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]: [-0.0204, 0.7994, 0.614, -0.3824, -0.0143, -0.0231, 0.9993, -0.028, 0.8005, 0.6228, -0.387, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2965 right_y=-0.0017 right_z=0.1853 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -1.7162, 9.7436, 1.7802, -0.0952, 0.0464, -0.0855, 0.1573, -1.812, 8.9915, 1.8584, -0.0952, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d001dccf3606413eee7c82881d44b1a6a3b429a675577ed1e2b98293a2ef644b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e51e5c1aafa0994bdb466d19de3466097df430dd714d1587c95bad72a3e4c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9292dcd0d57ae8705048a21bea9ec8cd667cf2455189c5bdd0232a794d64313b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlAg-WP4gkG5wFZuhFGMfn2alWuTRQ6krskwEKVPMBwN68iRPOW36A3U89Jb3YG4YTnRbAFr3GhLxtpJUA7i6Oo8Xf8Wq4kvFlw_J3BV_sX_muOXi1C3i5yAi05jDsHD1nIn52K8Lbzll4f95gW0pvLM69Yi5yFzdl1CPeRRzJI1PJDDrPilykktGuJZaaSkX1pGBH6mcY9_fIR5dkHEvp-1xssEPZltdy-lblztcAEb68qjqa7318scv6zDjECnGcCpIDaHyzYX-jzugcohnMMrbXwgumM__KYqua7hIQBlxWfKCb-9q6WPA9QmKtU1y44WXuWK71CA18BencHi8kpRoWB4fTRbtilF1LmqJc-wqGQLxuK5z-vPp3mp8IFHyO6knPCuvKL2DtUPDYohY4tTCfr_hhClzluEqJgN5cNlZ_JkrXrD6RMAWqMzgkEXdlbRCZMNrFj2UjU1cBWIhRH8-9v0aYjC68AIsxCqIj4AOFKF1yOupyUFcxxQxTHdjgSMVcYFFmEO8g_6Uhob5jeEU6GEGLdjd_tGxguez2-k64DiCztE-ElMKkUyFia_vrXZz_DlR6T_mBmkU-E4206hTsF7YiSlEOWvH1aTHLnSkzNe56C1nBDviW59vNOiezoS5uovI29aMfDlDXWEH51W9FS9vLQFdQCPIei_O12PcCiciUt66kBkZDG_HrXhGszueTptdG-VCo9JcMkBRPdQkldLJuXtwTrzsS5MIfa8lPxLHbGEb-UiuCgqszD_EGqgwUZG3fyrd1iLRqhTrlRfQ4cUuc2WE6sowIr9oJTaWCMAxeDxcNTvrXo7Tt03U71o4BXldjvH7xfQg2PMIrfcz922KuLXunSwimtCXj65efgG74HeATSa2G9WA3HHBr7YWedb6ozd2GjFSikmQk6REnK8QzgezCE_2UE7F8m2vdZ1Tt-E-PmDyCKUNbsLO1VHy-s6EeQ_vEAsY4hVTK8EHG_V_5NTBIsFIzDYTHoah64TiaYkYV2l8QzM1nUlN7o3_YSXo0TaXtAFaDvq2ZL8_WYGNY5KmiKoMR3tIjyScAy22mM_tQQ6LziLh8MykDXAHhS0AWvS74KKfE9D6xwoZUhqner4gfNPFAWbLapdCDNkrZwqJIwz4WK--xmePFw6s4NrS3diQgeYnfL6Un-U-oBCtpNQQe5-1Up-WGfE2YyJt39Jwiw-rJf_tHjM07pDG5Xh-tpFZWJ7klrGI0v0HcMxyDs8qPqlzh2EUqcAOhy3i01Jy1EWRnDghD0_QnTVuZDP0oi7N-TlCcfgGsfodXGZKNn_9koOKqx-noibO22nenhl8rM776yUm58POiu3sZXy21OCSnEvAQW9bXc7jnaKRGFriD-EiD-NZbWLd4bQgHCjp5pm_0bfajaM0FtrLW530ABVXpZK1CV_ncvBBD4V0TX-Gti4FDW_jyEK9h0vz-X14oOGdvqhUGDWMKMVcAk9HGdnQknV2ASSKo1BDxPWh-_Ja-aTttAoi9l3FwDNHkGGkGgrROd7Aa0Xw-T5nf7UNU_XFIif1nnIirDdy9pvqkpFCrscP_N8vFCk2TiKur7pDRJ4ZHrqYV-UjXP9zb8oIv-TqoDUlBlBTc9FK-cqpv8wWYxavL-XgrdRN0WelHGC4SqxbyKc-H8CtrUJlmusLCwz_2rWA_FipZJFjPJiMA6k1zt2TSoq0hnJSB01zcINXkkdDfL77PckE-cL-NN_vEyU9hGV7Wdr4CCqodQQBg_LWk5DNdsQyereyIsk6DdjdyhP9kd83ij9j8607k6SfxWwu6EKc6mOggCBStTBxG7UC6PU5j1wTxcNLfwlv8WMJ8xC-iiij1r0mJ0DMPv6MDFlsWxl1xg0v2c9M2Xa0g-2DvtNLd7DWzcQps=",
  "id": "rs_071894d952a19af7016ab2a937c34887d0b98a2c9384ef8817",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.115,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits: a dark fruit on the left, a yellow fruit in the middle, and a green fruit beside the blue bowl. I’m bringing the right gripper above the green fruit first.\"}",
  "call_id": "call_24xab00NZSbS1IPeJ4oCMG4I",
  "id": "fc_071894d952a19af7016ab2a93ed45087d094a84f332fbe8401",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_24xab00NZSbS1IPeJ4oCMG4I",
  "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]: [-0.0204, 0.8024, 0.614, -0.3901, -0.0139, -0.0261, 0.9993, 0.4908, 1.2865, 0.6949, -0.0933, 0.3893, 0.234, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0 left_z=0.1801 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3507 right_y=0.1155 right_z=0.131 right_yaw=0.0352 right_pitch=-0.0613 right_roll=-0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.1009, 7.3368, 1.8437, -0.0562, -0.0562, -0.022, -0.3897, -5.2308, 8.759, 1.9365, 0.3053, 0.2076, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756158b8c21b01b13744aa42d4f92189f277e8f1b23ab9ed6b08ade896fae222",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4feb6501ee5c07641602f72779d57610f5477e645d160ce0c5c76f1daf6c4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e06016213d21ae0e081bd48406fa2ec443367391cc9b8cbb0caa44b1daecdd8",
      "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]: [-0.0204, 0.7994, 0.614, -0.3824, -0.0143, -0.0231, 0.9993, -0.028, 0.8005, 0.6228, -0.387, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2965 right_y=-0.0017 right_z=0.1853 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -1.7162, 9.7436, 1.7802, -0.0952, 0.0464, -0.0855, 0.1573, -1.812, 8.9915, 1.8584, -0.0952, 0.1734, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlNuYR3qU2m9RKfBBaVUtHcGea6TNFt1gCaArvBL1HF6hd68zAt-qktfQiy2M1GqnnAkItTXlRF_pjS1b9_MVo6edqhk_xES0iVPnCFq3aUNvjRJD5XDWu8OfxpbRCfKeGvP32mdP3aENjcYxxSgOVoHARp-aCvm921l5_J9miZNXrYZZvid_KUsOjGmMelffhVcO83zpCL2rDVCMdLIiA37Kz9h7VguVc3N6wdzEBsAgkyA52tzhKR2vaj66guN_3IFzZKzdH792nSRP5G1BkjS_xzotq_YkmqHdd6ML11ME3nb_uYGDN8yJqLAZ3jbiQTE9DQJe7GDIqVp8SiW-t1HAcYB_WWxx3R3pqFsxO5mtZSJWWqLEhBYWRZ918HpztjZUT5GlnijyLU_zwJkMNOUe_da_rtsVljbMjaqllJ8gqGueJJntIGfu5VDsyUdDMFb8Scsaqzo4GbTumVx1v5I3P9lYYq06xWYwnS7SgeDFfWKKDZguUcRSIEcnPK5Tee1Z2c5u7bzaqQZVW9jSqlxNBptCzkFQeip3XqopB_ZFcjCOfX4oEfAGS2d9MPYWgBtgAhNKCKVYYczokWfUyxcqYV1_zk8BVe0uCc2nwA9VRnEkLydam5TUUllvxpc0iesfiGdim0mXX8IhxltZ-izZKqt6vKP9ttsk_H-wC61M9rI6HpjqvxyB145g_K57_bYpgtLLYYLPk0P3TxAUrWCGLDFXrCQiBpcfLrT9rBoWib8IYAkSRrALbKOqGS30kSFi232n81joHa7Ue9jCUDFTJH86XFytrfKTCn6wjq3Cv2plruPwsyK3fMaP7eQ5bXkR-QAWKpy0v_UrcRVF4YjH6erKdIxgBHW5sNKtELL7OmQhADWNyfvJGU-NbYQH76cb_vbJmWpNCa4tv4Y2t6h7trxq7H7kEyp0onTgfDn1BNBDTGT2Sd-dWrBeSFgjo_oXAfVO5qPgzqZWg7mvBpDuHMzIunLV7U6W98xz1xnJRuC3I-X7ASYvhhdLlco5KzX_tVRq01SPEtuZiDllx8hwrx5apwFKMUBo7PXc-LWeu7BXYof0zSr-Bd2UgWM8M5K0HUry9L6PBTnq6v4dZQBBjchUjdscExpNmB8weAs9o7O9MrlPssDvbQeTSlq44fWn7zELwxRbzPw9N653em0W52HZp3KuWhFLgUhZYQO-lSfEEsCf_Miwx3lMBqNx7Eg5p_QtRU08mi0PqpYwTKMhFa8Kysnv-dd0LGfiYxrZa3uO5bV0Cnipai5U9TfTlzmtonH_lvpEjptKNXoGSj_4QFoH1M1pOZJz0VQM0yu91MXHYM3AICwcRjMgP5ME068X_1H77bxyUN0HDT6MH2EQ==",
  "id": "rs_071894d952a19af7016ab2a94acf2087d0a4c2076d6e543f3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.035},\"note\":\"The green fruit is near the bottom of the wrist view and slightly right of the jaw center. I’m centering over it and lowering to grasp its sides.\"}",
  "call_id": "call_Q3ZE05uZZWLDVJsRcyBEAS9E",
  "id": "fc_071894d952a19af7016ab2a94c348887d09d8fbbf890cb0ae4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q3ZE05uZZWLDVJsRcyBEAS9E",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.614, -0.4011, -0.0139, -0.0261, 0.9993, 0.3737, 1.6272, 0.5091, 0.432, 0.2974, 0.1566, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1773 left_yaw=0.0017 left_pitch=-0.0237 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3723 right_y=0.0942 right_z=0.0303 right_yaw=0.0347 right_pitch=-0.087 right_roll=-0.0442 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.0325, 7.0085, 1.8632, -0.0513, -0.0611, -0.0171, -0.1299, -6.2017, 4.6017, 1.8486, 0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1014443865a735b7fa9ab59bf3a692b8b113ff1b111f67077f19c13cf27792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8034241dbb576acdac595a5968601781e7b597b8d934597ea88e87923d846a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1048bd07d923860a1052bf968455993382db036c166bb0ee990286ca20102ce",
      "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]: [-0.0204, 0.8024, 0.614, -0.3901, -0.0139, -0.0261, 0.9993, 0.4908, 1.2865, 0.6949, -0.0933, 0.3893, 0.234, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=0.0 left_z=0.1801 left_yaw=0.0013 left_pitch=-0.0107 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3507 right_y=0.1155 right_z=0.131 right_yaw=0.0352 right_pitch=-0.0613 right_roll=-0.0352 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.1009, 7.3368, 1.8437, -0.0562, -0.0562, -0.022, -0.3897, -5.2308, 8.759, 1.9365, 0.3053, 0.2076, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centered between the open jaws at table level. I’m closing the gripper to secure it.\"}",
  "call_id": "call_3gMa1Sf18I4vos75C9EJG2ZN",
  "id": "fc_071894d952a19af7016ab2a952917487d0a8ab8e420bbbfed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3gMa1Sf18I4vos75C9EJG2ZN",
  "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]: [-0.0204, 0.8043, 0.614, -0.4088, -0.0139, -0.0265, 0.9993, 0.3748, 1.6241, 0.5121, 0.4812, 0.2977, 0.149, 0.488]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1758 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3801 right_y=0.0977 right_z=0.0418 right_yaw=0.0407 right_pitch=-0.0349 right_roll=-0.0323 right_gripper=0.488\nstate[joint_eff]: [-0.3624, -1.2923, 6.9949, 1.7851, -0.0513, -0.0562, -0.0122, -0.2803, -6.0103, 4.8479, 1.1502, 0.0171, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9754a8204744e648f6b8a501a1744a1ffa076e479d56930e70710b50d5d6fe36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f87547038520ab9e3e439723c1649e6947326575b630ee5a1dd88ff482b513f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1bfd6b018c9867949ec8c8c052422297f3de6af99b81041c443844dd49c847",
      "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]: [-0.02, 0.8043, 0.614, -0.4011, -0.0139, -0.0261, 0.9993, 0.3737, 1.6272, 0.5091, 0.432, 0.2974, 0.1566, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1773 left_yaw=0.0017 left_pitch=-0.0237 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3723 right_y=0.0942 right_z=0.0303 right_yaw=0.0347 right_pitch=-0.087 right_roll=-0.0442 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.0325, 7.0085, 1.8632, -0.0513, -0.0611, -0.0171, -0.1299, -6.2017, 4.6017, 1.8486, 0.0513, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The gripper stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimeters to verify the green fruit is held.\"}",
  "call_id": "call_GihOMHyJlqbScTf3O2d01Yto",
  "id": "fc_071894d952a19af7016ab2a95cb2b887d0b7a454efcf9c63c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GihOMHyJlqbScTf3O2d01Yto",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.614, -0.416, -0.0135, -0.0265, 0.9993, 0.3756, 1.4452, 0.6044, 0.1814, 0.2905, 0.1455, 0.4844]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1743 left_yaw=0.0016 left_pitch=-0.0385 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3748 right_y=0.0972 right_z=0.0849 right_yaw=0.0489 right_pitch=-0.0635 right_roll=-0.0403 right_gripper=0.4844\nstate[joint_eff]: [-0.2256, -1.1009, 7.0085, 1.79, -0.0513, -0.0708, -0.0122, -0.1026, -6.4889, 8.1709, 1.7509, 0.1587, -0.0366, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1512031183e2ee726112dfd0adcc238211095c5ea7473c8fe3c7ba16d68987f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a663c773f81fd92eea2939a4981496f3ac05999f04917f04cf923527a4ee772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aa6fbe34c7e957a344725958aa0a8ea27c8df42e9725e20d304c1550984bc20",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 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]: [-0.0204, 0.8043, 0.614, -0.4088, -0.0139, -0.0265, 0.9993, 0.3748, 1.6241, 0.5121, 0.4812, 0.2977, 0.149, 0.488]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1758 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9993 right_x=0.3801 right_y=0.0977 right_z=0.0418 right_yaw=0.0407 right_pitch=-0.0349 right_roll=-0.0323 right_gripper=0.488\nstate[joint_eff]: [-0.3624, -1.2923, 6.9949, 1.7851, -0.0513, -0.0562, -0.0122, -0.2803, -6.0103, 4.8479, 1.1502, 0.0171, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlkrcM7WzSJvGGXahyXNiljWqUQNbAWJ3JLZNIurm99uHz5oLhj8VMfL1FxNqSqy7us56gqr02cHwYkNsfQlghSkbnMZT67CTYvO4dkhktZwAzCo2Y1DMM7eIVa-ZoMW0UScfKX8yN1vJILNUFu5-9mP-yTOCpNp8jSmf0KUm_o-80X29Zymy5Rq2QlpB4kuh-w0Ixr50tXt2Onj9pOWtwpI-Qh7gVu4DEfc52W1Kr6ywLWydXQXYrbnUzzitJ2VvdeT3ELDfS7PJSjDgjvtC_TWUAbwWq-k6vNNNgiNC9nHCsjVfVe9FK97VVC3rW4_ccSOyad_ZlYnqyOOe-sfNKwfNHySJq3dJof6Ok2wNqRkXigOFBjzd9Ys8IHDj9vwemxhRVl8yB52ALgHLicgSfdqWtVJmVS1gGmB39hvp2rq3JkHESN3YZE8HYiniza8fM_rZOyt95724EOXTvRdeszcW-9wUQkhWGRffsTzDtuSZ256SqedD_aNtgr3f0Wgt5-Q-YxXyx_JIbv-ILmFbYyIIG6FJXsPCUI2kFm-PlZVCNCQZQrTQZklpB0UBRYerfZN_GL89wsqNmZoNFd65PNDezRH5DB9ybjZMMGSZrMxyrH6RuJcAZ8bATRNPuqPYTr9RSH1-wZ9q0XiGkSeTe8YqXnDDIsskC2_JO1ZSRC67JK3l5njNIMmPxUskeYBWEVyzKVnAT3RhkSDWolcG0GfuxZu8YZC2bxmwl-mt9NCZf-d85BdEhCQUJIKvAF5ohMCJITrX-u6kDe53aFG86eSAdEKiqfX6muhEZK5xKJweLh3ZLS0bOt_gcGvEaXZiSHtQ6OSDOx2nqyQyM2T1rQuq24-68D74fpjYkjBkhiuPGpQt6eSY8skwDIo5TqqAjDAA841CDKP_XkLf-ah2tYFx48AFP5m7GTbg9jVg3tERBZTLhqYLXboNfN3efVsqn0bcObeKkJPC7u0DTfEt5bpS5Q1da3EBpJNhSLwY1gfYKgUpWQEoUmP1x0QBOx-b4ho3XZzKUOfXW8D6oAlCmwDQuNC4lNSGwFImH-wxn4jAVtxQ7u7Dq0RlRiCqcFVDzchn_mSiO8x-3R8TL5d5d7iuHk6googO6vgCl4mWfNHUI67GgxSLcQD-68uiEWM67qUYegxKPpfyS3h_Clo9YdRIw0JT_IFnCuzFL6nnE4BMCLY0pIwxpp_SYhcKZCbQbm8TfSJdCKX2m8zItM41k4vVfxdKbGLfKR1c_NTm01_NX9jopIwBdpk_JzjOjfBa2c8mD4bHh780BUZorSbLfsag==",
  "id": "rs_071894d952a19af7016ab2a961571887d0946d67721170dc56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.17,\"right_z\":0.19,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The green fruit has risen with the jaws. I’m carrying it above the blue bowl while restoring the idle arm to its parked height.\"}",
  "call_id": "call_YmwtGyQhvqbq4mWnSSYhS638",
  "id": "fc_071894d952a19af7016ab2a962b17487d08913a9c0e8c90097",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YmwtGyQhvqbq4mWnSSYhS638",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8303, 0.6315, -0.45, -0.0135, -0.0269, 0.9993, 0.4805, 1.7115, 1.298, -0.3195, 0.3473, 0.1947, 0.4875]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1684 left_yaw=0.0019 left_pitch=-0.0809 left_roll=-0.0019 left_gripper=0.9993 right_x=0.4528 right_y=0.1722 right_z=0.172 right_yaw=0.0782 right_pitch=-0.1176 right_roll=-0.0617 right_gripper=0.4875\nstate[joint_eff]: [-0.1846, -1.5932, 9.7436, 1.7753, -0.0366, -0.0366, -0.0122, -0.5265, -9.4154, 8.4855, 1.7411, 0.3297, 0.105, 0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054cd67afb067add398d8fed2bbdaaac2e2647245c582a4c2140a6ef40d661b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21fba0bb6bf8f197d20824907fcb3164e91ae7e43f44534b99500c790bcf1fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dde1dfb5d5de87e2667f14641c84873a440b02717c3b5714bdb936cc4dd8e18",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 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, 0.8043, 0.614, -0.416, -0.0135, -0.0265, 0.9993, 0.3756, 1.4452, 0.6044, 0.1814, 0.2905, 0.1455, 0.4844]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1743 left_yaw=0.0016 left_pitch=-0.0385 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3748 right_y=0.0972 right_z=0.0849 right_yaw=0.0489 right_pitch=-0.0635 right_roll=-0.0403 right_gripper=0.4844\nstate[joint_eff]: [-0.2256, -1.1009, 7.0085, 1.79, -0.0513, -0.0708, -0.0122, -0.1026, -6.4889, 8.1709, 1.7509, 0.1587, -0.0366, 1.0281]\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": "gAAAAABqsqlqj8qQVKVP7CK2i-ONKI_d8zjialwLTXFS0dkB-x-zMT-XLEKsC3kPa9C2YVji2VHtUDMvmaOhU5wjkaKsIIgKW0OgrvBlCioUP7NSQOCk0qlUxeZH-euAezX20g-wvFDJ5AezVf4M5ZWjaMxze4UY6ld3k34SjsLCMiqzThE7WAzNTmnDYgxX0MfsqolMOYQasssHSLu_4yT3NFxyvzAV75TiJ9N9n2lbETywMougxKzngZ94uftn9eCMeZkhegCbcvRNbfv327KIvbz-6329BgHc8wK2u5Mf_dm-6PIIRz2WMmyCZdpAXfgMGUvG8Qg3ET0khqxE5YECSwyLQAZzPAr_bWWpqUeFk5aDEaw1zaRnQXU6fHM5bAOgfhfktLdPcMFMvrqgBiUx6MSzdksjI6oBQ6LV1u7I9JFMQZAhoCCTS7mhT8vRaKD499zGmK5apjy2E5ATwT9kmc2AU2doxBXG0-cA9s37zYR4dzKrKBDq8ULAfIn5FFMyBMC8elB35IyhWELVvWZrAe4eBcXBtTnkCNn57j9tjlg4bnNMRSVSq49YxMVJ1_V6Abjhrr2ui_HgUWI8pDJQgATjjBRgYThYF3hqbdREujnqHD3uCCjajiNlQISFnO2g-m9EplWyjVh3UDN1c7pDBWcBIBH8wOBVZ7urNFTezEcjpOipf3PcJw942bsYfyJQLIQbHFL93XnyKTV3RkgGbJJNTfoqDJ5_JZD56JTxIo9669XkaAhbKNEwtgTtqnxygK9gmTldD_5vrWd3vbKH3uctNzLCy3MA08faA96EG2SbFbqfXQdWlwQz4pcOKeTd3k7mCKQ0Wv6ExbnLuzICFcL-m0uXQSaDRv7KUj6P2HP0JXkyDXu3N3IEQjIVJsPVxDPOFysgN9iUjEzHgXarVeGEntz6DXU01GSHDmGxhNK_oX5SUJZyVjk2_5x9d50FeZuMau0Rw5cvjLPVkHjvyinOqJvQ1Z9j-_Ii3s8nlGGa6Z22sJHIOeQ9vHxLpfBLyuKMp_1H_GMHl3Ok5mwcwhYLBLUUn3aZzZoi3Wz0kSpnVoKn5YrFonKKIXC9aJ3Tb3ONrSCyr9rGpMFM1dxHDK0p7hE_Llke_gSrmkmltjBQmLYIpAuE3X_vzmu6H4pGj3eWL1OpT4xT7SAEaMPHciQxzShxGGt7feFcV0FbZEtMo5YWn4DEt5ZWr2TLHSE_R9DuQR0T",
  "id": "rs_071894d952a19af7016ab2a968c3bc87d0a19d1f58c62e73a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The blue bowl is directly beneath the held green fruit. I’m lowering toward the bowl opening before releasing it.\"}",
  "call_id": "call_hLBdSW0ZWwmhnfwVAnQtwNVG",
  "id": "fc_071894d952a19af7016ab2a9693ee887d0b34d8868480376b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hLBdSW0ZWwmhnfwVAnQtwNVG",
  "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]: [-0.0204, 0.8307, 0.6312, -0.4538, -0.0139, -0.0265, 0.9993, 0.4816, 1.7817, 1.1259, -0.1154, 0.3397, 0.1909, 0.4889]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0854 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4473 right_y=0.1714 right_z=0.1035 right_yaw=0.0856 right_pitch=-0.1549 right_roll=-0.0747 right_gripper=0.4889\nstate[joint_eff]: [-0.253, -1.1829, 7.0906, 1.707, -0.0513, -0.0464, -0.0171, -0.4171, -9.0872, 6.1607, 1.8828, 0.1832, -0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a29ad947d71b2c727c1f49435071e368c8788cab0401bb2aa219845e9f0a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c266e38c3a3e93f7db01690b020a43d64455965d6fed3430c896372aba97042c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9af2e67add74340f6714fe7141afcf16b6ba6bb0de5ed3aa262e0774c3ad86",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 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, 0.8303, 0.6315, -0.45, -0.0135, -0.0269, 0.9993, 0.4805, 1.7115, 1.298, -0.3195, 0.3473, 0.1947, 0.4875]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1684 left_yaw=0.0019 left_pitch=-0.0809 left_roll=-0.0019 left_gripper=0.9993 right_x=0.4528 right_y=0.1722 right_z=0.172 right_yaw=0.0782 right_pitch=-0.1176 right_roll=-0.0617 right_gripper=0.4875\nstate[joint_eff]: [-0.1846, -1.5932, 9.7436, 1.7753, -0.0366, -0.0366, -0.0122, -0.5265, -9.4154, 8.4855, 1.7411, 0.3297, 0.105, 0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is lowered into the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_BXu7EC8sNodeNas7EwOhjA9i",
  "id": "fc_071894d952a19af7016ab2a9707e5087d098439d5893277ef2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BXu7EC8sNodeNas7EwOhjA9i",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8307, 0.6312, -0.461, -0.0139, -0.0265, 0.9993, 0.4816, 1.7813, 1.1259, -0.1268, 0.3363, 0.1833, 0.9957]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.166 left_yaw=0.002 left_pitch=-0.0927 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4455 right_y=0.1711 right_z=0.1016 right_yaw=0.0919 right_pitch=-0.1665 right_roll=-0.0825 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7753, -0.0415, -0.0269, -0.0171, -0.212, -9.1009, 6.4342, 1.6044, 0.105, 0.0024, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d978104ee902d093d2c9a6be88f91fc32d9565949adf04944adfd513a31b4077",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6328b7dc091166cd3d4609b7bc34d3f608746bd67cf5400535f93d4255aa83c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a409b771dc9f48d4144367e9b336e26f84c833d38ef9fac27fcaea87a78fa3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 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]: [-0.0204, 0.8307, 0.6312, -0.4538, -0.0139, -0.0265, 0.9993, 0.4816, 1.7817, 1.1259, -0.1154, 0.3397, 0.1909, 0.4889]\nstate[eef_state]: left_x=0.2901 left_y=0.0001 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0854 left_roll=-0.0012 left_gripper=0.9993 right_x=0.4473 right_y=0.1714 right_z=0.1035 right_yaw=0.0856 right_pitch=-0.1549 right_roll=-0.0747 right_gripper=0.4889\nstate[joint_eff]: [-0.253, -1.1829, 7.0906, 1.707, -0.0513, -0.0464, -0.0171, -0.4171, -9.0872, 6.1607, 1.8828, 0.1832, -0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsql2A6zrVnS4L4kUMoZ-pcrWY8CgqD6iy34_RbZO6rG5hFFmlpqoM_nEl_ONf2fAxlHmtdXcAY2DnCP1M4DaB0XRl8qG5PRuG8JWNrTXdz779Rkv8oW031rhgeYZwUNCQVwah6rVBUnYepLE_7xU61uY6CgcxWbdGYZm3VZnVbaCXWg56O8OlS6jV2CctT7AiK8tyl5ZYqCyJbpkLnzitYSRVW1M1IZpxC4i29GR_M9DwxOkAQZI5ou-u7YVvd9NzmNzw4BjpIFoaIZHRqrAKIDSfMbIljTlrxpHj0KdA7VcgfBH9PzcTzb4vzZYpN2nri6MiNehKEyBf300lPvFq0_esqrf5mYHmbE9usXDteRPCfv-cQUV4XyvuMH4OVwiqfalyhD8nFuW9eHx18pr2Aq-Qycc7Q3I1py0EJX78Tdm3fMH-ZGmw4ZYygZgLeXCNUxnmgSo1fJ9-iCK0FfmEZNY7lQPiQzpixLy9smw9ysMnv7FrS5XMby9Xw__ggR3XKKK5UQyuIg7kSVpFxpcG3CdB3ltTQSx04t1lVM-nv_EnznkdGUo4EIgsgT4gvPXwE4M_TKPZVE9qhiXbFV_BuNrXp-KhEMc97ybUWTeo6X33a4ELJStg77o7IKJzk1mQmZBRDySEF9RUN93fOmLXzvwUX8O5a4-Hdk5lYETDjOBZKj9RPIbuaC659tGO9A4SDnqDMWZrBFu5tZWhsNyA9zDoi48c21bwHH3qHKAE4Vtg70lpAyVQwQLcRv81SkMII_PJgLfS4OFWpPelHVs8y3tBU4i9jqqzU22d03SJ7d_oyBf9K2NS-1Xm5fqZSHXHHb0nrX2mLhzsn40Zv31L8auV7rFRpkkJyLkv70r0pi0NLZt1W1cVuS6cbYx1eKxnwGh0BiylYz5OAI6BP_dWxA8d2wsTRTbLr70YAfIERffg_KQRl-QvBU67rPbd7VQZ62p2seKKVqXIHbcYs0g_QnxrQ5_Flsqo4r90kPUdI9IFXRXzslTr8ZuoDFQeNTjte3s6BA-D7lHTYXnrVkE2_185hpJ49GYCSpJ1iCZeFt0a75TYnKMRm3GmAjrg-gJCQ5TOOFQtpJ6eJWE1zOuCr7YHfuEI6OGco8AcpJjACcz9vQj-a8ZgUL7QkT_FwmLlOkoxID_1guP-afPP2xYmWfosmmaetRQEzDiKOBKGhpYLYePVGhdU4WzkMFFOqR-qPpw",
  "id": "rs_071894d952a19af7016ab2a974d13c87d0b30d767bc7086506",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.22,\"right_z\":0.15},\"note\":\"The green fruit is visible inside the blue bowl. I’m moving above the yellow fruit for the next pickup.\"}",
  "call_id": "call_5Dj3Nj9KuOhSg1PjxX7hwrAp",
  "id": "fc_071894d952a19af7016ab2a9758aec87d0bec9ff55fb77178c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Dj3Nj9KuOhSg1PjxX7hwrAp",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8314, 0.6312, -0.4686, -0.0139, -0.0265, 0.9993, 0.8181, 1.5333, 1.0534, -0.4377, 0.5354, 0.4347, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1643 left_yaw=0.002 left_pitch=-0.1011 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3298 right_y=0.2255 right_z=0.1397 right_yaw=0.1239 right_pitch=-0.1914 right_roll=-0.0956 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.5111, 7.0359, 1.7753, -0.0464, -0.0366, -0.0171, -0.253, -8.6906, 6.8855, 1.3162, 0.5006, 0.0904, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fef0ea480f546f58840e90191944d0676b0b97796055af485bdf139c082e965",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd73f2c17d3680cff701d4670159658d4f5e6649883b1e6e77fab9890ac8a66f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da45bb3ed69d206eb2ac6986ddbb214096051a1c23e034f6a97e45a1948cbfef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 27 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, 0.8307, 0.6312, -0.461, -0.0139, -0.0265, 0.9993, 0.4816, 1.7813, 1.1259, -0.1268, 0.3363, 0.1833, 0.9957]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.166 left_yaw=0.002 left_pitch=-0.0927 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4455 right_y=0.1711 right_z=0.1016 right_yaw=0.0919 right_pitch=-0.1665 right_roll=-0.0825 right_gripper=0.9957\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7753, -0.0415, -0.0269, -0.0171, -0.212, -9.1009, 6.4342, 1.6044, 0.105, 0.0024, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsql-GHiKk4dFfKAoCtyc-rJLW5S5R0uVoUaiKqHZEgAMF3ucCrvxpo5iLuXW2ByzVL4PE7SkiqldIZ-JWTTR2fqaHU0kCIrfriUi0b34FB6nIpHPWfwMrwRBQs5a_4LODi0s7YGFuI3lcOtSlsFeebcO0ZnUbwdtv2k1pWG8LwFWp3xF1CwR__L0wy8snZslF2sV96WZeUYaNaqowCLiApKOhAvpAktu1oOXzbDIeZaGOY0TCohKZ9eJ6-RGLAtnSeA2CLzkxME1saOLgBEDM5vU9ubTfCx4Jl3pYIlaAkb-ULjlub6NBqqrrQRJp7llqUQ7FXD_PZLvjJIBsAGXmAWQAr1L6uusf9vQdda0-QHRxoKtEtU4T__yMH41Qqzn7OWicZk_SKuvMpj6G0EnSrp1GA1dqtlmL3oDkmPChXVyQh6LnSBvzF-PqMAQ0Gcg7sauKFf2Rw3LYETsloTt8qiH8rieFrRuM5GuZmd-YWTZBaqa8nJFhiiXDwQ1Q_19qoUAx1HFvY7xlJ0e4SpOsTEJwciRhAGbg3jfBrQqWOg0EcpB-GNi6ZA1kIXYJxiunLlPBM2lhV33aRrC1KSKar116TS2ss1XcnnYhFJxp0a_I-fgyqd8OzaNKi5Ty7hBodoQ9t9k1d538S7HyI_V5EbQ03dDHCrWrK8Nmx9cGn5WBkIB57mZ3_68zBxM7z_fPgaDuSoKRlTFSJ6s_n0z6mjFdmTmjLCsuhPtLpKxU5ZBkzJSk-1cJvowI4m64Go_TMwVMa0hc-0ByGi9ZKSemHG5OQ84dJB-v1ZbW2alunN3xioiXpXKriHMoAG5ppcv0eQ_9BTUUL_kAzGkdKq-T4zuDsra4apX4HrY-4S8lv2jdKFRwEYSIM3e8CZKi3Wr0MHfGkBqYT0MPPWVjb_DcTTkkGKTB7KOTrAku4BlNQRQ5EsX1u4cinK4TjhDD5RNPb4E4ldAGAsI-0aYYdqsVVK96dI2aARSN3eXWVpWmez8OGuDSDuH6Ol7VWjstj5XLHk5qzbqtA9oAtnlzJzNN4So6orKhzy9awJFDMP0rEO71dx4KyAIqNrIdJzackxXGqQfGJzxH6y_Awhke0XIkr1HvtX2FT2rhxbCTpp2-Tv6eW0zKYpfrYwSrXqbHGHjIIM5j8rKOASHmZm07MTEpziMW7ZehFqRc4xp2wrdfcCCEK7G6Fm-1qYrIrhGmzxkvMYC4BCFt7SqTNyNttnA8irCEg==",
  "id": "rs_071894d952a19af7016ab2a97be26887d095d6f1e674f8f4bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.233,\"right_z\":0.025},\"note\":\"The yellow fruit is just left of the jaw center near the bottom of the wrist view. I’m shifting slightly left and lowering around it.\"}",
  "call_id": "call_WjTjklAzq6INX3yHH06Mg8Nl",
  "id": "fc_071894d952a19af7016ab2a97cadb887d091b13f78938a134f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WjTjklAzq6INX3yHH06Mg8Nl",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6312, -0.4755, -0.0139, -0.0265, 0.9993, 0.7906, 1.8175, 0.8688, 0.0322, 0.5159, 0.4068, 0.9963]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1628 left_yaw=0.002 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3493 right_y=0.2342 right_z=0.0265 right_yaw=0.1259 right_pitch=-0.2019 right_roll=-0.1032 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.5111, 6.9538, 1.707, -0.0415, -0.0806, -0.0171, -0.4855, -7.8974, 4.3556, 1.536, 0.1783, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8002ae5f339a537da596eb832c44861a6f192a0009111e4af5191343d021aa07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd38653dfb90e648fbe3c0193c104467b5b1bed4164eb61deca37a217303e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c450ae1cb50a5a524f7b7143f0ec3f6e0243c1bb687b6eb84fe4c764637956fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 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, 0.8314, 0.6312, -0.4686, -0.0139, -0.0265, 0.9993, 0.8181, 1.5333, 1.0534, -0.4377, 0.5354, 0.4347, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.1643 left_yaw=0.002 left_pitch=-0.1011 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3298 right_y=0.2255 right_z=0.1397 right_yaw=0.1239 right_pitch=-0.1914 right_roll=-0.0956 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.5111, 7.0359, 1.7753, -0.0464, -0.0366, -0.0171, -0.253, -8.6906, 6.8855, 1.3162, 0.5006, 0.0904, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are down around the yellow fruit. I’m closing them for the pickup.\"}",
  "call_id": "call_yKfMHCyHU3fQq5vcqHrIS4ym",
  "id": "fc_071894d952a19af7016ab2a984aaf887d081949abb453706cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yKfMHCyHU3fQq5vcqHrIS4ym",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6312, -0.4759, -0.0139, -0.0265, 0.9993, 0.7891, 1.8114, 0.8658, 0.033, 0.5388, 0.392, 0.0418]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1626 left_yaw=0.002 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9993 right_x=0.351 right_y=0.2301 right_z=0.0296 right_yaw=0.1161 right_pitch=-0.1886 right_roll=-0.1263 right_gripper=0.0418\nstate[joint_eff]: [-0.0479, -1.4564, 6.9402, 1.6679, -0.0513, -0.0659, -0.0122, -0.0479, -7.2821, 6.0513, 1.2772, 0.0024, 0.1392, 1.2576]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d617738ec5c560ba5ef0a894aa6ec1982dcb949a9763adfb9369da34b3278adb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394ffa409a0c1dfcfa8b3b90afc091c53f6ab120c6e68bfa31739255c1a98a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d40c34c673f68b6b0778ce5545af45a92bfee68b5958eb4b5eaf2c9dfa054c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 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, 0.8322, 0.6312, -0.4755, -0.0139, -0.0265, 0.9993, 0.7906, 1.8175, 0.8688, 0.0322, 0.5159, 0.4068, 0.9963]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.1628 left_yaw=0.002 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3493 right_y=0.2342 right_z=0.0265 right_yaw=0.1259 right_pitch=-0.2019 right_roll=-0.1032 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.5111, 6.9538, 1.707, -0.0415, -0.0806, -0.0171, -0.4855, -7.8974, 4.3556, 1.536, 0.1783, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmNblijDAqJmWHnChJNuLKWCz91CCWAL-fRGyTM-ZmhK_zd9CZR7ELjIhc2C3Zanvg0ExKEVDk1UqELl7y1RzvIv82okICUOjxiZE4SwxnnglG8u9E3R4Ff_2pykN59WxEPL86LVRFjKgmwpQu8coVXlsxf9kXf_H3k0UzSM3OD7khlf24RtAzsm8_yQ2qvd2fN5amHmcocH_RjMtjT0SpTwHwxs5C73tQMGWYkChsPb_Oc8gG-89q9xCIm1NweMOqyNNU9eiWiYqIw1bLOTxQaJqWuSfh5_LU12IqrPkYnhlLbp3yaKe51Ws5byjUXZWNrkUkYtDnZktDbVDNdXEhROKeX3vNZxDF9cKgw6FCrmnnN398WIivGLfz3melhFNxr1RkynYeaW2v4-Lqzlskgl0gSf8f0ORyQgiJJc9xV2tuCFu8KS9Ad5dF5z5eJb8uq2ER2_y4bpVqmRAbYdu1T4-ZCL8wT1UzRqrPGeB-b1vPdF71art8e-LzfqNmHrlAw4AgUevrzwtfXDnjCykCnIAJX5QyUG3MITCctZHIBL_-SIIKBntXq_5vvItO2RNXynU7prwJxVikHuKq3Xx9vxJZUQWcXwlzyaLyvei6D3QnW9WqRA5HmY3bylTT4-dAgTMGyhkKgloPMlYN5x0vHLlBXT39vCk9zybsP6l5nXPBdunv1bKBrD96hlei9ZqXmdwZlZvn7l04K7FYc8Zavr2RdgmUX1LDDI6jvx1dm0q-7M3d18vqK5TimThKlE6LZq-yKX_lqhxOwSkr7lPrNqZBMjZTiekgGR-TWkEzijklmHCuCbjfkZFeZ0K1G_bNBowbAto0RlwM0D9k4eg14sELvbl6u2SZZykXKPB9usieAJpAAigJn3KphuIQFLYo5GMzUh2GoeuO90iKMbUKPUWHFSqdD82B_KSFr0ZqvfjuIAMGxLSw1N86k0T_o9tYvFoIsjON_Y45_4TnLtppNDa8nmV08iEbrk7B5iB2AyTla3gY2SgJfc0QRvwuJbOWqK187B4Oo8MTWn7zIdotvuc1RpO1DsZxGHQT4mMxoZOc5PDBRcDS4VCqZddp2rKPfb9xQHJ9V5dRyHNDStpU4zla27hPoJSFNcu5vVKKyaKDKlYzVGwNk86AP_hBcmIg-X0UErXcJAGs39xN6XLPKF0zM5TUA42ZcXWXPZnubyecoSWOIXfdsylOP8PBsreH0N9QMQnNQbb4y7kpU_8AWlJYThktH8s8UdLlqdVoU6gaw722gz0w2aZVKUDRtUOlNxlaMAdb4QosHaKWpBy03f9_sO292ddW2Te-TZSlkIBBSHz7SLoRY_OgJ6axfDIWiALBf6wa0cZGVn3VaOJu2544CqfQX_4xi7KHyp4_IaNIJT67vItCFGOTN5rlxBfXS6_YsFtOSDItjmBLCAzuWKxmy9sNNmZAFqyWoTJZnfHzoRyxXWKYfEN1UY1CkECwhLxiLyABp0AMAoxpDcZyfQKKw9rvra2xpmILkFc1h6tE=",
  "id": "rs_071894d952a19af7016ab2a98a1b0087d08657fd092a4614a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The jaws closed almost completely, so this may have missed the yellow fruit. I’m lifting to reveal its position and check before retrying.\"}",
  "call_id": "call_pNstMOE9lYkASohyxdcpLpOQ",
  "id": "fc_071894d952a19af7016ab2a98c6b2887d0b36e0f772dddbacd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pNstMOE9lYkASohyxdcpLpOQ",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6312, -0.4759, -0.0135, -0.0265, 0.9993, 0.7891, 1.6611, 1.0466, -0.3805, 0.5194, 0.3847, 0.0428]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1626 left_yaw=0.0017 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3416 right_y=0.2248 right_z=0.0954 right_yaw=0.1224 right_pitch=-0.2637 right_roll=-0.1712 right_gripper=0.0428\nstate[joint_eff]: [-0.3077, -1.2103, 7.1316, 1.6728, -0.0366, -0.0757, -0.0171, -0.1299, -10.7282, 9.4564, 1.5849, 0.4225, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189a51ac3191933573ad11f5b9f191e28633379debcf00a8ff79a8487db30f86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b84ebee0acb7787c70bb93c517a50c92b4d74dead198fbb20b33d1eecc7ea34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3218387145c6d1bad5e4975b537d1273a3af9447d98dc6b755d6294301b251dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 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, 0.8326, 0.6312, -0.4759, -0.0139, -0.0265, 0.9993, 0.7891, 1.8114, 0.8658, 0.033, 0.5388, 0.392, 0.0418]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1626 left_yaw=0.002 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9993 right_x=0.351 right_y=0.2301 right_z=0.0296 right_yaw=0.1161 right_pitch=-0.1886 right_roll=-0.1263 right_gripper=0.0418\nstate[joint_eff]: [-0.0479, -1.4564, 6.9402, 1.6679, -0.0513, -0.0659, -0.0122, -0.0479, -7.2821, 6.0513, 1.2772, 0.0024, 0.1392, 1.2576]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmY8GLqlk4QOfxd2vp2B9G0pWUd-I5JLEbcA_UjfjjL418nrzNesYu2OpiHEPdPiPA2dvaRb4_g3FX00z0PYW9ffj2TrPjqlXV-AqwDkYfGSxVXikGx_6KBGgEdDFRN5mJ8nuI7aAz0qp5G0DJsP0rzVgV93-pH6Lh2ywQIQImyFI1VJHOs5xss1cScpuKkE-HdyloqyFM50xPIFBuXnJZ7bsXWsirRHN5FFtNMmRMFsi-kLkJImT4NYsK8nONpuF7z4_2_5VXPxJFOWrDyMDRoI99Zuh2E4forQ_LpNDGDRxJnjomZmO1wJE_JulheToy9fsqXkcYrJ3YG77mVvrbfqOuztfWN0a53YfOOvP8cfL0Px7HICvT_KhusfvafL2qnz9gbPJ4KdXk3rMVzWLNWSnm7_2nThLcvnmXaao-Dc7K7lL5MfZ9rcx0Zr2ZAx2ffce20pRzXIv0ZBQy9U9BrpUCdLUEZCC-nYVfOPbl7-ItrLplUSqa6XUV9Gy7pVcJdR1wmgSqgmr-epuSe166ZZm6kd_JD-a6APQq569u3FNcuJqOsC1zEZx-NEmb2UqXniZN8AFB4V1pGP9YFMHT0kbY9Dw2H6c7Envjfsjs0hmijdvRNP3zIRuDKub1jt6GXlgPdjmlYoHimVnbSp9l-C-mGPIrfMSeU5faDCFZRpNRRz5dkgA-tsqQIcV3TE83AA4iQoMvh5ZRCUlPvbKtPi2pnIn0wD-bijFGQW97KJQhGUSZ6tDi2W0r8oTPBwQMKLDgBn55d8Zf-V7Wns6LKXE8Gm3vFg6wFwJf9zQfoIqE_N6mPS41HEegALzWXLjAkq0F3vdijGkXvrUMrDla4N3GirYVeFcwL0UPHtHBhUro0KoGbgLifOnIFTry0uxhskGIBAEdwxweXbzY7ya6_ogq775mLyuo16pPDTymIBSwKsl6FPJJOU7HB_wFOr6aZAaLJu5F0JpsFC1ImDePqLgLO2t8Zgt7OLe_jRhXITMAhKi-OgP5__e3g8xOTUA3PJJYlNplKvo8QSgIdHou7_g8t2IpnnXbO1tqCKfHkyJWwa5_2moZ-uYz74vSSsr38-02lyP80pM82BAHyMDPcGp49hBjTLN-E9v1jnlIIKpqgWr91k9i_WTp3dGPD0TJRV4TrkQojxZEkuyaBS_5vrhAB1Mzj027Fzpw7W5dnEimEUocqpTC61soW8hRJB6SUzbSKc-KDJuE_EDJHJ1RZTxZTl2BINQ_mFlyQBGU5ODfdqb0Y0ZQjn0FPrZ_NvGuXS_G4IC7wwO9M3ZKtYsQ7XAumCL9z3H0laBc_u0Pi7oBpcC19ZmWoAR5n-OSfFV2Hbq-qsntqIbEhsV50U8lnj4qNyr9XjhNdAnf4EcgVn-tGuxenF5aklVv3s4UEmrOBxYHnLD0hrboFfVKiS4sXhhcThcyuk8IHqJVke7E56oKqk0-wn5t6Cu-SRbji2NFdFKL_VM5QL10Q8wciwvnXFA==",
  "id": "rs_071894d952a19af7016ab2a994837887d08b8ab9c3dbde977e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.245,\"right_z\":0.02,\"right_gripper\":1},\"note\":\"The yellow fruit stayed on the table just toward the base from the missed grasp. I’m reopening and moving back a few centimeters to center the jaws around it.\"}",
  "call_id": "call_D6F4OiqBEmkYg0WeIWIWvaIy",
  "id": "fc_071894d952a19af7016ab2a996f73487d08103979f07d64011",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D6F4OiqBEmkYg0WeIWIWvaIy",
  "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]: [-0.0204, 0.8322, 0.6312, -0.4755, -0.0139, -0.0265, 0.9993, 0.8879, 1.8027, 0.9035, -0.1715, 0.5579, 0.4641, 0.9958]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1628 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3131 right_y=0.2423 right_z=0.0216 right_yaw=0.1369 right_pitch=-0.2913 right_roll=-0.1933 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.4017, 7.0496, 1.6728, -0.0611, -0.0611, -0.0171, 0.4308, -7.7197, 4.6017, 1.5311, 0.4029, 0.2271, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c774c08f34d1156d4710e85db6c523ef7481b10466a3c0e1bb1eb12d0d1daf6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:804cd8d52c41eae5774a0ef0b30439b3a3e92c33eade42648d1a79c8b4acfc90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10761b3b43cfbc594e0f8a9a6aca46c5e05cf05e54d66e42c4eca95f578f0d91",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 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, 0.8326, 0.6312, -0.4759, -0.0135, -0.0265, 0.9993, 0.7891, 1.6611, 1.0466, -0.3805, 0.5194, 0.3847, 0.0428]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1626 left_yaw=0.0017 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3416 right_y=0.2248 right_z=0.0954 right_yaw=0.1224 right_pitch=-0.2637 right_roll=-0.1712 right_gripper=0.0428\nstate[joint_eff]: [-0.3077, -1.2103, 7.1316, 1.6728, -0.0366, -0.0757, -0.0171, -0.1299, -10.7282, 9.4564, 1.5849, 0.4225, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmdsDxRoR0BNpDZvxeRGpX1aWXaFCWCCkRyCRm8NKESwVMiAqf7MkgUnr_jl-QaXfUSfbU8yClYL86iwED5qFKEOlTIfjSeUv2kCflCj16PzvZ0QhlZfYPxavMonWqaV_ln2dCtwhHrXq6LP5yJpLJn8vGdJRNQR6LtVGkLOqRT7dPkE0sHMYBAbOTlNbWOrZ99oi6U0vj4E2KzmIVyqDzdjiTzXkblT2h6wKZxnBbl-uxViQ1vkY_pQ571EZe6TepHpWKkNbEL3_iZWxdTTf2clEG65q4ehnNAxbpqGOEnQkzo7I1J9l0gZcCI3K_-m4jdkZRTnd5uTn37aoSR8KsTe4L9O2EbHExZ1Ca1ejWGaZWa1YF3yA5caFBYNs52_jFsFL4Ty2bSkr21582ZWawDSjDDasO2WO7Vn932cK8nzEMoePlEkynqqAXR9KlFc8VRjuR4kSvZq-pqn5Mr6bFglihNPMI_QZtvTR3vEKPztEOcnqXRjMphHJCQXbCAbY743LjJbHdOJw81JqnGGCKsRQI8iH_X4hVifQq-nUzUPAKoTMEMdOpSnl6zFDXa3FC4qqEFaOkm--k84vpFJJhyYnztvzor1drtM1wxeqYpDjJXYcU6c7pqmyIgDp6hUCSc8lFFBxEiewYHrOANofXIg-U-ef4WzQkhn_a67tEy8lGNZAIp48K9IE2rfq6d-_Sw2OfEe4QzZS6HcVkHnfEFPCt-SqPVxZKbOSPKvXuEcq9rtpjwEgRJAe9prxikhJ-AP8MJEbTQsWdOIuDnOXhf-uRDezLte9BZe3bTaRooeFOhCBtyJ_VoHC2IdBV4Fs8eYXWqveLwZrb5epyqwb3iFObPUDpT3ObXg9tYCfeRlWlW8cVhbrKXmHJOATbGKh-i46C-usa948f8V0daNDPcZ8AIAxDIAtUeaQ9ZL4uQaqkcC2x9w2YdoTNCAn-cFOBvo7_VS6pj-uFz-WUGQpsYmWEYp6XPm8Ahvw1Y3Q1QaL-U0iu9WF0zf8juACwO1V4aP2xNCd8grecDCn0Ot3nCBul6GLTMLn9fgNpK2DAKEXhUGE9OYRnSUm2wOJd9hd7ejARiGQnUyUCVuY8Zwe69giHnNFmp3UVzgZY2tLWH1uknR6I2Q-Z0JX76ibvq0K8Emwukop4oXchMDIlvnlq9LxVqXZmk95MX420lxws73zZZ68Ah-B5trHNN_5hh1ziTnmyVLybEvHr4_8OYwJsdqg==",
  "id": "rs_071894d952a19af7016ab2a99bfc7887d0beb545b64c0c2397",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit now appears at the jaw center along the bottom of the wrist view. I’m closing for the corrected grasp.\"}",
  "call_id": "call_I9DdGoRzl2ovFlwA8mc5tuoR",
  "id": "fc_071894d952a19af7016ab2a99c79bc87d0a9ba09b664a79610",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9DdGoRzl2ovFlwA8mc5tuoR",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6312, -0.4759, -0.0139, -0.0265, 0.9992, 0.8867, 1.8, 0.9039, -0.1696, 0.5869, 0.4526, 0.0416]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1626 left_yaw=0.002 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3163 right_y=0.2388 right_z=0.0254 right_yaw=0.1237 right_pitch=-0.2716 right_roll=-0.2169 right_gripper=0.0416\nstate[joint_eff]: [-0.0342, -1.4017, 6.9812, 1.6728, -0.0513, -0.0708, -0.0171, 0.0752, -7.4325, 5.3812, 1.1453, -0.0122, 0.0952, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fed7958cf654ecf2b17aaeddec1779a7cbe5a18e679a96f9579346c4b2ad6db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f02f7c02381833d411e29db51d3daaadf1ed599ca66893c93d4420807265ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d37f504f174e431920da961f8d2b4ddf8b5dbbaf95caf35af09e9b7ae891a12",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 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]: [-0.0204, 0.8322, 0.6312, -0.4755, -0.0139, -0.0265, 0.9993, 0.8879, 1.8027, 0.9035, -0.1715, 0.5579, 0.4641, 0.9958]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.1628 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3131 right_y=0.2423 right_z=0.0216 right_yaw=0.1369 right_pitch=-0.2913 right_roll=-0.1933 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.4017, 7.0496, 1.6728, -0.0611, -0.0611, -0.0171, 0.4308, -7.7197, 4.6017, 1.5311, 0.4029, 0.2271, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmmLUyJBhuI04j7goTFdzf-4-iKctnNElD2-V2-Fbc2QLKBKiLTXbzYnc2AYpK63nRMwUZWCt6c43wQhY652f0UoAzoa_QMSV6qYJNUSdzPDo58fmjo7znljpx6Dm-Tolscc_Jhojw8SFSSgs427WsMUtTTkAXIoQrSz3f8GolK4usED6zCvOYTrhJa_ask-XdNVIvcpL-YiDEXuQJhrZSzO1NuhUe6R_xGqljV2wZhhIu5TLKu9LWBJAYqclWu1O9QN8e7h8t39vu63LgDN9bVGfVVkxq13Z8SyXNb8suZ2QDUiSw8CJESJ5dao8rDbYBsPEu95AIHU-sicSOXHj-GqiMFTyj5qvb1DNkoI4yPnZBfRMhm-R_VrYGipyoy4pjdQ8VKhw0squQ0eVpZJYV0bt9DT2dNG0tkLKEujlHtFdtbMtYqJTmYR4MGAHwZPvn5UXV9qiTKpIsyRJFnaj3R3k5cXodafJfEo90usKZLPD0XZdOJtVAiMn9gXqkHYtW1G77HMA_zsmBzkNOn_oDS212Nk742GSQWlujaXicEw-SDAOmfuScG1iifhlFbqSaONqNTNLGsiR-fsiZaUYGlYLNNKT73zMbhfSp8EXEW1k9W9vabdoq0Q2kYH9VwazwX5BsFqazf-YyvuqAf_g54gJrmp0LJnpR89MQZ1iy1fwh-yp0ggpfkq3NoIHwVFwmDWG4giIn8SH9wZvoUwNRvQJvyWnM4RsXlEQv7ABbUFhQX-CREGsrECFMTd5_1AiAIp81VUbvj-Hb6dP-ZVslpZjDlToAM9CmeyFdeYRrbXutgAQdnu9yfbnPG5vBSuRWyy9RGrgJLP4ooXl_D2m14i-Fyg5iAlLT-ILq6OIVVeePW7dd2M8C0h5SrgBWf2IoitscSEu6icfv7d3UgdTr5dMaizkPwBokf8b-mW1_N32jOURA0e1Ad1DiZ1G2biFpyJqPMwyCe4VcH1_plaicJ72U2ZWiPayY23ivIeusLT9OB10fcLyl1xvJeaV6HfICBhiOWU3YK2kBqHbO9yOrdSE4YEXZ1s5GVxPannDQjPie9JtbkMxem9XJCmGH-5svjEzmvrpvolvZ46vlI2uFplfoth7WmD7aONTWypqblZukDeDMbjqUWfRJpj3ui7GA6wtHHkX6-8snAlE_qQpk3eWKRsBMHWB_r7yz0m9efCbmt3OA8FLz83q6zcrjL4c5-JtJjm_Z78WnWF4QRm5bMGtSmxIB20U74eaRrfog2qghMDh8cYF5UEhVXB-MzG-UrfScc6Nu_AU07wMzOdQxmg2hZFW-vMIpOqTzLB0inJLUTuN6AReUhyeF0pUxmJPcE2V9gUPcWzCG-gw8WJU1EJffgNgk5teyw5eqMRWxjXQ5lpwwDFvOVqoHyZWsW_qOPHb_phGrdyCBA8R-TQfBvSJ2aaUg-uh1mG7g04ZVLBLFjJ24BTXBIkUzyrsCXnAuL",
  "id": "rs_071894d952a19af7016ab2a9a12ce887d0aa64b223a9dfb6f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.21,\"right_gripper\":1,\"left_x\":0.31,\"left_y\":-0.19,\"left_z\":0.15},\"note\":\"The second close was also nearly empty, and the blue bowl has shifted with a yellow fruit visible inside. I’m clearing the right arm for a better overhead view and bringing the left arm toward the remaining dark fruit.\"}",
  "call_id": "call_H5GwA19E3rIktVrawGi0bAwK",
  "id": "fc_071894d952a19af7016ab2a9a2c38487d0810b9c530805ea6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H5GwA19E3rIktVrawGi0bAwK",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8349, 1.3544, 0.8619, -0.4301, -0.5877, -0.6109, 0.9993, 0.0456, 1.0054, 0.9409, -0.7757, 0.1051, -0.2283, 0.9976]\nstate[eef_state]: left_x=0.3026 left_y=-0.1829 left_z=0.1339 left_yaw=-0.0159 left_pitch=-0.1578 left_roll=0.027 left_gripper=0.9993 right_x=0.2913 right_y=-0.0017 right_z=0.1961 right_yaw=0.0746 right_pitch=-0.2904 right_roll=-0.2215 right_gripper=0.9976\nstate[joint_eff]: [-0.4034, -5.2718, 8.9504, 1.4335, -0.5299, -0.0073, -0.0073, -0.2393, -3.0838, 8.9778, 1.4725, -0.0708, 0.1148, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af463fac95f56ac4c280266340b4f0e4104172f20e3b603dbbf2d6cd1bc46a23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91736a3e3204a8ee6de823b8bcd85aaa05e65bf2ace19cfe4b4cef24bcea8c48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0006f180b49dd5619b30348b4ed3fbb1fe063b169b00b1e74f3cd40bc91b1d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 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, 0.8326, 0.6312, -0.4759, -0.0139, -0.0265, 0.9992, 0.8867, 1.8, 0.9039, -0.1696, 0.5869, 0.4526, 0.0416]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1626 left_yaw=0.002 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3163 right_y=0.2388 right_z=0.0254 right_yaw=0.1237 right_pitch=-0.2716 right_roll=-0.2169 right_gripper=0.0416\nstate[joint_eff]: [-0.0342, -1.4017, 6.9812, 1.6728, -0.0513, -0.0708, -0.0171, 0.0752, -7.4325, 5.3812, 1.1453, -0.0122, 0.0952, 1.1209]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmvctyfGeZBUgIuMX7-ByyMtnyfnaIxtoaKWivVLqtjuArqLrOQ5eYNgrEEvsJ-cxgV8wFjRRZHryWO--V9AByM9kj04KUBi5ZqH83w4NDLx6lrPJt6-d47i-2zq6gXAxU2VB2OBorypn8S1DQWrYZPwSHk91Pj2u_Dqn6rpfruYcINUV1c9pp-47WSRHo9Cs9JV8baRY3ehA5W7Bt4shPqq0Fm92rPiIl2q5Yhb0aW1x6EsM5f7XHiked74VFaBtDih-ibLg5N5zHA7lbPdqtUwbutAkED8eNjCLUECfNIekefR3aC0YX0Qf7jjHeE4FlX013pBS0vXzHPxeCjBIO9hgXhFn83oIKWkh_sglYwLeIX45FoCJCQ6iqDyrQPzd5mV5VL3atnR80r67a8uBDoCFkR0JV5E5XsyBOtS-iKpW5WTew622Zes4ckZCxQmd4Dpt89doT2SsfAIYAwqoQHQ2552h0bf-0kqtiQjDV0RzoCHT4kLVJtPvDfuM8bDveX8ds-amId8h0BxMJiym5Mo5gp2wvlNQl-_swmy-sGrBMGLzgQAIAEdM9Iu7RfOi_agFdxRLX66Z7w_l4I7-_RwA_wNooTdYNlKdh7pRuRiMibHZmp51qUu_aKIaXv8qGO9FARMFCcGZCPodL4CtvmfkPn65ieiXxE2BQnMd4i2YiSgZHBmkU0GvaJAsyUgrQxs19_IdUg6uzWYxHneOx-idnbbruDR_hxPezt3Vxl8yomZNMcLk0a0lEzj6ToEJKGl3If0SgtkTdWl5DYBRgtezrHp_FEnXuab2omalUBYPCOfExu0MPj0hJU7kYlWBT0x3x0ZYJ_b77IAd2aZTnuGYAHY8yM_cCWGUkUQaA8M5_ZGjS7_Ewg4E44KlgcyWIhccx5iMCNXSH_mZKuLA7EilQ27C5se6w551whfYQq-S-NuJ_q8dwbFFEoynJ-lX4BgxN4dfY8cYw26tD-BQgKh4gVrzeQ4xrQp6VyZcZ0OMh1fSSQxjUIlhvANza4KeIPxVpL-ev5pgYHOEAcwsL7aISq8czbf1gXtXhpnRFUdMeoSCuQHCbT7hPfYvZPSqI5FEKBC9yZV4eTBh6R5twxs9Hkz3U7APz5d13Tbe4QP7IKi71Y4YWfGZ-T8n8Cd-maPyjj08AozYFMoF1pk2pKaLFYE_1Ma1KlzmTj1Eb28psBX7a9WSn8ZyEmFxpRIAfVuBMw5AQkvLUgnV7EVwNzEbhJkgUnrIz5sXxIyL11tjMzDmH6b1_i0rZGyw6WuB46q5oprpLjkjSaDLErVh_DqSSmo0XwSqlcSoPD-Hg6Tc6UKhw1ObRykziqAC7Vo9HGtdg063gq3y3dxOUWoTuGfia-QgTJjmhTeko9HELWJ5z322wnWWhw0ohFB8PwKAgHDm1ed6K-1RxTXUjXcjAitvx4QoGjLkkejjCxajewJkIx6xxlQnBZqDB0VK4NvshX",
  "id": "rs_071894d952a19af7016ab2a9aae21c87d0bb8767032a66ec25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.171,\"left_z\":0.025},\"note\":\"The overhead view confirms the pear is in the blue bowl; the yellow and dark fruits remain on the table. The dark fruit is aligned near the left gripper, so I’m lowering directly around it.\"}",
  "call_id": "call_oERqSKBElpkNObRiBbUgLk5D",
  "id": "fc_071894d952a19af7016ab2a9ad832487d0a197896aaca0e403",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oERqSKBElpkNObRiBbUgLk5D",
  "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]: [-0.7864, 1.5757, 0.5766, 0.0319, -0.5602, -0.5732, 0.9993, 0.0467, 1.0077, 0.9489, -0.8055, 0.0963, -0.2508, 0.9983]\nstate[eef_state]: left_x=0.3014 left_y=-0.1641 left_z=0.0217 left_yaw=-0.0011 left_pitch=-0.2057 left_roll=0.072 left_gripper=0.9993 right_x=0.2872 right_y=0.0 right_z=0.1938 right_yaw=0.0962 right_pitch=-0.317 right_roll=-0.229 right_gripper=0.9983\nstate[joint_eff]: [0.5538, -6.1197, 5.012, 1.5263, -0.1929, 0.0952, -0.0171, -0.3214, -2.6051, 6.065, 1.7314, 0.0904, 0.2173, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89eb106563a68828c011cb63094d0593c1a760aabad45a93cd8757c444858c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2d4f5650ed3800c54224b1c4b7b8bb93fa7d56a1a61d452f0fdcc4dd717b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04612e7d65b524f8617e728f466db07a8b2d9510e27d0b9dbc81f8ca30691bd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 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]: [-0.8349, 1.3544, 0.8619, -0.4301, -0.5877, -0.6109, 0.9993, 0.0456, 1.0054, 0.9409, -0.7757, 0.1051, -0.2283, 0.9976]\nstate[eef_state]: left_x=0.3026 left_y=-0.1829 left_z=0.1339 left_yaw=-0.0159 left_pitch=-0.1578 left_roll=0.027 left_gripper=0.9993 right_x=0.2913 right_y=-0.0017 right_z=0.1961 right_yaw=0.0746 right_pitch=-0.2904 right_roll=-0.2215 right_gripper=0.9976\nstate[joint_eff]: [-0.4034, -5.2718, 8.9504, 1.4335, -0.5299, -0.0073, -0.0073, -0.2393, -3.0838, 8.9778, 1.4725, -0.0708, 0.1148, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqm2gU85AU0BJTyHuoxgzkOwy7060y4V-52789_tuYGstAm8Bx32JemojqkcygxmWIPKyhJivtN0x3DnlVc0ukYzgghaU3s2-DZMy3B3nWP1f3B3ObF2MNm1xfVfPkAoHGpK27Kk_-I6BvblCi90URpiy_aiJfsEZhdCbhZDcwKhuyoG0YHDXQL9mOzxHCPwSBnQAsgK_KZ3koxZ2pw3JrS_FKHC8b_QRfW3AXqNLzkHfjAc_WhhOeExso8BqXmh-c7vCgihLBIKs5dIgUaabVGBm5D-4yUhVVPBvFDreXzWFgsTVWSrTrOGOjDhvg2glUS_d0yH_GWF-hkL0YQ9bMfLtDRRxVt2q126QrNVdGInb3pMcJvNkbIIUwSn1puxJNS11iFmrfxuBcC3PYwDDMkTBukpk-h5qeN70h9LlDfiast01pE7GNUnLc-9e8Fp-5ssJ3tWG2iVORx83gBOa7FwvEbB8CtOCRgr9tD7WZ5Ssp4m6cZooCxfUNgNsTQ84v814Nlp77vIM9SdpGnXxXgUKJguAU6gaOqfzlLiaCHI7psFNnLp_mLIMwLWNwIbmdywNFihrTkBS1wt9iby8dN0cTojx5YkNbUIFwI_5j_xjvcEI9qG4fXbmlJg8gwdNvL4u6SxHXx47pFinQP8geUqIwoXNxf8_7QAnzXVXkEbCLQqRiNJalJSKxHhSopmOj0KYgAKFUzcadZwTKRLWoVbtqQhsWZ6yrdbBYY54vYW6n7ezDfD1X_ABdneFLgqqUkDTFOGlH8DRzpcFuXnFNc7RHUlsGojEncjhqu-MczYD1VBL_YevWeRzrooFIha1XuH_dPe1B7krsq64gEpRYYo9lxhhAlHzaN3qJBu1rC9FKFnOKsyYRkrM7-1tBgCWwfxMCygu0xR4TGYQh0JCZeSTDltDSZW0WKlgOkxJhCdEYqMVmTfXfVfJGpAslF4A16PZmNch48H5EKEtGGIFnvNiFaq5h7ZTMwX-jq5Mj588o1EkxyAMoLkBmoR1CTjCSqFtUh99aniC3X36dXGj3jLrJGsd-DASMcxhCjKxBOJnqDGdn4UYYIlzLgA9o92Ndn9iSQQyImx0IZMmZI6M7nXJ3SnCoWoDlJhDsWktuwJvcXiHd48jTTwLJtJW46GjJ-N6XzC4RlX99e6IUInV-fOYz_j0vhVNMmPbRc1Gy_2reVV02OVCreIV8txT0VNqxSFX7yoBTNmWK3IVIGpueWZv9ZhNo-FwHippVoVjc-KmF2-9PmEHCExoEoP64Zehkht",
  "id": "rs_071894d952a19af7016ab2a9b44b7887d09e04033349dba8ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.155,\"left_gripper\":0},\"note\":\"The dark fruit sits slightly left of the jaw center. I’m correcting that small offset and closing around its sides.\"}",
  "call_id": "call_7nz3BDhavbipXJlcUY9ThEbA",
  "id": "fc_071894d952a19af7016ab2a9b527d087d0a5780bf64468763c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7nz3BDhavbipXJlcUY9ThEbA",
  "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]: [-0.7677, 1.5833, 0.5598, 0.0422, -0.5491, -0.5655, 0.5515, 0.0467, 1.0077, 0.9489, -0.8104, 0.0959, -0.2546, 0.9983]\nstate[eef_state]: left_x=0.3002 left_y=-0.1566 left_z=0.0146 left_yaw=0.0079 left_pitch=-0.2225 left_roll=0.0811 left_gripper=0.5515 right_x=0.2862 right_y=0.0 right_z=0.1931 right_yaw=0.0987 right_pitch=-0.3224 right_roll=-0.2309 right_gripper=0.9983\nstate[joint_eff]: [0.5402, -8.4444, 4.2735, 1.326, -0.2271, 0.149, 1.0281, 0.0205, -2.4137, 6.9402, 1.4432, -0.0073, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:530658010bb2736b22da79378fe2fa57500477baaace23d5effce0fa73c0c563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49001da9d5e0e612bdae5b90948f213a45ec5ef4d99213f40b1a81e86c6992a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810cc65de0863f25be864a287de91672babdf6a666c6c5ca19cb4330f3934b38",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 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]: [-0.7864, 1.5757, 0.5766, 0.0319, -0.5602, -0.5732, 0.9993, 0.0467, 1.0077, 0.9489, -0.8055, 0.0963, -0.2508, 0.9983]\nstate[eef_state]: left_x=0.3014 left_y=-0.1641 left_z=0.0217 left_yaw=-0.0011 left_pitch=-0.2057 left_roll=0.072 left_gripper=0.9993 right_x=0.2872 right_y=0.0 right_z=0.1938 right_yaw=0.0962 right_pitch=-0.317 right_roll=-0.229 right_gripper=0.9983\nstate[joint_eff]: [0.5538, -6.1197, 5.012, 1.5263, -0.1929, 0.0952, -0.0171, -0.3214, -2.6051, 6.065, 1.7314, 0.0904, 0.2173, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper has a substantial opening around the dark fruit. I’m lifting it clear to confirm the grasp.\"}",
  "call_id": "call_0apnIHdNowHP3Y7GocNmMA4I",
  "id": "fc_071894d952a19af7016ab2a9b9447487d09fff4be273810c8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0apnIHdNowHP3Y7GocNmMA4I",
  "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]: [-0.7662, 1.4029, 0.704, -0.2581, -0.5388, -0.5735, 0.5515, 0.0467, 1.0077, 0.9489, -0.8131, 0.0959, -0.255, 0.9983]\nstate[eef_state]: left_x=0.303 left_y=-0.1608 left_z=0.0795 left_yaw=0.0029 left_pitch=-0.2107 left_roll=0.0516 left_gripper=0.5515 right_x=0.2857 right_y=0.0 right_z=0.1926 right_yaw=0.0989 right_pitch=-0.3251 right_roll=-0.2311 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -6.106, 7.9385, 1.1502, -0.4322, 0.0611, 1.033, -0.0205, -2.1265, 6.6256, 1.453, -0.0024, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c063f19ca5aef1c4729bce37e135fe5a335c53ded03eddca5c630e80b25ac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf1675ebf54fd6a3d9c91e7dfb69bdab6d762079732d130b219e3461245e2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd54d23812e540aed37463a0617829ca54d148eed3e66308bce445ec07b15e9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 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]: [-0.7677, 1.5833, 0.5598, 0.0422, -0.5491, -0.5655, 0.5515, 0.0467, 1.0077, 0.9489, -0.8104, 0.0959, -0.2546, 0.9983]\nstate[eef_state]: left_x=0.3002 left_y=-0.1566 left_z=0.0146 left_yaw=0.0079 left_pitch=-0.2225 left_roll=0.0811 left_gripper=0.5515 right_x=0.2862 right_y=0.0 right_z=0.1931 right_yaw=0.0987 right_pitch=-0.3224 right_roll=-0.2309 right_gripper=0.9983\nstate[joint_eff]: [0.5402, -8.4444, 4.2735, 1.326, -0.2271, 0.149, 1.0281, 0.0205, -2.4137, 6.9402, 1.4432, -0.0073, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnLd2euvPken_vafYJvzg4Fd0scX8vefi_yuOY1ZmthSttwGgoh2ncKf3mfd8OIlWR9_XKXO5YmpBVGDcU_jcMa_NrQ4flTON8IyoQAB49gWVqsoZwYoecjCKTYrBgV13WQcaa718xsuJeR6wGPSlRfnWRLKrj2P-6I4XLqEMOw229TYKVhChhffCk_N8wOu8RpRWW2ZSkNr_Z3ad83Cgw14tjdhUL29avK_SZFIL1KvQ0Ac2Db9vqJT6zVLZwGNAdgJgiFxgPoRcKjKUJWscD6KobexqXXIzrWUXiZ8tWqVByMGDAlgJa6SScSrkV4mPfRtXECs9zeFqUBAnc8HB7xmkkGyRb9m9g-2aqkgUhPmzyLG8OhY-tmRz4cSVJNt-0kxve210CdpGA6UtiqjYD3EwOHr9AaFiOL2mm-utlMovcqcQiM94L0-UlZ0aFJ8y5vawpWW4rTshQ4ZeOL8DJ1HEQTaADWSyEqA1YxKPVvMLXPvlFTIZrw5JpAiF3LRP8zlM2Khm0Z3199Sj4a6Nm4Uqb2CxvExi0TNiZ-LaosMAHbKhKskg8ibnWhmm977N_IbnKTtwucnVh4vX70FDvl_IGecS2p9YQJLBXfKfg7HPsQFZIXnp_RRk9FbqVuKw39B017Dy4AHwBzCQcc7iwi4DDBi8re18INBx2LUgiLrb_CeE5e0Q0wpMiqUlGcZgx6X1oUrTVxjkp4y5721d9a5QiVyqO7lL8DoPUBGICwpl2KNzXs5_SvmZI953iW0TNspVPpfXDxEyv78wlpCZIEJj0bckMiiEAm0jethMufNZw9sFwtRxUz2e3AVlTK5wac21bDQFKHruIq4m3ESZOcnDWGqYb-AkvVXJMSvLK1RIAJZflBbdY0WAM2rJcaemsOuyusa702sGVqw6l6IEuexW0Q4ULg7fsiG-1uv8ZszqTWvB6kUS6weMX1lNOuFNaGTpb6olvfS8n4wEGsjJGv2Qco0uoDDeZeO3xrYBw7bQB42p_XY8j-f_x5kFCsrv4oIHSYyFqgDN6YhI51j_5dvfvl2vKF1dF__Vq7T4DmOI75Azdktgmdnor4RdUBOw-IGmKctbzm0PMsUegeumOwPoTqYjU_dwf4GL6OWCMKgCU0vjD40_VHqPag2ypr_7EYuy-VwmwqllXvmzbJOyUawqrHLr1OYlXn6XLSMufwSuS1ID6sDrpRxVYWmUPcUyvU_z1I9iy4vuERQ5RfwZqCs8XVFuSy4fJDowKbys3FpHQUZyLjaufljPhRc7_WRqBt8vZQtyldNEAwHliEFh9LtKuTBw5eUSlBiIWgxS9Y29jwgCajXC74dssW2a7IRjI_P8ALBIQkYaoJIbLNA2waAiCvAgLBwNYC_OHPWrFO6J7shZ4r5hmQrNByZyJhxNbCNTJR9Y77Qw9Q99U9Jyja7fhAMXhwZKANsTWUjQ8k8pyPwjTlECPit_NjYTTq1wwHwXDKcyWQ-EG-N2Nk3MjwX4sxbLeYzlh6ZfNzvaMt7vZDNlZJIYGWis5kHF9srJNRmXPpiE5sq2dGTbG15bJyu-KWC74bML7VyXtnHJOSXVFXShO-z6G8YcbEDKBi4MxlfPE83J08PHDwdEIjYLO-hGozXmP4SFsgJX9QnR6zJtOrqZDWlA6X5aeNA2ym4_3f_H9XJxgWtTSiN3-J5jxj--4Jq2Gpj6IkZQLpTLcH2Zc_dov58yq7onFdNrLyC7CVvtH1SDgp4GEWIDPzHGnDHLaATvDapH4cM4rRorC1ggC8_2F4W_BwYSvkqN1rZtDJ7c6lkMjyUSyWbUhyHL_qj5HxuO4BuenwTIfmxva_YFBUauf4-kiCgn4nl6os7IqYJnVZKfBbinu0CTRnSisg8qCTt6OkEzdKcsHI3MsH7iBv-2autxVWCVX0-neBK94S2TwhCar9xz0ooTY5Y9duETeKZGD9YoXR2GKE3EJPEFZNC5p7L_MyMHbXrDkqjCLR1x25kLSQO1dC3qCgrT4OQo4pPnBBXsi5wi_bYuvA2Bk3hS5epqcD45ZQrvM7hwbZzIIhR0Sg8ZiqJDTcW9kaZPc0UC4Hy9mxEeX16vswPFbsk9ddIqkumujvyQS2ZCNrS4UYkRaj5OxxwQ7Yhfyg_TdK-38pROq2xg_3YQx4ISyUEIsFIojJferKNRwLFacDVKQ0AonOAAAfDR9PjyG5XwOVLo5nE4XEa-StAwntCff93g8T8zpf90vOmyY7UDrTpaV1CuO3bItq1l0qvS2W1qqtct2gDfMSjj6cZzKQoikrZWfjzPWajons4qywn188kEvsH12HUekeUQ6J15pwV-lsDlqUwpMvSFMXltvVtu2I6xD0stalcbICiCejmkpBeXEgViGLOZJY6_IceQgsX7ShAB3yYZXYMMxZgsaBD9luBykdpzDTMCUGulMxoqUjrb6NDC6jeAAP2Ob7pjODCTTaM4IrrvsBNVak4biN0CY_P2PWMnPW5W8O-ySbBWMgehJ9t3JZ0swd7Qxugwud7A==",
  "id": "rs_071894d952a19af7016ab2a9c0846c87d0b352e05827954ffe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.36,\"left_z\":0.19,\"right_x\":0.395,\"right_y\":0.2,\"right_z\":0.08},\"note\":\"The dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m bringing the fruit toward the middle and positioning the right gripper at the bowl’s near rim to draw it closer.\"}",
  "call_id": "call_jwbdhJhvg5HEyvr97pbSmmTU",
  "id": "fc_071894d952a19af7016ab2a9c8bad087d0a3f640476da3c841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jwbdhJhvg5HEyvr97pbSmmTU",
  "output": "executing move_to over 18 steps (1.8s)",
  "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]: [-0.9466, 2.0586, 1.8965, -1.0809, -0.6643, -0.8223, 0.5542, 0.5636, 1.7592, 1.1358, -0.4072, 0.4202, 0.197, 0.9983]\nstate[eef_state]: left_x=0.3616 left_y=-0.3095 left_z=0.167 left_yaw=0.0939 left_pitch=-0.2852 left_roll=0.1795 left_gripper=0.5542 right_x=0.3936 right_y=0.1678 right_z=0.0788 right_yaw=0.069 right_pitch=-0.3616 right_roll=-0.2447 right_gripper=0.9983\nstate[joint_eff]: [-5.3949, -9.5658, 10.865, 2.8107, -0.1294, 0.0073, 1.0281, 5.6684, -6.0923, 8.4991, 1.1941, 0.398, 0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:886cdf6d84ce9b78182f21b4761fbca597bc90106ec111ea0665e4c1575f1947",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c876e92949619c53c07026273bff70f0996cea8474adf34b6e90dc4b25b57e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec72ce2fab1f3cff4d3f02fae731f789704e41094a54bc605edbffdcbfa73fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 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]: [-0.7662, 1.4029, 0.704, -0.2581, -0.5388, -0.5735, 0.5515, 0.0467, 1.0077, 0.9489, -0.8131, 0.0959, -0.255, 0.9983]\nstate[eef_state]: left_x=0.303 left_y=-0.1608 left_z=0.0795 left_yaw=0.0029 left_pitch=-0.2107 left_roll=0.0516 left_gripper=0.5515 right_x=0.2857 right_y=0.0 right_z=0.1926 right_yaw=0.0989 right_pitch=-0.3251 right_roll=-0.2311 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -6.106, 7.9385, 1.1502, -0.4322, 0.0611, 1.033, -0.0205, -2.1265, 6.6256, 1.453, -0.0024, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnWtazbcaWTJ9hzckKKTDBCL-eVJ4I94oJhIXdU2hL5WxpEjJGdHgFu_w_6wDndweIc8yH2l63SzE7PO5r7QElHAfpnVbEyREs72H7wdBm0afW-7O2RP9BrDhJDgaTutf-J22dzvw13Cdw-sLST8EbZbojq6oCFu4miPBl3pHfbNVC2-JiUzSroQKO3p0QeVU1bCo0B5Xmi7_mhMNUfzleZ8B5aSO3txsAR4AjS8SQHL0o_lKNGU02yTJeEXUEBq3K4IBL5vZInH5tafiYWl8gkDaDN7gZSBjTrQBRqLYUvvc1qdXzqPoGbhakgODp8y3m4z1mASUmlc_oj3UZT9fSFsroOmTkNLT3ZkU8aNR-apLeQeZmnVgPqyOHVFM5eaiHxk2ngbtRPuxtr3b6qUWHMKdlBGS8j1lupd9Pe9hxgTNIxAIaX1hvr42ViI3lozUtX22IqloqUoRdMMCMxOE2fY9lSR3nwg_qltslcGCk0PVo1F50Y2ZUtUNv3oU54zkGhHZ7TbETKwtYZzw1sZcWz_sw_8nRMfoJlC_ikMqy7vNNuvzBG5_x8amfIpAOjS1MH3gV6TBQvpHlcbK5GjMq2-0jyIOTK-PxdFzJWx4fK32cqBw_gF444PkB5ZQiFxi-heVJNIS7DTEXsBsF3fq6c5lQNtZVrYMzVz70IBuln2Mwjg3vZh28pxpLPE9Q0rrWkj1Q4rlPXn2ggxIByUfuBm0ZvAzJCQrGvoaE3q5nCJvvuj0Nr08Uzjz_l_NLTqQxf-liJHa1NcYWMBtorxH7EKyx1L9-8I4k8zsPH8lbqoZ1BIxS8NUYBwappDqj2LA-30YVg1A-Z93lbosiS1rVcqhmRFBGg0TYl0HTs_UEchQuxmIuRTTUQQ0gCfzDfNsGx4SRi4rfkL8nah009I4PyPxanFQ6NrveMjrGitm7T7UGtch6I9xe9CbpT9Bop7t-SzvWY9h-L4BzB06x6gd4LFVi9j9GqJ5FbDX145cLbDbGoG5lf9ISv3cKbyJhvc3JYg96AbzUguQ5gx808G3E67no0lIRjuMn6H1OefAOYHZrQdtZpWEXbWfnZd-0VMjTZvI3P7k3R50FW-PJl-5Ln7VXYgjHcXWzGdSGiKdfj6PwE-3CpB-uNv15BuVY2fSx0Yzcv1L7nwpuepYGyzC1YOZLQQ_w-tD4ugN7t5C0rJZJqR2afE8OKcyB5MPeBNH35Rmu7iWMYD-88q4wLHiWrvgLVCb5-pQjJFQpgvhcLGGBs74C6DJx13LbsJioocIYVcggOS3cElaME1G_4GgMqlC180PRjLd2lETJRk2A2_7dnFY43nVM8kCfDfy-M0h_26HzL9gPpnjkii9vYpwn4FTPrPpZg4UDn0-Dz4X90RgjZIlQwLJUHxIiWFktUJTYTYSZ37A3N0Dt3A-UlbTeR1sdcIS8lGFscujVlZVQoExX0FML6JjXi-_pZFpVK1YtwXycjO22mb1b0YAuvlRlQQQFqnYCmoh-Gep74oRtIqqD8FnO49Jnx602URtDlzHeBSylOctsOzMqXcEdtjEm1PqaHsp_Bo3U1-cSSA0xWjKU0oMUnPIZ3VVGDy0Tp3GJ8",
  "id": "rs_071894d952a19af7016ab2a9d0342c87d09cb69cbdf9638550",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.23,\"left_z\":0.24,\"right_x\":0.365,\"right_y\":0.225,\"right_z\":0.045},\"note\":\"The arms are getting too close near the bowl, so I’m lifting the held fruit back out of the way. The right gripper will approach only the bowl’s left rim.\"}",
  "call_id": "call_7EFyVVA7dYFUlgGtCzfVtgjy",
  "id": "fc_071894d952a19af7016ab2a9d3cd5c87d0b0392eb89b9dcb4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7EFyVVA7dYFUlgGtCzfVtgjy",
  "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]: [-0.936, 1.7435, 1.7332, -1.214, -0.6544, -0.8215, 0.5542, 0.7361, 1.8618, 1.1339, -0.392, 0.4793, 0.3347, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.2419 left_z=0.2319 left_yaw=0.0948 left_pitch=-0.2838 left_roll=0.1583 left_gripper=0.5542 right_x=0.3616 right_y=0.2225 right_z=0.0427 right_yaw=0.1004 right_pitch=-0.3901 right_roll=-0.2551 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -9.7983, 5.8462, 0.8083, -0.4225, 0.1245, 1.033, 0.2393, -8.2803, 7.0222, 1.2039, 0.5153, 0.3248, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f127d52b8c9a586f293dd477ad9f322d5f2e6c47d24b4c1d5659fd9731fcb9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8c4f0c861e2d27c7021f931d79ce1749f8a5d990e383dcbe2cc25942c9349e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce316324f16485a6637bf87a79860e5cbe305c5554bc5804811094652f53c157",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 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]: [-0.9466, 2.0586, 1.8965, -1.0809, -0.6643, -0.8223, 0.5542, 0.5636, 1.7592, 1.1358, -0.4072, 0.4202, 0.197, 0.9983]\nstate[eef_state]: left_x=0.3616 left_y=-0.3095 left_z=0.167 left_yaw=0.0939 left_pitch=-0.2852 left_roll=0.1795 left_gripper=0.5542 right_x=0.3936 right_y=0.1678 right_z=0.0788 right_yaw=0.069 right_pitch=-0.3616 right_roll=-0.2447 right_gripper=0.9983\nstate[joint_eff]: [-5.3949, -9.5658, 10.865, 2.8107, -0.1294, 0.0073, 1.0281, 5.6684, -6.0923, 8.4991, 1.1941, 0.398, 0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqniJAX4qhCepJSQ_M2aVnr0c3Gp4fKaqJl98Vmd4UnpWPZ_jKWjqD6xh0gnSRtp8tSi4aTm1p5AgLGm_tXoyZTlgBNuMyftDz6Ry00CQpFKhXzjbI3kV5y65TwUkNo9YCim6VWpMtGtBRMnjuhuLzkDMSQzOvo2E6caQ2L_pnWeYTPHVjCvK13t7Ofki8ZVu9s1YwWZZil-6QG0gp5ShIeH5dyncxv1Egd5tHZPvz4QfmTq0n2xQqfEzmQ4Pq-E9jnNLRnsLt1vr_xy5E-KDUe-GGiTAjvmIdCsubTcN7vSW6Ugh8xkQVRNo5o9AJfYyRgZNN_EJ2HTwEt2jPUWJHM82Xl4VqUcGJoof6OllTgZWtsOCMWc9Fg96_exrVnCJZ1ZXZ9lhThvJlGST6LTl2UJObl63Brh2u4ruObEljdujVHUVVNFV-hmzLD8rHx5V2aR9ekF3feBCAlA6A-qs55eIJM4fBmn2LdXLtD_fjTlNX_HE1vRvbnji5bw7WOcrioA78gQ8SzZymy8-wtyaPhsBiImqmaoTm-Uy5lkfcSnHA8-wJAA4Wrm1CK54xFqzj0nnL5GJg_53bUu9IxMnWx7cNAzdmfQAFVgbJCDQZ7_TIATkiGQji1YlWzOVukCG5PyyaXupuxTNUjhSuC1nyo5HAFjlQA9cwWyKTw0AmufY2BHBwiDNotBBhUmV2ePMgktoIrg6DGgfOk-DBizCw-UvKoeotNo_g8w2J6K3gUGo55ojnCUTPtmmq1Hy8w1R74k-RyiCnpLmH0RQpuqtw6Ym0cSJsYZozaO08l-Zlf9CarYgPjMkM1vwH3emoOrZG6gDuhm4wNLQbecilpvCJJ7GWLuk2XQ_P54Gsu1bSYKsx0pvaAfR8WjzrrOono0VTaJ_vaMDsVzOhAiVyVd1A1QtdsLBtJcfjYeunAfjI6-dt7ACwieikqPuSg_UuhX3qDVsir_fmoVWJu4bCj8amTDdMeaZ2NnA6IE7DjSX_mJu9nnNplHll7styNqhb_jtBrhxuBwBkRuZsdiEWwvtj2UKDmuDyDB3dM3o9VM0Qww9hn9aJqv_2CNEE4apzZKo497v37xUJN87A6yO2dNaU1BEFediaLk0M9F-WpD_ebl-5pom3Xi9598F2ajOCdYqwPwt4qU5JsP1p9tUROIFOqaTMgCh-jxVESlAomNZ_R-3SeuZ83zB89gGNUKEX4R8s1NJZ4xZ0IWvv1e7edEE4u865z39G9Hm8SvKycSg8_kicSHg1I2yD-6crEjSim0eF4-",
  "id": "rs_071894d952a19af7016ab2a9d95bf887d09aed66091c4baf97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.207,\"right_gripper\":0},\"note\":\"The blue bowl’s left rim is just to the right of the fingertips. I’m shifting onto that rim and closing to hold it.\"}",
  "call_id": "call_lM4RxPCNYd2HA2NH779w8MFE",
  "id": "fc_071894d952a19af7016ab2a9d9f87487d0a5eb36befafdfa27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lM4RxPCNYd2HA2NH779w8MFE",
  "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]: [-0.9363, 1.7363, 1.7294, -1.2263, -0.6468, -0.8196, 0.5542, 0.7067, 1.8629, 1.0935, -0.379, 0.4614, 0.2989, 0.0213]\nstate[eef_state]: left_x=0.3131 left_y=-0.2398 left_z=0.2317 left_yaw=0.0919 left_pitch=-0.2946 left_roll=0.1636 left_gripper=0.5542 right_x=0.3585 right_y=0.2074 right_z=0.0294 right_yaw=0.0972 right_pitch=-0.4281 right_roll=-0.2812 right_gripper=0.0213\nstate[joint_eff]: [-0.1983, -7.6376, 6.6256, 0.9402, -0.4518, -0.0806, 1.0281, -0.6496, -11.9863, 5.053, 1.1258, 0.2906, 0.0317, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5eda6ee30fd93cf1e46988bea32099e3a4a370ce3227a06eaa32dd6a019746",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b672f9e4d0a3c06d236d329b8759bf60d7284b3b84794470d5d5cb8c1a080c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226d0af91e2e6c6f3b708359a3ddfdde11aa61dd67fe7b7dad57301806c38712",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 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]: [-0.936, 1.7435, 1.7332, -1.214, -0.6544, -0.8215, 0.5542, 0.7361, 1.8618, 1.1339, -0.392, 0.4793, 0.3347, 0.9983]\nstate[eef_state]: left_x=0.3162 left_y=-0.2419 left_z=0.2319 left_yaw=0.0948 left_pitch=-0.2838 left_roll=0.1583 left_gripper=0.5542 right_x=0.3616 right_y=0.2225 right_z=0.0427 right_yaw=0.1004 right_pitch=-0.3901 right_roll=-0.2551 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -9.7983, 5.8462, 0.8083, -0.4225, 0.1245, 1.033, 0.2393, -8.2803, 7.0222, 1.2039, 0.5153, 0.3248, -0.0073]\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": "gAAAAABqsqnuImTs0fLwaTbStdB86VaETAP_Tv2EzQPX45Pi7rTCApA91yhEnRH7-8KH_4eTae9Wgw3ZGqFhuo88jMaG0sc_0VWsA6z3dh-JFWHCSkAd7V0sLWm7OC6qde28izSBALdTqVpSv6bHvjP2d-cBita7qtsthdcZr2LUlJOpjtSv5C0Q8vCEYf5gJzHXVKnMn7mWQPbxi9aT5pD35YopYFsyGGkdVU8hzQ-ZQaNRh8XH2NjXE8XcLu8dxneQ90D94CdsCmV0PRyreSl7d85MVMBbczrC177bnTdKw4evAGtep4EIy25MYE5PYpdYEVUBonf07NCH1DeTfgboBMGI4RAlBjq9zXCgpce_YE1etmGeEwZmsLK4EQJKDgOwnCqkU84njT6VXfZARdUowh7uF2f1of8Etw07_feljRpynxP3MIHGV8L-4LJW8IbRXBiBhaKbJVDffiWKuZ1etGZDlmlQRfu5csNdb4gZFmlRiyIunesbHWaZeClqBSLeoQhFzhOObVsdgf4y7ehPBsEgM7i76Sb4iCW4mnVqSHw8vUAwVj3lgTdKIBGxrV7_O1ezgwMhNcF1ijf0APbRMeAcEy68wkeN0H9fFL6TyT_7O3NmBwRtG0aNI26dezDFEnvOyf1wHlxzxT3W2JxOLVRRav2GhR_Yph0hY3Mov4OUpbIeS-62OnZZwe0E_Ao3pEdGpR1pV8bKUe4SPqY-OeKm6uykOOVAEHHvMO8ATUiLOUGiybje4mNHa5JIOxQCRTMiQ0EwGC5X-5PA67KcAdZZog89yuKls2RQFse62deyij6P93JwEc-TT4nGp_TtRp0IYHePa54jC4Q5jMLkDB_Rq13MI9vtkkVPtWngP1bYsHNyOonyc1b077myqJxInyc5UOGZu81E3SdEQ5nFWdp5E2BMlY1PISO5F6CkjiZsamCKvGpMUmxrTQDuT3sD6G-E8iw6pUYWVqlVXkJtJf3N9GNBJ4uXO-6ElF7dv9XBOPhII640eBvSxUq8X_asrD5jslZdAp2H1Tt1aUYr6t9pK2tivvue8z6WWqKghT-9ud8oGJV55S88uYFQNIMpPCiu7jR9HiCwv0haAC_5OgcCzB7-o4srbu0AiSZy5gj_ag7f6e25wv76Vk10rKkTjV6O8jdpXBKWJRz5f209AhogK4Eyca4SpbXk9mxRJDgUlspkRM-8GjIXeI4IIWYplXhkLB7YOX79Q58cB-R0jxD1FVmxBySn3QDFaWtLke-BR-uHpBN0Dhkskx6xx7P1vqLYFP0iFopCegmfkFesa8MeVgwtuBIKFbMW-b6bX_f47z-XGqRAvjKnnCARUvDcIyNHdDANDyYldlNjvpH6cFOu9XPHnpVE6HQL4G-zc1o4gubUugaE5-JS6Q5nJXStdvwGG6fZZK4nyT2I6vINlvIQdHeP4xQMWYENyvkY8mA2ycKIbrgeY82lOmuvWbaSQDmMqYF7eaCpMnc_RCpAEVKZTn4ycl0sTiEctG0u3WKKg41fwX59Mpnym2cG4_IORTbsH_UO0CcoYbTtGLHlyzbGoCu5FNIjes3ho-oUjNUFZH80oHlySmN6TFpIVjNExl555OzD6QKR3CRYYfYbMIMmy6lo2W1zHOirneoARw3Ju9K2ebkn8MQk7R6efFg_z8cZEdr1lGeXh2s2yPNpKGcJpvcajYVCnmZ8K9cyGqWbbbYh5Wm8pgUxl4UYLvPPEj_wnPlMgS8s8Huq-OZ9Aq6iP4Ri7at-Wv8AIMrtauXeZSbwpDdTyrbZyr3e-5bEs-ryrLcp8tBM5Y5xQ-G9riNccJ_GaqFl3DAqsCUeiwTahXTS-fX4cVSVdtZvFK-aJ5fOhrBoh-8wj78981FdsC2i_6aG5_dxbeunxrqrO9yumhHyGYbiDZo67sx6Ou2c80EW6VuXtiL3Ml_sbhb-wjmXSSCRj8Pj3Rqiq4ivq1WvnHckW_fbPDkbMdzrOo-ewgG37WP7biNLx6-FpfeXxge_3igk7Q==",
  "id": "rs_071894d952a19af7016ab2a9e634a887d092bfdec7358e6922",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.19,\"right_z\":0.055,\"right_gripper\":1},\"note\":\"The rim grasp was empty and nudged the bowl forward. I can now see its left rim clearly, so I’m realigning the open jaws there.\"}",
  "call_id": "call_vwSJxGf1wxMLC6mB9vxj0uUs",
  "id": "fc_071894d952a19af7016ab2a9ec1f9487d09c3396af7a7221b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vwSJxGf1wxMLC6mB9vxj0uUs",
  "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]: [-0.9363, 1.7363, 1.7294, -1.224, -0.6361, -0.8192, 0.5542, 0.5751, 1.9312, 1.2781, -0.458, 0.4019, 0.1635, 0.9953]\nstate[eef_state]: left_x=0.3124 left_y=-0.2414 left_z=0.2308 left_yaw=0.0859 left_pitch=-0.302 left_roll=0.1564 left_gripper=0.5542 right_x=0.411 right_y=0.1883 right_z=0.0495 right_yaw=0.0981 right_pitch=-0.4453 right_roll=-0.291 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -8.294, 6.0239, 0.8376, -0.5006, -0.0415, 1.0379, -0.5538, -9.2376, 8.1299, 1.0525, 0.1783, 0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3cf6db764034a29185ab918af7b52e780494238de98e3595ec909017a10918",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1b294ef9bb0c7424d6933ca86ab477008de088c6c26e3d0a3a2f7d308038a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00b37fc932843acf4e8d17536f53090a5980f97494f0e78e441e96cb7fd3e77",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 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]: [-0.9363, 1.7363, 1.7294, -1.2263, -0.6468, -0.8196, 0.5542, 0.7067, 1.8629, 1.0935, -0.379, 0.4614, 0.2989, 0.0213]\nstate[eef_state]: left_x=0.3131 left_y=-0.2398 left_z=0.2317 left_yaw=0.0919 left_pitch=-0.2946 left_roll=0.1636 left_gripper=0.5542 right_x=0.3585 right_y=0.2074 right_z=0.0294 right_yaw=0.0972 right_pitch=-0.4281 right_roll=-0.2812 right_gripper=0.0213\nstate[joint_eff]: [-0.1983, -7.6376, 6.6256, 0.9402, -0.4518, -0.0806, 1.0281, -0.6496, -11.9863, 5.053, 1.1258, 0.2906, 0.0317, 0.9255]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnzWbGC-oMJP5311JZUfHwa8BTj_7k6mxg2DLXsl_X9U4vWkPd3qsVo5b0OdynyzfEcuDOTHXjKa6gP1En40OFxZcutYfMulN39xn84F1nP15ZUZoSQayNZhycrr9ZkdaNCDQNkIj-gMGfJZo4tL6M_3phQDnKP_927NeEEUefxmScSjZZp-9D0S7NZXdUtSoT78LUSEtOEJCIucn5PNACBjJYeIGP6xo7DMoppjMQVV05iMi2DNTCwJz1yG1iRl-Uc2RuOKkzXb2dmoxPlF3EH0vDUnWBJOVQOG9PhDZExlFyK-orh6cYasFsZyjQtvylV9A3iDi9QTqUFA-NDI1xulM_gMdFYBeew_YCeOuTtt7QUUYh0CHmQT-NzBBdgFAsClE-S1siNpAq7EDLXlhqBNB2VezfGvnxd6UqxYjwkKSXmsDXPALTTuhLhZ92z8CwMPcAZ6dKu6-tkU2OF7UV3NqGUWRoViILWqlu_c1PrXAGBuIkB_imTfRZ74TlfTVcQiS8_u-3g-_IxutMBIFhaF1GlrVbBLGiRUWuODOrnmN678It7Pvo1BQOeaz0bbWKUFAFI1Hs1z1gGbQzp7Aci6QTy_d1dHXD9lsaJOA7_W_jRKradNTjIIefh85wLINn_2HgTt14jmteQOWYHAgv6vLOXJ5HQLYnYXKEjfSlWxruX_luttDDf7JNj8NmrBq7AfINPBKiNCkwQ-mtC-dLf1SdXdHUQJQ4WlBKHMhtdKzcfyp8fZOZz5HT1CjnrqiwuShamovaZqOZVRGNJy9qC8wcLb9IW5o_3kpaoZWWg0-owgb7zNg7T3bCPN-TCooYAXTzDEaWHpQ0a-m3JuMXL_r_wnd1YEKY8oCNZdGsV4Pv5f5Jj9B148r87P7RwjL5ymC2PWsiYypcB3tt0LGF1KJSTshqaTMZR2cNIPLGbGx4wqvVOLnsMbX_zo6crbAgzBj0DkozJ2-KCsu_gJp6C_2AWXh9nfhV1VnBz1G1QYYEcr762pckHzQ0F8CJimgTCKh-UzruWQaKJCzT2JYYAJ6ZEbuXdojv3_Fdn12NnOg7LnKbdtRw3Jov21ZAxWw0ucqI9s_n4DKpkopmp5xcz0HXCasYo9hhJi4FdSVKWX0NarCpBINIa6sa7mlDAwIGI-jZiPGNWOPpTjhQkQZNHK_kokLVK035_6JKqqldmeMDn5vNItkkdtNtrQ6b_ZFbgoj1haj6f0q43vU2NxHs7gJoZHKz6oAuOY_XIJ87xzVBlQoDhB4MHnqT3My0wmdZFNV9xFKoPMeFgybnP_PcU8XUomuz5mb9ri41Fza97qS1bbf-u99597X_HsAze2SLx",
  "id": "rs_071894d952a19af7016ab2a9f1524487d0a47445803a7c3d9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the blue bowl’s rim. I’m closing to secure the bowl for repositioning and later pouring.\"}",
  "call_id": "call_SslkfWI5IUObpXfuo922AAey",
  "id": "fc_071894d952a19af7016ab2a9f2a4cc87d0bda154907975f586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SslkfWI5IUObpXfuo922AAey",
  "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]: [-0.9363, 1.7363, 1.7294, -1.224, -0.635, -0.8188, 0.5542, 0.5739, 1.9392, 1.2835, -0.4629, 0.395, 0.1555, 0.0112]\nstate[eef_state]: left_x=0.3123 left_y=-0.2415 left_z=0.2307 left_yaw=0.0852 left_pitch=-0.303 left_roll=0.156 left_gripper=0.5542 right_x=0.4109 right_y=0.189 right_z=0.0469 right_yaw=0.1055 right_pitch=-0.4562 right_roll=-0.2936 right_gripper=0.0112\nstate[joint_eff]: [-0.0889, -8.253, 6.2427, 0.8767, -0.3394, -0.0366, 1.033, 0.1026, -10.7282, 5.8325, 1.1746, 0.3004, 0.0415, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dca0729df7073f6764766e60cbd638ee31ce7790e32ed179c0c7186d84a17ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb3954d11a0c1b5f069fe0f13820a1b113556c3f65e89b44c8e9b9e086fed83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39bdf5888fcd7e3139613306becf8a443ade9ff5b8056a0d86830741bfe53c45",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 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]: [-0.9363, 1.7363, 1.7294, -1.224, -0.6361, -0.8192, 0.5542, 0.5751, 1.9312, 1.2781, -0.458, 0.4019, 0.1635, 0.9953]\nstate[eef_state]: left_x=0.3124 left_y=-0.2414 left_z=0.2308 left_yaw=0.0859 left_pitch=-0.302 left_roll=0.1564 left_gripper=0.5542 right_x=0.411 right_y=0.1883 right_z=0.0495 right_yaw=0.0981 right_pitch=-0.4453 right_roll=-0.291 right_gripper=0.9953\nstate[joint_eff]: [-0.2256, -8.294, 6.0239, 0.8376, -0.5006, -0.0415, 1.0379, -0.5538, -9.2376, 8.1299, 1.0525, 0.1783, 0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqn7Lk8hfl-NiMi-vBFYQk_d30LJiprt-DKFa2aX0e_aSNUH1eTJB_hdHgM2YiVHjs7blWh47NKzITc0s49g9B4GXb4HZllwc_A9KlrUWalYHJ82vOf9xtOP6ESE5EZTKPUSqVTi3FRkdApsQh_J9o2mkVRu37QOcRtmvMZjy862p_0gYewyQfbgLbE4ZOX35TJOhTTrpb3CNorxvZlnJY-J87E99-0Tbfr4WH_7rMerX9RJHynpcgmLVwgiLgyJOAcDQjsSr3IH98H2x53wuOPFgS8ryowTyR-PeYceLBp8u0mRExmlpq5ZP9ehSuC6RRKkW_hLVYU_yQHPC-yAVjLGZCYw0GUW8mqrKL-rZy6RTLxEroHMYXAwTjnnAI0JyYkJcboSyXtHpxxCUIMSwa1wPese5OnOaH8Iqnq9f8VDjipMyubyIo-YXt8SyKp0SQYmZwBbNKV-_EQtZwq3PqOu0M2TlCeM6G3k78TaaBP1mqH--iYqlbWr4GHjOhpLXnBn-Se80AoyESovPxfAVla2yIPorA9bUrqBvnTMlTWo81j_fa2m8k9B0gy94vZ_0ly0M45Gv-r84gklO-Um1pLWWumYnqeIewnxm_2UaegFLITSeNVJhpHm06LEZir3A4iWTrg5id45eJKmZRsL3x6-OTy9fVf0FOwsT3p1aK7BFUKPaiOgCk-0V0VxVyv8tGLnZEEoXCxmdXxepZsIXBy-h0tE_WReb-7xO_56OFAPdIfUTiLPwyu8ngqWNjhpGk2a6NGast7wlxSc07VWa74W4GjoMoCI-hvJwbgsIhaZ9cO_GvCJcmvC6A0pmK051W0olBvAcuEYxx9wMaiw7yQL6INajEcTqFwlXewz5elRfW16h7blRIGClq30pn06ZoKpH-81lzdcnogCk5TpRbsrCjLE4TfB2fyRCCmnUryk66hNoakUZiw1QGTznx7bIlsVIj9vzBAn8Ok4kRvMhRp9aM2rLbZqJVS_gVqVDkkXA7abauIO8DBBL34ks2hlFUsmVv700jU9CY8uO8hC6A2AxvqItVmeMROt4t3Tdt_tz_cIq3M1aHvXnFNt370s-muzk7rcV2i7qL3-helBDnEd1eXeNVg6N8midEOOIpItHL0g0LLp8WOLfxhFR-Eg0a39V-asFKLrJTwkMcPlDC-mcE2VrFWXFcf9Ws-WcuOeBVRdWFIT-E7upvhqH6oBA65jUgqvAWTAIPef4quamC3AJXJStRWbKDsiamr3W2_JxNzDmhAXax_b7QssixMTIc9wij9WMaLux209auTChUpcZ82DXQO7LNlwvRUollgnNaola6fnLTy2lO4Db5dBStc48ICcBNOcMYt9BM9KGHzapw==",
  "id": "rs_071894d952a19af7016ab2a9f71c8c87d09c508f967425958d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.37,\"left_y\":-0.4,\"left_z\":0.2},\"note\":\"The bowl rim was not captured, so I’m clearing the right arm rather than repeating the same grasp. I’m also bringing the held dark fruit as far toward the bowl as the left arm safely reaches.\"}",
  "call_id": "call_wwKL1mDqJs7yZqMq76d4CB9V",
  "id": "fc_071894d952a19af7016ab2a9f8fa8087d0b4ba581d0822c367",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wwKL1mDqJs7yZqMq76d4CB9V",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0172, 2.5313, 2.7888, -1.549, -0.6365, -0.9253, 0.5542, 0.0963, 1.1805, 1.1694, -0.9985, 0.1795, -0.2481, 0.9971]\nstate[eef_state]: left_x=0.3638 left_y=-0.3822 left_z=0.18 left_yaw=0.0817 left_pitch=-0.3232 left_roll=0.141 left_gripper=0.5542 right_x=0.2963 right_y=0.0006 right_z=0.2071 right_yaw=0.0679 right_pitch=-0.4626 right_roll=-0.298 right_gripper=0.9971\nstate[joint_eff]: [-1.0188, -13.3675, 7.706, 0.5299, -0.6618, 0.0171, 1.0281, -0.1983, -4.1094, 8.6496, 1.2381, -0.0611, 0.1245, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64a19b6da35be0f7e2dddbf15743094637a87928f2c1786d71990e5e12f364d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7acd1135c9f1d19c1dbad56c4fe6d3ade990cc8e5f3f1908c59482e7e776db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3949e00283f6c08353897bf7325bbdf934fa6cbb9f7790de4f19b9ee388fb591",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 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]: [-0.9363, 1.7363, 1.7294, -1.224, -0.635, -0.8188, 0.5542, 0.5739, 1.9392, 1.2835, -0.4629, 0.395, 0.1555, 0.0112]\nstate[eef_state]: left_x=0.3123 left_y=-0.2415 left_z=0.2307 left_yaw=0.0852 left_pitch=-0.303 left_roll=0.156 left_gripper=0.5542 right_x=0.4109 right_y=0.189 right_z=0.0469 right_yaw=0.1055 right_pitch=-0.4562 right_roll=-0.2936 right_gripper=0.0112\nstate[joint_eff]: [-0.0889, -8.253, 6.2427, 0.8767, -0.3394, -0.0366, 1.033, 0.1026, -10.7282, 5.8325, 1.1746, 0.3004, 0.0415, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoFSTjj8UN9ii8a9_FriZXNAk-0F0oIya6RNSoq9sdNrNL5VL3L9cvmaQ0TAD6f1KQEo4h8wGtrieswbH2wb7m8lnzQZgOL_IF0rLWRVh8KoBIGpdXovzD0goTd3nzdzFVQa6aEEp6qRqDjLTEyHIAGHuHMX5vjrJqJWtt66Vv8F2dDQsjsKtx8i64KxssdsUHNz6U4m4jd7JsyuX40nn8LP8lVrKFTNPNRqZsOUSQbN0IS21YmdkRKRGGN33frzjVXyUaBz2FgRITN4oP2hxBz2M4Fxzju1gGD_Hz7as4ofg7Rh0zvtmJ9YqBDBvAVBWTBP_suXHViWIAl21lSHrIR2lE_IZqPegZnPhyOiV1mVlyMVj47yNY-Ev9Pk9YzlQjbTrASigZvSChN9YEsGw-ESJSuE49nDFrNg8EYvk7ngZNEZaU0b5EC9S8O1a6OM9mTD0wOdNK0SOUBY_bT_rhkJBmPYeuR_w0llgu1TS9fRLUMWdH7I79WKi3QsDsWRHbRl1O7Z8XxWMeLtbC9q1r8cAYMl-7ZE-bZt1yhk8MrXsUE_TTfyh5hGbTBvdyb-7yeEg53QcRyIlZy5YbUKStW2Z_IfQT8LEtDLcf3KfPl_HWgaywKwFytJvmcSryqIAY31UtSlPii_EY-tmbXcxbvJ_arJ6hTqUcajIG4Exj7ucgox0j0i_pA21GJQxTTzNP41Cz-w-hdY53AdKHsXyi8adswe30GeqCEyW6sLozbMmeeqHf6YIOOz06t_aP3a5i6hpsJ861Hkq39KrQoOKy6AXPzzVzSiU02QwWSs3nMbkmajl5gMvWKsFhgvX7hz8IpO1ktNFHlU0yXtkWjR0PcFmCmVr55kUE5I-IBXm0G85UpfW5NESPtcd_mgKy4wCzVOpm3RwKIoZUsqKB_41VMPduGoZllWkhkGh_5p11AmPMpc1GaoLmkFUE_3Ghovenlc2NEgSdS_km7dyUB3mWjph_ESiO-LW6kQQM01ts9uPONyp0yDIW1n9AQfRw4N9Jfenbi9bDlCWv7eXzfBPCRGZbChyZQ3rSou-d4H3jHH5JiQ89Q91yYmCFZen8Q5lfHyoYXZQpRR93P-FqliDapqX7Hlp0yOls7LUoIue7ctGPOclicuxS2jrEUoY2k1p-8WOPP3EeghpT6kxK05mjTTqplzoOGywYPVnc2LVfHJ2JzP2MnW5NIOvlmNAjXj7vxdAaiaNqzjZ3yrsclqj93lo6R0sfrxTcMSMUPmMgABZQbT36OZGsYkdZEM7IkDwhDNaKZgsCWzOTO1a-iffgJvnPB9NcHT0QdVTDgv1ZVc0NL7Pm5KtB384XtOxy5Ga4nnf7blabAm6OwwucrO8wmWbo8B83id4CAUDUyftv5Y5ZkDKA86tuCcM1N0siDJ2icLC6pXYKw9OakPkSAMoRl5x50t17C5zUENtbb1VM57mH2TXaO4KkMqHp6lcfvtLjCtQLQggfrAboHnMZBesKk5Sfs4UwDRx6mgEfPX_NerCR2Zh4ecHC8S6OO3QvPq-aV0284Jf6fMe8eRSuRNzf2rHTM6kF0T_jsHAtHGccuG24=",
  "id": "rs_071894d952a19af7016ab2aa002af887d09cd0899cb5692ad9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.27,\"left_z\":0.24,\"right_x\":0.46,\"right_y\":0.095,\"right_z\":0.085,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the arms clear, the blue bowl is visibly farther forward than the earlier rim attempts. I’m approaching its right-hand rim while keeping the dark fruit safely aside.\"}",
  "call_id": "call_bXvBgWwLkwWmTMlQRyqc1jq1",
  "id": "fc_071894d952a19af7016ab2aa03943087d08ffe692b1924d8d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bXvBgWwLkwWmTMlQRyqc1jq1",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9619, 1.9171, 1.9579, -1.322, -0.6117, -0.8745, 0.5542, 0.2588, 1.7233, 0.8387, 0.1898, 0.1608, 0.0463, 0.9977]\nstate[eef_state]: left_x=0.3225 left_y=-0.2788 left_z=0.2247 left_yaw=0.0944 left_pitch=-0.3432 left_roll=0.1529 left_gripper=0.5542 right_x=0.441 right_y=0.0912 right_z=0.065 right_yaw=0.093 right_pitch=-0.1207 right_roll=-0.0487 right_gripper=0.9977\nstate[joint_eff]: [0.3761, -12.3692, 5.8325, 0.823, -0.4322, 0.1441, 1.0281, -0.0615, -8.4581, 6.0239, 1.8535, 0.0806, 0.2662, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38ad227f851faf740f49f0a88847596cb9e2b2ccb49aa55fc8ae7296558b349",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb05052d1e80d6fe83a8a6c827b4979f6d1e49d97f9940dd897bdc4cd60010c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fa93d3e4aa4576f3bba3bfbd78165cdab417e1c58b525a084f2c1044a21462",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 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]: [-1.0172, 2.5313, 2.7888, -1.549, -0.6365, -0.9253, 0.5542, 0.0963, 1.1805, 1.1694, -0.9985, 0.1795, -0.2481, 0.9971]\nstate[eef_state]: left_x=0.3638 left_y=-0.3822 left_z=0.18 left_yaw=0.0817 left_pitch=-0.3232 left_roll=0.141 left_gripper=0.5542 right_x=0.2963 right_y=0.0006 right_z=0.2071 right_yaw=0.0679 right_pitch=-0.4626 right_roll=-0.298 right_gripper=0.9971\nstate[joint_eff]: [-1.0188, -13.3675, 7.706, 0.5299, -0.6618, 0.0171, 1.0281, -0.1983, -4.1094, 8.6496, 1.2381, -0.0611, 0.1245, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoOz5jCW3Lqii_PbiJW7ib8UMS-rwjCMX21e5g18yJMPPwq8JADDVRK4P5XdXxONmo-Gf2FZxmPHsATFf_NmRWpmwC70pt-70RpEd9vrMXfyDcxaWW9O3nZl6ekB1g-C4HN95nd0PtyXw1KFR-882g-cuNymjPmJNTRHJt8YuYBx18a9iSAPde-I3Vml05AUB5W4B8T3mCwVxg6QEPqPN3KpAoNlreACG1GLdhIDyota-MbP4yeHJ-8mNu7hdlkYjHz8NghfZcLvV00CK1MOatVCh1q73T90HX7m4lp9AO4gL8NiRg_orugTgPomJXMDkkTREp3asbV4A_3ojQ2hgmellR1e0DcDuu51IFvnhyXKfFNizfb_wmHfHoHYJFY5Mk_E9gSMRoYqIlp618OHVvH3_We83l_UkcJc_uHiug-rtn0nUthYZX6bFKrhVLHTcXohnxM3PxlM3yzuSWswhQ4IpWBI6BG2u0pcyigSGMzBnL-7eDarA5jjp-tsYFSEhkIXi5zGgmXEd2izoVEeP83ODWzlJHKNJrbSMjsz8e2bvMW2_nVaGTaKBGVruBs4CwRVhwsscTGvFcxWgamvtoCp8Jc0BrCG39DIj84C-zmOApK9ihCwUu6mpwfLOziBJfMestncKDN5T9QjoDovy301_uDXZkJeIxjZaG9Nc1k1L-nnj0Zva7EW6x-ZfuX2jEgLlfqnt-oKvtolY0MuTuCqWnFAMPZ5I4YA9vbHW7QD__XmjezsH-GoBEgX1zn3fZmIkK47RiUoirQHgBE7u8nHya4oNgo_buMMSc2QREwjrlfenHw9kb8mha7ep0giX9nXkLwqXK6XTIVRtpuI4xKlA_yJDmI_9ZJx0gOIMJLBRWeT-YenqRnrQ6y_eZ-3nFC11Cme33y4NvHtXbEXKpYIpeEEUWOSJe_V8l9vcSU7faokXvOgto979RqMCEMFFhPEMKYYv6YFWbaOaUVgo1BbTuLj3QbhnsGyPb-Ck2isPzpt5jgCawCV_mVz_13n2xYuYzkiuB4ns0OWKSpQgSDaexMCdy6GYpoXlWDP8ewSigDhpYecmIn_UJ2A30-3Nfe4UOdI7vx6LuWnB7coedecEsoCTBH4TDRnSY9-xCvgmrL8GPIjBTQm8Q6rhiyCocsEDJ9HmRPTbQ3KIUbhujBFJCtkkPdfOKvJUrHx2TlggeVgISv5Y14JUGVJuodyVgNgs3oZSj0p-HSLlxMWgMNvaRAYXvGnbnxWvUk1fHNZkNEnzhS-mHy1Pv6ts7jyKJvXBKJIybKyi8LEyJkHL8iEZVwWEJVye1jFvc76N6Vwx61VNRQ_mICDBR8esJqzN5cqCTAe5wjH7mPGisVs-5eqA==",
  "id": "rs_071894d952a19af7016ab2aa0b458c87d0a1d9a7eeb2c4ed4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now alongside the bowl’s outer rim at the correct table position. I’m closing on that rim.\"}",
  "call_id": "call_AaFKW1RMt85H0B2TjppYk2JR",
  "id": "fc_071894d952a19af7016ab2aa0d33fc87d0a728b09b2a5777c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AaFKW1RMt85H0B2TjppYk2JR",
  "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]: [-0.9623, 1.9129, 1.9518, -1.3224, -0.6086, -0.8715, 0.5542, 0.2619, 1.7279, 0.8371, 0.2169, 0.1474, 0.0422, 0.2099]\nstate[eef_state]: left_x=0.3213 left_y=-0.2782 left_z=0.2241 left_yaw=0.0916 left_pitch=-0.3471 left_roll=0.1555 left_gripper=0.5542 right_x=0.4438 right_y=0.0958 right_z=0.0674 right_yaw=0.11 right_pitch=-0.1015 right_roll=-0.0403 right_gripper=0.2099\nstate[joint_eff]: [-0.0615, -9.2376, 6.3521, 0.7985, -0.3883, -0.1001, 1.0183, -0.5949, -8.4718, 6.1607, 1.409, 0.1099, 0.0171, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5c76936ef7d1d45e68cf00880d87b26d364562f4946b081186cd7406971fe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b17c87a402ebd7f379144051d5f031969d3972cdea227852ea7e05d168ab7db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4077dac44563f99c71be4b7e889b77ab694cdd7d40c0123e05e6083e71600328",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 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]: [-0.9619, 1.9171, 1.9579, -1.322, -0.6117, -0.8745, 0.5542, 0.2588, 1.7233, 0.8387, 0.1898, 0.1608, 0.0463, 0.9977]\nstate[eef_state]: left_x=0.3225 left_y=-0.2788 left_z=0.2247 left_yaw=0.0944 left_pitch=-0.3432 left_roll=0.1529 left_gripper=0.5542 right_x=0.441 right_y=0.0912 right_z=0.065 right_yaw=0.093 right_pitch=-0.1207 right_roll=-0.0487 right_gripper=0.9977\nstate[joint_eff]: [0.3761, -12.3692, 5.8325, 0.823, -0.4322, 0.1441, 1.0281, -0.0615, -8.4581, 6.0239, 1.8535, 0.0806, 0.2662, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoUvzh_qFEVbOGNepdurpcp8rX6Lsxn8SA99Pa675aItZeeTL5V3ZngAWsvUPZtk422Z78IjPBuKgz6yqnLB6ij0UKaL6ye72N1B15J1xDTRAUMsQl6dDv2Tx1ReWgddSyAJgAN2gFuygOl0T5ueF7zUNP5lJniVTk_MKxiBusSjoRHIAyiRQ0lUJRNPkSSAcEnj9y3c678ja5kjpTMW4nj_MuVtvNxaZmaVSQrJ7TfVj-4XoDHScwVRzmk0p6cZ7c1z5iX6POhizWUruDTSarSNdlHvsQLq5hkQxKmR-8C3RTcqp33boziDE8Yx5f_GAlfDTAPm6feWKmx8eEINHUoUN1Yxzs6juKYGBH1_5IVLRYCbORjAzzJBYEIcInK49MWYoV0bYPQgnhD1LrMOjWswUW0CcBIuPsWdVad-97rG3trseH2mLtFGah1TljptXljfHuv5r5LuSPBg7RrhyqdiCJq7Gp4GanOmGFQSKKpJfgt_SXMRBJYrHMP-XhEAyvRMUaV_SLv66fld-ohOuIvpP_T041YA6dUVlWv2qQKQ5cIC8xnPw1AJm2VLaK6ABXwLeigATfuF3o80J5hWQf7stx9j2dVr-AU7qkBx9nNKARkHf4eTgaIM_1mocsJC6h465aHslSr5gaSZhMGBEhsXFkuwi6swaVBWfl1DLNj-fYTzeVY2202IdRyFUNQm42yguBzPqAZF7FeUtSfDCLm444CCH_5UsK1SI7zMy5XTe9rgZoS0nZQcD7zhqBMbGUO44X2JqdZJF9D_SrSPHxW55q38felP09AQwEhouZi9XmKIK7esRAf2Tols9mi_ffhDGLuQcOHjyFO5ixcC8TEuXSCKFG-5N9TM-SKH9wfNhlQLX9slcAdRrcAEDQWoczU6gNVEWqe-TTWsUEdH1xJZJKll_pxZdbJvPAkEXqbYYAsOHR-u1jXQBTa6Xq2zOnE8yFjwCqUJPgBujYbqhP30Op1B7B5ZzdviblB8LdTLINXw6vdPFqV35AzFGs-Mr0koWN7f_sgsqmy3sSXbiEqeLJAy6522b1dqb1OLdqIsdLIL1XDuGb36BVZ8WGSbEgYCW0EhPgqnvXXWkAtdKescwuNAbwNr2sBld5kF_8I9aCdkIOkqnTPX8M32RwRIwiz60X1TfP5L166JgdWohvjv3Kemn-gdeN6itK7od8rFMHmQa9xLP3QueOefFOBIM3y2suODg7U4t8USJJMBJQkCM1hrQdb0p50I8mbNpXRW31sULOszwkSXohyUIriZdgKU_dvUEmQt5BGf0NIasOUvw==",
  "id": "rs_071894d952a19af7016ab2aa12064887d08bc5cabefddc7465",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The right gripper stopped at a rim-sized opening. I’m lifting the bowl slightly to verify it is held before shifting it.\"}",
  "call_id": "call_jCWVGMWYybjeu9hUnPN1jrVD",
  "id": "fc_071894d952a19af7016ab2aa13674c87d08461bc78e7bfcab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jCWVGMWYybjeu9hUnPN1jrVD",
  "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]: [-0.9623, 1.9129, 1.9518, -1.3224, -0.6056, -0.8715, 0.5542, 0.2619, 1.6356, 0.9386, -0.0208, 0.1402, 0.0353, 0.21]\nstate[eef_state]: left_x=0.3209 left_y=-0.2785 left_z=0.2238 left_yaw=0.0903 left_pitch=-0.3496 left_roll=0.154 left_gripper=0.5542 right_x=0.4383 right_y=0.0956 right_z=0.1032 right_yaw=0.119 right_pitch=-0.1457 right_roll=-0.0475 right_gripper=0.21\nstate[joint_eff]: [-0.1573, -9.6479, 5.9145, 0.7399, -0.4176, -0.0317, 1.0134, -0.2393, -9.7026, 8.6359, 1.7607, 0.1001, 0.0415, 0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ae971b5e824b320b6dbdbc9614ad83568125a3fbc2fd4a6110edb6a2c7121c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64dd1990202b251ce6c0e562e7b0599d15c9b8f389af2e5861f12db63aacd41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268a7f9c5aa8a5d481e8333353d1f4949853a49432d22d6af1277b0c405c8938",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 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]: [-0.9623, 1.9129, 1.9518, -1.3224, -0.6086, -0.8715, 0.5542, 0.2619, 1.7279, 0.8371, 0.2169, 0.1474, 0.0422, 0.2099]\nstate[eef_state]: left_x=0.3213 left_y=-0.2782 left_z=0.2241 left_yaw=0.0916 left_pitch=-0.3471 left_roll=0.1555 left_gripper=0.5542 right_x=0.4438 right_y=0.0958 right_z=0.0674 right_yaw=0.11 right_pitch=-0.1015 right_roll=-0.0403 right_gripper=0.2099\nstate[joint_eff]: [-0.0615, -9.2376, 6.3521, 0.7985, -0.3883, -0.1001, 1.0183, -0.5949, -8.4718, 6.1607, 1.409, 0.1099, 0.0171, 0.8767]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.245,\"right_z\":0.08},\"note\":\"The bowl has lifted with the right gripper. I’m bringing it into the middle beneath the held dark fruit.\"}",
  "call_id": "call_KLoYzTvTw9sexXu3GylzxgEM",
  "id": "fc_071894d952a19af7016ab2aa17b54c87d0b3b96f6e1ebe1899",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KLoYzTvTw9sexXu3GylzxgEM",
  "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]: [-0.9508, 1.9121, 1.9507, -1.4406, -0.6216, -0.8551, 0.5578, 0.82, 1.6226, 0.8383, -0.1387, 0.535, 0.4538, 0.21]\nstate[eef_state]: left_x=0.3113 left_y=-0.2528 left_z=0.2197 left_yaw=0.1397 left_pitch=-0.3946 left_roll=0.2843 left_gripper=0.5578 right_x=0.3249 right_y=0.2214 right_z=0.0681 right_yaw=0.1151 right_pitch=-0.1946 right_roll=-0.0847 right_gripper=0.21\nstate[joint_eff]: [-1.2239, -9.3197, 5.9282, 1.8193, -0.149, -0.0562, 0.6862, 3.0838, -6.5162, 8.8, 1.6874, 0.1685, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8781872e36e20c6c7c5dc2f90029784957e1437fc79c44077cf1a7423de14d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fee90dac3ef44a7234658eb3bc59971d3a7c6c13754d9022f4066a02c3fcb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d914e112d6fb0d76483ec6054f2dabcf3450342337a3835190fa6edadeea1d4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 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]: [-0.9623, 1.9129, 1.9518, -1.3224, -0.6056, -0.8715, 0.5542, 0.2619, 1.6356, 0.9386, -0.0208, 0.1402, 0.0353, 0.21]\nstate[eef_state]: left_x=0.3209 left_y=-0.2785 left_z=0.2238 left_yaw=0.0903 left_pitch=-0.3496 left_roll=0.154 left_gripper=0.5542 right_x=0.4383 right_y=0.0956 right_z=0.1032 right_yaw=0.119 right_pitch=-0.1457 right_roll=-0.0475 right_gripper=0.21\nstate[joint_eff]: [-0.1573, -9.6479, 5.9145, 0.7399, -0.4176, -0.0317, 1.0134, -0.2393, -9.7026, 8.6359, 1.7607, 0.1001, 0.0415, 0.0024]\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": "gAAAAABqsqokjCjUwQSjjYoEe-eydZCwSWm2m9br5Je4jHvkteyGia9E1As3PNKktEdtI46C1Xq2R6K1WgeG0q4BqKzOiGxoZQ7QND3TSfF_4WqGOIO5-Kis1nMXTdsJ7Bb9CFo5ffV2z1hT5NNx1QJEMTzZQiMyVR8sGu1ztvVqEHsc5VPVf6D3_KDuNb-kl9IOh1IjDyWsnm2B1M4ZS8iV-vrLkLmCzxiqY-3ogHIpyvjdFIx5YYTmbn5toJNcIBYC6XUdGr7ZZ1Qxz7fFkpNsRaGKOn3eqgyUFZvfkpURG5bB5BCpUh3VxL2D6Q47VDnmj8wa6E8rB69talmT849Fptan6RQPo9G2CzHN14p-BQ20lA46HFQAilDhm2enX7wtCcC6YZq-V-ff2B7zxNbN8rmmCTgrDqlFzVWfEm_U5OMmHtXScxMj2XNTY_x-POsaZMW7XkMIjHwAEYautZbI0cCSlXMR_Pve4RcTYmTp89OthrEUNw0LXfN-kRkD2Ea6eumDMMW0S2Eg2hrOpgRKccY-aVgeucJPoW_SuKY1SJsQ7ZsWl9jbmOQ4fZ2LqssfTlo0weHrfbb3HRWkcdTT4uBa7pSEFBFKPS5ZxzQtakgrS5Zg8lwRzMetH-RxSNcM_NOHIPvOWfbNJnz3LmwQA9MqHpPwWHlx0klIBg2RBiRjTUSv-YHpN_KzIawmkCfmtrXPw02g7UqBjvy8-45NP0YpyHg8hdfFovmVxVmCKwIJLTDh4aGY9UI2hAqASCcvLn539HfouibFUuV2t353dXTrF4nLxfNeMMnicNI0WGJR_0rcwJ1zrd7NTZzbhxC4q5pmI-_6BB64eV42Mj2lL8kM18IxbZjx_Hga9muX_4kFNceqGV-aXcrhZB-Bxm5Tm_HKwGGfYpUd3SHUJXh5tTd55L3kugLwIij3n3SG275HP7ObKAh25sFwVtJ-QqdN4afNNihjCMj3DAcgF2316zmYIaRyENipAKkTTo36o8Ro0efJGPOSmdeGM4CE98TCY-rWfsivLBx8AQGHfsIe-sLVl-IGN_7XEkMWDZSuGnWEyH9nKgknB_zvpSB-ayfLQJwlVVqh9pJQqoFqcFE3j5-lDkQP9i31xNx-_yVEWu0eYG_Z6CzweXoFsjW7BYki0OFZ3TaKQVEcp17EEuZa2kSQmBdsDBYBN2UlogWbGHI81FtjAVrqXyVphBMXQtcU3N8iKRgHmyKVsVjRi3A4caRZwaDmg7zlA5_omQNRmbq92axM3laB1jYzUBqZrQRZGdGNO-Teksfwp8gHAOsWXsdxFKb6cx4oux3M6tmAA4e7ABFeM5Sv522WA0p9NmAtCB6XTmth00qL9hyF4I4AllTCzCNguCpQqYO1B7X_5za5Noz0z2L6Huk6v9jHwX5oCqfqUsJPK8dW_3G5AQT4BEqINs_viytsfpNNzpXHFptW-G9hURlYtNKkMvzRVAmA5ishIUvUnkA0u15sulz2BqS183Qbc6NZveknIzCl5UEXiFk7V8YUefwPS1XAaWlFG8sSmyfF4Vo5dYqdXG33lcWsfimg2PBDE8SF1my7eWZTeINfSaK_Dec5dFwUVsPVVCKQYTaAAkXg6bSBZrciTd3Xjw7S48l6c3BHBR3ItcJ5cLo2JEQXpA5VIzRf3sISMDJXL-6SvQBxOFxlP52-etc2tkHH3CvZIlRQ_KVcNLaBQ3U_pD_FcOScS8e37XdQ45hZeGtScIofITNWtWzThRf82GPWQdsSJ9jLglYPottUrO9f9lCxVq7EOSdV_wF9f3LqZC582qRV2-iS5s5sxPXdvkLdRloZrMRzlUbHn8alf5scHLxAvqoCGJeApXHE5c6-iqFBqBMHZfZQCQ3SQZo_PZfuydx7JdCk91O7Mdv0LF-896KiNWEZASUjPQVtgnXiBqTIGP742RNAvp1FkZFTy9ZVWbXa12pQ8IyUmDv7lpF0hdV1oPdSb680x5GBmcSWfMd0",
  "id": "rs_071894d952a19af7016ab2aa1d2a5087d098085bbf5a5b17d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.16,\"left_z\":0.04,\"right_x\":0.28,\"right_y\":0.04,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The blue bowl stayed in place, so the apparent rim grasp did not hold it securely. I’m moving the right arm clear and returning the dark fruit to the table rather than risking a drop or a collision.\"}",
  "call_id": "call_LUyg0DLDTTZdYki7s61aaE4F",
  "id": "fc_071894d952a19af7016ab2aa225b5887d0bf7558ca7079416c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LUyg0DLDTTZdYki7s61aaE4F",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8005, 1.6917, 0.931, -0.6106, -0.5831, -0.6933, 0.5606, 0.2249, 0.9115, 0.7353, -0.6205, 0.1669, 0.0158, 0.9974]\nstate[eef_state]: left_x=0.2908 left_y=-0.1549 left_z=0.0356 left_yaw=0.1719 left_pitch=-0.4373 left_roll=0.3337 left_gripper=0.5606 right_x=0.2795 right_y=0.0375 right_z=0.1623 right_yaw=0.0676 right_pitch=-0.2219 right_roll=-0.0925 right_gripper=0.9974\nstate[joint_eff]: [0.4034, -8.7316, 5.6547, 0.8962, -0.3394, 0.1685, 0.7692, -0.253, -2.3453, 10.1675, 1.7314, -0.0464, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5f32b9def98e7862ff29b9e5fb3820bb9f8bdb7749ffbc303a351997885cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6d398607ae7fcc29d9fb21e0ef9511b7be06d2023f590caab1706b62cc422e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228ba7e3894f6ca3cbf44dd22c7a8da6de4d29bff707fa1e627cee7788e73026",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 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]: [-0.9508, 1.9121, 1.9507, -1.4406, -0.6216, -0.8551, 0.5578, 0.82, 1.6226, 0.8383, -0.1387, 0.535, 0.4538, 0.21]\nstate[eef_state]: left_x=0.3113 left_y=-0.2528 left_z=0.2197 left_yaw=0.1397 left_pitch=-0.3946 left_roll=0.2843 left_gripper=0.5578 right_x=0.3249 right_y=0.2214 right_z=0.0681 right_yaw=0.1151 right_pitch=-0.1946 right_roll=-0.0847 right_gripper=0.21\nstate[joint_eff]: [-1.2239, -9.3197, 5.9282, 1.8193, -0.149, -0.0562, 0.6862, 3.0838, -6.5162, 8.8, 1.6874, 0.1685, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoqHiStl4xc7jz_F4EoT6Hhslr77IzIbD5bTt5ugNPm9TmjgUTgOrrv1hScDT56T0JrEQtcK1GcyH024A7tHRvGcXDJMDgiGxD-f_FQ3qy6WAGSa3Pfq-2yJqU3fYGajMp58rhj4HWyql1YbrfxccksL4fEA7MVdPvHFP7rxPFMOo1QQUO6XORL-nbLHwF5xdNwSASOlCcCkkHD58SU8AZkTUv8WL-diShM0UQw6uEb2aUA5St4EE8gJqofn3m5NEYU4y5X2SbzLc0NSlKgNilRqL3qUjuOH_S7CPjezK2U0XvKCTdwt8ojCIEjOmlP5Shpxhkth_KVXZydaZefGX-MXjowotXkPCmBpUMwofg5z2yJNVLM2coAA4VmS_iYNjRm026jb248K-6Pe-oQesKWjcykUrnMd13nXjV_QhteOoUVZs6MGTmzYQgPlen40eWfw2IuA_-byLYFzj6LbYF90KQBkcS4ZX1oqLzUqGsYLN5pQv-RO4Gqx3B7c0GV05tfiNrvMtthHc5x7zBranOZdxbBW8JQuUKyJeq38QGFW8aQpqvyS6PQs3Lg-lbuKPR4d8em_xt5_iwcnclLcBmSsleNmDWUo8NCG_AgUV-zqcCNTOoKys7r4Hl-okpgPDIfVCMVpOPZpcf3j2HCkjYalcQUN-DW_YorQISyhGXJQDugIIPOU6cAoUFGGQ3BEx7bEztI2UIdUTIvt7PoeMMFYHjXApvEqMjeiYvmgX3wwKyAsy90bIY1KxxDonmpBkivyHdXJsv7LkFuQ_YuG-ZyMuB7uGOFAI6KOFOqmKroZRASNZ5iAJSSQNMWdYzOLFNWRc08_-0EvdCS-pfyBCQDF2TWNMgdIkTjTlj6C4c8YhzZRfyfhlyrvt2IfRbG7_D0AQuWXPfktPQGAAFUZLYQbvz88jXyY8pbj_tK2WNfwSvqoV5vToWoGphkytOzE68FWGrZFuiSYeC2szQtrdR3USioO8mOYY6YlSiNGlXAOnJYm9bApyAwZrKk5wN9julApr7P-8hzQIjt4BqMB-4tcX3F1JnByjCiiqdCkw1fEr1UsKzD_yst1LJFYSknvsjH75LzP4_zjUxrnDXYKqRJaT-H_V7lrI3VijVMXIHp5d_ZpN8Y_QA7qPuB2pWo-g4BFWuwWIEljV5V0jmOuyoXZE-fOGeUqlRVTLtwbT9qcLyVvUYE8MjdBD9Wo8M0sGDZAFrNX3x7gAs-95HLsxu_Cg==",
  "id": "rs_071894d952a19af7016ab2aa29611487d0845b84286df91976",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table height. I’m releasing it gently so both arms can be left clear of the objects.\"}",
  "call_id": "call_A4inebNNYeEV58v7f4iNcdtD",
  "id": "fc_071894d952a19af7016ab2aa29bdd087d0992082e612014a02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A4inebNNYeEV58v7f4iNcdtD",
  "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]: [-0.7986, 1.692, 0.9104, -0.6022, -0.5831, -0.691, 0.9954, 0.2245, 0.9173, 0.7403, -0.6479, 0.152, -0.0078, 0.9983]\nstate[eef_state]: left_x=0.2874 left_y=-0.1506 left_z=0.0305 left_yaw=0.1774 left_pitch=-0.4448 left_roll=0.3466 left_gripper=0.9954 right_x=0.2755 right_y=0.0392 right_z=0.1579 right_yaw=0.092 right_pitch=-0.2528 right_roll=-0.1026 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -7.1726, 6.9128, 0.5446, -0.3492, -0.0024, -0.0952, -0.1162, -2.3179, 6.3795, 1.7705, 0.1929, 0.1832, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456b2cdb19964ab4edf23f506acecd72d721adc69409c1de6f1592fddd6a8b22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50761de13a2401d16702193e14e2f3910b5046601961e6e795ee5d58228b905",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f1d057a947acb1f79a42615fbfaa214ed66df2e8ef1591dcd7e13b61a8ffbe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 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]: [-0.8005, 1.6917, 0.931, -0.6106, -0.5831, -0.6933, 0.5606, 0.2249, 0.9115, 0.7353, -0.6205, 0.1669, 0.0158, 0.9974]\nstate[eef_state]: left_x=0.2908 left_y=-0.1549 left_z=0.0356 left_yaw=0.1719 left_pitch=-0.4373 left_roll=0.3337 left_gripper=0.5606 right_x=0.2795 right_y=0.0375 right_z=0.1623 right_yaw=0.0676 right_pitch=-0.2219 right_roll=-0.0925 right_gripper=0.9974\nstate[joint_eff]: [0.4034, -8.7316, 5.6547, 0.8962, -0.3394, 0.1685, 0.7692, -0.253, -2.3453, 10.1675, 1.7314, -0.0464, 0.0952, -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\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit has been released on the table, and the pear remains in the blue bowl. I’m parking both arms clear; the yellow fruit and the final pour are still unfinished.\"}",
  "call_id": "call_pfVeWD0oFUjI3Vvy2skoKjwQ",
  "id": "fc_071894d952a19af7016ab2aa2dd3a087d080284028031a773b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pfVeWD0oFUjI3Vvy2skoKjwQ",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2226, 0.852, 0.6895, -0.498, -0.374, -0.2764, 0.9963, -0.1009, 0.82, 0.6964, -0.4908, -0.1337, -0.1249, 0.9983]\nstate[eef_state]: left_x=0.291 left_y=0.004 left_z=0.1865 left_yaw=0.2345 left_pitch=-0.0401 left_roll=0.0118 left_gripper=0.9963 right_x=0.2921 right_y=-0.0023 right_z=0.1932 right_yaw=0.0748 right_pitch=-0.0435 right_roll=-0.0067 right_gripper=0.9983\nstate[joint_eff]: [0.0342, -1.6342, 7.8154, 1.8486, 0.0659, 0.1734, 0.0855, -0.2803, -1.894, 6.8308, 1.9853, -0.2173, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74b63c07d896e2a7853586698ab2046c39cef3ee9de40e168a8afb8269a92ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabe2d1c501468f45eb016cc12414929fc0f53124c9344a60ab3be2be7817fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554d48807c4b78da040c648433be557a8c1722d5594b032b1a0bc36bb82becb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}