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]: [-0.0284, 0.7994, 0.6132, -0.3824, -0.0143, -0.0299, 0.999, -0.0227, 0.8005, 0.6197, -0.387, -0.0177, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0023 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2962 right_y=-0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.335, -1.7162, 9.6889, 1.7998, -0.1538, 0.1245, -0.1148, -0.3624, -1.7299, 9.0735, 1.8632, -0.1148, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbe682b0aa5ccbbe4bf2c2170ce0e935741a0af5d73aec071bce34138d78d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5fc381c5a83349669adb42dbe38d6ed89ba6baf68b2bff9d99930c1fc7f0432",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbeaf1cf5686dcb1b25aaa78811810235fbbd60bf4f4ff28aa4c8e6927256c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9d8qD-M3DM9XIh_r0IEuXgZ4rEDaNcESbzkhO9PYaarDDIXusp8erQNJB35ViwZa_TeDeJmNxmac55UFxfWsN3O-8WKY1UvXptyyKPSAP3WSc3HRO_ZO3FQyXpZTj_hKqnATy4HUgYTFANbExble8bepx0Rzxb-N7Q4pdwnNPiydO-0ygjVfcqwMm6ABn8Q-QKWtPmLt9HS3SA__EuY1PRdl3eUaTIMj_Tj_wv7kI1BHdLapWCr05Y2sTIjh6CbjXhjXfVhVL6ZI8Z1Roqpl9VnRGkuogNbQJuqd_qbJiMk-y-id9_Azvf-HHqPqntnrF_CPJcnfN-zrxJ_ASA5wDIljsuq4OpBtvtcbtJC-4Fx6POdVn83Jw8UKbKJuLjTzVtniHftukQT4vUcek7CZ18gwp4RFln3wjgYsCY-tJdUfQ1vj0Gch1k8hJYeevxpDEaO0eslkM3VN_VOSjBw9amXSoxqiX53O58BKctzwvMszKkigtihw3GhqDQK4Hzur8t7f2bok5MQzv7JE8rTNtCl3_KKRaQquSCMhuG0PdXSpwTNmoinNrNaH9cYYOtBEp3kcffnW_8nfPE5imyh-A6xMGdL1tk3roKrUYGZYVqSp4wrcq_j3uqAoO6LHjBw02TtUvECilmuHoAQzmPO8e6m6obuNbXw_JiB6wlfhBVu-qBN-2gDQfEGuw0zZM3sH-ajL5gkpQp6nA9_zpJV49pCEZ0tysOsFNCLuTx_dNCg8aFG0tppSU66uR6ZMrkZ4W4a3XZLlVq-FUEo6QKp7tNQcmnLdpRtvJpJgfQ8XMVYwxfOaUjVKzMCkz23eri1MYSy0UVYBUTP73tOH9eMGIw-QI1q0vpWDVyg3yT8gwsCerT0hqrmUPuIyRX6ZhbjfyPsgqVKQ_l09B1mc9hpcb9DQvUh021h-748uiOZGJoqYnzsiKlmiCuqL1s865db1mAEqO69dXvimKZeb60AB65j4-keWxs0J_iXjqRVVcFAbWg4nurmyAz35gdZVM0fHdn8eOjt4ESZn9ad6TALGeaBLoVTPDj6sKyCW2ex5Y917_OJJyyWeLaiVv1wBgfddRPcAg9Y4NVREvkt5G2G8lyD6ozgD5R2WG43w1f2ddpRYQXtgf8XSDMmwdhIapWU0tz3dJ-PiK1B_MVJ8ZWnnNQaqTqymMMBcj9Xlige9yoBCohyajqwU4y9SW88kd_G9_npSCxDScGSMjTEc0b4L9nVm9Og7chqsF-0wU_LDeTe4CI0LXWZGbm0accGiscMWtX6r6JejxdzS20bxc76JUUdWbblYQTqg8kiGMrInZYDpMGdU263hIddWqomthAfDUPIaVgxF9gQ7hsQcV-iHdtnZBUs9fSILZ5ElIAsMOZvrm103d6VdGXODe05Ude3HqtQenPornDnc5W1s3UwUZO6gfK8BgYMS8Bbj32V1_Ge4edEashnCp-tEAucsPuC6ktVPDY6uCRDNY_FVyjXzn82KQq40Oykn2-mBgZoIDBcLHndhdZk6z4INAlOcU0EBPOHqHM9Fq52wg7Gtb4MkPqvvcutSWtN5VgGToqjnGJDpXMTOeoMjcIXs_MDY_SEUgeOVzJ6hr2Ruwa8sn1Ru-Nvw==",
  "id": "rs_0782281ceb19ee2d016ab2af56e74887d09d69c89d5b10e0a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.085,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"I see three fruits on the table: a dark fruit on the left, a yellow fruit in the middle, and a green fruit on the right. I’m moving the left gripper above the dark fruit to pick it up first.\"}",
  "call_id": "call_BhxdXUdAk4c3zsXTDSK1kRiZ",
  "id": "fc_0782281ceb19ee2d016ab2af5ba3f487d08379878c143c70b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BhxdXUdAk4c3zsXTDSK1kRiZ",
  "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]: [-0.4953, 1.0286, 0.5011, -0.1272, -0.3859, -0.2897, 0.999, -0.0227, 0.8005, 0.6186, -0.3939, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3071 left_y=-0.0863 left_z=0.1244 left_yaw=-0.0172 left_pitch=-0.0309 left_roll=0.0106 left_gripper=0.999 right_x=0.2951 right_y=-0.0002 right_z=0.182 right_yaw=-0.0012 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -3.1521, 6.3932, 1.8437, -0.2369, -0.1441, -0.1148, -0.0889, -1.0051, 7.1453, 1.7705, -0.0659, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c118353bdbd37d8b6d9d4002eb78d757a9e665c3a50ebffdc0e524b0775dea9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a363b63035630a714716f728aa3cd476125ef1463f0124614a99376da49c5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351750b03fb3aa524f4e02b3246b1d7a408018a8bbd7cff534a0f4576f4505d5",
      "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]: [-0.0284, 0.7994, 0.6132, -0.3824, -0.0143, -0.0299, 0.999, -0.0227, 0.8005, 0.6197, -0.387, -0.0177, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0023 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2962 right_y=-0.0 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.335, -1.7162, 9.6889, 1.7998, -0.1538, 0.1245, -0.1148, -0.3624, -1.7299, 9.0735, 1.8632, -0.1148, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9lBHh2Lsh7TdNpvo4pAsqjb5DhO3amyM0PKhYxDTQTn-IUBWQzq_YiOARk4B-PENbp_NKaddlrCEzsBpCqtvTdJLp481CMg0IXouPxpau0JIAAdEHn3yeqcpJIRel9PH0beuh-TQ7TVHhS0PTdnt6SMgq6LnZZJnyr2AoVpIxAyRLYxZ7-RBDTcSfFPv-uteHi05rObVDC-pqJ2-aI6l1PHqb8gHQluUm1zaNapjyz0wwwZbLPb1Bdf4kdDc55jZ2-solgKb7a1unSTXBeFejgw6SKyDUtAgNQSEE_9CUd1WucoqcX9CD6F-AU3-8rM9bnIxhbpNAa0qb0RoEeObuCpnL3AsVpNSk2aWVeiHaf7UKvO-weM5sHG692z3RPu-YKh8qN4WECCBiIqy7jjU_lj-qN6EAMdhW-0c3tWuv4QGYfQfvPmCJW9H8Fd-rcIXDgknX-Wh-IgJj0zV2Au5HEm_4JDNDHSei5cLQx4cOaOYILJr70Gkpwk-CqteJno7w57vkIBl6bfAiOarJ3-9vU8u2LJwuH4IARaVQFSnOaMCSgFMDdLL0N4OdSZ0yDogiWadboKLqvh-Z6cFdXQSFz8DveVT53YduMzIgcSBeKrLErQkEfxnNr0-9qBvePM_UmNPCoykM6z_tJ9WQG13yR1H4YrBTeaeHKn9wwQap4YAUbbp8nQd4kqcaPc7kUFm3j9zf8XQa8AKQcjumAM3-29ZQYMRvO7SrIt_mhwZCYfmandF3o2jKlZj2vUQS48sBq6z5J8kY5PMkVwGPtBFjti-m0HGAR19XKeO19oLusM4Mo0ksEuA8gLvLp0bsVcj8tVvmc3oIwxJbR-evfXRyvc9CrkUlY3Bxw6Uq2k0PdeBGltU7gWyP5jHW30OFoGF4IdOD9C8lztMX5QDVasDpI1Sb03omK3Lk4G9hoLP452161Ibn9-Kb_t3UcnB_M5nuWbLGBv8FY973Fz4_bR9V2odg0OhcVjcTSOIX6gV_T-uO17pSKknEBygA3qctq-brY5oigX8sZ6u9-6KbCMhlthzbXg_sW2fvv0R1PJP7jIGzAr5uhEsxi4ynyOK2tnfQBJ_TR-HVlc8ShI8LC9BfQlVzzHzO2f1yPPE8DYDwZQXM-GZrbr9G39PLNyJZB_6pQ9GsrPUZyOaWTVVf4D3o2aFt4PLv7n1wuRfCEpii3o0eZCiQc8fIyKVUxPjHvQ7BzH3YJcdyYvVfj1wGca5_Z3Seja1-2MHZ_t3YR7alHP-ll75QK5JcCO8aSdnuVtYm8EJBWXQ3rpHqjobzFqNNZsJktwzB8rGjOmvL4YhH29CPK6vVSaA9-pUAbGReAO4brGh3FnOmxtr1NbxXp39zgRD4yYlYDlcXRGnLwi11AEMQ=",
  "id": "rs_0782281ceb19ee2d016ab2af62117887d0a0edd7615e61ba34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.073,\"left_z\":0.023},\"note\":\"The dark fruit is just left of the jaw centre in the wrist view. I’m correcting that small offset and lowering the open jaws around its sides.\"}",
  "call_id": "call_UbRpVBtgfXXu1tBDjfdwjS2y",
  "id": "fc_0782281ceb19ee2d016ab2af644fb887d085dc5606109570de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UbRpVBtgfXXu1tBDjfdwjS2y",
  "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]: [-0.3836, 1.5127, 0.2718, 0.5735, -0.3126, -0.2321, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3258 left_y=-0.069 left_z=0.0159 left_yaw=0.004 left_pitch=-0.0611 left_roll=0.0221 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1804 right_yaw=-0.0015 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -5.2034, 4.3829, 1.917, 0.0659, 0.0952, -0.022, -0.2667, -1.5658, 7.0769, 1.7802, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1cf87176d0d04c83f2fbebccdad1df0e882e9987c2b10d9b70737d047e4ef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e80a3bbc23abed144546394a03c9f3bcea301374c793f8ff3bb7a7c57d3ed78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb0056cb133f2330068aea8032875d1db1221cd67ea5cc9ccc9fd21b7a84e4b0",
      "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]: [-0.4953, 1.0286, 0.5011, -0.1272, -0.3859, -0.2897, 0.999, -0.0227, 0.8005, 0.6186, -0.3939, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3071 left_y=-0.0863 left_z=0.1244 left_yaw=-0.0172 left_pitch=-0.0309 left_roll=0.0106 left_gripper=0.999 right_x=0.2951 right_y=-0.0002 right_z=0.182 right_yaw=-0.0012 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -3.1521, 6.3932, 1.8437, -0.2369, -0.1441, -0.1148, -0.0889, -1.0051, 7.1453, 1.7705, -0.0659, -0.0073, -0.0171]",
      "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 to secure it.\"}",
  "call_id": "call_hIwYohAkssCgxbqSCxkqWcQV",
  "id": "fc_0782281ceb19ee2d016ab2af6bac8087d0a92eabc344ddf645",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hIwYohAkssCgxbqSCxkqWcQV",
  "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]: [-0.384, 1.5131, 0.2718, 0.5709, -0.3172, -0.2348, 0.5214, -0.0227, 0.8043, 0.6178, -0.3946, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3255 left_y=-0.0682 left_z=0.0155 left_yaw=0.0089 left_pitch=-0.0629 left_roll=0.0238 left_gripper=0.5214 right_x=0.2952 right_y=-0.0002 right_z=0.1804 right_yaw=-0.0015 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -4.6701, 4.5197, 1.6386, -0.0952, -0.0073, 1.0281, -0.253, -1.2786, 7.0496, 1.7118, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e37d4098362af3359d601ebbab29c4d93cd6a4029eb39901e203392302198e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec45c3dc0ea0ab6385f3a9c6d24befa3b1d26c55df9f77870e66f0579ce40dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44e52857d253de5c0d13d96ff524a09bb4cb546d12aa2663972efefd6bb4c51",
      "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]: [-0.3836, 1.5127, 0.2718, 0.5735, -0.3126, -0.2321, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3258 left_y=-0.069 left_z=0.0159 left_yaw=0.004 left_pitch=-0.0611 left_roll=0.0221 left_gripper=0.999 right_x=0.2952 right_y=-0.0002 right_z=0.1804 right_yaw=-0.0015 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -5.2034, 4.3829, 1.917, 0.0659, 0.0952, -0.022, -0.2667, -1.5658, 7.0769, 1.7802, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper stopped at about half its opening, consistent with holding the fruit. I’m lifting it a short distance to confirm that it is secure.\"}",
  "call_id": "call_XLz5kCNTQItVusR23CR3qNPg",
  "id": "fc_0782281ceb19ee2d016ab2af70924487d0a722096878cee60b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XLz5kCNTQItVusR23CR3qNPg",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3843, 1.2037, 0.4046, 0.1078, -0.318, -0.2359, 0.5212, -0.0227, 0.807, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.321 left_y=-0.0664 left_z=0.0731 left_yaw=0.0103 left_pitch=-0.082 left_roll=0.0313 left_gripper=0.5212 right_x=0.2954 right_y=-0.0002 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -4.506, 8.294, 1.5311, -0.1978, -0.0171, 1.0281, -0.0479, -1.5111, 7.0496, 1.7314, -0.0415, -0.0562, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb86aefa7745796197b7ba296e0e0695e8abcfbd08b407bb9bbe36203e47338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e99dc60288f7d0105eea4879e8edbfa217a03b1bfb0561eb46d405af570b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519a13417469ed6a5720a56d3035a93504a677d7bba633a90d7ff0bbaa9aa083",
      "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]: [-0.384, 1.5131, 0.2718, 0.5709, -0.3172, -0.2348, 0.5214, -0.0227, 0.8043, 0.6178, -0.3946, -0.0162, -0.012, 0.9994]\nstate[eef_state]: left_x=0.3255 left_y=-0.0682 left_z=0.0155 left_yaw=0.0089 left_pitch=-0.0629 left_roll=0.0238 left_gripper=0.5214 right_x=0.2952 right_y=-0.0002 right_z=0.1804 right_yaw=-0.0015 right_pitch=-0.0134 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -4.6701, 4.5197, 1.6386, -0.0952, -0.0073, 1.0281, -0.253, -1.2786, 7.0496, 1.7118, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq99228AplLuNKxF2xKGLICkDcqLR7jujNL5dq7Gz2rgsnOPjdBRcIuRnXXiUgu89REKFkMmGQPL1OCdNRiwHNxTAKo7Lu4TdQiJ3ddhhlt72h664wekEs3AEmjUD2E9W47gyAtlOXEUtkOqfGC5_v2d-MIhhdW3NAw_oYtaQQlBFu2HuPVRDZcfMhLRTK0xcicqy4CoLjOktYCRa-k8cW3FVp7QJJh92DgZnO32I-nFXGAPcOtQFNrAITnMpAfAz3-75AxCffQqFS5U37h9TNgRj02z14Km71iN5SQ1x6rkBukzJgJac0mkXQHSqCxbnsMWQX0lAVJgbVATwBjKSdrjc3RCmqd1EKgmSIxRl9iCuJ6UFY9SESmqfjbGyGlAn-CIQSkT-4okOVrdH6E5PMw1Y-lL6NXJ3UJ3sEDuL-0Gs7kavW90zX-HwVH-BU2d-6EAZ7JyahYCV31WxkulCBW7fwZAuktMDwtaIZ9g1gs4GSji3z6Q2ZEDsgljh668otjQ-e66nasEhonliFcy-X86S6VEE7zS-qJbP3lhJj1BJvyWacUsLbXZ__Tb3C0MCBjYQTMZdrAA5m8QfpVeOBFJ_1LqGcnB0m-rD5hW_xndnidO2rvWJa0qqJpcHxvgSiwSj_pH0NQ8KFKmbojw11nOURZsIW2lFEZCtDpe9XDgybe6W_9XG8gEAzd-TXgwhaYo2fZZGUaSA6W2NEyun_tJvb8g2Q9BPhTIb9aRuUXSDx2ZA_ewMl6SVLaPYbbnFx09BagMcRDR7PK79RcGjHut6t7MqQayJoxILy0lK3quakM6OizS2q-3E3mS5LPQmQbfdvgenfICrgNai8MNYobCvK6q7YNl0ZFbRPqJwKYJRNEr7ylF8Vi1ntXstKlf5rd3fyI_VfUK7MUEnX2FDwOpoG7EkUL8HxEjlitRaC5RhvKNFAq5XsM6k0DNbAH0FFGfVr7kZ4IhgA1e-8SOzF-VbGJXLWIxKmTwk_9GK1rOowx1H3TORsXdNeqiIT53BgEUQs7yisc137WcqTZGYU6CVs_uHqJ3198ZLxQXFHbgyOmN0eu2DdQr1v9SVlyHBX2t7TV9efyFyr9RlA6bHnpncf2cHah_Rtp4l4O0ulLdfkNd2J_kgu3pZODnHHhULdR6Ly3aU_nWQgZsqgMm0Ew0-a7bVpN97KxpT93fmuClMVdWvAoJMp74kpI0kmZcgRseqP8V5fsRQ3dC-BnmgVIuSRJ1wG67a_qghCElhJcATWt6K1-0rlszlsgjL-ujQKnPDow0vNT84olmBEGhmrVh2_vyH8zQkF8JiVvUpnqqsu9XMli4q2cZexbpbCbS594sxjv7-MgKWC-W6ksZt4peVeqQvioKZ4EjhgDlvUzOnHakRLUYw7AeA4ME-ya_GF_All2VMb3myc1cInwlCl8ogDoC31eq-KVDq_AUiTY0SFWMa-njNv6ok0qsp-yvN_1cyAcZeCBawu7s_FqQOcN5YxkAEssR1morHa4-lvyCfiIaJziS-uvA9Nb7GrH--5l4HirJCq9sxXGjRcCu6RGO-UT34hrijfpe63kKZOKWrQZGcrlgj94lIJl2KRsb5guM7px6gSKJ3xUilDyJgWQQjC1GGxkuTssOZxZCsTbmKTbOKWMufPp1mFp9DebZQLh22JNwRueOH76l6yO1QygLRhgEgD7hYhgy5deDKtz5PcXnRJzJAg2ifJXQchIpyP0X",
  "id": "rs_0782281ceb19ee2d016ab2af77d20087d08cce05a7b06c2d1a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.39,\"left_z\":0.19},\"note\":\"The dark fruit lifted with the gripper. I’m carrying it toward the blue bowl, keeping it well above the table and bowl rim.\"}",
  "call_id": "call_lPBLTRmA4EDHaKJbJJ0wPNKE",
  "id": "fc_0782281ceb19ee2d016ab2af7b83dc87d0a1b1a190d3e82ece",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lPBLTRmA4EDHaKJbJJ0wPNKE",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.889, 2.434, 2.4161, -0.9207, -0.6655, -0.6552, 0.5214, -0.0227, 0.8101, 0.6178, -0.4095, -0.0162, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4594 left_y=-0.3873 left_z=0.1707 left_yaw=0.0122 left_pitch=-0.1193 left_roll=0.0528 left_gripper=0.5214 right_x=0.2935 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0015 right_pitch=-0.034 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -14.8171, 9.0051, 1.2918, -0.4664, 0.0317, 0.9304, -0.3214, -1.5521, 7.0632, 1.8779, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdf0b16f9e8e51dc62b4b47e6030c9a321b7f8c663bffd944634e803ef66d97c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35c69da409a80d4103f371e8ac212a225875d6e4c34be4fb51ce19465f5a37c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beddc5e39cc319a02f7ca5bd0ef3ae990b2df53c35f4104235db83421abe3006",
      "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]: [-0.3843, 1.2037, 0.4046, 0.1078, -0.318, -0.2359, 0.5212, -0.0227, 0.807, 0.6178, -0.3946, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.321 left_y=-0.0664 left_z=0.0731 left_yaw=0.0103 left_pitch=-0.082 left_roll=0.0313 left_gripper=0.5212 right_x=0.2954 right_y=-0.0002 right_z=0.1797 right_yaw=-0.0012 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -4.506, 8.294, 1.5311, -0.1978, -0.0171, 1.0281, -0.0479, -1.5111, 7.0496, 1.7314, -0.0415, -0.0562, -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": "gAAAAABqsq-XBpF5k2PwYxooRnUzcZGp_uJlW87a91pxa5n7D-MpS0j1TidXOHJJJUJjQkkBvrZp6Ut1seuD__yg47BMoWg6YfgvBHd8SSLd1xS2uu6Hsb3hW02OJ_r048oAR6Itm3z3OjoO0B5-dsSNvfgp949jrQByVH4H8qCB46kaYIGcTKiLZW_AqusroEZasWsrC5zvEni_gyFjGaBKUSs5S3clXHdjWJ4uLLR5WDZsACsXUAY9LhEuc1zinmevj3rSPnysHnJdSqYqjoWky2GWngkrqq3wzV1Z0WDhzChZmg91RcTib0NbbR1iwfS33kvFvClrngm8KzsxLX-zDc0LHsrwvBTz-HtSoa3o_9d52J1waNxjDPbGvuuF5FGSvwUbRBBiVwYZum3xyPFPgRqwh7puZdab0-H_c3aaxc6HDwpLVczkp11owoEpg88eNXnBETUeXxmqHp7tEd6Z-z3ksY186skCOv8UYBmzQmZftyrIMGpRkYSisIP1AyBaiy-_4pGjiHDyp7dElWy5aWyP_Ucidx79XHfE1KaiYrFyIymiDviYmq2GI4tIIFy16x8CQL0Uagekb2ozNScU8WSPkldkUDnUCpkZVOq27iZbS1ROg83onJkErvObKl3_urmHt3ptyZ4yIRfOch_7J7YOcy4PQ1YjKJxoZzBf0UQFx0iXYp6Y3_Bujgeuc-s0AbZotr52ImELrfCpRTnDLqoKfLdghzzf7U3JBGoR7k__-MR_CukfkgsEuYYkdJuedAUgwKYhu2KhEPNribZf_BTmTtvSnO-uzGejkDCtgvrTflT3fwrdTnWBKp-GtxDLChH2WAc7RWFDURYxlUlHi4VyjUZ1xTiPQJxOW_vtxoN1Puo4CgatSYGPc-K3Z7qJ7Pef5GhEe9dw4lOAXVuJbAUf0juiVLJlTfHoKEFg8s0RviuXRUf3iKDbzpp1p59EP-vBi7rYbbY3tv5c9C7zmcHeccsMwoNiOedjt8oyrARCWVG63jAxsdosb7eJKV6E68iizkI7CQytMdseck7t2tQ1IUs_7tIONhk21--Ynq3JpmHWFh57wCP4EIk53nDrmsX2GmsiCPdlJfJW28bU-kgQIPkdghPcQBLruEb1yXnbjh4OJf_0FFW6e4w4pbTT-_Xo3ty0xNoYHmYeexOBIvTP4Fmp2jxdYFr_T-kaLB57aJ5dVIQBc053ox4A1yQNQYVAoK1xm9hs6x6UuRqMMeGmmf5fyQM6qicXtFQdDbs8Ci3kHoJXWBDqK3vnw6YSFASS_uSPgNhN4uGV3rjax-PONsrebsSreYpcJ7cu59CUFr3gbLfyk1Idb_ejsNCh0Xtikn3NkN1T3tgv1vGVsSVdDidl04UrH8D8GzCWKyMbUEAw53_alOWn4IzYo4_kMYwEOVX2OKcCyd3bfe1Hgoa341pwh4-wc9VRTIEO1jTryugdJf9mCTdtB07hMYF5CYmmF6daOH74s_6Yb10UkymgeSDgdIngAm8cRKxb2xvcrErOTn1QxgkYB6q5CdUz5M_Bt0NubZYCm1y7B7Dk2iPDuauJx3-duv36oj0z22eV7nYyTax-tCRx_VoQoYG1ct3KAoCVn_FaYbN7E3ZtOdModQK7eUhXYpYmF_vgFlo1p_rd-di3RUUlgDvBnxHHg70_N1TZAhdbTypLplkhlUWz3ki3Gl08EX7fPXzA5YfAnUS4jv7WMuE57pKZ0KtwuMKws03l7RgAFx3VRGASx0awNe1sc-HkvCHvL88oi0tiNrwj--JD_mbq-peKo3YoZg6qz2OR43aUUZZhL_4P1_cUAJ5NpGXwKNaAAGF7Gst9NolaLmelH_Q8VUEvqgBTkadCbRMWaAZDDiIGn8TqQFlwlOaUa9DdCapE5Gs4GNbh6QBijoD8PKtV2YVyPT_yh42eNH4EMbbkFhhmrxgPoMTVcaODIkCUFevdCmfmAYfMobW_r-9UO1cPMe2e2uYR-JaJtpf54UIQdwtIYE0ZZYIs1xB1dsZscOP5qOahazyunR0re6yYvpCy5sV2J7yj4vU07StyVLGEUXvVg5lVBvZ4KWxaLl4K_pqK5pUik9eGex0GSNRyW-9DHv9rHos8294G5SDBIzRpr3bexZ30K0JbkVlq2_BHawMGuY9taOCX9PONS-shM29u8rTArO20zySRhfoabErz58G7jzlKpMjjWa1R9g==",
  "id": "rs_0782281ceb19ee2d016ab2af8d2ad887d08edab4d2ef841fad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.105,\"right_z\":0.14},\"note\":\"The blue bowl is slightly beyond the left arm’s sideways reach. I’m bringing the right gripper toward its near-right rim so I can move the bowl inward under the fruit.\"}",
  "call_id": "call_V7gb8StopfXjpwaLGUor4NXn",
  "id": "fc_0782281ceb19ee2d016ab2af95bb6087d086cea0f46bc36dbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V7gb8StopfXjpwaLGUor4NXn",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8619, 2.4371, 2.4149, -0.926, -0.6697, -0.6598, 0.5232, 0.3195, 1.5867, 0.9432, -0.0307, 0.2428, 0.1692, 0.9993]\nstate[eef_state]: left_x=0.4694 left_y=-0.3735 left_z=0.1683 left_yaw=0.0454 left_pitch=-0.1224 left_roll=0.0589 left_gripper=0.5232 right_x=0.4347 right_y=0.1028 right_z=0.1263 right_yaw=0.0247 right_pitch=-0.0834 right_roll=-0.0155 right_gripper=0.9993\nstate[joint_eff]: [-2.441, -14.0239, 6.7077, 1.3065, -0.3053, 0.0269, 0.7937, 0.4991, -6.7487, 8.8137, 1.7998, 0.2955, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33223ce8b902e47eff799c63948e0c5f79d0f7e5baab32bf48d0837151e89cda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe74de787a93ff7b68d82de40952da6cc9a93bd50f0053f0786846a58aad279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731fb207018d0562fc7138eff228c310c9a4548561e2618ed67bfe540c023fe0",
      "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]: [-0.889, 2.434, 2.4161, -0.9207, -0.6655, -0.6552, 0.5214, -0.0227, 0.8101, 0.6178, -0.4095, -0.0162, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4594 left_y=-0.3873 left_z=0.1707 left_yaw=0.0122 left_pitch=-0.1193 left_roll=0.0528 left_gripper=0.5214 right_x=0.2935 right_y=-0.0002 right_z=0.1758 right_yaw=-0.0015 right_pitch=-0.034 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.8274, -14.8171, 9.0051, 1.2918, -0.4664, 0.0317, 0.9304, -0.3214, -1.5521, 7.0632, 1.8779, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-lZEEoxvBEYWhN0Y5cV_JhPS_ZJJiay6rZ3_ZIkkGESMdpDunFbdldLclAzeGoXvNF7-HHpHkE9YwFG4xHkPojw8dTW84vmdKbmIka46FqJwhCpPWbiRmlTtvKiiLMj6B_aFIORkHeS9w_VZ9z7mF8XU09ol51_syuXimXXXm1Wzjk9TOURodI56SZkUK0OH-9Ndem10a5u62kmfpJlDxfpreosSxbZVVnHhtqPylaZnrgUQ8mYQsyAyJxA0QixACpLJC9bmqauze1qY_R2jtf6iyhnk2IVtt98hDmo2t6-bCIEjz0sFPPTtAn3nqfOySuGgQMjWJzzH4NlFCU6EQXi5al6WIu7iY7yY23PcMObgcbaj_CoT6l8lKbs2tyk9HIEDsJVPi84WxWEr0BUZPyp4Fr_C-GUAdZYwZ02FhnRwPFIkuPMM7CL2Jbm6LOxieNwl6cLa1HJ9xqX-UIUmOtOlxKIrL7HwEtyKlecQyCi1zWduaSuHHwUl_iFQ2rCmakgo8-ISM9UigfCT7b0W2TD39HT8-pdHYCOHLA5LAW2Z1FDiybxP61hoesqhAcmnpP04dVWQa-G3SWiakmv4qbvXuTxfsU_i0PpKvS5PEsQhKX6oIYFO-t75Z97Uk6ZJ0K3a7sqYlUGNFvQSI83hi8KwYeBwVkAF2dE7716SfIYRQVs_AC8WUo3_ZLDnVqTmsndIt8TM657o8dbmwht0uw0OfQUmxgSciMg1XPiYoWKk6P7M2SW0mYe7HqYfkVATtuMxZG64KWyf5aVfpZ8DAoloe5xIltzGyzA_ueyJw25Dy-ClIUWJXetpYHZpkjROtdHs-l5Jf1K1XztEz8PaP8m-puPUmKy_JAWjnsHNo_eBbMu_P6xkHwYJc0khR60L09F3DHVUo6wJVV66jvfgR2Xdc379EWWFwqbQ16VeS6xDBz7sp-UzDSKjXffzfp0MgMFaAR5aYkisEgCPFSQBEzyQoCKxvAw6uLeN4aWTJCufKFSY7wd2NYkIib3-nU_mMUskT-HQcH9nyEM_sBDPcajSB_I2nBkVrxvhX4g3Kvwd8dKd07XMAK5LTaV2KUlDqHirXCDj3gFzxyfYbSWPiWAE9jnS6c6JaJoIaxraLa5wT6XHT7zBIQQDwYLLQIop7nFTfRFzh0TzlfvfFJfhpjg2h9Yub_LFFyRAuRDoMQPKeBYz8AzCrS4Dw7RRwe98trSkV5FB2n0BZC32FzcT02n_ovFCVs_cgmulPLIG0AIMkw4sKhtwu0CeW-RhRoW65nGMpti4OgxC6iWsNB3d8A4RYrPW-0iyvRaT0RNCHAMEFZXsk9iPM7EhB8AK7Lul4jGLNS5XxNmTlnORlID3t5s3kCo3OV-j6cenHVOABmeQwYvpG2SMRPCWExIw4nfWBT7isoPRNSgN0c93IW-bvOfWzvp_AGQZ71UdwgkWZsLWRQ1hV8H1_39jz2AOREczd5",
  "id": "rs_0782281ceb19ee2d016ab2afa1692087d0a109ea02be4e6ac6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.095,\"right_z\":0.045},\"note\":\"The blue bowl’s right-hand rim is beneath the open right gripper. I’m lowering to rim height, keeping the left-held fruit stationary.\"}",
  "call_id": "call_NToPMVj1hzgXuQYuSV0NlxXB",
  "id": "fc_0782281ceb19ee2d016ab2afa3c9f087d09aa536bd9c4062dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NToPMVj1hzgXuQYuSV0NlxXB",
  "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]: [-0.8597, 2.4516, 2.4081, -0.9394, -0.6647, -0.6624, 0.5237, 0.2913, 1.787, 0.7868, 0.3035, 0.2234, 0.149, 0.9993]\nstate[eef_state]: left_x=0.4684 left_y=-0.3712 left_z=0.1555 left_yaw=0.0497 left_pitch=-0.1469 left_roll=0.0819 left_gripper=0.5237 right_x=0.4369 right_y=0.0939 right_z=0.0407 right_yaw=0.0229 right_pitch=-0.1087 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -15.4598, 6.9812, 1.3407, -0.4176, -0.0122, 0.8083, -0.3487, -8.2256, 5.4496, 1.9121, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d7ab1921df4b8e6b28a1d6936fe01a3cce92838911f0f9276c4986086098392",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c5e6391613cdee55a3c0867a9ff7a146fbcf3169e57d7a9ca4bae8d7266e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7371a4401708e511fdee25ac2c395500a63df8aa3d96f9874909f17859f153f",
      "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]: [-0.8619, 2.4371, 2.4149, -0.926, -0.6697, -0.6598, 0.5232, 0.3195, 1.5867, 0.9432, -0.0307, 0.2428, 0.1692, 0.9993]\nstate[eef_state]: left_x=0.4694 left_y=-0.3735 left_z=0.1683 left_yaw=0.0454 left_pitch=-0.1224 left_roll=0.0589 left_gripper=0.5232 right_x=0.4347 right_y=0.1028 right_z=0.1263 right_yaw=0.0247 right_pitch=-0.0834 right_roll=-0.0155 right_gripper=0.9993\nstate[joint_eff]: [-2.441, -14.0239, 6.7077, 1.3065, -0.3053, 0.0269, 0.7937, 0.4991, -6.7487, 8.8137, 1.7998, 0.2955, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers straddle the blue bowl’s rim. I’m closing them to grip the rim before shifting the bowl.\"}",
  "call_id": "call_voW6IxdxLY6VRwJXuQudfpCD",
  "id": "fc_0782281ceb19ee2d016ab2afad149487d0b7ffd0161f8a6e17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_voW6IxdxLY6VRwJXuQudfpCD",
  "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]: [-0.8597, 2.4516, 2.4081, -0.9405, -0.6582, -0.6628, 0.5248, 0.2916, 1.7863, 0.7868, 0.3122, 0.2192, 0.1497, 0.0187]\nstate[eef_state]: left_x=0.4678 left_y=-0.372 left_z=0.1548 left_yaw=0.0459 left_pitch=-0.1519 left_roll=0.0792 left_gripper=0.5248 right_x=0.4381 right_y=0.0952 right_z=0.0426 right_yaw=0.0267 right_pitch=-0.1002 right_roll=-0.0202 right_gripper=0.0187\nstate[joint_eff]: [-0.2393, -14.2974, 6.3932, 1.2381, -0.4225, -0.0366, 0.8718, -0.0479, -8.0615, 5.8325, 1.4237, 0.1148, -0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b80a2ead7dc88bf8479b5795c7634478866af2d53e84efc9c38fe9d6d18ddd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8859b1f45a05c5080e697c105e66a51d9186e1d83f0bb5a7983c2235b73c391f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca849bff347c5765b6fd6b574161d17ea988b6678285ff5a786fbb906d3ba7f4",
      "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]: [-0.8597, 2.4516, 2.4081, -0.9394, -0.6647, -0.6624, 0.5237, 0.2913, 1.787, 0.7868, 0.3035, 0.2234, 0.149, 0.9993]\nstate[eef_state]: left_x=0.4684 left_y=-0.3712 left_z=0.1555 left_yaw=0.0497 left_pitch=-0.1469 left_roll=0.0819 left_gripper=0.5237 right_x=0.4369 right_y=0.0939 right_z=0.0407 right_yaw=0.0229 right_pitch=-0.1087 right_roll=-0.0259 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -15.4598, 6.9812, 1.3407, -0.4176, -0.0122, 0.8083, -0.3487, -8.2256, 5.4496, 1.9121, 0.0024, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-zQEulAwN-C2NKSC554jiSRZQrFnW-wHhuS7ISK2YzRU9-L03XypJkKtQD8-LF2FTt-0JZN3mxcEkPFNiQQinhHRiwcg2ZpxohsExKzqwa9X6pYHrrGuSYlAlSVAffZvvrHncrGbg04Gbf50avbhG7vrgD2cpYpmWU7wqCC-4c3iYQl8X5oagRrkZPjhgC_yo-_hfMe6fE4VytvNPR7deNHHd_v_5L_MD2AnUx0QC908QRvcwUtBCYKqe4zgN1m8-EW4w2ZYszcHkSB2Ubfjz_DVuVUmfRShDKNsICdH5UV6A1MvjDMMAoXT4Elkr1U6Zv_sFmPA4pgUrlir8SRREFoLZVXBu5jwKLmNZDGAwuSxeigkcyotCQ4XXTBfammuTM6FGKUzl48_q5nlqFqxunaW7dlM7IYLjMwdF96Xb74gJenFn75fTB0TMkCd5MJuj7I_1xLyavpcJ68whsrkjNs6TWoHw8tICG6zqP9EYq-qR8IFG1JM34pOx2fFwFZhba7a5pwSKCiLSLAkQzv0n8evU0tQMpEqI5QdDAZK7Tj-OSQ__uAGQn_12A3ZuGAeHBVBOvUh404wmszoKS2JorPwQt_EIULy2DIm10Y2ugKJ2LwH-r7IddkvL4pRvBxO0vEz2Av-B53F6z3dovcBd9_yBpgrDVxiK1x-_8r9ZoNAt3FRJHBMmjzZIvdgWV4oeA0OyxPNUO2n-c9ToVrW2lOYdaGe47aWlLAceSCgCHVtY4r5D-ICn6mgVQnHcnOd6qT_BOzaOHTc71Dk1Ol7iMqX9CzD87G1dAN4mlIpbyYx7XxW6IKAjkHI_L9Dk-G6chcg_GBxiHDSzec9sG_AWnPVK2cGVOOzH96Hp6vZo59Q9uq2MvxNx8IBY_vP0RWWPBEja58BB1VGjO99IOklF6CjUAw_iWCqbytfJdVtPEwhiqRVUZaLIBShuZI205SN6y400J02M-VB9iMCMJn605bYJJFLs3cJubvkQBwRGliM7EFuAU2A7dcsNLrqHwagu458T4v7rxASxWDRz3-VStWhMQRNFcvcFMGxflJI5Mp-5qwRrctt3ilo5cuUdZU-nYFWAbTgatqlDypUju4hOOCpwm9KARGM_y43BL-ET8g2vmlekBttMLdN_k7IltRccl03E7YGW3IDJa1LxoFB3fWzzUDjC0inOFCUijw4Q7wV8o5x-NuFjdkcbzeEkVxdmivxYBo3JJhvPKhHRhbiam9b4KaAOnF_iZbHiAYbS4-VX-3tRYGBaGTXwANuzeTJAy",
  "id": "rs_0782281ceb19ee2d016ab2afb1974c87d0856b2609331c85ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The right gripper nearly closed, so its opening alone does not confirm a rim grasp. I’m making a short lift to check whether the bowl follows.\"}",
  "call_id": "call_mU17QXUHOU12oBUK5dhCcP71",
  "id": "fc_0782281ceb19ee2d016ab2afb2787887d0ae1f615759a8b334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mU17QXUHOU12oBUK5dhCcP71",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8597, 2.4516, 2.4081, -0.9432, -0.6575, -0.6632, 0.5266, 0.2913, 1.6531, 0.8791, 0.0288, 0.2089, 0.1455, 0.0228]\nstate[eef_state]: left_x=0.4675 left_y=-0.3717 left_z=0.1544 left_yaw=0.046 left_pitch=-0.154 left_roll=0.0806 left_gripper=0.5266 right_x=0.4285 right_y=0.094 right_z=0.0822 right_yaw=0.0353 right_pitch=-0.158 right_roll=-0.0319 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -14.1333, 6.5162, 1.2234, -0.315, -0.0757, 0.6716, -0.335, -8.9641, 9.0735, 1.7216, 0.1587, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7ba02ae8f53d3813437e15fa859cb3ad2b43061a8d99084da3879ab234bea2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39dfc40154df96c1395c87c868100002b263d2c84dc52e5f24153cd8b83bae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13921b06792ddfbc600b9b6ed78c599494638fe45709e114cb0517a2ee9d7506",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8597, 2.4516, 2.4081, -0.9405, -0.6582, -0.6628, 0.5248, 0.2916, 1.7863, 0.7868, 0.3122, 0.2192, 0.1497, 0.0187]\nstate[eef_state]: left_x=0.4678 left_y=-0.372 left_z=0.1548 left_yaw=0.0459 left_pitch=-0.1519 left_roll=0.0792 left_gripper=0.5248 right_x=0.4381 right_y=0.0952 right_z=0.0426 right_yaw=0.0267 right_pitch=-0.1002 right_roll=-0.0202 right_gripper=0.0187\nstate[joint_eff]: [-0.2393, -14.2974, 6.3932, 1.2381, -0.4225, -0.0366, 0.8718, -0.0479, -8.0615, 5.8325, 1.4237, 0.1148, -0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-7l4PhTp7590uzbbT33BSIN879H9vEnuoVqK_LlelMjoiP-quCxln44T8SKAL5gzqYxmpny1wGgBTo_EuMFYEJ-Fg_2FcHrEHwBYFxuhVGkPTeWvvuswMI_K957G_rbHzXuVq5vCddswVVBbJLtpdzA6uwacb-uUJlkS1nnYXo-BgXLUk85_OxmLnTBEtk8L81EMBk8XtNV1lkqwhtf3idl7E3CQr0G62ArFZn4d-ZJsD_bOw-zC6xXcHG0hFhpMA7vfeE9vnG8I813FSzXbWm9p7W5prtLbhmFeY2GZgQyFJYgBXULMg_IQKrIqLcIGKlbpviV5c4A3BZEzI0m6ifiokPzendqUpQRucVZJaMIy-jTPiPZjdJWalvVue9AwN12vsDnQPb9EsM7onPWj2SuizHl2N3lwjVDKlkQacImfa6ToJvTYKDev6jK0n5dgAWabrFcFr5VKiB_AVHC6vxlA7WYc_OLpPsash-8g3wGd3yG0Pyw13aUzVq_7JzMvATmLL3AeIJPx5vSsc2B6hXxVHqaWGZQTQvHZ-f_Hvj_5EuppV_9cEtMeOUTRLSfH_hP5dmF3ybyhcIhSRNEC1baEahsnmHFPf6VG2EdW_2gMbhRIFKu-t1i9pEMbdsq0mAsAG576DNNZU0qmeN6NiyXM-N_2qxH7EcTY_40dlr5b3rFre7Ir1VSpPb8ZPzmGxss9cpOovVSAGh88gxPEwvjGx_S_CSn_rkpjp-Tvvq-FDhOjHayzg5VXxfsO-CwUXAcmkbEkA8JkAeIYTL73Rltv5KqtZzIvZtvMx8ggh-ECMik4gAHT7fQjoi7UM4xgJvaYY3ZwcxXOXNLWDcCIwzPqFW4fpzQTivqX9Ve9F4dkXGZ3tk6BUhRpup3Ng7Q-qFxhoxDqHCmUZhcZi7kwEnf_e9x3P39Fdi1aUw5-q1q94eVGkcW4KW8Knko3Qq1aOpH44y8TDGOVpnRN2xoQVMaDfndZeJjP4dbvxf2w-x5q9tLVQttvxKYg-FX8bLcWxmbiit_Urz0xFvo7A-4ATaS9uKVZp0iclNdN_cztEOqq-BLRfM0BcWfz4wRHmL17mK5GH5JZUZv1Y5yB1tBN-QBAxbT7iQfrG9wBo5-dYmAoJy-g6bE2TJetRycM78jUacSYeN1NZItC6uvv25sGeWrhEjwHB7-LkvyDGZmivBluz90LuftE9g_kK7N65_V_iHCEKVQv73H_BTnFOn1aoRQZ2L0TCzd_9U_qvhN69bM_u4GoIojgwKqavLWANhpshboI37T5pSd6Ux4vuvQv0tlyLfh2posMhhFowjm_RbAgw=",
  "id": "rs_0782281ceb19ee2d016ab2afb84a4087d087cf3993c52d0a1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.20,\"right_z\":0.105,\"left_z\":0.22},\"note\":\"The blue bowl appears to have followed the right gripper’s lift. I’m shifting it inward beneath the dark fruit while raising the left hand for clearance.\"}",
  "call_id": "call_XrqeNQJZyTLNgZSvOOZh7gL7",
  "id": "fc_0782281ceb19ee2d016ab2afb957b487d0a06d1033aed42ab0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XrqeNQJZyTLNgZSvOOZh7gL7",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8112, 2.5378, 2.735, -1.2583, -0.6697, -0.6777, 0.5276, 0.4641, 1.8584, 1.1965, -0.205, 0.3538, 0.2817, 0.0256]\nstate[eef_state]: left_x=0.4729 left_y=-0.3336 left_z=0.1868 left_yaw=0.12 left_pitch=-0.1902 left_roll=0.1362 left_gripper=0.5276 right_x=0.4529 right_y=0.1623 right_z=0.0823 right_yaw=0.0049 right_pitch=-0.2313 right_roll=-0.0747 right_gripper=0.0256\nstate[joint_eff]: [-4.2598, -16.7726, 5.5316, 1.619, -0.1685, 0.1832, 0.6862, 5.135, -8.7316, 10.0308, 1.7753, 0.3541, 0.359, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f3c9fc60bea1ad5ac95d57ddc9d4ebeb762aad1f76f595965fd216904ed7ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:855ab712f8e3ee8477292e1d56f485bfc6c0ec9e630b42dbacd98a98939e3313",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a338f08b4e8c8a5c292dba4413aeb29b232a070339862403efdc709ac956b58",
      "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]: [-0.8597, 2.4516, 2.4081, -0.9432, -0.6575, -0.6632, 0.5266, 0.2913, 1.6531, 0.8791, 0.0288, 0.2089, 0.1455, 0.0228]\nstate[eef_state]: left_x=0.4675 left_y=-0.3717 left_z=0.1544 left_yaw=0.046 left_pitch=-0.154 left_roll=0.0806 left_gripper=0.5266 right_x=0.4285 right_y=0.094 right_z=0.0822 right_yaw=0.0353 right_pitch=-0.158 right_roll=-0.0319 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -14.1333, 6.5162, 1.2234, -0.315, -0.0757, 0.6716, -0.335, -8.9641, 9.0735, 1.7216, 0.1587, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_IXM3toIn8DIquEC0maWuD6Aak4eSrgi8mMPApyWLS66gjq3SNHHrdpBCx2zjcTk32Q51LEm6T2P_mAB8kP9OM7CVh10aCtSW3FJm1eRENEtrZVichOnzuDUXALiDWtzRIu-MTwhESAkjRqKYBq7TQL4uD__D7uentcmoChTq8rhuN1ldbCL77_0T3glefEq5H7TOUOcRAlJ1xDm3W4VbCAqiqAr-kljOV8lKC-WKFFytTgMT4GffFO8ytIcGArD1mE5047hUeti4qBK2epf04a8TUZJA6xSqMoAx59QWDip6abBRCwyO0F9hR_7maLDd6PqO12cL0mwFcrNG5ZFQ2bFCznwskGRQUZjIE29-BWlVJ6eD5VjoQ-UuHph7ROFT8_2HqC922LrpmXhKdnEGMKOqFQ5EiwjwJgIGKqWFISXaswayY16bOxj30ZbcE9JVNBUKREPOdIwhjepWJWr0lZhxqUMuW6TGBhSVl5sJ8M9r_sjFgBgH0V_mVOYJtgluMXzjoyC-ojasEGsIZH8B_zvLPbxpsetT5IqLfMpoZAv6W39MEDa6zfoXgJ0kr43uPPFeaR5eFhSDcjqdOwV5-SrscmuVLNmw4Nh7qqdj6ZRo8H-5sFXr9MVtwkgn9WKZDfmYnuB4taDF6dKy7p0n2z6P4hYE2yin6cN9NngSRJRQkpSz1zAS9eP8Pt9BwCIkMgod_5OCwYKtdblOKGXk0z60Ie8xS1HCd-oiGItRtS_sbSIZvY6Vh8CH30QmnUxWt3f5dP66hByGlPS6xzShn2iFBIcV-c1tVk-6b23ebg2nbBBVfkvRlWPw3V8-RerwyYsQAyNug0J_6BY1dvl84QYzzphKIl4FJrxkikK95UJYjPV0Mb95LN0bsPrcxauXU7_Um9h7Xf9iJebrTYKRrr4w9RxztR2cRm9fJ_6oshRRdjqbdpw8NJQ6gsq8DYbSBQxid1ki5RpNRrWwYY9_6ZZMonIM2UusATu0xoArKHs_fy0pSWzkaBs24u-yD-8KHE-8kd_3_5qPEEQggHkNXUJzd0pqvKizfoWi-TgVZS19nQepeRUtY6Yhllyf8AXeGwO9pGlHKZsUWbvqFj1iZ4M-SppGzuAZ4UzzXFNwZkIZ2Yjk9omRTGOUdwRtaAc7I7eWvteXmk7SLU9r0Thnba2l9dPT23ZFEJF0VDwFkIlVATmwqMiRxvT40JMpkSy7g1U6ULOOdjjDQ0QWje6vOGNzX0YiSYgPREpoz43PH0jwgm7lKVHp8lvSoM0su01plOago9oPKjNhU_h3ZzkrRj3-thjB9Ax6quIn6JW3V7SEmXFxFzzOQJQpF-QDjqBDIzBbsT0k_Q18bpujv468XLw3jhk2m5shChgT7OIKtAC87s7i2q6FkqStdJmPBaFzt5i1m5YIBdX1wyi9WhoRkBPQwJf7ID7EhaiTB0rQayvN0SnStBKp6VnqQ4exeJDOmgfAngwAo-XumJlQ1e4bojQ==",
  "id": "rs_0782281ceb19ee2d016ab2afc3b2d887d094d42af1683cc735",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.25,\"right_z\":0.05,\"left_x\":0.42,\"left_y\":-0.34,\"left_z\":0.19},\"note\":\"Both arms fell short of the longer-reach targets. I’m bringing the bowl and fruit closer to the bases, setting the bowl down in a more accessible central position.\"}",
  "call_id": "call_Kz0va0OXyLthcGO09N0SfDlX",
  "id": "fc_0782281ceb19ee2d016ab2afc6945c87d0844e4a45fe96fa11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kz0va0OXyLthcGO09N0SfDlX",
  "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]: [-0.7872, 2.727, 3.1176, -1.705, -0.7643, -0.7551, 0.5287, 0.5453, 1.945, 1.2316, -0.1883, 0.4622, 0.4397, 0.0276]\nstate[eef_state]: left_x=0.4529 left_y=-0.2762 left_z=0.1761 left_yaw=0.2796 left_pitch=-0.2442 left_roll=0.3467 left_gripper=0.5287 right_x=0.4516 right_y=0.186 right_z=0.0639 right_yaw=-0.0897 right_pitch=-0.2117 right_roll=-0.0525 right_gripper=0.0276\nstate[joint_eff]: [-9.2513, -15.8838, 6.8855, 2.0293, 0.2418, -0.2711, 0.4322, 12.5744, -6.1607, 8.8821, 0.8523, 0.4127, 0.4078, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554c95d5c0b9fdcfd36fb9d2c1063376c14f949c2c14685e02886dbd6d252e73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd21e624d8e8b6e9839bfa7caadf783d474defc90983a60056a79210a73d5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3035db0841dec0586049b0363a4652fc6bdea0a88c86c47cf1e12fd1ac3e7d6a",
      "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]: [-0.8112, 2.5378, 2.735, -1.2583, -0.6697, -0.6777, 0.5276, 0.4641, 1.8584, 1.1965, -0.205, 0.3538, 0.2817, 0.0256]\nstate[eef_state]: left_x=0.4729 left_y=-0.3336 left_z=0.1868 left_yaw=0.12 left_pitch=-0.1902 left_roll=0.1362 left_gripper=0.5276 right_x=0.4529 right_y=0.1623 right_z=0.0823 right_yaw=0.0049 right_pitch=-0.2313 right_roll=-0.0747 right_gripper=0.0256\nstate[joint_eff]: [-4.2598, -16.7726, 5.5316, 1.619, -0.1685, 0.1832, 0.6862, 5.135, -8.7316, 10.0308, 1.7753, 0.3541, 0.359, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_Od6xz69Gc6Qw85HpEuztYgutfBCSRxRR8beP3h3LoC1iDaoNDhaTaec3JXPXd8Dt-e9pVBD5EJyVA88oAliSRjkm9naReNsskwMdLUZycDfa-d7f2W8ellsognH9xrSG_mJ8GxGrE4HJhaIYeb61-gBzshGFV8J0WcEy4QzdUdRPIaSL87eQndwaJXMhv5SNzWn5NPCr6yRjdpeOilTxPYOD8Nq3EplJGSKsYB2_onge0FggaqxUsWdqoBeRTW2IQXhzLGD8z_RZ6oxsVQxEJiqw8z_yhpKs8r9BQdAfBQjzo662MgLdy1UU3OMwGhn-ZFYEudvoTy7idRnBYkrRMdmq8DeNIL-b5hem1AigTyn3C55mU_-Em5i4mccFxVAbpFk_GWTJ398AN62_hrEZRSH3-7CudpYP4RUD3BFI_yXd7bdN0n9YcDwIeQh6SE_P-ubwxrb1TRQ6j7wegLkmJjYlaUFHHcEd27sS68E2MMwjd9lRUGM3k9wjYwchh-99547AXu4kZOROmrpxXxGXze3k8tio5skHLN0mRJX2webYhqVqr8Df4SSMYO23Lzssdk1WYEJcMAwyLoHgaLIrU03WBlxJZAaOEhG3H8npxnjlJ8mHaLCYC7bUYxkl5sHEdVqxBeUdcHJDCk_YrPJx8w7gMv4n8r6RnkdHyX-_DpxSGTYcFrZaSvNzU8DhTp8F5lqag8SvERtKNZ-zKb_uBhKhfF4vnxB1W-22O7juFNGEHxRx_kZs8FoePBpxaG1WMIuoeHQPqa6FQ94aZBOUWVb5Z8zBNyMjA4ENqXMTAlk0KY6FTZG7fU43cHcMqMdnrvhvamIJeiada1RV27qgy4mLHoP-jR2mvzzqTukymKuhOHVtjq5jAvrGZrTo2qzjMl-i5cZbA6VjsON6MexOTpAmD8IwMbreXiBzlb-gQHSPzB5VBcoJxcYm5ec6GBqDckFfgSeuTWS-GTXqwI3yQetKI8LGOPNwZNEay0MOBdlYByjWLvBOyRC4C9ylOrVaJxj_N_mNaTGflQgNKpH7i9pgLJm8_8NpcPG-Lxx1kxZSYj5DWwbtlycR-SiQXyjoJG_oOWLd51Eg7O4y25KeAkqOXDJbReUwIrTOAA-PnGbbusUSaQPYxnX9jNE35vd3-sHW-zktoCaP60DnQ5Ega0npvA7I_2KvSHTXAos1decP7zAVJwdCVOUVMrcOUIMiQItUvGJgRfzKqSnjysXH1zoi2G7Yhq5QLtGFPiqHKlFPRCiJhETIi5DeVHnJHX9-4smQclQ7mkIQT0fEgB5zPGw==",
  "id": "rs_0782281ceb19ee2d016ab2afcbf12487d09d4f27b0600e2873",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.2},\"note\":\"The arms are crowding each other and neither is tracking normally. I’m withdrawing the left arm with its fruit so the right arm can finish positioning the bowl safely.\"}",
  "call_id": "call_IVtQyAiMGvwotEAZ3ujFAFQ6",
  "id": "fc_0782281ceb19ee2d016ab2afcd01b487d0963b92602c58ba19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IVtQyAiMGvwotEAZ3ujFAFQ6",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8455, 1.6089, 1.4204, -1.1866, -0.7631, -0.8295, 0.5288, 0.5461, 1.953, 1.2331, -0.2001, 0.4557, 0.4446, 0.0276]\nstate[eef_state]: left_x=0.3065 left_y=-0.1563 left_z=0.195 left_yaw=0.2739 left_pitch=-0.2602 left_roll=0.3489 left_gripper=0.5288 right_x=0.4494 right_y=0.1863 right_z=0.0587 right_yaw=-0.0892 right_pitch=-0.2293 right_roll=-0.0558 right_gripper=0.0276\nstate[joint_eff]: [-0.6085, -6.3658, 5.8188, 0.8571, -0.5885, -0.0806, 0.6764, -0.253, -10.865, 6.0103, 1.4676, 0.2271, -0.0806, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb4e79bff33092cce1f9b98c4ea33318090da2f2f49762e683f67c0b29517a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76e6924cec1282e571e1e58ab66024cd71cfaa462866f818b84bb5e580bcc40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f5231c2463bdfa173538a73d4f20250f761aec4e5de44198e7dd181b6db819",
      "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]: [-0.7872, 2.727, 3.1176, -1.705, -0.7643, -0.7551, 0.5287, 0.5453, 1.945, 1.2316, -0.1883, 0.4622, 0.4397, 0.0276]\nstate[eef_state]: left_x=0.4529 left_y=-0.2762 left_z=0.1761 left_yaw=0.2796 left_pitch=-0.2442 left_roll=0.3467 left_gripper=0.5287 right_x=0.4516 right_y=0.186 right_z=0.0639 right_yaw=-0.0897 right_pitch=-0.2117 right_roll=-0.0525 right_gripper=0.0276\nstate[joint_eff]: [-9.2513, -15.8838, 6.8855, 2.0293, 0.2418, -0.2711, 0.4322, 12.5744, -6.1607, 8.8821, 0.8523, 0.4127, 0.4078, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_VMGGATLpXSBpquZzj-S5gwSlUpMeunAlUXUXkHB-dEhl3Oupe5-x2T9QgF846iFe7y8XRoc-IS7LpUBKIL1j2tiGrDuHsrP7iB6m8SrUV21av03qs-apooQiICG3BfcBP6AZmoPcR_U7PgkveNoql8jA28Aec0eTOqzTDNv3keNc5H54uqA1MuOyPxCz4GBWMDPl7X4xe4RXFiSiwYtGs6mkdxE19LtJ5lVVXRzi9Np2c00hyF5si8N6g_xQvrhmn2SbUoo5XPCr2vZ4G58w5UW5YmFocOIf5c5ZpRTitKRuWsx9gH3SnUJyi4VWRdHxaHa1RrncdrKnfflpRttyZeu2YkqnYaNjLYJzLkD1U5N6eAZyJggqb65Ix5Gk0jFsnmd7pTzhdNApwvuSflIDqU7mi23RISbsLq6XQH1_PxDxEMuz6Kbn0MSg8JdOWqOFHcli0Sel627EpXNrm7030aXv8Dh4lWA2Uhzy72a7FQlyKPwtNKc_CLA3PDNjq893HlBKxMVxRPO0QEJYXSb067txqLwT6Gc3EBGFK8pbFqumv1n35ruOONV3asjRdguLqsuszogSpeaGB-l0MC9XZdRqEUU-KAcGd62Z2t7WGOn6ICQzezWXSTBlTPhBpRFvat8r3OjX2JU4Ad8Sph0c-2jektrC-a8nF3PqnekTvmUIiIH9sAtQwPB4GIwNfL-rRxVhp9jwKgbnbvojwMAf2vzpoNDojVLS7fpZBuJSkVbdrD7816Po4Q0z-5BeAY_LIDcaJ8_RhqcCunhNsusv5QjIkHWKnKAtnL28IJTWK-Wsz9S67RmLdJj3GPvCdeOKN_vDYNSoK6dhRVc1r7gSj2DUkcB9WvcORRHP6iBUrzELLlNaT1Zmd1gLhk1aLUfIkDCyeF7Ww3ks-DRjMyrxQ4qfItRWbeJf0BCRzZ8t5EU0StZqnBFVRxsSVNgoImO-Flk1TGrWrvZ1H3K1VM55AFTaG1zj-wpTNV9r75EkovHwRvA3BjPMAPNA01Ys5GubolA7fMH9SK64q6mugeCxZgTxbQHsULNM_yzXT7allzz_NHSenIX63mMAOxK9eF1hKttb_Tn7wLxb_TyDYo5eRQvr0rxeTHX6Hn08iJiFZfiwKaIYluQrEsULQrZo83CjjziFvMxfmvejxiUW9Yb0cmKoULihK_WzKTGpLnRf7o-zaDM5VEO5DdazlRaiI_oRg-GGwYdEnTHsvWOi31AfYiB_5M_q_OfHIRV9ysjbieXabfHeR1h89uwfqL3gFJ2VvpbftmHNl2mFDFHXFQxuiAQ==",
  "id": "rs_0782281ceb19ee2d016ab2afd1e14c87d084452c597e0332c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.26,\"right_z\":0.055,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the left arm clear, the blue bowl remains held by its rim. I’m moving it to the centre-left of the workspace and restoring the gripper’s upright orientation.\"}",
  "call_id": "call_hnPjEEW8bORlcva5mal1vmPX",
  "id": "fc_0782281ceb19ee2d016ab2afd2d76c87d0a52f5e125dd20ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hnPjEEW8bORlcva5mal1vmPX",
  "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]: [-0.8467, 1.6188, 1.4025, -1.1881, -0.7509, -0.8375, 0.5299, 0.7742, 1.9465, 1.0286, 0.1547, 0.6155, 0.4904, 0.0284]\nstate[eef_state]: left_x=0.3034 left_y=-0.1557 left_z=0.1854 left_yaw=0.2807 left_pitch=-0.2823 left_roll=0.3654 left_gripper=0.5299 right_x=0.4036 right_y=0.2571 right_z=0.0515 right_yaw=0.0084 right_pitch=-0.032 right_roll=-0.0108 right_gripper=0.0284\nstate[joint_eff]: [-0.0752, -7.9248, 7.4051, 0.6032, -0.5543, 0.0611, 0.6911, 0.4581, -10.2085, 4.8615, 1.2772, 0.2857, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82254808d8cc909394676a93e2509b0d0104794a4d30473616b175d24a7b24a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42feb47b1331171463836865300ead7e4e072118abfb903e1345ae79be57832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dea639946e0cb766c060ed096ce6800b97dcb1d25164430fb3abedb87eed287",
      "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]: [-0.8455, 1.6089, 1.4204, -1.1866, -0.7631, -0.8295, 0.5288, 0.5461, 1.953, 1.2331, -0.2001, 0.4557, 0.4446, 0.0276]\nstate[eef_state]: left_x=0.3065 left_y=-0.1563 left_z=0.195 left_yaw=0.2739 left_pitch=-0.2602 left_roll=0.3489 left_gripper=0.5288 right_x=0.4494 right_y=0.1863 right_z=0.0587 right_yaw=-0.0892 right_pitch=-0.2293 right_roll=-0.0558 right_gripper=0.0276\nstate[joint_eff]: [-0.6085, -6.3658, 5.8188, 0.8571, -0.5885, -0.0806, 0.6764, -0.253, -10.865, 6.0103, 1.4676, 0.2271, -0.0806, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03,\"right_gripper\":1},\"note\":\"The blue bowl is now near the table centre. I’m lowering it the last small distance and releasing its rim.\"}",
  "call_id": "call_ZWkSugoOAad2cATVJhbCj2ym",
  "id": "fc_0782281ceb19ee2d016ab2afdd357487d09c22fdef3a57cc78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZWkSugoOAad2cATVJhbCj2ym",
  "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]: [-0.8467, 1.6188, 1.4021, -1.1885, -0.7433, -0.8379, 0.5305, 0.775, 1.9831, 1.0145, 0.2092, 0.6121, 0.487, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.1564 left_z=0.1844 left_yaw=0.2789 left_pitch=-0.2893 left_roll=0.3625 left_gripper=0.5305 right_x=0.4042 right_y=0.2588 right_z=0.0383 right_yaw=0.0136 right_pitch=-0.0309 right_roll=-0.0092 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -6.8718, 6.0103, 0.5153, -0.4908, -0.0171, 0.652, -0.1162, -8.0752, 4.5333, 1.5849, 0.2125, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f856381228f302d250811d103041a0cb737eda3815e6a60175173a8302c1a807",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b60004d29d2522c1710e8542e438935769cadbf4b2459db671adbb85c8f3dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d86490ab17ae89b46a840d76417f217a871f300babfa304caa739c020a93e94",
      "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]: [-0.8467, 1.6188, 1.4025, -1.1881, -0.7509, -0.8375, 0.5299, 0.7742, 1.9465, 1.0286, 0.1547, 0.6155, 0.4904, 0.0284]\nstate[eef_state]: left_x=0.3034 left_y=-0.1557 left_z=0.1854 left_yaw=0.2807 left_pitch=-0.2823 left_roll=0.3654 left_gripper=0.5299 right_x=0.4036 right_y=0.2571 right_z=0.0515 right_yaw=0.0084 right_pitch=-0.032 right_roll=-0.0108 right_gripper=0.0284\nstate[joint_eff]: [-0.0752, -7.9248, 7.4051, 0.6032, -0.5543, 0.0611, 0.6911, 0.4581, -10.2085, 4.8615, 1.2772, 0.2857, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.19},\"note\":\"The bowl is resting on the table. I’m parking the right arm clear of the centre so the left arm can place the dark fruit.\"}",
  "call_id": "call_vdaCLgsE4VLmqmidz2i3dog4",
  "id": "fc_0782281ceb19ee2d016ab2afe3e64887d098c43f8974904263",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vdaCLgsE4VLmqmidz2i3dog4",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8467, 1.6199, 1.4021, -1.1881, -0.7395, -0.8383, 0.5322, -0.0036, 0.8612, 0.6415, -0.4004, 0.0372, 0.0116, 0.9965]\nstate[eef_state]: left_x=0.3025 left_y=-0.1569 left_z=0.1836 left_yaw=0.2782 left_pitch=-0.293 left_roll=0.3612 left_gripper=0.5322 right_x=0.301 right_y=-0.0041 right_z=0.1743 right_yaw=-0.0402 right_pitch=-0.0519 right_roll=-0.0112 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.1863, 6.0239, 0.569, -0.5201, -0.0513, 0.4567, -0.1299, -2.1128, 9.9214, 1.7558, -0.0708, -0.0562, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c48665fa95f0af461842cb4c77acf6839c8a4f984d60e6fa5418bb7e4ec47e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88378bd3af75aa112848bc2513e5e2726f259f1dcb15309c787359e9b4c84cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ee5cabdd8e2a7d03913926591ccbbe24a27f7cc65bb83339883709e86fbe9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8467, 1.6188, 1.4021, -1.1885, -0.7433, -0.8379, 0.5305, 0.775, 1.9831, 1.0145, 0.2092, 0.6121, 0.487, 0.9956]\nstate[eef_state]: left_x=0.3027 left_y=-0.1564 left_z=0.1844 left_yaw=0.2789 left_pitch=-0.2893 left_roll=0.3625 left_gripper=0.5305 right_x=0.4042 right_y=0.2588 right_z=0.0383 right_yaw=0.0136 right_pitch=-0.0309 right_roll=-0.0092 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -6.8718, 6.0103, 0.5153, -0.4908, -0.0171, 0.652, -0.1162, -8.0752, 4.5333, 1.5849, 0.2125, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_rPvUvLtJG4qVD34dsdmdVEzj7HVN-IF-9qaEW2B40p9UBpKxpjnz19WfJbSSaopSNA-B5Lu2xv_afiZiF4rTo6jlGC9v2cKo73WwKNqRmWjgAwNOiUFWQOgLslp6VfkkuFcFrOs8DjAYWtZP26w96rlU5ivBJT-iv1L17ZXqLOwre1LVg1R-2JRaZ8koc6CZEknxFMxWzJm1I1WAivtbaX9gGGuljBmYKlQ2NWvFbae6FLiZv-DM_tv27noEJMj3544eTvLnGKhkhnKeg1L8aX6wWK0oGuNM9OE9KP8sApUbzNcMAzyJ4871VxvU8HVCcsUR6f6oi85XSxhlHWx9HBOzm9DpRxrPwT6uAqc9fCgnbQcwWzDsa5QSIcVYVRspItqncyAcuRqC3_yROureEq42lpAkHfOvTm5bR5aGgcIdExKJ2OE-4z--jtF4QCRxq8ZmXVri1HgWLP3MSsJ-baNBsJur0QDDmQqPhUsA9xbkCOrFH4H_b6J9zjnJCo91zEibijl8lpNFfOkR6Kg442SDyMW0xKJcxHP1KEGW40hcaaczSs4LDvGlL01x7qBI52gdYVDd13YeLhrt5nDuZXlVuFO3exEPExx4YqR9o9Casn7N5vYaJwZ8jgdik9tBiZQl6Ql8Ft-uOuTpxh4Oa8rYd0gQZ17YErMbmmpqnPHlF3SGGeK3_O-0iT7_CFUIT_blSu3h6R2fYuIsZvxaMAhXKuyTfUs2SjR12ff_tOiC7ARIhdqG2yl18zCezXMUBJuu_9k0SE1GfC5J1bWZxR9qMhsHlVCPgKyU91raXUiiIvepcEl012CjnL2HYq9BStjUB8YfOxYcKgNfcdqUUTNJ2EiORIRDYsR902xB03SZvEZl1b8vjJkB3QVAhAqMCcqjU4LSc9kvemxr821sG8YZ3ClrpaaNwvbheKb46c7tGVCHqW9VrfHN4b_0pFXFdZCBi7TYIv36AY99eHoyWlRE5CMJAZxY_Cwie2k9_wOlqoL7nY4ifI-yvaUn2p2UPe5c7UtrCOl_ZvlMBg0z79njOHyB9SWWyKuWllxZerm_5ggWyYvdRuGjhtluNmEeF479EzZvdwk9QtWIeehp6kj9csKqQ370d0kuL2XKQQTCc-VX7I7w8sRgkuRLoSEeGCKXoLi-JkPlMaw4B1mW9vgFZTHBRiYds3JXIO919rJpXXVQIU-_saYWhJTXY2h5XX9rPLbVpkTdf5ar6BgNSgmMvcIdtybAtzx0pWX8rxoM=",
  "id": "rs_0782281ceb19ee2d016ab2afe967a487d0bf4e6db183c45200",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.32,\"left_z\":0.14,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue bowl is now reachable by the left arm. I’m positioning the dark fruit over its opening and straightening the wrist.\"}",
  "call_id": "call_xZ06m0arnqVJTduJaIqp1loA",
  "id": "fc_0782281ceb19ee2d016ab2afea01b487d0ab599e4157a6e7e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xZ06m0arnqVJTduJaIqp1loA",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9058, 1.9285, 1.3949, -0.3664, -0.7353, -0.6571, 0.5353, -0.0029, 0.8639, 0.6468, -0.4202, 0.0288, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3916 left_y=-0.3015 left_z=0.1289 left_yaw=0.039 left_pitch=-0.0517 left_roll=0.054 left_gripper=0.5353 right_x=0.2991 right_y=-0.0024 right_z=0.172 right_yaw=-0.0219 right_pitch=-0.0694 right_roll=-0.0225 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -10.0855, 7.4188, 1.4725, -0.2564, 0.2027, 0.3053, -0.294, -1.9214, 6.7487, 1.8486, 0.0611, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae3e35560efec3a067f17720d573d984823a969fd165a66ff9daa6036664958",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b923165bd46ae544bf7d39c22dfe568a9c9ec27d849d6990b481cfd6fc3a088",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9383c8e65d0990180c7457405411489d670025e9983415ace802008fdf7f8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 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]: [-0.8467, 1.6199, 1.4021, -1.1881, -0.7395, -0.8383, 0.5322, -0.0036, 0.8612, 0.6415, -0.4004, 0.0372, 0.0116, 0.9965]\nstate[eef_state]: left_x=0.3025 left_y=-0.1569 left_z=0.1836 left_yaw=0.2782 left_pitch=-0.293 left_roll=0.3612 left_gripper=0.5322 right_x=0.301 right_y=-0.0041 right_z=0.1743 right_yaw=-0.0402 right_pitch=-0.0519 right_roll=-0.0112 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -7.1863, 6.0239, 0.569, -0.5201, -0.0513, 0.4567, -0.1299, -2.1128, 9.9214, 1.7558, -0.0708, -0.0562, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is over the blue bowl’s opening. I’m opening the fingers to drop it into the bowl.\"}",
  "call_id": "call_yizWPUpaUvkOfnP1JHV7vh0L",
  "id": "fc_0782281ceb19ee2d016ab2aff08a4487d0a2adbe0514da3295",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yizWPUpaUvkOfnP1JHV7vh0L",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9058, 1.9453, 1.3933, -0.3611, -0.7219, -0.6601, 0.9954, -0.0029, 0.8639, 0.6464, -0.4217, 0.0288, -0.0086, 0.9965]\nstate[eef_state]: left_x=0.3912 left_y=-0.3039 left_z=0.1201 left_yaw=0.0327 left_pitch=-0.0678 left_roll=0.0559 left_gripper=0.9954 right_x=0.2988 right_y=-0.0024 right_z=0.1715 right_yaw=-0.0215 right_pitch=-0.0713 right_roll=-0.0231 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -11.9043, 6.5299, 1.2332, -0.4713, 0.0122, -0.149, -0.1573, -1.6752, 6.9949, 1.7167, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209aef562069863f2aca0b98256d7393c188dabad735b32169b71718edf05da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8cefed052974927e036c4920ff887df0c4e0f1acae1b2d23ae4c0e98a7ec49f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6bda2c2804e3a3e9e9c6e5f3b6369d4ae6f5b403e89fa79c7f743fda235332",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 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]: [-0.9058, 1.9285, 1.3949, -0.3664, -0.7353, -0.6571, 0.5353, -0.0029, 0.8639, 0.6468, -0.4202, 0.0288, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3916 left_y=-0.3015 left_z=0.1289 left_yaw=0.039 left_pitch=-0.0517 left_roll=0.054 left_gripper=0.5353 right_x=0.2991 right_y=-0.0024 right_z=0.172 right_yaw=-0.0219 right_pitch=-0.0694 right_roll=-0.0225 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -10.0855, 7.4188, 1.4725, -0.2564, 0.2027, 0.3053, -0.294, -1.9214, 6.7487, 1.8486, 0.0611, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.32,\"right_y\":0.075,\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit is visible inside the blue bowl. I’m withdrawing the left arm and bringing the right gripper above the green fruit on the right.\"}",
  "call_id": "call_0DpVX4f5esyvokzwNxyQq6ut",
  "id": "fc_0782281ceb19ee2d016ab2aff585d087d0aab26aa9f567f891",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0DpVX4f5esyvokzwNxyQq6ut",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1062, 0.8749, 0.7177, -0.4835, -0.1741, -0.091, 0.9961, 0.3904, 1.0668, 0.4782, -0.0479, 0.3107, 0.2001, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=0.0024 left_z=0.1898 left_yaw=0.0898 left_pitch=-0.0611 left_roll=0.0479 left_gripper=0.9961 right_x=0.3163 right_y=0.0757 right_z=0.1156 right_yaw=0.0235 right_pitch=-0.0339 right_roll=-0.0173 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -2.3863, 6.8308, 1.7998, 0.0708, 0.1685, 0.0513, 0.2256, -2.7419, 5.9829, 2.1026, 0.1685, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a4a1d354ddefb1d384e0576a596a10019e72351de724bf454a77c45f9a0162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44f918e397333d167ad75e59c07f8e4ad5c7f30c01430d6afb2cc2c2ec14e21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309ecb3730836e5c5115f6e2e0e733b4e62195daa855c340a185ecf16c701d41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 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]: [-0.9058, 1.9453, 1.3933, -0.3611, -0.7219, -0.6601, 0.9954, -0.0029, 0.8639, 0.6464, -0.4217, 0.0288, -0.0086, 0.9965]\nstate[eef_state]: left_x=0.3912 left_y=-0.3039 left_z=0.1201 left_yaw=0.0327 left_pitch=-0.0678 left_roll=0.0559 left_gripper=0.9954 right_x=0.2988 right_y=-0.0024 right_z=0.1715 right_yaw=-0.0215 right_pitch=-0.0713 right_roll=-0.0231 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -11.9043, 6.5299, 1.2332, -0.4713, 0.0122, -0.149, -0.1573, -1.6752, 6.9949, 1.7167, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq__pKxdI0c80bmSwT9BpXalEH_pcay7f575PmE4xXlyVYrrBZ2mtjQYIeedrz1tXDsBF25OqNEw1uRDmmuqDT2n2VqkotgodKomWZhpKbuxKur1ZAIVoZ3wle84nGxPutCc1TXu-WntJRiLo9cTFar37ZYuD8ypCdmt7G7UKfgfB0zdI4pkq84W7fzajldt_eLRd9BkkJA1CZ_8_CMar0mtaolnGNGJSMHRz9hZ6Q3rK79uAinwYFu2L54E2pDPPGk9kq63lznV-6XtpQSFuHeZFnZjC7HaqFfZZWcfKZeaC-31R82ErlarBJKg_0RGPH0lyo-Hah8hubtQ51ZyJ25HLydlSQcziaqEhXyBaAieA04oh2KFIpdG2VRkP4wyrjI7z6f3RMDdZ2q-LOu2NYd12gDqRJkC_gvaqdo154uTVsGCbIZzEy4uve3yyycgzvBlrv37Bt-fbLGPKElWJplONKQs9kLZse-hgmSoDXe4YjQFLZSj8iSqlujNTkB3WIgPara5lVhrFzyNuQ0I7xfYb61AEfugfwjmiYRfawMSaVkxWGWUTAaD0FHVp11CMU3TyydBN2trXAVmfVlyCqy_4zcvbQ52ixnHfdlI47lzTQgkGBcBiGpI0V6mavFY8RSWQBtLG6M0e4TdKq5QQ0cbqhmkkDov8sQTEJ1ENBzz_cX1ddRwJOuaPM29r6iWKSsJhKlWWdd_QMMzSYpJS_7yjmsVmyjIWJYR3CwUvRtSn8mVOA6cr7XXYtBCv1FQvT83Hbn7gMytbDbvba34bvm5WuDtm3_SbmwqeGwoQyaDaCxFAov-IcsVAeUJa_g7Aqf02-5Wo8HLQxIgc3LbomQmyvEYUTRBt4dtVVRcOomV77XNxJxN-zOOrGulF9LTRFG0wvowHj-F-l2eLl604w2rU0nZUH1SMIydv9T2bLCZDuXw8Xann-FnGPDXbHIkx0TnsZpH0EVRvzRFPZmm1fuFOf-SjAUQtjXrd8Un9cZh5VH6gaIDoygo0Ci4chUEiVj61Gu7W5RxrIr7Y_YWILvma3jloZQt1SLCz8HfAvqdD4XF6evnQRozfZF5n2m-Uay2NtoJ3gZ-OtJwXoe0TLb27RJAMPUQPbUt7EkJ_dHMVbpbBRj_EjSZXfe4MNiLwvUAp437qiqKJFjouMU3HgxrMFs5eR8jbPWiVz_0NwJu2qvw3bR5G0GDr2Ef65WX_yPsgjXsGahe5lxqg8OJ2J06Fb2cu3fQvVkjGhJLu4HBdTP0udShj1sszZg_RYdgGXyhmZCBGOIjghmUP9WG3obEuA==",
  "id": "rs_0782281ceb19ee2d016ab2affc337487d0a57b0ea88a37ece5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.054,\"right_z\":0.025},\"note\":\"The green fruit is slightly right of the jaw centre. I’m correcting sideways and lowering the jaws around it.\"}",
  "call_id": "call_2vkkVgQQaRR5cMSYLDN2DObQ",
  "id": "fc_0782281ceb19ee2d016ab2affda80487d0905568281a87f3a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2vkkVgQQaRR5cMSYLDN2DObQ",
  "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]: [-0.1032, 0.8787, 0.7177, -0.4938, -0.1669, -0.0864, 0.9961, 0.2596, 1.4643, 0.2813, 0.4488, 0.2192, 0.1307, 0.9965]\nstate[eef_state]: left_x=0.2987 left_y=0.0022 left_z=0.1866 left_yaw=0.0845 left_pitch=-0.0759 left_roll=0.05 left_gripper=0.9961 right_x=0.3185 right_y=0.0486 right_z=0.0081 right_yaw=0.0035 right_pitch=-0.1459 right_roll=-0.0471 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.0171, 6.9265, 1.7363, -0.149, -0.1197, -0.0122, -0.2803, -5.7641, 4.3829, 2.0098, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb88c4f2ff3129eff692ecb55094f5840be925ce5d31b384d6a1888c7af323c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b441bc7bb8f9b6670b86be739b813394f5695f1457f7d63053f5b8786cb3954",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4896d4796f3aceaad6563c9ebdac93aeba749e3f7804a6bac4ecf9f83160ad41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1062, 0.8749, 0.7177, -0.4835, -0.1741, -0.091, 0.9961, 0.3904, 1.0668, 0.4782, -0.0479, 0.3107, 0.2001, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=0.0024 left_z=0.1898 left_yaw=0.0898 left_pitch=-0.0611 left_roll=0.0479 left_gripper=0.9961 right_x=0.3163 right_y=0.0757 right_z=0.1156 right_yaw=0.0235 right_pitch=-0.0339 right_roll=-0.0173 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -2.3863, 6.8308, 1.7998, 0.0708, 0.1685, 0.0513, 0.2256, -2.7419, 5.9829, 2.1026, 0.1685, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is between the fingers at table level. I’m closing the gripper around it.\"}",
  "call_id": "call_Qh7Nl2d95IPZRlK9iFTayF2N",
  "id": "fc_0782281ceb19ee2d016ab2b0030e3087d0abe994cbfd3a38c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qh7Nl2d95IPZRlK9iFTayF2N",
  "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]: [-0.1032, 0.8791, 0.7177, -0.4942, -0.1673, -0.086, 0.9961, 0.2581, 1.4677, 0.2718, 0.5037, 0.2089, 0.1234, 0.7542]\nstate[eef_state]: left_x=0.2986 left_y=0.0022 left_z=0.1864 left_yaw=0.0846 left_pitch=-0.0766 left_roll=0.0507 left_gripper=0.9961 right_x=0.3231 right_y=0.0511 right_z=0.0137 right_yaw=0.0158 right_pitch=-0.1071 right_roll=-0.0357 right_gripper=0.7542\nstate[joint_eff]: [-0.0342, -1.6205, 7.3231, 1.6679, -0.1343, -0.0317, -0.0073, 0.0342, -4.4513, 5.4359, 1.0916, 0.188, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc3676d0613b930657336f9bab9a85c8140f55b9075b8117f7778bbcae17bac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee5508412b044bcfe157972193ed609c660adabf98a7815cbaa46fabfe415f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb56bf9921e58eedb7379bbe6242298abd725ce834d39572f7785f267afabdf6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8787, 0.7177, -0.4938, -0.1669, -0.0864, 0.9961, 0.2596, 1.4643, 0.2813, 0.4488, 0.2192, 0.1307, 0.9965]\nstate[eef_state]: left_x=0.2987 left_y=0.0022 left_z=0.1866 left_yaw=0.0845 left_pitch=-0.0759 left_roll=0.05 left_gripper=0.9961 right_x=0.3185 right_y=0.0486 right_z=0.0081 right_yaw=0.0035 right_pitch=-0.1459 right_roll=-0.0471 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.0171, 6.9265, 1.7363, -0.149, -0.1197, -0.0122, -0.2803, -5.7641, 4.3829, 2.0098, -0.0317, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper opening indicates a substantial object between the jaws. I’m lifting the green fruit briefly to verify the grasp.\"}",
  "call_id": "call_Ere5UpUf64AGdmbGdDb7zZDy",
  "id": "fc_0782281ceb19ee2d016ab2b008f49087d0840e4d72134428a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ere5UpUf64AGdmbGdDb7zZDy",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8806, 0.7177, -0.4942, -0.1669, -0.0864, 0.9962, 0.2577, 1.182, 0.4084, 0.1017, 0.2043, 0.1192, 0.7542]\nstate[eef_state]: left_x=0.2987 left_y=0.0022 left_z=0.186 left_yaw=0.0845 left_pitch=-0.0781 left_roll=0.0504 left_gripper=0.9962 right_x=0.3249 right_y=0.0523 right_z=0.0769 right_yaw=0.022 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7542\nstate[joint_eff]: [-0.1436, -1.7709, 6.9538, 1.6728, -0.0513, -0.0513, -0.0073, -0.3487, -3.8632, 8.4444, 1.8388, 0.105, -0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54650ba3e68979d6ee353540f0b93547ce75780426376045c3586c96db907df0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3e9e24097b4a924e8c1d3edec0bba2d76e070c4bcb076d31cb1f7802786ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbcee6e383fd00a41ea6c1afa6946dd0bbbf439050e8179fe78699c8187d755e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8791, 0.7177, -0.4942, -0.1673, -0.086, 0.9961, 0.2581, 1.4677, 0.2718, 0.5037, 0.2089, 0.1234, 0.7542]\nstate[eef_state]: left_x=0.2986 left_y=0.0022 left_z=0.1864 left_yaw=0.0846 left_pitch=-0.0766 left_roll=0.0507 left_gripper=0.9961 right_x=0.3231 right_y=0.0511 right_z=0.0137 right_yaw=0.0158 right_pitch=-0.1071 right_roll=-0.0357 right_gripper=0.7542\nstate[joint_eff]: [-0.0342, -1.6205, 7.3231, 1.6679, -0.1343, -0.0317, -0.0073, 0.0342, -4.4513, 5.4359, 1.0916, 0.188, 0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.335,\"right_z\":0.18},\"note\":\"The green fruit lifted with the gripper. I’m carrying it above the blue bowl.\"}",
  "call_id": "call_MvKu6cmhTqGTezC3QiqLSznm",
  "id": "fc_0782281ceb19ee2d016ab2b00dc5b887d095954fa059a2c50a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MvKu6cmhTqGTezC3QiqLSznm",
  "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]: [-0.1028, 0.8825, 0.7177, -0.495, -0.1673, -0.0864, 0.9962, 0.9077, 1.9751, 1.6436, -0.5941, 0.6395, 0.5915, 0.7543]\nstate[eef_state]: left_x=0.2988 left_y=0.0023 left_z=0.1853 left_yaw=0.0853 left_pitch=-0.0807 left_roll=0.0512 left_gripper=0.9962 right_x=0.3895 right_y=0.3333 right_z=0.1626 right_yaw=0.0607 right_pitch=-0.1296 right_roll=-0.0601 right_gripper=0.7543\nstate[joint_eff]: [-0.2256, -1.935, 6.9265, 1.6679, -0.0806, -0.0757, -0.0171, 0.1573, -11.453, 8.3624, 1.199, 0.6667, 0.2027, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dfb2b84388d0f17d9e871309be8474658d774850c36008d9f308d4cc424686",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226432c28b0bf89338357d1fbc4d67a1f7ffe027a7feed0f4413c2d067ba5d59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc30172675ff2f21d98c90b162ead690ed14ce58a3e6c6aaed4bfbae14506cae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8806, 0.7177, -0.4942, -0.1669, -0.0864, 0.9962, 0.2577, 1.182, 0.4084, 0.1017, 0.2043, 0.1192, 0.7542]\nstate[eef_state]: left_x=0.2987 left_y=0.0022 left_z=0.186 left_yaw=0.0845 left_pitch=-0.0781 left_roll=0.0504 left_gripper=0.9962 right_x=0.3249 right_y=0.0523 right_z=0.0769 right_yaw=0.022 right_pitch=-0.0882 right_roll=-0.0314 right_gripper=0.7542\nstate[joint_eff]: [-0.1436, -1.7709, 6.9538, 1.6728, -0.0513, -0.0513, -0.0073, -0.3487, -3.8632, 8.4444, 1.8388, 0.105, -0.0122, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is positioned above the blue bowl. I’m releasing it into the bowl beside the dark fruit.\"}",
  "call_id": "call_rAnbObmGPQ3c70YjeeIidtPl",
  "id": "fc_0782281ceb19ee2d016ab2b015674487d0b171429a159a5df8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rAnbObmGPQ3c70YjeeIidtPl",
  "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]: [-0.1032, 0.8825, 0.7177, -0.4946, -0.1673, -0.086, 0.9961, 0.9127, 1.9873, 1.6485, -0.6193, 0.6353, 0.5907, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0022 left_z=0.1854 left_yaw=0.0847 left_pitch=-0.0804 left_roll=0.0514 left_gripper=0.9961 right_x=0.3859 right_y=0.3336 right_z=0.1551 right_yaw=0.0654 right_pitch=-0.1536 right_roll=-0.0829 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.7436, 6.9265, 1.6484, -0.0952, -0.0269, -0.0171, -0.4718, -12.0137, 6.2974, 1.4286, 0.4371, 0.0415, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70c6aee6a5e4c214c77cd0608d5cab885676db1bf6e50b19d28569b8baa429ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f3db25c8ff7c3011a1e617b2b64ffd989d86003c11992c9008e0f850a39438",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6188b7831fc6e1e27acb74105ca194da3cd8c948e34020e6372f6767b2ba1eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 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]: [-0.1028, 0.8825, 0.7177, -0.495, -0.1673, -0.0864, 0.9962, 0.9077, 1.9751, 1.6436, -0.5941, 0.6395, 0.5915, 0.7543]\nstate[eef_state]: left_x=0.2988 left_y=0.0023 left_z=0.1853 left_yaw=0.0853 left_pitch=-0.0807 left_roll=0.0512 left_gripper=0.9962 right_x=0.3895 right_y=0.3333 right_z=0.1626 right_yaw=0.0607 right_pitch=-0.1296 right_roll=-0.0601 right_gripper=0.7543\nstate[joint_eff]: [-0.2256, -1.935, 6.9265, 1.6679, -0.0806, -0.0757, -0.0171, 0.1573, -11.453, 8.3624, 1.199, 0.6667, 0.2027, 1.0281]\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": "gAAAAABqsrAcakEk3grTfSMO5XeRU7V09dNWQIDiwmLlSfT4cyio1bWEK1Co4hevq9gmEcRqCYG0fvfqlUm1Nlxh5oiWC9-5ev99CS53XScRfvF8unK7E-8zf4RmCTQaSBz7ocZ5PgsW8-LsM_IKRaH_YSDe2hcGPgGNbs21jFpoDYF3bNOiMkuy5beHnWtOt0nDeqmrXDUmqZdtpxfvW090ADNBZPsFu3HyWcjOZAddCg80qhhiI42sBILwjqYoL9EY8CD2PpFrtQ8foHSoTTzEV8NZNXBDueV9x3MvN25M23ISnkt7htJdmIYF-ZAWg0zUVpBsp-4Qt7gGND_04IbJgaFmjsZR6Q9c1Ex9XXwNXbYJ-oFSgznXN6Ay-x2NnnJxLsriICQr9sKfF6E7Q3iAzJA2Fs0yg-sJgsadIGXuhQV5tRC_b6xzv8mGmJCzv46WOfqcYwE9vCGHLgsk0Q75VWDvS08hEv3DHWQgvoRIeVYeYOS0smBwPSpL43oTmx5tlP39JfJFY-tzKFJa9DmJuGRrLuSaXJsqh3GZihO6-qXLqh-rWAQrzYmgD9hE4x-NzdNW84wLC5ULLQSdwiZRaIOP87c2iQRl8jFLrtxdgOecMjsy9juf-FT17t-XIICf3XsBf1ot6TNlbjOhIrEjtByXkwmqLKEaLVvOfJuMdRjznbHdyeDCCGLxMIphi5nZvqMImAjD48Sh6ctPPphFyDm8lNgVY_RZb9QEz7_afdBxFobeIM1mlebELfOl1WFwQxCtNh67fFa3_kRgCXd9hxlUq9vZb3V9htN9bFoRkWY2H_71BRSm2rXG_myMoeJdzd7THaMuj0ZMOPHvckNJjN1pF_57qQY2rxyt72rLWC9-7V02l1MClST1hRIRazDBO5IQQ676QunoQ1UGz9uc-NRzT79fVXsCNJLn_WgTqR3p3GW6pckATFSHx-XixK3LVOiBFPxs1ccGLQm5xsG0BYxEk-DMLoYL_IMyD8fP5FxTNeGKdOF7ez_D5sdxNhJQPE0R2AXowW-YbL9fgbrSDjnikoX6oWfrrK-hr1bCgK6aObST13Du7ONFqSFnyM52uAANDDhOEZfmsf7BA-mf9f7y7Xh7h6OWt8UYJ0NODFYBzjpdpVy0hMK4KCdCNlXLpBBeKzwwK-S9M9nbycr_sYogafS5tOBXg9Ic5bdvmtExj5oZp_B7qpz0cGcIgtAsL8iuCpocJCGhOiyx22_iZWyCbwLaWUcSEVHUenU--ppfPYtRXtS9-fDCl_biCyXWSelhhtsIiHAKNqAc_MqaoPV6wt2T4Du2vWH0aLSagAD33dFnpbMZRUFiYvsMkTfGvxsMcbZkE3CnOG01cYmDvUPuW_C5JPTR0UovG0HN0vgkkdMIuFuPZxTWWNQQz4iVNGs9WbebyYcCYaRkBjbp9RFeOVT45X59RK7sgOfStiXJp124Xo9IQHxQZRxuR-BGLHTYurOZ",
  "id": "rs_0782281ceb19ee2d016ab2b018c11c87d0a1f8c3810769988d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.205,\"right_z\":0.13,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The second fruit is visible inside the blue bowl. I’m moving above the remaining yellow fruit near the middle of the table.\"}",
  "call_id": "call_0uGWN7P5mVszpppemVdFixn0",
  "id": "fc_0782281ceb19ee2d016ab2b01a754887d0b8be5231d945fe1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0uGWN7P5mVszpppemVdFixn0",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8852, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.8257, 1.5059, 0.8371, -0.1661, 0.6514, 0.5377, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1846 left_yaw=0.0849 left_pitch=-0.0833 left_roll=0.0517 left_gripper=0.9961 right_x=0.3295 right_y=0.2045 right_z=0.1147 right_yaw=0.0061 right_pitch=-0.0633 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -2.0034, 6.9538, 1.6923, -0.1245, -0.0806, -0.0073, -0.335, -6.9128, 7.3368, 1.9316, 0.4469, -0.1538, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaba85602a89264481a2b06a340d53aa4c80bd5d77a429f850177dcc27cf77d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a28113d7220f73049db60e1735e9da44b2826e6620f728fac82ec381fcbd676",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432665035efdd60c61b52b965838a721d096508ed6b8939fca8d9e587af054ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8825, 0.7177, -0.4946, -0.1673, -0.086, 0.9961, 0.9127, 1.9873, 1.6485, -0.6193, 0.6353, 0.5907, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0022 left_z=0.1854 left_yaw=0.0847 left_pitch=-0.0804 left_roll=0.0514 left_gripper=0.9961 right_x=0.3859 right_y=0.3336 right_z=0.1551 right_yaw=0.0654 right_pitch=-0.1536 right_roll=-0.0829 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.7436, 6.9265, 1.6484, -0.0952, -0.0269, -0.0171, -0.4718, -12.0137, 6.2974, 1.4286, 0.4371, 0.0415, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAnIdueP90LTbrNyJ4q0RSYMwb-tK7sEtU9dwespa3VhX1LForO9L9VLr7twjzYb5ReNydNENgbjd5zAdmbh6-M9wcNaYy4Kd6VSdQpo2rbnpjftsmpDzSP3Y24-53SYb2e_E2WbCX0XU6PhvMpKKPln0vm-Iv-__IB1S1zW8itUZBI7UN0beENL7uZ-aiAXXY4OYAUzdaPEcuMFVOyO-GFp6f4Y-uafqdXVlilvtXPE5J1Bu4S5igXH7yI-bow1O-YeX-uBBmIGFJrsf6Y9vEaBdUWVB3vCMANt9vC5NFvlEj9XZCa8HBczfQWpikSu9pu25V8KlqYqNEM1MF-W1uQC9NGXC6XJzFpPZxAtGaB-RQqxSnPuOJ9411LZvkTZFhqOr4AvxH08FvRoditWV7pj3FpavBhRNSeSUhfjcxbdVHjqDBs13CHjWdDcZP05PV1gFt5IsvQYuLGjdJKruKPJdqwWCN8Z5ieN3xPHZIOyjfnkKaK3Tpi5f9IL6lQat2JHeyDtKtXy3MO4ptnz73xMEZW7yCGRmB6ILV3pSMu-a9eWMYnMVOCyZAIZEvquvNiYZ_rtW0CIzpZB1eEkQ-MzgLOAYY-T0A90HEE4ZyBHQHHR2vOB2kd2JNjkGumnRpZvScEYZXXdIVZhH06ZWyMwSseEigVWplW5gCeU8R7U56skED8cObzk5M-XU3JawRY_1KoW5b9B0eOdehIGvBkWvC98ZW9n1xMb-65xU6Z62MRVUZcNg14Dt9-lfNaC-hw7Su5wwA041TipYHPcbuXqHJ48cNdj7Lq2Sz-oTFGEJgtmzgnuQi5NN3m-SKv2tNWqCwmR4hANF1RjpB2LBJt8qHHb41vKVSuB-vI9NW3-D0ScauIyqzFMdVg5MlSDdFqeszsCEDcxH5Zfm_pf2A6Ove26QEV5kOsdX8i2CE9oKr9SesFdVYf4LEIZHyqSeGDghDsPwBOD3Hq9aIYr02kxjrY-Gt9S4i2sO2xV9_kwmZyU5HY6F0nBmdald9L4p6aO49tbWc2tHKuBiL3oUsuqK2PRuhGc7vta0fCJg8KK8NvTx0_34JXozIuJcZEqZn_I6fc3JrFJ9BKz1DlvqD1qIhxn6GdYdM4VORHu8GIM9NZ6rIHioZzKgpsmy_9OcqVI3DqpCvLvdM5O8km0TjcBGjYv_a7flOhio2pLvloNRJRd3Sd9UKgPIWvLTcxpE9bNLT8isA-nfwZDMA--5-837csPcDsNb7w_bMzMJGhuf-vV_g4K9wD_pwN2zhVToI0U3yS3_pVhCoH04nuRnD_u7fz6V5JvD6KkC5fMdwJ23d3iWe5E14RrgUYEfR9r-206iITbOZG_9NDSY-gPYom0Q==",
  "id": "rs_0782281ceb19ee2d016ab2b0253dd887d0b98e04141a371ed0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.21,\"right_z\":0.02},\"note\":\"The remaining yellow fruit is centred near the fingertips in the wrist view. I’m lowering the gripper around it.\"}",
  "call_id": "call_CyLiTpWqHj9cYagJ0APO25yJ",
  "id": "fc_0782281ceb19ee2d016ab2b0264bfc87d0a5656fe58ba91521",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CyLiTpWqHj9cYagJ0APO25yJ",
  "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]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.086, 0.9961, 0.8227, 1.7744, 0.6926, 0.1921, 0.6456, 0.5312, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0847 left_pitch=-0.0845 left_roll=0.0522 left_gripper=0.9961 right_x=0.33 right_y=0.2046 right_z=0.0185 right_yaw=0.0071 right_pitch=-0.1043 right_roll=-0.0837 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.5795, 7.0085, 1.6679, -0.0757, -0.0562, -0.0122, 0.1162, -7.706, 4.3692, 1.6044, 0.2613, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe617e20e048ef38c28ca0b64e9c550e3f7d75a01c2ab0d23b2514c28948ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79c60949627faa5aaa6e7ab572408996398c01c3f5ffb1978917b59fe0cb189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e0e9de38c3b32c03cef17e6252ada1ee302083d6a59e7ad88faf68fb4c366d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8852, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.8257, 1.5059, 0.8371, -0.1661, 0.6514, 0.5377, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1846 left_yaw=0.0849 left_pitch=-0.0833 left_roll=0.0517 left_gripper=0.9961 right_x=0.3295 right_y=0.2045 right_z=0.1147 right_yaw=0.0061 right_pitch=-0.0633 right_roll=-0.0413 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -2.0034, 6.9538, 1.6923, -0.1245, -0.0806, -0.0073, -0.335, -6.9128, 7.3368, 1.9316, 0.4469, -0.1538, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit lies between the open jaws. I’m closing to grasp it.\"}",
  "call_id": "call_oJmqZcPdr41w7Atk5uq3srVY",
  "id": "fc_0782281ceb19ee2d016ab2b02cd50c87d0baeaa24976b81f11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oJmqZcPdr41w7Atk5uq3srVY",
  "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]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.086, 0.9961, 0.8227, 1.7966, 0.6777, 0.197, 0.6388, 0.5308, 0.5034]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0847 left_pitch=-0.0845 left_roll=0.0522 left_gripper=0.9961 right_x=0.325 right_y=0.2006 right_z=0.0064 right_yaw=0.0092 right_pitch=-0.1302 right_roll=-0.1037 right_gripper=0.5034\nstate[joint_eff]: [-0.0889, -1.7846, 6.9675, 1.663, -0.1294, -0.0366, -0.0073, -0.0889, -9.1009, 5.9145, 1.2137, 0.3248, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e589687a3c7c9d399187a9a4b884ac0427609930d2c41a4985097c544bcbbd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a1a83a9190c4a271f197e116419384293abab0168f5fe76bf4a78e0a3e87e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6077814373c20dbe036bd21f699c9699bb4d3d44d7a179dc0b5a92edcba8cc55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.086, 0.9961, 0.8227, 1.7744, 0.6926, 0.1921, 0.6456, 0.5312, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0847 left_pitch=-0.0845 left_roll=0.0522 left_gripper=0.9961 right_x=0.33 right_y=0.2046 right_z=0.0185 right_yaw=0.0071 right_pitch=-0.1043 right_roll=-0.0837 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -1.5795, 7.0085, 1.6679, -0.0757, -0.0562, -0.0122, 0.1162, -7.706, 4.3692, 1.6044, 0.2613, 0.0317, -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_z\":0.085},\"note\":\"The gripper has stopped around the yellow fruit. I’m lifting it to check that it follows the fingers.\"}",
  "call_id": "call_wXhQN2A1qrViFteUulxGJ8hG",
  "id": "fc_0782281ceb19ee2d016ab2b0327e5487d08f749906e43df2de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wXhQN2A1qrViFteUulxGJ8hG",
  "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]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.8227, 1.5982, 0.7937, -0.1104, 0.6312, 0.5304, 0.5048]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0849 left_pitch=-0.0845 left_roll=0.0519 left_gripper=0.9961 right_x=0.3255 right_y=0.2028 right_z=0.0725 right_yaw=0.0153 right_pitch=-0.1299 right_roll=-0.0948 right_gripper=0.5048\nstate[joint_eff]: [-0.212, -1.7709, 6.9538, 1.6532, -0.1197, -0.0562, -0.0073, -0.1846, -7.9385, 7.8154, 1.2576, 0.3541, -0.0317, 0.8083]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc782b86af77fdaeebcfb1160b7857193a85608ece33211a14fe647b5f14eaaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c085225e9f56406b5b0a9581262d8fbb6ddaff4228af99cf3a862304dbb894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9051fac773c54d226f49b6781d303f323219ab9d123550fe5d592fc3c8eb7fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.086, 0.9961, 0.8227, 1.7966, 0.6777, 0.197, 0.6388, 0.5308, 0.5034]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0847 left_pitch=-0.0845 left_roll=0.0522 left_gripper=0.9961 right_x=0.325 right_y=0.2006 right_z=0.0064 right_yaw=0.0092 right_pitch=-0.1302 right_roll=-0.1037 right_gripper=0.5034\nstate[joint_eff]: [-0.0889, -1.7846, 6.9675, 1.663, -0.1294, -0.0366, -0.0073, -0.0889, -9.1009, 5.9145, 1.2137, 0.3248, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.33,\"right_z\":0.19},\"note\":\"The yellow fruit rose with the gripper. I’m carrying it over the blue bowl to join the other two fruits.\"}",
  "call_id": "call_ec1IKpXwcyC4x7FWxqHCm4iT",
  "id": "fc_0782281ceb19ee2d016ab2b0369bcc87d09a8111fdb2b435e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ec1IKpXwcyC4x7FWxqHCm4iT",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8913, 0.7177, -0.4953, -0.1673, -0.0864, 0.9961, 0.894, 2.0125, 1.7752, -0.7021, 0.654, 0.5762, 0.5082]\nstate[eef_state]: left_x=0.2993 left_y=0.0022 left_z=0.1828 left_yaw=0.085 left_pitch=-0.0897 left_roll=0.0529 left_gripper=0.9961 right_x=0.3999 right_y=0.3319 right_z=0.1818 right_yaw=0.0442 right_pitch=-0.1306 right_roll=-0.09 right_gripper=0.5082\nstate[joint_eff]: [-0.1573, -2.1949, 6.9538, 1.6581, -0.0904, -0.0659, -0.0122, 0.2393, -11.3299, 7.4462, 0.8718, 0.5006, 0.1685, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c121e99e446cb3c23045aad35b1281d8edc82199b68eeb3ae3b71687146b47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378bacb76f4b818b7afa2d6ccb06bc14f6bfbc3c34211603fc40c66bc67024fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46761017a98667ba5ff213f1aca459c403a5fa60e745e3b4a19dc2c594c94a61",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8864, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.8227, 1.5982, 0.7937, -0.1104, 0.6312, 0.5304, 0.5048]\nstate[eef_state]: left_x=0.299 left_y=0.0022 left_z=0.1843 left_yaw=0.0849 left_pitch=-0.0845 left_roll=0.0519 left_gripper=0.9961 right_x=0.3255 right_y=0.2028 right_z=0.0725 right_yaw=0.0153 right_pitch=-0.1299 right_roll=-0.0948 right_gripper=0.5048\nstate[joint_eff]: [-0.212, -1.7709, 6.9538, 1.6532, -0.1197, -0.0562, -0.0073, -0.1846, -7.9385, 7.8154, 1.2576, 0.3541, -0.0317, 0.8083]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The last fruit is over the blue bowl. I’m releasing it so that all three fruits are collected before pouring.\"}",
  "call_id": "call_MjEtL5Fl4xgyDqiFI8abVNYV",
  "id": "fc_0782281ceb19ee2d016ab2b03baa3887d0a0fb273e28197ff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MjEtL5Fl4xgyDqiFI8abVNYV",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8913, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.894, 2.0243, 1.7786, -0.7235, 0.6498, 0.5686, 0.9954]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1829 left_yaw=0.085 left_pitch=-0.0893 left_roll=0.0528 left_gripper=0.9961 right_x=0.3982 right_y=0.3307 right_z=0.1743 right_yaw=0.0479 right_pitch=-0.1532 right_roll=-0.1161 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.812, 6.9265, 1.6386, -0.1099, -0.0806, -0.0073, -0.0752, -12.3009, 6.4479, 1.3895, 0.2808, 0.0855, 0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:871305dd099d3a71f494daf728e9ccbe0422af2a969a5de3fad59a5f35505a0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d6dbaa49983af50327058e867409a745a19a46581278f606225ebee536579a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b2be18f7cfd40f016134967a14b29cd177538b84e25f38005bd095fa4283a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 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]: [-0.1032, 0.8913, 0.7177, -0.4953, -0.1673, -0.0864, 0.9961, 0.894, 2.0125, 1.7752, -0.7021, 0.654, 0.5762, 0.5082]\nstate[eef_state]: left_x=0.2993 left_y=0.0022 left_z=0.1828 left_yaw=0.085 left_pitch=-0.0897 left_roll=0.0529 left_gripper=0.9961 right_x=0.3999 right_y=0.3319 right_z=0.1818 right_yaw=0.0442 right_pitch=-0.1306 right_roll=-0.09 right_gripper=0.5082\nstate[joint_eff]: [-0.1573, -2.1949, 6.9538, 1.6581, -0.0904, -0.0659, -0.0122, 0.2393, -11.3299, 7.4462, 0.8718, 0.5006, 0.1685, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBMl5dMwGgM5QYUXqTuiVxpPW5Q8jkz3Dz-DYKnKoycj6viGCqjRCie7OrlFGNEuWyYw1rx-K031NX0Bh42YFushf_Da3tD7ZK4a3uvyMeRhvAVXkil9UVZSApuUZwvPGY0HEXBAOHkq0uE1CQwklqweWHMlNUARHxAKKOrwryHq5mGzsKXBa7_uDX66u_e8XjcCAvZYkv1VEaYeJMvebyTBE3A5sr6FtS-meNNQwjvi-jzk55V-OFCzLgb3WExdAdpf1zj5NkFbrrbJSUVRl4lj61_7fSCm0MT2nZ7gLxJPW1ucSRYKdmzVt1c5gKrgjncqKMWWpbWznwbpgnYtKVULiK8L33hptdRoZ5GzPjAKwOqToytRwDB4GzYqjI_Oo1Kz3yRm1tX92b0cm7EBd94nLFX2UL11mRwVZb3o1jnZn998m9yctU_S-Mvn-5Mubb11HxWHiFRzeR565kDwT5UzHFIjUbNh4UI-1Lh4wXrh7aiUMjbeK8L6hyc9vIqsGf_cOF8E3s11QgY-hh_ktqzp7BrWXN_8q-Da-gf-79DG1mTHR2iKvy00BRb4sSg_Aa2Novt-z-77J0i8-Kq3juKjCRrzstS3LzkJJGD8iHfNRL1VYh57kPjZFD7_LTIZqISfRKrDvcp-6MTEASQBgt9BvOLVrJgzBmQ2_Rf5N3pPTTf66CjU3xLLoNJNQUJIHGC0BHiwFEZUlaUJkUrnZg1sYhkWcGNB2mkTPSjF8CKLmNvYGhxjDcGoJmODi1tqaU_K5dA5Z8_BMb4KmeVev4V5wZUCHT2zEu4k-NCeolXq2ELi1Ui0wz-8KnbLnjxtPjToeaAEvrJbzJ7ykWE96gemCzAZ5ZhZt_25rNO7dTdYKgB19uTg1IZlGh8L_kFWehQX0TyN-WnM7QsAeuBLEcfdf08KiOfjPbBHcv1Q6Y5n5Hlkis8oZCEEiv4qV7H4Spjp4gbsJB0xX16-9-R6J49bd_XSjyWhyg5MYDa1y42aZDR5m8bWFqMwGVmC9pE0UcTY_8Lq7JBbNJDonC-3vKiOXsarG2nCup9VhsFy-opWwET-bg2C7uaLVHOGHLTHK-u0xHvSPxeKY6uuTCfY7NDt8EWzx4pDVST_m0zaJVD8ZNXyX0fgPy2HvP-oxaC2WqG7jUcAQNEqvDHYvC9TOMeh-mGph9H8d3wrNFvKMS-uKFkWAhmrNWwvtdFIDjMSP9ZvgACeQdt8dvKQB82Fl4up-irYkQU7KeZov7L8QjHadmgg-VvIXjP3Qme9dXBP3oFfOjT5xLIoLqR0AV4vfyb1WIn5ouEhKjHXG8mVZzpX8i_kB33VT-EkiU6mGkuQMJ9pnZu_YGSl_P0L7ZqRDh6A0V5lpW596zxYboTk3X5LCSoysN9yDrbFh_OKnIDMaxeTs7eGkds9vTVS2QuQaGYwq434km-66l_LUj0vqGhDR9XK75_pceRICoOvSxSLSOUVNe_8YCIUH_cGnKpXVaYjFMoIxaWshq3L3MrkvrFRVEipym2B8CS6i4Fkwlg_1QEf1C7b1cEHVFiqsp_emkproFpUB6rmd8_VpDucziWBHKLQcCayeRaVkns9wgExXdjRHZGdPEq_zsMuClfYueyCqsgOgnrRDuFW8IUWE56wKk7NIUefvirLXWba-DVXoTexh39hSU6xtCKu4geybJz_tpjQLoW7I4x4FevhuXsSOLtl61ecc-XKGS-MwX-9aXOafffwgF2V6EuN-1WE5CNO7ZzwF85aD6NCCfiUw-fAfwGEJf1UaAsu4eqfykgbkZk_XOriCMYwslFs-ixtXEIVtsXWcY74ZgQpJVsxib0_L-43pniIaesTDGxaYnUxiMJg4iaapZMkbx3lBEb_yjiaqQHJzB-KfcC5ecJd7of7Aik22MdTjrHTCScFp3KW64C6LmW-0PEIs0zrDAnY02j02CFHe-AWC6Wnny849lvAxxvh4CLoro2-clASJvjQKbn_IKbPeG2ChzDQeV_EIn4BITf1LDY_GWacFc8Nud9VYYREyAQEp-HZuQ_hznVd4vYmRwwFZ_0Abc2ioxx6UWq08thuyAXOrzcW3Vl_X-XE48JfRwy3H47HJqtE1hTxEcvUwIk60Xuw3TKDaQQ-wfT8IgaweG5QrPrGmf13KhvLIO0q7xNnEftJbLxoDUlqmv0U7_C5luX2wl6Go_Pdn9FNb9MGGL0AvrsZsC1O0mpfgUNnRnbYAEbO1ZPTPvOazB3MJz1e8SrBJiIHnJw5-SLEnr9afwJ_lZM8kSscAbKUXUvTXYGGjSRzbP7d73rKzGGatkUNdzo4zoYUGGzDUo98x-tLvRy4nsJCS_5B4MfmHdiTO1dogziimk78BAY0sFTaE6qhLyU60Isb1ksNYZkp7cm3Kd2c3JJTDgbSDPyjvInZtNMlPkug-WIDGxef2JnUXYXRufMUnEgRtXAebg7g4UzT_1TQsv6q0Zr4h52girOfnqF86g5lfMHWVJ6EGrU",
  "id": "rs_0782281ceb19ee2d016ab2b040c7cc87d0a7fa7bd5a5446e9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.335,\"right_z\":0.025,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit landed just beyond the blue bowl rather than inside it. I’m reaching to pick it up again and correct the placement.\"}",
  "call_id": "call_KEC6iXKFhoFJoX0YhS7WjEwd",
  "id": "fc_0782281ceb19ee2d016ab2b04a7d1c87d08e38e56b9eeea342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KEC6iXKFhoFJoX0YhS7WjEwd",
  "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]: [-0.1032, 0.8921, 0.7177, -0.4953, -0.1673, -0.086, 0.9961, 0.8394, 2.2383, 1.4788, 0.009, 0.6827, 0.5167, 0.9965]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1826 left_yaw=0.0848 left_pitch=-0.0905 left_roll=0.0533 left_gripper=0.9961 right_x=0.4503 right_y=0.3403 right_z=0.053 right_yaw=0.0104 right_pitch=0.01 right_roll=-0.0119 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.853, 7.159, 1.6337, -0.1392, -0.0464, -0.0122, -1.4838, -8.4444, 4.1641, 1.1209, -0.2027, 0.232, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a68da6a1a306bdd10061f635f2df1c897e34cc96ae2df0fc9f007f2a25aef10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7322b90b8aa9a985d979b333007e678ca3a2b0d6de2c985f397a261c04a6a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82ad49e49a1e48af011be0c5c4a57daf406c0c1cd09e0105d760ffa305eb9d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 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]: [-0.1032, 0.8913, 0.7177, -0.495, -0.1673, -0.0864, 0.9961, 0.894, 2.0243, 1.7786, -0.7235, 0.6498, 0.5686, 0.9954]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1829 left_yaw=0.085 left_pitch=-0.0893 left_roll=0.0528 left_gripper=0.9961 right_x=0.3982 right_y=0.3307 right_z=0.1743 right_yaw=0.0479 right_pitch=-0.1532 right_roll=-0.1161 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -1.812, 6.9265, 1.6386, -0.1099, -0.0806, -0.0073, -0.0752, -12.3009, 6.4479, 1.3895, 0.2808, 0.0855, 0.022]\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": "gAAAAABqsrBTyyAJ3oAUqUb0KN4kiPOv9JTmE-VDvlNMI3abneQG7b2nmqYwqXX-fZqR7j2Q98088jQlYevSAjystkPOg3wm0X4cxTU_lIf-apkS9hJU3jzNOnZCRqCHKHeaNP5pYjOP4T0PlbabcC_stjWSFfkFY2H3Le6OcZQnOJR4U8dFzXUBVXHZ_aE9mTmghgt99o7Njh9l2cxC2tUbeerN4PSzFkR-G9ERVQvSZP8floZK2ydfhqXndaymhNYJLnufT5zg5fWslwutC4pYqjokGxmYM8kQ2DNHixMQvJHEA4Az9iZIH9BeHPOiicHYaUGNCnOSXb8LDI1LqZO673_AWo3t3USEzTQJ3kZH2TcNBJihui-1DC-aPhgchOfo4jhVcC2gD8ucOFO7-Rc-ICHZcEh3LJP89uUOSHt8BRwv2_FSLtHUvRV7FL0go9fuHcZuhaUmXO_rUbQ856qr4qDg4vx8JhNLFUQYhgZbzeUM1rMmZVOoq-E8RVSEvkfhYJXsbTVijP9uO8iq4fGp6JLw9k6O-7UBO8oVJAlBu5yKHJM0aH1YN8cTMZj2lYGou2kJg9q7pdI_2RHJKF9VLhFzbuMXFIdr1367FMJ0yvu4RUvF-GksyUeKb7Qt7FhtRu0EdkNT6t47Uj3X3B5O2mhdjFkwTi5IFJpzFINTi-fDK7bOuN6vZgMCsgQynrEY7WjqEA65VqOIbB462e3M15vUqVW9wn-ySad8HRBve9tC4IBGMDuxWdYWouUmpNhRZt1b9BDYv0jvpFC1_paATdotr1X6m9PtAjkOtpjCNwtBWS5yXkcHvsDmpfUIdb1R7UAq2FQpTQMrNyB1kQvO-D3Htc_taxtB_nE5H_CIUm-edhSSTzdauLtr-sJvJ91UryMoYnbRwkVcE1Bdjlg3TapmVURQm2zynyjPjN1XJQu3YHYLZHspzQSkRBCVUMEnXWtSJk_gyHDlM77iDr2Trdx2AJI6-RIkSScA_VFRzsO2NGXQt5iIYPU17BoBkwhFlDQjlRstubzcv4uextTyvzJGndpSOdjcCrTw6Fwn-GMS9dDGqm0u1WZldpX2BWugDxwY-3CesXib4Bu6jtssxRjN3T8umgSL_g3QL7SOXfjZqkW1mf2Hd1Dp256Js_fS-M368opqQCEgNpzMtCBzRMFL3bU_BPjvQNmEHUXurBun8p9t2CdQGVkFZFSYiR4L3ccgXR1aVpiMU9AaKKjcDDADr7-G8RuQ5WCArGt8Rjqtu6qmVKjp4fpAhn3ZHDEu0QDp7f0Miz_tch_-Jr0YF_VxjiEsvRa9RuzBvW4woEHu5zxaOznXiiQlNxa4mwBAHDWfd5hi11JP35EAF2QlbyV_x-Z965QHBQptsEYLMdm2aF-XazKlGa6uktu2F2awzkiKHTWofzsVqXQpkMGa3GVFWexJ7xBpqkNgKZaqstBLi9AUqvs5Icx7GUbcZX-Fr1JYd2ht",
  "id": "rs_0782281ceb19ee2d016ab2b04f9a3c87d0be9d64ca8d28bb9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.325,\"right_z\":0.022},\"note\":\"The yellow fruit is still ahead of the fingertips, and the bowl rim limited the descent. I’m moving farther forward to reach the fruit without pressing on the bowl.\"}",
  "call_id": "call_wSPuAW9wQgJ4e6bEASQiBGEF",
  "id": "fc_0782281ceb19ee2d016ab2b052330487d090eea2fa8ce7bf15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wSPuAW9wQgJ4e6bEASQiBGEF",
  "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]: [-0.1032, 0.8925, 0.7177, -0.4957, -0.1673, -0.0864, 0.9961, 0.7822, 2.2963, 1.5291, 0.123, 0.6559, 0.4465, 0.9965]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1824 left_yaw=0.0851 left_pitch=-0.0912 left_roll=0.0532 left_gripper=0.9961 right_x=0.4858 right_y=0.3358 right_z=0.0567 right_yaw=0.0078 right_pitch=0.0717 right_roll=0.0158 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.7846, 6.9402, 1.6093, -0.1001, -0.0855, -0.0073, -1.4838, -9.1282, 6.065, 1.0379, -0.1294, 0.1978, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab905cff97b85aa3d1ac2caabec7c2a0ebc38dd1657956c344c0a6f119fab02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bab8e0268d59d2814688dc03ebaa6a5699eb755888b71eec107872a140c53cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca74f55c58c7e5ebdc01ad3e41c4ada21ef0b6d4aa029253ccfddc523ffbbae3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 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]: [-0.1032, 0.8921, 0.7177, -0.4953, -0.1673, -0.086, 0.9961, 0.8394, 2.2383, 1.4788, 0.009, 0.6827, 0.5167, 0.9965]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1826 left_yaw=0.0848 left_pitch=-0.0905 left_roll=0.0533 left_gripper=0.9961 right_x=0.4503 right_y=0.3403 right_z=0.053 right_yaw=0.0104 right_pitch=0.01 right_roll=-0.0119 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.853, 7.159, 1.6337, -0.1392, -0.0464, -0.0122, -1.4838, -8.4444, 4.1641, 1.1209, -0.2027, 0.232, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBbLVRtHPZxOwUAlNDPsbiOGPO25yqc_AxFn-2bGj88o6n7Lm6qbNQNfmP-J42yiSvDFzNhYJd8J6rMs3dXpP5l45ao_KgxwSK6lBUfri2AmoIAsMQpp54c7yDEOxEvxQdoZpbmsAYGozK2Qwb5t71ey-_pIr8nbyLas53uZsVQ6F9P6h-VSzT7Qat9hQHumk6VQpPByUbsGelLLN2HUMaIeLcZVKEIZz6xpk3Yb5Uuq86aGnaIYe9MeA3q6tt3OER9poM242EZivEtw1gc6SIdmwi28bqWA1cmTM7I0eLT64WD4qAkEC9yE0IEwrAirfaYGeYf8HQ12dHLDo9_c5yL5YlL7VzDfO2BEqfDiuOHEMVsrAUCL14V7MDXgnaqEo_Eufg1LHufugF7UWHE0hduOlPbqPlPBeFMieauwG0jzakSna195hxI4AWleN6UdV2b1z8FN-JWQMYFrZdCQBYQzXpgb-hktBdX0qQuVrz_1Xh46Kj0D1dkOZiZlh8vkjTkCIPshWUZ0EYbABrttM5NiliHGTl-Kr_GAaLf3qeiDpYKoIPQgQZc4KZWHOirQm468pxGGtZm3x0zmcYmhmf5FfKDwGS1l19B5mQ9pdJNgvFTTJR_1ZciAgsDAEHLGS02K4HLnMYQVGJCVl8fFj7v0yPCqIrFqyGMiDS4WGtOj-bw0Zmk-y8os8xLxsee5JLluEGbNS63EHiZ10NCt2aFPVLTv52RDrfcOyPNso0w-rkUFzvq3CxgM_AGeDJWxN3592xUPfEOFmLmfJtGP1q1ic2qfYC_0eGn_LcMl7vxzMST4_FKjKgLJnhN_jZoQ2TG89ZPjnDo-It16UkwwxwiHN1beDj6BysuWEfIrFcBDsLf7nchsTuowg_V0Ck_EnezyF3mhuIzV7RmgXoQZVa9hPop3j5pZTtJtHbLrqc2piQZSgTMGyJCNoEIoxljdM3N7GY3ltBG7AXcazuY8pKe1HB8DuNtpGHJ_pfZP8by91r-Qm45mJZiEzd7CSJQZUeN11cwEe_aKj4-OIYVM5U_dJa9JtW5QhlEbcEg3FC-HYoCP80EypRWBRleiARpNlgzetxEWsBzraW9Zx92dQdm8NRJFBOq8BQBXdRPXsWYhWwQIfq6MpXEjyTJTYhdLxwBkcPBQyaCEXds5LDL0Uxq_CuimSSEyYNXdQJ5ATL1JBZekwLLqyrDGC482lPOL6LDg7bPQRwZ29yv0PnAfrFN-iLKeChhOcegW7PzmFO7WRf8cYJSQIg_29yox3Fz2oflT3pXM9QO58uONtOBUidMbNxlWyLUJHwJUpYknP0kFh0lPMChaPYXT1Yub0NMgHsbbznTP4DmI8GZc8AMgNoltw==",
  "id": "rs_0782281ceb19ee2d016ab2b05880a887d0bdcb4a1280714c14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.325,\"right_z\":0.025,\"right_pitch\":0.4,\"right_gripper\":0},\"note\":\"The arm cannot reach the lower target with the tool vertical. I’m pitching forward slightly and closing around the yellow fruit at the current reach.\"}",
  "call_id": "call_fxn0zAeszu1KlGZinxlep4XR",
  "id": "fc_0782281ceb19ee2d016ab2b059692087d0b1e0e753bb75dd19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fxn0zAeszu1KlGZinxlep4XR",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.8928, 0.7177, -0.4953, -0.1673, -0.086, 0.9961, 0.7616, 2.3119, 1.5391, 0.1642, 0.6342, 0.4335, 0.7523]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1824 left_yaw=0.0848 left_pitch=-0.0912 left_roll=0.0535 left_gripper=0.9961 right_x=0.4967 right_y=0.3339 right_z=0.0574 right_yaw=0.0091 right_pitch=0.0887 right_roll=0.0382 right_gripper=0.7523\nstate[joint_eff]: [-0.335, -1.6205, 6.9265, 1.6581, -0.0952, -0.0415, -0.0122, -0.8821, -9.7299, 5.6821, 1.0623, -0.022, 0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec88896d58df33d8ef0d1b24776b7516491e36cb1faa9bfc51b04f44564bb87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:348ab006437e77a81237747dfdd5341bec5f3b6e4724bc7af8b852f3390c599c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fead39c6d1a957db000567ae65359ea8a31540bb792e3ae7617823becf3b5d87",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 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]: [-0.1032, 0.8925, 0.7177, -0.4957, -0.1673, -0.0864, 0.9961, 0.7822, 2.2963, 1.5291, 0.123, 0.6559, 0.4465, 0.9965]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1824 left_yaw=0.0851 left_pitch=-0.0912 left_roll=0.0532 left_gripper=0.9961 right_x=0.4858 right_y=0.3358 right_z=0.0567 right_yaw=0.0078 right_pitch=0.0717 right_roll=0.0158 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.7846, 6.9402, 1.6093, -0.1001, -0.0855, -0.0073, -1.4838, -9.1282, 6.065, 1.0379, -0.1294, 0.1978, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBkTBf39n9obQRVohP_5OotU6TzU7flfCW73ARl6ZfCw2bOPC9cvQSNE_DmM86T5Oc80vO55xFzJU9l8KCa9521i9X1IClYB_vd9k6QKl058xzVTG8_afrPwSL-94G4D6_sOej059CYOKLjFfNfDcMdbApPx8h5AnW2y9uuq_2rjYZcUm5mkC5SXQ3xA0iAphwO_5gQCcqItmKcRr5XYA9kAJuqj1lQ-9XUQiCdMWuqVvjhbXzdegHSr-Po7_4ZozmUZqpl3RDGW_QF4zAnql6gGycTtILMY3PBoZgOinyLWaNBdvNFXkLkayOpKUOdAmx3mlqpeTzywWH2XJO0VcwDyrXIhWu3TZ3w1v4PZk0CyGq5BicqCTYGQHBLVC-uAC4im7219a6Ql_5eblgfDugFiFcsic7-GXqMpHrZu4avmK22tA-9DsTxuHWE6yyun6_ZUkQVlX2jDhGM0VRBg8hSUKrTepom7j6NvULgXp8DLQ3JmvSaG0Bt7DU-zPYAZzilU8-iqsXrU0Ggy4W2p81n4AGL70LpwBM8xAhfYuHRFVFh2ZezlwL3uHdZ_6wWlwHRUKYHpj1Ebr7dJnAOcvYqkoRjnSz_VO2vfalUL6YucO0NlzaRBaxnqNkA8yQP09NSlo8WXlA9SpB5z9brPjZSz47CsZ22VDcwIA6svKWGTdkn6UuTt8JymZRrZKG-mKI9MF1HaitmKEKkL7ckSt1X-TEkxsWQkNnSRBeMaRGVTkceg0OXAIAzapzZ9oGumAcRIUpwS-Z643zPBwj1XHVIZXzqbUwdDO54pBjEEmCHPbl1GhYSIyQ81kP6q7elPx4tuoOuK0_QQSF6_4ocDLD-O6i3M9vMp--w56D3cH17Jks-RtlDzUchoihg9dm8F6zxvEeAuwM27SZn0x8YGYrODdnExZJ7hfEI-86AaKBvkacO8vZ3SV4o0zBUadArq2Ewrn9S9wr3VG6H-mi4mJXQQYJBBixdOLL3bsJ4_25j4Q-PWQ5M3bMIHjJws2UNnLvzbgrxrUEE5Wg1QNZcAaW1vaMqWaeLW6BmTN5FRzKxWzTDHiH1QnawBItCi6nwCMBM4HRV4Ezpps7T1xKjBGvb2e5SkD-WacwyluLX5lWXKqY_ftZ2CPW3LNcRQgraSCqqvY8s0jEcGQIZm3lGn4PMpiWyElxn6xfTGhtC4zsdF4po1AAc80jAjWcBAHTQP08Wfx1tqt19AOKnaEBsgsgtSp9OrStM3hERko-HQJUXd5j9tdw5Jv6w0a2f5XYq_0NKe0WzFfP0kaIgJSmbL_v8zOTnAvvaYWZ2T4PbwmlvyUHCN4w4qDSFtDiMu7l642zXR_n9RfPZ8NRhFl1XrewH-KDT69pAMfIKPJe9ppMgun6VsOoGn3VxoqPPymG2gPEcShaXb4IIqva3mixNq68T2oKQfch_zXULIk9fQb2jO6y1sOKgNRtutwO1Ws7WdNPiPTmRxbY2By1fTgO4C0Jm023MIE-yCDpy_3ByhASQZw97TsZrmzoINNfDQGvbARlvHCkrJcR0ZbpYmwMgpV4GZe9_ketX3-qjuSkGA6NHsvVsGEq_5SnJHSHrw88ZAkcnaLKuE35HC7KbNK_HepbCD8TgIuQ9oteLY2ouMsVdgM90rgQwuiXKlitGzFyzK3dM9mfhBmpsDAjfFL1g4jssp_lsv4B3GtbvdpH0d4EAjwF04KVW6L-aceojI07stp-K7mNLmkZU2GMDtuU72CmANA==",
  "id": "rs_0782281ceb19ee2d016ab2b05f3f9087d08c51b5e4a34dbfef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.32,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The close stopped wide, and the blue bowl has shifted with the gripper, so the fingers may have caught the bowl rather than just the fruit. I’m lifting cautiously to inspect what is secured.\"}",
  "call_id": "call_2lSrr9CKLAuwpJoBRkreXH3v",
  "id": "fc_0782281ceb19ee2d016ab2b0626b6887d09f58627badb7b410",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2lSrr9CKLAuwpJoBRkreXH3v",
  "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]: [-0.1032, 0.8959, 0.7177, -0.4976, -0.1673, -0.086, 0.9961, 0.7815, 2.0872, 1.7226, -0.3916, 0.6048, 0.4763, 0.7523]\nstate[eef_state]: left_x=0.2993 left_y=0.0022 left_z=0.1811 left_yaw=0.0849 left_pitch=-0.0965 left_roll=0.0545 left_gripper=0.9961 right_x=0.4639 right_y=0.3238 right_z=0.1626 right_yaw=0.0313 right_pitch=-0.0321 right_roll=-0.0123 right_gripper=0.7523\nstate[joint_eff]: [-0.0889, -1.8803, 7.0359, 1.6386, -0.0708, -0.0317, -0.0122, -0.0615, -16.1299, 9.306, 1.6874, 0.3199, 0.3004, 0.9939]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e698e70b9a8c64303ce8ce2e060ebd8635bf4787ba702d21b774d2099fd7561",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f870fd87c2cdf6c79dbd1f17fd916336a06e08b80daea3d4cbc8ed873e7985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e12dfd2806adbdb4ce75eb1a81c7475d888a66da66f6abc86108edb017ef504",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 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]: [-0.1032, 0.8928, 0.7177, -0.4953, -0.1673, -0.086, 0.9961, 0.7616, 2.3119, 1.5391, 0.1642, 0.6342, 0.4335, 0.7523]\nstate[eef_state]: left_x=0.2994 left_y=0.0022 left_z=0.1824 left_yaw=0.0848 left_pitch=-0.0912 left_roll=0.0535 left_gripper=0.9961 right_x=0.4967 right_y=0.3339 right_z=0.0574 right_yaw=0.0091 right_pitch=0.0887 right_roll=0.0382 right_gripper=0.7523\nstate[joint_eff]: [-0.335, -1.6205, 6.9265, 1.6581, -0.0952, -0.0415, -0.0122, -0.8821, -9.7299, 5.6821, 1.0623, -0.022, 0.0415, 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": "gAAAAABqsrB2-WVmAxt0yJ4zJGpm84uaJCBcXn74O_swst2sAFqAMqqXhr3tUcdU6uDvczBLHEl6qtA7gmVvZfxEdC9ML2G94dv5slXTn5xM5IHb9jE7LM9-uaRakZ_SLCc2Davw--BHL2dSrRp0ovKTRQhRqokVmeD994RQi7j-4YlOt0gqnkIV_njFFgR8oEtwnaylQmEzt49QkWN0qR8BVnejZHO_1IUEOUE4fFivRMQH8HPCdATwI-GLg4spCf1WfByBigAFvsi4YlpZCAv63vsruxFieQpU07zH1N00JFvB8gZs9J2aKt-FuByU44SBUuwnCyb5DuH8nURm9Kx79BdKw_al9iiTCCpviB_wwGL19xbNFJQPNWDT_dQSQ7__eoYDX4rb4k3aCUvFEizpZoydeLkoBAod4o9axw50qA45cmQq-n7LP2QbRXwwjYum3mSr6qOawQWKtSOONyWDQ_SBKBEiFcA1_NySrpILdANB6ZAtRyI0BUWHnm1f92KPNixoMYBiGLEZ69nlg_XGEDr9o2ga84-alfsQRkP0-xNArqCF_FLflTIpMRgZ6422ElCWyeuykiDvbeRFnvn89MeCdEDovZtF7HriC3tKvSUk5ewS1JZgCi5rzb3yA9PtpAJYJWKet4XVUvupch9g6GNCNN-KOuTG-jcZY98651S2wCbdi4VNdcRULkk69Zn7tOLcFxwY78o3aazoQtNuaOvNAKAex_g8PoGkVThY7uABd4Q5bBwEC3ihXghakHLO01-wa2f67ZIxzIa2jPHQgsF8367m7yOAhY4Hf4rIABVW73txuiuiuv3J24u7hqXitEE16G3kyWG7mEncJwJ6s-vWKNlKfUG3435ZFB7T-hoJHV7QuJrVRb7dtJv3Oq-XlqRGOvUpHiaSFmG6MfFLEapNnG8-x1kgoHZ1VxBdbP5w_x0OM-cV5hR9wv2x8f10IEfEuth2F-_TL188bg6xsw7DOdQ8_bEOfAKpPdP7K0gxg1aT_wvGBp1axGrhJv1vi-tdFRvs3D2c9YYtro8q_ubhANf1ez20RVOrDhujxbyj9QsyHKODREEP7pVjlCrHMccHZ1V3RSl5q3bH226VZmg__4jsup4W6gukL4-UU8aGI9Qh5QvWXtEFXmSmzhDELF79tuDFMEpR7FJKBEgfY7Rg_UX0BStBeCz3S3T2TEyOPGj3V-n9l5GnPoQ8RqQ5tY7ACU8pHOFaiXHstaPO4ird8Zga9sEyp3OwC6dD_DimusuMgsZm_l-Cy-3oWOI9Bxw6WGv66ENQx8Wx27V-Oy5LTrHgQee8YAYq0LhDsh-Q1EqEn76LgeA-xbun9CL-jyD3PURTDtJUkhqwE86VH3A196gB-cODBRl3_eMkZ9wp1YnizwpprGJ1COtuWBRS3bvOmrJ4dAWF9m7HebgeuGl8j65k4adFg5zeOL37r_Ckj3_IRikGJg2-EG8zF28Q0rOpTMf2Ea9zFaWV7SuIEyD4zoUNKvNG9Yxid_OE2k-i-aAsfV37FOn0il4ldzKQ0_vokX_u2TgzMuOGj96QwInlO7d29ElgHdy11n9PdFvOZV41vjotTKXfRCtD4NMlogx5yuNuIsFvt_cZXR98qNNqlFDDwCnT3tt9TFCPPJznRVpO7YC8if0kxrxQRmWGLzG_watSzDfU2lq1j1Bmb-B3dwNMZjlspl7GaKoochLzMvfSBTxmACMjW0FVSD21uGr0EqwgNzVI94OJNiXYU1wbN7qF3-05-X114UpL4S0Kt2875RquU1lIwTbcH0wCPqbgky1XF2nglwScGY28nhWfjvfvWXy00t38oAtVt4HepuNnkIoqdL13ZihfHtU9GrT0MoFrObV6YWhS262aRqzkWIC3MZP4hj-mT_Z1_hxAijOFb24El2EJEPyWRegWtGrf53ql488SyaEEKmwadjJgxUiOAKE3k5mLb8B6VgMTruTpkU2iXsLyDP-rJHH0Li5pSLliLQOmtzZE1rGZqYaazcRdPpJYhF6W2b3z8K6Y5lhKoFLK9gNbJEwfi1TYtF7ZFafDbKZMnKuemBJEf57kOxMUYo-hBpUGQ7Y5Sv4uf3vUeYXJYKK5YvC2XalNfYwEGAvx1oMw7Br9p9HNRvRVnJ2ffxXrXVttXvV0jRPqEHJ5HJ4PTSGl7_xBr1kNMvRQS-YNgKIW0N8LpNTCeWzUSjizkNwiFiomWNggVo3n5kbpL-Eafwvn_mEeBnFnho6d354ZZhmAZ_Z_W-88RqJkzEUs3TltmbS82cjPTCuTuaj1LB0-67gsMe4AtTXg6qFjltwKWHTDqZHKxHVFBXESD7ap7MqCXQ_TZvCADSnaeenzZEZJfUiL7D2eKmOn3j2GMn32mh6v2HbuvhdtXR7XzCcEGwLmvw5Mm2VhRrIDMMqbAFehAcoiHZ4PQ4b3yXJbtejjOAP9whiKcL5UxXa70KLuICnCh9MSrdQolqMo9UAibPX955rMOgqLe76K18rWuv2YUgFKTglWFEslMrn4WN5DGmuzESl1XhDxlKz5uxIkJ6E-7nETXyngVjpy3-f_7CHbsFZUDrEU-uXCFH9qQVlrPKHCun8caQaExa4-OZ_Xj7oWKy3_yqsN2d2EmLffd8PiVGlLwc12BfCn0mn1nJ8h2wClgMVIpqLylH5MTX5MGjcMrbvitacvMYKs5lmLeN1XkEF0pFF8RsUAOdUXTMp7CgIhpzzmSISVBlqVgLTMizh-5xA_5rZnGmGebq2LAu6U4Q2Og8Lbh2bqLXPZrORQYaKbQ36q1OnAqIHXW7bDF73qHaL3yLbbDBmFY43CSnJSdgpP9W5mBGtTyT6uQ84SdQ==",
  "id": "rs_0782281ceb19ee2d016ab2b0682fa887d089c324a9b23ab3e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.39,\"right_z\":0.23,\"right_yaw\":-1.1},\"note\":\"The blue bowl is lifted with two fruits inside, while the yellow fruit remains on the table. I’m bringing the held bowl toward the white bowl, without tipping yet.\"}",
  "call_id": "call_nwbx1PPc9HlJKTzBJbYBMIVU",
  "id": "fc_0782281ceb19ee2d016ab2b074b97487d0b643fe7c8b4bde9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nwbx1PPc9HlJKTzBJbYBMIVU",
  "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]: [-0.1032, 0.9016, 0.7177, -0.5056, -0.1673, -0.0864, 0.9962, 0.7597, 2.4924, 2.3043, -1.4963, 0.9318, 1.705, 0.7528]\nstate[eef_state]: left_x=0.2985 left_y=0.0023 left_z=0.178 left_yaw=0.0854 left_pitch=-0.11 left_roll=0.0567 left_gripper=0.9962 right_x=0.4302 right_y=0.218 right_z=0.1107 right_yaw=-0.8903 right_pitch=-0.0666 right_roll=-0.0047 right_gripper=0.7528\nstate[joint_eff]: [-0.3077, -2.2085, 6.9265, 1.7607, -0.1197, -0.0562, -0.0073, 0.0205, -14.147, 6.147, 0.4371, 0.6276, 0.1343, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71779f8cac052ff739068bbe15094c5b5e6b1f9ead9d333cafbb11c1759c62ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94cac24cad72f2f8d88798f6f4e2d9452a5709fb693d61e2e68b99c54db64a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a9e28f1cf189dc0423cea38aa13c86cfeb37623c51b72e2473863620509a7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 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]: [-0.1032, 0.8959, 0.7177, -0.4976, -0.1673, -0.086, 0.9961, 0.7815, 2.0872, 1.7226, -0.3916, 0.6048, 0.4763, 0.7523]\nstate[eef_state]: left_x=0.2993 left_y=0.0022 left_z=0.1811 left_yaw=0.0849 left_pitch=-0.0965 left_roll=0.0545 left_gripper=0.9961 right_x=0.4639 right_y=0.3238 right_z=0.1626 right_yaw=0.0313 right_pitch=-0.0321 right_roll=-0.0123 right_gripper=0.7523\nstate[joint_eff]: [-0.0889, -1.8803, 7.0359, 1.6386, -0.0708, -0.0317, -0.0122, -0.0615, -16.1299, 9.306, 1.6874, 0.3199, 0.3004, 0.9939]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrB-1R3boT4Z9NK0c0HZKd9rrZRF3DfNbQzrU4nhLCrioOIhv7jfgWluiUhDfYtbe3sREUnlQPQp8-7kdof6Bq2gVi7F85u_c-vvDjhKZnq5K5KC2piEAMo-ChkX5XDIGaRYV5A87vG7AEzlGxPilgbsBbIBRMTm7q8skZQ7MM2xVCXolqR5ACXY3skDYPBH03RgbFLxanMe5YDoXeO7saKlJ2ePKXAPexAMvKAvBAwyBxcePkUcDJl8FL7xww-1dh3rC97U4aBm_VCZppK33H1UurGYDp8lXNMBQgqIqP1quurKSRcipoI8elyIztArJkq1qdJ5SCFUAuLW6KzflWP5E5SRmgb7OzL94THac3YedrNMyLYy49Wy6DYAGV1Z4vXvAR35wHjZqLIFXat6TRZV2GNwmWpAzKiOHCFvVQ79FxbIJSwlG3Ub5nBUfvytcw3K1IY0cnSIbVAnvriLWB8jUo2kSsjrZ64WCep09L5iJwoxXJFXCl_v6KZjaHYR8mwTtomAr2rsJNjwdYpteBETtsOWapMQfjuj9HuiKXZhmfWBLe7bl9btMkf1vb_99OAC7ZxjgiUiIr1FNphF0IxXgSpCvlWtPufRP2gin9NLtIWSQnyoIJBk1K_YApju3STG85eUBBQkXrO0i6L9XHUuyYGoGIVygNhEKzCOuJ3qx8WBwPurvi-sqk7AfFn0KwD9wlSjtiij5N4KLyrFVVKzA8MWVrQ9Nyow7zPOtmU_MZu7sqBJ-WWFB67H5IYRguP4NarA7lvVoP5tHSLrIUUqK8_Wv4cl39Fa1sd3T_NNenVfC6X-fKcK9CYrgtmGPkZ_N4RQXam_9QigLFFMJKf3qcI-BwaFbefhAH28yo2CEfz9-M0aDrLlpWAbRW7hwGeZw7uzJt689COJNjLx5ZoaGZifIb06Rzp-qm1ZgPrNtMNBH6tvkTokzs4NFEwUseVdwWaB28sykqpuHzmeOSLV2G75KkM5UktARmYRj2A1FDgXSyMnM4_Zsl8KXsxF57LKejXuTLNOquKk5KRJhB0FK6AUaMP59QvDQxmJDrIOtlw77YVHE9jPK_bCKq0F_X1mpI3onFWAe9KzkEOzbOy-OaNNCYN4X6LR8LH4X1sJvIzAxuMWBAWUPh0ezAZeei7Bvbhi1Wvw_DqUORQBW0SzsBTFz7Mvr44nAOcpiGJd0K54gZoQFDp4dQyhuuIsxNmUhqYiJ-wDb0a3sORb-4YrRbwj0wN2XZ3-H_2qo9l4cyE=",
  "id": "rs_0782281ceb19ee2d016ab2b07ad5bc87d0a4768796b274d584",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.22,\"right_z\":0.07,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The loaded arm fell substantially short of the transfer pose. I’m returning the blue bowl to a lower, closer position rather than risking a spill near the white bowl.\"}",
  "call_id": "call_11EEAolEyB5Bi5yVTJSZUhWa",
  "id": "fc_0782281ceb19ee2d016ab2b07bd54c87d0a605cd64016ea177",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_11EEAolEyB5Bi5yVTJSZUhWa",
  "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]: [-0.1036, 0.9062, 0.7177, -0.5137, -0.1669, -0.0864, 0.9961, 0.9722, 2.5999, 2.6431, -1.5578, 0.9241, 1.5211, 0.7528]\nstate[eef_state]: left_x=0.2975 left_y=0.0022 left_z=0.1752 left_yaw=0.085 left_pitch=-0.1224 left_roll=0.0589 left_gripper=0.9961 right_x=0.3942 right_y=0.3341 right_z=0.1426 right_yaw=-0.5663 right_pitch=-0.0778 right_roll=0.0175 right_gripper=0.7528\nstate[joint_eff]: [-0.294, -2.2906, 7.1179, 1.6728, -0.1245, -0.0611, -0.0171, -0.9368, -15.1453, 5.9419, 0.3004, 0.7937, -0.0415, 0.9011]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27d26cfb8d22efe2a3705ebbed398d268be529a49ca253256431fc8512fe1ed1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb922d75f0603f449c195cffe8077360d35e61cff87e6d462a05249c3c09d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71999f45effdf7e752cbacd617e26725378a0a178856a315fac85e846c7fb9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 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]: [-0.1032, 0.9016, 0.7177, -0.5056, -0.1673, -0.0864, 0.9962, 0.7597, 2.4924, 2.3043, -1.4963, 0.9318, 1.705, 0.7528]\nstate[eef_state]: left_x=0.2985 left_y=0.0023 left_z=0.178 left_yaw=0.0854 left_pitch=-0.11 left_roll=0.0567 left_gripper=0.9962 right_x=0.4302 right_y=0.218 right_z=0.1107 right_yaw=-0.8903 right_pitch=-0.0666 right_roll=-0.0047 right_gripper=0.7528\nstate[joint_eff]: [-0.3077, -2.2085, 6.9265, 1.7607, -0.1197, -0.0562, -0.0073, 0.0205, -14.147, 6.147, 0.4371, 0.6276, 0.1343, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrCHcIY-oAVapwg-HAobLWF2GKRcNlj7m3KodbL8uDC5l3x4zYWDVFdEL2QudzbsSfyHqC3KiUvEN7H-Td_qNJMvv7Oly3uSvv0YEZx7zcH8bdQ4wZ9fjZ-jAtldzUMOEDaSa4rUyj9JfJKTQwnzPBG9XDvq22BtRZVC2BGRUzi77-B3O-FWSalx4tFHR6so1mCHnmCw_BrL1URoCKRfvfjaC7wX-3L-gSav2BEThoLltWmeI70g23ZblDOXhknIRJGANwDlrSbdEWca1tf2DuRQ5T2OH6O-vazj_cgF3fIdR4a5_2g-_ogE4x0UnWHv-wkDEc30cfOmNOAWt-uBaESgfx-E2pUgWOJVqnbaAHWFCFeFPtWSzXkcgX8myQZxLpaYyozqJjVLhmAaUy8X_HV0KEbLKIZPMLs94Mf_pWIKOxSqH3s8l-_iJzLj73YcvWC6es9uzm17axdGVVs2qGMZccc_mzYHUCGtLqP3rwRNclJ_dHch6ac-ZWXaXCiBvQW79Xy0OuswpxFkZcPmLANJaSnjj7AbybcEZ--mo8MMrq_JfHa8JCahKyi64dv61DIqaUVvwubYS3EhfjGqimmsK4L5lnFKiKCSAvLxKRxFWdl5ZOgWLdyHvvT2xTM7_oQC4LFr93n2aAQD97dbWJJyIzEjGqKuoC2v3qm5KcnViX1Wkh62lg2Bosl3Y7xCAPisc05oyIgoH9a8sOP4sNvlsAUqTFhk395QUGiBigeVUeeV__lw6NWpdEKnum8_1I6m5-GSYfvI1TqeCtjepoDJ1iwyydFri8YhA-o_aAM8CgabJIYsh-plxs_xPNoyGSL0cOualZvGOaRSXVOiZhFL-De1tFDd-6FwPk5qt1AOuygAXufSoSSmO5lhBRh8YdzpKto5Btcqjimz0sl7IMqEbWGZi9UuCLTmsw_GKda58xDvY3eM7jt65A-lBIMSIxzoSgXSIYS6vvimbBxL_CQantUOKO7quSbe37UFE-N15k1vPuI_7uv6oV48YhhDQLtznto5PfayPrHVYJtaJC41fpbkmax40Kc--n6Fn-n9BTD1hNPQfPOYaMV6gw73PR0JeYCRznL72NT-FZ4cBgaaANGk9aierwdDD7nXxS4bTCMW2v_EdmjAKGlNJLOS-GG7Ln0qieCwH33asylT65ECCztk5PIMiNLhJXFZVgGOZKkznw6QBY_VT74EGfpB5p7QBT6AOX59XNERhXyuszlIByAD3R6cXTGiJz5E73ajW-9RSNpG2GJLXvul7A-jiXE1TOzcDq-dpK95xpQz4BG55pKlLktZ5DqStFyZMWAysxXLP-Mrg6qFC5Le3fQY1ej0mOFeQGzPDY-7rFaSkV7xSTJMmIHo-yqRyfgwL0Im1qSP24xkQybsx7dztQx-k2jIbtj31f1i1Uti2Pn8UjWXtriRuqhieiEmbx2wPIsmEqEf-owrtCZddOrxfcJgv071uoOu_Lq-89P6kGfGeZBg2ym4dcNBporgLKXDvcL0uRCwKmHKrcBtY4pJagOMk9vsOyF8DSoNrl6OPplNLDt474nasPC9hdWdGXz4Fe_LXOfztk5JExc3o5Z7W6tJRQ9PK0M-0YIDjjwlwFGmQcCRAkY5YZ2CY7GmRyI6KVCMQk0lhW1JkValPpJqi8H6ZlRzI372u82x8LbiQRG8j1ajq3MzF6u1oC-mKFJ4Bv7A5_j-Z7pettM3Tx3Up3vY3Nq0hyo24hCP-nzRf9Ys8duV_U77DWp0NfU5Plnlp624Vjm2Gprknf4lmXZO2fpc_SMt",
  "id": "rs_0782281ceb19ee2d016ab2b081565087d0ba527900a2634b99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The clearer wrist view shows that the gripper is holding the green fruit, not the bowl; the dark fruit remains in the bowl and the yellow fruit is outside. I’m withdrawing to a clear area to set the held fruit down safely.\"}",
  "call_id": "call_XiL3KbAmJp4BiwvcSVCSK4uC",
  "id": "fc_0782281ceb19ee2d016ab2b085937887d0b91d024946ae3894",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XiL3KbAmJp4BiwvcSVCSK4uC",
  "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]: [-0.1032, 0.9108, 0.7177, -0.5201, -0.1669, -0.086, 0.9962, 0.672, 1.5089, 1.5394, -0.6109, 0.6033, 0.5781, 0.7546]\nstate[eef_state]: left_x=0.2968 left_y=0.0024 left_z=0.1728 left_yaw=0.0854 left_pitch=-0.1332 left_roll=0.0613 left_gripper=0.9962 right_x=0.3944 right_y=0.1903 right_z=0.3249 right_yaw=-0.1352 right_pitch=0.0876 right_roll=0.1993 right_gripper=0.7546\nstate[joint_eff]: [-0.0889, -2.2906, 7.2684, 1.6825, -0.105, -0.0415, -0.0073, -0.6359, 0.5949, 5.5043, 2.1612, -0.0171, -0.0611, 0.862]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c93b51a38cbdeec1c1de608813e53307d4c63cb3dfeab9e56131deb71361f9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabc3c98bec7cbb6bf3f03d5b2c1d5229d2b00ea570f60ccc5fa295b3740d5b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5da96866a146d300c75ae01af7c2427120625ccbed276c3825c2a114ca20c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 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]: [-0.1036, 0.9062, 0.7177, -0.5137, -0.1669, -0.0864, 0.9961, 0.9722, 2.5999, 2.6431, -1.5578, 0.9241, 1.5211, 0.7528]\nstate[eef_state]: left_x=0.2975 left_y=0.0022 left_z=0.1752 left_yaw=0.085 left_pitch=-0.1224 left_roll=0.0589 left_gripper=0.9961 right_x=0.3942 right_y=0.3341 right_z=0.1426 right_yaw=-0.5663 right_pitch=-0.0778 right_roll=0.0175 right_gripper=0.7528\nstate[joint_eff]: [-0.294, -2.2906, 7.1179, 1.6728, -0.1245, -0.0611, -0.0171, -0.9368, -15.1453, 5.9419, 0.3004, 0.7937, -0.0415, 0.9011]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrCPN_avrTaAa4cinOGgIK8m9ezsQaJRPEFt_K7j3mn3K3If531IWp37eqlYet1zLtKM_jUhejwNeks4iOe1eI9gSa0PaON_1beK8Jq4UdezNcHeEopCbp3-eGk7dA--stJKvYVTtPy2Xfyojh_AI3wVpSR425uLTSGtTyUzB83cN9zqDgvEfyg8qCR5StAHKvTwL6sXRcWmy7NHyfkuPilMZwhTQ3F04XRMq_6PDRtg08-6Hhoo5-LYmidO8dFuu7UPaJsfAkxHSlSnILzjjB4RCUNodAJznkKzJ-JTus8Jf2GiGwKuty2VgpSpqiKVzv-A7iN9INJS9cbsJ_SRPH4SrvtQKlhI5A0jrvj1KomIcoOKsGPbuoLb2doMKMrkWol-gmKyJVGVKH-21vMAKb9oPf_DTc1wy_fG9onDslyfTfr8T8w0msgBAfQT8UPU4WHMW_Ek4hE6i8z0blyeVipeON28cN9Jx57sMk_J_yxN7JzwQITUcvpu3QeOQGVbr4RfEsad2aCHjMla9jryqqPUB0PMSig45kQNQITLFDqwbBwOctctCITWMUSAWw4Rkg3JeKpqmPyjFYR7Qxh4YTHx9wuh676TO0zICijTAQzSK1-VK8_ETtz-pD7daatyGaqBkbWaoY2mSwgimgLGwhoKSqpxLr9BDlrK49eA6gwbK55BeRy56jBbs3dzHjxZjJ66GRAR5VZci0kD4L-fuf0zEbYDPK3VrFnU0l2FUKKLWtsmzRwWodbzlbfahj-IAzyuKqlVdYmd4oisPFFT1KM80RDzOvqnWDcVheutNx7xTzVd2MiEyKld2pKNjoqerpmpxN-4eIqF6rniBGE4S0PrW0PsP6o7rPAQqOIkDv0_arjPKhP7bh7PrxZnOhtIkG8XKIl8xM7rNbisOP-ls53vJQRbG_qGIPHA04o7_KqxtFZoxa7FHCtRKIQZ4M0Mn7_q4htz0j9vcSGuGRBbc94jH6ElzpiqDk-e2F6OiAODJJ0z_g87syUMK_ilji_5gRl_agdJ3OJOlvbQPNb6fFkSpKJAmaPUTPLMTV4N3fsybIKatUAh3H5vAqRAazUUwU2qfiFf5vqNKLPSWPIxfFOlWcLVbtANPGfml5MJxQkXMbuu8PBDFePVw8j209ZItfD8vD4Ok1-27Eppy1BbJDlPmeYt320OEqtkWey1vlRAI8l-Bd9PURM-mPXL4L86ttUiqhIGXU1D5JNyPspwpochrdBygRqQRvp96hBR7o6E1xw=",
  "id": "rs_0782281ceb19ee2d016ab2b08c80c887d094bf753a9cb21cea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.15,\"right_z\":0.045,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm rose instead of reaching the requested low pose, so its tracking is unreliable. I’m trying a closer, unobstructed set-down position for the green fruit.\"}",
  "call_id": "call_VDyY0Qblr1L7x9HnIyJr0NYv",
  "id": "fc_0782281ceb19ee2d016ab2b08d08d487d0b60646e10cac0c94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VDyY0Qblr1L7x9HnIyJr0NYv",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1032, 0.9154, 0.7177, -0.5285, -0.1673, -0.0864, 0.9961, 0.6544, 1.5738, 0.4957, 0.3107, 0.5331, 0.4061, 0.754]\nstate[eef_state]: left_x=0.2957 left_y=0.0026 left_z=0.17 left_yaw=0.0863 left_pitch=-0.1459 left_roll=0.0637 left_gripper=0.9961 right_x=0.3298 right_y=0.1444 right_z=0.0344 right_yaw=-0.0045 right_pitch=-0.0737 right_roll=-0.0389 right_gripper=0.754\nstate[joint_eff]: [-0.0889, -2.3316, 6.9812, 1.6679, -0.105, -0.0708, -0.0171, -0.4991, -6.2154, 5.4769, 1.9365, 0.3053, -0.1636, 0.8034]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9da03df2b2c66468aa019d21842da2f9b1d2675ceb3832ef00e6687454d7f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2664945e38bce512ffae3f4b04452818bcc4bb6581eafc456f0cc751b0440cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb634203b2700389405359a6a1726fa057ef515bb49d5d9e1620f3b959cb9914",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 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]: [-0.1032, 0.9108, 0.7177, -0.5201, -0.1669, -0.086, 0.9962, 0.672, 1.5089, 1.5394, -0.6109, 0.6033, 0.5781, 0.7546]\nstate[eef_state]: left_x=0.2968 left_y=0.0024 left_z=0.1728 left_yaw=0.0854 left_pitch=-0.1332 left_roll=0.0613 left_gripper=0.9962 right_x=0.3944 right_y=0.1903 right_z=0.3249 right_yaw=-0.1352 right_pitch=0.0876 right_roll=0.1993 right_gripper=0.7546\nstate[joint_eff]: [-0.0889, -2.2906, 7.2684, 1.6825, -0.105, -0.0415, -0.0073, -0.6359, 0.5949, 5.5043, 2.1612, -0.0171, -0.0611, 0.862]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is now at table height in a clear area. I’m releasing it so that no fruit is left suspended in an uncertain grasp.\"}",
  "call_id": "call_xQOfKhvRa1WqheQbJZ8pOg3F",
  "id": "fc_0782281ceb19ee2d016ab2b093b74887d090f9fef8fc5e2e3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xQOfKhvRa1WqheQbJZ8pOg3F",
  "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]: [-0.1032, 0.9154, 0.7177, -0.5331, -0.1673, -0.086, 0.9961, 0.6544, 1.5894, 0.4801, 0.3347, 0.5247, 0.3958, 0.9959]\nstate[eef_state]: left_x=0.2949 left_y=0.0026 left_z=0.1692 left_yaw=0.0862 left_pitch=-0.1504 left_roll=0.0649 left_gripper=0.9961 right_x=0.3271 right_y=0.1439 right_z=0.0275 right_yaw=0.0071 right_pitch=-0.0833 right_roll=-0.0469 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -1.6205, 7.0085, 1.663, -0.1197, -0.0708, -0.0073, -0.1846, -7.0769, 6.2154, 1.4432, 0.3053, 0.0562, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9799bc35800eafe87259a03f4d53697648e131a53ebd840e252d24dcece799",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa1f217b89ce7f71d7022d4613068573c576f23df80ff8be50d1155257c48e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b3ed17893a5f3ac0d4bb3df2b3c743274a51effc384b5812223dca375f5638",
      "type": "input_image"
    }
  ],
  "role": "user"
}