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]: [-0.0212, 0.7994, 0.6132, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.5932, 9.5795, 1.8095, -0.1148, 0.0952, -0.0855, -0.3624, -1.6205, 9.3744, 1.8388, -0.0659, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3f86e8278004b6394d6d16835ecc20f87cca1e0a0221568823098ab3130e7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b38810157f5fe80ea4bced58f8371c29bc1989eaf873932b9ca4fcf2829ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c835148c5a1e18d1763bbd825ab6941119a76187a07386eb718955f99579277f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssGk7LBYP-u2prDyvVnpGHIZnXIp9f-KO7A-TcLcQy2BBjSbr90_veApwV5WFF9u2E3_uz6CLyF5Wv5Oz1FlO1QcHSDW70z0zwxYx5Xhz813QKlX1sVc5reLv-Vlb7SHP8t3xOYRxF-uUHqwgqauOtb3AHSeAY9POdbOZsiand4bChUGy4ACUFkayk2y3WxV-Cy6RahYOB5deDsLbe9r9ed5YELjaipTBl62vIRCXK2m7sGqyvlUZLLEq4zew8v2hpkff3ZRU9M55yiZCJyj8Y5hfU6N_3H7saWPYqexMMCq9TK2tPE2HIeE0MlN9M0sxpOBxnfNKdqFO2HA9G_okc1vxjzQIqUJSLcD_37EA0wZ-bzLqDrk32TC01tW3KRDjVVQgFrpJrifefM-3esQpqxsRqyYPFo0caOA_Qwrp4zn3-KT9gqjM25weQ4bivRpJM2ra5URaKX1eGwn8DaH8n7N-FFJVyYjf-esTshz29yAwz_pSxuRCJhhBGL4P0ef074RMc6XzmYJqCDcyohAjAvdQnOvo96omXQ5xR4b6xkTCFJ6gPRKlpqn83meCGJopgHygtey55YGHLGe52P2LHYy5rZDAJd3XRNXSXV9Vxnfl8wcnET0noAqqXE4lJSovdh_QYkH7nmKwSedS1cMvSjrUQYnXM0k03DEhFrbV_FAJF7UQ28DaL8rWqPhfm2r6zjuT32mxfphGan2rXC_AE9LxInzsG_-ukl0Ayw1Ssr49T9aZ9DcxtWSxH6EDegoMOufmgth_Xr0IaknPACcF71giftXWW1timX-56NAbIVH5nWplIRXHpWTsPPb_2Kqxslxw8NcTgv8tlSvvSuVckzHAsey1YgKHdJPA2RwBijzyWhhVABAjkP4kuMmdAFlFauA3xTlAt_vkH-OjadvgyrHOS-VtTHLaAmYzSqC69foeCIKlMIYAKjsaChumfjIWBeMsIgNugd6o_bntROsqX-OUd43qSfMt0Fsggw07KoFDUeuVGEVqh5lv7Hupf_NRh1wov71wNGEKhmaZvs-hsVLlmFNTnW8qh5eCcFifQPp8jm_pbvb9dr_c2eCBiRPIa3gFu2p0i1n-thStBPOKUDFnQBeF9Tfxvm5MiyAyWhMab6vvcYm61A_27adJDfPv56feHJ66pl8QDBG7AWIzAVLuwHF1Oipj-G-7aPdu2nDUp5Emr30JsVRpfjUiwkmoXDhuiY0OnLysDRZYiKHlqtkJz91EdrD0GUoTquUlbO1xPMMVHaDrhl-fQI3O5eRrCXhVFXtnjQsu9VBFK2mvcZHM20q3pfZrPd01hB78i2zib2GZHmdpK1m_B9tHsPoGe_P5IXGtK7ZwC8r8Dl8YXS3PeESoFHlbDkvfUdfi4tFzOlQG-NTefnzW_OxjwtVLA2EmW2NqLyTwbfHus8We6dVx3HW-fJ7RmzlXUNP9vXIY84DLclzi3mYfIHY92tAuyakBNV8nC5jyT6Y9fX95gyiWY3b9X8iNtrYj3mJcIVZhZPc1suM3Ppi5Du12RMxN7nzabk-IeICZ7kcLFy9EJLvGN4pJzInArBDCaxcCkXs_8U=",
  "id": "rs_0854f53c489bc4ba016ab2c19d3ff887d0a39da84f9e466288",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.15,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19},\"note\":\"I see three fruits on the table: a dark fruit on the left, a yellow fruit in the middle, and a pear on the right. I’m moving the left gripper above the dark fruit first, keeping the right arm parked.\"}",
  "call_id": "call_OSX5zkfPXxoNjxRyAfi4IEo4",
  "id": "fc_0854f53c489bc4ba016ab2c1a19b7887d095f5eddde9dbd7a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OSX5zkfPXxoNjxRyAfi4IEo4",
  "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]: [-0.6765, 1.3315, 0.6548, -0.0723, -0.5346, -0.4206, 0.9993, -0.0227, 0.8043, 0.6178, -0.4202, -0.0166, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3305 left_y=-0.1454 left_z=0.1108 left_yaw=-0.0152 left_pitch=-0.0577 left_roll=0.0346 left_gripper=0.9993 right_x=0.2917 right_y=-0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0378 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2034, 8.7043, 1.79, -0.3394, -0.1245, -0.0904, 0.0615, -1.2786, 9.2786, 1.7753, -0.0366, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9157efde803502a32206247081e219dcbf75e0b646b8c3376b2b49dc43320dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629cb2344e8df6f351f2051b750a5df84d0bbf09e8d4da10d37c09ad09e1a391",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac40fd0e90ee9e9ab1274177a824e643abdbe260d6885617d02e0ff851ec06c5",
      "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]: [-0.0212, 0.7994, 0.6132, -0.3824, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.3874, -0.017, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2959 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.5932, 9.5795, 1.8095, -0.1148, 0.0952, -0.0855, -0.3624, -1.6205, 9.3744, 1.8388, -0.0659, 0.1343, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGunjHJqO2gVT6pPg4GEe5mjvh_b78J--Ctb9TLHaG2Z9Z_fisv-r6rw3k_BRkpBecyIctaZe3VxRBRXUTGqZZYlCIVq537yxGshZ8BsvCTHc6ch25Z5dIJp64ypk7k4da0n0HUg13nIYIGXrNVmj5qzXfScNjwj-G0ya4xiHVoOR5luLcABZmMHGz11ak85cCTe6PhROp6hiCBddZzOmiErLV191_Aw4ErdGrnKvR_Yeq3Bgcf5qafv2yNI-4uXWla9W5fE1LasmUBdCkgT1fbYQgOJDxORXHAitMw8zHjdiQztYEbMpdYq9PHHr7pAIQlfr3EN2YXVkhuvDkzTeQRc-c_mItmuULkIYW0I3gKnLOpmv3dUzYoBalkdHQXurrbyDX9dlzyA9zprABWq0WmDeo3CGlwkBDs_BjDkVZDR0SZC8K2dA_OrpqNmYocQjBQlkQZ8HpZHIQ51rmr8PQfApidO9sCjuxyu1y9nyj7RxsvfbDYKNxfxrNOSrBjrsFIduON8koYwWW6bxLNQs_BJWVDEgX7aBKbFhoDsCxHm94MMtWpI34UqgNMRQm9JHharnfpWdXWH-fyPVa7qvPqKSuQqrW3u2kCw3g-fIig97qcZrHKERi7tNZusruYQVtvxf6mhoVrYmV-2Yahy7fcKU4CVZclBr5ayxthpZhkobtnG_SKllGB9SluUpKh2aRqnHK8Sa5Tcuh1jgDET7wE0D6oS2-5DBdL3zJ660MEY1-eXK7I055VzGTVErD560fiN8z-yDsVEGzfJ5gHBpNobD5BbBCFRgQ4SRTF8vYyvENc38tWPchBAbaYpB5G-7RUPWripyi4G-l_FrkRDn_cDHy6y9ZXZwSbwT-4eLmKwcnwFByA6KZAKoKsW3uWaKFC6LRvuZqnHXhqd7Ej7JO7VbijDOK73KGFVuV1thPXAVi8SP84hMzF7ON7hkP2GJv1HjNZbTPl5MQST5tDLveyy03aj-uUUV6I0S09Qj_hQxrKu5F92lUOoB70KnvutStbGaYNMQcBvyjX7la4BGXlzfTBVVVmbeHOfKeDRxjyczAqaHFzas33CqHM3qyyOQK1YSVoyTcA5Rusn6C-YCWhPKWCIwJqAvXhr3Vs4DHGqgK9nI__5uTd1kXU_7Wox1vFnyigxeqq05bSG1qFOAKbU52dCFjW34cJ3D4Owibm9vtLXV8Q94TlCIylQEtesMw79UVsSzaUEAjPfH-qoESu7eOX4WbfiHaipHglRwoCNL0=",
  "id": "rs_0854f53c489bc4ba016ab2c1ab548487d0bc3be6bbf24bd6df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.128,\"left_z\":0.025},\"note\":\"The dark fruit is just left of the jaw centerline in the wrist view and still ahead of the fingertips. I’m shifting slightly left and forward while lowering to grasp its sides.\"}",
  "call_id": "call_bjwygIq5dMqTams5U1WkCzL3",
  "id": "fc_0854f53c489bc4ba016ab2c1ac563c87d09f95363cfd7accde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bjwygIq5dMqTams5U1WkCzL3",
  "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]: [-0.5407, 1.6909, 0.527, 0.4309, -0.4473, -0.3363, 0.9993, -0.0227, 0.8082, 0.6178, -0.432, -0.0162, -0.0368, 0.9991]\nstate[eef_state]: left_x=0.362 left_y=-0.1241 left_z=0.0195 left_yaw=0.0067 left_pitch=-0.0796 left_roll=0.0447 left_gripper=0.9993 right_x=0.2902 right_y=-0.0001 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0534 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.0632, 4.6291, 1.7607, -0.0122, 0.1685, -0.0171, -0.2393, -1.5795, 7.0222, 1.8632, -0.0024, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4125a5e15d137ac1a04ca20d5882c784c637c792c4e4de77f6799a7f75b9f323",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0422c7f1269d8e237de61aa82f1345779a54ae3bd080540fcdbe801d3b545e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d95c089d54de2d2efcf9dd22d10a9ad16e975f3cb93afcb87572519ace0898",
      "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]: [-0.6765, 1.3315, 0.6548, -0.0723, -0.5346, -0.4206, 0.9993, -0.0227, 0.8043, 0.6178, -0.4202, -0.0166, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.3305 left_y=-0.1454 left_z=0.1108 left_yaw=-0.0152 left_pitch=-0.0577 left_roll=0.0346 left_gripper=0.9993 right_x=0.2917 right_y=-0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0378 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -5.2034, 8.7043, 1.79, -0.3394, -0.1245, -0.0904, 0.0615, -1.2786, 9.2786, 1.7753, -0.0366, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is between the open fingers at table height. I’m closing the gripper around it before checking the lift.\"}",
  "call_id": "call_qcauR9dW2cIPigWcTVzKKU37",
  "id": "fc_0854f53c489bc4ba016ab2c1b28e2487d0a92135532f8fae51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qcauR9dW2cIPigWcTVzKKU37",
  "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]: [-0.5415, 1.6909, 0.527, 0.4297, -0.4484, -0.3401, 0.5274, -0.0227, 0.8082, 0.6178, -0.4393, -0.017, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3618 left_y=-0.1241 left_z=0.0194 left_yaw=0.0089 left_pitch=-0.0801 left_roll=0.0429 left_gripper=0.5274 right_x=0.2891 right_y=0.0 right_z=0.1703 right_yaw=0.0021 right_pitch=-0.0606 right_roll=-0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -6.2017, 4.7795, 1.5458, -0.2222, -0.022, 1.0281, -0.0342, -1.2923, 6.9949, 1.8095, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0986b2c17bc4cb5afa6730085eec13241f7f1c4b40e97985b1e24917b60827ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d45e50d0fe6c8b1a1a00f05a70f49646f29c64f584a37678b802f334c5110c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e6c7f369ca62139c0b317ba3bd79de6a9b8a8c4d9ed09c876e4d612d5f7881",
      "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]: [-0.5407, 1.6909, 0.527, 0.4309, -0.4473, -0.3363, 0.9993, -0.0227, 0.8082, 0.6178, -0.432, -0.0162, -0.0368, 0.9991]\nstate[eef_state]: left_x=0.362 left_y=-0.1241 left_z=0.0195 left_yaw=0.0067 left_pitch=-0.0796 left_roll=0.0447 left_gripper=0.9993 right_x=0.2902 right_y=-0.0001 right_z=0.1718 right_yaw=0.0012 right_pitch=-0.0534 right_roll=-0.002 right_gripper=0.9991\nstate[joint_eff]: [0.1436, -7.0632, 4.6291, 1.7607, -0.0122, 0.1685, -0.0171, -0.2393, -1.5795, 7.0222, 1.8632, -0.0024, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has stopped at a substantial opening, consistent with holding the fruit. I’m lifting it a short distance to verify that it moves with the jaws.\"}",
  "call_id": "call_flZ14zqsU4JaKAGi5ISjqQTw",
  "id": "fc_0854f53c489bc4ba016ab2c1b6f4f087d08fb91833b4a31b84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_flZ14zqsU4JaKAGi5ISjqQTw",
  "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]: [-0.5415, 1.433, 0.6743, 0.001, -0.4484, -0.3454, 0.5307, -0.0227, 0.8082, 0.6178, -0.4442, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3579 left_y=-0.1217 left_z=0.091 left_yaw=0.0129 left_pitch=-0.1001 left_roll=0.0512 left_gripper=0.5307 right_x=0.2884 right_y=-0.0 right_z=0.1693 right_yaw=0.0018 right_pitch=-0.0656 right_roll=-0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.6256, 8.5128, 1.5018, -0.1832, -0.022, 1.0281, -0.1846, -1.2376, 7.1316, 1.7167, -0.0366, -0.0659, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9909157131907689049d61ef169d5484e3a6c22e583b88962ab2afb3cd24200f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ca80765b0e99dfe27c6a6511c6723b90d754b58d30ef096c3c36d1f43c5b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75921339eb7ce55d663db9c2474d2288d1468cf6c34bdb86854cdfce21605ad",
      "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]: [-0.5415, 1.6909, 0.527, 0.4297, -0.4484, -0.3401, 0.5274, -0.0227, 0.8082, 0.6178, -0.4393, -0.017, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3618 left_y=-0.1241 left_z=0.0194 left_yaw=0.0089 left_pitch=-0.0801 left_roll=0.0429 left_gripper=0.5274 right_x=0.2891 right_y=0.0 right_z=0.1703 right_yaw=0.0021 right_pitch=-0.0606 right_roll=-0.0017 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -6.2017, 4.7795, 1.5458, -0.2222, -0.022, 1.0281, -0.0342, -1.2923, 6.9949, 1.8095, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHBwOpsfWHcH5bsyxVhf8sWikObGzZA5aQb_e861echk5Nb7-sJkvqMpyuMD7uMmGpjbSo5NY_Ug_11od6xYM-9pYjcTO7KlQESYSWFECFDTyCywLu9NLZwg8pMxV43cigPGTtCRDwQYGSj6DIpCWT5ks2oQob4bXlZsz7Hb65LuzgMYdFXXFJJZtKyXvxvbEYnn4dFYTFOeyTtuIovXWLrNaHrpcJvtY0f6UlNMtZYL2wsptMgibrxZ39N15vOlVZYKm_BEqIiV7-NKdOEyCBjICVbeEbhDieo8vNwrPcEDB7h48A6qfSD6eRKo9THoPx_lnDzbH9YXOr9jixjfoFGPGMlY_VNxHFaOMoWA0BGaARSYgc4X7basTJw6fMtjrHf1Ak_lcJZo4I4-3mRJFMqPf3EFicBpWzcG_3imqLwD2uuXs4NT00nGmT1hcsNDtj7AFAnz_zcnWZllJizkojuzIR15OqTbiLTnqdP3PLBfdBnO3F2mainQzlFgVWGtxN1vOMkfUCfEog7ZJWIHm_uI4EnL8HtHp0F0XmEzbBmOxie2DREKHT6jq4xykNhk-JMUpso2dVkynGses-mA2ci7uDkxF-kNAEQENQjt3pvq0EkbioqXzYaF8s5a92BFvsz3mHlhhniAGOeLHTfO1Pridfsh9mtdxcvu8Q6DFjqOltyhiXBvc9CCg53pNqX5xHXoXJMArYdYZhosA1gQisT9-fKjT0ayq9T4RWW5EACkfhQRI3nhZGD2UGktPRNNoVBwr3kNPkrk8Fz_-LgMsAzx7D7sybMHeCi-s-UY39jztsKSJv6YYo5LFgFiccapjqFUNj6wCip8iN4HVm6pPMzarJ_iwX_uUIl77-0yaoCU4Aug1Jsdhmct1s7ISWMgZIMjdZGK9g4-5TbpGH9QbfvciaexZtME_QYg2pgV7RdvJA51-TI_LVtaZxhQWIct_Mmr96EH5JzCQoPV7MjBF1Am-uBJGn9LgYRvIFOAmxk7DWyCkhNnqbnk6lNnYnbVpqlRcVOZs93V_OpKrJjJgtTGAkFCmZN-W6CZy27WLlJTERWbNIpaIdPc3xNewVET7gMOg_K89Ur7jCSRdEV_gTT228hSaKxTj-Pgp2GTR_Bqc7V5Lj1YmwQqYvvLp0s1sla3OpkW9-LLVHRrHlRJs9xGNA4EkBIRDpYodRlkZpeggLkuy5A1FWGkfqtLsmazCFYA5bGiYtx174Mewm6XogxUdJshl-SFDUM_TeHZZTaQpB6g935b_iewXdDUFDAiEAdb3RpfrT_rqcsDQFyb4GGGX3LuPQ7CxIYopRaVcwmkeuoWn5j5pvh5cfsIDumwcyj9rn-ulMCKkfEYLFuxC8vjcqtvS3OoEvEBB8ccu7ZL9N86x8AhWIG3pWljFs830vsopPTJkpVgWiQnSOTS2s9ioCRaRqGcZ8Ld_mfPN0Lj4sb8qVmJxzG_7bOztr2ZWulk0v5mhBvPrp6h57EW4AJ-npiSz68uZhegt8aWTD1T2dobhXvKX7GBggHS67gwVuIddoiLWhU-QhS1oamqCjBprl8ac0AgdLj-SFLF1k1kgR1nWG14Tz0Pz2b5CmKmfXqcqiek06TQVSwT0gvUmb4Cj-wY5f40MLQ7oPgYa-lOWn0oACHv372DlYtKSfESKbB",
  "id": "rs_0854f53c489bc4ba016ab2c1bbb4ac87d08c36f4d258685e16",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.39,\"left_z\":0.20},\"note\":\"The dark fruit lifted with the gripper. I’m carrying it above the blue bowl, high enough to clear the rim.\"}",
  "call_id": "call_ttn1P0W7Nrbzp6RRGfl81RmF",
  "id": "fc_0854f53c489bc4ba016ab2c1c0105087d0a0ce1cb6f1935a33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ttn1P0W7Nrbzp6RRGfl81RmF",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.844, 2.7476, 2.8334, -1.214, -0.6392, -0.6121, 0.5307, -0.0227, 0.8135, 0.6178, -0.4538, -0.017, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.4757 left_y=-0.3711 left_z=0.1028 left_yaw=0.0386 left_pitch=-0.26 left_roll=0.2187 left_gripper=0.5307 right_x=0.2873 right_y=0.0001 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0805 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.8684, -16.9778, 8.0889, 0.8669, -0.5006, -0.0513, 1.0085, -0.212, -1.7846, 6.9812, 1.8144, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e87faf96f8ea4a3013781491f59bc7cc0ba0b2a4426ef64bdc2b358995612c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385d29fbbf5c7d2d07ddb3a0ea25dd5ec0fccd5c6257bfca2c63a9daee6a9e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bdecb737600cd78a5fefeac1b42a810d4d6b9cde5a8fb686d7b689fdd36fafe",
      "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]: [-0.5415, 1.433, 0.6743, 0.001, -0.4484, -0.3454, 0.5307, -0.0227, 0.8082, 0.6178, -0.4442, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3579 left_y=-0.1217 left_z=0.091 left_yaw=0.0129 left_pitch=-0.1001 left_roll=0.0512 left_gripper=0.5307 right_x=0.2884 right_y=-0.0 right_z=0.1693 right_yaw=0.0018 right_pitch=-0.0656 right_roll=-0.0018 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -6.6256, 8.5128, 1.5018, -0.1832, -0.022, 1.0281, -0.1846, -1.2376, 7.1316, 1.7167, -0.0366, -0.0659, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHVAYiZbRnastx77TxVo7U6OkTx-As_32jT34A1bT5Qz71MMxKC0DK5S4jJyy18peWjzOr7LjSjrki-DPG2WyY4JSGxNaHcDhWO-ak-Jum70DJQMpDWejI8t3wSAy82DrFDWnFztpx3aiVFtvp9dXCrrsoYPtv9ZUn2f9yjwul445B_Gfdrm_ve6kdreUo5Q3ucA7UvUZ4Ab5dPqDNxEhPOOWatbNi8SQIcJd3_FfkmuNgCbqf9eEZR9hN27hLJa8QVzcCtE3vbwo31eU1VZYnHDQKzYwbY0W8lR_OnVfZ3UqjYZtDkxr18UfElKbm6RChsQqSt1wC0G3K5qapNUYZ8hvG93gfxFCWWe9YbALi_KMVlZ26N65pa3zkCF-f0rXqhHFFW_HO82xLXgULq1xaNSjnBziqfOIIe-TfA5PlCqkSf95RBN3KcKmCOsB2pUaC3CXb_h8IICkQjYHfCXLgC9P6K0t6Zr6LaxQcA8b3Few5MvU_ot4vplI7cmvTQ4zPLyh_Q9Y412t99tclMwSUYiqHeR0omSm5s7At6D63X1A2POeR1Tmmx-McrVEJdbdzBZCsYbL821SUSRjhNB6szLZyJrlBuLHDFFT6C-T8ohTeUCifo1_CXpKI4kc54Jo7Dze8P9PH-VEkSb1eAbfLrTPLKvwkPU3e_e3DO_AY0NMrExP2leJPIJRPinqG_RdIYAFR8RMzGAqtbCijGeqfGL24FOQgHOFbJg4TjVakQq0xPNfudWiqv3zZt4McpHncXZicLR1ns5v8AtLIkHuagQV5PBkgtSdfplydp38WlGOatuzBkvDLSgTLQHFu6qYy0Ae--7NZKEloHthN-VIhTW3N88NUhULuhGjt36fzY5tOfUxvz_fMo1bkXRAKIz0iSC9YThvR5wHa8DaBgPoCWdHj0Or_ljYC_eOcMqckgJGLVYYG46xXkaizZklj7V78IIGnVZEPudqOvwHjRa_0TExOQkbxmEoWho3EY4-P3zMxd7as4unWHJA9yxNRiCW1_Xr_pclXv0fjkM0Hew270pu-yeyvadtJoyPKlC9a-uh83rCpwohrwlZ8L1KbnlSMPgQXb63IfK6QTqixNUcZk84cZtJTjjz10L4dsjENIxXrF7sZz4aS3JAFNWekM_Qv9vtJNH4SF7NQ1V20vHvVlkOyckNs582EKbAGIxORqgL4ZMGLlSm73q4Jjnwj0xw3imFhPtJvNKpMZpImKw6VfuG9tv2C36fMZEnCka1pTeNtEoc5OqQatByyLp22uUTkrkNqAs2Zd7RPrh8V1bQGP0ErtdGBEGV9No0hwJ2Sl3XBlx-V0q8pCRcyRot9lg5364hozM8xhD28jE_-JyPjhYLrbACQ92-5BRkb1vji5RE6XmoTiaL4uU-I7DaBP-ZGOekWAyvQuSVToVoBDDUACSV1ohacTKpnjgyMEO5mxWGYontsu2gws-AV6wuQmzvi7TC7vrOuAwHcUWmpWWuITGFgj3nsvq6_-iS1mDdl8VdrygAOXgC9PKF6pu3OfWU07k9sZc9bGgsMol_QeoInn8RGA3cdtAc55BtVHXAD138CUnez5FUGG2pOwnr5E1lmOw5nBOnBGZQPBug_qJknlmjKI8TNuQetXYoNXiqof6gWdQY0efIqDJM4w4Wv4e7HIpM4n_debmf4hrrF7GCidM-Jw6VFfP9HEqurRJRyiageDo5b262yA5kpud7nPzK9Z7FGrEtkwflOfrLR2HeoaKdUJ2G0ikK7xjWnEqK307BjAP9XjwVl1Jcen-eZb27vuoH79mfMysJs_aeFsdxmXkjTse1wAphP7fnBS3fV-VdJbegrh62I_J8Gsxxv_MYY13FgPkqAVJbRQSllWI1AQzCRcUq5HgHmKrcPQJVggtuyenO8VImHQpHgU54oodgLWU1_iq7xSZYfvhuZJ4Oil7cHfPrJ46Uvse6MDo2eJ1i6s44wi_PPn_TyLCW4V8gI-7kcC-LrRmcSRoEpDc1-r0IulUA-7-A0nJ-Xgw4UzwZ81F01VXATIAxYHo0qKuphF",
  "id": "rs_0854f53c489bc4ba016ab2c1ce62d487d0ae78316201c1614c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.4,\"left_z\":0.15,\"left_pitch\":0.35},\"note\":\"The left arm is near its reach limit, and the blue bowl is slightly to the right of the held fruit. I’m shortening the forward reach and shifting to the rightmost allowed position to place the fruit over the bowl opening.\"}",
  "call_id": "call_3KOFIjBTFX0zVPOyronD6L1q",
  "id": "fc_0854f53c489bc4ba016ab2c1d3c21887d0b8c163a898d5e88e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3KOFIjBTFX0zVPOyronD6L1q",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.997, 2.4145, 1.7996, -0.0277, -1.0706, -0.3035, 0.5341, -0.0227, 0.8146, 0.6178, -0.4545, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.3977 left_z=0.1025 left_yaw=0.0014 left_pitch=0.2546 left_roll=0.2939 left_gripper=0.5341 right_x=0.2873 right_y=-0.0 right_z=0.1656 right_yaw=0.0018 right_pitch=-0.0824 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -19.0564, 6.2291, 1.6142, -0.6618, 0.0952, 0.652, -0.0889, -1.2376, 7.0906, 1.7216, -0.0269, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bf17af480f2cbb3af670268a6c392c0a34c3c61b9650c56c79dfb62e8d9990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d31e74dd69d352d4a77d0f0f1cdf58fe1f17205e9e57e5f4ec00173312d0c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d44584ea22b1f4d6f6018e8c29d97f12e5d1beb07c4780fcc1e7478afc5500",
      "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]: [-0.844, 2.7476, 2.8334, -1.214, -0.6392, -0.6121, 0.5307, -0.0227, 0.8135, 0.6178, -0.4538, -0.017, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.4757 left_y=-0.3711 left_z=0.1028 left_yaw=0.0386 left_pitch=-0.26 left_roll=0.2187 left_gripper=0.5307 right_x=0.2873 right_y=0.0001 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0805 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.8684, -16.9778, 8.0889, 0.8669, -0.5006, -0.0513, 1.0085, -0.212, -1.7846, 6.9812, 1.8144, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHrh3-3INtWbmg3yD0oq6TmVfm7egLcOHIJIRtwUWcXDJEWxbhAQ3TrCW1Lznc8VZH8QkTmflzpxuq_rRjyPBjhh_atySJBj0SSTrVJAD2ylYoMF-7ZP3gsf43myCj2qVO4tJvC97GyIgvpsKtoCWysq4KauQy303E-ND4jAtxWgXg4TPNXM6U0uPLIW75-uGfQCDQBr8u7WW0JgcaStfBVI6D7M_MFphpks1rk_eZip565QqnDqWRrfwB_uigLe0TyWobCkaEefPRYTGvjAVxGc63EP8Uv-u0Gl5Yrl7AUO9gNL9CVi0tCFx_T9Ent87z1ecA5m39fpETwgC4REvFtCQTsFxp4PLKc0bkCmuCdvNE15Y8ZY0Q9v3PeUSs8szIhd6mhXxNtMh4uaCgJb2JSYbxRhb_5FRQs8oMKesBFCVO5LZ9nbd7m8WcB_VKU5ik7tTh1selBrVKaoILnX1BumL-Y6V9sQFeZnkBxXG89SOfS3b0T-2nah2DVHobs8zVErAHNQvuLrBzMqWL14YNcVQUGhQ2iGFrdExSFzECxLICwRj1v_71RQke-OkMa8HzQJ4me3Qyo2PF-04mp1gBKZF7IkW8HZRYEeUG_CR45jd3z0wRDuNCedo6RjgI_G8zXD7lMxaXTHQU26S-XYNiU64La1w8vlepNYgb_rP0MjVEOdtBBaABAmdkdu9wGrE2Slt3OJap1eK6rtV97qnffGINNoeT9VMCPjYcgo4TB66vA_N1JAumvl7EXqzGoBOmN7CTDq73ccEE-qMStZ5GhE-_HqCriNbAXTZhixeg4ybLkluqBHPj1lx3uECboUn85r4yUwxTJCfleRrqAl8WNZTsOtOT9VBbzRnK18VW6c1P58NvmEvErMvwb32TNWmfKHe_pGE4BaoZz6DllxePDYEC07-eXuMk5JukNQXm19thSRmOZv1GFUrHRftFXJHQ62aKu5ZlDtZhoxFVy95NNBmUM9L0dFWctV0HWNMYlXrhBjuvb5JZXSeBmBRPlx4hpcxd1jvi8xoWaFhCJEl6vMiXeZA-WPmwKFAMQj12cpqKCWaoQespDSD1ZQBB6MHqULq01Sb2Ho0VWwbc4xTMvkLKx35p2hMuzhG5QIfFM3riz9fgEZbjvi8_hGOYirSoJTm-wfROhjANMWW7BKUzii3P0g3kxT7rlYg5IQFf62wl0m3ZBchbhXIULGCuZmr0mhA1HZ3Ggy_vioUq8pSRFT2ZVrYQA5FuRm0C8jO9LYT7WZ1Sc1oKvDnBdb7MMfJGSn75CcSp9Crr773-U31isv8PF0z8-PdH1NfOSLQPtAfSNWflLJsmqbrikjaI1Bog6K_U1--01IYHOW8fy24wZfdTibF7S2Yen8qvaOkQcb23L5p7bV47lVW0mRk-mpvOrsx1rxbzoFK0al200pdU_UjrwdDTEj2y3kCLNSDE2FN5ez4h0qXnRQyy9Ymimhi7PdEPDSo4wiDIEL3qDXxL5Nb-AmL1-lHpPV_YOlGP3Xc5wo5qn0KOisx78rIVzGx-aQ7Xwm0hDq8k2eAcefXbuq7mFodDS9pqkv6JMZIdLn6G3xqBwvpJNGLIVSQGFXe-Kltoy0UEq4TbUH1I_SZ3wl1dqsSIulu2EbpbSmEljWNVseu-WDve4-NA3bWb1GvvYLdnCG9h4z03xrmeAoavn_zjVENWOpMvJYE0N2zb3DMqxptF5c9_R_EFU8UgZaVrOABtL8WGnDXzBw6a9MijOK2NAwQOObr1YRTATISYmDaQ6T2QlgI9_ImqIHQbG3LbJ",
  "id": "rs_0854f53c489bc4ba016ab2c1e4e53c87d093ae02f1a9db98cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.23,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.49,\"right_y\":0.23,\"right_z\":0.15},\"note\":\"The bowl is too far forward for a reliable loaded placement with the left arm. I’m moving the held fruit back and bringing the right gripper to the blue bowl so I can draw it closer.\"}",
  "call_id": "call_4tAPGk9sOcb7NHXEk6P8efLk",
  "id": "fc_0854f53c489bc4ba016ab2c1e9c4e487d08a3d00fdb5b7a213",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4tAPGk9sOcb7NHXEk6P8efLk",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9005, 1.6852, 1.2945, -0.5026, -0.8635, -0.4286, 0.5355, 0.572, 1.9411, 1.4582, -0.2909, 0.4187, 0.3157, 0.9991]\nstate[eef_state]: left_x=0.3661 left_y=-0.2399 left_z=0.1926 left_yaw=-0.0027 left_pitch=0.011 left_roll=0.2991 left_gripper=0.5355 right_x=0.4792 right_y=0.2274 right_z=0.1358 right_yaw=0.0397 right_pitch=-0.1241 right_roll=-0.0306 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -10.3726, 6.4205, 1.1795, -0.3394, -0.1148, 0.8669, -0.0068, -11.1795, 8.3487, 1.5018, 0.3053, 0.2711, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d9755aeaaa1b1bc315ce26c432f73be755939685081eafbd4727ec094c7ffe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca7b7fd931b33375f2fa00eddb352b9f20970c784a5f7325256fba5f0c9b4a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65b298ec919668a9d21633f042a18cc26b0f991703fc424662f9225349122587",
      "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]: [-0.997, 2.4145, 1.7996, -0.0277, -1.0706, -0.3035, 0.5341, -0.0227, 0.8146, 0.6178, -0.4545, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.4459 left_y=-0.3977 left_z=0.1025 left_yaw=0.0014 left_pitch=0.2546 left_roll=0.2939 left_gripper=0.5341 right_x=0.2873 right_y=-0.0 right_z=0.1656 right_yaw=0.0018 right_pitch=-0.0824 right_roll=-0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.7453, -19.0564, 6.2291, 1.6142, -0.6618, 0.0952, 0.652, -0.0889, -1.2376, 7.0906, 1.7216, -0.0269, -0.0806, -0.0073]\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": "gAAAAABqssH1WtsaID6AcqqyO4_WJ5R5elIc8oSMbYnTip0hdVcCg_-iO3RVZjv7EjfGkcmuJkT1iDIlZw4Mv5X6Hgp7cARdHExVIST7cTYXFI87UYH2cA16LPm-kr5jMQirkTUUSl1a_7CreoSGzJ6ygoJEctVF1bDD32Ujy2JoSnIsx6fFGtXyVdKnwFUPPPRDectKOygOEn9dA-j-v0lI-yp-zQtFcvY2sthZI7JD3XpD6oB_xDyIrjbRybJ1dhhwgt2sCbJBmHg1LaI2iXZ4809PN5k1io_Jr1eKGFw4B_BMU4liWMxLLeWkq3lAKU3n6l9H7E1lDkuI6StPUQJl6lCC1I86YDHlbDKOmuL4PtgKNqeCla8FOg5V4rSsDzcH4Majnum3Oe_dlAQIZ28MUS_q-ehKNuz4iciGVWDQ7DpSKU6JArfumaQFIPSUfovHbO6sldbSclW8q6ONEoV8geiNquvLMcLoaTBPYyR9Nsdp-T4gCOhJ1TbQEOCJDbCNiaM4ZRliOSFQbRHjpFdEV3uBxGnQH_xstKc2589fPnz0Z_D2M59K0alUW9nHXjXpwf8aLcn4Or4i9tO-xISoSD_jpQcqe6EImvVslTldY3q1mDPf0F74ZQkjOh64cOqAIYI5ixJ6c1jAeptKyQgmSGrCdCFv7w9loWmkPr5c8zmLPQP_MkCDVrREZl_8GuRScs78FxfKTvolCAGCkru3Ro2HVWw4hvFBF74wZ4ZR8-ggYajSvK0MN8q_Viw2hUQKT1ZrRysNbB6aO-fMI2KtgJoq15n-OoistcPrvZ9j-fv6JjTZj77pTz0zdTY5iQ4HqhpRTmpkCwMXEDHy8dI3KBQBeDk1hUYIvk4iJBsUbTl6ogbjplKuP9iV5NBOjfIJN_8FPV2mIKqEYnQlH3FltrQYuTJEQ8lbKAGDfg3TLunkqJbzN2w467z7pxS3U9aJpxl9bq6wuqhdxLlGzuB_uA5cWcGZ2sZGtd_wL7jQ7FBYsoCt09ak8yiC8YnrvOiE5tdIKX9pDvKrwiVICDdISKh2vitsSiwzwN9sBMXRPaO6jU3Unn6-RaJil_D5qgP45_x1x8XcqmguJwiggfd_oirwEa1lZ-eoodbEeRWfecLzAfFb9ZdO_wl4UKYauZ84gEv3k7Dw2gRhTLCcR5tiZhqm0fivtPw7PWfOJHPAJKiwkYHD5Wv6Y0aye1uF0Hv0v5ABh9OcshLIN0b4OWfYtqQ2C7GmXU4hy_YO9uJBRRjwBS0qjgIf5hS2u80y6qD8ysFW1bC0U5dB3uS2DrIZpJRp4EgSUgGugGbzMhwn53TY27Y2U3FcziB4Rr-MkTfQnp1GS9PSlf9VXZ-ffE7FHRZYyIMugpEncA7eKWlWWCvvZqAiEGNFs5t0dtqkv62Ruv7LItKT1Iwd2VJlvemEDrajvHXMr4Fc18vD4Nsoe7YxbhuPQbNNAnQwPst_R2lOkIJVmXzHvXmkzGFTTKg-NcT8-WlyGzC0GiW-HXBdnqyALq_ENlRc-_S33LR6n4sZJPgE5arR2hh_a8J2j4YVBHGEyrva9XQmcrPYAEOCypASkYtoce-bDf_s3VwMPWiJQnZxExZu7byvNiPo2TUh-PfheZGx1g==",
  "id": "rs_0854f53c489bc4ba016ab2c1ef910087d087b174eab96fa266",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.225,\"right_z\":0.055},\"note\":\"The blue bowl is visible just right of the right gripper. I’m lowering onto its left rim so one jaw can sit inside and the other outside.\"}",
  "call_id": "call_74jlP3PhvuNcEaP6IzpakLF4",
  "id": "fc_0854f53c489bc4ba016ab2c1f4086887d094a495362c5b0247",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_74jlP3PhvuNcEaP6IzpakLF4",
  "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]: [-0.897, 1.6848, 1.2881, -0.5159, -0.8516, -0.4278, 0.5377, 0.5217, 2.1574, 1.4521, -0.1165, 0.3817, 0.279, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.2378 left_z=0.1876 left_yaw=-0.007 left_pitch=-0.0086 left_roll=0.3091 left_gripper=0.5377 right_x=0.5087 right_y=0.2206 right_z=0.0474 right_yaw=0.0351 right_pitch=-0.1799 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -8.294, 7.0496, 1.3553, -0.4957, -0.0415, 0.652, -0.4444, -12.0137, 6.5846, 1.7949, 0.1538, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba45cc347f0d202b2d8c90c77ca9c4c9bc03a45fc0412255dba8cef2f446fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214cdb47cb328d139335074cdfe34af93ebcb768c80ae8e16219a85c5e01af75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15648b646131b1e511a612b460c89e08c34810b2b03a7a4c540a0cd86b35e869",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 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]: [-0.9005, 1.6852, 1.2945, -0.5026, -0.8635, -0.4286, 0.5355, 0.572, 1.9411, 1.4582, -0.2909, 0.4187, 0.3157, 0.9991]\nstate[eef_state]: left_x=0.3661 left_y=-0.2399 left_z=0.1926 left_yaw=-0.0027 left_pitch=0.011 left_roll=0.2991 left_gripper=0.5355 right_x=0.4792 right_y=0.2274 right_z=0.1358 right_yaw=0.0397 right_pitch=-0.1241 right_roll=-0.0306 right_gripper=0.9991\nstate[joint_eff]: [0.3761, -10.3726, 6.4205, 1.1795, -0.3394, -0.1148, 0.8669, -0.0068, -11.1795, 8.3487, 1.5018, 0.3053, 0.2711, -0.0171]\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\":0},\"note\":\"The fingers straddle the blue bowl’s left wall near its rim. I’m closing to secure the rim for a short repositioning.\"}",
  "call_id": "call_4vxU4uW5PpYEJhx5AQdHCae1",
  "id": "fc_0854f53c489bc4ba016ab2c1f7ee3487d0b514b3c6a5f5cab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4vxU4uW5PpYEJhx5AQdHCae1",
  "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]: [-0.897, 1.6848, 1.2881, -0.5194, -0.8509, -0.4274, 0.54, 0.5213, 2.1735, 1.4517, -0.1234, 0.3878, 0.2634, 0.0364]\nstate[eef_state]: left_x=0.3642 left_y=-0.2375 left_z=0.1871 left_yaw=-0.0076 left_pitch=-0.0113 left_roll=0.3117 left_gripper=0.54 right_x=0.5069 right_y=0.2182 right_z=0.038 right_yaw=0.0363 right_pitch=-0.199 right_roll=-0.0855 right_gripper=0.0364\nstate[joint_eff]: [-0.3761, -8.3214, 6.5983, 1.2821, -0.3932, -0.022, 0.5153, -0.0479, -13.1761, 6.4479, 1.5263, 0.0073, 0.188, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7371228f70d29658868d8a33cb032100d442bc550d7cc2a13b6423085edecf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51834fac797d2ee125d528d09b702b5ab2c89c209231c7deaf6a7bbae8b47688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e96292c77c35e1fbd1debedfb6af3405c3f1b668b9307ae5cfe27eecff3185d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 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]: [-0.897, 1.6848, 1.2881, -0.5159, -0.8516, -0.4278, 0.5377, 0.5217, 2.1574, 1.4521, -0.1165, 0.3817, 0.279, 0.9991]\nstate[eef_state]: left_x=0.3645 left_y=-0.2378 left_z=0.1876 left_yaw=-0.007 left_pitch=-0.0086 left_roll=0.3091 left_gripper=0.5377 right_x=0.5087 right_y=0.2206 right_z=0.0474 right_yaw=0.0351 right_pitch=-0.1799 right_roll=-0.0588 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -8.294, 7.0496, 1.3553, -0.4957, -0.0415, 0.652, -0.4444, -12.0137, 6.5846, 1.7949, 0.1538, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssH_wxKi_6EdVRfk_DwBMKt1nVTfKGjW8CirdDGYfPyT4Pf8WJ_T4ZSmWW3TbnoKKr3qP1i2X21ecS-BQWjNPZYQkeblurCTtYJBp4uAlChT60j5cB3Jc3MtRIsFCv65xiwbK2LAijEzaFjVWIUKClZp53BlpIY9sgsN4lRQerSoAeffqEC_87CN0hUdMPBW66sqfknkoz_opl0zgBvT81rhxODBpWjOkoyOh7iWvtWZdIhU-YGelhMqOmfnDAA4s57rFkxuujKBPqOLfBLnYrKJ4WGoxapSCXOAWva3n-dzwiGAOgXmPgxy7gmmL6K8PTvfCWocZ49DvmZuQgryngFU7eACLVSVN0dRKsdydBTBONEsdGz0X3tDZw6dCUdoQ9dFds0tccAz3tvqUpTLFxoRfL71bM21gCPpCvKgm3jJLG-gqd0wFpfMe4tn7TXYK4r8N-Hx-BKAGChn-naWR_MT5R_0li9Lw-AHsj8NHNVsGSQYNYalQYjp_CN5vFe67nmKPP0VFSA7Ez5e1JFT6dbKI4UjvBaSFSh3990m20keqMH6NxWU8RUhoFI-LL2rUv7veuJAMQxVWVo4m7I5FjmkvL5Lejyl6fHDzDUYklCx1KOBLF-68mAD9J29kWVJOH2hEH4xJQkFhK2d0nqTVn3stOTp_qcuX2xPaS5M9X8rMpzEXbxzhSYQLhX2RsIVbiLwyF97frsinQPW4OjE7eHotSk2v-zS4cjYrkV5R9SPebRdBwD4K7TckmIvykTiUp5n-nknS5llCxhVRmydH9hSP1V6H1YhGVZvFvfzeHJvn--ZXCIXV4TKBKwmUT2MP-2u7oIZ94zFcisn_mMicQJ9A07rPN77z4-iG3UKQu8DYjjwfqMseGs46I7Xzd2qIlIta6QQTBN3dnGLuiLq-MpmP8C9si0DmlK0BpmEV7oprglvZS61tVi7XUpey-7OGlvMGnJrmZL7FDL5G0QixIaBR3Te4Mg7Q9MTc4IgFA1NNu66vk910VHW8r33TsDsltCjatOKHtrb1-0RQz2FvhkpbjEUlYc4QVh2s79k-Cbi-v5NLMJ9h_9lYNiADXexRiZpw0o5cHZkhgKB2CMsnQXJnWHIEvHYsdhk2dBvABxZiohjdSRKtPPC4KPVdeKBYNeS162ql0RA3u8bYoi2muBjFhxjSiuzx_B36D4mOeObf9KkrqnfXNKwDw6G0swbQ2sqBB1jT-EqiJ8vZGxMzXbT2Q==",
  "id": "rs_0854f53c489bc4ba016ab2c1fe03a487d09f75b329d59d78cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The rim is thin, so the small gripper opening alone cannot confirm the grasp. I’m lifting briefly to see whether the bowl follows.\"}",
  "call_id": "call_7k1SyFeTKOjQZMj2T4emoJXu",
  "id": "fc_0854f53c489bc4ba016ab2c1fed71c87d08230315d2f05e36e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7k1SyFeTKOjQZMj2T4emoJXu",
  "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]: [-0.8967, 1.6848, 1.2881, -0.5198, -0.8509, -0.4274, 0.5425, 0.5213, 2.1223, 1.6146, -0.4107, 0.3767, 0.2508, 0.0372]\nstate[eef_state]: left_x=0.3642 left_y=-0.2373 left_z=0.1871 left_yaw=-0.0073 left_pitch=-0.0115 left_roll=0.312 left_gripper=0.5425 right_x=0.5022 right_y=0.2176 right_z=0.0841 right_yaw=0.044 right_pitch=-0.2687 right_roll=-0.1215 right_gripper=0.0372\nstate[joint_eff]: [-0.0342, -8.212, 6.5436, 1.2674, -0.3883, -0.0269, 0.2466, -0.3897, -16.1162, 9.0462, 1.5214, 0.232, 0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf16680086788268e7671c29984267904678bc2b91e39562ce59f41cce8c8c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dde5437f2bc79cf6129449a4ad8133ed40c99195ee68d810eca236536aefd10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed60e69fad06e86129466db0b7be0e6d720b6dbe855e3f8dd821d4350291b32",
      "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]: [-0.897, 1.6848, 1.2881, -0.5194, -0.8509, -0.4274, 0.54, 0.5213, 2.1735, 1.4517, -0.1234, 0.3878, 0.2634, 0.0364]\nstate[eef_state]: left_x=0.3642 left_y=-0.2375 left_z=0.1871 left_yaw=-0.0076 left_pitch=-0.0113 left_roll=0.3117 left_gripper=0.54 right_x=0.5069 right_y=0.2182 right_z=0.038 right_yaw=0.0363 right_pitch=-0.199 right_roll=-0.0855 right_gripper=0.0364\nstate[joint_eff]: [-0.3761, -8.3214, 6.5983, 1.2821, -0.3932, -0.022, 0.5153, -0.0479, -13.1761, 6.4479, 1.5263, 0.0073, 0.188, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIEyVaaqI6aw6ICh0Z3TGpGiFR_Ij941Ceo1UEOEz3fyGwQlMoKY5ysXiaiGv0SGa18Md5oRvLErV5iHhK2105UnL0_VVVqMFcAGVFDet_h2Y-8ztM0PkOsOYhzvlPhPPKCDHuEzMMT0dlRAw2z90vEfmLp-J3AdtM1Qdhtp2rVVRIsVDZHSeb7NUSZuGJ6CJm7CSeUek6dpEvNxLS6kuljSGpBC9K4WsnNph89MUyhF39bMi_rovCEBex2wuxVeAGqHvoIxnlldv6ZFR-yGbcYBc199bTs3tPBqCnfp7y1eM6RSt8GVZkxr-Be6ZgzPle47mds6lBrqKtV-ih3lK9EO49X8sUNG4Vn8kqsJUOX-b2TtytZLctXfya65F2j6ozrVy1blAXWLOLQNy93y04oV8m-rTrN1s9DmxOlqG8NlDPD6YX2dTQaI7DrPZq1YV4zCJm7q-dLQaBA6-3FYYvbjMyvKQLd3S-jlIriVHBgzhDUcWshWu2lQ7oNA6vhWLXFwoobnN1TGRgW5jUAsULpNTTq7KFBmhFgoQBxkivJvgVmUfycxM-14TByJkSy6Ca33hgsCPX7_KHWP5H2AKArm2-rgp21ZWKSR2afbc1VZA9ZPUO4BFD4RjypFo9PR82oqB6upjoYStd0TdSqCRr1_jctQD2uH1_TzdkjANeGt8rvFIBcCUiIheUrVNI_38undLlW5F4SlHptaiRtp6Av0qSXzoZyIIno2UBpLkJHg8kRgOCsZB65qc7qqKl0jSHKAiK9AFU5BYvpErq2AwswDSrnh4V5jiUeVA6UIUj0jZdvy-JlQVtmNOG3P_JA1jZBwQ46fZcHx_cjtWkkfuF0Gs0JbJEu2Tkjp7XzTUrtSWB2s3o0iujEm_Tjiz7vHOa8orPPDUnBB-KI2lyXgY4Y9omwkqOERLQiYwQMkpM8V1NnKmWl_s5NNGRGasVk56YF6hFacf8Q0mpB-M1tiME-aa6m9BUIrHO7ddLA_s0LwFuk4W7byiY818ePe8CL1FblhVYCtIi-WeabYXDdp43z9I-nITsNHXfh6s2lk3SMz1JOtbeSBAAS67dsmMqhB7fPW8H5Z-FXJQJlFgINlIotbY41rjGP4Q7p0yqiUStPNeNPcaFsPr_7FQXzRXD5kdhU26-_upJogKLObXHzjZmsvgpHq1JcRLG-32HbqWtW1HK5H3gNIHlFnmHU_QIfnGJ2eUJeUmOZ179qhOVIPoD7P8EnPSQx6CfZJNY52gToSkw=",
  "id": "rs_0854f53c489bc4ba016ab2c202c6a887d0b2fcb6c8ed4ce2fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.32,\"right_z\":0.16},\"note\":\"The blue bowl appears to rise with the rim grasp. I’m bringing it back and toward the table center, within comfortable reach of the left arm.\"}",
  "call_id": "call_1FFwBIB8VMVRRz5tIjjvzzdJ",
  "id": "fc_0854f53c489bc4ba016ab2c203463487d0aa371444a35e3e61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1FFwBIB8VMVRRz5tIjjvzzdJ",
  "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]: [-0.8902, 1.6295, 1.2881, -0.5434, -0.9066, -0.485, 0.5447, 0.7273, 2.083, 1.7374, -0.7967, 0.527, 0.5266, 0.0377]\nstate[eef_state]: left_x=0.3625 left_y=-0.221 left_z=0.2117 left_yaw=0.0636 left_pitch=0.051 left_roll=0.2641 left_gripper=0.5447 right_x=0.4247 right_y=0.2639 right_z=0.1131 right_yaw=-0.0592 right_pitch=-0.3504 right_roll=-0.1847 right_gripper=0.0377\nstate[joint_eff]: [-0.4308, -2.6325, 6.7761, 1.4383, 0.2613, 0.6422, 0.2076, 11.9726, -15.7333, 10.3726, 0.8962, 0.5788, 0.1197, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5114de381c651729daaab0ef09090fa27453ad4527c4c60371cfc82482c682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494a27a7fb24f6fbd58868a2ace3741df6d74373ed44191a10d55d8d7eacd73c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c72f9cf39519a51aa7729eb690a1d13d47e504d10aa0d3b235c4627b2038a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 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]: [-0.8967, 1.6848, 1.2881, -0.5198, -0.8509, -0.4274, 0.5425, 0.5213, 2.1223, 1.6146, -0.4107, 0.3767, 0.2508, 0.0372]\nstate[eef_state]: left_x=0.3642 left_y=-0.2373 left_z=0.1871 left_yaw=-0.0073 left_pitch=-0.0115 left_roll=0.312 left_gripper=0.5425 right_x=0.5022 right_y=0.2176 right_z=0.0841 right_yaw=0.044 right_pitch=-0.2687 right_roll=-0.1215 right_gripper=0.0372\nstate[joint_eff]: [-0.0342, -8.212, 6.5436, 1.2674, -0.3883, -0.0269, 0.2466, -0.3897, -16.1162, 9.0462, 1.5214, 0.232, 0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIN9SjWtOhuupXJfopk817pOKDLXlPlg6oBuWf7Eujf_HXYO-MOH-0hWxdAY7j5AVeJ9iRFBKWZquaiu883DCLCWW3zufoVqbrJLycgRZUom3EMYkrSRTetdKFEgDYvhz5OXvw4iKhlryKLk5H1j2GAhrJaqbYdlO_Khj5_vdMeC-ygoJgXZypeKzv9hCoex-d8L-v9TvRfEu_32Ef_u9OstU6u1Xe_c0L8ZvA3Kw9BTUfid0ivujaUhhbE9GP_CLZXSJJfYj5ummHR8s44Bka561msByVm71q_z_M6MrPu0Rc1oddnsLl3FGHQgA-X6nghitftr5LQ3f00tlY1f7f6hJtCVplXBDVRFZSaWo1ZRv0a_TDrSE6vM2QnaHoDEjFtYLnM3qZ-EL40uvbmGuZRq4sk66Wv3hVuj8-9Z4-PGMP_K1GriEyhpeZscjEDTKBlONlGGDRY9VUVkvbrk1u7bNFIuAi8R1FRRBQfLSuA94jvd-wrdtXOsZxEXvS1YD4WiZadvkYJXJ1jrNj5sq3j-VyiWm2JrzoQZSZaEcaJsMpCbBiUYFm6S2RGBX-IS62i7ZGXsgrBn3LKtKutNdlzUEYA8J8vbo1mjw7_0Zn7qU16v9Z6vDNdkNDrOJIh_zuMtT5_mhqcz4LqWZ1Osc37X3QhF-fWyii2QNA_LQ-rKRjt44IcHWxO5DRcEszdxfUj5Wd0UJZH7eCMfhFV1igOGfUedJ1anmmOUqStnR2PC6SpEvxrmroH12DjfJvBLNJ2qOHocwELKwicX5YcwJBrr3SWKkel0d9LyORfdlfQu3ZHUqdxNosD7sVoRIuUCnDoD9SQaJXw4E3zlCzM2Z9awQaHOlTgzpQc2avy-VjdgL-9yQk1VkOoInPXPfq91YF0L4vLQvqz5ZYsVDT04TaEeSIhb5iluKd31GkEYbP-NOa8aruPRSI7MV7rHl0piZsdb8ejHJ3BDS6XLCEp8vhWFRI2tjRnbIEdziIsx4I1QGmnGYangWFjDJEmBYxpFHGSOUD_EIFtuX-wyw7ZfITvqwkIfYodDyT-Wsma5Y6zUUHgnBo915l069oC7TW4es0Y5AmdSvPigiPKeFzxKUwcGm9PmEs5ZZorxeAIs_0d-NwlIO53uCSxd29_qTsKDNc5caeZ7zwHWc6KD0eAmkJR96JclJypMeRGJTjm02BQHGD6r0UQtqgWjHIslRrtOf7036U_JmsI0NE4FnuQoQruKLTC49U2oqZKtkld2Wmivtn81mmKBLnSqhAwyByWHwyB",
  "id": "rs_0854f53c489bc4ba016ab2c20a42ec87d087c1e8db95727f4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.23,\"left_roll\":0},\"note\":\"The arms have become too close during the bowl move, and the right arm stopped short. I’m clearing the left arm away while retaining its fruit before continuing.\"}",
  "call_id": "call_8z07bx14SBIMNlxkFfwHpl4v",
  "id": "fc_0854f53c489bc4ba016ab2c20b2a0087d0900b679a64d533b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8z07bx14SBIMNlxkFfwHpl4v",
  "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]: [-0.5816, 0.9634, 0.8349, -0.498, -0.5823, -0.3908, 0.5463, 0.7254, 2.0918, 1.7405, -0.8127, 0.519, 0.5308, 0.0378]\nstate[eef_state]: left_x=0.303 left_y=-0.0786 left_z=0.2294 left_yaw=0.1006 left_pitch=0.0568 left_roll=0.0072 left_gripper=0.5463 right_x=0.4227 right_y=0.2625 right_z=0.1079 right_yaw=-0.0641 right_pitch=-0.3705 right_roll=-0.1929 right_gripper=0.0378\nstate[joint_eff]: [-0.0615, -2.1675, 7.0632, 1.6532, 0.0122, 0.1294, 0.1538, -0.0068, -12.3829, 6.0786, 1.1013, 0.2857, -0.0806, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8549c0d3c52a175802e1197ea6d674298ec3df62ddcc37b641da9b2c160297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556638582639f817d0bd849f018599c766f286b5c8f47a0c8b7afd7c1191012f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625f0c57d64e65c70662a8a9c8f45a11af643799354ffe8ae23c48a02b96b94c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 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]: [-0.8902, 1.6295, 1.2881, -0.5434, -0.9066, -0.485, 0.5447, 0.7273, 2.083, 1.7374, -0.7967, 0.527, 0.5266, 0.0377]\nstate[eef_state]: left_x=0.3625 left_y=-0.221 left_z=0.2117 left_yaw=0.0636 left_pitch=0.051 left_roll=0.2641 left_gripper=0.5447 right_x=0.4247 right_y=0.2639 right_z=0.1131 right_yaw=-0.0592 right_pitch=-0.3504 right_roll=-0.1847 right_gripper=0.0377\nstate[joint_eff]: [-0.4308, -2.6325, 6.7761, 1.4383, 0.2613, 0.6422, 0.2076, 11.9726, -15.7333, 10.3726, 0.8962, 0.5788, 0.1197, 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": "gAAAAABqssIYqO8SIDG2qkiVZL-4xjR08ZgGR3UnWAdE5vGO9JxJd7FiqyhLX38nAOwI1vb1-w7Oc3ODSmSEDwHomgL2R6kZl3lvHWpU_4rnDE9II-L8DlWCsbKuPLy44aH1cPvtloGPWmc9tYA-bid7az8jh78yc8tYwY5oXOjmdhZVbptFQ6_i6-qc3rW947bq7mLC3J0LDa4Bo8N_hQVLrSJ9s7s1Y81VbEjKC1wWUo2If5xMg5CVcp6TOXDcHhk7bkf3yIIj--oNe-mJImhmfffWsvD8MEpvPd2cdbUl1qF2aEm8090iWnyj1-j5Y7Th4aPvJbtJxtuR544x90h1ZzGTmasWTIfSfzecCPelFPsDPPLovCLjs5vGFmcvnZ8yeU-m6SxBO_z5KEMS81PSWtsM5d7MGPI3cBKnwb6DbNQ9IfaN5XDM2RKB883pKq4CmskW0vdFXc32GpbpAGWnPx8dIdqTHnlhEmQJn_rdJzYVtmSv1tWoOBrX99_y-Kngap4i55lkaPk2FKkdXBl-YY9hRBbJHjgr6V5UjRTtyC3UCnFzD2wI5rM4NBSeYLwxiw4RGc2Do6l3rjtQ2dn-N8adb6bGxLk_lymohDtlLpHYer6Q8VuQGQg4yPhVXhyRKXMXCjbcDhWouvqIpo2tpQqx00oB4XJ8UhWG1Fxnro6uQcT8mx6uwlIuO-fueIfLCjX4eY0zYHScMRPoGdnuqG77ZYPEssr4oaZWZ9DZ-7G_fZ_vvs2MmBlyRvbPQAO8nkmIb14gxRWh8HbtodmL9cYRdiZ7GrRdMhrQSxfaeISKLO5ry5yZAxC5TWOw4OhDI6m3UzklbeQtAwlNcGJvG2DL_9o5BN8pM8wQ7_0a-Ib1zyocsm2ay2y82hbLi6l4t6T2-bEul6PCUEgct7iGVaOFwpgPaERSc0VdK3H7Z3DAkDuDGCJNgyyEnVCOyoigc4O92yl3WJHyfzJlriCgPobmgvDMBWR2GT1xnu5XcFKeM45dDKQMKlZj1m7NcoBMmxXoFkH7IJFgspLGxqq0wZP5yupjqDhgzmgOCmtssLCjrqZJIPpyZS8_j6PBir1o1Z0g4V5rLCRr7k1BrTT7T3PTLDp0tOY9gOo_6iQGiV2mKWS0AH9u3imO6Sqb2BIe7dXWIRe_4v9eoJGoNdgQkAYDErRYTGCk7V85VvI8tBnBJBSCs49Gcipz3SYYTa70BBGn-vhAiJEAmk8biMtK_fWy7v11RSa5OLJ1aClqek8AN1BezUBOAWBcTuTxS3bhlyPCA5sQNsz3tWgoodxU5QtSlIqYwhc_JBa1x6Ck5jPd01ih8eUlYOZqFqWNPaEAcqFele5aBAiUkfDfvaRpr6ayjOPFGJ-n5d2lQKhIQB5iWKaxyMhYCYC7Lo8CtRWnVk6xwjpn4WEHj50a6mP1D7soO51rDjXYeYFq_0zUYYmZPhVD8M6qwadxmM3Ch1bimYsu-pbdkkGbMRa5HbH0oKqe2si_c3us1Sw7zKJwUknV_oUC6G--_JZHsPnO1HZ03MnghBAihei0_ZBw9fTqdbAuo42YEO42DhgkKmEI2fit7qlOXENZH7SfGtaDa93rui5ZDd6ZaiX3LnsiKhokFiVmemyuAVtQpQUuAnmlpJ1eRDhdBPRGNGtAQzWGOCHHJLDgxOjJ",
  "id": "rs_0854f53c489bc4ba016ab2c2131e9c87d0b823415989954bbb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.36,\"right_z\":0.085,\"right_pitch\":0},\"note\":\"The bowl is securely carried at its rim, and the left arm is now clear. I’m setting the bowl in the open area nearer the front-center, away from the two remaining fruits.\"}",
  "call_id": "call_S5EHSLKOJRGXr0EmpdD8R7QM",
  "id": "fc_0854f53c489bc4ba016ab2c216ec3087d0a7572ee419836b01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S5EHSLKOJRGXr0EmpdD8R7QM",
  "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]: [-0.5785, 0.9688, 0.8299, -0.5125, -0.5682, -0.3904, 0.5482, 1.1713, 2.1105, 1.5116, -0.6518, 0.9173, 0.9051, 0.0391]\nstate[eef_state]: left_x=0.3015 left_y=-0.0791 left_z=0.2225 left_yaw=0.0918 left_pitch=0.0321 left_roll=0.0165 left_gripper=0.5482 right_x=0.3 right_y=0.3592 right_z=0.0816 right_yaw=-0.0278 right_pitch=-0.0603 right_roll=-0.2018 right_gripper=0.0391\nstate[joint_eff]: [-0.2803, -2.7556, 7.2274, 1.746, -0.398, -0.0366, 0.1832, 0.3214, -10.0718, 7.706, 0.6374, 0.7839, 0.1538, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c349fa4eb9acca8e6f46cebcd53ea1b4548448fd9f36da70d2bf4cca3c251b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de99a897780faaf046f3d7bdcbf0a49858f91443ec07fe1b58c60e910b7265f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d7691204bba48d45cbdae96d8a69231bb4cace1f22a182efce53665fe8b6e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 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]: [-0.5816, 0.9634, 0.8349, -0.498, -0.5823, -0.3908, 0.5463, 0.7254, 2.0918, 1.7405, -0.8127, 0.519, 0.5308, 0.0378]\nstate[eef_state]: left_x=0.303 left_y=-0.0786 left_z=0.2294 left_yaw=0.1006 left_pitch=0.0568 left_roll=0.0072 left_gripper=0.5463 right_x=0.4227 right_y=0.2625 right_z=0.1079 right_yaw=-0.0641 right_pitch=-0.3705 right_roll=-0.1929 right_gripper=0.0378\nstate[joint_eff]: [-0.0615, -2.1675, 7.0632, 1.6532, 0.0122, 0.1294, 0.1538, -0.0068, -12.3829, 6.0786, 1.1013, 0.2857, -0.0806, 1.033]\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": "gAAAAABqssIiKlb88dpFB6JVaZZ8RXS7Ac7_5RCz29WUcYU_SqTIcbGEKYZHBFBmf7dWTGxVUxaUrERQZUHEga8_v5cILfUqo-CoGBkh_VU79CFL5CeVfXqBQlLPB4zqb-JyUj7Uu4fPWX4HPcsDvTIamo6A94Mr06M3MpYdFabUBzWcNvbCHrkil6y2JS_Uaubrxq3GdB33GZOGicjzVgki0OoOTf3zz7T4f6dCrevSxE4ubRDts5wGKor-OsqmJtI3kVcdeucNs65uqtjDMh58hVrQCEUc2V2VzjQIooiIE-7ulSIW8o-GyPfYyCAFyUhLEZut5xz3ZTqvhk38PJMExkfTeGO0sbZ_kILufBOxnc29zIoB74MnQduBOswSpZ7p7aQmlf0qMhk7IP_jMqqXKVY4hI1ssBjwAcgdMKsx0_o1V8v7AqaT341i6Q1SDvVTko7shLS-UeHUzA1-q5IMyT4jy5Q-aSzzdgpGDCBOTxmoPB3q_DM9urEkmZt8_oYPj0w-5B0vh1_0CnbJSSc-RSM1u7JwIHb-TylWHvX7SLfma6LanDaxqN2XMA9uzveaMUxrcmdeHme9vEJoofPYEwZejnIO5ZdaCSHAWZbw9ORCi3jfIDIp6ESng7KbQ0Gv59oG9ctG3QcNESgMSrt3ff7PtLfdvCdiH7ysDLtTh0I9U1tFWMbEy-J9SUhjk9hXAD92BM640vv0EOzAcor91dOK6zdxNqnd9h9deiYCOFEdrzjvik9A-pVob0easxhaI6jWltmDXPXoxlFSKrGaBG1KrxJAch8_DZmK_7x0VaH9eqIDFHvGc2ruIKNfWIQAHyfAiSA__-am7wVgvQ2HaC_EDQ2We3N7B_LiVQMDf43qLcdYcMmYq7XKmR7lsrqQafpue8_jTkLCOYh7EO7_-wPcQ1Mfu1VAnMJAfBf8Uob2FvXjbLZYQCgxNsn_xoU4kzX9JVS0WKoVBXKSUXOIWCBpXOtJXshfMymR3r0YXtr4HMS2onouHCSYupcw_NhZXKFlYq-9IyyT36sZK_GAx9dd_hdzQ1WYHrPc7jlPkGk25T_7-lVD_-CtI7WtBCWc2MzSeE55zZKvAIVXq5zXTgVvVfdiDq6DEPt1Zvq5607O55TfXeLsRrtLu80OGq9r6h0eDUmChA-pDwCN2naS3DBOh8VB2JeZp9ChPXmB__DmRSh0R-P9FUOScPSfxRKOQ6N8T5RqdelpVlcQJI_HqBulWRjSWOW2yBDKaZ8hounUNU7uhQ-TFLxZveecx1gpIU5Kba5h",
  "id": "rs_0854f53c489bc4ba016ab2c21fc1e087d0a1c6148e1b15eb6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The bowl is over a clear patch of table. I’m lowering until its base is supported before releasing the rim.\"}",
  "call_id": "call_LqJ3tlhjamXDtPeG2Yh4WjFJ",
  "id": "fc_0854f53c489bc4ba016ab2c220fdd087d09bd581d759848398",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LqJ3tlhjamXDtPeG2Yh4WjFJ",
  "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]: [-0.5781, 0.9695, 0.8299, -0.5167, -0.5674, -0.3908, 0.5496, 1.174, 2.1437, 1.4597, -0.5793, 0.9146, 0.9165, 0.0408]\nstate[eef_state]: left_x=0.3011 left_y=-0.0788 left_z=0.2215 left_yaw=0.0917 left_pitch=0.028 left_roll=0.0188 left_gripper=0.5496 right_x=0.2976 right_y=0.3574 right_z=0.0562 right_yaw=-0.0311 right_pitch=-0.0659 right_roll=-0.2033 right_gripper=0.0408\nstate[joint_eff]: [-0.0615, -2.1128, 6.8718, 1.5995, -0.2808, -0.0806, 0.1343, -0.4855, -9.812, 5.4222, 0.8376, 0.5983, -0.0024, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0775335b4dc85111ae2b135a2748e4df51d684c55b92416c9ac340c702e130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0c212039aee0c1997efe7ba5aefb062721dbf3b2e282e04e0acf1152aa3d2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa1812038244e6fc30154b204e426bc85d8549238d578c0fe1d435b80a9c1a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5785, 0.9688, 0.8299, -0.5125, -0.5682, -0.3904, 0.5482, 1.1713, 2.1105, 1.5116, -0.6518, 0.9173, 0.9051, 0.0391]\nstate[eef_state]: left_x=0.3015 left_y=-0.0791 left_z=0.2225 left_yaw=0.0918 left_pitch=0.0321 left_roll=0.0165 left_gripper=0.5482 right_x=0.3 right_y=0.3592 right_z=0.0816 right_yaw=-0.0278 right_pitch=-0.0603 right_roll=-0.2018 right_gripper=0.0391\nstate[joint_eff]: [-0.2803, -2.7556, 7.2274, 1.746, -0.398, -0.0366, 0.1832, 0.3214, -10.0718, 7.706, 0.6374, 0.7839, 0.1538, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl has contacted the table. I’m opening the right gripper to leave it standing in the new position.\"}",
  "call_id": "call_0fMZVlikbAb1gUBwl7ay9YG7",
  "id": "fc_0854f53c489bc4ba016ab2c22423d887d0acbecf2a5121dd54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0fMZVlikbAb1gUBwl7ay9YG7",
  "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]: [-0.5785, 0.9707, 0.8299, -0.5201, -0.564, -0.3904, 0.5505, 1.1687, 2.1696, 1.4467, -0.5388, 0.9043, 0.8974, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.0793 left_z=0.2204 left_yaw=0.0883 left_pitch=0.0231 left_roll=0.0204 left_gripper=0.5505 right_x=0.2993 right_y=0.3581 right_z=0.0423 right_yaw=-0.0228 right_pitch=-0.0767 right_roll=-0.2137 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.4274, 6.8308, 1.6435, -0.2466, -0.0317, 0.0806, 0.1573, -11.5761, 5.5863, 0.8571, 0.5006, 0.1148, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35402003f775d04f9550048c85eeb1d155567d9cab7db240ba13cf99a4b5640b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:976d029db762bd88f38f4fb852cda23775b43a69f946b2fb5b6c50de2ac1ba06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7279a659717f9e6e20f93f79c8c2ed6fa3203e1c73b2ffac99a9efd4f53e15da",
      "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]: [-0.5781, 0.9695, 0.8299, -0.5167, -0.5674, -0.3908, 0.5496, 1.174, 2.1437, 1.4597, -0.5793, 0.9146, 0.9165, 0.0408]\nstate[eef_state]: left_x=0.3011 left_y=-0.0788 left_z=0.2215 left_yaw=0.0917 left_pitch=0.028 left_roll=0.0188 left_gripper=0.5496 right_x=0.2976 right_y=0.3574 right_z=0.0562 right_yaw=-0.0311 right_pitch=-0.0659 right_roll=-0.2033 right_gripper=0.0408\nstate[joint_eff]: [-0.0615, -2.1128, 6.8718, 1.5995, -0.2808, -0.0806, 0.1343, -0.4855, -9.812, 5.4222, 0.8376, 0.5983, -0.0024, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIs8AVmnFfyhyrpGF4b3MHsp-AKV-uo4-Hsb86r8ttJ1JEVkeJTX8Qlcv18roUu0Sz18wvSPnj39CHZEcYA4WgL_NDqACYDmJOEzOYDM88Wei562kjjf3j-GcaQq1tm7vUwgExRf18vVCjoDVSWNdbt9I5AcFvIY7IGLw1G7Jx-m9NKnFBBuvZXNngdwxTWgxmy7uV90e3ig7O7yvKdgVQPUeH1e_Izg2q_P4ug20VBVokG6BAo-V9W1GB07Y8VzkX7Of4dVy46CHLDmyumQiB2TZIN0gr8IX-fhAlqP8jVGLDqxvHIaNssYJJN7ZgNvXU5Lg7vLadC1_rq6ieYqDD8S4WkmBRx2T_ExCt0EGCOXlTs7aJy9-spY8xCa8PdCVZyNIfGOSblGKbxUhvTUG8XmhecV7n5fGR-kCIY6EgIqj8AzgflwKAjsB6lNv30yqu9t93cU2AAwP7X8MvWy__Y-OgAO0ong4GfaqPA1UdSPLUbopP9MSUcW5jHNy9w1nClMHYwtOG-y1XhPr2gVX34AF_3laBWF8TZ5YMZG3jJKkxt_jHeij7LCkjl9nbWepGFw5ct8LKtcNfwAEfOaJ1EIH3cQ3dN3ZY4q5cHmR5CUZE3qq2aYfSYaxSe-MjtBpsg38zcNWwUhlwXtVPhUz4BNlcUTdBy6hQ-CWGDYQDS-kRA8gVCZQn8V9HDvtbzJ7jxYS91iUzlUvsgMm4JPZ5qa4KD9MwM0cI7WCZx8TtGzqXHlV6WcBbMJi9EYU4lQnLBrExuyao8OtGhtAt1BvO644OHRGWtbF6VWm4wL8Kt74XV9EGfbiRt7ThlCs7GCnsgqaYkGt9RpJXooSh0if6wlnHTwcw6luM6HwIZLy0aEgfB5p6a--kJIhTXzFwPJpX952AS8W6bxlkW_Tbn0FcLAQ94aqruTml4bOWMhqMkpgiK3hzCoZFCB6UoRiukWGiNqX4hlQM3eslyHO5s60i0f998kTGnUPpfPLiYtSZ9K236wTPt2ptXn4-CymlIXaB-gF9Ut3Yt_AwLkVxmLp8-18p26Z2YUkE5SUblO3KwC8O6wDCatj1yX3mmM7cpPKobol8hEzzj8uh-yC08wV3EgkhauwUTEbBetXNCakbVBSaGICj0wvb0F4eHG9p7NzTpF8vxmiX2-p__2teojgiu3MX74Tr8NtiA-w7mo7jh_yiKXj0z28p0kWcJyhDzW4AFrcjsq2LbM32Ev6ga7Lj4Gj_sqCEzxwfN97igMe-nycs=",
  "id": "rs_0854f53c489bc4ba016ab2c229f34487d09840208aae4b0eb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.3,\"left_y\":-0.35,\"left_z\":0.17},\"note\":\"The blue bowl is now at the front-center of the table. I’m parking the right arm and bringing the held dark fruit over its opening.\"}",
  "call_id": "call_1Bj7otRUkXmgeftRaXZVTkNw",
  "id": "fc_0854f53c489bc4ba016ab2c22a911087d0bbaed448a4b1f490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Bj7otRUkXmgeftRaXZVTkNw",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1793, 1.9251, 1.5261, -0.7452, -0.9314, -1.037, 0.5519, 0.1513, 0.9062, 0.7269, -0.5232, 0.2947, -0.0631, 0.9962]\nstate[eef_state]: left_x=0.2996 left_y=-0.345 left_z=0.1601 left_yaw=0.0762 left_pitch=-0.006 left_roll=0.0327 left_gripper=0.5519 right_x=0.2954 right_y=-0.0032 right_z=0.1808 right_yaw=-0.0734 right_pitch=-0.115 right_roll=-0.2215 right_gripper=0.9962\nstate[joint_eff]: [-1.0188, -10.1675, 8.1709, 0.7106, -0.823, -0.0855, 0.1343, -0.1162, -2.5504, 10.3316, 1.8046, 0.0708, 0.0269, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd22109aa76b7b0aa0105afd2aabe43550a86a8fc9001d8144357ca2b27f724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac92cf664f16a781a27215f9eeefd8afeb23810e49ff57aa34a0f3493817f6a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1045c895d6c57a964d4bb61aaf4a802a89f21cee7edadddbd43019cc96ccf65",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5785, 0.9707, 0.8299, -0.5201, -0.564, -0.3904, 0.5505, 1.1687, 2.1696, 1.4467, -0.5388, 0.9043, 0.8974, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.0793 left_z=0.2204 left_yaw=0.0883 left_pitch=0.0231 left_roll=0.0204 left_gripper=0.5505 right_x=0.2993 right_y=0.3581 right_z=0.0423 right_yaw=-0.0228 right_pitch=-0.0767 right_roll=-0.2137 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.4274, 6.8308, 1.6435, -0.2466, -0.0317, 0.0806, 0.1573, -11.5761, 5.5863, 0.8571, 0.5006, 0.1148, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssI2JqLyFVeH974u1ye93zKN-zDtk_BOMhI6KD-ua4EshxAUWS8p2r7zuJ7IioRSa-WWqzh62JKHWYXpRTldQtXFhmEscQ18-EvSjCN8EmOMv_uToEI0-wV861hxHCj3lfidOyN4k08n1aNIePGl3f5bFD9_MmCvjIshy9GP3WGCaQmkILr7h64dyoVtJHcVqDMU80LxHVbOpGrRUHjgNIRSVftf_AF1gmdsS-IsMYlqK6gTjKj9iuhn8x6HbzSqCYaARVPPkXskq1p8R8ycubm-Rr5Zd0kTCiXfFdNju0xszo7_Wo2Pb8HcVt_CjcCubUmnbI9RRyoDSAGtaBElVwqSE4TwLxzeev6KW_OZR_dYzsqyLaQuaQs-9_n1JwsKHJKFC2j-ogCRRHbLhcETJ4EeU56S3IC5bXk1eyM3Z_dQOYE0xrfr6orMgm8brvIXE8PaOGWMLYZ6lzOlrZQIMYSaDOUXa_3WG4iFeHxDXtEo_vDzQmiVdIsfDYxmsR4A8GIbzydVDRVTYSHiuanZoJ_8ds7PSHFMWei4U1D19Fz0GBUmqYjNsydcuB61_I7JvqHKq4nNiBx8DGEPwXARg8rw-vhtDcrV9RmwYdK9Dt_c6jV1MVoYilOM4oqKSKk2HmRKbfH5892LmBvu0dMA9f_oR1HaK1l7WCjodG_mIaaxQhSiWp1a5_fxmLTePHYEpDVBfqxliAIAxeFPXpzJqE1tQOAY9L2VoWB8XCoTUEq0Rbs9VxAiiAB0zJzaMjom9vd9zghztGbPMPymVwAuf2_bso2lLH_-eBU_Xsch-9XUMHJkLcZW-tJUM501JkRwTtl3Pt_wz4W826ZvUWjv1FtFqA_hxeeEb0VUZdONJR9fz5OCug7wNCNynZ4xnESSVxcv4_hXn8o3ZVWo_ez47zcRKXZIVcvOvqPVL4rscua36GqQ06nJXLNbKtLtAeAC8oWVcNAwVbqNY9ZIznE6ex85GequFymKcGuu_rMFWOZtyMlR51UVafAdqiPQUcFbJjD6MmXy6ARrxrDn2F9xfDK4QugGBLCInkIMdayx1sxPZENwHhbE-hNxrWsT0utivLlE1DXhet8wdokJrG-RAnxnS1A_FgV4c-bElidngDGyHk7MoG1IN4gI1ibagy_mhN6XQTV1UHtHvz-XhiK6e2lgXCNXy76YfuIa8GoqxJ4_z9fwfe7A2AgBkW0SKE7-9AAyFThpxRF2PbJ4RHFLE3kmA96RH-G5tizIJXkaYz7WhckdiGhmQaRf_kWoUWarMGuw2j1uZH6_y0qiJetawGe4UVi9uFL9rymwQ5fP2XiTn9oyvJWHEEkGADaRGajUVOzbNfUQ4XDQ-i9fMMVAk6y5gqtSZIRHO6X8I5lckBlZpbcT5UOnDu7SvXI0WxtRPtrzBbxO9A_0vSZgKET10XL4KQ==",
  "id": "rs_0854f53c489bc4ba016ab2c232d5cc87d0b5e9e19197d7643a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.355,\"left_z\":0.105},\"note\":\"The bowl opening is slightly ahead of the held fruit in the wrist view. I’m centering the fruit over the opening and lowering for a short drop.\"}",
  "call_id": "call_e6m5sicSG1fNRp08EI34tkAL",
  "id": "fc_0854f53c489bc4ba016ab2c234d5bc87d089d46f8fe201cca4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e6m5sicSG1fNRp08EI34tkAL",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1137, 2.0369, 1.478, -0.5682, -0.9028, -0.976, 0.5528, 0.152, 0.9081, 0.7334, -0.532, 0.2779, -0.0868, 0.9962]\nstate[eef_state]: left_x=0.3285 left_y=-0.3457 left_z=0.1068 left_yaw=0.0966 left_pitch=-0.0261 left_roll=0.0588 left_gripper=0.5528 right_x=0.2953 right_y=-0.0002 right_z=0.181 right_yaw=-0.0462 right_pitch=-0.1243 right_roll=-0.2301 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -11.6718, 5.9966, 1.0916, -0.4908, 0.0513, 0.0806, -0.4444, -2.0444, 6.3521, 1.7509, 0.2027, 0.1587, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf52960917f5c15d4c146f2b0996059c285ce2f0ff44de6ea23665ce26997e69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbd80528e28b13f3ebf8c6f7ec3e91eedf8838b4cbd13419536b929ccf4e09a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad4b72a7f54b04ef03ce38eb34fe3c93de7f6edf51ede49bb346dbe9a9afca8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1793, 1.9251, 1.5261, -0.7452, -0.9314, -1.037, 0.5519, 0.1513, 0.9062, 0.7269, -0.5232, 0.2947, -0.0631, 0.9962]\nstate[eef_state]: left_x=0.2996 left_y=-0.345 left_z=0.1601 left_yaw=0.0762 left_pitch=-0.006 left_roll=0.0327 left_gripper=0.5519 right_x=0.2954 right_y=-0.0032 right_z=0.1808 right_yaw=-0.0734 right_pitch=-0.115 right_roll=-0.2215 right_gripper=0.9962\nstate[joint_eff]: [-1.0188, -10.1675, 8.1709, 0.7106, -0.823, -0.0855, 0.1343, -0.1162, -2.5504, 10.3316, 1.8046, 0.0708, 0.0269, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is positioned over the blue bowl. I’m releasing it into the bowl.\"}",
  "call_id": "call_hldcmhMk9Du24YU9B6uizQnO",
  "id": "fc_0854f53c489bc4ba016ab2c23ac0f887d0bb7558f4fed4179c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hldcmhMk9Du24YU9B6uizQnO",
  "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]: [-1.1091, 2.0686, 1.4658, -0.5579, -0.897, -0.9764, 0.9955, 0.1524, 0.9081, 0.7334, -0.5373, 0.2825, -0.0875, 0.9962]\nstate[eef_state]: left_x=0.3289 left_y=-0.3431 left_z=0.0893 left_yaw=0.1 left_pitch=-0.0428 left_roll=0.088 left_gripper=0.9955 right_x=0.2944 right_y=-0.001 right_z=0.1801 right_yaw=-0.0494 right_pitch=-0.129 right_roll=-0.2347 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -13.4632, 6.9675, 0.8571, -0.5543, -0.0269, -0.1636, -0.0479, -1.7436, 6.8991, 1.6288, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0607ed64c6b88b03a073997edb6bbb743f904fa426089959085effdb15dd5e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbdedfe0a0b05e88c8459aa8b0cdce9fdd7141cdfba906cfa6afce025f5293ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b87a423233f56ef3d6c319b5d0109b7da53366982a87d8a0ae112d38c733218",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1137, 2.0369, 1.478, -0.5682, -0.9028, -0.976, 0.5528, 0.152, 0.9081, 0.7334, -0.532, 0.2779, -0.0868, 0.9962]\nstate[eef_state]: left_x=0.3285 left_y=-0.3457 left_z=0.1068 left_yaw=0.0966 left_pitch=-0.0261 left_roll=0.0588 left_gripper=0.5528 right_x=0.2953 right_y=-0.0002 right_z=0.181 right_yaw=-0.0462 right_pitch=-0.1243 right_roll=-0.2301 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -11.6718, 5.9966, 1.0916, -0.4908, 0.0513, 0.0806, -0.4444, -2.0444, 6.3521, 1.7509, 0.2027, 0.1587, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJFAzCZfHrr180OAtLvSGKF6AL_XU9roDjlSdNUmovXQ-YGa4_xnQcNVUOOmuYEP2WsFbEq8YBoAEEb2-ADt5qP-iZVrYgkPNqYV3vxfoDIiDxukjl3nHi3vYEHEvSo4rGX3UJD1FCuT4jihTh6gCEjX0B21UH6PBE4CvFuI-crX8yioqAz_P6gHCPkTLiy27xegxlvHUT5JAUuR_WsCI2uqQgtAdfRrG25_ZS_c6gU__83JAR_318eefwjxR5PdeF9qSHZEYwazq97FltT26vb_FsS4os9uuDkHjRiirxu5k4wZl-pX640rHNGLiBO0d-i7K9-EfO2ubNf-lxjdglaaRXtEWP8W5GF9I3grkvXdqeGbWx9XPIwp8anWxROnZeLmcEdQrA352Tpr2twgm868ISmrxoheLWEjuiYGkg5879MXWfDWNJaNHXRpZdN5sB9aGkE1kG2oz86IwQrSSPhdRh7xf0IciD3NO7sJJ3Z_mpH18OZv_bWQxBDXdNTW1rZbIx6NnDWFKR52HnU7l5ZiZrR4ark1K03Xkf3fXd6O2HlkqTJuRQfYSHIG-q7HON7ktMzqMCWxEvqP1dsnmKUP4Xkkkpz7JM_dXVe-Nax9vOkaX1gDEietlQ1wsFYzH3mGqFu551x-_2SeTocnl2n-KdGVPSBzFlxf89LUAJ1XjtKJCuZwPzUpJem7aSiQMfkaCQ72U3MWxihD_oNnx13LNvBvkD3iv1Voy1U1nAjiO2Ld2XIN5TCV7ag2YDn5LpLEFey00_JEDUdSaxLsBZixflkQ72n8kZjxQywDK640Re9R94VvvwHikym0sEF-Dwhav7KB9_1-N-B2eqUr-6LV8jODYp9WCnm7uV139SO7vbkwvyCv_yl4YLx3KxilSy95S8UtG5_OsT43MuaFf6HE0fuLv7RStoXiIzujYOcgouS5HdWdz6xfRPKv3qrH6fXGpPqSwsbrlqKAvUT6IlZUDNnjlFB0gtKvQ6UAflc8cPKuk9o6IvJRIRDVZbFWEat5mI2yZLD1Q220vA6LQS8EIGlq7BIRMgWr5xVU_fYtiqXAPaCrO_Q3KMTRSR4Rcie69HTbjxvx935WKSq_zy8yz0kAm1cX7Bo-FEUCEtHLiEJNCgauFULA_qSAALZIOKN-KIWl3ud5VtLXWiTQWtra7dtJ60aVHccF8PBmiNuMa7TTTueOBV-MQrvrc21vcE7EcyVjL29kKC3yQxCEkkzI759DbGeCxwDr6K27__tdEM=",
  "id": "rs_0854f53c489bc4ba016ab2c242f4ac87d09d27097b0fad7641",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.35,\"left_z\":0.15},\"note\":\"The dark fruit is visibly inside the blue bowl. I’m moving the left gripper above the yellow fruit behind it.\"}",
  "call_id": "call_3UwrBUXzhd140CPWoGxVV6NK",
  "id": "fc_0854f53c489bc4ba016ab2c2442fec87d0b331343da9733396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3UwrBUXzhd140CPWoGxVV6NK",
  "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]: [-0.9504, 2.1826, 1.8313, -0.6552, -0.8238, -0.799, 0.9963, 0.1524, 0.9089, 0.7334, -0.5446, 0.2825, -0.0902, 0.9962]\nstate[eef_state]: left_x=0.413 left_y=-0.3489 left_z=0.1396 left_yaw=0.1214 left_pitch=-0.0441 left_roll=0.0661 left_gripper=0.9963 right_x=0.2933 right_y=-0.0011 right_z=0.1786 right_yaw=-0.0482 right_pitch=-0.1372 right_roll=-0.2384 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -12.2735, 8.5128, 0.8913, -0.4518, 0.1978, 0.0757, -0.1026, -1.853, 7.0359, 1.6728, 0.0562, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f689b41e66947152eee3e6d275e3137ccb7c2491408f7059d9d25d89a00a586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1db2b373c4c83e1404d6c1384c213a7a47ca349627e2eed8bdb9327d22d5f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4070e6bed37105c0ba5eb88f4522ed6f602c040745ff8ad35460af8b44972231",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1091, 2.0686, 1.4658, -0.5579, -0.897, -0.9764, 0.9955, 0.1524, 0.9081, 0.7334, -0.5373, 0.2825, -0.0875, 0.9962]\nstate[eef_state]: left_x=0.3289 left_y=-0.3431 left_z=0.0893 left_yaw=0.1 left_pitch=-0.0428 left_roll=0.088 left_gripper=0.9955 right_x=0.2944 right_y=-0.001 right_z=0.1801 right_yaw=-0.0494 right_pitch=-0.129 right_roll=-0.2347 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -13.4632, 6.9675, 0.8571, -0.5543, -0.0269, -0.1636, -0.0479, -1.7436, 6.8991, 1.6288, 0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.437,\"left_y\":-0.35,\"left_z\":0.022},\"note\":\"The yellow fruit is aligned with the jaw centerline. I’m lowering around its sides with a small forward adjustment.\"}",
  "call_id": "call_uTVWmjb0e0B3z3Xjs0eULiFL",
  "id": "fc_0854f53c489bc4ba016ab2c249196887d09d4c93fd3af13491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uTVWmjb0e0B3z3Xjs0eULiFL",
  "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]: [-0.915, 2.3524, 1.6821, -0.3172, -0.8143, -0.765, 0.9964, 0.1524, 0.9108, 0.7334, -0.5514, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4343 left_y=-0.3479 left_z=0.0347 left_yaw=0.1325 left_pitch=-0.043 left_roll=0.0733 left_gripper=0.9964 right_x=0.2924 right_y=-0.0013 right_z=0.1769 right_yaw=-0.0483 right_pitch=-0.1459 right_roll=-0.2404 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -11.453, 5.0667, 0.8376, -0.0366, 0.0904, -0.0024, -0.1299, -1.5111, 6.8581, 1.7167, 0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574e54f51d3876ab8a76e6bfcb4b9d19502e57698e459fe812a12f14e5d543d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8838995b5678bc4c8a29bf7834160f5926d342bbd68b1006e1296ba4ca718748",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e98e59934392123e9a988895755685f516bd1d0fc12deba83f5926195db24bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9504, 2.1826, 1.8313, -0.6552, -0.8238, -0.799, 0.9963, 0.1524, 0.9089, 0.7334, -0.5446, 0.2825, -0.0902, 0.9962]\nstate[eef_state]: left_x=0.413 left_y=-0.3489 left_z=0.1396 left_yaw=0.1214 left_pitch=-0.0441 left_roll=0.0661 left_gripper=0.9963 right_x=0.2933 right_y=-0.0011 right_z=0.1786 right_yaw=-0.0482 right_pitch=-0.1372 right_roll=-0.2384 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -12.2735, 8.5128, 0.8913, -0.4518, 0.1978, 0.0757, -0.1026, -1.853, 7.0359, 1.6728, 0.0562, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are positioned around the yellow fruit. I’m closing to grasp it.\"}",
  "call_id": "call_IRsnQ93T6G7KpXHFDieZ9RY2",
  "id": "fc_0854f53c489bc4ba016ab2c24f73c487d08063a04974d6d036",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IRsnQ93T6G7KpXHFDieZ9RY2",
  "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]: [-0.91, 2.3657, 1.6798, -0.2871, -0.8219, -0.7666, 0.6151, 0.1524, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4384 left_y=-0.3472 left_z=0.0309 left_yaw=0.1422 left_pitch=-0.0302 left_roll=0.0627 left_gripper=0.6151 right_x=0.2923 right_y=-0.0013 right_z=0.1765 right_yaw=-0.0483 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -14.3248, 6.4752, 0.8669, -0.2857, -0.0171, 1.0183, -0.1709, -1.7436, 7.0359, 1.6044, 0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74eda696b037c00a49f47856abb7701515d2af48d8698983cf0b9bfb76ce5c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c678871fa5f12c2af3e0d7a27af129638bbfb057c330beddd3318667e9eaff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e51153dd1e34b1af3498613fbd2e0c092204b783b7aba1b63ce2afdd78070",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 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]: [-0.915, 2.3524, 1.6821, -0.3172, -0.8143, -0.765, 0.9964, 0.1524, 0.9108, 0.7334, -0.5514, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4343 left_y=-0.3479 left_z=0.0347 left_yaw=0.1325 left_pitch=-0.043 left_roll=0.0733 left_gripper=0.9964 right_x=0.2924 right_y=-0.0013 right_z=0.1769 right_yaw=-0.0483 right_pitch=-0.1459 right_roll=-0.2404 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -11.453, 5.0667, 0.8376, -0.0366, 0.0904, -0.0024, -0.1299, -1.5111, 6.8581, 1.7167, 0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The opening indicates a solid grasp on the yellow fruit. I’m lifting to verify it is secure.\"}",
  "call_id": "call_pnuETpl0FC48GfqKNUpSYxCN",
  "id": "fc_0854f53c489bc4ba016ab2c254f23887d0920febeb84db6318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pnuETpl0FC48GfqKNUpSYxCN",
  "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]: [-0.91, 2.3329, 1.8091, -0.522, -0.8177, -0.778, 0.608, 0.152, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.3451 left_z=0.0673 left_yaw=0.1492 left_pitch=-0.0687 left_roll=0.1151 left_gripper=0.608 right_x=0.2923 right_y=-0.0014 right_z=0.1765 right_yaw=-0.0487 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -18.4821, 9.1009, 1.2088, -0.4127, 0.105, 1.0232, -0.0889, -1.7162, 6.8444, 1.5897, 0.0708, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6e9084fd261950d25ecede28b3537bde57e92bf294bac16564a1308c2b8754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ef0e921939432018dea48bf6aec86eeeb0dd71cde6da4e22422739798395a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d61ca206c25f407c01d450bc10e111248daf5a5ee407ce83d36e8c6760c54c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.91, 2.3657, 1.6798, -0.2871, -0.8219, -0.7666, 0.6151, 0.1524, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4384 left_y=-0.3472 left_z=0.0309 left_yaw=0.1422 left_pitch=-0.0302 left_roll=0.0627 left_gripper=0.6151 right_x=0.2923 right_y=-0.0013 right_z=0.1765 right_yaw=-0.0483 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -14.3248, 6.4752, 0.8669, -0.2857, -0.0171, 1.0183, -0.1709, -1.7436, 7.0359, 1.6044, 0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.35,\"left_z\":0.17},\"note\":\"The yellow fruit has lifted, though the extended arm sags. I’m drawing it back over the blue bowl at a higher carrying target.\"}",
  "call_id": "call_lXlGx3nyA2CLMFJ8EGGGKVFv",
  "id": "fc_0854f53c489bc4ba016ab2c259044887d0a5843dc40aaa4bb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXlGx3nyA2CLMFJ8EGGGKVFv",
  "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]: [-1.0969, 2.1498, 1.8301, -0.9379, -0.8715, -1.0183, 0.6081, 0.152, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.3391 left_y=-0.3571 left_z=0.1382 left_yaw=0.1315 left_pitch=-0.0963 left_roll=0.1371 left_gripper=0.6081 right_x=0.2923 right_y=-0.0014 right_z=0.1765 right_yaw=-0.0487 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -15.2, 8.6359, 0.6276, -0.6716, -0.0708, 0.8571, -0.1436, -1.894, 7.0632, 1.5604, 0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c014cccb965d55f391989e95f3ec14c2f98e3c2b2c101ec6c950f9d92ae76dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e25d027171ba39964cde4cd0d4fddfbc6fc3f6274b83fdf765076285102f95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3169d9ab3ff1d44e8f674df842c3223e5f57d289bf01313da8c91b0ab084a8ee",
      "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]: [-0.91, 2.3329, 1.8091, -0.522, -0.8177, -0.778, 0.608, 0.152, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.3451 left_z=0.0673 left_yaw=0.1492 left_pitch=-0.0687 left_roll=0.1151 left_gripper=0.608 right_x=0.2923 right_y=-0.0014 right_z=0.1765 right_yaw=-0.0487 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -18.4821, 9.1009, 1.2088, -0.4127, 0.105, 1.0232, -0.0889, -1.7162, 6.8444, 1.5897, 0.0708, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.435,\"right_y\":0.085,\"right_z\":0.14,\"right_roll\":0},\"note\":\"The yellow fruit is over the blue bowl, so I’m releasing it. At the same time, the right arm is approaching the pear on the separate right side of the table.\"}",
  "call_id": "call_Ejd21oLxuknP2BN4gpMUuhVt",
  "id": "fc_0854f53c489bc4ba016ab2c25de41887d0884911f0020b3b02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ejd21oLxuknP2BN4gpMUuhVt",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0946, 2.1414, 1.8362, -0.9535, -0.8673, -1.037, 0.9973, 0.2817, 1.5658, 1.008, -0.2729, 0.2527, 0.152, 0.9962]\nstate[eef_state]: left_x=0.3387 left_y=-0.3551 left_z=0.1425 left_yaw=0.1425 left_pitch=-0.0992 left_roll=0.1221 left_gripper=0.9973 right_x=0.4157 right_y=0.078 right_z=0.1193 right_yaw=-0.0302 right_pitch=-0.2295 right_roll=-0.0659 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -11.2068, 5.6957, 0.8962, -0.5055, 0.1587, -0.1587, 0.1299, -7.8017, 8.5538, 1.707, 0.0806, 0.3199, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0145272d530a38fc0883867604d00b820f2d9fc5c9815745624234ca21aa367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575a269a9151dc812433afcf4a7a986f38c8906badef930294d2fa3fa14824ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e626f8a8d9f2b07c180fd0c4057df2d732cb5ac64442438b4e3129fce8ed51",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0969, 2.1498, 1.8301, -0.9379, -0.8715, -1.0183, 0.6081, 0.152, 0.9115, 0.7334, -0.5522, 0.2825, -0.0906, 0.9962]\nstate[eef_state]: left_x=0.3391 left_y=-0.3571 left_z=0.1382 left_yaw=0.1315 left_pitch=-0.0963 left_roll=0.1371 left_gripper=0.6081 right_x=0.2923 right_y=-0.0014 right_z=0.1765 right_yaw=-0.0487 right_pitch=-0.1474 right_roll=-0.2407 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -15.2, 8.6359, 0.6276, -0.6716, -0.0708, 0.8571, -0.1436, -1.894, 7.0632, 1.5604, 0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJqsIbyEYUaG65zEpcCexqc0-E1Y3Y1oOSEXnGVKksi54fqyZ9Q3c-G13-UhOMYSGUHDdBTfV_RMoJWsNGQidryOkCXsBB2A5LbyhqJWw_2loLcndOITMEhqt4t48N9DJb7DKyPJ_RZ7Ilrsz4dFANB-z9exrZuZouyvDQapcDmbxZhkRXCTPbj2FH7UkJCks8jhtG-6_VpkoXnNP4aaf3W3nBOB4P28M13u9Gmm_oaH3grzzxzX308FOMhq8q-Utgax0Yoctee9d_dzKWrcNECpZ6bLZl7mhlUb1OX-woZ63Uwn3mabqSP_4_wLJKdyGqV7DvT8_gPAc8oe8E5IG0kxJH_x8wQDKMVa5E6Vja5PPuuIAMfg1ncycj5xgHCldkbEtcAneb049Ex-o-0sOOtkcm6F3LyIw_UFVVQbjoWbx_AQXv89M3J_tdnBglyXevnhQJRNk0A-Cf30e8OpDDMyO8pJ_ofU0-mTYUpp24ksJINKKBA96-6DIWfz097w0PtfH2ek2o6z42DxKOB2wthqy9SDk7lIvv0bUyijKcbmI1j2MzqdL3F3xEoscT_S_pwRqfKkzmEabVsXMoEVjCHmjRNriFhzy0yZ-4qJGHUHQ2KsFtXNhvmeM52GW6be20I1dSkJICRL85_M06gu5HXjkm-Bqhd-jFn7BTmzJo-tfOj5DNBXKf7lvFpolxWpkmR7LagjdH7XFo_pfPr1vFwzYt5Dk0iWCQ2FcUzdYmv-b6GoBgw4Le6iVDvSDshrsbpYXYJGsWmt3uZPD9T0DWzwkpmaOVBASrColh17Hz8SpDAqppUXfIYBbu_FOzbMQt0IURq_YkP0P-_WVJ5FdWENX2eG1-gJ033GTyCw1Hdy0WYwIY_rsGgadWZ9uTYh7pQS985H20yAVizWDy6tV1AKu-LF5sZa-JxHxK4l19WZ1yjoJvs2eIIQ3B7F8WijXmYVqOPScoXIzEHQ1lDrnxm-NyW4I1cnytKWXHSlJUj7Bmv0WNAE4CoSiF8C6KlKL7AQjC64zGqtp2p4jQDq2PMIf6EQeLHcSBNG7Z-6-5D1UsX_8BvsjFm6Aas1Mew7g8WQ7RRrTEbx5lLUqiuZhytfjyVfMeYMdfcN2KlzwM3dJiQ7krSeQRCB0uBlfpVLYwwI_XoCEgAKf95VkwLc13bW_beKHhFFtOAxirC-whmlgMsKWU5pG-gF6DCjBTNJ0swl4Nt92wIyazNefJ3bQ1tk82omAwtGKegPLDqVe-lgAclx5urIbtbAjQzOHXsz7kt",
  "id": "rs_0854f53c489bc4ba016ab2c267c64c87d08120fc18e4f6cc90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.067,\"right_z\":0.03,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"Both loaded fruits are visible in the blue bowl. I’m parking the left arm and lowering the right gripper around the pear, correcting slightly to the right.\"}",
  "call_id": "call_A56zP2ql2yMQ6R2qG1k8rvDU",
  "id": "fc_0854f53c489bc4ba016ab2c268a6f887d0950b63392fcf7c74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A56zP2ql2yMQ6R2qG1k8rvDU",
  "output": "executing move_to over 32 steps (3.2s)",
  "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]: [-0.2405, 0.9321, 0.8131, -0.6163, -0.3927, -0.2092, 0.9977, 0.2302, 1.8221, 0.9092, 0.0635, 0.2111, 0.112, 0.9962]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1981 left_yaw=0.1951 left_pitch=-0.1038 left_roll=0.1143 left_gripper=0.9977 right_x=0.4393 right_y=0.0686 right_z=0.0284 right_yaw=-0.0256 right_pitch=-0.2576 right_roll=-0.0691 right_gripper=0.9962\nstate[joint_eff]: [0.212, -2.5504, 6.2701, 1.7118, 0.0171, 0.1441, 0.0269, -0.5949, -7.7333, 5.3949, 1.873, 0.0562, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ce9e6d4b5860ea09f7af7f8d0be0637c65d3fa13c7900efb18352f97fb1dde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499bcc97a670636e29b6ef5e2f136374fe8a1941e95eeb727eb6627a6dc541c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb29587a89da676a538619221068e2f64f18b13b17fe376ab1ff62c8aa2b9b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0946, 2.1414, 1.8362, -0.9535, -0.8673, -1.037, 0.9973, 0.2817, 1.5658, 1.008, -0.2729, 0.2527, 0.152, 0.9962]\nstate[eef_state]: left_x=0.3387 left_y=-0.3551 left_z=0.1425 left_yaw=0.1425 left_pitch=-0.0992 left_roll=0.1221 left_gripper=0.9973 right_x=0.4157 right_y=0.078 right_z=0.1193 right_yaw=-0.0302 right_pitch=-0.2295 right_roll=-0.0659 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -11.2068, 5.6957, 0.8962, -0.5055, 0.1587, -0.1587, 0.1299, -7.8017, 8.5538, 1.707, 0.0806, 0.3199, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is centered between the fingertips at grasp height. I’m closing around it.\"}",
  "call_id": "call_f1mYkGFb4FpPdAblixE9G4W3",
  "id": "fc_0854f53c489bc4ba016ab2c2742cdc87d097f094da15f3054d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f1mYkGFb4FpPdAblixE9G4W3",
  "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]: [-0.2382, 0.9367, 0.8131, -0.6235, -0.3813, -0.2092, 0.9977, 0.2291, 1.8271, 0.9092, 0.0669, 0.2111, 0.1043, 0.6309]\nstate[eef_state]: left_x=0.2942 left_y=-0.0001 left_z=0.1951 left_yaw=0.1887 left_pitch=-0.1178 left_roll=0.1122 left_gripper=0.9977 right_x=0.4396 right_y=0.0682 right_z=0.0268 right_yaw=-0.0227 right_pitch=-0.2594 right_roll=-0.0748 right_gripper=0.6309\nstate[joint_eff]: [-0.253, -2.3863, 6.8034, 1.5849, -0.3199, -0.0269, -0.0122, 0.0479, -9.1145, 5.8188, 1.4139, 0.0611, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:381b55fb970d9ae7ce487120a82b7cca4669939d9b12a080af5d2def913e77df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8022e5b77ff3212aaaa1438316c42c8e3088e7570277e0c1eae2a771ade33535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692aa04a05812f31f93cd2dd5c10580290429f9a800aa08b9e65e8402d25138f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 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]: [-0.2405, 0.9321, 0.8131, -0.6163, -0.3927, -0.2092, 0.9977, 0.2302, 1.8221, 0.9092, 0.0635, 0.2111, 0.112, 0.9962]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1981 left_yaw=0.1951 left_pitch=-0.1038 left_roll=0.1143 left_gripper=0.9977 right_x=0.4393 right_y=0.0686 right_z=0.0284 right_yaw=-0.0256 right_pitch=-0.2576 right_roll=-0.0691 right_gripper=0.9962\nstate[joint_eff]: [0.212, -2.5504, 6.2701, 1.7118, 0.0171, 0.1441, 0.0269, -0.5949, -7.7333, 5.3949, 1.873, 0.0562, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper opening is consistent with the pear’s width. I’m lifting it to verify the grasp before moving toward the bowl.\"}",
  "call_id": "call_NS94bJ1YMADQQ4JmMhRjU8AS",
  "id": "fc_0854f53c489bc4ba016ab2c277ab4c87d093da20c41afd846c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NS94bJ1YMADQQ4JmMhRjU8AS",
  "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]: [-0.2382, 0.9367, 0.8131, -0.6239, -0.3805, -0.2092, 0.9977, 0.2287, 1.6939, 1.0843, -0.2825, 0.2039, 0.0959, 0.632]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1184 left_roll=0.1119 left_gripper=0.9977 right_x=0.4361 right_y=0.0685 right_z=0.0939 right_yaw=-0.015 right_pitch=-0.3011 right_roll=-0.0855 right_gripper=0.632\nstate[joint_eff]: [-0.3077, -1.8803, 6.8308, 1.5409, -0.1685, -0.0464, -0.0073, -0.3214, -10.7829, 8.5812, 1.4579, 0.1001, 0.0317, 0.7937]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8b8d1cde2eb361f3b509cc905379c104083ad3aa50363e9bf22af40e462fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb9c4198d8944de0073213a0e3de6c0d3cb04c55ec24cb29cf929c1a3f2b650",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c41a6b6295344dd9860f0d7665f9fd3ce6b4b84bc5a5f4f1e83b168b29a716c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2382, 0.9367, 0.8131, -0.6235, -0.3813, -0.2092, 0.9977, 0.2291, 1.8271, 0.9092, 0.0669, 0.2111, 0.1043, 0.6309]\nstate[eef_state]: left_x=0.2942 left_y=-0.0001 left_z=0.1951 left_yaw=0.1887 left_pitch=-0.1178 left_roll=0.1122 left_gripper=0.9977 right_x=0.4396 right_y=0.0682 right_z=0.0268 right_yaw=-0.0227 right_pitch=-0.2594 right_roll=-0.0748 right_gripper=0.6309\nstate[joint_eff]: [-0.253, -2.3863, 6.8034, 1.5849, -0.3199, -0.0269, -0.0122, 0.0479, -9.1145, 5.8188, 1.4139, 0.0611, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKFmI1s9WeR5OUAsdsoZllSOxdECW01Fye8-7ZN4whJACnTVG-Sxo-l0J-nxjrnigIvOKuqXI7fOMv_bmNbau-OEctgTH4xf7t_WNy4JDkEix3J7TkkJpio2iG2ojwcALNi9-URHw7LJHUxLTRhvm0elxyGKhP2er-5O0eUOTn1RZ5BaPNsQ8h9Al0dCBVYQEWD7pzizXyrGvEuweo4-LLKFfaY8HxDLXp5FscU3RvbeX47LPVSyt2VyyF_T3HZ-XgCuuI9TOAgdPTAzgTqmD6GMjqIlIrdmvud808yW6541Bm2G2OgZX4h6tqJS5UVVvVe8LuKc45hgQU7kqBH9gMnOs5Uzv3vIA5XbCIXuNqDZwGhEcl7jDrVWNh0FZb87LyOJB6PsoG1p5POHfq9JC-i4AYiSYqSvcBncNRKVXOYPr96Ku6lLR-1O3Fqfso_2RstDtNdLi2b8KxcYSFYT3iD0DaL3kLzn8s9qXzGrDSSAKnO8HR-OZ22fQGAZsa8XWb7ydCtOtKt8XaoNqnJnc19Dxv0MIA2KCo1Wsg6VjWNwdGuE-NHUukBNPCWtmRpTOaS93MT7MSRRSJZgKZbRXhfNb0xBFxXNLtmmax5lLH1iY01_vVtpUJHDanQ0TA_WKeDouRg-vKkWEm-_reUflVZc_YuinWPO1h5UzjFz0kOLz08sfWIYiXJaT_HyQF2Cbb4g2dtubyldM45trUqgl00_jC9cogt9GGXjJn6t_diZW__BxKn-1IolO8AIMXWM07AO8QbsS_Y_O0TEmvRwsBQMKPbBd_hC3bL6_ahjSvh5knnFffVREuuSOTVeZtCWQqamvef2lNLG_lczTb6ixbA83u2sA8lDSI3CjwQyAeLXo0PBpKgCrrV3QjSdOOKl7wXpnT0BjQgFkRTcOOBxlXc0fzqfEGeNCv5MclA7kCr7kJe-yhVj2RHtKorM75doHOFziYFBcO2Xhop81lGFRbjv2FeSdcLAGORQMlpcdQDKhU9gEVJzRy-j3M3E94-nu84SKpc3Q9UKaVj-esK27TUEuPENLDsEpbqPHVz_wyESju4v_XgOVuD-BBxw42CmfXWJ97KqphcIOYsq6iV3w20-Eg0T77pR4vV-QRkxHkO0TwVT277IsUG_x4B6Z4FZfJ3rdq4xlhXG6cwTsBCcVA0P3yNx2FmHG_kjvJ8p-UlJd7iIkzIlz-2FMqff_xV7hdEXvHvqclUI13SJyFPyA_55EBgiZaZAcxgLnm74I7WdsPc8PAEtsZbi9tT_EQmxqVaVQ8388HLbWCv-dAcwzRfBWIXMwZrsBHwGOSsp3dEu8QC_cn2AXP3_ATmTDfHDoK-LEc-RSKzdNJ2q29-inW3vsqm3tPLcJn1zSkD1TyTRjigDq1Bv9AuCRPvXSXLOpcDG7qCJlJgPah4JrlNMk8jbwhNTGPFm0BGyTVdi28TfMRJYA-lUMhb3QnQWspqCQJ_ifkZb4-lIFNLybU5Y-ZbYzIevrlRLRP-QpAnn0_AeZz7WOqZnaXZPIDNtGrvvXdKuyEZn5uz-pP5jKMlQy2LSTnIn8vVWP9CEznRNdphOF2Nv4dBKa7ii2V1DkD3VlEBVb8kvFKNUiKAxHLf0UEuIH3QQQSdVxVLFitf_aZG72hRNVD2r-ac755wgeyy2W8-3V7Yuw2qBwWNgnY1xNr2eL2p9OWioSjDPhNVdXcc_9nGDeEf5g0tnX6J5os60ACUOvPzXRxna6ir5A5zGPw74hzHO5ElbRAtq9jEyzqEuy7PmcbGo2FNe7gZPKwbLYA9h8WknDMgZy06Mw5w81WX4bb_ilOezeNUqf12-ejft1ERyfOmKzAvmXa9CYL2l_tdehffGctNPvEteWSEUNMXV4Fzbp9OuL04gtq3bJ3npL_pG-FYTucq7FEzhYLMPTTLxEVt1pQXqckUREPQlQZbdgiOeIgjTayyr37tLc4EvUdPo9Bo5P3vMbyii11lQvfYpVmqKKHZ1aduJsbW3PvCJA6cZZdlTZZbmzD-jRTZWwkpSn_PWkj1mJFetwh0q2W6J9muZS7-hhFBr9HEtsl_oHMJ5b6XREtCT90qf-_n1kzxFrh70O0M6gcweb6AJS_I6gFBPdA8_Zl_SJHep7BKTQ==",
  "id": "rs_0854f53c489bc4ba016ab2c27c07b487d0b335c10ebfd89fd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.30,\"right_z\":0.18},\"note\":\"The pear has lifted with the right gripper. I’m carrying it over the blue bowl to join the other two fruits.\"}",
  "call_id": "call_f6yyYSvKEqpsKsiTeT6UQTnX",
  "id": "fc_0854f53c489bc4ba016ab2c284981087d0b85526523f3c876a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f6yyYSvKEqpsKsiTeT6UQTnX",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2382, 0.9367, 0.8131, -0.6243, -0.3805, -0.2092, 0.9977, 0.9417, 1.8645, 1.6497, -0.9436, 0.5571, 0.7116, 0.6338]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1187 left_roll=0.112 left_gripper=0.9977 right_x=0.3296 right_y=0.3002 right_z=0.1697 right_yaw=0.0278 right_pitch=-0.326 right_roll=-0.0954 right_gripper=0.6338\nstate[joint_eff]: [-0.3077, -1.7846, 6.9538, 1.536, -0.188, -0.0562, -0.0073, 0.1846, -9.5111, 8.2803, 0.8767, 0.525, 0.2222, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41153e2651d506dc3e2c2266805197a181067efad4928f430f83f0c7fa94a2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f539c028c2e4d100ee60ef6d29ac655ca2d5f75e4ff30f21f817194bfd62fc3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5801bd3751317453ef29b0205650d63c91cac81af5f044810ef2180455b5ec",
      "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]: [-0.2382, 0.9367, 0.8131, -0.6239, -0.3805, -0.2092, 0.9977, 0.2287, 1.6939, 1.0843, -0.2825, 0.2039, 0.0959, 0.632]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1184 left_roll=0.1119 left_gripper=0.9977 right_x=0.4361 right_y=0.0685 right_z=0.0939 right_yaw=-0.015 right_pitch=-0.3011 right_roll=-0.0855 right_gripper=0.632\nstate[joint_eff]: [-0.3077, -1.8803, 6.8308, 1.5409, -0.1685, -0.0464, -0.0073, -0.3214, -10.7829, 8.5812, 1.4579, 0.1001, 0.0317, 0.7937]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is centered above the blue bowl alongside the other fruits. I’m releasing it to complete loading the bowl.\"}",
  "call_id": "call_zGJB7s0I44nnbbgyBkykQvTZ",
  "id": "fc_0854f53c489bc4ba016ab2c28a2dd087d0a2609a0b89269867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zGJB7s0I44nnbbgyBkykQvTZ",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2382, 0.9367, 0.8131, -0.6243, -0.3805, -0.2092, 0.9977, 0.944, 1.8759, 1.6554, -0.9649, 0.5526, 0.7086, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1187 left_roll=0.112 left_gripper=0.9977 right_x=0.3269 right_y=0.2994 right_z=0.1646 right_yaw=0.0269 right_pitch=-0.346 right_roll=-0.1174 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -2.0444, 6.8581, 1.5653, -0.1734, -0.0171, -0.0073, -0.2667, -10.5231, 5.8462, 1.1404, 0.3199, 0.0464, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07da63eb93c6c139b826ddfa7c116110f51cfb4fadd899a0995ce6aa40f6641f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e122be2016d3e2c1cda0168b1adec5e7f63ca13ea8ce70ecfefe086214ccdf53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0097cb09360ac8fc2e41e5c4356a6002197cb96aa296ea2d6b23d8a5e56b1826",
      "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]: [-0.2382, 0.9367, 0.8131, -0.6243, -0.3805, -0.2092, 0.9977, 0.9417, 1.8645, 1.6497, -0.9436, 0.5571, 0.7116, 0.6338]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1187 left_roll=0.112 left_gripper=0.9977 right_x=0.3296 right_y=0.3002 right_z=0.1697 right_yaw=0.0278 right_pitch=-0.326 right_roll=-0.0954 right_gripper=0.6338\nstate[joint_eff]: [-0.3077, -1.7846, 6.9538, 1.536, -0.188, -0.0562, -0.0073, 0.1846, -9.5111, 8.2803, 0.8767, 0.525, 0.2222, 0.6227]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKSSukYVQ0__RPmvkmiVqTbbj6y6JXAM7RBZYeuk9Ng6DGCM_YufFiJS8jro9wujKxt1JQa9ED4boLZT_XW-0DZOFjSFr14KVRCaSxpDzteP3gf5Aomt8JQ1usQGyVAuKDFSWk4fcpprVjgCxeE_mQSNGFU93JvKdicqckiksQYlXLr0eNn-UKfloYxXDFHXO_5U4ZsSDVqqtGQAu9PJm46rlG2DlfDhkGRwq9_PuvVrK90E0iL6307b2E6jafIQAM8m3G2v5368rBH91oNKBH0kgboYaH9B02_I4kQ9LQPoPTPgzfmsTnpNO6hMZkVM0ZcHH50c_cwWoGSF5i_CN8sZ-K5fTi-DkVROj1S7eISH4UeKV4enDGTiAg5DhkSu7erGHkHbY9zLlafXV38DnHaYydZKsWsFR1kVb8fAHwPnfmZF3fNgyI4iP_VwwZtBn1dXnoBsUtYmd0BOkZs0wSA8kcqq4leXrT3eUrfFHwMn5zrwL2ECfUy2noHZi0te8K8VJiFfkCjYXal5KidEB7_elencnSK1MxZxbbuJT509yGUwkpCJ3Qnp1U2HmV-Nwfjzl0y5-UC92Mox4rSUO9f7MYx9crw0CHRV_IJ6EAvj-W_dGZ_5YsmkLU0X5fuuZoFY8g7i3cPENEoVFlSG_StsLLaB1MJu0Z-RPsMkpHZCo50Noc-RB4eBvnkMpVFYsAqUWfS8ARc04ugQcPqK8Sl6okA5EDVp-uSsZci1oMG5v5vcD3Iay7MvfrhgqqFcTCV1MRDlMcS5eOCIFA4-9ZIEOfcb7oBmOfjp_OUUrqJpcnZMbHDyF9MQZzwa-CGdzaYpMSMQFZvh2iaPoECYoSG8I2BYtrvAylbXKLWfsGLwXjdHwNl6Ke5VyFeNIuRai1nUpK81sgVnfSSOOiCzSLdrtUwZABBHLzDm9UUVf9neLHhJqXneb8pfaPXx2nv7XB0DWKbkWxrZG4Y5AcPLoxF1bWI8xzXrKU9-grvABAaMxaDmrTrdx3Fy1XXb5f3aZVDCyxPjw1wnPNoRBBdy2m8LgFmV7l_Ftz3ICnI6i9ofGBOuN2xWU38KHF0dYouJoKTm_MrgyHAjLyD-jpsBwn6iR0CQxH_fDOr_yiy31UMW_9sXqA_vZefQMmLpBtqKrfs_yhd5W8_q8JHx8naK1YQxSupnBDIaaM21LVPmug6nmFwY8m74C0ci141dRbF1nfXaWk4F0HxNfme6F2-nrrmtNItT0PFv3Zl_wMGlOoTkoDccqf-lLEcu_0Wb07cPcbTCw_OuBiukO5C_QwjdImaD9SmumpNU3aEvnb_zAOOFVvnYj3Z1tjaKBJh4hjNAjLpkul61wQ2BZJqW5iD70Dzl7L6_422EeIFlhUDZN5ucFU=",
  "id": "rs_0854f53c489bc4ba016ab2c28f6e2c87d0806e0616151dee60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.32,\"left_y\":-0.285,\"left_z\":0.13,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0},\"note\":\"I’m clearing the right arm to inspect the loaded bowl and bringing the left gripper toward the bowl’s left rim for pouring.\"}",
  "call_id": "call_xOsdsLlS7IyoIY3s8VoPpsWS",
  "id": "fc_0854f53c489bc4ba016ab2c290bf4487d0bc31a1ca6965f48c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xOsdsLlS7IyoIY3s8VoPpsWS",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0306, 1.6886, 1.042, -0.3058, -0.7864, -0.757, 0.9978, 0.0471, 1.1362, 1.1374, -0.9321, 0.1062, -0.0715, 0.9962]\nstate[eef_state]: left_x=0.3138 left_y=-0.2732 left_z=0.1158 left_yaw=-0.005 left_pitch=-0.0451 left_roll=0.038 left_gripper=0.9978 right_x=0.3009 right_y=-0.001 right_z=0.2147 right_yaw=-0.0177 right_pitch=-0.3612 right_roll=-0.1214 right_gripper=0.9962\nstate[joint_eff]: [-0.5812, -7.8291, 8.841, 1.3895, -0.6276, -0.0366, -0.0073, -0.2256, -4.2188, 6.7624, 1.4725, 0.0024, 0.0073, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a044f2137dbf35f9eea346298adb9f4d3ce81f70d973d75e343435d148f1dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b808915832b771a71af494b9a863ea94ff339e0ce917fa8b7dfb91d8f9091f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c060098d3c754843b6cc7b8a56e888a30fa919b0ae92e43461e1381ad7d52d1",
      "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]: [-0.2382, 0.9367, 0.8131, -0.6243, -0.3805, -0.2092, 0.9977, 0.944, 1.8759, 1.6554, -0.9649, 0.5526, 0.7086, 0.9957]\nstate[eef_state]: left_x=0.2941 left_y=-0.0002 left_z=0.195 left_yaw=0.1881 left_pitch=-0.1187 left_roll=0.112 left_gripper=0.9977 right_x=0.3269 right_y=0.2994 right_z=0.1646 right_yaw=0.0269 right_pitch=-0.346 right_roll=-0.1174 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -2.0444, 6.8581, 1.5653, -0.1734, -0.0171, -0.0073, -0.2667, -10.5231, 5.8462, 1.1404, 0.3199, 0.0464, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssKi0cGVLyGLb56L2AuxAd2drHr9_Q-u4koXFk_4RAELcJMs5RcJyoBTBKr3Kd7IyD8cxvKzDEABDwTdoLfFGYP1RRlQMU_s8_6i9s_4a4mR7WS3XrVXi4VPV3ZNI2CgWQNuiq3g7es-sQCPKGr_BEmZsqZf_J14AEyVbFiNw6AFFxRd-wnWevcLSkr61zZvvBcS3Kullk42MjUytLfzw6xW5K8M6HkOT9JOuePvHvhztSk7w1JMFI-e-2UO3tMHewIePciYfWg1YlmVsbG4C-eOW3Iw3Xt1RtfQHId3VIzi3Dpo4Y3C2SEG_dM34r7-ckF2uYWB0vIu5ABg-o6xlREH3BpYaATuh3Rx4Mt804YGf72AmoeK_Xims-9bQr5AFSuy0Dx3gMKcVQvOYuuKtNrJ7KyqKFifLAOE4iXUkXvRkJDM5PIVIOggIiFIn6DoutkyOcmrILRpmIlRXyNghc3eRRgdnMpg_-mO7EGAGoA2xt8hIAhln8cNwQtJf9Hw26Xfobz3MaPTnRMTKDhHWQCoziZnwHSl3tHRPh62CpXKzWVRh6-J9JMiHH2m3z5n38mqoIxBatceyaTlHN2X1xvqOPwICOaAh3pS9pzsSMwm-OB1iLpfG8DAKORkTgq54DcN0WY3LDUhX6uVHQlO25PQvOWFm7e_df6uSpSJ8fVei26qOMNkrr2kGVX-GS6DMKx7-qCgM6Dx3p0OgfsJmzygvY6sxE4qFtyjU8S6BUygnYVP28jjEYZ8QqrHoI_TNgdAYT5vyOy5QA_BbBcdy0PglrYUA80lYAYCcZQYoActLPkC_5Uh6M1-PP3sLpCKleQyTyQ3IOdBmcBYPvKzYP_zSbghjGW4f3HytsTBgncyyDakvLUWVWmZKk9MjioJ_1PtFiqMSTKFxJLT7RPBBIE64-C-RHNhmFqN2yk0wv6t6WYVFtvQvzHBVcDKaof28Y0nK4ARMxtpAxxjoUPhL7Ma-1uhsKZt-PcvoVPUlQkSx_EjQAVMSqOrApAm9DdXQbSTQ5imf3ui6iCsp5f8c4yaYsqVdANxFJcklS_cva2FuEWQbORXTPC71s2y4_BY70xB6AqEiziu7QwiaUTtkIc8WLvzUC_46IgseZg2QXHdEC8eBDRuQE2SIBqJpZsSeAUsBPyOXDRA0nfbOPjX7B77aj1AuBkqCs284FTK0JcHKko4gLbtP5YRHJvpyJYvwfejPIdZdKiNGFnhd5N4t5JlGEPQCEg68ZqlkUioZ3iLkFSyeeI6R2iYCaOM6go6AlTf8_J2nlR_n9eBcaLzfgboe0x40k240v_yrCnD9UjXZMt21qNl-DFg9LUjGPCahUGhHExGgdVaHsReHfFdoW2etWZSwAP3Hqkx0adp3ssIg-5mxgdjdX8Evjcn-DRojxtP5_hVg2cz48F2piyQFMLzCgaJTieBpXwOqW1T-Zv83vufXv-AEn0jRgw1fFtLBakmMHFIwWMggwuVJd_DsuqaFa1NYXPdE8mhN4UxInl2yubS36X5c03zdvEdGotwfrjhBEELZkAy1blFRuhWxnmbI3lpRj57GUUcDRIRWIU8ryLGLir4r6pD5xZuSB4BV3nBHtNgwqnfSOvc8zJnmOsKij_hdDLIm7Zmur5SGLCg-Z6sNgjJrD--fNxpP20ILv_Exp3dP2D_0IpB2hTsISwzAesUQoKeHWQncaoXf1BIvyds5wWMYMuJnYnbp5I_QhzYBBsMvzY_m6Evru0AigMsXuxDTeJ5ASHCILwm3wE6Mt_N8MfADxxB8FH_0kQT193Itp8krjMwcwpX0N986ucMWBzti_-9TOB2_AtABlf-I3uxbmFrmEgytVa_7-9CM2FsfA_0j3q8s9W42S-5EWeRQB4dPKc4J_Y8wBC42SCJ2QUNeEOiWJnaqq72IxtTVCYrtLTrDDLLMf44zIttLLI63xNpYHO06N1aA0Nu5D12N7hIHzBP_eqJONiKHPp_PXouQDqcKt6_iht5VXhN4R2O7-BU0nH0gFLnnWpbQyArTnY=",
  "id": "rs_0854f53c489bc4ba016ab2c299baf087d0920b19af5a724735",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.23},\"note\":\"The latest clear view shows that the bowl has shifted and the fruits are now outside it, so loading was not secure. I’m withdrawing both open grippers to avoid further contact or scattering.\"}",
  "call_id": "call_DPKmJQNIiyQ0IZxHLzD3mxta",
  "id": "fc_0854f53c489bc4ba016ab2c2a03c2c87d0a15796724d487816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DPKmJQNIiyQ0IZxHLzD3mxta",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.07, 0.8749, 0.8181, -0.6037, -0.1188, -0.0704, 0.9978, 0.0505, 1.137, 1.1622, -1.0, 0.0998, -0.0868, 0.9962]\nstate[eef_state]: left_x=0.2937 left_y=0.004 left_z=0.2101 left_yaw=0.0616 left_pitch=-0.0868 left_roll=0.0337 left_gripper=0.9978 right_x=0.2908 right_y=0.0007 right_z=0.2144 right_yaw=-0.0006 right_pitch=-0.4063 right_roll=-0.128 right_gripper=0.9962\nstate[joint_eff]: [0.1709, -2.6325, 10.0581, 1.6923, 0.0708, 0.2466, -0.0122, -0.0342, -3.3709, 9.3607, 1.3407, 0.1197, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:492d57635f83b81da72bce14a01ef3ae4d938c93a5cbeb0d90958a74b7d17544",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9f75d97f1d9fb4ed683241ba06b7eb41644a46824598a6412660d05b881eee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464873871799f8a7537be11aa5351618ee52170bf19c24847cdf54ddc89b1fe1",
      "type": "input_image"
    }
  ],
  "role": "user"
}