur7PHBmj4lou7XGoqyyGg_LvfrI-tqMO7LiLsigfJ9dP7-beu9YrwEw2BkB3eQ5XsUL1qiZrnHVygaeKMqmgYh45yBVJPCdFCpdUc6mvzcDBqXXW",
  "id": "rs_062d98ba4d39c4f9016ab2ba22f04087d0b7fcc2e1256d33cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper stopped around the yellow fruit with a firm opening. I’m lifting to check the grasp; I can also now see a dark fruit near the left edge that will need collecting afterward.\"}",
  "call_id": "call_bIpjiHGuLEHcrdEptZlTGZae",
  "id": "fc_062d98ba4d39c4f9016ab2ba241ab887d0892aa3c98afafcf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bIpjiHGuLEHcrdEptZlTGZae",
  "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]: [-0.9169, 2.2353, 1.7103, -0.5629, -0.6868, -0.7761, 0.5127, 0.0044, 1.0512, 0.9691, -0.791, 0.0284, -0.1478, 0.9965]\nstate[eef_state]: left_x=0.4086 left_y=-0.3431 left_z=0.0661 left_yaw=0.0742 left_pitch=-0.1893 left_roll=0.0928 left_gripper=0.5127 right_x=0.2965 right_y=-0.0001 right_z=0.192 right_yaw=0.0601 right_pitch=-0.3098 right_roll=-0.1238 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -16.9778, 8.7043, 0.9646, -0.359, 0.0611, 0.2564, -0.0615, -2.7282, 6.6393, 1.4188, -0.022, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8e5ef0d24ca06c2069227b40faa008768eb34e2485ba6129e4f023a7d6d114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abc5b9b041b176637a2406243445147295906961c375bbaeecae7dbc1a8f8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ffa7bb60efc2456f7bdbded45ee32395e3bc091e7543a2aabc2fc7c26637b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.2871, 1.5658, -0.3099, -0.6884, -0.7673, 0.5101, 0.0044, 1.0512, 0.9691, -0.7906, 0.0284, -0.1478, 0.9965]\nstate[eef_state]: left_x=0.4101 left_y=-0.3447 left_z=0.0173 left_yaw=0.0621 left_pitch=-0.1573 left_roll=0.0524 left_gripper=0.5101 right_x=0.2966 right_y=-0.0001 right_z=0.1921 right_yaw=0.0601 right_pitch=-0.3094 right_roll=-0.1238 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -13.7778, 5.7368, 1.16, -0.4225, -0.0513, 0.9744, -0.0205, -2.7282, 6.8444, 1.4774, -0.0171, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsro4a6dWy3L6thH1jbUY0SbVZUR2oat4P7h3X2qwsLsMHu2WAm96tiX469NHNXSMAZHF3gUFUUskOSDClzkIS_rLyeWexfiCmElvZNkBYz9AeMUu9EP23psQNhrs5liZv-UQjTvve2EG5E_rHW5h94jlim0HGR9WSsCPy1vtT15Kav36SRUGIkkSD7H10JyZNUfxoq8iwzeSyldaGsndkh-n7xNRzvAiDiwkDupiDMKkCjvYYc2yrt1omfRbRe7EnnDQH3cdxcSUNdo0pPF9WTpxpx80OV0nhet_vCuxlxnHYl5lQYIa6ZhXg5tbBJUQojqa5ffVFsB9V-RmyCHGgmo8U3t19Ozboas-djXyVSnEsqTMbjiwXxu2L3y3yCGRNNlE3KJt8n8TrQGJyuw6nS1vwSGzglZkTx-WhOb-Xoo7txQ1DLZjUPANJ_MFhasfLKzkfrbWAYlf3p7nLq7zhaIVM7uavFD4706_5E4e5y3PK8QrmPq0dPM6D2j1OD29DjT-mKgSLgX1jNGOknvvkWmgJCS2H3h3PcLDin7LHz0TAFp1qPtTF_gdZfTCJBWeS4VvKjboBbd0aj5hpPbJ5QbFYwQuiVWeN_SmUPm33ok3Jaw_8KiMroPpDAgMbl2qsGdUSL6EOOrD1SylJDljaXk09MgvAtOx3zU0sRlqPm3VG1LwTu84yRwjtsHPZsUPJBMhS4WK7PxGssUleiIeOAVuvqZvPsaBxvbflI3fQAdSzpE6UDi0rn7noTnaHkVQDsU3R5utHxaB3HBbCu1Dsc4W8DsYjdGxINt9tzvbWSXenzZk1SpgDa2YdzWS-EIHAePNmyi3mu1G1-gCLRNF3b2XUu3hXL5MrCRlsOjXttas5PFIKRO0Rs0P5r2Lmg1Qt9Jz6e74G1CP0RzyT8x_9i3MHmMl2l5U0SG7QJI8C3gr_NRHO2yrU3gWT56XXcA44CzmnEl0qRR7CxZKkWmiOAfwnOFRVDUWoZdxl3qv89WXVDm9h8jJNEd2JKpl6EW5zEMXxTabaDoJGI7KKvQjn2bboIAg6LmkhbM1EBtof4RxjAH-rTBeNcmDOi5ctidYNBWJvF2CC64mdWfXqXA3xbxhnSLDjYj3YONAzh1oXLk3jKN0SyQ2lLmv1IYf4exwQWS6WDAFfJKJirryX7Iqp8Tf7klhKSx54IZdnYg71ksqI4MjVB-KvYwO7pv7edcuOrEWu5rm68jUfeZ3b13ZFqrUIGnXHbuqYdQ6RLVIpb9XwpULDfyui36-qp533upsrK-QilSRbkWF_MnVfo--gTR2eC40WWOVP9pgyGaOHy6LYHUpqp8SLp3tZfbAR7AR5kWoeref0mBhHjC-gc1-aciXNrST5D-wAtlE9Pn1bEyZxnHfb_q3RwmQitc_WuIefoj3wJZZZWTyhygWr5l_Gw2sSKS5kefc5Z4r9cZSzksdwzmwVYd4sTkhSYQPlPK4D5PnlyV2n8D4mnzGm6Csvd4XxkCR6E9kDxqtXF-NdXqBAg4TqBtVJuoS6jnTLrLeVAbc73xrgU5RDKWJDUdgRaYODCttmi6Yz8VeUQXjbwoi6y_jY_sui64O9DV2nUO8Fp0-54gJwa7bmVbGS1uoxvb7XgJAloQNxw1kUrucImbifhqqRoaLkVNy2HfwTyrVh26RrP6dkych-26esixB8M2NQwa_wmDpMZ7iWCWj1rUS40RBrd9nXNBPJARn_AXddeFX4CezY9FuGafdoUHjxtT0i-FFj6ySVIwzQVpBdXTXwy99fc00vi2nss_HG8anTbgZAh4c-l-HlX-yw52BJJnWHbMHqjhxdpeEqoe4X3_zMlFqDbmj7W9z4V8dCdFpJoTgZHv9KpIqCEV55WAQsCBHHZbE2Kj_eytg0ZjopNblsMdfvkDtTczbcvRA9A_Rw-XPOoBgJslWCD20i4mDuYxopCKyt7c_k-bLAsQU-Pfzx4HvmfNXpL7Ar7i4c830WbUQKUPru6Phg7n4Jj4-pBtlquwDAJx71VDy9N4hfQYQiA2smIHy-91ZZ6MZdTkR2jpk9tId0oxx3TBDpopj0wR_yLWTa0rsVPX_AKjmz5ojiVNNhBYxLxiD9rg6bbqWhEl66GEW0hKgooo39ZK67kSnYJoUeuG0NpoLwjn_5a74jNN8wMrI1vX0kKaoJGOgjPZ4vCsoV9j70LWGpLdVi_Af8mJMak7gBSV15lGjfMMnRVpAqe_g34bUegV4DzY6b594WL75AsQ83PJ0tcyn-r9arn70T71mQTp1acISA3XVxg6kA4q42LUn8j6R-imzYRQo7hjTe3Ll4oBxbvIIpcT1olOzEb-YAoDBrcdfiit3bRVTAST7O4CcKcPo5Kszjkl-3Ta9zKAEpUSdH-zF8YDxT0T8zbgjqwSHytrXVPdVAPcTK6HAjgE7fAZgOiQNiThZtX-SlhWqjjLnPoWWcTqA9YfpSJytqakrCqDPIQ2CQf40XcfCFPSprIGIJi17PTThrRvn4JbKoWQ6bESAI_D5setA0lEWqiiEKN6adYpUYDRqOQkgZSX2g2-k_qO_tz5UMxJFT95WMCTeW8WCOYG4t9dmWLhcy7c1Q3hmoPakE15oyDae8-9v-ntsZ6VwqGhKB6OUGBc6SrUQ7lGZohzeYEUaj1ELvx04J1LHEcjrAT9hxSZ6P9LXiQUugNLKIjaop7n4nHi5vuSt0jeMBLjF5GZJjtByhkTtb8ov9neasMkCB8WXtDUJF4bkLAcvhxt6QAineZVxuaf4LypBUnbdDrDyxlhkeG8N15GCAa9H0dg_RMAcaUWbulIwoZjo-3ER",
  "id": "rs_062d98ba4d39c4f9016ab2ba28b91487d08da3bc130cca2fe5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.32,\"left_z\":0.19,\"right_x\":0.45,\"right_y\":0.22,\"right_z\":0.075,\"right_gripper\":1},\"note\":\"The yellow fruit lifted successfully, but the blue bowl is beyond the left arm’s sideways range. I’m holding the fruit clear while bringing the right gripper to the blue bowl’s rim so I can move the bowl closer.\"}",
  "call_id": "call_L1iGyUC5VZGizsn1cGbaKu0U",
  "id": "fc_062d98ba4d39c4f9016ab2ba3672d087d08ad1736811f8f2ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L1iGyUC5VZGizsn1cGbaKu0U",
  "output": "executing move_to over 19 steps (1.9s)",
  "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]: [-0.849, 2.0426, 1.7134, -1.0447, -0.704, -0.8837, 0.515, 0.5186, 1.8938, 1.3495, -0.4511, 0.3553, 0.2821, 0.9987]\nstate[eef_state]: left_x=0.3734 left_y=-0.2457 left_z=0.1241 left_yaw=0.2727 left_pitch=-0.3063 left_roll=0.2818 left_gripper=0.515 right_x=0.4392 right_y=0.184 right_z=0.0892 right_yaw=0.0374 right_pitch=-0.3443 right_roll=-0.1389 right_gripper=0.9987\nstate[joint_eff]: [-14.3248, -17.6205, 12.9983, 1.5067, -0.6911, -0.0464, 0.2271, 4.6017, -3.4667, 9.4291, 1.8242, 0.2857, 0.3346, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692697aa744067f17edc4d942e64f51156f39b1abd23849f1171468c1cd376c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bd5d82c8300284f342ff2b59839d84a10013ca94c784680c832361cfd0ca35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b5ba32fb24f5d4313189f6169847cf8a5f319dfac02e3bc1f88e608f3caf71",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.2353, 1.7103, -0.5629, -0.6868, -0.7761, 0.5127, 0.0044, 1.0512, 0.9691, -0.791, 0.0284, -0.1478, 0.9965]\nstate[eef_state]: left_x=0.4086 left_y=-0.3431 left_z=0.0661 left_yaw=0.0742 left_pitch=-0.1893 left_roll=0.0928 left_gripper=0.5127 right_x=0.2965 right_y=-0.0001 right_z=0.192 right_yaw=0.0601 right_pitch=-0.3098 right_roll=-0.1238 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -16.9778, 8.7043, 0.9646, -0.359, 0.0611, 0.2564, -0.0615, -2.7282, 6.6393, 1.4188, -0.022, -0.022, -0.0122]\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": "gAAAAABqsrpA4Bvv-ZFHmJJC1CI7O1nLFfwW_szHeCq4pC9HTQWdllsHFlQ5RKBTI0DeqOjX-JWone4xcdJwWX6E4yofxo5d1eN6XuQwYUj7xok3Vav5IGX8w51fiYaqsf-wXFp-_s-1w6_EfEhHKbFSY1n3KyoYMOSsHIJxfiriXaTmAj3fyU7KlGmZJmThYMkqByt9-k18Ti2bpacsAR14i6fcbSeeUTA41OSgqe7HXwa67dSsbqzIx0nsm6yRFM77bZUdcdndrK3K_FgIJoSFCIaoourtUyaSUz0vHhD_Kb2PBbBrU0PEkB03fJf2-94e9KQx7h7bcWw51nFuKOjAPQ9Y5glY1VDNVH-t-6HJODZgDinquuG8_Y4dF5XApYpK3wrhl6D4S0HZbjatY7XoQU_VEdQOD1W-i_qKlNSDUETV2dxTNwDD72Noyf1EHwTDFXYK-9rZ5ZMU-Le6K54WjYNEIDls0CX-6WBnPdodACZFAHgs-3IGtOm9nwHVuEcXMsapBnVKWcH0Vqk4coF8OoMDsE3IW7cqHU1UuM6fEHbpiYj2m9SUBrREocjHOzXCuejt2cVL-hipjVyonhHDJCwOuikAJOtGp7LfBp1bVSYABWuCkim0ks_z1BeHPqKgHCCE2CgT0HPri6O0LkC2PbY-UlAaG-RAAI4bueVSQKiSqLgwfEw7KUbb3ywTYapdkYWQqqvmaaUgJD-m8487ZRQA113iz0Wsrl_WMpdNQyF2Gbc_GakQjIIYVt5ofjETzTgvwrVzQFZBem0WF1nmq2Al0lGcO04dDMCOvluziY7IbCSdID4gmzVENlOqYxfeipVDxNyz3fOeO8Zclz3Xf-k0yrYAkfSNtRB0qGnXomsGAUPua0O0CTSwi4_RHkRZQ7LDVZRou3EQX3mSDEenSKhK-7D1j3_7EZAoAm4NOYhKioyJukesGuYWF2wFAGku0iO3APDCZKCPPvFzfAEheDJxAm00DzWHepTsf6fympdTRxpuc7YBrwjfVSiPJKOaaxkZUw9GV6dM3NjLrBklWCFZu6llcSJjcfHJ9jytDjkoemPGyeXW7ko8SqLG4AQzmYIhpSLvaUQS5ERitAUwpbnf5acdKJ7VVA0n7rKPLhBA6y9Ke6YR_PJR2PxjZEcu4HZq_pLWH0wQWbsOgjvxF4wunsS5Ge7h6W_dkNXIwHuu8dPWAh-LCgU2b_EWMSRUiUgC-HkuwSsUlV0b2QlFFY-Ml11NBg==",
  "id": "rs_062d98ba4d39c4f9016ab2ba3e755087d091d91ebc87cd9afc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.18,\"left_z\":0.22},\"note\":\"The arms are too close together and the motion stopped short. I’m withdrawing the left arm with the yellow fruit to give the right arm clear working space.\"}",
  "call_id": "call_weTdHxEq7jBtg8FJUHGN8pPj",
  "id": "fc_062d98ba4d39c4f9016ab2ba3efbc487d086b6ba2dfa46b937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_weTdHxEq7jBtg8FJUHGN8pPj",
  "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]: [-0.9791, 1.6524, 1.557, -1.3563, -0.7029, -1.0405, 0.5177, 0.5205, 1.8889, 1.3468, -0.4717, 0.3439, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2736 left_y=-0.196 left_z=0.2083 left_yaw=0.251 left_pitch=-0.3156 left_roll=0.2508 left_gripper=0.5177 right_x=0.4342 right_y=0.1844 right_z=0.0872 right_yaw=0.0483 right_pitch=-0.3653 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [-0.6222, -9.4974, 5.7641, 0.2906, -0.6325, -0.1001, 0.2613, -0.5128, -9.6205, 6.5846, 1.409, 0.2808, -0.0269, -0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234509111b88e7f7d10c9be6421241c68a0d28ef567b701292b6ed38f54f3e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7bea7451fd4fbc6e9d182b894667af350a8aca577a58120bfb59cbbcbbeb70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f05ac792f64b9eb7942de7b85a2a62fab71dff62e8e15de3314f81b9731f64",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.849, 2.0426, 1.7134, -1.0447, -0.704, -0.8837, 0.515, 0.5186, 1.8938, 1.3495, -0.4511, 0.3553, 0.2821, 0.9987]\nstate[eef_state]: left_x=0.3734 left_y=-0.2457 left_z=0.1241 left_yaw=0.2727 left_pitch=-0.3063 left_roll=0.2818 left_gripper=0.515 right_x=0.4392 right_y=0.184 right_z=0.0892 right_yaw=0.0374 right_pitch=-0.3443 right_roll=-0.1389 right_gripper=0.9987\nstate[joint_eff]: [-14.3248, -17.6205, 12.9983, 1.5067, -0.6911, -0.0464, 0.2271, 4.6017, -3.4667, 9.4291, 1.8242, 0.2857, 0.3346, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpIvgXidlV2kijaF_PUm4RLSULqEAtk89YeOVZqOlGrAgvXwmZcraDN9qhVof8qab209_0cNthhkgj1Ip6ZKkLrm9qK2koZ49f6rIFwBnhiipGpVeJBW9rAUNw99NV8LWSyEvzjZgqdKq1QSVK0g8_jl9JyLvXLvcD-cHI7Vdgvk2RTypWsPatGE_vqBG-03uKyk9scE_TV6nG9Yc4oNdEOflxYGv1niBMmvhllFYeMmyzRZjvvKXN-3s91DEfyZo5DdrG2KN7qqhpRofE7g6C5Qo1Y88mXPvKKwwH3urF-xRVdEs11dp_MzI3Ka5SgN1HAcxnUYZu0Ju7yYOGlVh17QuSmSfTjTFIvptCoDYvV4gcRRphiumkz5Xc0stnQ3jgRRyx2LiqkIYfABxZZc0EdeTH2QlGk42axbtLuKwPrmfWlrWsTrcwD0jJ7m73j_cGEE2zLso4kresSSVoaImfClkRMwqN47C3jIB-RRcOcCIvWrpYyMaKMkAOPYmfJ79dkv-GqaZnrE7kFhb87UbuxmpQwtqTPXzJkxvtpHGNlyCxb6oOdS6BzKeC1yjbFe5nyRG9xCWMZvaBaBPJTkDsUT1YUESCGEUVSe4yRkUiC1vvJF7A51sl3nw8zhI51uSbDqKV_Mw_bvXl8Ip7aC6w8_QMIvs89dTcIbLjg4DjmGgImhwF7FxVv3kR8wsrOhhsfbzDigujitnxzNxrVHlZkEw-lE3XbKiOQIhm4Y6U5G55dTEnwb30GJiZPAAHgfrvGT3qBexWmvn6h0rYwFdYVQfAvDbXn8Ks3u7MXlc6Jjr7xd5cfPthF5udyfSob2iGdP_9Q-xVe5w_EKk8y9vDSUU0TSaIXGSiy5UOr0ey5vJ21mrJ7VtK1I8Bx-cFuLbE_iVjap4bN8IRByyQwcXY5CoNQIktKFLoZ48qcVCS-7xOGRDgpdu9MKrYvMaMJGrJvHEDb4YhfL2udTyToQHK2wNRcYSLXenD0-eNwvwildn_jIJRHUkXAaCSrbxibDKzjK_pK3zelNURStHsqLH4tDLL7EvI65leMyz8LM4srKxrCTdjFP5RD9xEB1nj7CKuMaWVFlo9FvIkg_CfD0lv3STSkILUrLOgQ5d5tSi1S8wyFRHcccRotzaJambK8fAmmJMynVP5MDPmQV_MINQ4c7KkhdnUILTa343PGRWN2DolmsE6zwlYDECroWIkLwxejDGb0IGGsUz5gLgem_zekuDWPXO3loBWX5cVaPc8gmfkyL5lvoTUvjGaytW4IGoZO4LP08D1Kk-HXaDkFmfSDxrX4wxTYIpK-ZQmjCccDe6TvTROIw2AghIZrCc3_DPBoMe9BfjnCwdmcnyJIbeDbJkRWsw56K5Vs-0Ib-Pbv5w2j4BhbXffZqcOVxQcMdwFseTIOG8an-fUn9B3xa-S-4Q==",
  "id": "rs_062d98ba4d39c4f9016ab2ba4551ac87d088f0009d4dbf13a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.245,\"right_z\":0.05,\"right_pitch\":0},\"note\":\"The left arm is clear now. I’m aligning the right fingers across the blue bowl’s left rim, away from the pear inside.\"}",
  "call_id": "call_0UZtuP8ukaEbQKYiP9OZY9PL",
  "id": "fc_062d98ba4d39c4f9016ab2ba46f1d487d08a3a031c090be6da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0UZtuP8ukaEbQKYiP9OZY9PL",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6505, 1.5551, -1.3647, -0.6914, -1.0626, 0.5193, 0.6846, 2.0125, 1.1275, 0.1425, 0.5838, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.271 left_y=-0.1954 left_z=0.2068 left_yaw=0.2621 left_pitch=-0.3263 left_roll=0.2404 left_gripper=0.5193 right_x=0.4426 right_y=0.2402 right_z=0.0522 right_yaw=0.0539 right_pitch=-0.0387 right_roll=-0.1585 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -7.1043, 5.9145, 0.5446, -0.5104, 0.188, 0.1587, 0.5812, -8.9641, 5.053, 1.4872, 0.149, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7155156d35cf89faab1138d7b3f0043a1ec69a5f73729fd6bc4dfb357b050bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7518f2687ba86c4fd12bf42a50d897003d56ec615a9acc377b5804a1cda9337b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e076aab6deac9ebedec3e76b06c4d9122e470e8ba4de3bda65d832cd32dbd78c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9791, 1.6524, 1.557, -1.3563, -0.7029, -1.0405, 0.5177, 0.5205, 1.8889, 1.3468, -0.4717, 0.3439, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.2736 left_y=-0.196 left_z=0.2083 left_yaw=0.251 left_pitch=-0.3156 left_roll=0.2508 left_gripper=0.5177 right_x=0.4342 right_y=0.1844 right_z=0.0872 right_yaw=0.0483 right_pitch=-0.3653 right_roll=-0.1419 right_gripper=0.9986\nstate[joint_eff]: [-0.6222, -9.4974, 5.7641, 0.2906, -0.6325, -0.1001, 0.2613, -0.5128, -9.6205, 6.5846, 1.409, 0.2808, -0.0269, -0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpPWdizMrFQ3wan6Hjzq3RtGIs4ubRQ0oJPbeW3RhRnc6mIJff_IUcac9zhMMVazpsnqlcrnBqOVaM7fIap6evDFqJNV5U7uGE_Xt7xcgGlsmGjFUw9gGLCGg7oN-Mu5Xzri0LCDkzWaCESAAOjJ4C4p6d8sWeLSZogg-ebC9LHHM1dex4zsMtlFx_2JmWbRUJ-hMMH6BKSObWVq4zQOh4ussOz4fiHUsmAXGF92DBuP5eRd21Q-mZZrSY0wVexF-r3qUL4apxDgH6i9B2nJ0dU6qjg_8zDflwwltNqWsmn6OzngqZfs61IvAsw9nRq0W6crzuD1EziHRPLcze14_Ozo6sNoVSexG6ZFR6IhGh1Zx6Kb4beZgEl3Ck4Aljk3Elcct0FTGsTTahvz1WKx4HL464nxjNgdLHKeUCiL_OOOzmIcIQENpEe5uR03OfzcXtO9NNZvn5_69yXbtzc2ACw8yIbvl9gLXAl-YKZ2tf5Y8Yn8EETq5yzciSCo2lknXR5fG0clZDJYbe0_FDJ2h0LpD4FdBDSY7O2fiAL77BwPu-XS7-MqsQ-pCf2ptGqZmAoZ2AeOV-q-CJSnLG0QMqAEoUuRNew_Yt3c7L-vNhCSGM7SBRYKfGh_wgl99Nrn11BYiZAlkEbWE4qJd8MhYejpUhHZqyPH_19Hq-X6ycJqLJXKg-eM5uZ8eCaa2YaJ8rdUhVj4uk-6V5Sc9zl8KDfQZNKY-IF1YgcipBuPFBIYARi8kI74uwyBhECYQ3Goy340AZ9teVELRQ06SDyQX5wj1lcH_mzzWWzwTXdrEj_zQdeyX6SUR7O9B38YhC90PnuePFsQeDCWNxmPKoA2ItTRVOexTesMaH0SltR35kU98r2Ih-aEzwI7gpwbIEzyWQxxYCJqZGnw1hXjBpMD_Yb0mTyLqHfM-ou0jsk7u_AToBuPpDF4_7VwEWaZA0UPtg2d9D7k2XMW2dKX1QTQ99WDgDaqvi5uP671XKrFd1tJ5HcY609eYuY1PaXEicXdBL0--OiBMiCEa270C8Dm1bzdbeI9L3pnzuVVsa2SdYiJesRKJqr3CeTYbk3D9nzuuGTnBnWly5984HxkdkDsvenaYxIEchvU94r0UsJZVWNFRmXdRW2A3ggR9ymtAj161qZDjLCA6ZPhtmcbLoVmNa-_gudWfrc9_b1DHAMB8-3qMH3ZTolI6OywWZ2EOpuvrJnNtxcolYCjnNFIM6QqWRvnO4vEAc4iWhH7Dt7Mn3Ymmawsi4xHGMdL7hpeseSE_6YT_xiXVd2I6m0et_3j9AO4FVsCs7GswrBh-VVuF6fEleemOQJ_hQ-IIQ6kBx6bbJyfXz2CWQ0JMa8DUyajY4jtgYkh1b8eXg842iff2yy6J2yC3xE38ALtNNvBM1Fkc6K",
  "id": "rs_062d98ba4d39c4f9016ab2ba4c578887d0849ba3e86baa4a93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers straddle the near-left rim of the blue bowl. I’m closing on the rim to secure the bowl for repositioning.\"}",
  "call_id": "call_IwKYreFxiYZr1T2qEwHJR7NR",
  "id": "fc_062d98ba4d39c4f9016ab2ba4e0d3087d093d9ce09a2634fbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IwKYreFxiYZr1T2qEwHJR7NR",
  "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]: [-0.9802, 1.6505, 1.5551, -1.3647, -0.6872, -1.0641, 0.5209, 0.6846, 2.0113, 1.129, 0.1841, 0.5957, 0.2619, 0.4119]\nstate[eef_state]: left_x=0.2705 left_y=-0.1958 left_z=0.2064 left_yaw=0.262 left_pitch=-0.33 left_roll=0.2379 left_gripper=0.5209 right_x=0.448 right_y=0.2424 right_z=0.0608 right_yaw=0.0535 right_pitch=0.0004 right_roll=-0.1514 right_gripper=0.4119\nstate[joint_eff]: [-0.2393, -7.2547, 5.7778, 0.4713, -0.4811, -0.0366, 0.149, -0.212, -10.441, 5.9145, 1.0916, 0.0269, 0.105, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23de5ecf4b122e9bade7c8b42d019724a8e048582f857f7fb4d9ac2a422552f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d9439d5316a5229f7fa5a68d4658845214812bbc84690d54f2f47c0d5698e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab61cd05eddb96d386dc574345427e64a222baa18af2e2816696a403aca60fe5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6505, 1.5551, -1.3647, -0.6914, -1.0626, 0.5193, 0.6846, 2.0125, 1.1275, 0.1425, 0.5838, 0.2771, 0.9986]\nstate[eef_state]: left_x=0.271 left_y=-0.1954 left_z=0.2068 left_yaw=0.2621 left_pitch=-0.3263 left_roll=0.2404 left_gripper=0.5193 right_x=0.4426 right_y=0.2402 right_z=0.0522 right_yaw=0.0539 right_pitch=-0.0387 right_roll=-0.1585 right_gripper=0.9986\nstate[joint_eff]: [0.0479, -7.1043, 5.9145, 0.5446, -0.5104, 0.188, 0.1587, 0.5812, -8.9641, 5.053, 1.4872, 0.149, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpUnWjIXWgGO8l4l0CODizHsCrdB9cswE9Ds4goGsxbK1JMeIHpYdLdvmw4ydk1UVKUisO8YUhU62suXkf8gbXULRTf20nzZ5tJgQzZ7h9JwAjHYkWICh8CjlJ79HPe-1omErD0IczA4-uKH0iyiDF12mWRlOKGN03br7-wVPOJWg5tRo9tNVl7N_pFqf7mS7kNvYvGPy8oddBXVvb35sRGVsZNPkC2kafCzpKLZP4J0RCRgV6_SYD4oD89sEymFiv3e4nWcSvRdEKnAHYDOS75IzhLb5Z1EKFon6yO9S67RgIAVIVXzdUn73D6pSw1JzmMBf7bHpfUoO34_37YuAzhI4AwqUBgUJwbQMqwioToDH21jMoPgbjorGQbAo23X7L77W00LtP6jx-jqSEshGc998o5bcyFDnJjRB3zcYdbken6VQ0pzc6me6L2aLUaDhzIcIRvI0nKErHCwwADxFIcGEHvyrIITbg60L_pHpWCaLh4H-kWg0nl53II21dSFF86hYhwokuT8zYFhveh7m-UTqBBm4LTF1JvpM59HmorZ19KZBDPIIGVxDUZIIHAo9YtnI5urjl90f-li0CMq8BR-AAQB4taqfkqeoiRHkJjg0xTKIPvszvlUAotNQwTvG5KCHpv6GhL1nX70JuSNYhU3m7DvpkGIISJWeyyFCSXsyfHbKxqif3_yknQ7gGDtyLAkqt3mStj7R0E7zXojNcXRCv3TKO6MyPrBMdStrcDAI-gLYMNNwmfPqnWn-4r9WyGjLyniaNTbV1etW2dvebLs08L0J59QxSMVuY0OnB_ksHnO0YUaCfANlLPhnISEa9U5Ww7RjDTPkXHGsbpFkWGvr-_whKZMSbf0D7EokJQ8rS1SDKj5Jai4Gvt1qOV6Y1DJVvW3c7dqhZ10-fURfeurGobN1p7x6lRDG7vJ8FGhj9jw_CPpZf0GdwwKxOWNCpJkEt8pjmUODLZLy0eLeZLr0J63prLPvSQwUXuRe7vO9Bw5gJTuGt0mEMYehFugRO6ss2ibTuL5ibgnFBuEBCesvNh5ijw-7q8Yo_7cYiCfbesJJDYnlQSwebodQEcSO6h9RDOZuU7kECmFvboWAedaJXLYlKnH_o7o4kSFhXunWHrBvwy6zjuKKknQJTOuTrqvkpqNf9ktR0rDEyjGXkCftdang0AEzTv5IXZ3V_NkA8=",
  "id": "rs_062d98ba4d39c4f9016ab2ba52b15087d0952f18a6f35f0fa6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_y\":0.34},\"note\":\"The right gripper has caught the bowl wall. I’m lifting it slightly and moving the bowl toward the table center, within the left arm’s reach.\"}",
  "call_id": "call_XthxsRvcg23Z5Pgl705G4C41",
  "id": "fc_062d98ba4d39c4f9016ab2ba53174487d0bc364a09005e86fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XthxsRvcg23Z5Pgl705G4C41",
  "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]: [-0.9825, 1.6447, 1.5555, -1.3697, -0.68, -1.0649, 0.5222, 0.8185, 2.1231, 1.6779, -0.3534, 0.6746, 0.3622, 0.4128]\nstate[eef_state]: left_x=0.2685 left_y=-0.1958 left_z=0.2072 left_yaw=0.2582 left_pitch=-0.3364 left_roll=0.2338 left_gripper=0.5222 right_x=0.4542 right_y=0.3291 right_z=0.1365 right_yaw=0.0742 right_pitch=-0.0345 right_roll=-0.173 right_gripper=0.4128\nstate[joint_eff]: [-0.1709, -6.5026, 5.8051, 0.5885, -0.4518, -0.0464, 0.1245, 2.6598, -13.3812, 9.1419, 1.4188, 0.525, 0.3443, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b6fcbbc8e3b44fde7e4a3b8d5e640bfe9928a3047ca169f6cb77303caa960c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24672a492e6b27e978200f55583922bff057429e1143002fdfbe91ba523480ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023d63c9a487c97136a6187ce7fb0dfebd6a8c8957a0b29dc0a05c78ea94db4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6505, 1.5551, -1.3647, -0.6872, -1.0641, 0.5209, 0.6846, 2.0113, 1.129, 0.1841, 0.5957, 0.2619, 0.4119]\nstate[eef_state]: left_x=0.2705 left_y=-0.1958 left_z=0.2064 left_yaw=0.262 left_pitch=-0.33 left_roll=0.2379 left_gripper=0.5209 right_x=0.448 right_y=0.2424 right_z=0.0608 right_yaw=0.0535 right_pitch=0.0004 right_roll=-0.1514 right_gripper=0.4119\nstate[joint_eff]: [-0.2393, -7.2547, 5.7778, 0.4713, -0.4811, -0.0366, 0.149, -0.212, -10.441, 5.9145, 1.0916, 0.0269, 0.105, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpaxqcIqnhKfaZJMTpsGti_hAqh1JDd4N67VlMb2WsB83NtK-aRMCwOhHEAjtTUiIf0LPjUKy1M0yTnj5nmddWuOBluPY1DTVSCn7LtvB4hoFOG9-BhECpXsL_aP5d5cOmrzfp3r7-yGwQYtaSH5NNIHjKxaMd6Af3gZ_r90MSqWjbgNtZEYHQ6Eew-UCEPYxPHp5T7YNkYzTAsAkY0WNW-10cKBvsTiWjEPKGK_S4BhiIWj8UyBwJya3V12mAEOayWKYxvj8A7lEbeJbnG87dPXC5BqtwNfZLKxG23ww-Vcxr1GYd1EuxyS7zcARULd91mvuUJWP3ibKyeHVhR-uNSk_o9HZTzq_luZp-WLJbuco6iMJmYfnT9-B_tQJSv_qSCd7mqE1a7EsHy3txCHuEkW0SN4u8pmDWcuEkgdxwsAWQVQlmB_TQy5YeM4C4TaBNt08jLCaMBqEJoqW4YsYTcShvwA4RyzXXdYat-4EfdTN8jYffCd9bc4TkaVtgtaPwonIhTx_xm1FhbJm4iMmu6POYytndBmBnkrcE-W5jD-xvQAiRtbVSpjXUaDuZpmKF9Ahqc822aHVUvLNkcUcGK-3QhIHY-h4UjQq-Z0GfTXzOuV58ksieHUCo0HTHd0_0xx_Vtf7yJdscIVnieD1iqehkYqLsZQ8Tanhv9TqHSR1inX9DDLa-S-elvBAp4D2dwCpm4-DCZLi6as0E17xLXa10sS-1wj7B7j_O-zCXUOn_QPhRiSdBUH7L4KHJu6sv00Pz5IF7T3Siq7ix9H47uGUNcfWGlZTlrkALbZ0ENjHPV8-kUpwF07vpiiICcFqkLF5XWCHjr0Ru93-peD8_H1pUZZzqne8ieaBa4hCaad5mM8qZoscwBLixR_KAfOvv7nS6PDHtbmv-KqwQ0sy9amR39kPF62DlctI-7dIaT3lEP7KavesIsqSgSR-xPl1E8P8UlTRA5HD9EIfkw2vzKY_ITDn2hdyJRlwWYxkKcZHDsf196HIjFEBajFpJu_Au_kVN4T_o4qH9xF1Jbz1VUxCo8KCsGhqdTijguTRILv3mRVwMvzi8DOOpmX77WRtWW15PATiKRPXXWtiSLO9J5Y4zq61mtHCg2hQrh7M4YEsmJhgIKjn7lqeE0h1o9JJs031YkUVUfwxjkvN3rJd7rp-jjJUai-diRApN18rfOOz-CGIfbMKWHXCPzidbuZWvC2fSD_KIZoV_-CiaLkWD3Fg==",
  "id": "rs_062d98ba4d39c4f9016ab2ba59174487d081659fa8d1c61114",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06},\"note\":\"The blue bowl and pear moved together toward the center. I’m setting the bowl back onto the table before adding the other fruits.\"}",
  "call_id": "call_Ye6iMRJXVPrNjZWyhIFBIjMl",
  "id": "fc_062d98ba4d39c4f9016ab2ba59790c87d0b881bd0bb71ae059",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ye6iMRJXVPrNjZWyhIFBIjMl",
  "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]: [-0.984, 1.6428, 1.5551, -1.3724, -0.6796, -1.0672, 0.5231, 0.8097, 2.1639, 1.5513, -0.1352, 0.7311, 0.3393, 0.4129]\nstate[eef_state]: left_x=0.2677 left_y=-0.1956 left_z=0.2076 left_yaw=0.2582 left_pitch=-0.3368 left_roll=0.2333 left_gripper=0.5231 right_x=0.4624 right_y=0.3196 right_z=0.1022 right_yaw=0.0372 right_pitch=0.0273 right_roll=-0.186 right_gripper=0.4129\nstate[joint_eff]: [-0.1436, -7.0359, 5.7778, 0.5348, -0.3736, -0.022, 0.0757, 0.9094, -7.6239, 4.2462, 0.9744, -0.5495, 0.2271, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0839f44c38d6e5f4a199cee215dfa00ea59e35d399beff8c7e603c3f29408d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e1c8a4fbafc62634a9424df2ce9207dae806b2cb792a6eaf717f607b8329a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2d633f0477edc6e0e1048b49460afe543a92d7a91f8fb12daccf67a3a8ea23",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9825, 1.6447, 1.5555, -1.3697, -0.68, -1.0649, 0.5222, 0.8185, 2.1231, 1.6779, -0.3534, 0.6746, 0.3622, 0.4128]\nstate[eef_state]: left_x=0.2685 left_y=-0.1958 left_z=0.2072 left_yaw=0.2582 left_pitch=-0.3364 left_roll=0.2338 left_gripper=0.5222 right_x=0.4542 right_y=0.3291 right_z=0.1365 right_yaw=0.0742 right_pitch=-0.0345 right_roll=-0.173 right_gripper=0.4128\nstate[joint_eff]: [-0.1709, -6.5026, 5.8051, 0.5885, -0.4518, -0.0464, 0.1245, 2.6598, -13.3812, 9.1419, 1.4188, 0.525, 0.3443, 0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpflvva3bdYy0BDN9zt4ygD2zRRYkTFkhPCD06_wzxJR1vHhkmoWWsU6alo_wm2daOge-waZiFPZlBZ36vrL3ZyBRxZAVQTX3y_3uWecagp7kpxPvAFP4uIOr4AaYs68DDqYpnQiXDQaYDZqg2M2oXJceyr2hrWgcXZsb_FduuJa9cohG6Let4Pqo5FIVwMNKsFZgE0kMlKEQ-mjlA9GjYyiCNwjqeCDgADKrSlcMYfgKV2YjhNM_kRG6k_EmBkrv3ff4Yg6tTqQWfPmkiN9N9X3wvq4lxaCPCSgkhDMISPZPOiKWoYEhxa3wIIDIFI5aq8jKlxknBXxA7xytGuHeLOTM1XeYSE-qhENSzlWEJNZ-C3QOTF8JSvm6n88HIRsBDMOy2f3MZ-GtFuwif70u1NzHhGMwRm497OmNdhDsMVik_LNCXKMeY6djPynscuZzGeuAsE5J3l1ab1agEVkhkbrXmcHnzRxgu9yK673nBcfScaROQaGhoAaL4pzPj_zHPLo40MQvKgzVK1ka5K-Vvd7OYDHrs89qbcXqn7CI1BbtO7CJgAwzsgMOcLkC6bHQ2IEgPWtrVCpnboQRtdSTwfD5SHfu8hJznvXDdHZPTFR6PWqFTgeW1uGVrm-iI7vcuSC1ZqD3wnIJOEaAoX-COdKVLuYcoB9bh45NMDgeOjre29qJT5-8XmVTPE8oIAF58yx4foWOYCVvWxzy_EvoSCgi2spFOXlWLkQKKJ877E90OilvYJFgjZ_PQgMNxdVuCKeBCko-ZTZRLqc7Fww-exEfh3dpYuJcgv7HdTfINCCxavkOF8YPUv6a01453MzP-z8DB1dTfmKlN5e0BokqXhHAYIqOsreycPJvqwstpuLYTZc6J2x1cjLtnnvt5LMixQe4Cdhj-18POP1tKY2lUSjcgeCCTchkkrgZ8V8Wm6EZtFCM5VsuAVitON6D5gos-B2rcfzj-DfUbMpCqyOPRt-2VGyFe_AogygsfTxQkBorxPg9vIRvtlg-LevMdznJp_cXtiEquPxcTiiscom7UpqZedCioCunujTUvPYxT2dIDiAkpdy1NvohEc4CRczTPU4hQ_zM4wzyWunp63ev7ei6-UsFIf5ZXyg3ug3BX7yAX_s-HA73Rle1MHZfoTLHl74iw3qkqstpX_IPqs2vqx6qR7iyERV_WiUn6tIBREwFpHTdOIt7DU7jtYlQgZhJfPpcd6dClRn_m6kuK5QWSKKXXn6okzrFmK2feYb_LEjHg=",
  "id": "rs_062d98ba4d39c4f9016ab2ba5db25087d09f38292bf03a4c9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl’s descent stopped at table contact. I’m releasing the rim so I can clear the right arm.\"}",
  "call_id": "call_PAptwHUrqW5KFjTe8LO825FF",
  "id": "fc_062d98ba4d39c4f9016ab2ba5e39c087d0a6bf0fdb622d0af5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PAptwHUrqW5KFjTe8LO825FF",
  "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]: [-0.984, 1.6428, 1.5555, -1.3724, -0.6788, -1.0672, 0.5245, 0.8078, 2.1731, 1.5452, -0.1326, 0.728, 0.3298, 0.9955]\nstate[eef_state]: left_x=0.2676 left_y=-0.1957 left_z=0.2076 left_yaw=0.2579 left_pitch=-0.3374 left_roll=0.2327 left_gripper=0.5245 right_x=0.4621 right_y=0.3184 right_z=0.0951 right_yaw=0.0427 right_pitch=0.0158 right_roll=-0.2014 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -6.8581, 5.9419, 0.442, -0.3785, -0.0415, 0.1294, 0.1162, -13.1761, 6.9402, 1.4139, 0.3053, 0.1099, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7564c2c66ace508041e6a9eaee9ccb1d5887a1d9dcea72313de4d84318f469db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdea103be759a2671d0d5825eb52361d7fde8bac5193803da63881ce0f5b5d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602c4cafc2920422c6ad8f653fa29604c71df77a48c7c6fa41cf95d690e1c75e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.984, 1.6428, 1.5551, -1.3724, -0.6796, -1.0672, 0.5231, 0.8097, 2.1639, 1.5513, -0.1352, 0.7311, 0.3393, 0.4129]\nstate[eef_state]: left_x=0.2677 left_y=-0.1956 left_z=0.2076 left_yaw=0.2582 left_pitch=-0.3368 left_roll=0.2333 left_gripper=0.5231 right_x=0.4624 right_y=0.3196 right_z=0.1022 right_yaw=0.0372 right_pitch=0.0273 right_roll=-0.186 right_gripper=0.4129\nstate[joint_eff]: [-0.1436, -7.0359, 5.7778, 0.5348, -0.3736, -0.022, 0.0757, 0.9094, -7.6239, 4.2462, 0.9744, -0.5495, 0.2271, -0.0024]\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\":0.296,\"right_y\":0,\"right_z\":0.23},\"note\":\"The bowl is released in its new position. I’m retracting the right arm before bringing the held yellow fruit over it.\"}",
  "call_id": "call_3BzFJpDSr4A2VLVPT8oYDrvR",
  "id": "fc_062d98ba4d39c4f9016ab2ba62192087d0a8894d600eff9adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3BzFJpDSr4A2VLVPT8oYDrvR",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.984, 1.6428, 1.5551, -1.372, -0.6724, -1.0672, 0.5258, 0.083, 0.8307, 0.7723, -0.4854, 0.1856, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2669 left_y=-0.1963 left_z=0.2068 left_yaw=0.2565 left_pitch=-0.3435 left_roll=0.2305 left_gripper=0.5258 right_x=0.3001 right_y=-0.0041 right_z=0.2266 right_yaw=-0.01 right_pitch=0.0228 right_roll=-0.2019 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.2, 5.9692, 0.4762, -0.4664, -0.0464, 0.1197, -0.1299, -1.388, 8.253, 1.8779, 0.0024, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e310fdf28306ce68d35fa15f2f5fc8f7ea704fc91d899d21125cfa41afcb48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a364099307861364df5976684bccf7400e0a889ab0e981ead46d2ccfb074bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50c5fcfe44e3684cb9afa60976efa4505fb9a35cb123224c9987087db3a1e76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.984, 1.6428, 1.5555, -1.3724, -0.6788, -1.0672, 0.5245, 0.8078, 2.1731, 1.5452, -0.1326, 0.728, 0.3298, 0.9955]\nstate[eef_state]: left_x=0.2676 left_y=-0.1957 left_z=0.2076 left_yaw=0.2579 left_pitch=-0.3374 left_roll=0.2327 left_gripper=0.5245 right_x=0.4621 right_y=0.3184 right_z=0.0951 right_yaw=0.0427 right_pitch=0.0158 right_roll=-0.2014 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -6.8581, 5.9419, 0.442, -0.3785, -0.0415, 0.1294, 0.1162, -13.1761, 6.9402, 1.4139, 0.3053, 0.1099, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrpuP1MzXVLgx_bAb7CNUTisX3B4uEamxzNyxIHotpF-tMJLwWJBE7b-QaYsQY4uCTc3KGY5XtJHjcJ1ROGH7m5A_odgv_1npeI7FGCh5_ETsELWUnZJY_gPikzck_t0pUZsIswARhkGG5NOhQ2kp4kbYZrg5sjVc9Umh-w1b8sqRL0mS97VUleC_txYxoZwhvFBjYyJXs3nNcTd2EQ8eP34pkRlJby-GFq2OE3ORkDMIam1YQyvhJOPWaL_q5mF6zzcRrfZNAZbnbllza8lvpAVz8o6xkjLO-vn8orswi2Xo6Su9yxcaL9o7ABpwf2UXZDVMBVrOTuIoh8-JzAJb7C8uKT1VV5CH0dbTDcCPzfRjYnHwgvZJeGxS1cZUE2pwBfY3c8p3ZBkoAenGO0LzIL6XrFOtdQQypcmCgHolMFUt0E02w_-0rG9TO6s8eRAsfbUOoc-v5LIBE22L8ekAuHwrYcTiaKBx7ykWJFkrSsOPsDafZ1yy5g_ypTkAKhL3mGKrx5P0NpyuNDIxy9-Hy2aksU2pboadL0-a0OC25HwEiMHu8Hyp_QfnQ_N9T2RVR1Nx0NBeVqKcR_6q0h0GYQht0NFIiZoaFxgua_zrVujHIjCdkiEj-MlMvbYVhy_pKWD_DaxsAApcLNxeFuDQ54xverhhHmSEo9K54ElmG5gTz_u0RzHqM7IsJHfVYqlggigcU65mF2c7j03L9QPLsku9j8ork1iIldW0Sr01DB3B93rK7exOVJHIXZnhE_sJO9VGHCidzFU_AMqto2dgkCA_PdEStaTanBYCITVqTn9PraHGDF03YWH88I4FguAzLNJ2P_lclkAHJjLDVCUntMwr_ot4e_OUnaIeTcfQ-UJrvy1kAvAY8oSYFnGIq2InhGTTEITjIsVnHK-PDzgvII3fHHrmTGFbhauOwGQopqq9SjuPZ2FgCe2c2nNpFvcM7aOX1oLVrIFANVVnYKPwTrwzO32X_xTh5zHlXamWMrs-baODelIkh8cXi-nG8ASfU9F0wza7lA7BvP9DH15LdUlfS33nRYQr-JgrDaMg7iHVG8XXH8Sti1RyBaOFX1WfG56huCi0EmJ-dRQHEUhVv_J6HJSzBNkvV4XOMucLvkL4hej_kjn5nsp8pKU-scAzcCIAWpF9nKt2Ifjiw_7Ix3eJXqb6yM025DPyFO81dkxEZzp8tU_TGQHgpBEYbeazRYFQwvuygBIenHVS19EnES1p9tSHfncYU8wD3TwgE6PsHQKY02aSOOORwLVm04QRIko8EnK2os4H0VwyLCSOIYpfN8yPVo-c2vgZgX0MHwud8SPHo2yN-pUc7VP1FpDNgUvlsNGPFMFLzkTZvNmKpl1D_jxfT22-EUqFjshpndNe2Y18iSpWEBL6Te4ZY41CzFIi5uTMFJVk-vWzFwR2UfaVy_XVCxhhnF3HSeKSovQhOo3IzoJrIANi67TEfcLa6FW75HuLSB_jnRnaVBoIHYzEV_8qzaLvr4qdstBzIekb1Md5IhIN9MRhl4GNCHo6pkUABGheYCQn_V1Lncz2I003-rwzzfzqvTMl4jWcP4HqQo9hADcdhTO9FSG2xz_TaeJzLlGbMAw-ilCQ-3qcyL8Ww==",
  "id": "rs_062d98ba4d39c4f9016ab2ba682f0c87d0938b183e46538c1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.35,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The blue bowl is nearer the center, but the pear appears to have slipped out during the move. I’m first positioning the held yellow fruit above the bowl, then I will need to recover the pear and the dark fruit.\"}",
  "call_id": "call_2sZrfEHCm4JEMVcJ1zbFw6Dr",
  "id": "fc_062d98ba4d39c4f9016ab2ba6c106c87d0a5f5f9f9a12dc254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2sZrfEHCm4JEMVcJ1zbFw6Dr",
  "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]: [-0.9905, 1.9804, 1.5551, -0.5396, -0.7631, -0.7551, 0.5265, 0.0834, 0.836, 0.7723, -0.5175, 0.1707, -0.1398, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.3373 left_z=0.1453 left_yaw=0.0199 left_pitch=-0.0687 left_roll=0.0404 left_gripper=0.5265 right_x=0.2967 right_y=-0.0017 right_z=0.2183 right_yaw=0.0118 right_pitch=-0.0169 right_roll=-0.2112 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -10.6735, 7.8427, 1.3211, -0.5299, 0.1587, 0.0611, -0.0342, -1.7162, 6.8855, 2.0195, 0.1538, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d671c9e9c721158bd6ba32336c019af3aefe03199fbbf095d678229fe9525a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f0c176b1c94e6fec8308be1fbc8a27c7a6b61e307c4c39834f6894077fb8d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca65b5c3289857fd5a33eb84ff540f9c90ae20d75c1fec1a41a7c649415d8980",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.984, 1.6428, 1.5551, -1.372, -0.6724, -1.0672, 0.5258, 0.083, 0.8307, 0.7723, -0.4854, 0.1856, -0.123, 0.9965]\nstate[eef_state]: left_x=0.2669 left_y=-0.1963 left_z=0.2068 left_yaw=0.2565 left_pitch=-0.3435 left_roll=0.2305 left_gripper=0.5258 right_x=0.3001 right_y=-0.0041 right_z=0.2266 right_yaw=-0.01 right_pitch=0.0228 right_roll=-0.2019 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -7.2, 5.9692, 0.4762, -0.4664, -0.0464, 0.1197, -0.1299, -1.388, 8.253, 1.8779, 0.0024, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrp2IRFme0O5PluhYWJSa8EJNs_qQ0vo0WIJxkX0xpOi8WtlALl9gg3kN-MdhpZSYIS0AbgRCZ8q4vWjrfA_u6vLczn6-B0NAdGXMggW1FkjLdvGq7vi7ASrPxqDGzYn3DuhYjN_B321csIuoT_J4rxP2_RaJ-_CmClBddV3QjmMcOJV5Rr_YBpNDdZADJ0pBRFTeZsPnRVpdSY3tYrJPl8BHpNh-JTYUfyPYpDcLhCct3D_TdQDfRUZUBYklJtQxi2zKgLxCMuuhKT3zgiFirQQ5WFKXlVDgFUnnyAmnYMjq93CPO-krkIFNh8oNrinTe4BWWJVh6MDjujZduiVpKtkfG4tNH8LUieIeqK5rj0J1SsGceI_YZ_SAorvUQFr9l4Psll1Oks0Yg404HDzeQRK-yCPvYtDi-Y1FtUaoUfyt87wjEOo8eK21KLMBT4Vojd12o8dsGjxV0eCsVNvZhsHBx1P3RWAmsi8B6pXUTa80jzxD8flkngdokSJ8h26ht-CPVfwiXxpBYUnBu67Om6PDE5DRr8FqGGBKyRAAangQGKuE9zsQYFIyTICVLNXgwhYF9oW9-EIOBq8E1uv-g3pGibNUOsrz_lo5U2kKsNkvJj29fF4c8-QXytLApYMqHESUhFMmtx3s3w-KUhPdvY12OM8gsmqUMtz5R09OoWS4qQ0uAkg5bAlqsATDpUCvMXGsSI1G8TbmvETssPjEFJOF6uAZvYCnXfRylKwB4uaBihcKIUQ6ma9m7ggJuLQx6q8JQXBpJp3_7c4H-2RvRjRZ_JZ7rOyaYLm64yy-VUFhpDDQMv0oe6yoSTXOcGWfoqiUhuHSQutsHNo-5Beyxpi0aZji-unJIFj8tiN6HP92RKf-RkE4evN9yasppHc0iiuhMjyWkFq9vb5CMxUf02Sl-k_8ZiWR1raHwogDnCnRy5KewAVTpxUMBRHeO5BkIi-bX3EDV2hlP5GVcNGoK87QS6HPLeKpEXm9klbi_0LTXH3bcepRQKl-z3wZ8vbFRVRISIvsRnRUp0QDlj4Nd2zahX_f4twnu_RCqB5w1nhKhIIgiaEygip5_neln0ltlUyr09ZTNZGY8dIveNUGn_dRTd6ciXdA0bPMxtx0olumm7-WWoAg4hS9wDR4Ltcuugg4nNpXjWKCb6I5fL1nWWFw95QL5pfweTWLupjk_WHIAEXsKVRv7xRo6WRDT2X6qaH",
  "id": "rs_062d98ba4d39c4f9016ab2ba75b8e487d0864c30dd473015c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow fruit is directly over the blue bowl’s opening. I’m releasing it into the bowl.\"}",
  "call_id": "call_ey93YUXkdJMsSuyI4X3wHNum",
  "id": "fc_062d98ba4d39c4f9016ab2ba7617cc87d0a0ccd9e27f2077d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ey93YUXkdJMsSuyI4X3wHNum",
  "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]: [-0.9886, 1.9984, 1.5551, -0.5354, -0.7628, -0.7586, 0.995, 0.0834, 0.836, 0.7727, -0.5217, 0.1699, -0.1425, 0.9965]\nstate[eef_state]: left_x=0.3727 left_y=-0.3376 left_z=0.1374 left_yaw=0.0243 left_pitch=-0.0762 left_roll=0.0492 left_gripper=0.995 right_x=0.2962 right_y=-0.0016 right_z=0.2176 right_yaw=0.0139 right_pitch=-0.021 right_roll=-0.2133 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -12.4786, 6.4615, 1.1746, -0.3883, 0.0415, -0.0855, -0.0068, -1.388, 6.9128, 1.7607, 0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d343372406b5c5fb0533ff7e0f89f27373c1b57ce44cf381d27b7f2def8085ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c5d1f20ae106d032c3c3d664a15ea241961439049508b048405f6c270f810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4aa18f5aa0eca66f59601e86eb2e8f656aaea2ba2a7f03b8e5f9658afc485d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9905, 1.9804, 1.5551, -0.5396, -0.7631, -0.7551, 0.5265, 0.0834, 0.836, 0.7723, -0.5175, 0.1707, -0.1398, 0.9965]\nstate[eef_state]: left_x=0.3714 left_y=-0.3373 left_z=0.1453 left_yaw=0.0199 left_pitch=-0.0687 left_roll=0.0404 left_gripper=0.5265 right_x=0.2967 right_y=-0.0017 right_z=0.2183 right_yaw=0.0118 right_pitch=-0.0169 right_roll=-0.2112 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -10.6735, 7.8427, 1.3211, -0.5299, 0.1587, 0.0611, -0.0342, -1.7162, 6.8855, 2.0195, 0.1538, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrp74GTVAMmgWJeoUwijd5luja9Hu0GWEJh-YsxIANon3gVvY7eSMt4Ez6MwvImUfpTlrlvY2zHyFlrPvmGZb2G59UH5mFT-xZiZTyGhJiLCvE3ybejVqXquE6X2QnPFoBwpR70_XA9M_pbkeb_s1J6uG0ijirbJKh2vvWnWAK4nmWnsOk2EMIHWJrTF0fclvuug_qg3qx1rvZRtZf4sPQ_JDYCfyG_p61H3muFiaHWgtpjY-peBe2h-w8qEjrWoIHDh--dVbwpVJjepN3gjaFkVEyTUfvkW7OL_u6j2ssLXEyvb_1_csMYj1aSEPoIyIZOXhQVun7wyfVbCX1pyhB8NA_hOlv7fXvmzhLXRVILIMKki1HTg7uIpbtqoM4IjQsxrYS6kSciJZK7yYZOl4LSnu4TmaXV8qGDHfhXmtl1gG_LAqEsaD4EWqjK1q2IVm6P6H1uByPLJluri3epXwyhWgNe1_IVy-WnfRX0qc7k4NZLjK4RedLhb3umIXLMaE2pGNXpvlFVcxgd1a7jNFy6rd8_DuqsC0I-sY19ZeO-2oTE4lQ73bwsvIxHGMekWljvm8-9PeyrCgAcBY5ipPX1gYpNrnu4IUoq3dlm7RElbq4Z2QPEqejnk6EnwkUuAAJojHX8qnx470bI5lYZrzKfcVpwvpJ-LNIUf3AKNYDMghKvqG66UBF2rK5gyX8VlkWwcQs0pTzNIOWKPXvtCPTelhgNc8GB2ZzG_mQ4B27y4hGSdeXuS4XNaIQNKzrTvxGAH2turlVVveiqGuorjrgh6qohyiBJ9DSBKb3QvWYFhlHlJQfehxRWhgizuxulnQvWSCMn6-vyY3q2_DULFdEGs7-PzuKUqkmZ4Sfe9vCpDrLAdM58ebgCR1r8ibW7uHFOiN_w2_es6en_q14nRUA_NHM_kN94bOvm2YhlnVo6bbHQphj9VKt3wCZ84b6ufrFRRmXu-EDm1WN25v0D8DeySvIGgGtO1i5mW06w7jLd-JK1B8ocX0wRt2FJ2bmwzp1zLiKRWzmkkT2icL89wSkPImRmRNGPYikjHo5dxB7axlb4T00oecwWQKEjijJXa5yGX-Q92KWrD2JL2WEZnAKHRHcnsB6IMz0ccElM3_7fhTBa7RiCrgIvhB-EFFde_0dJZ-FVUIUdVmmEonOUsyOEl0HjirV3bapp1LR61T6bJ9xeg1XqWhOly3wZPptHtvQI1MF_i3ozL2zoKwVFEYdM45Ra_1F3zor5tiHVgyoQO2rPjGyrRdey2CL3YRZJ3z0vTh_dudO7JwVlO-do17kybRKvUj0jFRIrYYKq6hrlbx70=",
  "id": "rs_062d98ba4d39c4f9016ab2ba79873087d09093921c3f2b8a04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.225,\"left_z\":0.08},\"note\":\"The yellow fruit is inside the blue bowl. I’m moving to recover the pear beside the white bowl.\"}",
  "call_id": "call_E6hdoIIriRENqrzhl5z9p7iL",
  "id": "fc_062d98ba4d39c4f9016ab2ba7a4e1087d0adeacb71e2cf4e25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E6hdoIIriRENqrzhl5z9p7iL",
  "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]: [-0.6727, 1.9839, 1.2224, -0.0975, -0.5533, -0.4747, 0.9959, 0.083, 0.8379, 0.7727, -0.5251, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4423 left_y=-0.2291 left_z=0.0615 left_yaw=0.0378 left_pitch=-0.1337 left_roll=0.0722 left_gripper=0.9959 right_x=0.2959 right_y=-0.0018 right_z=0.2164 right_yaw=0.0137 right_pitch=-0.0264 right_roll=-0.214 right_gripper=0.9965\nstate[joint_eff]: [1.4564, -12.6427, 5.9829, 1.6874, -0.3541, 0.2027, 0.0757, -0.1983, -0.9915, 7.0906, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d5cc474c4839c4e1f98605a1f76b41d5c8ceb56450038bc34d65cde396c1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f32c43d75a55264205310b82f7897efb1786425c3fabb3b375fa926c5640e897",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7cb84725e1a8a314696a6137fe0ae31fe3f35ba727ca156aeb8e700b47aa67",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9886, 1.9984, 1.5551, -0.5354, -0.7628, -0.7586, 0.995, 0.0834, 0.836, 0.7727, -0.5217, 0.1699, -0.1425, 0.9965]\nstate[eef_state]: left_x=0.3727 left_y=-0.3376 left_z=0.1374 left_yaw=0.0243 left_pitch=-0.0762 left_roll=0.0492 left_gripper=0.995 right_x=0.2962 right_y=-0.0016 right_z=0.2176 right_yaw=0.0139 right_pitch=-0.021 right_roll=-0.2133 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -12.4786, 6.4615, 1.1746, -0.3883, 0.0415, -0.0855, -0.0068, -1.388, 6.9128, 1.7607, 0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqBDndLvE_vtqGtbwG-IVuO_h2nCKYwri_bbdUBFTARyzV6HY-aESGCjdTkhSBQc2cnMmLnyWGJ0Jf79_xsX8C2-WR5oyiu3RwuIbBmCaXcrb12Et_kbYZi1_kSOnRFx02S3rYLNyjILZNLmxqKkZ9kXMFuPsm2oXdMtz9oBc-dXAqWc-DdTgXecpANx8iy2xEvpsFdUpYBH-INtSVeCZ89vVtNO5t8OycesZqw53ROooGkCJiRZI5Ca_2Dj5OIo9XR3D7QS2CMv6TZMv11RyqvvmX98xccSFaXOYUVCSGbyrYXjWGtBwPQqtXVuyLc383hCi8krgkMGYlOaQsjKvLyPX6EOgFi5FfJTU3xETGmm9MLW9TxiP1vagPjh_OG_XD5aQKi33Fje4gWPpsca--ulo2L50-ubWu-Dh1D-FZpe7Ac2iUv9OA5hK4czvAKttUfT-I2DRnnawteW-24lT3o0iFNjrJmpvKCfkpd3DigmiK5pmFI0IoHn7Ahg7lAUrbs2miAS330h0aL1iIng6PO4XSudnXhmyxSKOlfAhd22c0r3LuHfURdncVuxnlt3gPnH05MTDapHem9bdvbIZRT5Fr_8S-LtZLuO4O_Xnh_mJR3TxjVREjENtwO6WeNkET_VpKUAbocUwDmCAD9iLmglE1T24xv5GnP_z5NtwcFRHPhLwbrrjyVREtFihpIjqlESaQGSWQw_pBOVywtPmrsGuQen3xVxjnbHYm8_b8IQ0gNj6WP9aFeFgZI1XBKNbUpbPA7D7phzidaUcp_LCVQuFMZFpHRK6dMGxKU9j3eJRut15rwdt3in4YYO2bh5PwaRjYq8iR8tqCsI7UYViCgaxaszBiI0iFWfdlKbmJeOYDLe9N3hF1BLCOk7RxbYL0OOiPI5viOhMNSSmmFbEWSNREw4RoDqfRoHZQGz_rtWReNY7eW63u_Nm8t3-3jHh-RBqMtKteJmVex-69JyYGLn1xCs6VhLv2dsaM4upD9lRCILRjF7KMVkKopxFCKo92OTZRi7yhhPPtdCUkTMyRJ0lisdP4zXk113d_9rWQTHZeQdW8gW5YQ6pzcb3v6sAReBrG9_RujialQbWsjYdsQQtqMSwri7KpDvMzAG-tJrAhwA2_ELtFhzoBogSF8uq23vu8DVROu1toiWXS20BDFRpWjBc_if8Q0LUgJVGMBDlTtOENUOQpRYj6t6KXPCYercYGS-odkj_HTxnv6j15Qwr9kcsXyzf73VuMO8XIAglQ=",
  "id": "rs_062d98ba4d39c4f9016ab2ba7f271487d0b269809189fd6fdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.225,\"left_z\":0.025},\"note\":\"The pear is centered between the fingers but a little forward. I’m advancing and lowering to grasp its body without touching the white bowl.\"}",
  "call_id": "call_M5QvKeeBEf983B15tgSo7tk4",
  "id": "fc_062d98ba4d39c4f9016ab2ba7fa7d087d09845956b20ca780b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M5QvKeeBEf983B15tgSo7tk4",
  "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]: [-0.625, 2.1464, 1.2892, -0.0223, -0.5114, -0.4408, 0.996, 0.0834, 0.8413, 0.7723, -0.5297, 0.1703, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.4682 left_y=-0.2268 left_z=0.015 left_yaw=0.0382 left_pitch=-0.1713 left_roll=0.0862 left_gripper=0.996 right_x=0.2956 right_y=-0.0017 right_z=0.2143 right_yaw=0.0139 right_pitch=-0.0348 right_roll=-0.2151 right_gripper=0.9965\nstate[joint_eff]: [1.5932, -12.3009, 8.1299, 1.536, -0.3297, 0.2466, 0.0024, -0.0889, -1.7026, 6.9675, 1.7265, 0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef27ef4042bfb958913e17af33876e191fd5422faba4ad566dd37c53e29a4f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddead435b4c909a8b20a30366767c52e09f8d1f5a04f72777d6dabb54987e898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01bdb807a7c02c879eb278f54f0ab3babe1222173942fbcebf7d289af2bf3a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6727, 1.9839, 1.2224, -0.0975, -0.5533, -0.4747, 0.9959, 0.083, 0.8379, 0.7727, -0.5251, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4423 left_y=-0.2291 left_z=0.0615 left_yaw=0.0378 left_pitch=-0.1337 left_roll=0.0722 left_gripper=0.9959 right_x=0.2959 right_y=-0.0018 right_z=0.2164 right_yaw=0.0137 right_pitch=-0.0264 right_roll=-0.214 right_gripper=0.9965\nstate[joint_eff]: [1.4564, -12.6427, 5.9829, 1.6874, -0.3541, 0.2027, 0.0757, -0.1983, -0.9915, 7.0906, 1.7363, -0.0122, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.35},\"note\":\"The pear’s lower body is now between the jaws. I’m closing gently to recover it.\"}",
  "call_id": "call_Vt1DHpBRsWk0AKJvfTeBqLYP",
  "id": "fc_062d98ba4d39c4f9016ab2ba8502b887d089e14ed245ae7ade",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vt1DHpBRsWk0AKJvfTeBqLYP",
  "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]: [-0.6079, 2.1605, 1.3029, -0.0105, -0.5068, -0.4301, 0.7736, 0.0834, 0.8425, 0.7723, -0.54, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4759 left_y=-0.2223 left_z=0.0142 left_yaw=0.0449 left_pitch=-0.1648 left_roll=0.0843 left_gripper=0.7736 right_x=0.2943 right_y=-0.0018 right_z=0.2119 right_yaw=0.014 right_pitch=-0.0462 right_roll=-0.2153 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -11.8496, 7.3915, 1.5653, -0.2564, 0.1197, 1.0281, -0.1026, -1.4974, 6.8718, 1.8144, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b80447fc89e6663989bbe4c8d7f795c125cbe32b834d0a32f5ff0d8e598f5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:762e5443d0c860047d30d75e2cf8b30551746eec6578364ff4ba7b4e84cde638",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ad45f8650a39a4ca66ebb25a4e98c16f9430c24bf5217806949118f255bc23",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.625, 2.1464, 1.2892, -0.0223, -0.5114, -0.4408, 0.996, 0.0834, 0.8413, 0.7723, -0.5297, 0.1703, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.4682 left_y=-0.2268 left_z=0.015 left_yaw=0.0382 left_pitch=-0.1713 left_roll=0.0862 left_gripper=0.996 right_x=0.2956 right_y=-0.0017 right_z=0.2143 right_yaw=0.0139 right_pitch=-0.0348 right_roll=-0.2151 right_gripper=0.9965\nstate[joint_eff]: [1.5932, -12.3009, 8.1299, 1.536, -0.3297, 0.2466, 0.0024, -0.0889, -1.7026, 6.9675, 1.7265, 0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqRJs7bvg7B1_4R9WxVdozjOEuISs6UK5georxqrmnaGejR8yFYTJoI_cetZyuDmoNpiitFRtn97l2QsJ9KPZCWCtoG4d9uJkUuNq8UQU_u8voDE8i-c2k-NFqZSyo0wyt8lrGnqIYYfLQBCPdyK24-fsAdf1DSr1G2gTBhNgNUbK6vx9P_zn0-AtH5nJXIjcfR4WQJ0TBWSu3nVtfGiMAuLwxdJTZiWkO7cmYdS4QlroD33DNh-YMjoHqrW2tucy9MTWVeEcPuQjNVWpnlGvMIWWZJtURuEhfIHse_-LMa7ZjUKZOV--4ZNF8QUS4nn2oiWf6mZBwFCwY6-4dklMJC-se6sRL8dIMse9E2KdmAJuRmPhBACXJ8EPTlV_gi4A4lUTKJE_6_ey5TFPybAHc4aSAXAAbvXtnXf8WbvDKrwUVkFjIEO3l5vztTZDEncQ21_qvXS8W_ui56OkGAoWD2Gp-3XHXaeMM1A4NbDRXPtNRSq713Pw92otEPsSAsywAHIHJMs6T6nz6F03ObssTRW8qLGuAFNMwrt52aExu3ZBj7UnWRQ4bKSGPrLZFEmiTjnbk7TqDsGUj6Z-sf19IB3Nz2dGRaOzJ0lcmYeC8xbdXJX84FAvI6OS57sgAMtXS65RXMMxK9fxprGN8Z-6i7iymtEpMMegTQYvJJQ5kl-GuD6nNEz7Zu4hI3z0yUbjA8-Fm13nc7369kkAwkwTX19u8gVgNmSCvmw4o_K9p2xktECOn-lTByInP-dhkje16nRcFyHr_ftH7haHA1bkwquWwLqXxNMQW6vbvvNcQW7USLNPVspDHB5RGnqFaQ_s7Pstn5WS5liOZVLVBGBxE8s4LkeodQoJHNElV0DLhtxLrFhh3neurxCejcCm6rlOjfSJ4lR_v0XQE4jLC-NyFjfBLAzzCiovLDFCQtHSFOZsYbQdbQ3Egz09IwQFUbT8aQBqKmiYX5FSVf9dGh-nDYFtNZAWLWnZSnH5FuGwzt9XEpmT5fhi9H7DKJ9XpkshL34IpW-Gh9sGOOMQzKN_uP75ToZiTylEL7Q0bfpdzFKSCOuisa4DjT8_Pcdl936hO5k43usT4585Yj-Htp2XglJq_tCyG2FAWDWiMJTGim42db3WxuYCpZH3OeGT9er8QBpvPOORjl9SLtcly5BojQFPHUF_T3zqJlz7nRf-AHJPJQWF3MIgHzczDY1I9_NYwf0lPrSN8VVS6FXiQ4fAnvvXzscNLPtkGtkUA0FP1uNvUd6vGXw4riJWCcKDo3qyc_GUe051dRYKhmclqtsO5Oe2YjsQzEB_DSQYaTFeq1Gd2ZgGQvAfM2umhAG5DajdFfEH6XU-bcPSJUbJumqrZkwkhVcdOMKrzWPDc52M4I2dqZkPtb00xNjn2VcKSEXg2MWJExYVtF0FWmYTdN_Y12NjQLBc1Ud_jab5M6fW3s69PLdP-sj1svNY7sZFuohVvLOGjkMb-b787y4AV8W9QvK7tRloTqyBMyqDyhr6HmRjrO24E087Oku2BjYMlUW6eiiqZJ3SYLNa0st_GyApuwqqUVIh4Mb4iRAOTmMBMzCw0kTvPAHA8a9GlLI1K1bqQMMzNV_3mFYzNYpvjf34UavBaRiErQLljaEH6_OndoYYyvJ5u4N2O2LPbcUmLgGPluW9XVoL7z5X0SRPa2j8gXkLy_jbCqFzr8Xt3kYKKk5gYhlfWbGs5dNU1Z6F4xhuLAZ39nZKMcxjMVY32k7HPE7XfF2vLmcwKhnZx9UUDCgh8dbfCAU0oJT8MIrR0OI0xIMeG7vCToTvsI_jULU2eKNEz9IdCvWk1R7Vq1vRa7SE75yZOcNZSbadQ7r5kRf0Ed2VLItL7SLDECLpaTNp6Hv1-whx64QYtngO3ojg4iwwY7wngtcTtX7a36XjfjP7sFPguQuIawp0aF_yih393CkNBGvQfeaNmd5Qv84L0neVWTB5Sx818RYQcVriXbQRFb6IInD5braf3f-WOmNKxfofU8f94kdYvqyL2c8DqYn9d612y_6KPbkEf24uSHFJWF8hyX6_3W47PaZCrJMo4YYrhNruR53d3gJtj1FcN8UuaqvmzI63QTVc8Tipl1JSCMSRi9AeuwWmzHJz_naYvigzNi1Tb2bcGU7tSlljpHT0lmKRkomxioz2K4tFa68Y-P",
  "id": "rs_062d98ba4d39c4f9016ab2ba8a3a9887d087c9c71692b2b974",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gripper has secured the pear. I’m lifting it clear of the table before returning it to the blue bowl.\"}",
  "call_id": "call_EZKgaywyLxFLTX1XLJmhk4GQ",
  "id": "fc_062d98ba4d39c4f9016ab2ba909fdc87d087dd2318afcaf5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EZKgaywyLxFLTX1XLJmhk4GQ",
  "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]: [-0.609, 2.0121, 1.578, -0.4744, -0.5034, -0.4416, 0.7785, 0.0834, 0.8436, 0.7727, -0.5449, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4761 left_y=-0.2238 left_z=0.1249 left_yaw=0.052 left_pitch=-0.1979 left_roll=0.0987 left_gripper=0.7785 right_x=0.2938 right_y=-0.0018 right_z=0.2108 right_yaw=0.014 right_pitch=-0.0519 right_roll=-0.2157 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -14.8444, 9.7846, 1.6044, -0.315, 0.0855, 1.033, -0.0889, -1.1282, 7.0496, 1.7363, 0.022, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6838e26dce592fa94791b54992443330ac448509a947d215885f3787097fa6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a9bd67a14709f0035fb79cb9058c12fd73778f64b899f9954bd3f076a1dd7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10dcf91982eb099b98be6bd93d98213596250c30a2d272dcec808b04ae23dedb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6079, 2.1605, 1.3029, -0.0105, -0.5068, -0.4301, 0.7736, 0.0834, 0.8425, 0.7723, -0.54, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4759 left_y=-0.2223 left_z=0.0142 left_yaw=0.0449 left_pitch=-0.1648 left_roll=0.0843 left_gripper=0.7736 right_x=0.2943 right_y=-0.0018 right_z=0.2119 right_yaw=0.014 right_pitch=-0.0462 right_roll=-0.2153 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -11.8496, 7.3915, 1.5653, -0.2564, 0.1197, 1.0281, -0.1026, -1.4974, 6.8718, 1.8144, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqaChY0JYy58rwNlzuKBjtZkM5OlrNVXhXJXrEjkHOeKlK2s4qeQlxIHlb_B9hCy4TLZbetHbr6N7VFVSumBE2FkNYaSxazAi4zkszFHlgZrF_ARTDh2xWmhkZYVPFvRV-pLQgJembrME-sSf0Me26jBxSD3NQtiX3rf5MV-3iZ_JSJ9Rl_gicLbatKOW68ic0hgJ_-Saim6JmzpT1gBvrlp5D0_aq8Ne-B_GAmvDt1zfF_OEyDkAW3iYPl36Dwkh-dGH48sZuIkOP6Xj5q65rhBgvczZX65rGqhrvINVXuW-l54s0gO8kKhTfEXQBjNqVJRHYUiIF1ve5arbkqmT96vdoYFnXe6w2WuWpZDFKB8IWzQdLWUgWefhHMiPhoE_fmzaGIF6A29zHBWKssWP7Iq6QYciiTHzj3mcRQK0YEVQJxEfLhWW465cWVyan9Tzf7t6isELRWQiBA3m0vfiho4nYlq1ekjOU1UwbLMqUqbuv93FgrDsV4b649RhWSa3IL9xR8yhCQDGkcVV0DS3W4yhgC9UGEh0Z3Z73NgoWnwTEAiEOsveWQNl-oiDJNOGdqZDv5vz2HeUp1hKc8k4ZHQ_2LVQwqpfrarTZOFpFbWgMc0V-70XKu9t3n9u8dgV1UqAE0MSZSXURYfYqMhnO7bVLl3rqmAFTozgU4NJ7gXeCq8EW49pF-irq1XLYzLAnBFkyqu910nxWNrjwR8A7gJKzw_wF7lw1Ws9t3sffQpYVhXvTleZyf6kYUOagm5nbu2Ob53nggGrITo0EbbE5W7DsXXsPXmm4EidADlPlnN6VVYhAu0BIkYpB95UL4AA3y5RqlBzHwGi5DyJfXhf6RSL4uoXmJlWO9ziKu6U3exZr2pD-ROfsRleFbP0PNhDt7PC2z8j6VQO81hRNXq1ybWbcvxlivHbQ1JPk9UrQ7uwWapKbs2BqLXhQ-7NliAhzu3zvsIaBP8HDZbMbF_jf7GJbfH_xmgQ5uvjbtfipdIys0p5b7o6VYkKozRT1-zRHLsHIAUQk8bewhrMCITib4C7Qi44KuRaKw3_-kIF3Got6kKTjRi3h_VlH3Z0IQP36dXphm-p-k6DqlmzgoPKgo5OTHYiRd0EFwbiFpRL0Sx0y9H8kTshDr_eK7_CVA0Wu5ftxh_QpsWEcV52fPVnkKHjdegx_G93pYdNTeqt2sSmJOUdP3ZBRYUPR6lCSVVWNpPNeDH3V2GkRFBF5dxgAuYUaxiYj2Yk-FnRyTwl-ilO1lsyk7hkD0fcaMC3romZAvwerPBxO7iZpNM17B0vFKOfZGcd-N-BcISodINCFOTmngP49hHag06XgOBezCawz9",
  "id": "rs_062d98ba4d39c4f9016ab2ba96d0a487d08215a5ecda548612",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.385,\"left_z\":0.17},\"note\":\"The pear is lifted securely. I’m carrying it over the blue bowl, which already contains the yellow fruit.\"}",
  "call_id": "call_SA0sUNATr2IAEIouFM8xr9OP",
  "id": "fc_062d98ba4d39c4f9016ab2ba98630087d0b76a382c607ca8b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SA0sUNATr2IAEIouFM8xr9OP",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0443, 2.2436, 2.1139, -1.0489, -0.6876, -0.8921, 0.7815, 0.083, 0.8444, 0.7723, -0.5522, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.3584 left_y=-0.3864 left_z=0.1555 left_yaw=0.0274 left_pitch=-0.2301 left_roll=0.0883 left_gripper=0.7815 right_x=0.2928 right_y=-0.002 right_z=0.209 right_yaw=0.0136 right_pitch=-0.0603 right_roll=-0.2163 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -12.8889, 8.8137, 0.7106, -0.7253, -0.0513, 1.0281, -0.1299, -1.1966, 7.1043, 1.7607, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fade878df13ccd26a3d4772606e7b0cc18ac53c3476a041093cb63ed25b0a078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c856645701a80be262fae364234cf6c35caf7fe62409157d37a96ab677eedb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0385fdcf947317842f9c8d988e5ab163dae9cb79a31dc4a377bf3df9d1259f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.609, 2.0121, 1.578, -0.4744, -0.5034, -0.4416, 0.7785, 0.0834, 0.8436, 0.7727, -0.5449, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.4761 left_y=-0.2238 left_z=0.1249 left_yaw=0.052 left_pitch=-0.1979 left_roll=0.0987 left_gripper=0.7785 right_x=0.2938 right_y=-0.0018 right_z=0.2108 right_yaw=0.014 right_pitch=-0.0519 right_roll=-0.2157 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -14.8444, 9.7846, 1.6044, -0.315, 0.0855, 1.033, -0.0889, -1.1282, 7.0496, 1.7363, 0.022, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqkYwl3K84yd_Jr9MGUvrwQCYAqaeTO5PCQoA7Ra9EtxCCYXVbGl0OElEHbmdLGa5zR9Ct85gvc-f-xhx1LIguNRHHAgpAduBEycqdAy1r8iO0cYgWpmQN0kbeTeF8CcuHK0yL5nTw-FnWEbXsMyc595qI5ctunqt2u_z5zTJlasHeF0LuKnhwWd_J-dJZj7fLVpdb_Bmic11dyAaeWGi1V3UIfJLfVJ2817SI9ZB0I9DqV17ldxpnDNOuqaPl-WxuLF6HGDdBPIIFhe8P7rp2iMaYhEifkjwF4JpvSPrupMvMlMyc0FudSsH_SecAXL-6W72LKJ_wy6U_s3fkkNr6FTxH6GoDj4efFrRjS4vRbQ8-m4rRNcKtG5-LX8uvhImjtVgFBk6tRHCIrwwen6yjqNKbLTtVcfGZWINiQsNR9b62XxFDH2eFkYvXKMserGZNV6LuRY-hILpQlM_vbcVNlQQqHJ3oP2cEt7Ebmjdew4krQE5TbpobLV71dlEfeHNkHaHi_b81vrMZDp_ZI1pCZ0JdyEEV08IQUIzxDeKUzwUGpk31pU8hSkYL8x5kI3PnKarabtLOb8RZOSjwsGyG0dg65hTV2VSkeLRiNHl03aDlikul77ysIXEqHTuc94ftVb2iJfpGkAVkJe9JO9A8j0ycykxc12L4BfDkVQL3KPHMDymSigNmsiJDleoWeOAPDwbeAsG7XR4MyBj_wPnRAl8LgGTtsC4_8B_QFj6U6J9pB5m2JAsMFz02oGLpLnMiIAT5VYEN0mqG4tbnIC401XsZWUwQoci4hDioj_BRUk9gYa03a61tSSHj1vqluZWedzMQ8ol740H0hyDT9VFE4uOa3H9ZSVm9CPFzEKrZnV1cpm0iNWlIhC5O-GQFBdN4aXnP5FM4NjdH6m7iDg3bsgGK9VL12Cu-A-_p7b7a-A6K6qM3XTXd-q6IRw3cFvGX_oiQpllvfFBwZkQzsFktoMU0LV0K1GINYKssXcFI3CsEhR8Taq_eTd2sWD72GPJHtMBBXPTA9T64CgLLDjND23SBNLOfk0F7CVhdlAvL5OFkseDZV0BIEng5W3yMC3VfQkWSOy1MNIDaD5D5iK1_LfHskXne_c8yzXnBZtbAcb6VII8VEm3yFedynoJKHgZdo77WHXGiqu5MXQie2tArUymNG_d71zfBQ77KoYauV_78IXXXsUvwePA0DXVwybIjbGDs3NOzMjYB_P7ThhPfFFhF39xuJHGvA4nkU8hZTtqwk_S6EohJftPXDs5IvgEEqkZyFv9GtH-DKm9IdY8tFXd8zrGxM31z20VMrFfvUTK27EDKTu5dafLnaKVq2TT4zw-SxMYhxIUH3gOfOGF2taMiFu884bLyHNcfvrqXs8D_nCPbBPptMyWBU1XU4bgfs7S5rF77PvRaWIOTJsaahVEeT1Eh8i8UBj9S4HAzgaxXUJveHuveJYG0nX0B0y4KsuFIEJanOQ-SG2C4sOY1JbYOv5tw_2DrC6CddTlKqjZPp3JtFuH3NHlKmvlFpIfE-RvWg8xd49SwB0wwsjIYNjk0oaEiXdIlU3GnUWv756GNa-R_szC-gQKJYBhyFPxC6EKVOYRlNdHlZU5f0GXp8gecm6eNPfdWdMHz7o-R1EvTuC9J6ybdLiiSPmvE6ht5v8ljKULdtvA-A76SZu9FbzjRy5Bsr9XrIh-B6zn_KdezO-jkQdYfOpDlm8ESSpGsZHijBZnWz37rlmFbIPWzW61cnVZkltnid3KxIeK5dKUnuru8AGBdCqy2DwBPzucLN5ehYwEuTnTbopINbbiI4F8FvEErC4PHknixUVTSy6wtDLFemkKh5QiLqkkl_juSNxkgu0-y9IPT_Wf9guPYHpRz8ske4Nr6X4dDSMSfFLpVYPr8KZMUYMBnB9GH7hWBV9smFkD7iMGNsa8KI9DHPDA==",
  "id": "rs_062d98ba4d39c4f9016ab2ba9e920487d0861ee21437ed054b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pear is above the blue bowl beside the yellow fruit. I’m releasing it into the bowl; the dark fruit is still visible near the left table edge.\"}",
  "call_id": "call_uxQot8gckXREZHDTGYnX9L6b",
  "id": "fc_062d98ba4d39c4f9016ab2baa35a1c87d0998aaf3023bf99a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uxQot8gckXREZHDTGYnX9L6b",
  "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]: [-1.0492, 2.2543, 2.1201, -1.0737, -0.6849, -0.91, 0.9961, 0.083, 0.8444, 0.7723, -0.5529, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.3545 left_y=-0.3855 left_z=0.1501 left_yaw=0.0373 left_pitch=-0.2453 left_roll=0.1009 left_gripper=0.9961 right_x=0.2927 right_y=-0.002 right_z=0.2088 right_yaw=0.0136 right_pitch=-0.061 right_roll=-0.2164 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.641, 5.9145, 1.0623, -0.3883, 0.1441, -0.0415, -0.2667, -1.388, 6.8581, 1.7167, 0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ea6fbd0bafe7751c94314bc463bddb3ad5e7f43fd87a2536892a5daceed35f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3cb007790db5f4b417d0e36098d3a8e926d31e9ab23dfda423dbed06ecddcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c96784f91598534e8b6c462c946e4a06065508c7b094867ff37f937952d7e77",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0443, 2.2436, 2.1139, -1.0489, -0.6876, -0.8921, 0.7815, 0.083, 0.8444, 0.7723, -0.5522, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.3584 left_y=-0.3864 left_z=0.1555 left_yaw=0.0274 left_pitch=-0.2301 left_roll=0.0883 left_gripper=0.7815 right_x=0.2928 right_y=-0.002 right_z=0.209 right_yaw=0.0136 right_pitch=-0.0603 right_roll=-0.2163 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, -12.8889, 8.8137, 0.7106, -0.7253, -0.0513, 1.0281, -0.1299, -1.1966, 7.1043, 1.7607, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrqvdQPh_X1xgu0CP9UaDFUUlbRNBhcepiHyNkxAXf0IeLe_dg9zgNoiHK4cmS4CczNg_FbZMJ_aT3OjQuJDxQCs1NqfSIMGTW_pxOKWLK7k_GkEZpjTB5TniBS6X1F1gDnhxvzS-iYq-s8r-kQyWsEUzFkteYn7egpZXADUyyMKV5VALMoyXMXNsiw6ZCiM0FaHCT7zwBEMaaA1PtHjYGDU-LItv9cSJ3ycZrzVXsfm5_z88o8SI8TKPsq4wqpjKjI-slPp0PWIS6rcPAh7ODN2FnmkyjiH2CiKX7P4n0g1vn2IH-6Opjnr-EpNalsTIWB3YIEXtFQPVFLHtmZJu0HkBdzSjXTSe3alagF-zecJWAunEQRz7x0aOr-2eYVac1ryiqYXA3lDFIwfY86vYQXExVfvBlYw9ClSoFFnlCEDeJbi1Af7RZWrf0ikl3m0rY31KvI-PhdlBKXPcAQJ1RidoPwqDGl2rHQViD9xhPtTIG7c4uPlLNwX42YKfaMAW0x69MmKP6qcYGEvRyXa3LbvpgdOBEX6rFS7GSNdlZFZUpMPOVYco5juW_w0JVGtdWMNyxB2rv0s6PXdtejIMbGCpWncURQsvJ2qv9snUvQrGpHZVT49eTJWNjDVjgaUFPRlUGa7CI6NH-LIiVrqqWeF_9mQXSX2R-PPHhoWVuZjC5-Udd0UMCy8O_8Xk1DOZO3Umvdc2yjA8QiWgPFaiFN0HkU6YgfA5wkxDYg8LbrgQXx17MrqiM5-FeWctirrDo_XPRFayiX791qihOiqJq9_8wcN3mA9KtYKpgN31MhOZtJSazA1xIAdMop4KA9RMjbJtQJnXu83Nyj0LqBf_Y0Zy5lOwYk5ByqojLnI4_TRAsBimzwrC9tbu_uKkTieyP6O1K-V-g3FMK2eeBB_9y0dYCi3goNwQc1N7JSGVB8iF9GjZ8EF23TnQzMS7BJVsBuK3bGmcbdrR-cy-CR0PLLjFYtRinHczrihfffwz1O3f8oTNiT5xGTKkK3hFjF9ce4Kj2t2qUtbow9mVmwL_KPmIjDyeXczcaM-ea6crx8ZK2AigzsxU4QUP8S2GSIidVg-nmLtLcb14v2cxyHtWfIQkUMotfVkRGQxgsdkStpFE_ZJCAA902NZme8gZgov33SbcZjyC97pmPzfYhA83fNMt9z6yhOy8gNQDZfzGOhDpjGCsi0IB5yXAR7LHTrGwMPip_vfwhuG4Dfr6ugxV1vUFsTcip0l-Fl1t6WGo14J4W7g8KJLAlgBjn8NzDBKLMtRmU64QnRX5aDg3pGyfjGTVKuIzl257NL5F1VD9UDQ86qBV56DvMoxm19lGKU0gydoMDcthY1zTrQHfUPHbAFO8P2djxpvnlr-4P94rwh0Xz3Aliug1hYOroyBjLLG3K29WMQgcQObpr0vOglceOgXILoJbHwy-0zFFjMnxl7m-gU-WsMSW89pibYU4uT0uqIU-BdaljiZFU6x0wBW1ss1tW7-eGdOtKbraln5OlzS_rUf3fEP2zXPVp-7LgaPr7YGePii9-cEvINX9RX5AZL0odhByJCUckcZ61iB3jN-pJSCiFRZthmYFH521FE9DQB43tazGuALQSrtlgIuU2--tHLpY3ztAem9M9lyHbN8YQWpPoLulAR_jtLCf-JpDkPRMCU10RzpjoXWRa95FOys-5OC0g_zWP346BWdJXfmhOCWwYdjxDmxWgqjE3OCqP9JvLZzIf3zvzOMLsqUxy55cmeK50W0Py7dq2-pPxUTBxfkpzt7_rWuonAjn2Dpx_E0A3TOLWlhOMcTIpPlD1YGncKBhh-dl1DUW65LJV-miHeXIJdFg_Z7FXoXrT7wDWaNHhfufmOOueOQ5uHQEgFvAxSkjOFya56t7k-gqvFo179BlOIHyB1MHr9tUOOdeoGQ4A0-X43EiNJC0HVSKzmEVxBTJVq5OEqFtsRH-BAVtlwIj8IJbImFPpxr0gc2wI4npou-TQ1_Y46LcwIAMRhspAyaToJrl8L6k5w9zdExB7Y=",
  "id": "rs_062d98ba4d39c4f9016ab2baa7da9887d082e9a39f0d2aa113",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":0.025,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Both the pear and yellow fruit are now in the blue bowl. I’m approaching the remaining dark fruit near the left edge, keeping the jaws above the table.\"}",
  "call_id": "call_FvC2MWuaQnDMA8TQiYan0g0W",
  "id": "fc_062d98ba4d39c4f9016ab2baad509487d0b80bf5da432f584f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FvC2MWuaQnDMA8TQiYan0g0W",
  "output": "executing move_to over 37 steps (3.7s)",
  "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]: [0.1474, 0.3698, 0.1997, -0.3935, -0.0025, -0.0231, 0.9973, 0.0834, 0.8471, 0.7727, -0.5671, 0.1703, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.2311 left_y=0.0384 left_z=0.0934 left_yaw=0.1543 left_pitch=0.0041 left_roll=-0.0007 left_gripper=0.9973 right_x=0.2909 right_y=-0.0021 right_z=0.2055 right_yaw=0.0138 right_pitch=-0.0774 right_roll=-0.218 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, 0.8684, 6.7897, 1.8632, 0.7888, 0.2125, 0.1099, -0.0479, -1.4427, 6.8581, 1.8144, 0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94567d7b3da47f367ccbd6ba09ed88a2e9a8ddc762b54c8c4ceb15146ce3c666",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a80bece6dde8817ee40b4e091709da842441c4c1ece32adee9f75d0d17e63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6527b22495230b71c888cb61d03d5053c21765fae65abf77e419deb5153b6960",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0492, 2.2543, 2.1201, -1.0737, -0.6849, -0.91, 0.9961, 0.083, 0.8444, 0.7723, -0.5529, 0.1699, -0.1429, 0.9965]\nstate[eef_state]: left_x=0.3545 left_y=-0.3855 left_z=0.1501 left_yaw=0.0373 left_pitch=-0.2453 left_roll=0.1009 left_gripper=0.9961 right_x=0.2927 right_y=-0.002 right_z=0.2088 right_yaw=0.0136 right_pitch=-0.061 right_roll=-0.2164 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -13.641, 5.9145, 1.0623, -0.3883, 0.1441, -0.0415, -0.2667, -1.388, 6.8581, 1.7167, 0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrq4NY9eqVqgBZivruXaI9y0_h41r2NPl_H4DHNyOlNopMotelkd7e5YdA3DkDQQ8sK_hszgm5j41Jq3RXX355ZLmrz0ghlPTGziPC60q3kOlLSnruQWJ9aVgW6qQN8tY2efTuJuBrKo_4CxTG-R2IxOn9qHX1n3Wgjll-SJz57IznXBa2Pa9932pZpQ3_oEFOM50aBvoGF8odRK0lhR6HEgnDjQRLFXZDsNKt1EBLiYSgmas1LksbJe9mp-H_fPpb9IjgBiwPusDdPYKtMsFmT5aPCI9RpiDQX6NCQMErMa3Xv_Leq-01ZBcUCCxpWzsta-t3FNGjDkEpGKx_3cNDztVZUJORsOuhZ-OI1-Z-YMm2Z9MeqXIWfoQdTc8fpXLRaP-CK8o0_kVg8V9YQMGWE2eKdfsGwfb3zDFbjx-GMh34g0IVL8YY1hgRLNY98vEz91jaHUj8MFmHEd0DY6HUCrOR4KN582ffmDYMkPGdv-MAR7WrFgrjwTD81kd7C9HfJ5axWa0cltkpC5AEqhbFLUa3Q7lqQ-xiSqMuOJn0WaaBPgQ4YuMBVbwX52ZGSXd8QGGtqJ4xo9HLGRRa8FzvzAubdU3UUSPWAdL4jEQLNTD143gtldGl0otqm1Y6O5GYTpEPD0PSDMvqq1fyyzbq0g1Rr9MOc0izh7mnZHi5f5iqz5Uj8drH6GUyU6CBUGVolEAlcUrx8I9JNAQasTb3dDmhT8nQnbI9_qLJP3ExXYekVdiPMUoFl6G7NZWblt-2iZjhie7IKksW1KrZq404Z0XsHl82oiLUVfZoLolGXIcLCwuHOIMV5_4yXjb0zqLrjlxgerBuHGJacFT6lJJQKy2p3Cw8UNbfIyzBNbGi8wZr-ejnPSZAjK825qoVHzp8wyF8hXuK-YKA92bYhCIlzbSkEOJ2QELS3z2LI9EV2xRNtsexiuCKRQYiLRFJSXP88lPR2wj9vv87JNJGg7DT8a-FeGrlQXsVu6JOuq6eZA3tV4NNGVqoeJxhwQ34FYfzCm6QsVRh-k_iBdRlx4yukZd9S075eo34Zni6Ia3ag6GSUxXHlmM2OzVS0k5rUo7qenEEKBNebaIDRmIM-FrFinCJ1kj5IpqQ3Plqbcj43bdhBIQoVTN7rUScwn6vLWGB9i6CcJb1hxjRFTZwsL784O37iZ8ImjbBkFtDFwSSbaz75b7tZoC4M9XICnRbIuFNZamLe4ar80XfvoYoJW2Z8Qi6GhZv04jP6u5zVWKe_ZkxXbSFYep49TOTrMayoLXqv6INgxvIEmBDrLEKlkoVz2Y36LJ08Arq5gzdKgZDSrOY_YWpfa17OStAIGfsk9iRrhYb12UBygGMfvYLRnS-Cn5g==",
  "id": "rs_062d98ba4d39c4f9016ab2bab52c2087d0902aee6a7004c1df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":0.05,\"left_z\":0.025},\"note\":\"The dark fruit is slightly left and toward the base of the gripper. I’m lowering around it at the left arm’s permitted sideways limit.\"}",
  "call_id": "call_MdqheKHXbQAFIxa8rDpMGA1u",
  "id": "fc_062d98ba4d39c4f9016ab2bab7129087d08b3ab947a7386f09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MdqheKHXbQAFIxa8rDpMGA1u",
  "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]: [0.3317, 0.2058, 0.0883, -0.26, 0.1234, 0.0555, 0.9974, 0.0834, 0.8494, 0.7727, -0.5751, 0.1699, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.2331 left_y=0.0611 left_z=0.1066 left_yaw=0.1876 left_pitch=0.1932 left_roll=0.0253 left_gripper=0.9974 right_x=0.29 right_y=-0.0022 right_z=0.2033 right_yaw=0.014 right_pitch=-0.0877 right_roll=-0.2185 right_gripper=0.9965\nstate[joint_eff]: [0.1299, 1.7573, 0.0615, 0.5201, 0.3248, 0.1636, 0.0024, -0.1026, -1.3607, 6.8855, 1.7705, 0.0269, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e293c717a33fbf69d5c2283e57c161c12a6adf5b9d48a5caf1dbfa7a65e2e23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79199afdc9298985cabafd4679e40d5aaa2dbb76be8b27b715108b10d0646cab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74638c799a6f5e9167bd5b7cb2adf5c95caf5a03d237d334ff2bc1d0d522a5d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [0.1474, 0.3698, 0.1997, -0.3935, -0.0025, -0.0231, 0.9973, 0.0834, 0.8471, 0.7727, -0.5671, 0.1703, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.2311 left_y=0.0384 left_z=0.0934 left_yaw=0.1543 left_pitch=0.0041 left_roll=-0.0007 left_gripper=0.9973 right_x=0.2909 right_y=-0.0021 right_z=0.2055 right_yaw=0.0138 right_pitch=-0.0774 right_roll=-0.218 right_gripper=0.9965\nstate[joint_eff]: [-0.4991, 0.8684, 6.7897, 1.8632, 0.7888, 0.2125, 0.1099, -0.0479, -1.4427, 6.8581, 1.8144, 0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrrAgcI-yKDbJcGZOuCX08e8GhGq4SmEH48g763n6ssjr5JOFJcWjgzVJFXKJ8Mun6Cg83Mn2sCvBdtGwhZQSqEuSomHCFWUhFw9JRcEJVFsgtPQUf46CJf0gK35O0Nayd9YWbZaVShU_u7D4ddcigb2uhqX0PFcvhqIYiWTRSnWXAyqPa6oMqJ1TX81ezopBBd-z3ptItLE2aVBME1kBdxkLBquUnQDX1W0ZiiHCH2DieVofrkVy5bhDnzS6GmPaY6ZcmBbBa0LoROCvdhDhH6mMcZpH0SruEO3VKEVpAgCZBu_PNdR2TMWZ0jNdftcXCGG2MY9tx4tb6Ha2WxzIVqlAuQfpowlGc3mS6cGRUOoRz8CjSxRYVQi3jawmuRHgJ9MhkKOkyf7gFgg4JV44R6YsohMIhRNC_ktF3cYWsQhI7Igl_hCy3npQU4XoLMe62r_wRHSsrCwKwAB8hh0xY99sWsF5LxMAYuLAn5SCfQ0OBizffFtgYiUTiVdK_j561mDtdwOJKJZFzfRJdMEdpVz0zXwiHp6iX9tUIdVOYTu4NRjWbxQnJijq2owtKPAFBv1KBUyJJiBo5fF4nJuLTW8PZHsjoryckn016uAOAmIrL-CzKSf7pShgpCH3eSuB-nNUKwmZbdAD6kR1TDmGry5ok1owO7l5zTnlt1e2L3m8xkruNVwqn3CwxhyeZ7njyl53ty7exDXgeTayw-e8M79u_9PTMR7CrzRfbZOWyuCFZlPuO8n7QERQ0eq0Wp13SxumKLIpQW7qSK8KZwefq1Fj1f6-XDT7Eqoe6xceUek4P5HDqFM8E7bwyIElOKOZQsJZY4Lq5Cw_ltwNoh1NiteWehvOR8WAmHJ8IUdRcCPD2H2Q8KCrBhcjM-ZwYL4kpBE7QmN72nlr0MAvFlA5IV6IQ2JvaEQ3fFgLe6kwlm-JSPHYMDp-rcy_swQr6PZiguHVHg13QzSecPzXyMWii13W8rAHCSP_t_QkatvETyDjTCeNrH-px1oaPROfjdR0NnLvd2BzmgJD9Ee2wm4i3nvu7h9R0I1MIvaok68nqfsXZ4knKqEvdGeBLCKogg0XvBMlFn2aDQZB1G-2dmbTIki3w4kuBt1a0ld6yYTMHncrBnL7JggbS4MXpk9b7pxuVgoEU3JiJa5QFH1fksIn3yiZfEQIIcbswE4WEq-BImuGtVt9cVWUw564KrqJZbjt64mgYpYfX25QyYOHlYJupjv-SyKWRe4CaYjjnNPyR1B7v0=",
  "id": "rs_062d98ba4d39c4f9016ab2babdd66487d0a596f1d1a2b76253",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.23},\"note\":\"The left arm could not descend at the edge: it stopped well above the requested grasp height. I’m withdrawing both arms to safe parked positions rather than pressing against the fence.\"}",
  "call_id": "call_G1eVngF20lD2PuEflirnlL19",
  "id": "fc_062d98ba4d39c4f9016ab2babe571c87d09656b749024cd65e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1eVngF20lD2PuEflirnlL19",
  "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]: [0.3511, 0.1848, 0.0849, -0.2485, 0.1509, 0.0746, 0.9974, 0.0906, 0.8989, 0.8639, -0.6529, 0.1703, -0.1432, 0.9965]\nstate[eef_state]: left_x=0.2337 left_y=0.0612 left_z=0.1124 left_yaw=0.1719 left_pitch=0.2231 left_roll=0.0385 left_gripper=0.9974 right_x=0.2926 right_y=0.0001 right_z=0.2151 right_yaw=0.0207 right_pitch=-0.1239 right_roll=-0.2213 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, 1.1692, 0.6085, 0.4322, 0.1832, 0.0904, -0.0171, -0.0342, -1.2923, 9.2103, 1.7509, 0.0806, -0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3065d648915fa75954816eabe1ef65993ae476720effea33d43749d4ad425eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbbff8fb06ef9df086f3f127ab91fbf1c81e7bc9eafbfee5219f0d7ca052e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee656a5ec9a487b9de64ef7d6d304bf2f98e0cdf1b795d7649659efce855972",
      "type": "input_image"
    }
  ],
  "role": "user"
}