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, 0.6136, -0.3824, -0.012, -0.009, 0.999, -0.0227, 0.7994, 0.6197, -0.387, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.6752, 9.6205, 1.7802, -0.1245, -0.0464, -0.1148, -0.4581, -1.7299, 9.2513, 1.8437, -0.0952, 0.1343, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd88be561628e17c6679557c8b167e50fa001f32bc09f9b41b95d4eac77298a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85af6dad1695df48dc3f2a86d412197baff412f6faea824f0d1cd87eac44a1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f06d75eb5587c941af4c55760019cf42e8bb9af46314d0c2e60a95f64c4e021",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrvytDT5rUqKuX7LipassidqdiQ3xJtPNATvjgli7m2S1ywIlFY-6TqF9U9V6IOgmXPbTjvKwQbxrhAdFUGVgecBonP6Xq_U8uQU62tUNLGfDfHWBtWhfuHIA1H-LeGiuZnSdohWroVxe-h-w2cddqIq5KUDHWH1BdCU49kZqz6A5dNq6QcSXDKRWTJQNmmoacxrVDuMO4_6q9jIVmhN9Tc32mzrXRMmdv-wV4khjfQyLscTHr5H8RdoBum-NaiCmCMzwHUKLjPF-7jUJd72uUwObkAE5Z9el56JoineaeqAzUrMKqeLOrxMi3vUBJDd-hqdNdnEGZK7cfO7MH2gW82BKYnm6TDtagc3IpDftk1u1mCAFBoosQ4CXG5rCFRxljkPynfcAaKSbdMKNx5As94dc8cBRs_1JqFGhE9nMa5iE5zKfWoyUedpnur-CfQYm1GL8PWCBJqj-jPMU97aZ6YwoaY-A9mlGiOWm4u4v7vvloEb2H-JEPaiLg3hJD9el24LEjZo4ruao1N4xaVQiOCpMt0NMmXFYfhxYZ0NgVzFX0a-zITOQ1xT2EPUDnCJjKwY3RF9REbJxkBs_kIhLrV8X8x1d0KYl_v-uz2FYeqY2SO-YOUmO7d2AkVIKxlWPFkk31fjIr0USerUkMS49UFMZxNeAH_BuqkoDpLO_vRJUFXGOtTkkiMB_v6hLWYBoOm2ltraadfjW4KZkTkKTVy9HgRc0Q01QqH2mxbKVZfOu_6Y7ps65yOfP-Di6QNqfMkidAo_nbQCNUTakZW6Rlo7glZ6PXr5R9pdFgT5eUY5AFwLEBXWD45pMH_S-iMA23VqvJ5xC6Ouex-0xqbyyHJXSRP_ZiKhGs5SceLCkQEbFymdzY61b8xC1rTeyBvUhbrDz8voOg1RPvlcQWnlwwRQVdEldLr_jBgvHRNQEM7Fahr8TbNxau3keSCCVAS9nIcv07i9Rg9ce32YGi4Ntb-1gOoL8gu8ZktvJDK5hWPv4mpI6xy92sTGVNQuhAZfzRSlI1wDIzA5JEY_kFiBDlaefYI2jv7flZj2AthKR8__a2KwlIjmPkWg_Re70KAwcfJEYNduDRMrP-4xGDwsFhx8kgSDe06Rz10pmx0NGv00A_wmYAZeO2ZxrO2C8PxAps7BSaG8nMNtsOAd5KbdmVnQEPOA0gOs-MTD8BSvEcrwR2gnLs6Ouu4VBXszD9ZQG4uShsTa4MBYDlTk1ZrdgUU0bHMT4MvHyeF7VGFZsCHmfa4Ea5xt8KN-Xw7yLfZ5Nf84lmRFVfDmSRqRL6vzjwEcaMgROXMIno2HWeqeRXT6cghZq3zYjlMFFJWO-aVvXQ3KHdyVqKEC7H9t3N4_qWiDHbhSOBoDmgHudKF2_BDNBz-Z-KISqF-9AoBhDIGDz_2idGvoB1izgXaYOzwwBMFAvT_WGi-WI07iP4TodiP5lBJrtZxAMyEukddEVlV7ND6hfFqcugLsqzhE65SWzZ2lVVOHiwdHYjT-5bGSlVUMfwLadk0DDU4JjD8z164eomTqkmYxn-echksrbaUOqWQ0lg==",
  "id": "rs_036e5e0c05cbc5a1016ab2bbed350087d0b0c0fb9c7fb2c801",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.055,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"I see three fruits: a dark fruit on the left, a yellow fruit near the blue bowl, and a green pear on the right. I am positioning the right gripper above the green pear first.\"}",
  "call_id": "call_zaXybzXuiLcllXaLxnRmrpWp",
  "id": "fc_036e5e0c05cbc5a1016ab2bbf0916087d0bc6932b0da7b48f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zaXybzXuiLcllXaLxnRmrpWp",
  "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]: [-0.0204, 0.8021, 0.6132, -0.3901, -0.0113, -0.0086, 0.999, 0.2722, 1.1648, 0.4202, 0.1162, 0.2096, 0.1059, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0008 left_pitch=-0.0107 left_roll=0.0001 left_gripper=0.999 right_x=0.3298 right_y=0.0576 right_z=0.09 right_yaw=0.0292 right_pitch=-0.0462 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.306, 7.3094, 1.8291, -0.0513, -0.0513, -0.0122, -0.1299, -4.0547, 6.5983, 2.1172, 0.232, 0.1294, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4de6e3e0a0eac6b37aac06e5b48db9405fa1b122aa2b1bd2b4c2f2a99f7f60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043040beff26605f9247e7fd2927e3b2fbe6e0d2b8247c6f6911a91459a1d728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00eda125031ec14f5659892591c6ff8f98ddfe750bfcec2f064dc444a973bb86",
      "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, 0.6136, -0.3824, -0.012, -0.009, 0.999, -0.0227, 0.7994, 0.6197, -0.387, -0.017, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0003 left_z=0.1824 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1842 right_yaw=0.0 right_pitch=0.0 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -1.6752, 9.6205, 1.7802, -0.1245, -0.0464, -0.1148, -0.4581, -1.7299, 9.2513, 1.8437, -0.0952, 0.1343, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrv99jZXc5o_rIa81H-dgcrnGGhEtaOC1Zrg5JxMEj_9Mg9fmfaAP_g-Yo4hxzd6rif2hofWOWhZ7AKLfA8qnY0MhiUuZc8Ri9dRJw5ACracw17wq316d1pzyxtpveVERbUEpkztR_Hsl_i48SNBhkD0bmXeKeoWkmCkWdCf0vPNY9yNFmL0VU16CnBxOtlZ2mdOybBshcscSQdLITHMnVBhI82Q-75BM6Wm6y5yiru9iEWUqYe9h0O-M4k9XNpY3x2tRWa3TdAL5xW35UXb03xycDTcCHVKt8kZr0Tlyx59B03yt1324i_7mbW81pluXgVeE56_i4Kmsddl79CtrCUHEh1F6IvOkOm_QGhldtIoZCq-t37cWZS5iIsDzJE6B2LcrX1pLkmbVG8HSs_pAEqCM1XN9X6E-x6dAaGG09VjIMI8DJ3BcsWPCbpL-30myxAvOy-3BoTxgdWdRrJ5pAoGu3I4vP_-A5Oag03zlOLLxIbRLMCQY7meiPoQvJrYCY98tJ4icEIEp41uAajESKue9j_Px_58NlY_qfLAG53BpyeqYjGV7RrSYV_f-lqclbN1hYRU86w5ct_GLln7T2wMtTTvytUlqUzjUIfa2IiLv085Qj_xBtnQDuEf8bMgN3Br38AOG6azX9h4IfoQWSnjpVAodvKb0YP6R-IhZHc9wfnI_wDU1NVT8xYVRnHLBB-ALx3CSfFcg30Eb2TKVmu7OWbrwi1AkTktgP6eMiLCCMS-l7ece7we1cHcSsO-OBApGEQnWZt1gNKiP_HWEZ3P7yl8uhuZEO424Ub4WtdJAvG5Ukjb7xMIuONr5RhtNJrVF7mTv_A0xssqi1PLBjNYJ-zCPfr2WDJZFa7wmGMDE2RuScpvM3ldtd9LCLEVcRwe_35iEVoqdrAMDSM5sTKCcwFkEwRNtR5m0H0XYZznrvXAT1ZoXmHOvZILc46ERBipNpiISWy-6_UCCIR42uzArILtGLhDq3EYCJfMkCbSX7jF7-cBkssA_xy2J7xwsmZH_8rp1UuroRkzxdk5vIoKKdSj1xzy8N4eDLHtssOonMSP4EdYkXnjK3wH4e0msyBE6vSuP8e5EzJsB4PUme8QCggUAzVb2FAmjt7gPo1xB_ghmzFOb4woTlQtxkvHuPFHbzlqDbyfk84PTMXaDO35pAodBTCa_Eb_-yiCLqKd1c4hoDK0DyaqFC4WDlKGwcO1ws841MTSEovFxCNAHGrddn-T0b0n2UXzRjg4bdfDYrcw99flivT6UEW0xfB_31iP",
  "id": "rs_036e5e0c05cbc5a1016ab2bbfa5f8887d097e3c529ca6b2355",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.028},\"note\":\"The pear is centered between the jaw columns in the wrist view. I will advance slightly and lower the open gripper around its body.\"}",
  "call_id": "call_K7v4HJCsd5c8ScP4aj2ZFJzp",
  "id": "fc_036e5e0c05cbc5a1016ab2bbfb7ee887d0971d6a0f235ab220",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K7v4HJCsd5c8ScP4aj2ZFJzp",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4011, -0.0113, -0.0086, 0.999, 0.2356, 1.5337, 0.3408, 0.532, 0.1783, 0.086, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0003 left_z=0.1766 left_yaw=-0.0005 left_pitch=-0.0256 left_roll=0.0004 left_gripper=0.999 right_x=0.3459 right_y=0.0545 right_z=0.0207 right_yaw=0.029 right_pitch=-0.0823 right_roll=-0.0225 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.306, 7.0222, 1.8779, -0.0415, -0.0611, -0.0122, -0.1026, -5.2718, 4.3966, 1.9658, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d38f8e3f8fe3481a665ea50a6ae0f0faece54601a67b7736d0bc8ea26de56c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce57ea848af50c14f4c87d73cf38afcf89258e4653d5f3f2f88c8c0bcfcef585",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fefcdc12bfa3866e52ffa039fe8dd8c8a3cb72c9f97ad75c4984bc969369cc2",
      "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, 0.8021, 0.6132, -0.3901, -0.0113, -0.0086, 0.999, 0.2722, 1.1648, 0.4202, 0.1162, 0.2096, 0.1059, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0008 left_pitch=-0.0107 left_roll=0.0001 left_gripper=0.999 right_x=0.3298 right_y=0.0576 right_z=0.09 right_yaw=0.0292 right_pitch=-0.0462 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.306, 7.3094, 1.8291, -0.0513, -0.0513, -0.0122, -0.1299, -4.0547, 6.5983, 2.1172, 0.232, 0.1294, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now surround the pear at table level. I will close to grasp it, then check the gripper opening and lift.\"}",
  "call_id": "call_pRoiZSffUAjOMCGgiuLv4Eaq",
  "id": "fc_036e5e0c05cbc5a1016ab2bc03df8087d08c71cba6d6a8e0e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pRoiZSffUAjOMCGgiuLv4Eaq",
  "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, 0.8062, 0.6132, -0.4088, -0.0116, -0.0086, 0.999, 0.2356, 1.5337, 0.3408, 0.5339, 0.1783, 0.0822, 0.7616]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1749 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=0.0008 left_gripper=0.999 right_x=0.3462 right_y=0.0546 right_z=0.021 right_yaw=0.0311 right_pitch=-0.0805 right_roll=-0.0252 right_gripper=0.7616\nstate[joint_eff]: [-0.3487, -1.1692, 7.1726, 1.8193, -0.0513, -0.0415, -0.0122, -0.1573, -4.8615, 4.7385, 1.6386, -0.0122, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd8e8b0d8e1a321d43644bc3533f2fc32c64b78709279fd6b5f46b780f6f062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64602011ef8d2c4eaba20f4bcc71a7bc1d394967d836dfb197f52b7be8523e47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8adc5cf83663b693861e882f9c8a651ebf7c402511cad11b5fc10ea4c2f486e9",
      "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, 0.8059, 0.6132, -0.4011, -0.0113, -0.0086, 0.999, 0.2356, 1.5337, 0.3408, 0.532, 0.1783, 0.086, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0003 left_z=0.1766 left_yaw=-0.0005 left_pitch=-0.0256 left_roll=0.0004 left_gripper=0.999 right_x=0.3459 right_y=0.0545 right_z=0.0207 right_yaw=0.029 right_pitch=-0.0823 right_roll=-0.0225 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.306, 7.0222, 1.8779, -0.0415, -0.0611, -0.0122, -0.1026, -5.2718, 4.3966, 1.9658, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184},\"note\":\"The gripper has stopped at a substantial opening, consistent with holding the pear. I will lift it a few centimeters to verify the grasp.\"}",
  "call_id": "call_FApJuTMwn4ur3vnAEKpBSu2N",
  "id": "fc_036e5e0c05cbc5a1016ab2bc09d72c87d0a11ebb9181b595ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FApJuTMwn4ur3vnAEKpBSu2N",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8268, 0.6262, -0.4324, -0.0113, -0.009, 0.999, 0.2356, 1.277, 0.4541, 0.1127, 0.1745, 0.0788, 0.7617]\nstate[eef_state]: left_x=0.2924 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0009 left_gripper=0.999 right_x=0.3363 right_y=0.0529 right_z=0.0669 right_yaw=0.035 right_pitch=-0.1311 right_roll=-0.0359 right_gripper=0.7617\nstate[joint_eff]: [-0.1026, -0.9915, 9.6342, 1.6679, -0.0269, -0.0513, -0.0122, -0.1709, -4.9436, 8.4718, 1.873, 0.0708, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597a16b7e8e860efbd499ccbdb505f0a920525b505197fb0291c9fe25283ff4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2171a71020796bb4945c65b64067cbf1bf2dd9d643fc6580cd1e87d4e0e9640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5b9593b01ca8ed0006572dc7bcb142b2be6bc15f520f82397e0ec1a3cded03",
      "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]: [-0.02, 0.8062, 0.6132, -0.4088, -0.0116, -0.0086, 0.999, 0.2356, 1.5337, 0.3408, 0.5339, 0.1783, 0.0822, 0.7616]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.1749 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=0.0008 left_gripper=0.999 right_x=0.3462 right_y=0.0546 right_z=0.021 right_yaw=0.0311 right_pitch=-0.0805 right_roll=-0.0252 right_gripper=0.7616\nstate[joint_eff]: [-0.3487, -1.1692, 7.1726, 1.8193, -0.0513, -0.0415, -0.0122, -0.1573, -4.8615, 4.7385, 1.6386, -0.0122, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwSJk2bexh20_j9ka5l3-U_alKYK1JZ5cb0f3xfaEjzN4vgn8I5eHSmqkBEemuwxhaPEtZ02pzE7jHXjgexbdZGhtaK8MZF4G2ODO6W5AwD-t16HYyE4YTAiXvsGPp012KNkYLAWeGQ8sIDhAL-2FkM2LhBoucrX05MTjDMLimHlHKzQJyWSEUfOJNuPIb6RiLBhV55vWvSmaEAIqE-v0C5wtxWgl-dguuDtsWIamiIq9Z9EoxZtq96yr8-E1tp_uvG_Wd98nBDdHGgOBl3Cp3psCJXods6dMHNVhEGmsMs-yhp_zQbYlpGwg5nsz2s8CPnx4EMjUkmD0zuxG_Z-kbgfekAl9POjysW04RP8o20aWPJrz8KS-9ST2YjJ7-LDlGPLZKGLkvkTaotSm9qtQdSkk5nmrPpzYEeGI6yquxR86zkY80BHeIHmjSbKgODdbjsjSKAtWLEOyixv-PJ3z4x_mCUXpJNezJqjyjJq3_4dNEfLRgA97j_f78M561PmEcJ0ZotpG4mI7ihtVHTtQBvjbh2No11vvjSYzXB_4UgNa7P3NebrTjFqvgBr9a7GC-3D4wjncNYtW2EfHYEmkdNEvWBxi9Hp274Q9wZDlbKtx3uy_lV1Jm5lejA-RSkpk57iObWwQwjwobE9c3WgeOOPE-uLS5gbrWUFDGw6PbaZT9fbvvP0XAs7ejZGenp3z2eahW-dcufo6W7p10k2pJMSAIwX2xMkojR_ifdPTqYbJ8Z0kEQsPlVEBn8SXx5_v0ZDLOFadlzeBIFX3eCKjAFLCKTljXpONUz0TUgs0DRFCWP88QtRgrV8KCW7Zjuj5ykpvUIKwLAykzsHyS5squ0jBeNfJ4cRjbMmBY-aVnK1A--JKEaqlDz0SG8ZgOKaIi6g6r0isVOjybm5a_eHpxCMGDdjRyB2Kgdua4Uv3u1rXmrmySDUEMP3mblpFZ5XxTKyI_hRMPZN6EFl_M1QdH6hCbd0ZyJLq4LMYwA-R-wl4aql9lMSTOOXpm8SEzuhwTfaFv48qBG8ML8w2rIIqHST16D_bMyXZMqCzDmEfD4_8cVEPVzQh5OWD4ZBvYFW9cqGxZtyLfa3p53xp-ZOLL-J3edAwBQEU6zzKckaDdTgA8lU2xz2HQm51KCMNOGYoIspa5WGIAWtg-IZaS_3o9Pyv-jcUS37ZyH30wv73R9PCBjyUv-ALuyNH9QG5g-ynVhggHdFT6DHOyjY7lV5U-8ArfK-fasxOjA91CK6XpMVlRIebTzH0nhx4PJI-1FZQsKX-JMcIsPhZCYs-TDi8SDMOUgGJbXXj5AWkUQ89n1cm6CGVXYElkycZ0n7kuwKHGM",
  "id": "rs_036e5e0c05cbc5a1016ab2bc10174c87d083a8ab9b0a1edaf5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.15,\"right_z\":0.19},\"note\":\"The pear rose with the gripper. I will carry it above the blue bowl, clearing the rim before releasing it.\"}",
  "call_id": "call_9gCZkJJJjZdWpWY0w4ZS6GHy",
  "id": "fc_036e5e0c05cbc5a1016ab2bc11b5e487d08fd99a49ab4d18e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9gCZkJJJjZdWpWY0w4ZS6GHy",
  "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, 0.8326, 0.6281, -0.4431, -0.0116, -0.0086, 0.999, 0.4358, 1.6608, 1.285, -0.4168, 0.3031, 0.1883, 0.7688]\nstate[eef_state]: left_x=0.2914 left_y=-0.0002 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0017 left_gripper=0.999 right_x=0.4389 right_y=0.1502 right_z=0.171 right_yaw=0.0647 right_pitch=-0.1823 right_roll=-0.0615 right_gripper=0.7688\nstate[joint_eff]: [-0.0889, -1.853, 6.8444, 1.746, -0.0659, -0.0024, -0.0122, 0.294, -9.3744, 8.5402, 1.6435, 0.2955, 0.2711, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1aeb5a2482d05199fd0c9881c8ab5c785dbd17de372c20f9d28b82565054991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acaa1b19fdd5cffc2f73ad0226c4e640ae802e80463838c86f9ccabec1faa0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:594f1bf18d972e59342805a61b12fd3b49236169f9641412126f106f6cca44ee",
      "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, 0.8268, 0.6262, -0.4324, -0.0113, -0.009, 0.999, 0.2356, 1.277, 0.4541, 0.1127, 0.1745, 0.0788, 0.7617]\nstate[eef_state]: left_x=0.2924 left_y=-0.0003 left_z=0.1704 left_yaw=-0.0002 left_pitch=-0.0648 left_roll=0.0009 left_gripper=0.999 right_x=0.3363 right_y=0.0529 right_z=0.0669 right_yaw=0.035 right_pitch=-0.1311 right_roll=-0.0359 right_gripper=0.7617\nstate[joint_eff]: [-0.1026, -0.9915, 9.6342, 1.6679, -0.0269, -0.0513, -0.0122, -0.1709, -4.9436, 8.4718, 1.873, 0.0708, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwZYrr1LnY2WVZx2zz2feZiH9Hs5VJO0FIFINbaiMjBD2UOniYdJQul1uG3nc9VNbfnOjYKV9wZy5YgAnCNlpl9Fpxd1e626GdeVYML_4R3sbSlcOX1Y7dFRahbhQPKWEso468N1FtjPDMgfTX-ORQKrF0SyLM_cUprthLAHjt_xnb9veIhiovGEOOGunGU_rRIonUvEwHRzsMisenIOxk6oDJWMRfgPwAOzjc84CSd4JDsmf0RQD_IUC_uNQee3861V0Cw1_P_jIrPGq9Qzf_5CwVjp7ASyl1BLLWsDQqQJZbY4utHeUXUEBPhFLFAgk5aisXAyf8n_fRyfMI6ysFvjDQNl0Qi_RcY8vcZR69ayR-MA94W1b1RYwkdxR8aAsok0O6c_E7jSJnG8J3RD8Sy0G9REGNQLXJkRuzMn6wEykEXOBfvkwCEwv6i4YyNaz1Zzso4Oh9kK_5xKJQIJ2P9kqeNftj0mauFQF-kDPKCxG8ael6yLRB89OINkhfRU9qMdc5CyYrnSdp6chOH8grwEXYAaB6is1vS3IZ3stHbrxKc_OIUuvfx3gQJVM4PHJqJwCZ-QVyvxWBkkQgLezMgpXdag3oCqrfW-gl0N_zBbKZVdED2hyvBX5HbZEsXDH6_SIThbgj8heyD-N3aPxZ_8kdSM70DHqzDOaYACpU_uT5NAg-hfeKJi8VPaUTRqxpSuplubed7wnLhGmTAfZhyyh8zzqvJSEh3twHhbwGVV7Dk3LtpWBaAKcJg-JYdVhSXT5yPCCz9-fwq6nz5nKsdomcO8fly9F8-Mhp9K32MCAWFK8TB6pemqTyUgwpLYWGEgCgknw8VksvO78Ysd0ChRW9pBOCTFyUeT_m_ZjSKcienI0AFpjqHK6r4VbRWk0j0PCq6yvrEWHnOscvlSCMz1dCt2duscQ90MKb_xZxaZYup6FEnlWyY6KmhdAxSAzR78Snh2YSmx3Ijt1dhS_PRPUxYHiXWTB1evFcM-h6zSTJEnYSP9ychhxentpGkuJFh793Yl2nAPARsTomopFOiCioh7Y2_YZa-GJvJD2IrgSJ6Wj-4k1_nTtfeTDIgrNxMDurLISsxKztgy6-Nl-XXP_X3K4B6CLcswK9UeuM2MsIP5l0JCl9SjyI0GqC7qi-avguDh0e_-zuREX-R6WLkOkF0kce3FXeQ688ydcKzOXcwEyG8wL0-uhJ9JtO8tMr7G1yY43300ID_DieGTlg-VGXpTUK-brsnNla1mll9KLlkGgc5gHEP-XaPJWOLrIH6swpJ6mb4g3LhMgDT2DEyFUnWG25ys3FjVq3LaKq0upUZPkXRrVj0PdUHCUQ1bKeB",
  "id": "rs_036e5e0c05cbc5a1016ab2bc17364887d0be99bf9f0b56f7f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The pear is above the blue bowl's opening. I will lower it toward the bowl to make the release controlled.\"}",
  "call_id": "call_SN4OagElmcnpLBNWBFvOt2em",
  "id": "fc_036e5e0c05cbc5a1016ab2bc18715c87d0a55a9993973e2939",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SN4OagElmcnpLBNWBFvOt2em",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6281, -0.4496, -0.0113, -0.0086, 0.999, 0.4366, 1.7309, 1.0874, -0.1982, 0.2916, 0.1909, 0.7688]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1664 left_yaw=-0.0004 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.999 right_x=0.431 right_y=0.149 right_z=0.0953 right_yaw=0.0698 right_pitch=-0.2311 right_roll=-0.0697 right_gripper=0.7688\nstate[joint_eff]: [-0.0615, -1.3197, 7.0359, 1.707, -0.0024, -0.0757, -0.0171, -0.1026, -8.6222, 6.4889, 1.917, 0.2125, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e387bb4ff807920ccf545e6f8e9e5636796918b50b51266865ecfbc512761eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe22909d77adb100dbc60831ea6b3670dedcdf82672b39e21bb86018091b0f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb9b088cd4d888f118489eb45eb56d35967fa0e02def3cd951f2dbfb5461887",
      "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, 0.8326, 0.6281, -0.4431, -0.0116, -0.0086, 0.999, 0.4358, 1.6608, 1.285, -0.4168, 0.3031, 0.1883, 0.7688]\nstate[eef_state]: left_x=0.2914 left_y=-0.0002 left_z=0.1676 left_yaw=-0.0001 left_pitch=-0.0793 left_roll=0.0017 left_gripper=0.999 right_x=0.4389 right_y=0.1502 right_z=0.171 right_yaw=0.0647 right_pitch=-0.1823 right_roll=-0.0615 right_gripper=0.7688\nstate[joint_eff]: [-0.0889, -1.853, 6.8444, 1.746, -0.0659, -0.0024, -0.0122, 0.294, -9.3744, 8.5402, 1.6435, 0.2955, 0.2711, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear overlaps the blue bowl opening and is low enough for a short drop. I will open the gripper to place it in the bowl.\"}",
  "call_id": "call_IXl44sUq3dD0hyXXeL4Dpp5r",
  "id": "fc_036e5e0c05cbc5a1016ab2bc21c79c87d080d9ce29c753df2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IXl44sUq3dD0hyXXeL4Dpp5r",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8322, 0.6281, -0.45, -0.0116, -0.0086, 0.999, 0.4366, 1.7309, 1.0874, -0.2066, 0.2913, 0.1841, 0.9959]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0858 left_roll=0.0018 left_gripper=0.999 right_x=0.4296 right_y=0.1484 right_z=0.094 right_yaw=0.0732 right_pitch=-0.2393 right_roll=-0.0774 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4154, 7.159, 1.6679, -0.0562, -0.0806, -0.0122, -0.2667, -8.4171, 6.3932, 1.4921, 0.0415, 0.0464, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79262e6dbac3229b51977d215440a296b53fb8edc0f0c10272ea848f69a3e441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8d3bcb2f2f593b7e4b157bbd7933eb14615188197bb0934982efec69bb0216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22ceeab5672d282d3338206c4f90bdbc115884af05258ff1ed3d41e69f38240",
      "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]: [-0.02, 0.8322, 0.6281, -0.4496, -0.0113, -0.0086, 0.999, 0.4366, 1.7309, 1.0874, -0.1982, 0.2916, 0.1909, 0.7688]\nstate[eef_state]: left_x=0.2904 left_y=-0.0002 left_z=0.1664 left_yaw=-0.0004 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.999 right_x=0.431 right_y=0.149 right_z=0.0953 right_yaw=0.0698 right_pitch=-0.2311 right_roll=-0.0697 right_gripper=0.7688\nstate[joint_eff]: [-0.0615, -1.3197, 7.0359, 1.707, -0.0024, -0.0757, -0.0171, -0.1026, -8.6222, 6.4889, 1.917, 0.2125, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwn7qn3qJFWkKxMQ8-f6BXGQyqJ4tsOUR_ucyg6_x9-gpPIGZAFTYmBAFk3fMZo2huDu6Z2frbwMecQB_LpI6Kzi4v7yj5Hs0ra9MOG6uQJ3OUsltpBxY5kWsQbxJrF7C5r2-16_I8FKZ39HBm7mwtuUeoavAUZml50kBfTs6OEaBH_95gbgiXpNkTMOXR2ROMd26iNy1EJJ7KSafyjFzUDrq9dNxspbIlIYAUSXrmFTgpls7KRBWTbnXtXRqdSbzeKkq4avbvPNV6Sz1viu8yYNL0wBjjZ0_ULuhlFE8F8wtItuc6vabtQuZ0xZn4wt4JE82bSlnNfTdRgjBF6kuS_9Sf8kXETPK3w0bpD0f-ZestgWKhSuu4KFu7QwniPjWHJS5zWtXtH5lew6C_Ar5CIVv29cfBRv2iyHrCa2M4xQORcZXpsLhjsHfJ28_NrCaHkNI9q7v2JPiQo5DxjcUyzBzyaP45NZIBnayzxJpDUTiC72WLzABY21FfH7EL9Mq2gAEXqvWIO0387SAy3yd5fAPso-8lq95qYDTmGfjBf91ijkDFEt2m_P0OojXLA7UNjWjddfEtqw4JWeup7QyPYBkgnR3QaFnDwpdgZu20GnC9Joo0e_Vs8jjLKzoXttYaiaJU95PLpngL8D6PQ__3RMRN85rd5AJBRdODJbc9R7F2pXL9OgGaWsZEkqW72C1SYysdFxB1LiNaJD7oirOISn_oq46gHeidipRECqDo1-KjPkCIfiRwnv8U-eP-yMN8EBO7w4sxv-g1OBD98BIzBs7OOrF5JADEylGQkOKNzzjht1RG2mbLjzuLfPy8cKGMf_5ZcyVJnw6lmUmMwugaD8hTvYee33osd9FA-izEK6aqH1la20phwVqohJuFN1t1qHJ68TXvp0ja9MO1kCpxJDBqj1xM_XaYWaMZr1UPqiFHdTsu24QyBZhM7QJFdeX3h7Ud3Y14F3OnOuraQjJRyfMrLXyoYVbn9Ud8wU-ZdUNhdpP1SdG29zM5C-i4Et00HnqiuiU5w_xDWAcrlX4zZV9O8guNOsN7PoiHu5RejiKoDYXB_8ChxPGFjPhlc726_Uzm9Ps5iQwjea3stFVp8SRUWGBjxVYvE41AQCy27jup4SwUmLs--FfN8AUHmzT3bkdMxjYYYKwFFmWFLdzFj8HNG_TVUqarliK8dzR5i524ars8N8DuyaCfi3u4zNVgAYurNlsF1NDPHC6bC0prKK_lAXGdv1g6N35NkGOmxVwTEN15tulXYJ6frmZjssLkt",
  "id": "rs_036e5e0c05cbc5a1016ab2bc24f39c87d088d1b614f0e89054",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.33,\"left_y\":-0.095,\"left_z\":0.095},\"note\":\"The pear is now inside the blue bowl. I will park the right arm and position the left gripper above the dark fruit.\"}",
  "call_id": "call_RobfGcMZzjeus4EJMPXspvoJ",
  "id": "fc_036e5e0c05cbc5a1016ab2bc25895887d0b933b8bb9090a269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RobfGcMZzjeus4EJMPXspvoJ",
  "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]: [-0.4755, 1.24, 0.5293, -0.0341, -0.3595, -0.297, 0.999, -0.0288, 0.9947, 0.8707, -0.7025, -0.0132, -0.1513, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0937 left_z=0.0879 left_yaw=-0.0065 left_pitch=-0.1192 left_roll=0.0148 left_gripper=0.999 right_x=0.294 right_y=-0.0026 right_z=0.1813 right_yaw=0.0568 right_pitch=-0.2624 right_roll=-0.0795 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.3419, 6.612, 1.8046, -0.2662, -0.105, -0.0171, 0.0205, -2.3316, 8.0889, 1.5214, -0.0415, -0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6bc5388cc8d5814b3211f761d9111123727af9585bab481e1c2d8bc9d6d3d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b7ab15d8329c145d6ce953d1b9dcb36627311a32a7429be9ff7a0c6b57e59d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5c586f4a6960678392410c7628e1ea3bd881ad07aa815a3f4bb8383fbc2009",
      "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, 0.8322, 0.6281, -0.45, -0.0116, -0.0086, 0.999, 0.4366, 1.7309, 1.0874, -0.2066, 0.2913, 0.1841, 0.9959]\nstate[eef_state]: left_x=0.2903 left_y=-0.0002 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0858 left_roll=0.0018 left_gripper=0.999 right_x=0.4296 right_y=0.1484 right_z=0.094 right_yaw=0.0732 right_pitch=-0.2393 right_roll=-0.0774 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4154, 7.159, 1.6679, -0.0562, -0.0806, -0.0122, -0.2667, -8.4171, 6.3932, 1.4921, 0.0415, 0.0464, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwvkm-lN1Ii8NALGhOu1NBqDMU96hNXavjOrKaca9CBgeK6esmjHqvx7FQHMxhR8SHAdvWOJYqxxn848i5-74lO88h_RCojyMOxhSyNFbNgJI5Dvu3wXU3tlcmL-UsGlciinmuQohb8XQVSnqNqQtM9lTx2nv0olGh0ftgjf5QJCYr5qcZ4Fg4FMMhs40cZg03UQjPIIYqP3LJlkvbQNO9o32zVy_9xVk4tJTuQx1oVHwv-vB-fXJwiN7Rpr11lm4hMLOjlyfPqdTx7puZuwpad62t9d7PNPeGiiICabJcNfePnuOt0CnsmuedRUKTVIMclpnyrw-T8uUrhtEGfh_ZqpSE5WfmKMmg_lrSfE70Jjn9VG3zGbWb5b3O16FuQQqdwbsdfPfyogASdRiY5TPz5PPSekbXFOHN_gNr2Bwoz91U7eqwfxuwWOAK6uQnzE4ZMDlFFAUj2CFgYCLTiU6Zl4JJ5epgUV2OK6zS2zoaQK_Mf0qVcLMakgCoIS6kOH6saMUNaaJa-cHVu97lQLSFXnW4w7TvWcFFHJwr8nMIRwXyE6up92JupUKJWeJhj-OSEB28kR8FFNb5crswti_9HE_Lr4nbMsdW-zuW6aMht0NIMr9yzBMjhMpzXcgk5YfD0J8CoTdvr2MddfDcFwG-_FthpzSFjbGKVOxkMAEJnXCx4JlelCUppl0YvIdiRLXSeh1l8eoYDuFhAsV7usea9vXSHW_Jr65bVwFb77zpG5INjeUAxWKRSe1c7jlsSdQfb5GXDBEY52H4BxeHS5oXNrRKKqtIUmN2wmPcIokmcgC_n_7tWgZ1yvUGt1Gjny2oltBRWjpbVtj1w53dwhN9fzi-UqFlbpSOUmkyVIVb_AhTT8STaz6uNHOMyLdYu_hoUY0jgUHvHhJazM9W4hIk24sQ4E9sG575M0d26c_Hp8dUz5SdlZqRl0-AhLWhTpwgeIh75ZsZ0kwCxC_NlkbnlAI81ScHUr75uDKJeK28pH8lP_XriGu64tH34NJlJTlKuzJLst9pxnzD54W6NFwOdlyUTpnkHfQnyO-BELhI9R8h8rfUpi2vs15ClyOO_TBssIM0zZ_SmrvgLZObBPoOgyUyVww1LxZHCQcZ1_CKwtPZMqNvkyGpFsWIBixvwJgjp7GAcOaK6CorhtYPLTD0Xjq28_eWwemL1tQQeM07ASULGeeH_iKAcqkYzQL-0H89dT-NNUbbwQeYdcODv5Q3smijybl5PNyBMDDvBtBlIJj_DfR4XCwF9O1qdJJur9B7n",
  "id": "rs_036e5e0c05cbc5a1016ab2bc2da77487d0ae6aa730605c8444",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.074,\"left_z\":0.025},\"note\":\"The dark fruit is slightly left of the jaw center in the wrist view. I will correct sideways and lower around its middle.\"}",
  "call_id": "call_Fq6SodXUBDvluiSEckDm5eCU",
  "id": "fc_036e5e0c05cbc5a1016ab2bc2e71f487d0aaaeeb0ed91e74d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fq6SodXUBDvluiSEckDm5eCU",
  "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]: [-0.3424, 1.5581, 0.4416, 0.3656, -0.2718, -0.2165, 0.9989, -0.0284, 0.9985, 0.8707, -0.7094, -0.0166, -0.1581, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.0707 left_z=0.0184 left_yaw=0.0116 left_pitch=-0.1491 left_roll=0.024 left_gripper=0.9989 right_x=0.293 right_y=-0.0018 right_z=0.1791 right_yaw=0.0642 right_pitch=-0.2732 right_roll=-0.0806 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0239, 5.0667, 1.8926, -0.0366, 0.1197, -0.0171, -0.0889, -2.7282, 6.7487, 1.4969, -0.0366, 0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b22ec79b810ca849c745d65fc970525f8545794c3de0f71ec03f6fbefbecf36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48dafa84ef8b4a86a0118b5deb0d5267d59acaa01aa6dec8cc50b64e8ed3beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c72233687083159d5328b292922fddece55833639f0ffdb33f62ecb89f56e9",
      "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]: [-0.4755, 1.24, 0.5293, -0.0341, -0.3595, -0.297, 0.999, -0.0288, 0.9947, 0.8707, -0.7025, -0.0132, -0.1513, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0937 left_z=0.0879 left_yaw=-0.0065 left_pitch=-0.1192 left_roll=0.0148 left_gripper=0.999 right_x=0.294 right_y=-0.0026 right_z=0.1813 right_yaw=0.0568 right_pitch=-0.2624 right_roll=-0.0795 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.3419, 6.612, 1.8046, -0.2662, -0.105, -0.0171, 0.0205, -2.3316, 8.0889, 1.5214, -0.0415, -0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is centered between the open jaws. I will close the gripper around it.\"}",
  "call_id": "call_AXFKoTQDJQMBfcf8UryFvIKA",
  "id": "fc_036e5e0c05cbc5a1016ab2bc35e93087d0a0eef6c20e23fe3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AXFKoTQDJQMBfcf8UryFvIKA",
  "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]: [-0.3428, 1.5581, 0.4408, 0.3622, -0.2722, -0.2173, 0.5418, -0.0284, 0.9985, 0.8707, -0.7094, -0.0166, -0.1585, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.0705 left_z=0.0175 left_yaw=0.0121 left_pitch=-0.1529 left_roll=0.0252 left_gripper=0.5418 right_x=0.293 right_y=-0.0018 right_z=0.1791 right_yaw=0.0644 right_pitch=-0.2732 right_roll=-0.0809 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.4359, 5.3538, 1.5604, -0.1148, -0.0611, 1.0281, -0.0615, -2.4547, 6.7487, 1.4774, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d42ea0d3ef85e0ea0d34e04c13f08cf47dbaed7d44ee3c13ffe4abc420d60b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0799e51bc30731a10653ea868ca82e98a84e1fa23d4a762b0d8dceed83aed9f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd41f3b9eb2ee3567c1ed4e1b35134b72cfcf47db8020c6efaaf304636528af2",
      "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]: [-0.3424, 1.5581, 0.4416, 0.3656, -0.2718, -0.2165, 0.9989, -0.0284, 0.9985, 0.8707, -0.7094, -0.0166, -0.1581, 0.9965]\nstate[eef_state]: left_x=0.3504 left_y=-0.0707 left_z=0.0184 left_yaw=0.0116 left_pitch=-0.1491 left_roll=0.024 left_gripper=0.9989 right_x=0.293 right_y=-0.0018 right_z=0.1791 right_yaw=0.0642 right_pitch=-0.2732 right_roll=-0.0806 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -6.0239, 5.0667, 1.8926, -0.0366, 0.1197, -0.0171, -0.0889, -2.7282, 6.7487, 1.4969, -0.0366, 0.0659, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws stopped at about five centimeters of opening, indicating a grasp. I will lift the dark fruit to confirm it is secure.\"}",
  "call_id": "call_07OvVUlAONjgFbWM2O72hzg6",
  "id": "fc_036e5e0c05cbc5a1016ab2bc3a74c487d08510e39d6f44c06f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_07OvVUlAONjgFbWM2O72hzg6",
  "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]: [-0.3424, 1.3304, 0.5797, -0.0311, -0.2722, -0.2176, 0.5417, -0.0284, 0.9985, 0.8707, -0.7097, -0.0166, -0.1585, 0.9965]\nstate[eef_state]: left_x=0.3447 left_y=-0.0686 left_z=0.076 left_yaw=0.0143 left_pitch=-0.1779 left_roll=0.0343 left_gripper=0.5417 right_x=0.2929 right_y=-0.0018 right_z=0.1791 right_yaw=0.0644 right_pitch=-0.2736 right_roll=-0.0809 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.6821, 8.4581, 1.4432, -0.1538, -0.0269, 1.0281, -0.3487, -2.2632, 6.735, 1.5018, -0.0659, -0.0562, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4deac9fcc0fecab33450d31a51b555980d239af2594ffc3310033deca847b206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6620836e09cdc3ae726db80f48b142e38d358af7bb50df897b2d01c08efb4c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7ff52d928562b3e05d767c2b74cefdf2d0048ee1916d1a4adcc73e59c64538",
      "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]: [-0.3428, 1.5581, 0.4408, 0.3622, -0.2722, -0.2173, 0.5418, -0.0284, 0.9985, 0.8707, -0.7094, -0.0166, -0.1585, 0.9965]\nstate[eef_state]: left_x=0.3496 left_y=-0.0705 left_z=0.0175 left_yaw=0.0121 left_pitch=-0.1529 left_roll=0.0252 left_gripper=0.5418 right_x=0.293 right_y=-0.0018 right_z=0.1791 right_yaw=0.0644 right_pitch=-0.2732 right_roll=-0.0809 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.4359, 5.3538, 1.5604, -0.1148, -0.0611, 1.0281, -0.0615, -2.4547, 6.7487, 1.4774, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxHsoKaqAogP5IRruqiQiwLyaErZs8-aE7jb1FiilZNDjqu7uxiV7Z2DAVhjGVbScl9sqHEQwXU5CfN9CWwAlTXMrt-jE16LohRY0UDrb-f7N909RlS2erwu3yugU6UWYmO1yq5mpQMVsd-k04JLGZjc_6bVlWW0SoPBjSX35ejmqXMNo_DcAWnpnsJeTqCU0EN77tFMoHxzrZBySiCFTZcMm60VBxp_fU3fOPDe9atEKe7_PvkpeFvyX_Wxv73ZOX35Nk044TntSLFe3uHSMquKMJmiPBTP17ImO7H14zKWTgeNkXIeN4wlFUqhgZ3fSHeswDfkeAG6xK-OR-VdUKDnTS5isxnl-xHZHu82oesRFcosSFCVUNDhiNs2nMzpzl1EFr18ZteO4Gn8uFW97bZo8VOriC4QC_NVQJwW4xhwmfciJLHYRAxpNLp-z6e-gp0LnfmamllmWMNHpnfAPRku-sM4GmFa_2-kLqEQXlqC4jM_FrlfyUQvG2az-03N25NMmPQE92Kx7kWW3Z0NeUYcsHsLBOF5Pym0Q9r7r7A9otoyrc6nh05MAD2wdOsWiGxL7SoLlczuEPkldfk_xQybw1qC-p7z3YbgVr0-CSEd5UoIbwiZfkUK9Ff26jEBi1Dyz51fah1Jtv-BkLjyvvsVE5MHJee7v4Pkt-_GrB9P1g7M5Yt42uFaFEsTOtBdbGDyZn7oM3k-0eypT3nu3i36ZrZV3sjluQoSGEwnsUQQEQGwhcxtxht_sliu_SkQ_vRtJ7C_bsBY7pLJFL47qWcpfj3jmgHYfIoUmlb-c3CjNA9iJA7xheBfYQ6F98C7HJ3Xke7PXrZekiVgmPLKoRYmc6FAdH-63xeEYrWLiXMQN34X1m5SUWt_DPHS-am3vbVliNoPiUxx4cGJf2IC3_2nSbyl807N3oFrh9QAMFVOpOLEJmvHbPnpHMrEV-WAUIRjbsFS_MVMNaSlWJ6tWTq68p8qJsb86uFQQspuVG4e19QB3F6nGpxzBA-7LNhdF_EL_GcvfnAI1qkl03visTuFPoZpoij8MDArrV0QU22rwaZW1WpWanwDGyFUlhMMCBRCLe8_9uhy-Cr00TaULenbTsC9LF6qMtOKKdMbuBX6LCN9zmMq2L-ZLktKaooXH0V6cQEw2Hr9V50NMHxYwGBDtByEd0jkP2CcSWvx6bEOACscZdaRxRJ75m1JQXh4-32KbID1kbE_mCKl00enbVZywsy1n14qwTLI3cfExFOO5o1eMYSi6QrhzKoWCR7HgyZ1NDoMrnuL0u9htXrcLunulecQfpkNkojX-yMbwJJNAvYwkWPHDWu8uAPFxlzvVhF5oFOY1fhIJBdHtU8yIYErQc5Jnae1INY_8pb1vC1LUQiGJQd8pgB321BtuOFNCwLkWdyuSIvdhRDJIxwCiJUOS9-9gbwSNNZZpbcdOWQhdz3O_0Xz2V6dplU2PRaa1Q9irSRNgQbF6JIjhCMgdc8E27P80I7rhUrGgG5Z7MWYwsTliogkPbQs52pjT8abqTEXawrK3MIwlvfJLQaFaFj6qx--7E0leGWDvNqbAuDL7oil2XMnr0pxFepLsg1IOQfAYwbob9D0Vu59de99Ec950G2c-VnXKVI_0tm8CRE8RxowJ-pRz_wgA0ArXh0F2VHahbQocSfyDOHxf3WV4CRNiFMNPXNe_jXIVKhKf1-JnFWvDYSl__ElU_U5FCgvHwv5oTjE4rGeiarQS9wDiLET8JjIQNSNBFQTFVM-RAi6aOJdkzGK49FeU-6eS42dU102a7qw7st8Uwc2NyhHFze3hNwH7Y9uFrRpzXUmAY8U02cj9mxLc5mZITgn-sW-07uj4HySHi1w1V6JGSGgbg7UrYu3raJ90YsQAkFmhhEASiizqt1dKueLJKYhKtZb2iO7WEuxdgx2UrAlewPqHLXdCw_fOkmiUGtLqZCve8EDX4giLV6ZE4Z3Pnnn_bVvpr0Hy_w__6vOrPsr3ugpL1IcNHPW8ABr5JKcxSp34iKJKxPx7R_kBtGuBWDP41AQpAIzdFTKuu9epVQCLyxk_RVFtFEWW8YdCuvmIYT1w4mJ9Z5ksBZGB_gZUXksXEgIsWNOssGccnHc3E69Uqr0BahCBxiWJM3M4WQ0nVybhvDvc9bijaeZAZTOt4HER3Ss0UJDn06DyaCgaGimPX3aShAErIIThzA0zVSBh3sOFkhToU=",
  "id": "rs_036e5e0c05cbc5a1016ab2bc3f01f887d09153feb78aaf8d2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.155,\"right_z\":0.12,\"right_yaw\":1.57,\"left_z\":0.16},\"note\":\"The dark fruit is held securely. The blue bowl is beyond the left arm's sideways limit, so I will bring the bowl toward the center by grasping its near rim with the right arm.\"}",
  "call_id": "call_I8Frh4rQekmWUZCDmGzq9T0x",
  "id": "fc_036e5e0c05cbc5a1016ab2bc45205087d09274145491df3460",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I8Frh4rQekmWUZCDmGzq9T0x",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.2335, 0.8104, -0.4068, -0.2726, -0.2176, 0.5439, 0.0795, 1.9274, 1.5249, -0.9409, -0.6788, -1.367, 0.9965]\nstate[eef_state]: left_x=0.3401 left_y=-0.0671 left_z=0.1382 left_yaw=0.0176 left_pitch=-0.2229 left_roll=0.0518 left_gripper=0.5439 right_x=0.3974 right_y=0.1465 right_z=0.1166 right_yaw=1.4515 right_pitch=-0.2972 right_roll=-0.0855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.065, 9.9897, 1.5751, -0.0952, -0.022, 1.033, 0.2393, -10.8239, 6.0923, 0.022, -0.6129, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56059bf7b17427244a40054940c63b922665f528290f25c6979406ef5903302f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3272276b3e5e68447efb6105df7023efbd9ac356a7b73f8ad598b1075bb2ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21dfd182c2b3e19ca901227f653d8b0499cdae8f23130133fdb5caabec03122a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 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]: [-0.3424, 1.3304, 0.5797, -0.0311, -0.2722, -0.2176, 0.5417, -0.0284, 0.9985, 0.8707, -0.7097, -0.0166, -0.1585, 0.9965]\nstate[eef_state]: left_x=0.3447 left_y=-0.0686 left_z=0.076 left_yaw=0.0143 left_pitch=-0.1779 left_roll=0.0343 left_gripper=0.5417 right_x=0.2929 right_y=-0.0018 right_z=0.1791 right_yaw=0.0644 right_pitch=-0.2736 right_roll=-0.0809 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -5.6821, 8.4581, 1.4432, -0.1538, -0.0269, 1.0281, -0.3487, -2.2632, 6.735, 1.5018, -0.0659, -0.0562, -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": "gAAAAABqsrxUvnZCGutbFHAYHpxnu0Rdhn_Y7bmCBijXyFqUe6EQsMrIAgSQshOhFOwPuJSxhuc5ALmIlqarwjiUQyMd4MH1bikWm5-vrNqGYcp5YAowgZCFpWYBmWCab3vRKSvCywD0IgmqK_uF_IsR4IZMR8GK7mY28PVluBUfAVetBrYRJJ-jAaI6aVzKbdveW2DZfg_edlA-PvbhWapQYDryi-58i1iaBjxEdqyBHGec10EFcil8TaR48aJ70Pw9sGJnjievApRWLGcImOJi4C8rJzVru2Zo5PFhBInzIKXpHo8JnDnFhXkwhwpBv4avo_2z_dQjjBF_059D29SffnQnG1iIytqRRmMfcyvbTPXoY2JjX_Ef1it1a3HneUTJ7U-smHLMAlfde3pmsiNniW4I3ehyvg2e5DN_UI5CKgvCNqHrO_PU-TPA9AboPWc9z1WgQcRdKfO38jLFsVno3j0zA0EcMYzI-IfJpoMgibEIQvQJjUQT2Gg2zUmQeN1FP4tBF1gWF6zJ0YRkMSBCd8iVSHg_2AT340pv3unyBikT6c2Z5I9ZcCYUQeqsDz01B1oXlRCgXTZV1TyGogJoCVAL_7Uq1m9HJG-lJ7fizWxLTCUrSdye11YuhcLB0txDnK4BYinNazKzn1-GT9KaIJNwb9h11Oc6QW-TiAlSHnd_mHpRMgBHD2alfcL-njYrNmk5tYKPzQ7Ayhu2EJJeHC0_h87RKWEWlZG0HFFQ8Kwr7NVjZCXy110f1IJPQ6NaVmejtOc8jA_iO__AT_Bg8E3MRY_8bl-Pvo54wm99tGyiJwVpnWoyoit9f_RbBECmD94Uf5P6uKKoseK9zaJTCe4U88mexeyDTU406gVngt7tdhAs1e8M3QfyVSekUUHantGHCypj-bsJilpafDuZOBQNXdMQfd573IqRySmvX2hZ0sgUWfkkewoFVD5Adni9RLob-ZeTCNId5JSx2CHslL7UxjRa-Vyz1PXJ9CJURP1hyLAizNt1DQ_5V-gHxZDPdH7xJWQN_7A7l_cl3_eimNP4zy-ezfgjShz-jgvm391Vkt87EwWp0B0ua-bSe_chaS_hODrgq8Oibqgr5sI8Vt_k0KcZhGoCLfBILH5Q6Pn_yV6SREOFRHxMy0NNxmR9E6HA_s1FAk2QjH-0d7SI03JHiQuTp5aP7kUiGbidbMUeoXNCZlP7aLlJz0jvIPxC42hESc_nVFZ7wyIYWquCE5_YQMlVcz9ptbDqlVsViEKq0OoB9nnrXRVTX3cntlf5f3NAeb_x8qmmuIdvuWNArYEHQJB1Hyo9SPKxIhHY2sAx71NnvbvG8auYad6xtm4zn3JsGRjRLS_OMrk3dVkCREJa1TWp3gp5yEiXqqHFO2BF86TP0Z7gdSGOtK23v5WVKIA29Tg0m94EwOxq0Jp-z8HLg4qlSIhNGX8LddiY2RL90PCoTrkP3edq9tmr9A_69bbH56x4brvOFX2EXroNtj8or-gVT9xG9dizEvneYJuNyh24xLeT4R695MO3yDbp3otGP1j5v1YlWHn_GS3sghC3dQyHA1GdNq4DX-pJ3MVzmjnyDJbjudDg96y9r072T8MUpVwJGrdi5iovEAvE7Be7fLD2iDiBVWWf4veH51-nEcshtX2Cmi15YO3v8ds8rH2xnokY8unKOw9I3moMOmVX0Y827aXJZ7GI6MMd-HUE0WDQ9DqMfDZd5nSi-A_jJFGVIilYkRt57AUmry2tpslfyxhrRGdQf-Vj0rNoEUctTKtwTQfE3J2gl2wy42MRc6ht9JCcvPZmZY55e7i9lYlCdG6l_mbhsj804xwGW-LYAK2cKD418OLPTRjBGSJzmq7Wxb1-",
  "id": "rs_036e5e0c05cbc5a1016ab2bc4e516c87d0bdffff92f83d812c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.387,\"right_y\":0.18,\"right_z\":0.052},\"note\":\"The blue bowl's near rim is visible beneath the right gripper. I will lower the open jaws across that rim, avoiding the pear inside.\"}",
  "call_id": "call_BbVZ3qVzzyNnd1E2ewK2Lhzh",
  "id": "fc_036e5e0c05cbc5a1016ab2bc53837087d0a848d5eff027386a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BbVZ3qVzzyNnd1E2ewK2Lhzh",
  "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]: [-0.3428, 1.2304, 0.815, -0.4297, -0.2722, -0.2173, 0.5439, 0.1669, 1.9507, 1.3155, -0.696, -0.6598, -1.2964, 0.9965]\nstate[eef_state]: left_x=0.3371 left_y=-0.0661 left_z=0.1373 left_yaw=0.0184 left_pitch=-0.2372 left_roll=0.0573 left_gripper=0.5439 right_x=0.3762 right_y=0.1768 right_z=0.0566 right_yaw=1.4899 right_pitch=-0.3098 right_roll=-0.0546 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.0957, 6.3932, 1.6777, -0.1832, -0.0464, 1.033, -0.1162, -8.6359, 5.559, 0.525, -0.3004, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbc408cc26ef5cd2a55b4426eba0927b2a1d5c249933fc6c0fba79d8e7e6147",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db82ad4dafc2d72e0818f3d0f3e6fbd24ebd5f86f6fdaf72373e187848a6211a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ea6d760c863e793f392db331d1ea98838aeb239e0958a86c4e3c20759597f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 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]: [-0.3428, 1.2335, 0.8104, -0.4068, -0.2726, -0.2176, 0.5439, 0.0795, 1.9274, 1.5249, -0.9409, -0.6788, -1.367, 0.9965]\nstate[eef_state]: left_x=0.3401 left_y=-0.0671 left_z=0.1382 left_yaw=0.0176 left_pitch=-0.2229 left_roll=0.0518 left_gripper=0.5439 right_x=0.3974 right_y=0.1465 right_z=0.1166 right_yaw=1.4515 right_pitch=-0.2972 right_roll=-0.0855 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -6.065, 9.9897, 1.5751, -0.0952, -0.022, 1.033, 0.2393, -10.8239, 6.0923, 0.022, -0.6129, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws straddle the blue bowl's rim. I will close gently onto the rim so the bowl can be moved toward the center.\"}",
  "call_id": "call_H9HKH0fSnY18pgI4NZMydfN8",
  "id": "fc_036e5e0c05cbc5a1016ab2bc58d29887d08ade0ab17b59cc8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H9HKH0fSnY18pgI4NZMydfN8",
  "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]: [-0.3428, 1.2304, 0.8143, -0.432, -0.2722, -0.2173, 0.5439, 0.1684, 1.9522, 1.3106, -0.6777, -0.6708, -1.298, 0.2217]\nstate[eef_state]: left_x=0.3366 left_y=-0.0659 left_z=0.1366 left_yaw=0.0186 left_pitch=-0.2401 left_roll=0.0584 left_gripper=0.5439 right_x=0.3775 right_y=0.1792 right_z=0.0567 right_yaw=1.4922 right_pitch=-0.2966 right_roll=-0.0649 right_gripper=0.2217\nstate[joint_eff]: [-0.1846, -4.1641, 6.7897, 1.4286, -0.1832, -0.0415, 1.0232, -0.0479, -9.8393, 6.1333, 0.5006, -0.2369, 0.0024, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a819d5bde4efeb518140354ce7e0b4cd703408fb1ac2d5c079624d4fd9a27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0523808c9931bb00f0a5142585c634786ccba4c6b416203279f4cbe09428ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937f33ab7d0e59584609f24ae3b77602674a582909d9092509012c9e6995d96a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 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]: [-0.3428, 1.2304, 0.815, -0.4297, -0.2722, -0.2173, 0.5439, 0.1669, 1.9507, 1.3155, -0.696, -0.6598, -1.2964, 0.9965]\nstate[eef_state]: left_x=0.3371 left_y=-0.0661 left_z=0.1373 left_yaw=0.0184 left_pitch=-0.2372 left_roll=0.0573 left_gripper=0.5439 right_x=0.3762 right_y=0.1768 right_z=0.0566 right_yaw=1.4899 right_pitch=-0.3098 right_roll=-0.0546 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.0957, 6.3932, 1.6777, -0.1832, -0.0464, 1.033, -0.1162, -8.6359, 5.559, 0.525, -0.3004, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper has closed onto a solid section of the bowl rim. I will lift a short distance and check that the bowl follows.\"}",
  "call_id": "call_rZfFfHDPtiJBLJDkQ6guW2hT",
  "id": "fc_036e5e0c05cbc5a1016ab2bc5e9a0087d0b826c5b8a8255d8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rZfFfHDPtiJBLJDkQ6guW2hT",
  "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]: [-0.3428, 1.2304, 0.8143, -0.4347, -0.2722, -0.2173, 0.5476, 0.1684, 1.9331, 1.4403, -0.8555, -0.659, -1.301, 0.2229]\nstate[eef_state]: left_x=0.3361 left_y=-0.0657 left_z=0.1362 left_yaw=0.0189 left_pitch=-0.2426 left_roll=0.0594 left_gripper=0.5476 right_x=0.3795 right_y=0.1779 right_z=0.0914 right_yaw=1.4991 right_pitch=-0.3148 right_roll=-0.0403 right_gripper=0.2229\nstate[joint_eff]: [-0.0752, -4.0274, 6.8581, 1.4383, -0.1832, -0.0366, 0.7839, -0.0615, -13.2718, 8.1026, 0.6129, -0.4762, 0.0269, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce48e40e5461ebbbff853f41d0a4b65573804f7a58834a15d9648d6eb70bf36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa769d995772cf99a9590e810e40fda4057893ff76d56ea66c5a49d4a9211e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22171d2a7e10ce8580ae987f6f5dadf7dcdc3cd16d47ed2bda1c12d859d82f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 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]: [-0.3428, 1.2304, 0.8143, -0.432, -0.2722, -0.2173, 0.5439, 0.1684, 1.9522, 1.3106, -0.6777, -0.6708, -1.298, 0.2217]\nstate[eef_state]: left_x=0.3366 left_y=-0.0659 left_z=0.1366 left_yaw=0.0186 left_pitch=-0.2401 left_roll=0.0584 left_gripper=0.5439 right_x=0.3775 right_y=0.1792 right_z=0.0567 right_yaw=1.4922 right_pitch=-0.2966 right_roll=-0.0649 right_gripper=0.2217\nstate[joint_eff]: [-0.1846, -4.1641, 6.7897, 1.4286, -0.1832, -0.0415, 1.0232, -0.0479, -9.8393, 6.1333, 0.5006, -0.2369, 0.0024, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxkBcX-VpkowYd1GB4tNBQ8VOYzUfVZ050kNCJHDJHcveyEGiRzbfMNEWtMH-p7j1o9zSEISRc-N7-E7R2BDo-RcFaIPQ1Mj1jZ_2RNCR1vw5WzWbdtR6SxuD-VbzUdHgUZbrxMk47p3ZIlbyZ88Ti2swZi6k2fk7q5d3o8F43xDPM5rAoSkUNSw_fxFwMxBkDJsMkHQ6lcalVHhL8MRTSPjAnEtX4lWSNFEvaDTuD_hwAy24AH9kaE0t94eQNIL7LU6tjlOleCzN_toMYNv7aPqAl9CrrLvSD36OfNKVPS1EfXSVA9BrHJN8q3FeReYlh2wSwhwb0Ejh2wk1hwPNTYG3rluKgFb0KLMIEqCLjEBXpS0Vl1KFiw_TrsTV8Y7hx0L5mg8d19XQH2PsDFkiRzZ8zHi_hWh3AMMq27Hx00ULZLR1VF2CW2vHNNdEWB1VBpOtBmWRqGYybj-emuojWCo4Hz2zIBtG56r99cwUHbEKErELI8Mpi2OLoN2ybd4-5quKzsAvTWIdiuGIKpAQ9JUXvJ5VPeTDu7Wcl__lH4gLTqKpVUrKrV1i_a4kxIHM1Mde93T-wySUxiqhi53Eh_sXPd6L2gB_U0gpjpULvkxCNsGUXzVM4O605f-K-JB74EOzAkAoxr_M62VCz94MWt_b7KM3-jLGVViRjAvPFApkMn3A462Ab1tGJfqu4aT93tQB0-Y9Llhsgy_MajMJeMKQV-WirvP-iE0rQFSbb0OGbi6e2LuE8zbNGIajB7hZqT7ZuFR3OwaEVBFuOGOaH88qF8Ou-KQM9Bx4SSVUXjFMePEFVv1ZhW_Y2mEwGgMXag2-U6-KNTiviAXDN_sK4oL10SvmNfmNpahG5eVroPJyTtVwmSjEt7Y87BitNc47P9ks3UTQd3PJQyjd3wKSUsyCp9x4aY5moz3UEpRn-45CyZJV_CQaFCdTUO2uMwyAWbWzvOk1pJRpqzCcnFLleB431B6YoQUt7aVerdNK1u4-Q1qHh2VNVu-T8KAkwO8kZGWVRR309-W468ABAfT4S83eyXJyAaYdSD66a1UdqE-B-XsFlgnF1POr7AQ5x3BpnoCRug-9-XxmpwUhTdEv-x56rIo9ujgi8bvPAQwaFsN8uIWkzyu0DEpckLmItG1erWvFczv2dbJd7YbCJ91T-LgONrQraq_7L-6QsYh9On40Vx0FBlfmCrCgYadPVMVkhV",
  "id": "rs_036e5e0c05cbc5a1016ab2bc62099087d099868ea44f6f9e42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.32,\"right_z\":0.16},\"note\":\"The blue bowl lifted with the pear still inside. I will shift it toward the table center, where both arms can reach it.\"}",
  "call_id": "call_cmDLGVdN4GObdbRpu04Zncdc",
  "id": "fc_036e5e0c05cbc5a1016ab2bc62a00487d0a7d7969bc122491a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cmDLGVdN4GObdbRpu04Zncdc",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.2304, 0.8143, -0.4427, -0.2722, -0.2173, 0.5513, 0.4988, 2.035, 1.8118, -0.9215, -0.5461, -0.9588, 0.2242]\nstate[eef_state]: left_x=0.3347 left_y=-0.0652 left_z=0.1349 left_yaw=0.0196 left_pitch=-0.2501 left_roll=0.0623 left_gripper=0.5513 right_x=0.3774 right_y=0.3141 right_z=0.1512 right_yaw=1.5224 right_pitch=-0.3265 right_roll=-0.0547 right_gripper=0.2242\nstate[joint_eff]: [-0.0068, -4.0821, 6.9402, 1.5116, -0.1783, -0.0611, 0.6569, 0.253, -10.8513, 8.0889, 0.8278, -0.4615, 0.1197, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872eac53cc10d9351ba1eee145461ace73e3e2d5c382b24b74eddfbe40160272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41641032decc4e302b63067de5e08aab5324412b5ae93d4e3e9094dde8394c14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483659191506b89639f11c3912dc96169d7186650b7fea5f349d24834873fc45",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.2304, 0.8143, -0.4347, -0.2722, -0.2173, 0.5476, 0.1684, 1.9331, 1.4403, -0.8555, -0.659, -1.301, 0.2229]\nstate[eef_state]: left_x=0.3361 left_y=-0.0657 left_z=0.1362 left_yaw=0.0189 left_pitch=-0.2426 left_roll=0.0594 left_gripper=0.5476 right_x=0.3795 right_y=0.1779 right_z=0.0914 right_yaw=1.4991 right_pitch=-0.3148 right_roll=-0.0403 right_gripper=0.2229\nstate[joint_eff]: [-0.0752, -4.0274, 6.8581, 1.4383, -0.1832, -0.0366, 0.7839, -0.0615, -13.2718, 8.1026, 0.6129, -0.4762, 0.0269, 0.1148]\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": "gAAAAABqsrxuorLy65NRUljbHw5an-nD0tCJAyuhtvkF9nojxfomxGfYPexmkrJO04l9aTYuP3tsIoT9Oji3S0SobSuN6dMg7CBaRYD_RJqiy6mzyrgZR6Cs3AuoGmWU-lhxFgz4xjaSTa8C2Cd1vrYP2SMOlmt00tRlxz0yPXbkuQYVFa2TdG85KHoTNPvekj2sIiFlY4LbMM812QJtwE_WWba5FvgnQBAydlIfi2NBKvoE727gFRCL-Km8ySEc5_NdAoCinoBNnGI93uUsHgDN3pIEiBA_DXEA4Aqg18dLVcOI2vT4miKRp5Lntcyjv55zfm0Gl6nR743_ISlveNfvM1FFmmMg3xm2UlPXID-vO-j17JrV3gea5hK_uYnH0c5VC9-hWnk_15uGW71Z7rJPeiGxWFlE-k0YUvZi9TNO9i-vPPzDF8mYRWZx8xnZKw4hbeW7rHzwhUk1G4GDnzmW3hSFjbmPjAWa-_BnLe0Urb4IUidywFtW4jKYcSDKN0DotTdW5NL63c-y6vYK9_eJZnCdM-JfQk353iyn0T1LJ5AJwwFMfG1gHGHt7gpRFYyNblsnCEyid4d8rN1yT9iYFUQtq4--W82UZmsyfPSFKPt6WJJI_c7aqhzaqsKVBFONAEcnM45AxqwZtuvvOebokc0aJIkxqqTvRPGFWkFB-cCuzJJQfXsxAs466fXojKThjl3GP4abzGcO2FyTTEAtTXsaqzs2LDSKcjeO4l5D4slLCnfdpkEPR8gos19g7CMcV-5S96J8NRXJnp-Uzcb4RYwC2WW0A-famIiJXzDcrDNAETy_Gwbpry7E-BSntaI9Xnm4qQ4Dyb2sAT5RGHSXNiNg1-QQaZ7Ch54htGkIbzOwBnQ_QybMWOL4L4olE7HxWbcicChVLYFDTfkP0yL4q_-1F6uDlgU3hSGYaGsXTFuefeOpt-Pql-q5lcXxAhQxkU-PhPcevG5o7IM6ovTZ1CLtJvdiHFGwDEGZ_MDk0aWUb4ORCMHNaMIJLCFC0ppN7_yiYkDTHFeemv5osCvELP18uI9ybD6sml_ghZzyyABTn-FWg6-Eg3J3Z5hSCAvXk1Be94YyOKbNdJ6L0aVsYlIKtJdK0KcGfj5GDMLb-8taZbL2mGqkleVUEoblUqP0cvBtnx7fuNPfkLjBKTMwohchMpHYSzPVoC5yG0NivKSHgaSbmUcnXM4BqSwmlsH3Vg50Fks6qT7VZjNRPxMgGoid9aOGI1olUNrY4USXtNi0k7aJeaMeG7NYF0mtOCZ9GvWeHZmIpuwHk-dPicwopKJOTeikqyK6EIf7liVABRbR9gF-WuhnxwSTAsARu6duj8ATprdHvV2ZH58UcTRu_lNS2P3iatudzbdkxOdWAG_iiWawhuT0cwytp18HHfkBemT431mz3lFUQcxR1ru2gNhLA-ZRGQUy-KkeWPnZGJFXHu_ENGS94Wgy9yJ_--WR_KIK5snfNmuT4WQpKTH4MeSCHCxRTyjQiq8KLg3UShU3rGzrYu2QBzF3SIMI6qHG2kcuGrU0y4iclKW-4NbCpb0UZbKp6_aIHd9NpUKgRg4RLPDxSg5eKY2lugdjA6wJDVB_sOeQgpTOR3G6ZgavFrYTCXguuFFRbUOXe262TU5Rg3PFHoDIMUwVLaOVxTaFBcSVvefwUu692byBQjbIaGH2hfxydqTCUU03c_u1hkHEf8WViu7ipRMcgUCT05p8TzKX1JCfI_d5fY5EDpa1tLPqMsAMjK37GGfU-1i3ac8YH42HnD-_Dt_IDgsWotC1sRejiBYfqCCzgOSn2JyZRjgYw5W2GoMEH7wA858wgKPyZNmC4KbHDCzkm_XRGjsavJqIWdFGBCS0QNNemZfuMeaxqVVs0C36kpLngfyr1qaX2d1Rkp05IzoK4CpTM9XS0uEEHiFtLEMwZxeXDd7qlr27qzm9JOQk1orV-aD7feJ970vXCXSbwvg2IQ5_F3Zvk_6p2I5VPgVT2zhKLsTOJpIsxy7LMFrT7VSw-gq2XRuCvklILZ51WcgfaiJYvZFHaYzL4ZajjQ2I7udqAZpusb0GuieM_g7s9ZkaR7pxwnpbyJGXjOE=",
  "id": "rs_036e5e0c05cbc5a1016ab2bc6711dc87d096c78d09299a2907",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.205,\"right_z\":0.11},\"note\":\"The blue bowl stayed on the table, so the right gripper appears to have caught the pear rather than the rim. I will return the pear over the bowl before correcting the bowl grasp.\"}",
  "call_id": "call_0530XJ353XoSTv3wQOetm36c",
  "id": "fc_036e5e0c05cbc5a1016ab2bc6d491887d0be72676ab324a2a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0530XJ353XoSTv3wQOetm36c",
  "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]: [-0.3424, 1.2308, 0.8143, -0.4492, -0.2722, -0.2173, 0.5523, 0.2638, 1.9091, 1.4319, -0.8574, -0.5995, -1.1927, 0.2255]\nstate[eef_state]: left_x=0.3337 left_y=-0.0647 left_z=0.1338 left_yaw=0.0206 left_pitch=-0.2565 left_roll=0.0648 left_gripper=0.5523 right_x=0.3623 right_y=0.2048 right_z=0.092 right_yaw=1.5089 right_pitch=-0.3652 right_roll=-0.0006 right_gripper=0.2255\nstate[joint_eff]: [-0.1026, -4.3692, 6.694, 1.4579, -0.1685, -0.0708, 0.6911, -0.1709, -13.3265, 6.4068, 0.6667, -0.6276, -0.232, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187c8fdcab440ce39e495569304edf4e296330a866a20109f494d206f710ce5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776d38617baeb22af96721a84437404fba9ef37616a7f34d37aec2cb7cb116ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f25b93e7730cec16fec9d1e83b67ff559c091bed91599e40a874b2a20b478b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.2304, 0.8143, -0.4427, -0.2722, -0.2173, 0.5513, 0.4988, 2.035, 1.8118, -0.9215, -0.5461, -0.9588, 0.2242]\nstate[eef_state]: left_x=0.3347 left_y=-0.0652 left_z=0.1349 left_yaw=0.0196 left_pitch=-0.2501 left_roll=0.0623 left_gripper=0.5513 right_x=0.3774 right_y=0.3141 right_z=0.1512 right_yaw=1.5224 right_pitch=-0.3265 right_roll=-0.0547 right_gripper=0.2242\nstate[joint_eff]: [-0.0068, -4.0821, 6.9402, 1.5116, -0.1783, -0.0611, 0.6569, 0.253, -10.8513, 8.0889, 0.8278, -0.4615, 0.1197, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrx0XvA-tffEdgBNUV2ROLOPtpVEUNE69fZfyCO8WPPlE43eDAR5P8CBEjNLf8WUDOVGFty--W8l3dai9_7eth3s-InW5oG-4TjfjTxAfh60-vxLpm9cjjfd3TYIgL7tdrB-xEA0zUkxJmwrWmCRlTWc6QPa6Rk_N8IvgavrB8yTPpOWI8YnVkR1mF4gL8mpdDToVzgKxu1j5HQNDaAz4_O7-PCKIFcVtr9rv17f8TiE3xOeYBfkKv68wkwsqSvfW3jPZI59NoAJ5uTG5yBrHjCTvdmtDPDBDrPGhUbjQ1MFJqMB5IXRSWYfd7oxuxhSEPuVxwSrzypZXkGXSPh0QfDCGzREVk6VaWJe7nM2Cp9I2evlIziHoac9H3GrRdapuM8sSi60RmV4dyTrgWBBRmlv0IEmdKE7fsj0sedC4nx2hr6LdHTYdJlT8fTZ_6gbAmMJPbO1EZxL2HM5iXeePxuWvpgkFA3e84rIF7Tvayco6AQP1p3yEET08W_TF0BQAFhFGL6WgCA01-5_O_QIyz2qpWr-uyAfwdE7mDo__HSQBBqNtKDabif-n-LWUgRG46yortlrXNwZFyO9ta9RKZHnqN3WPy4H1QYTz9O-QtS75Qm59sbxqpbi5TYlBi2-RxH2z3VSRtTJdz5EMz6evN7uqgq0Axh36s5Tr9gZP9530yhfJXWwhtpvPbloE6OQnT4jaRPioalQoy_ogk5S8QPl9hDQ_T0hL0CXjO4iFpSovutxNcGmLCOH7DnuhgBaA5n41YHtM3FaW36gG4fKGV57p2EYEKvPeZWclLMALJlraYBbYuKKRjEVAaxmVpLWzBjBy3KDrHwIqUMlRk0P-ddF49zObYq8wcksF3FvxTyGVxtYZyQ9BmOd-TpQk0fIrCD-UesHZ3x-o2oCoHKxy5EHjPLa6WFo9hzf320inDrceOQUtSRMf0EX-ru9qT9oCs01DiW9A1OS4HijSWCjE34npagQqDhMd32ZdhnhbhueJoMJrULc5mwLsjnOO70jFawsETGcPb1Cb-ugz5ID_VvEs12JhJNHfM1AxVOr8ARUlO8aNAzRDFfhnlLIRwyYQfdn5mEUw66fxvlZ97n7QCaqukbJCWBrbVnnPDc6pvxK2HfLz6baFJ4TY-EFvyJ2U814q1GpivuQZo7h6s44FiRYwxfZuubOKhF09Vkda6nCzM7mZgDaXAp3_UI9M9ROs6KH",
  "id": "rs_036e5e0c05cbc5a1016ab2bc73701887d096115f7740c7ddf3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is now directly over the blue bowl opening. I will release it there.\"}",
  "call_id": "call_5OPvoiCAxlXCWTUGQOt9NMCG",
  "id": "fc_036e5e0c05cbc5a1016ab2bc73c24487d088c70c9d559e4fe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5OPvoiCAxlXCWTUGQOt9NMCG",
  "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]: [-0.3424, 1.2308, 0.8143, -0.45, -0.2722, -0.2169, 0.5531, 0.26, 1.898, 1.4208, -0.857, -0.5987, -1.1973, 0.9954]\nstate[eef_state]: left_x=0.3335 left_y=-0.0647 left_z=0.1337 left_yaw=0.0205 left_pitch=-0.2572 left_roll=0.0654 left_gripper=0.5531 right_x=0.3606 right_y=0.2026 right_z=0.0929 right_yaw=1.5073 right_pitch=-0.3658 right_roll=-0.0042 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -4.1094, 6.694, 1.4188, -0.1392, -0.0122, 0.6862, 0.2256, -8.6085, 6.9128, 0.6764, -0.3883, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b6b2e22f9d00ced636eceae491044f6bef960c04717f41b1664b703c0235fb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fb458064921dc2c349ea576756d718f23957f3b243ceb691266ed86db0fa6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0affe462d35b26d9de387fb4b2ec713a1037bd3c2c4051fec229e47c2e2bcd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3424, 1.2308, 0.8143, -0.4492, -0.2722, -0.2173, 0.5523, 0.2638, 1.9091, 1.4319, -0.8574, -0.5995, -1.1927, 0.2255]\nstate[eef_state]: left_x=0.3337 left_y=-0.0647 left_z=0.1338 left_yaw=0.0206 left_pitch=-0.2565 left_roll=0.0648 left_gripper=0.5523 right_x=0.3623 right_y=0.2048 right_z=0.092 right_yaw=1.5089 right_pitch=-0.3652 right_roll=-0.0006 right_gripper=0.2255\nstate[joint_eff]: [-0.1026, -4.3692, 6.694, 1.4579, -0.1685, -0.0708, 0.6911, -0.1709, -13.3265, 6.4068, 0.6667, -0.6276, -0.232, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryB9QFLS1Fb8MLsV56QucgDdSfBxvvYh8lngINJYXl1cKDQomdSqn5JMUjxPDvde2nhVb7UcN6IE7BvypGxXnW-SXVTVJxeQ0StqyCt0E5XEqjTaK4LexATyyBZx_7GfWDZhbyMyeUhsirFXNLYvAay97CbAF9nuCdIQcX-y4s0_Zwi1oWc-LOdRceAwIdAwsZ57CqoBD7ePH2KhoZmFGHEE8L-SQNBmDGhybJMYlR_bKZv8tWVOa1yrfOSBU6s8zsKitXDEyHYEfPt-QEylvCttNSyVrkAqVR9yVtYBYc_soRcS3zkcRcGsNzcm_0G4fbdOk-51X7EkVWOU2MJZDiVx5WEq24hoq8rLaAmCS-XkD8Zw1_c52OXc2s93F0HhM6acMRmSegtFS2vbUtuICS_Kq9yutxy19o7tB8B6PBMM8ZW938HzuEu5J75QvsudbgsG5rklvtQsL_hiFZ-pLhT4gcULX9D3Y1i_4QF4gqvdOpm_3wzGWJrp-Dq0PTrZycpF4mNuGKvYjlrnapDPK-6buqoScNpjo1c0A2NtVjt7ludw-Nm5SKwyPx7q8eNuMPt_hCPxHRXc6VjgmjHBow4ymmnJsTJ7krCgoSRPUrVVMvR_t6hrJlX5ucnDx1KsjiqjyPuHRso0T68v4iuqvklYepkf-EpyFz4rFMNRbeu1VqtIX0Q2MQAD4BoCiBfKkZvPwmhc2TRsFc28s7bCFdhT5_-qoPlMsG-IsWWlZ7Ew344ANMh1Ipg4O709SrL8jv187yKav5Pf8Uuc5SCSGpNcPh31PROVLotjoO4uAto5eAmRRmHVMikCysbWhSC-_4S35y34wTA5aUN9WTHx73wsfqfMoSwKIUtcn-YKVuByJeKxl1juyTBRCOtaEO6kJszPxQ6RQmIroTpwLJLgxxSA79Vuglo9rOliL2LSfEpof3ickp8JELMYFhrhZRmIRVdjFiBl5vMV8YS0LAdqpndjN_G5f7scgnOCkooF9d8d8JWlaf651sqvOWZ0GfZehnEQTuKvuPur4fUBlglczMXhpN58G5YX5uzAPV7_6C-BYD_kXare-WZy_n-siuynzodTlr_ZcACgdc2oelX1TwNb0yoxG-qxcP1FG-ClnFE2HXo9bA4aUG-b69PxToLIV3Pil8EZAYUGF6Tx8C7hRuTBxFsiO4IC2Bfb4WdWC5fylnVM_y2IgwUkbnTsnFTb68t18qiuAhXepDRMD05LKYX_vta8_WWFz0o7UEoamr0KdYyRI8sdEwGIbemMJ3saMa8wLhq7-4YHg50wLhwncVF3cMrI_204ExgmKyA0q-qB-U4Ux6jBWQb_FGb8mUpYoTYcEBpApnITMBiNYGPXO7rDgFUn2cuspQKB82dOQCP0bTCfxm9EeaJU7ldTRkFlfz1chVBeMv5BOs0vqKHVCfJ-67kGFadx8dp3UXj08RUhImv6hCGj8zqpATuZK1DxkXrZ_lrVlqNCIc2Q-jSxEgj8khqaRQUG7FxzvyRkVurm7iToMmQHZCKBwxeCwCppN439uNEfJsmZ0pYKRihngGMBl-3jtc1kZiYaYauBFNdywP7vRET-y_i3WjrP1On9Yqr",
  "id": "rs_036e5e0c05cbc5a1016ab2bc7cc1f087d09686a3971eb146a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.205,\"right_z\":0.055},\"note\":\"The pear is visible inside the blue bowl. I will place the jaws across the nearer blue rim, away from the fruit.\"}",
  "call_id": "call_xBWBrTBpF2h62yZ9xW01CqVl",
  "id": "fc_036e5e0c05cbc5a1016ab2bc7facb087d0904423f9c53f4b35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xBWBrTBpF2h62yZ9xW01CqVl",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.232, 0.8143, -0.4526, -0.2718, -0.2173, 0.5526, 0.2844, 1.8454, 1.1866, -0.7208, -0.5915, -1.1782, 0.9965]\nstate[eef_state]: left_x=0.3331 left_y=-0.0647 left_z=0.1329 left_yaw=0.0203 left_pitch=-0.2609 left_roll=0.0662 left_gripper=0.5526 right_x=0.3199 right_y=0.1999 right_z=0.051 right_yaw=1.5353 right_pitch=-0.3871 right_roll=0.0518 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -4.1504, 6.9128, 1.4921, -0.1929, -0.022, 0.3492, 0.212, -10.9197, 7.1316, 0.8474, -0.3199, 0.1587, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c12ec40e019ec30937498c01f5d60d49b82f7cf5ff4e3a0615d30e56c1b9a709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bc586192c5f44fe3eb4cee795de748ffc58ff76cebde5715db54f145ee5d40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9028b9a53ea6ed27005fd4f3364e8b175f5edb82e62f6d39f6a883f8b7e5a15e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3424, 1.2308, 0.8143, -0.45, -0.2722, -0.2169, 0.5531, 0.26, 1.898, 1.4208, -0.857, -0.5987, -1.1973, 0.9954]\nstate[eef_state]: left_x=0.3335 left_y=-0.0647 left_z=0.1337 left_yaw=0.0205 left_pitch=-0.2572 left_roll=0.0654 left_gripper=0.5531 right_x=0.3606 right_y=0.2026 right_z=0.0929 right_yaw=1.5073 right_pitch=-0.3658 right_roll=-0.0042 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -4.1094, 6.694, 1.4188, -0.1392, -0.0122, 0.6862, 0.2256, -8.6085, 6.9128, 0.6764, -0.3883, 0.0122, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The nearer rim lies between the right jaws. I will close onto it for a second bowl-lift attempt.\"}",
  "call_id": "call_H2UgwCQgSpy7KvChMpVPvNKl",
  "id": "fc_036e5e0c05cbc5a1016ab2bc83e06887d0a614cdbab358a2de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H2UgwCQgSpy7KvChMpVPvNKl",
  "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]: [-0.3428, 1.2324, 0.8143, -0.4576, -0.2722, -0.2173, 0.5555, 0.2859, 1.8454, 1.1793, -0.7036, -0.5995, -1.1824, 0.2835]\nstate[eef_state]: left_x=0.3322 left_y=-0.0643 left_z=0.132 left_yaw=0.0212 left_pitch=-0.2658 left_roll=0.0685 left_gripper=0.5555 right_x=0.3204 right_y=0.2018 right_z=0.0505 right_yaw=1.538 right_pitch=-0.3764 right_roll=0.0416 right_gripper=0.2835\nstate[joint_eff]: [-0.1162, -4.1641, 6.6803, 1.5018, -0.1245, -0.0171, 0.6129, -0.3487, -8.8274, 6.3658, 0.4567, -0.2857, 0.0024, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f58fac1a4f5126c0af667eb6cbc84d8fb24a8152433eb4b639696595a2a398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef68256a1601a8a86ced759f0916a4cce7af24e21d8fcb4c6eadfc51e32adef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7e2004c03cc332515b18fe8a4b4454e3c0a9587656d38d79075c536e7505ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3428, 1.232, 0.8143, -0.4526, -0.2718, -0.2173, 0.5526, 0.2844, 1.8454, 1.1866, -0.7208, -0.5915, -1.1782, 0.9965]\nstate[eef_state]: left_x=0.3331 left_y=-0.0647 left_z=0.1329 left_yaw=0.0203 left_pitch=-0.2609 left_roll=0.0662 left_gripper=0.5526 right_x=0.3199 right_y=0.1999 right_z=0.051 right_yaw=1.5353 right_pitch=-0.3871 right_roll=0.0518 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -4.1504, 6.9128, 1.4921, -0.1929, -0.022, 0.3492, 0.212, -10.9197, 7.1316, 0.8474, -0.3199, 0.1587, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryKm5gyO8s7pOTM0rnsjUkAHahBIXA_GmImTZ4MaeBHD9vZCmn8SMKQ0BhxwYEtKIR8_qW-wrvUflOeyb7q7u2M0is9Ne9cOrRczQydEJ7QqG4A3uPjJrrb5OY4f_Skl7-yMBTQ46C10vz8fMpZVKMdBzkpremeu19tuRySg3WpB8XjAHOy9t5Yo40G07jlmnnH6fCeCLY5mgzbNzKjLv7AU3P8k_LOP6Ue83L6JuMiCmVSktAujJd37FXYvDBnGR4cZbsrHQJBzBDswQZLfKBvB14bFBDV4EFEM43EK_gh4u76EFMrX2IKOhnOConemVIkh74vGNoa886nhB1NODGDXU7b2xuKJ1xwq-JC4g361XnrSu81sOPTxwK0uwhBAU6PZ5j2eNPUMfW6CJnDnsDqkcBd46GS7T6Iq7GQL0PDnGy0LlC4xnsK9U6C0fS5-kwIMZPpCg27CkogbVQnKkxfgF6sqANbWSTD1bZa3OruMhRBR2FRCRttOZVEpU13b5NMhOK9vIAlTT2PbssjUDiQ3xnVQkw0RaXS-RzdtPL29YTv_Y5EyvHetn0wiWuEDYKZlL6udd-WwhawBcdgPH3bBGrT_hVvsXYE9Ugh_80IBmQru2BRqwhu05yf_1qp1yVb7MoJKDFyJIfvBEE10UD7NvPtLACypDEHk-46gUicdFOePLPYu-X5VcSsvLnXehWsFm3F0qWFwN4EO1zQ13JBiplZip4IOimPQWEPSoGuoxpAP3j5c5keo1sk0igZGNZIcUSVqPnDs-4m8Ozicw-_jOD8KSzUdLbOPmFS2YwwkEUbRtZPpwwRmk8G7DLymHbbKgG0spfCTeEWTGpE__gAm6ua9OgPCkSGd46SSuMnf676A9eqKIws9Gm9eJWPXOU_St8m8MpbB_zRszAQPfq-KbNDyytpHplyoj0G5iDNSBfoQR6DdHMBeEo6ACtHoK8EJzKeQ9gpbyjgDwu4PYCkHsXsoq9_zf7rPrO1oVDDW4KbI8iETMuh6Soq8fe7ArI7jMTfo1iaoxxV5AFskP0nCzLePTP1RRzB5EXW_Dal7YvOOjA66YSi150xOvlOs-MP_sIk4jfVqnBTOe2fctDhGg8yzvDDQYxUArpUjetZc8nzIKunh_VVL8zoeEzml5CZ__yZwnjIlZyjU1c1SyHtSQjFE36rrB4HbZoMgwpuZee7x-Xtx-LfDxP7VjejfOXA-9zyU-RzEDalLXrPxMq3VdFwuBosNN6fGfZUIENFa3zC84_BFvsEWNw3C4mWVf4a",
  "id": "rs_036e5e0c05cbc5a1016ab2bc882ed887d0bfa2ad37fd9a0a74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws have stopped on the rim. I will lift briefly to verify whether the blue bowl follows this time.\"}",
  "call_id": "call_Vqr3Dq12ZOIx68O9q1oeKrUZ",
  "id": "fc_036e5e0c05cbc5a1016ab2bc892dc087d08cf83aae8c1c60ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vqr3Dq12ZOIx68O9q1oeKrUZ",
  "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]: [-0.3428, 1.2324, 0.8143, -0.4683, -0.2722, -0.2173, 0.5552, 0.2859, 1.7985, 1.3411, -0.902, -0.5915, -1.1866, 0.2824]\nstate[eef_state]: left_x=0.3303 left_y=-0.0637 left_z=0.1304 left_yaw=0.0222 left_pitch=-0.2758 left_roll=0.0724 left_gripper=0.5552 right_x=0.3274 right_y=0.2026 right_z=0.1031 right_yaw=1.5339 right_pitch=-0.3806 right_roll=0.0258 right_gripper=0.2824\nstate[joint_eff]: [-0.1846, -4.3419, 6.6803, 1.4969, -0.1783, -0.0415, 0.315, -0.2256, -10.0991, 7.3504, 0.3932, -0.4225, -0.0073, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f4a07114cf81cedfe460aa093448abca48cd56afe30c17e8fdc314f383539d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02c50ff996be6d9e219603e01220b7e51bce4e84f148aa3bab107e59fd953ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292ca7b16df2b55c3de846d5526ff2183a26ed5bdd0f0c950cf2413eef07b22c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 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]: [-0.3428, 1.2324, 0.8143, -0.4576, -0.2722, -0.2173, 0.5555, 0.2859, 1.8454, 1.1793, -0.7036, -0.5995, -1.1824, 0.2835]\nstate[eef_state]: left_x=0.3322 left_y=-0.0643 left_z=0.132 left_yaw=0.0212 left_pitch=-0.2658 left_roll=0.0685 left_gripper=0.5555 right_x=0.3204 right_y=0.2018 right_z=0.0505 right_yaw=1.538 right_pitch=-0.3764 right_roll=0.0416 right_gripper=0.2835\nstate[joint_eff]: [-0.1162, -4.1641, 6.6803, 1.5018, -0.1245, -0.0171, 0.6129, -0.3487, -8.8274, 6.3658, 0.4567, -0.2857, 0.0024, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryRG0GBSgP_2_so7FrpyFtFRmUSGCYyE3SVvXdJQPj0gLV24Kjbu7CIIDgq54aWkHI3uAsMDKI5OUyfNCTYaI4oLbrWuh4GEJ9lvL-upZs35nAvgKcUtP25M8gBtfvqPP-KnqUmPTqxhLjj0YBrfhffxoCmx8jNIKh3neWq-WrsVxYYHHIfVsOQUV2GBWBLKekaXvfwjX1C2kO2pGYarCS3Hh-WfHblEY4iupjEnmNHuczlKpgXMwzqBqtVX2n1DuFXGRnuiVEBmjVPTvwhUHt9XCV-09L6UYIsbT31Ba6-4wkBDI4x_PQMQJavYso2RSU398Wflln23308BhAlBGcAvJg9CA3FonDPdXyR_q-AepNLc0IZeQD3uQgigwEglVkr83u1edRzi6DvcGviezcr8_8gERtQAe55cgpglAiHUFf960l1Zo3zCMLaYdkD1-z7UilunmymXfP37WJ87gOyxx5r5tSxjx19ER6lX0DvNuoaZMGmq03RvfF6udjuokohCngI0u70YQQ_W75Hx4P0W6gC-ZArUTTWGWW3hrBkEFkuTXjQv-OyysWTa9NccA6awbOdhpC4_gi0hN8UIoROmhd7pFv0vxSMYrNsTdQkZwr0Y_xSlMxlcXn3mGK5dIbmRh7SVy2LW0atsu8pWy9cM68Bt56HubwNKPoUaH8MDorJqVsHjyxIB7yY-Vm41Cs7FWoJNu5MO8SlEETfOYdf2Ygl8rANoIPfysjGwzhd0A20wrVpgQtpruZ_hGg1aH1Cq3elIMUV1QIW3g4jQSG0JGYr3aLiSxUbWX5_2Z3vO1oKHiCZ-8QGsdZsmQKl0eCCcfxt8Ju489ZOs2Bia3fy_Mt3SabRey1JWMS1Wh2KMevxQEq1ZaOXIFP1kQZQ5cKlFPhpPnVGlZ1QRcDaLa1CxeIbbLJdighsDXcbCf2GQ_SuB4ZEI0glyT49dt4RhLzyzkv6xzd4xhElbO_a_mTwEm66O42nSPLWREDHD0HwigVSccvhKj1sO-0TwSj-RPzrKHNjYa7FeqXiE4ntcEbK2qpS10rPyng9hmRrv0DiEoBwo_tEf8TYQegyN84U5qv-BOmSsLXu4-hGIIYmV1AYMAy50vreuJW9ecYPg1qahDUBjwA9V2fXI1FhO771imTEETR_D62ItP3D_Au59AEaCLsKfztpVraJ_7DiIP2VTgLIwS8ORckFFxTjEb-KGGgTh25UukhtoAhBSORxMgUxW6H9KDKwbmCztk3Gy2T91HbAcZ2cvfq_e7d91B1kQGP7JIbFKQD_LS2JzsOZaPETgX6l615yRWj3GkaBeye1wCu_0nCTJPIKb64E6F5iJ3neHTAC6du8rhgkHLnde3lXUR_JdqPUlTlJ8yxHN2YtPc6BlJrTJgBTTpeEHU5Xu9VaF-YwjPoqOInA_LfF9l1DkMMUcKJH1YxbEoX6kol_JsrYcSdbvXBmlvQNoLSukbSHXOTPh1Cc6gp7xECmpI9ZivSNjvaRyrJy3lLDBVp9rDgSIUAbOrQiDA4l39gSI--FCoOvn3VNunv9aomSZCSCuA==",
  "id": "rs_036e5e0c05cbc5a1016ab2bc8ce96887d092d76d859c90b2c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.35,\"right_z\":0.16},\"note\":\"The bowl is partly hidden by the gripper, so I will make a small inward transfer and check its position against the tabletop.\"}",
  "call_id": "call_H375eD5iXfMBfR8zO4V3sl0T",
  "id": "fc_036e5e0c05cbc5a1016ab2bc8fc76887d0a497225291f0c6ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H375eD5iXfMBfR8zO4V3sl0T",
  "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]: [-0.3428, 1.2324, 0.8143, -0.4755, -0.2726, -0.2173, 0.5571, 0.6308, 1.9808, 1.7779, -0.9607, -0.4843, -0.841, 0.2823]\nstate[eef_state]: left_x=0.3291 left_y=-0.0631 left_z=0.1293 left_yaw=0.0233 left_pitch=-0.2824 left_roll=0.0754 left_gripper=0.5571 right_x=0.3264 right_y=0.3447 right_z=0.1557 right_yaw=1.5561 right_pitch=-0.3821 right_roll=0.0044 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -3.9863, 6.6803, 1.453, -0.1783, -0.0611, 0.525, 0.1983, -9.9761, 8.2393, 0.8083, -0.2906, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e76750a616f0a9ac2643e2d005fe8f5fbe3ac6993279cb99d51b9a2ecf560cf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611754b0b37936b76487484f8311626295e0eb5eed20aec1e523a67be287083b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b90dfc22016b837f9e030e99d8afde9e896efa16119c2d0447e06b49a03eaec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 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]: [-0.3428, 1.2324, 0.8143, -0.4683, -0.2722, -0.2173, 0.5552, 0.2859, 1.7985, 1.3411, -0.902, -0.5915, -1.1866, 0.2824]\nstate[eef_state]: left_x=0.3303 left_y=-0.0637 left_z=0.1304 left_yaw=0.0222 left_pitch=-0.2758 left_roll=0.0724 left_gripper=0.5552 right_x=0.3274 right_y=0.2026 right_z=0.1031 right_yaw=1.5339 right_pitch=-0.3806 right_roll=0.0258 right_gripper=0.2824\nstate[joint_eff]: [-0.1846, -4.3419, 6.6803, 1.4969, -0.1783, -0.0415, 0.315, -0.2256, -10.0991, 7.3504, 0.3932, -0.4225, -0.0073, -0.1294]\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": "gAAAAABqsryl3DaJ-satbJc908geZamxuCirnKlR2ls7Uy-DlMeqfMUK_-4h9-5hup-kWChXunG16YOIzl8FVOEjhFpgYk-LocL1WSNPGn0BBX-zA_0roi5oSO6bhKaGqvuCBq08n-olhOzI8hQHb5NcosJFuqlcNjthpi7YigkC6Cs-YPrqlDy_8Q13tHvxEsTHvmbc1WRXnOO1s1_yZOLNMXfEOYjzQ_6o4TELHDe_TVDfbieOtq9ZDgDpFXGBUf_VFFeYgUb2BV598Xwur7BmNKEzt3aCcwFq-0imEfzPM_NUzE4n-U41UGRj4wDmJwPfffVE8Iq4Iy1NCWbvzNpKx5GM-hBdau_dYGyEKRJJejCHex0eiThfuVGn01x0X2TyMLN5OBW48uNQ2MzTbrNu4-V3xm5oOCP1jjMm9o4fqaxea2SY1GfCxLZ53llhgIBVtb0-ktvZrt68fXXWruFW0GOn4AUYMZB0MHxvbNqLZwSWXpsFMSWOFAg19ZMQbs-y6rOM166r7Q0EwEVUN7cti7ZcGDIMhaAZ-Ori-k2xfQppZ6uFuPcCZkugFd1H805FrwjJaBqUwd52ELmngPgswjXreDd52k2VuaH10ibVoWX2NpRzK_XhAjeVCVETiUX6oe-jp52K4-z01WI6oALcUBZrCLCu2znZ8wLhzR45jJCkzg33nET3ikBENudg2vTnjzukndspNpi1x_ObhAf8xhvxDEHLjgoizOryBphiCT1xEY-fMA302jUPRvK2gYVJYQ2GATqA2fWndbxZFUcxVMW4vKb3gAEjrPdo0v0ttEC9tWc8lzWXUkzO-w7w758Z6FMFQK5EDHXkzuNfGA68e_Xi-KrRimDZ7Al5cCqiXHeyv5n4tpwX6u4lCoXpI10YT5HvBkiw6tNlKf6xJaJK8E58rLP6CWOjmmfLh9lasu7-ayq83nKvoe9OEMCQ48r_nqrmGDB3Mr2lUcHTnoiCU1dxnTkSL5PuUMz2NlEEwa0EJFgQyULt69hg2dufsZng5-hIsjwoyG1yuQnBVYrDd6On9Y8y3kZ2xSHjt6Z_MqsrMwitSrkuz-lIIJZJUYhQNdu0gqkr_St64UIY91ZoOYZralQoBvA8hXjfT33wxeH52D1Tok9JORNXMeKq9APV9tRwNfJki4D8lPK3ncsJhHOErVJLg0NVriUGzoKitUFt03jATaMgHzcCK6S1eETDaOhFJLwPRCy3TyZfzqD-8SvcMUAE73hhSgT-0axp-aqQmBHQiT1DRoe_ENO-mDBi0yLPw6qA2P2KJfc95c0cjNQq7pBnwCIo3wGLT0kPVHICmUObcoAVpdSJkchSajUU3m26Mb2HATE4qiuvelpShphF8SLoNI-GE2DQne9D5_B07dqRsa9nqrDleicU4ogYhXL8E2j_Crl-BfU__pwbhLtMm6kqKJ2n4szKIaEwSVZ7Wq-y-cTXm3KCaMKKgoDQ6x_Q0lXlnF2zCqcBFSwrPoAy5SSoMb_zXADqd6sfC05DFHcyKQ4YxZ_vnbaCds5uLXqKpZkGrUMYckEn1bsx-n0CLwuxnMly_ABbbw_6TiuK6xSeTwF-2n2LKuLtIW0ZiNoiUEFuq-W6SdtZ0WgV3lolUlXZucaNhImV5EgcgRbQbwGRNAXC7I9LK_WnpjZXQiuEctLuJdCZSVS1tJTPzOIan2bJbK2d3brGz3makeILWfpIqDtwhZKoEU91zDyE5QgHo1dgRv3GMrm8RPfikJ-5lv_prkuiwWsMAJuCZU8Du4UslG7ZeWUQjeR6gGZj55Y0TUUt9yyb10dn1f7xWtHjK9NtJVkpL1jkfwrHUJhgzyrYjpftR3MgulNpftzQOHRSEzULPLGnKTNFbFL0HLwT9nblqnjTVbBOZekn6mstdwOo1Z6tDdwCQaWMBXUFekgy_6_EwoboRFrr49ySmG4SLKTkI1zY47EXS1-aIgtJpw_hjjumQPOVsJrX_MUc_ldh8cRD6anVe_1p--1D-sfRJNY5Me-SeqHK_uk-UWLp-WqU0TohizMg-PFlnjvhHRdB0VNKFh1C749R-JJU0BznBAzRyU2t9yfLMnQUiU-J4cQhSQgnW6SNiRL8mlF9-2jvzbe8tnMC9gBGzVYN9rR4_KS-bvfww0SO2tfCcGGLKApmnT6M6LKnHwtljYyMwmsdB6O99iglnCkkfm9kPmMYmnHcrJP0BVZZCfA-TCfIhUde6Uvf8N7xzn30Q9iDH0J8_2EGzrznguLpDvlYq0yG5zOJkZgbSpy1VOOHyMNzn9EoLMkKSZvHBhALcj6u13-6MN116jJ7OEHCOBm72Vgg1t7bqSFhFE1oF6HdQQhVu5bxoXzqXP9FZz-BhSOdaCgaxtJhNO5A8RE5zPZhfNgY7GSxDjDCtY0Wf_TUCxJMFvZo0IlaxTnRCx7lj-LYViWWqaf9eRmY600B_zjIrpivxKLYvUtGCpDakokiqrZ6AD9Nkds3Fr2_HC0L7J1aGLQt0oIQVrvDaNM3PGrYdvZGvjn36vFD0JHyYw6ZXpfK3C3lP2T3fei5HwZKe2qD4tJek9ixj1BCi2BwjOWexNXwRzUKBnSBczWPjEjMzwkqB8NTW6kxJQNGvpAW_Su_-HW8GCLYKKEWE3FYlYvQGUbfsuv_CarizBqRd5UQ39B3AgQKvlDHFCWx_SD4LU4vg-iT_GrtOrCM98IiYiAiLqbyebDEsrNkI--uWLpwVrUJBvY8SmHvTPaQq-LeXw7ns7YIQ7z0ohY7zXQBjkmveQp3hY6xuSLVXdRLnAMVyfuuZ4zqxC6tYvbsL7cKKwmzKlNTjzpfEwe4SsRiC9KGSx3FNAq13-GLWYJZ0xvjPW6vY4u0fAnYO0phW1SyIXtb42BarP7UhLT7McnynekvXgdyuD3pasf-KfzEI2H7TBIEDvfW74npPCu0wxw0TSGgVIy3RZu4DYDNxsbcwN4S9p2UUmLowA6LsgWNlWUBlfHRUjiF4NF0CxQ_3jh8sthEQKELr6SJizBm22_GdHYy8QZhOmd8SUq2NIBP11zW13yMRgNo97lGjlXtyqImlXWNrOwRMzmtiYGBYP4hKmeVdc7lqTnjxXj_wI0X8KeOTjHQFu4aCt_i5EpWkJd_R5SfBtZm1MHVBCUaNOdpZanL7CODBRsAWIniYtEz6Cg7dXpFLp_iubcHEQglzx3ITDOqphWAVHc4EhL92czPXf-9f7WE3eqIqP09gbgQr7IyN_wX5Mo3pBc=",
  "id": "rs_036e5e0c05cbc5a1016ab2bc94945487d0a702ae17b8678ca3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.24,\"right_z\":0.07,\"right_gripper\":1},\"note\":\"The bowl did not follow the transfer; the rim grip was not secure. I will realign over the near rim using the bowl's now-clear overhead position.\"}",
  "call_id": "call_9kVhEauCkoZvVzqQT1DM2tau",
  "id": "fc_036e5e0c05cbc5a1016ab2bca3576487d08221075f8a2b1bde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9kVhEauCkoZvVzqQT1DM2tau",
  "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]: [-0.3428, 1.2324, 0.8143, -0.4759, -0.2722, -0.2173, 0.5592, 0.3389, 2.0914, 1.6421, -0.8795, -0.5549, -1.1324, 0.9958]\nstate[eef_state]: left_x=0.329 left_y=-0.0632 left_z=0.1292 left_yaw=0.023 left_pitch=-0.2829 left_roll=0.0753 left_gripper=0.5592 right_x=0.3929 right_y=0.241 right_z=0.075 right_yaw=1.5303 right_pitch=-0.4041 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -4.3419, 6.8581, 1.3944, -0.1734, -0.0659, 0.5299, -0.212, -10.3453, 5.641, 0.8278, -0.5739, -0.0513, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a258ba1cde006a73314716a36dd82230b0d0a42f5cc7d21ff1257ab97f03026e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465c8049d2271cf68be105851178aa44183beabd52020ed8a0e4004a3b1f3d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e54d1c7b58f5b2555f735a9ade731c6c80f7c2efec4e5e88be814c911be2b25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 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]: [-0.3428, 1.2324, 0.8143, -0.4755, -0.2726, -0.2173, 0.5571, 0.6308, 1.9808, 1.7779, -0.9607, -0.4843, -0.841, 0.2823]\nstate[eef_state]: left_x=0.3291 left_y=-0.0631 left_z=0.1293 left_yaw=0.0233 left_pitch=-0.2824 left_roll=0.0754 left_gripper=0.5571 right_x=0.3264 right_y=0.3447 right_z=0.1557 right_yaw=1.5561 right_pitch=-0.3821 right_roll=0.0044 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -3.9863, 6.6803, 1.453, -0.1783, -0.0611, 0.525, 0.1983, -9.9761, 8.2393, 0.8083, -0.2906, 0.2076, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrys68p5tiktPfyAHwX8Zzqluae_aXKFh6Q20gZGDwnVjvzNi23-ap8_0NWOE4DWK97OuMkRVffu_XQQYXVCgeE59tdZ-mhzsQaBsC6xn-Xer22voW4-DszcyxAqNswCm-aYfP9Y9gvldGnMxiKjuEKv4jJOQ3Qih8M7bVkIGaWQzyumkfpI_sGHTO0N5hGFTzFyIMXPgGEx30oScLVcdwqtvBahvPydGYgQ8sPCpw1xwQjPk82jcd92LF1ZInWuEOBx_pWYNBIIK4vDOTmq5BC6fGd4WUITrRDjwnp_fiPSUrgSrCFqsYSRyqC26pM8ceZTRV2sfHCa0CQOZoO3UoXWpHHwjsxInniyZ67cKyyrKB4efUQ6Mh9bG_Uq7k-VJtmBEYbxqF-ldPcC6sL5cLZCmLtBVwXe0lIHj-MHm5NJyMiPcyqWsZVBTvYiM88JCveuUkRc9Gq2TGSExpJK2l4PkzGkDJw136pBuIuHmLHKRgh0xNYS_yTq7wLJO1ALJwlA_hp-XqEZuGwY1ts8W9Q00p9kNlQjFKIW2MH-iLxPOyfHde-jg28SRjTiMhfXPxnt2jr-whQAtNeOYldm8C97hjIWswDoXTzsmhGl9n_SNisuR13QxYlRTcEe21HHNkkHhAmpMI2oEWsARLf9EbkOREcgOip78NZ-0FBgJsFYOuvDaUviKlv7zMLLB5HaJrsdgHMj7QUBS2q39YSMp74qAbmNcnbSqurgee67luj1hoz8n1jHd8j6K9zEfzJALa5we7cQlTkYZKMxFvBzuDJU55eYn_s2T8n6QvNtIEaqqpHwsQJq2zRTKuar1WFhEvmmcSVHCl_OTIVQbw9LExjOkT-TsVmNV5HK7sy9_95HzKbkZedgvBuYPLYW6NpbTLmBAwPxbPrnDSP0wk8yAj84yB5OXpcnPs6GEkn-_HeS1C2bpb7gu-XOGBO7pHc7vbNl5_eo62YZ1v_CyC5g8E88qvYfgxQJnoElhTS7LjAGZMl5ruuWg1lL0k4gRVUONnlnqo45bMajElXN56k0j1w4IPy3sGv5EXFK_UqufCMA8QOjpsgOTIhoRReSAAePzWMA_NIEqEC76cvUBuLbxMTyyw0Nw0IIZvuasuLL0kSQtgo5CR8PAK1po-TR-bdb5d1MXW2y7RBP8hBcsgim77i7K0_XyZMR3s3jjSIUKAtX-bLk4ArToywu7raSxA0mybHKs1x66uN9Gri2hMKO1ps49f3h7o6cuQN68lUvo5ryeOVsJeaz4y7wQ0LjeFDyxH7cMBk_0NSS90Q66iWcx00gZZqb8C2B-TZb9lMIosqVrZkRuhychogxFL5WZe6eqUKvsxs7-D0KioViMpe_bHU9SyPwNFa-2wLQ_oOLp-aviQShlUItcMKIOVr0Vhh3n9WWi3Rxk1PHDp76xTI0jqUJSP3LSDKkMgA4Uyx7MkyVzqaQyriw5deE9dDI2NyeKpUnnkjILcr4rq5v2a834sWjQdx6OXSM-7l7Pg--WRYSLO88bc-vxynYcjuafvVPb_HDCeQlXJjR1iSBmRVTcHtkuw==",
  "id": "rs_036e5e0c05cbc5a1016ab2bca8b8f087d080d0c84c9bb7b9b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.205,\"right_z\":0.035,\"right_yaw\":0},\"note\":\"The gripper is beside the bowl's left edge rather than its near edge. I will rotate the jaws to close across that side rim and lower to its height.\"}",
  "call_id": "call_qHp2RqIyKkFjZzeVvuE0mpUo",
  "id": "fc_036e5e0c05cbc5a1016ab2bcab534087d0a949c00e80e14edd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qHp2RqIyKkFjZzeVvuE0mpUo",
  "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]: [-0.3443, 1.2343, 0.8143, -0.4858, -0.2722, -0.2173, 0.5616, 0.5957, 1.8523, 1.103, -0.2955, 0.1909, 0.2882, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.0631 left_z=0.1272 left_yaw=0.0227 left_pitch=-0.2939 left_roll=0.0797 left_gripper=0.5616 right_x=0.3776 right_y=0.2198 right_z=0.0322 right_yaw=0.2341 right_pitch=-0.4476 right_roll=-0.0017 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -4.2872, 6.8581, 1.4725, -0.1245, -0.0757, 0.2369, -0.4581, -7.5419, 8.2667, 1.072, 0.3004, 0.2662, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6d40dec4c98f597876e8be5df78f2483327c9867fa9cf04fb7cd7c7eac19da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1706653290240307744b1840e73c3237f614dcd547b8f18f852b6d23ae9c3a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7feadc7d014e5f279d850e1ac11584efa856b719e3aa50f5d73d10303e0b54",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 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]: [-0.3428, 1.2324, 0.8143, -0.4759, -0.2722, -0.2173, 0.5592, 0.3389, 2.0914, 1.6421, -0.8795, -0.5549, -1.1324, 0.9958]\nstate[eef_state]: left_x=0.329 left_y=-0.0632 left_z=0.1292 left_yaw=0.023 left_pitch=-0.2829 left_roll=0.0753 left_gripper=0.5592 right_x=0.3929 right_y=0.241 right_z=0.075 right_yaw=1.5303 right_pitch=-0.4041 right_roll=0.0152 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -4.3419, 6.8581, 1.3944, -0.1734, -0.0659, 0.5299, -0.212, -10.3453, 5.641, 0.8278, -0.5739, -0.0513, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsry3TZDoPXqKIh_ib4kkrFwwzkPm93UsoMxaozOAGiZqDWXWpBiRlCH0Mawyx1B2t0EIfo9OdE_HW6vJOF-pndDC5_g7viUTj8p4kzfQxOhcZ-QhqQiaVKyWhCVKVYaCAlyX8ozvBFdND5inqP1nEwQpe7Z8FhEVdHwQg6IffnPOaLwu4BkNrdNrp0KSmZohHVg7wSEw244Z89ltFghY6t4oijjakJqjiylNGdI1O8y97uPjdERD3Rf8stmGPiQO-1gxH72m1IHr0h0Wn5k6zqwWHjdl9BEHpwA22cxQxYtF8_G7du3DaI8dDv-h6q1qGHudWFrpRa7g16YjbGy9CckqDXVNQnYEdEb5f2TpsK8b4Pamsd3OWF05L3ThJuc5SB9V2ey0ghqRU6JKdZHq18YecMJe8mEOVZ64XIyIcJN8vYiDyEkvYKPvADdLh5pBjbkMzpFMuGYBYEGNybtysxM9syAhO2l-E54RxX9v6BFCZGPrt6BEX5lvX9tXZdHBvHd5aM5rQiBKSWtHsNNp5jkfk1dOj5GK3UdcIsxMfc93hbUFxSR2XkQkN0X4SabnTtLA5iZ1UEL4GFcGNe3AQpBv_NY6sGdyJhGl5RfqRAuc0wDw1e9Z0o6zUgGMcVl2w7vpbhH2s9ixqIuXrWujQsbm3g81GXc86RwihcyjEc_oC2gEPsDzcFisOw-UN7u8Vko4Xs-IDVCSr7W4yT0D1k4Z6lc4sn8AwRMtwm7G9aYqQ0M_ZrkoPJqo6Dx59uQ-B0UUZtwRJM1cQ81ePTHEHOl5QTTGNl6QFMPctV6YNGmo3Frx7xZ1IwOIKXlVMeMCMEgehrJx4ltVh30N55U_APX38NMoWyuzlLqNP6lNafIh8N-70ypaMjSxSG-UiO_CFuteLdNzrxOG38OvciM1v2dv0PBxUo-7IeZoAaAtx-KVwzdX3InQrQExPUpe_1wlCsyZVkI5z_aM5Z99uKRK22AGhKKqK8RYUBp4LQZaGnJGBjjlBq7koUd3sxWu16UAPWqAGe7AMI_UTCWPox_ry2BSEy0ScFhGb3y7Qw6a_h_pjZVWbuwv93X0alEWwxSrQ_dGs4hlFRcGvSDBmRDGepxCsS-8HhA0En4UKD9swzVR-M9_wKKsPC_Q36gpKiQWwCdq32pRsxufgrMP5yEeWejLoIsu6T7m5-w6Z0K3D4lM75uNT8Bx38ObRcvIZhVXntrYFDtJPdIzmaAuRmJaWxIxaW0tGSvwshzShNSvzSxFGYhzFepMnNNaFeBPEIQraTP4kuAZflW9MhFfucCn4NHEIrObx6G1CHnu-1UkX7DM0hhEffaC7yFIi16uOVM53IcYLHL0MXHs4Nb3iDKb9I6GOIPmrZJeBw-rlF_-chaIs9QqnJ6EG4T-HsPI5GtBPqIsN0qNdvIj02SloeMetVjHFmIySFgqmLu9JVx2wTdU_BpMygVYmgBgGpO-lnot7MRQLD3VY9a3dD68TMtTShTOxvnpyw208Jnywa946s6bTxWqSY_h_9_h46ATyCsDANlA5WZGodXyc-mtf__UWEn686F33B6iOWM8So0ZgFrqcTv7pV0Rar7davHersZEh1fkhtKRfrL7ksqPG4DJcLxLQNPCgMBFMrrnJ6m-r_DVeyMNyL-j63TZsrPAI0igzGni6jJWZSo6yjL7KdHqghK4qOiRdFxjng-rfcxUDfM5TPzFWdMsw2yhjNpjjqKSsIL49dHze9MgfhMSDrsx4tli9A==",
  "id": "rs_036e5e0c05cbc5a1016ab2bcb0865c87d0b4924b9b60989a3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are now at the bowl's side rim. I will close and check the grasp before any further transfer.\"}",
  "call_id": "call_ZZrAlAT90Xo7cNQ93gh9GTME",
  "id": "fc_036e5e0c05cbc5a1016ab2bcb4f82487d0aae46a13ec856d2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZZrAlAT90Xo7cNQ93gh9GTME",
  "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]: [-0.3443, 1.2343, 0.8143, -0.4911, -0.2722, -0.2173, 0.563, 0.5983, 1.8664, 1.1065, -0.3031, 0.2005, 0.2943, 0.5842]\nstate[eef_state]: left_x=0.3262 left_y=-0.0627 left_z=0.1264 left_yaw=0.0233 left_pitch=-0.2989 left_roll=0.0817 left_gripper=0.563 right_x=0.3764 right_y=0.2184 right_z=0.0269 right_yaw=0.2214 right_pitch=-0.4616 right_roll=-0.0141 right_gripper=0.5842\nstate[joint_eff]: [0.0068, -4.1094, 6.6393, 1.3846, -0.1685, -0.0562, 0.1441, -0.5538, -10.3043, 5.6137, 1.2772, -0.0073, -0.1343, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dcb64cb39fd39503dd474894f90b77bc25c0f345a75c522ff2b82ec5b124739",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfaa7ef4af896326c88e326d092423485d1e7eef4963026fc0632f0d0202215",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1fc9384b3f513b68faa1912f24ba1a26ccfd3cbe5500571dc890a11ddd19a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 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]: [-0.3443, 1.2343, 0.8143, -0.4858, -0.2722, -0.2173, 0.5616, 0.5957, 1.8523, 1.103, -0.2955, 0.1909, 0.2882, 0.9965]\nstate[eef_state]: left_x=0.3272 left_y=-0.0631 left_z=0.1272 left_yaw=0.0227 left_pitch=-0.2939 left_roll=0.0797 left_gripper=0.5616 right_x=0.3776 right_y=0.2198 right_z=0.0322 right_yaw=0.2341 right_pitch=-0.4476 right_roll=-0.0017 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -4.2872, 6.8581, 1.4725, -0.1245, -0.0757, 0.2369, -0.4581, -7.5419, 8.2667, 1.072, 0.3004, 0.2662, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsry-cnMmQRdUJqeUa0klrtSd_525H1nEjkzXuAsWbWeypb4twyeLs10nVSYr1FZ2WuHsq2fIRDQJmagWdJGtBCle9Gc1NaFWzmO6Sl5ZQMdqx_F4PS3XNpO7_3uILCrIyEAiiQ-JBl21gTSB87O8WKFyD6rMawJlAsneMorLtLzYrLsVsPiinF1TjR62tyZYzrOiXFEwrH3hcqopG_hBp2x1vnR187i0-w5czeD9RLr-GxrffTXjbzFm4XBCTbxHfIf7jJhuoNSzZEPLR_siSeHQL1CnQxvMMkLrKcCZEq5Mi7TQzL4vKjiuILLt2Bf8PaxIz10l5U6Uxc6xOHlW9PVRdYiERYKnlQhtwszcmuu6DOJKSECkJOR2PhVrcXrN4ffUencGIvCm8iw51BXpvSY_Y2ZtOcvf_HVRj0IJ5K4y9Nx1oAT43wcaGSiqPjDgkz51FlFzdhoUPPLdU29icLcjZLnbpK_g62YO2kLf6w3RaC49U-2gtrdIgoZQPkn-0EwhUtiZ0A36H2wJCgHBt_sASpmGX-2VvFkATWYrur50Au_fMENaSB5ka_viC_yWINDNA2mSnxFeUqRink7TpZrb5azBtjxzNCM1y5kS_RUroKqY0CfnV7hqRVPpiGd33iLnQOGZpqifdb6UAFi-X4JqtguFE7U4cyXbbN1UNlxnQlgmzA2V0Pp5K2KcjehF8B2RhgwuqJCQAIi-XhEI-lLMrdAxL4IFP8VBQ9lXCp0OdiswiUYAa-44UVCgfFtpsf21hVZpHOGZ46pYaRH0xXo-b5p-59-4ghLa8Y_8-OPQNOKOFT3IbCSmduSuagk-eEMnyh9sf0RzRAZUBZoMV-tR8Wg5idiIOknpY4ze7IcgBP5r2w0d9o_E-9L7QhnD-0mr5v-YxXaYzuOg11Yyl0TOs275i9LGpw9xvHjZ_4CVuJV4f7alsi-B14YkVPekUWUoBhLj_sMvqoqjigjTzw-UjKn3Zlyj4vNynrb1lblZDZeKmfeIuR2uSrZgFVm7nujfv5MGamidQJilWB1lj9JzUVn4ck_oRqpwqm2Z93waUBaX3GA0ra0vDdSBf9yrD17KR576AfTJLKbC6rZ7yjhlEeWudOQeUHwxca80yXLqp4_lC75uUMZZ2IudMCR_FOR_NYX0t5FJsmtN_coXgPUoAWh_Y0drv3pS9g0hwdpaWMMYEZQkrgmiFlQDaUu6Gqaw_6UM4AuAo9Zw3PmHol4fwj3BLiTF_7sfJzvUhGHe0IBZP5d6a8iuYUCk37eILyUAwHkgEu14mlNXuYDnB8Y0EBAQJF2cJit2S9mubOlYFNYaDQ_VyJOoom8OKfMUG6QhFKfTpaEnQmWmEFvIFVyq3KPYPcZdGBhH-nIcL1je5mNiuA0y4FUGOR_M1Lmn8zpNYeUm2dJPL04pdxg-I-Gd7ulcFZWl291X7Gqon-_t3ctokd2pfvXfx0MNeMoNKYctUJRk-Mb5zeOI3nDn2d2m_g==",
  "id": "rs_036e5e0c05cbc5a1016ab2bcba8e7887d0a6a174cd3012f61e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper stopped at a wider opening than expected for a rim. I will lift only a few centimeters to identify what it has caught.\"}",
  "call_id": "call_C4Fr80BYb3YFUESPlYSrWk6G",
  "id": "fc_036e5e0c05cbc5a1016ab2bcbd22dc87d0a82ebc838054ecae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C4Fr80BYb3YFUESPlYSrWk6G",
  "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]: [-0.3443, 1.2343, 0.8143, -0.4919, -0.2722, -0.2173, 0.5651, 0.5991, 1.7798, 1.3193, -0.6174, 0.2005, 0.2871, 0.5855]\nstate[eef_state]: left_x=0.3261 left_y=-0.0627 left_z=0.1263 left_yaw=0.0234 left_pitch=-0.2996 left_roll=0.082 left_gripper=0.5651 right_x=0.3779 right_y=0.2198 right_z=0.101 right_yaw=0.2238 right_pitch=-0.4756 right_roll=-0.0244 right_gripper=0.5855\nstate[joint_eff]: [-0.0068, -4.1094, 6.8034, 1.3651, -0.1685, -0.0757, 0.2027, -0.212, -11.3573, 7.9932, 1.0574, 0.0904, 0.0415, 0.6911]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3b3dad7516e64d42f8467ba4bae4c4e09439676e1bc227c99a6cdae94d52fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd20e3798b760bfdbf623f7826b2e52343fa2e236f6a33d078a21b2a7738708",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf49c98801d5bc335fc7bb496df840d1b64ef606b7b01ba8e4003048c872cb9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 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]: [-0.3443, 1.2343, 0.8143, -0.4911, -0.2722, -0.2173, 0.563, 0.5983, 1.8664, 1.1065, -0.3031, 0.2005, 0.2943, 0.5842]\nstate[eef_state]: left_x=0.3262 left_y=-0.0627 left_z=0.1264 left_yaw=0.0233 left_pitch=-0.2989 left_roll=0.0817 left_gripper=0.563 right_x=0.3764 right_y=0.2184 right_z=0.0269 right_yaw=0.2214 right_pitch=-0.4616 right_roll=-0.0141 right_gripper=0.5842\nstate[joint_eff]: [0.0068, -4.1094, 6.6393, 1.3846, -0.1685, -0.0562, 0.1441, -0.5538, -10.3043, 5.6137, 1.2772, -0.0073, -0.1343, 0.8376]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzKWZLSHNGUTUnxBLPwRqk1KlmQl51fDnNpht1PA54ym2gRsUEmagaCyTQV2w191YhfLrMaNNMkueZpi6AqL41Jwn9K1QkostJ17oRQZesM5W34wy6Sp2-sJ6uf1C4tInyQEdcz1xFEpfqkF1IbJ4AEdpTzk0XfazQt7GntRLBxL17efwk7x9bLIJ9GXeUhCTNYpfzg-RBHdp0woZdhqrQNkZjq2K9TGN1_7V0XASwmthZUrW-eoQPhfKffVit11LHexQv2QgiQcHrXyFC1XGlANBQua5hj6JudB1UC1MpWYaqSjFfRvoVFNfb8Mpes6-G3-hsr7PrmA3bSe3NTVOdkXWqqGp4q_C4AhXRcisxZrzJe7nSOomP6q4a6mhnRmdmXTM9MXoNqxMFr6N5x9FaYBKsaEB9jU-uGbzNBLpI002jY_NR6O0RLegNfMw2OAdJ7THb_YRde2RjnVWisfwKhyk8GtrMSR0y8yM1Ud2AsczorgaCw1XbH5PWYWz0SHjYI1aygLrENL9DAnRXPLbygCkehDLsWfTTwO1WuWlPeja4-5uYIkvu1xaZF4KHMCKAaXqQObqWELxKQKcnzKY1ffd_r3JNmZjdKdFEH_OQJ6wXrED7zeVpBcZYH1_TmuOX8xvlrOIO3HoBbu33VjEp5Znf0r7OO00md9veqARXKysTnWuZpG_Xqc30ifz9UzVwbgIt0_7qM5rPumi2bYFEy2ipRLZb918x80ZqtMwW09q2pKZa8HwEjWQJlU26TnzhXYUZvOcgeMnGjIAZrjnnLhNnhe308REBzwLCtBMoA2ghJNTTtR6P4rnyQAN2jflLzmzgoItdmWZ1b41DCbuxYHkGEWD4flYvDJRIPQowYlv9ym48iFS8KlV8dpLsMg7fJUhvUJV2TMnyTFAmjOYXRVfDZZS-I80do4_wi_IBpAQcHqHa1TpfVqFgIv3XTaULJYyiU0FYCO1lEEFoFtywE98PtJFRhx73jvprEJxfA2mWvveL8JSVoMsKFkFSJeR8CiFmPuArBjMR7rf6RLp2ljh9Ms57GedpBHQNkabtQFlgLO22no8qBTjd-PjZW3viF4Xl3m9J9-fz9GAr6ZgjTiN7WF4Bij5rQMeJHIjF0qKkPOQnd4F7cRMc29aOCUd5E9w-ex0gUIiznv9_rl4RNWeNaZ6x57Tl5vi4ZQTEKAxHswus5_94c7WorjmIi3EbGBWdE4NV-EovvmPu5ECKx2gPTG2_CpVA8ZtJoo8yrtlKpL5Vega8v6NL_c0O_hLG1i90zJRd6y7h1pM95HUWcXd5mI_d9EA-je9dYKE7lu-PDuPQjpR_KjiDSIfjjEoOjTdw-ixVD7_f8AZMqs9HzhYutMSsST_VT1EkE_wL3SaoK1qgDKNH3NxwewRR7wctY-vso8nB0GYRvZtdxTKjtGTG_AIj629zUCckdMvS3kvW3-0d3XivD7NTeHkn6Mz0DwDxp7WbJIgGe4acqDMZTLYUr82rlHB6a8qRRiPJU0SkGaO9rWs1IkcJmb2HuVdiq5II6HrNWbVLgFuGPXrCDHtAOBWv4iHI9b6A2c04Oi1HezIwZ7IbuzTjQ0NoaFN5STl4wlwZzRFWowJ9stdVpqqWg5O2OAGedxHFqktshGlq3YUfImaUhNSEDKWzLhJi0z4QZKx8caEas2rQMPOxFgj6YeCHk8sDlDt7R2MT2_mNhusgr68HGOR23byCzf3t67ekTUrcDGgWQWU7nweHJ8LLZ9KuyJpNay57A_icAGvZ79qQFAHQrJ1BClqw_UBg7BQHiNuuYOkPaevDHINi1FSoRHcvQXusmGFtpb3Mk-xp_lke8sYppRHy8lZSKJt_bNmxRlCSQiExU5on8QfR2BH0AXrONRspSz8ngqalYa1NodFEzFdwz_GPs4mP9UNw8NMrWUuiRJsuf5MaLbTNzf4RXnY79qYiv8V34ODFBKFW5q57o1npOON8lSUbgPGtbWu7MJx6zKHKOpJq64mGdkTTR_FA5s5jgwXYLHNj_EF60HIU1anO1g4ZVccS-3C85EozLnzRwvOEJdDn0ZeTtXl0PRCdFcnqEU2cdwa9CvUXfxxOikGkCO6wWsqKMs7Irkdn0_QDgNnr8g8i5ah9s1fB4TnWBaOnLb221SDeNVMPoiEe9pa_RdbXVWWTmWElINjK9-XKXaZU7tNZpbzxAUzJEvkh66_OwgKQdS6fc-SW4LV3tpS73W1_6lG3KfZxC",
  "id": "rs_036e5e0c05cbc5a1016ab2bcc1832087d08c4750915fd17a17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.16,\"right_z\":0.15},\"note\":\"The lifted object appears to be the yellow fruit, while the pear remains in the blue bowl. I will move the yellow fruit over the bowl for release.\"}",
  "call_id": "call_whkt8YZN5g19YrNyUbKa0c5y",
  "id": "fc_036e5e0c05cbc5a1016ab2bcc8dd4c87d09b626398fcc10f66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_whkt8YZN5g19YrNyUbKa0c5y",
  "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]: [-0.3443, 1.2343, 0.8143, -0.4934, -0.2722, -0.2173, 0.5666, 0.5083, 1.5402, 1.232, -0.7513, 0.1638, 0.2173, 0.5876]\nstate[eef_state]: left_x=0.3258 left_y=-0.0626 left_z=0.126 left_yaw=0.0236 left_pitch=-0.301 left_roll=0.0826 left_gripper=0.5666 right_x=0.347 right_y=0.1644 right_z=0.1457 right_yaw=0.2113 right_pitch=-0.4699 right_roll=-0.0233 right_gripper=0.5876\nstate[joint_eff]: [-0.1436, -4.2051, 6.7897, 1.4139, -0.1734, -0.0415, 0.1392, -0.1983, -7.159, 6.1607, 1.3211, 0.0855, 0.0269, 0.4567]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b2ff2af1e47e3902327dd75e0644e004e5ddc22cd231552abc94a3a03c1553",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c49864d70c5614fb3945caed06d789b87f22feaa3353d16488af2335e3f8898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d8ac6038b3e3f3b69790319eb46735eda0121f430f9f8779dae62ebfd8d1f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 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]: [-0.3443, 1.2343, 0.8143, -0.4919, -0.2722, -0.2173, 0.5651, 0.5991, 1.7798, 1.3193, -0.6174, 0.2005, 0.2871, 0.5855]\nstate[eef_state]: left_x=0.3261 left_y=-0.0627 left_z=0.1263 left_yaw=0.0234 left_pitch=-0.2996 left_roll=0.082 left_gripper=0.5651 right_x=0.3779 right_y=0.2198 right_z=0.101 right_yaw=0.2238 right_pitch=-0.4756 right_roll=-0.0244 right_gripper=0.5855\nstate[joint_eff]: [-0.0068, -4.1094, 6.8034, 1.3651, -0.1685, -0.0757, 0.2027, -0.212, -11.3573, 7.9932, 1.0574, 0.0904, 0.0415, 0.6911]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is above the blue bowl with the pear beneath it. I will release the yellow fruit into the bowl.\"}",
  "call_id": "call_OsdGoDIYGxDSC1RUd56AseCj",
  "id": "fc_036e5e0c05cbc5a1016ab2bccda05087d0988cb3d9ab787580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OsdGoDIYGxDSC1RUd56AseCj",
  "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]: [-0.3443, 1.2343, 0.8143, -0.4942, -0.2722, -0.2173, 0.5675, 0.5018, 1.5146, 1.2308, -0.7845, 0.1551, 0.1932, 0.9958]\nstate[eef_state]: left_x=0.3257 left_y=-0.0625 left_z=0.1259 left_yaw=0.0237 left_pitch=-0.3018 left_roll=0.0829 left_gripper=0.5675 right_x=0.3401 right_y=0.1596 right_z=0.1503 right_yaw=0.2261 right_pitch=-0.4809 right_roll=-0.0315 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.3553, -0.1538, -0.0073, 0.0757, -0.3077, -6.8581, 5.9419, 1.243, 0.022, 0.0415, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:623188c9fc432e3253f38a36293f5366e24b34b67e5073f4df9f6e2ce7b7fd17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33eafd683c74166fa6d26a68ad4f3c5bbc87f534c6a79c60ee2151447a40db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc4f74fac4fd8b985d31053c5e445427fc5ee1866c9f41663bb39d626945866",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3443, 1.2343, 0.8143, -0.4934, -0.2722, -0.2173, 0.5666, 0.5083, 1.5402, 1.232, -0.7513, 0.1638, 0.2173, 0.5876]\nstate[eef_state]: left_x=0.3258 left_y=-0.0626 left_z=0.126 left_yaw=0.0236 left_pitch=-0.301 left_roll=0.0826 left_gripper=0.5666 right_x=0.347 right_y=0.1644 right_z=0.1457 right_yaw=0.2113 right_pitch=-0.4699 right_roll=-0.0233 right_gripper=0.5876\nstate[joint_eff]: [-0.1436, -4.2051, 6.7897, 1.4139, -0.1734, -0.0415, 0.1392, -0.1983, -7.159, 6.1607, 1.3211, 0.0855, 0.0269, 0.4567]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzViehQTIPDm7d-LqHlOapNtIp513BLVF-00LEssHp59KqIkYaFqHHqa0DVgh4QCHShRv6kAUOrmaWdI0emF18iL76om14KUCasY-gRRrMNjpcTRehl6aYqECvE66Xvvkh9GqiOlY_akEB_nCAQJp-4hw9IdKjnaskKznukEFSg3c9zfx059WcQpvXXt2biKffJNTMoQbll6nCp75b6M0zDjmnQDl3hJ99A31KHa05e0kc0I3Z7ryK3QZN_nOmAapqb0V6_0_Vl0f0Ds4XaMdKGNMa2AhxgRTettBj7xPfH80lyZoomSX6u-_O4-dgAYN35brMSpfoKJ2q49bh6z4mOzgoatiNFvEINqSPA0rsD8vz7wHBWtKaG2ukxuAOdzoPWWpDWh7kIxrJRQD6uWbrZ2rIkTPE85epMgg_cakK_ap_vPKypP3O15-5d21km6yLd01QS1AQ8qw3Qn6eF7vD0zXIgbhQb4wl4AuQhOebdWhic-nXixOCKX3HkpHYBL8ZMry7GA4bouTRChtWn1fCbjt-d9M33RsgQNvJqCL8eqZFPaxkNRbZP5WBiU1FEgFpnGnVU_Q4XTAMHgQYENoKFSwRh_jvkU8JaMkr-AuBPfu7TKYgmsUVrFcxswFqCSwSeCwtQaUyOkA28vWYQuuaEz5TFacgoPPt6DtrnbZ2nyN_WW_FUgsArsYQvNhKvKYkd3J-ElJMEKMWoevDVYvNqdRcAvd3PEel4gBIejK6Xg9gvGhb1JsNoEKy3ChSPW7J8E21UWQGx7RZBNAcxgphSprzhD5pTD4TvOiVIQjs7Y1pJpCxoVonNArHZTRlCe1JCsyxrJVzeKAm4dOjFSrqmEackAzEWWJISiMs4VGSjRKlmWoQJx5wgHxuWU-J-I9zqN0pdl3cfLJ5_pis6Tzqt5Xy57CC1ksr_oYsIMammD6sxVoMvQpTr0gXlLbLamV9OTf-9Ah1zpRv9fMHdhbnM0gKpR-dYD2b4HRaomkxxdoWs4qFO-WdBynbwowStcUHctZO60DyogKs629vn7r-JhUYsei9HjAjIZ5r_3qS8TsshngM9ZtwGtAjoiidQqiSOMAa9ypqHw6QZlJMeouGS-N4DWfzWOjRukNtE74Bxvi3NnpiKbvNHVuNHJpYgkeYq6K0FXx26ja71emcixXEUSAq_ewOxGjYRbzPYsbqaLg8Fpbe80alKk_H0KU1ceJFEnbkePzMfee_C1BEJ6x6CEsdRwBwaB4dDKioNkuOE6f0P26TMotJInJytogQM-ErVELEC7Y4lcwtd1UEjcV_aIQ7_Kwm6ezS1QHSU_Bhchtx2vezhPz0k9dP7yLmf1JjQ3C3h24rJSPqUKWVkmI_Ox6I8guWqJP6fCXFyptt0pAE391VRm3F2_eGRVly9DriEnriRaqGyS5GmvSVJyONm3Q==",
  "id": "rs_036e5e0c05cbc5a1016ab2bcd16fa487d0b8db63e9fc506d7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.215,\"right_z\":0.035},\"note\":\"Both the yellow fruit and pear are now in the blue bowl. I will grasp the exposed left rim so I can bring the bowl within reach of the dark fruit.\"}",
  "call_id": "call_Q8BVez33Wl3qSBixXdoBra73",
  "id": "fc_036e5e0c05cbc5a1016ab2bcd3ac1887d0a34131686735d3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q8BVez33Wl3qSBixXdoBra73",
  "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]: [-0.3462, 1.2343, 0.8143, -0.495, -0.2722, -0.2173, 0.5682, 0.7361, 1.6268, 0.9623, -0.4808, 0.2379, 0.3202, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.0631 left_z=0.1258 left_yaw=0.0218 left_pitch=-0.3025 left_roll=0.0831 left_gripper=0.5682 right_x=0.2956 right_y=0.2164 right_z=0.0517 right_yaw=0.2924 right_pitch=-0.5233 right_roll=-0.0718 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2872, 6.653, 1.409, -0.1832, -0.0757, 0.0562, -4.1504, -8.5402, 5.3538, 0.2418, 0.8816, 0.1099, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf1197471f23294bacb2145fad086c6f79767b01eeccedb88dc613ae70fb0f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73de7b06d65f6a1919ca4c7eba5d3f1fa62a0097fb9c1d67194a000224e2225",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36daa0de6b6d6dff6accbd7a922e09eb2b8e0a6b14cf65ae2c50885af6d683d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 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]: [-0.3443, 1.2343, 0.8143, -0.4942, -0.2722, -0.2173, 0.5675, 0.5018, 1.5146, 1.2308, -0.7845, 0.1551, 0.1932, 0.9958]\nstate[eef_state]: left_x=0.3257 left_y=-0.0625 left_z=0.1259 left_yaw=0.0237 left_pitch=-0.3018 left_roll=0.0829 left_gripper=0.5675 right_x=0.3401 right_y=0.1596 right_z=0.1503 right_yaw=0.2261 right_pitch=-0.4809 right_roll=-0.0315 right_gripper=0.9958\nstate[joint_eff]: [-0.1436, -4.2872, 6.7077, 1.3553, -0.1538, -0.0073, 0.0757, -0.3077, -6.8581, 5.9419, 1.243, 0.022, 0.0415, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzavRpR4T6xS8dE8yMAQYLAplRo6NTFQaFoqWPel190lxe3J5Q-VPSTUrmEJ_B2wRAvb3cq6xkkgp0YLy_veAKmulaMdAEzt4tIY2QynraFgIgZk3i-4oudkNRegZUpuuhdo_bXjv98WJLXcBVfjNj37L_euj5Gz9wROGY8PwIGFg63SDbLgM0XXCU9HHgiU62_opiPwQVLI6uhgJo-k4gkddCfJNw7jc3NhhU0oM7bGxztcxCFWwFWKlezIPsDCNGyvFt-UDiwX_b2VuvbFFigmGqp3E_3rHGCiqB28YI6pgBk0BMxUnA9_ON06zPDL9-wt4QJfTB-DLYpEZ1uNl0vyt29fsdXryJDirySRvZ8cU2MweMgih52qlnmebr74aBTSZfcVLBdJQZ16qreaxkQUgtLOhcbimiS5BkKUCyc6KpTNVojq_xLV2oy3vsghHsxyt45XVRpbWRF7o7ZweJLYQv8uE89kof4q0URpILO3AJNoj14RqT3UHDpkhhVdk3fHmshEwiH4v1W-exy6uw2xzJ8N9jvnWCLGTJfVEX9-v6yQ00n6kouaJrB0lEvfwI3rWwMReFFsEJhYJ2eK3gjbE7FZbkrMwdEppZlLsR3zmOTeikPA3ZE6uxN1V8IhYpctq6B4MqkwDUAGMN_IVA1H3w2ypLPmfXzV7Rb_Hl9_bo775C1SD1VC-uSaeLz52--tovQOVNSVAMRi_-LGxK1sxDWRk6pbAMxlBdYxAloZ2O05sMs7tFxXITrHXARmYqlQbsJHJ6ZrNcjoFJG9E56biEvUcEcBqa0HIMfjl3HOBFr8Cl0jWWvS0be0g8rPOL6PbUxGpfgDDG9ye7xBUOZklthVM04sLzGDaYKeY4N1l5mkv1f_PYUxcktSoPFoaQLx4W-VBAewcy6QVbC0Ss7EP2eToF06SEjaLgMVZMLfiNtcgqepz_b1H3_VaPKUPBuDk3mZo_nz6_tT0CRq0dcI9IcgQKFkL7t0tnUWhApoYqKd6mUJtb0pyVDEMTb1MT2qKZeFJYD5mt15VFq_kasO0SAZ8CUQftudmlGv21_iiW4hLwMl5RsjEv0RRoKmJC-CT7BYk1TA4jsWsTRKPYD8zZf5YB9HHuy38lBhkjQwe_G9R7KT2CjRolpRanWd67OOqOdDM8MNrKJdgC1jdk8yLLwNtHUY7LkF07QOEcSuvtfxxJmJF0jSymxV881UO4T-4yIXWvbIJl9Xp_vvo4aLtMtftO2lWlf6RqosZ75ghE=",
  "id": "rs_036e5e0c05cbc5a1016ab2bcd85d4087d095a38f3c3a0f08c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaw has reached the exposed blue rim beside the fruits. I will close onto that rim without descending further.\"}",
  "call_id": "call_1cOTkSG5iNJg9y5CDRUdxycd",
  "id": "fc_036e5e0c05cbc5a1016ab2bcd90c3887d09255dbb2b741ca41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1cOTkSG5iNJg9y5CDRUdxycd",
  "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]: [-0.3466, 1.2343, 0.8143, -0.4976, -0.2722, -0.2173, 0.5694, 0.7364, 1.6398, 0.9501, -0.4801, 0.2314, 0.3141, 0.0094]\nstate[eef_state]: left_x=0.3249 left_y=-0.063 left_z=0.1254 left_yaw=0.0218 left_pitch=-0.305 left_roll=0.0842 left_gripper=0.5694 right_x=0.2913 right_y=0.2143 right_z=0.0431 right_yaw=0.2962 right_pitch=-0.5481 right_roll=-0.0809 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -4.3282, 6.7624, 1.3797, -0.1734, -0.0708, 0.1197, -0.2256, -8.3077, 6.8581, 1.0281, 0.1099, 0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427975b0fae4d8fc7acc9d6d95a6d73e8cd2ac669a3f14ebba7dccdc4348a14c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0eaf22b84118f687d6547e6083a1ded61f6b770cd84020e862fc0cb4701a78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de4967f24200fe7874fd1878bddc423dd7652672bbf419f4bc15062cd3a984b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 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]: [-0.3462, 1.2343, 0.8143, -0.495, -0.2722, -0.2173, 0.5682, 0.7361, 1.6268, 0.9623, -0.4808, 0.2379, 0.3202, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.0631 left_z=0.1258 left_yaw=0.0218 left_pitch=-0.3025 left_roll=0.0831 left_gripper=0.5682 right_x=0.2956 right_y=0.2164 right_z=0.0517 right_yaw=0.2924 right_pitch=-0.5233 right_roll=-0.0718 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -4.2872, 6.653, 1.409, -0.1832, -0.0757, 0.0562, -4.1504, -8.5402, 5.3538, 0.2418, 0.8816, 0.1099, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzhK2STS6enEJf4gSWCugAzyDSxGtV_OYQc8Z-VdwqECBt0NX4AQ-OVS-mksyD1BXnZ5dsDawNFeSZi723UDzCLXwGnYBl83MjDJ59_6fOM2brCXvdfROUIq9DsjG8p2W6o8BjYtBSaV3qKcx42XGYZBTJMiWk_nSLPgoY6MoAAWAtxcUyFtkmpdoMXZ6xIRZBb-mWQ3BYO613pH7My0JHKLifBRzonqMemEmzc-UH9PjtTmRR2dyeUrBFGnhPIekzzKNklbQkj0tyAeRe1KJUVClNzOOnB9gqNW_JT3tlAImShgjJBlPcH2nqmSLpmSYdIlh1d34t0n_uORUdYE6y5nkyPrAdF7IxDihp1ARQiQNNrwc0f5bTmPs43GwFzDpbL8q26XC2bpyYEDo1s6ihWogbiqkHmWYOVG0x1UbHM8dOvYoqyOFRT4WNbdiWGRVIgNfMctKRLJGpoAu7SBjeQ0OX2BkDmhT-T6bAGx6YIK12BNhK6V2T3WQQZVlI5I4XR7XBHTHbr59TSaAQ7DJQvyoYgL2LpAnssltQPAzFZ6htce6QqmmGkwqTR03qjBaiKUsYDuWN4AZujpWTi53Iig6u6W9VH52XrCa3mUEkXL9lpinYtNn0payBw5JUnK-WMSTemihpN6kM0Npl0fOCB9RVSVdQqu5MCDEUuxqYwqoHP8AqyauU7UPOD7yy-gPoW1VX_lNE9x_dxBtn1i8ofTvz3FjLkvfWhXxGfgq99uOOBdNtg2Bo_bfU67tMUsqyjDwODZe9mtRCIgBvto5usXHiPROfLgZzORJh3cMLRp_dXJExcfSGkExxXzsYdbRptEPfCRe2NoV6YNeX4zXTrlPwMQ7cgHdcP0GbJQOXsvScNrPco7Q7w6ragqq5R7bL_4MidpIY3he1ULoQWwsZfUDCGJIu-Tx4H_fZYIo28QNzxNKkF9gHlaQknHkFA0AcPzO5XduvrqtpJotWo4LP_uZHrEVEORL1Lau6P1udAx2lXRZpGd_Iq30rbQC47iP1zFsQMV0vOaur8OV57XzMNZXMLcSq3_of9HMlWlvtlwAeg1gOUxtelEnG5wFFwpJ15L8NDNS61a2ZEgKDSs-xxtbl_bZhO68ItMUQpUiBbKk2vVQKbS4rulknTGSFm3PuAyUg_WWZN5ftGXEhMZ5-hoNi5AhIoY0xkN6Jw28WEIRd5gOMkHhTdxhJ_9Mc22DjGu2Ch-Nvts_EIUtCGDsODImUdu_QDJeLuYLziqtw6tQju7hvVH4Lu-70LF_OS7109qsJGjTzxI64t_mpgEan6o31LhGZq6_fy1aHa6Ew1vdB2k8vsl4sRma40su4v6GzrZd6HnkQ-Mbr4Wpx97jgWkaXdulzEXov8THaRpXFLlhn8qKqgdlw58IBoGlV2lEh8Lqxm_ZunNZn7SguZk0w7FZOHlsaDQtqz_CaitGH_zYzcANR3_04S8kD6Nmbz-ACG",
  "id": "rs_036e5e0c05cbc5a1016ab2bcdd6da487d08e9cd954c1ebf4a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_gripper\":1},\"note\":\"The rim grasp was empty, and the yellow fruit has fallen near the front edge of the table. I will stop the transfer attempts, park the right arm, and lower the held dark fruit safely back to the table.\"}",
  "call_id": "call_TH5zNoElkDxnzRbmo71bMnsG",
  "id": "fc_036e5e0c05cbc5a1016ab2bcdfb07487d08fa792cec4622e1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TH5zNoElkDxnzRbmo71bMnsG",
  "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]: [-0.347, 1.4281, 0.527, -0.0563, -0.2722, -0.2173, 0.5703, -0.065, 1.2709, 1.1828, -1.0416, -0.0883, -0.3813, 0.9973]\nstate[eef_state]: left_x=0.3182 left_y=-0.0607 left_z=0.0222 left_yaw=0.0262 left_pitch=-0.3419 left_roll=0.0993 left_gripper=0.5703 right_x=0.2969 right_y=-0.0001 right_z=0.1801 right_yaw=0.2523 right_pitch=-0.5593 right_roll=-0.0872 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -4.6701, 5.3128, 1.6386, -0.1636, -0.0513, 0.0708, -0.1846, -4.2872, 8.4034, 0.9841, -0.2515, 0.0708, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820fb9e7a26e55a0f1e3b71696eb6e7a0f031982b88cdcf5829ddafa9dd73e14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29af05a8c293d1842a22d9a48dd560f727ec88a40797c53c1ac5a57ada453ad7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c4724837dab778f6d05e2dbfbef68d59a48856970c865f9671df4bc4d1c26a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 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]: [-0.3466, 1.2343, 0.8143, -0.4976, -0.2722, -0.2173, 0.5694, 0.7364, 1.6398, 0.9501, -0.4801, 0.2314, 0.3141, 0.0094]\nstate[eef_state]: left_x=0.3249 left_y=-0.063 left_z=0.1254 left_yaw=0.0218 left_pitch=-0.305 left_roll=0.0842 left_gripper=0.5694 right_x=0.2913 right_y=0.2143 right_z=0.0431 right_yaw=0.2962 right_pitch=-0.5481 right_roll=-0.0809 right_gripper=0.0094\nstate[joint_eff]: [-0.0752, -4.3282, 6.7624, 1.3797, -0.1734, -0.0708, 0.1197, -0.2256, -8.3077, 6.8581, 1.0281, 0.1099, 0.0171, 0.7057]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is resting at table height again. I will release it rather than leave it suspended after stopping the task.\"}",
  "call_id": "call_7hT3sWc60YXXy0kFjJdFZ15u",
  "id": "fc_036e5e0c05cbc5a1016ab2bce653bc87d0a5b67ac2a6a6a55d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7hT3sWc60YXXy0kFjJdFZ15u",
  "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]: [-0.347, 1.4364, 0.5213, -0.0566, -0.2718, -0.2173, 0.9958, -0.0635, 1.2716, 1.1854, -1.0592, -0.0986, -0.4007, 0.998]\nstate[eef_state]: left_x=0.3155 left_y=-0.0598 left_z=0.0177 left_yaw=0.0278 left_pitch=-0.3555 left_roll=0.1046 left_gripper=0.9958 right_x=0.2936 right_y=0.0023 right_z=0.1791 right_yaw=0.2793 right_pitch=-0.572 right_roll=-0.0805 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -5.6547, 5.9692, 1.3114, -0.1685, -0.0757, -0.1538, -0.3214, -4.0137, 6.2838, 1.2137, 0.0269, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871adaac79f5c6d36b443b53388995ad43d8500933c9712b27856a38c545e093",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de9610e457924af0d8577dd976c5061439e384b6700202750cf5e6776828c561",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fddd0b12dd8e8ba4bfb8dc6b0f93ad70607c67bb506059851454258045b86e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}