adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6144, -0.382, -0.0139, -0.0261, 0.9992, -0.0227, 0.7986, 0.6228, -0.387, -0.0162, -0.0292, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2964 right_y=-0.0003 right_z=0.1859 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5949, -1.7709, 9.5658, 1.8242, -0.1441, 0.0562, -0.0904, -0.253, -1.6479, 8.841, 1.8388, -0.105, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d6322ecfb810b6a0275c4c86d8b1341ad042c19639b0a95efc8f6d88325ca97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed6b2bd6e8d7b161fcd89174af31244ee1deea8cd4eaa4eece4ed13bd1eb9bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2cc8163b573d4d77618a6b1060560f22c5ca0170356c7380647cc7ddcb319c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqyvt0adv_Q8tK11fyneRygvRzEyLphvTq_JdeSSM1cjJ34XzRv9sqbx90Rvh92PqV7wGkpJ7FxmNOZCHoK8fWz1ohUHIrgLa8yCzXepZfj2FkoJGygRKROZlNX0WHezdh4uMCZWfTuXalxEZbMEwEFiS8-j4NCGQ0sliu5eXIN1cnvb2q7FSYoMG84ovT-HUGsogdxj7tEVFzPNQXqx2fFpEHGU3fRs_2RPRBUKqoIlXhgUkTvPidRGh3-BWMAowU4FHMK3Zba8p6vgaDvXFrQHMvsD3QPUIur9P7684Cd-HiRZnMuU8usstH9Q5GMGKOVCqtRqamNrHLmgFtj47ZeT2BY2t_4j8cHiMjeNiv-4JkDML0XaKU-qnlaqhAMNWOrt_nxRQs4DxYWl20rUZWJYfJMnj-EIW5MXOPnK0q08uqN0Vc68FtpnjGZU1bD0BhBbQ7UqEfCTvFIkxXvkQ-spD3qRB7IzF4qh5pQYA0TTDMS_7Wk8_YaRAkiRojNOy6M05wXXhNm3clpyVVSQAg13vOwuDy7mzMvHp_nc_tCCYOQw2HfX4jpoadt1jsGXOxj1WsAOKHoNAoxFjg1gX7CxofcGjLQFAhVdgxiDu5U4pGUCVxbagG766UazgzZuVkLw-SLhjIDIlWKGOzM83DM-GR3u9AppDXq19SBiFtD2m1yGH0JKxeqA9DbtN3rU3S09mHghDkeKwIJ-zxoltj0rp4vZo5ELnUWRNxkKQ5nKtqkmgQ6HdXoZClRfGcieqXcilxr4fu3cr7b8MCW-YrZ8wuBkenbPEhWyWWKWFyA_Fe15K9EliHyGoFOh8l0_iorSBlF8IeIOXtKyEOqNzI_VLoqCdzPTx9Mocvo1FW6GFyGNTXqswRpDLjuV9FTiL0EHTMKPRNB2Kle1K_6Po3DbESGealfV6YbrZy-7ecYrMU2cpHFmUSH4qkDwzOw5PsL2Xzoo74AkQRDPWzt4ZHH4FXgkL24P7Gf9objiNM3Xx7m8z5NHqZ5ARnlc36DIlgcVwytxbzRQh32M9tPeBlLXvSR8JJnFIufXeah15y51GDiFKFUgNVUv493B0vd_CIIQqMJcLS8HK6uM71lAZYUke7TFvXW1b_mhkFWcdwkQq21ydotm20Nxa9vxGw2bBeFmQa9OEoGzF-rNu5pKMO0Fu5GWvb87FTyAdnH9WtEirtatkb3WhqSs2dE2I_o-fPYC2lT3qQ-_VbT0-yBHTvgQBx1zToiXqV0s4w88v2RN4fMf9rylE0XWiChF9AMVLPh8Xnq0yL_QJORW5QRDnnob6m4BEUpgUoL4cCnZShsTIEaJVJf3fH6bzWzybs3N66MD5NDx3HM50JV9JaC1EEvEB_G5IxOS69nlJoADa6wq02CwmZN1XvtHxJAXj6BhfDH6bf1WOXb8-YA-NKEOaJEWgBDsc_ZDYSD_nN8uBYG3SgS5gPcaqC6PQfLWkR-Am9V7RQmdDfpOwI8cbj4zRVFkggFYBHGo1eYQsOdyeoSQ_gq4YQWYr8oss_b7LhmciNvA-YnrperzgKI21Wf38TsosL0pVY5T3U4sh6oM8maGB_Nl9XLHHb3aDkUSdNSY6l-F",
  "id": "rs_0bf57f37863987c8016ab2acaa2c1087d0bb095ca640722410",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.24,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see a green fruit already in the blue bowl, with a yellow fruit and a dark fruit on the table. I’m moving the right gripper above the yellow fruit to collect it first.\"}",
  "call_id": "call_ItzFohCo99ZIaGG5k8cuSsj0",
  "id": "fc_0bf57f37863987c8016ab2acae78cc87d0886ed7fda29824ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ItzFohCo99ZIaGG5k8cuSsj0",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8024, 0.6147, -0.3897, -0.0139, -0.0265, 0.9992, 1.2289, 1.4143, 0.8837, -0.5747, 0.8978, 0.9474, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.1806 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2278 right_y=0.2388 right_z=0.1397 right_yaw=0.0231 right_pitch=-0.0283 right_roll=-0.0277 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.388, 7.0085, 1.8437, -0.0464, -0.022, -0.0122, 0.3077, -5.2581, 8.4308, 0.862, 0.6325, 0.1294, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1d4dba84cbcdbab086976c1794ad508559c692e1dbf4b2eb8df6bf848a546ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc9cacaee7f95dcb724442394f623c4ae018b1b0111119c1f72a46d6e1eace6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06fe4ec94df0579fe8d152ba03f2945439bad254e523930b441e5aea97871ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6144, -0.382, -0.0139, -0.0261, 0.9992, -0.0227, 0.7986, 0.6228, -0.387, -0.0162, -0.0292, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0002 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2964 right_y=-0.0003 right_z=0.1859 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5949, -1.7709, 9.5658, 1.8242, -0.1441, 0.0562, -0.0904, -0.253, -1.6479, 8.841, 1.8388, -0.105, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqy5j8K6YIncByNzBy3EDK0rpp22S8vAkAUZ_hcTrLbT0CD8p4sZLPfdQqerk8Nl_5aMpRk5Rpr0mn-q9S5uNgszBErD0_DEsgxhuFrHVs1PX3TkmaIkskPw2EsJCC6Uo86KfDOs6g6d1ijnL8vy3y37m1ESVrJ_jHZlxFDgivVsT-0dFC5hFVcrCLs6v0fnxIT_FciALO7S23j7A6QBPh9XBOXlQPo3Xa5GDjdpzgyjM64-ltBGuq--2I4BoB2bp45QfN1AHIJcbJB2GMIlkhWHNTjUzrFYtNe2yi_VH-geU4aAs35tnC-ANciM7DNsJWY1qRVEcXQNvJqJTYZFltWXKrGzvadkbDOLLqpsGTP0g4axPbPNpdJdYS2PK5Dq2miQftM5GJtW3Tk5DONQv_yQhIgzqA_2aeQ2uFlwIXLnMcYpwrsondmbrxmxSdhssDIZU7tfe5CzRmHvXku5fGopmkb0biOeHVeEAu4uQ7GkWGfnB4Zl1szsHpQNqd1d-g5zK9L7stE_ah9tfrrkUQAwF09MYurFnOPpiZ7zB3GhUB_83uyawdC05JUBVcHRJ5dvegqf6i2lYdYpjevuev2xLZogTW8ZAikn7lLEqRgFy4tn0y3bjdGySuZzI3T5eaXorZZSQqAMwzRWFIEMz4E1KyrMPSLrZ3Y-Rlp1FUlxUwNtGdllr9Ks66KNf5j47A_w_7wCo8vFQsAymQgAjYyL5BQIuU4fyAKuFv0cdzuYOsyp1ttdgFJ0lspknQB2DNmjLQezcXq4B1MOKQ8G2E2w4WcwkeZagCTXaPu5g_dR_j221UUsnXHYmFVcgZmtC8i_SrRN3EC6wStI2gXr5qoFcHs2y2ZKA0qiqEqw2lX6wwSvWitZT6__NKfAsPc7jpxJ4rZ5WPYSBA0EwkaxCcT-a9qV_5DQ50nDKzrGr4qwp3dhwf89EIRKHDFCcwpaYslCF6RkNsnsZDv3Zd5xGpiugIXlGKBANvHHmPf69w-vWmlmI7OxP6Fn7FHg9Lwf3AKMqEdjJUplghfvMCPM7HROFNiI_fV45u-eQ5TWOM9a4uNY32QUV0eJihxE8wlsHRhIZ8X4UNTCGVG6lDvimGP77BpuNM6uZ2eyAKQZL-9SM_OulkEc4Gsbwd0lVSYxAcpSJFpvcA67fZbV6FFsVu_7Gfbkp0-JRvlKKdio3efzp-CzajkPnH2JXrSmLKWPT6tSxgp5HZ043eb_DyYCrsNp4zy8vjwozg-faIG9VHIdktCsM7YtPpFrxxJ5wxUMgAS7FEtDu2EZxiVh57Y0iI38qA==",
  "id": "rs_0bf57f37863987c8016ab2acb6fbcc87d0a5ff6285cf0df626",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The yellow fruit is centered between the right jaw columns and close to the fingertips. I’ll lower the open gripper to grasp around its sides.\"}",
  "call_id": "call_P4YacmasFT8MaKQeOpSgOUz9",
  "id": "fc_0bf57f37863987c8016ab2acb85af087d091caa55f6b7b45b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P4YacmasFT8MaKQeOpSgOUz9",
  "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]: [-0.0212, 0.8024, 0.6147, -0.4011, -0.0135, -0.0265, 0.9992, 1.2285, 1.6951, 0.6121, -0.0517, 0.8852, 0.9504, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0206 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2252 right_y=0.2354 right_z=0.0209 right_yaw=0.0257 right_pitch=-0.0494 right_roll=-0.0486 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2923, 7.2547, 1.8486, -0.0366, -0.0464, -0.0171, -0.1846, -6.3521, 4.7385, 1.1404, 0.486, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23fc442afe848e08cc90f4b5123f58eb8d970665485df05e3e73dd5691c75de6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800df4cf52b13193a766b6c376448035992893805edddf528187421f39061f95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0cda8b704ec8255e52b00fbf46139cdb746716c5e56015c7d3caa684b6e1447",
      "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]: [-0.0212, 0.8024, 0.6147, -0.3897, -0.0139, -0.0265, 0.9992, 1.2289, 1.4143, 0.8837, -0.5747, 0.8978, 0.9474, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0002 left_z=0.1806 left_yaw=0.0002 left_pitch=-0.0092 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2278 right_y=0.2388 right_z=0.1397 right_yaw=0.0231 right_pitch=-0.0283 right_roll=-0.0277 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.388, 7.0085, 1.8437, -0.0464, -0.022, -0.0122, 0.3077, -5.2581, 8.4308, 0.862, 0.6325, 0.1294, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzHCYV71pU8BE0DGxgpY7Kga0CvGxTwYHdx1N07nEjbfOdahtuq7folrEaKmp50eppzLsNzNt5azOps2rVmNQ-ieVSGdneD25EaZmOQMOX7j4bBHLRsK8kogpvQ5Nx09nNezF95WjPoA1G4SavEU12ZrvLM4XJQbgWVpyEnpXLtU41E1QEpQ6N4n0IzfhpnQ7lHBBnsDlqCyLmi9tqIi9gIz6sDSu1MqgS50Y-hLeS2itZ8t2N6NtZlC2VCeSj5ojBsgcRrmm0Nv6EjGk6GSiACpqG2jNpyNb7BejdSNrl5LgOLFlTSjPZOoy2uJe-lZGkrU2gZrc6agHgPW-WFk9IK3uhLuQKpplcKX-Eitm74z331JNib8kW5c6ka45X7bz7y6bjmICOJoqXabQXaN1AugW8cc6KyjwAdUn4fl9Mp4P_iVZ47hPqIs38IvpUznsvyFbiX3uluIq4Tk1_X3xqzAzqIsBTm9LQ9DE4Dcb3-s1HFIRuh4EOl6U41W_nswdTovXOCSB43UrzGO1nPF1HZ8ydfz_Spws9oxJNr8SvaCiaesUS2xCGKsdmP63HM_Cgb85Fdl2WDvyS2DFYHldIujFWZ961OOln8iLeIGTdrowQKcjuyZhEzIHaFlwDmj5u1iIAypKiX-AhF-fa-2Ci0Ejg8UGcXjzZ55chY891n0I0ya-6d7JqR-4LOTUy70zpFmDQIh7X4fy9AwrRXtcI9UQWT15e6cwr090sL-U2aviMSNwP6YIkMAdTkIXzCN8l1f5jbQvhFXM863MBArTelcKRfNFK0EeZ0EW9DioRUiozYFKuRKEAXHO5isHOk6q1lcnHHm9tJMTdD4SHWTX_75UhxgrKqkGC88c_pfhoMNuEaedSIii4UQ-td992JxIzdqx-L41T7lbGoqRSwwVWn8Kf73gT93rWbfhUXMNoEsK8t09xmH15pSM2CFVGmzUCXiws8ykipArRLljkWHoBmlyAsfBk5OseHO7TrQe7lNkq3MqNkj_-5La6FEhlHB-WYh5CXEPV7s1mH-UvZDTcntgvSFQ_2Oxo-tpR2Bvitz2qFFx8NTptXw2PANmL7hr9LD8bCTELWtxzULn44eqYL1AOoJa8jqi7r73Y3inBOmUEzaPUYIv33N0PDBkvUvgbbFfsBOCoAdQUe8135J7M5n9bU-IZR_Le-XgoX3tlaQLv75lU7ilzHx0Jn4Hr3YpOECIph8agw5XQKQHaNwVcw_ira8UK9FEH62n17sc8LmSLQnDWZ7eEFp2UsOnQ2xSxgo_v-Zz6e8CbsH-rjdi31Ln084uGHKUzt8LbycUsXK9Q=",
  "id": "rs_0bf57f37863987c8016ab2acbe0ea087d0af00aa1183c739d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is aligned within the open jaws at table level. I’ll close the gripper and check whether it holds the fruit.\"}",
  "call_id": "call_N4i3AvkfF8B21l5iiHv4SHqv",
  "id": "fc_0bf57f37863987c8016ab2acbee9c087d0904515561e33d3d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N4i3AvkfF8B21l5iiHv4SHqv",
  "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]: [-0.0212, 0.8024, 0.6147, -0.4088, -0.0139, -0.0265, 0.9992, 1.2285, 1.6947, 0.6117, -0.0494, 0.878, 0.9432, 0.4411]\nstate[eef_state]: left_x=0.2927 left_y=-0.0002 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0282 left_roll=0.0003 left_gripper=0.9992 right_x=0.2247 right_y=0.2363 right_z=0.0202 right_yaw=0.0329 right_pitch=-0.0549 right_roll=-0.05 right_gripper=0.4411\nstate[joint_eff]: [-0.294, -1.2786, 7.0906, 1.7949, -0.0757, -0.0562, -0.0122, -0.0889, -6.2838, 4.8205, 0.9206, 0.4225, 0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fb7cdf2d9e2fd90cd8d9cba05a028cb73d5c3c99fc6d5d77854e434a6ffefe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c7584dfb9b6a2795dc0a902c217b58125e030eb39188fc1402426c857c396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebff10385132a264794c3a75d2ffd7d024d1f7657c17c685400aa381e088383",
      "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]: [-0.0212, 0.8024, 0.6147, -0.4011, -0.0135, -0.0265, 0.9992, 1.2285, 1.6951, 0.6121, -0.0517, 0.8852, 0.9504, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1782 left_yaw=-0.0001 left_pitch=-0.0206 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2252 right_y=0.2354 right_z=0.0209 right_yaw=0.0257 right_pitch=-0.0494 right_roll=-0.0486 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2923, 7.2547, 1.8486, -0.0366, -0.0464, -0.0171, -0.1846, -6.3521, 4.7385, 1.1404, 0.486, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper stopped at about 4.2 cm of opening, consistent with holding the yellow fruit. I’ll lift it a short distance to verify the grasp before carrying it to the blue bowl.\"}",
  "call_id": "call_AkZEfr5KRcJc9KsY26RhzrkL",
  "id": "fc_0bf57f37863987c8016ab2acca81a887d085e584542dd0e176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AkZEfr5KRcJc9KsY26RhzrkL",
  "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]: [-0.0212, 0.8024, 0.6147, -0.4164, -0.0135, -0.0265, 0.9992, 1.2285, 1.5051, 0.7303, -0.3691, 0.8597, 0.9424, 0.4461]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.0359 left_roll=0.0002 left_gripper=0.9992 right_x=0.2222 right_y=0.2355 right_z=0.0783 right_yaw=0.0407 right_pitch=-0.0746 right_roll=-0.0551 right_gripper=0.4461\nstate[joint_eff]: [-0.3487, -1.0735, 7.0496, 1.8095, -0.0415, -0.0464, -0.0171, -0.1299, -6.3658, 7.8427, 0.8425, 0.5543, -0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e4df19c750a8f9021e5b15ac772a173d22d6eea299e678dd8023dd740c0d63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c039676969742daf7c66f3843cc0f8cee2dca5fc0aebf58ec3e433eb0fc43bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f82357f054acd60b637d282309e579aebaed305707dab73df46b09c1a28e954",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8024, 0.6147, -0.4088, -0.0139, -0.0265, 0.9992, 1.2285, 1.6947, 0.6117, -0.0494, 0.878, 0.9432, 0.4411]\nstate[eef_state]: left_x=0.2927 left_y=-0.0002 left_z=0.1766 left_yaw=0.0002 left_pitch=-0.0282 left_roll=0.0003 left_gripper=0.9992 right_x=0.2247 right_y=0.2363 right_z=0.0202 right_yaw=0.0329 right_pitch=-0.0549 right_roll=-0.05 right_gripper=0.4411\nstate[joint_eff]: [-0.294, -1.2786, 7.0906, 1.7949, -0.0757, -0.0562, -0.0122, -0.0889, -6.2838, 4.8205, 0.9206, 0.4225, 0.0562, 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": "gAAAAABqsqzVyacZ1Lf6f2HwKiHWNNV9YGOOsMTQljXu6LkUaRvtxnFjWw7ZkvRQbFUJGG5D7vqtr3vKNueROdibyWUXhf-FA2KH1v0LMQpERIWcJa_QpoKHC_pnvPaTVUDV1YcPYX4ylpmpFAd4JEQgxzJuS-ydmGdKXDpinQWE9T4O3avXIH5UTfJBpNxz1t6BHu1PoeWaLCcSJD7TQQEMvRWPVDqcWky4ZIUnWJj67WJQL_6vOrPWgX0f-cAIZTh7uAHhVnh2n4a3AHrQQB9HFbXtk_5u4wU0ilDyuU5qOY_DNGfRV9TybJXC6UJmWRYc4yZ8QC-14jTUZqqMvDn38wnxtNlK--IEff6hSw55jLoycEOY0bA8NEOT7npAUilugj7j-6U-vo7MMLB1SVqxe-qZQLva8gPa2cxJjI7xkszZOO5zFZIZp_fSZGImyPQlkepIP3ws-g_1nE0D_W8fN-amrChe_i5YYGN8CAaiwXQLEolF552DPjs2fXBHBn-7gVVgwYXS1l4bfcwx0m05s74ZUVrFqzz9vNyNfo278bpin2nztVIixKRpyVKXA2BRil_VgTmBVg8BD-MJKp0h-fpl-Wx8L5iXscUA66QmB0k1eZfGcrnM5QyR8hoPNJTl1ogP70bLtQo_ZZ4y8As9faXF1IhCRApzpxRg8i5gb78OI3BvcZPCVvri1r9KIsnW592qjhJfQqqqbHhH4R2eVlDDdFJ-T1LQU3kyfowEjrOmId0pndj-HnWPvsW8rSGDk2jY828NhkEgkTfufspNS-fjEtXOd-zD3YxopVPztO86JBF6cysIwJONC3MFt-XSOBZAJTlpkol6K4gOLD9yOUUffkBTAVhiyp59LM18sP-NhMZKqAaZQkggBO8evorH5wP6wYsglVL4As2FTboWGjlRDSvCumWTEm2vwv3Z49D_XWugKXC0RMmDcFUadEyW5LABU2rAClEkatUXMUoV5uUXuhkYD0I6IU6fwDQJiZlEPLhlh9L-1TzbefId-WSfssKkqwfQ4JIbY4Cb2oXvdl6GOygu4p0AOW-ZCPtR7WpXrFBb521vKPvsEmn5O6hyU3JkqeM8ApDf9MpnWxRhBTbL5Q_x58ENpd4Zucc2Fgyq6WH2e9z0A6noiNg-F9hxBOUO8rBl24iMx1aMey8QPOveCjH3CFHhq_wofEedQ7to36PwzZXf7GosaWMaKjFbzgT9ZNovwL3Po0GkmGjkzox3X-7nHWWBNL9R-eLl-uL9Iwv8C_W_gFY0o8-0qYeCs8E6bG2S1t_fyblSLOJAcAzzWSjnDiVsxN5-jWp1WXCL6wZ88rQ9XiWvATUbLDCpyBhVo80I",
  "id": "rs_0bf57f37863987c8016ab2acd1a1ac87d085787c07f7ac9718",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.13,\"right_z\":0.19,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The yellow fruit rose with the gripper and the grasp remains secure. I’ll carry it above the blue bowl while restoring the idle left arm to its parked height.\"}",
  "call_id": "call_eIEWgqfUJhefJVGvcLYtKX82",
  "id": "fc_0bf57f37863987c8016ab2acd38eb487d09b47147d22bab0a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eIEWgqfUJhefJVGvcLYtKX82",
  "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]: [-0.0212, 0.8276, 0.6304, -0.4492, -0.0135, -0.0265, 0.9992, 0.4877, 1.3674, 0.9829, -0.3416, 0.387, 0.2226, 0.4502]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1688 left_yaw=-0.0001 left_pitch=-0.0782 left_roll=0.0011 left_gripper=0.9992 right_x=0.3751 right_y=0.1275 right_z=0.1793 right_yaw=0.0361 right_pitch=-0.1011 right_roll=-0.0645 right_gripper=0.4502\nstate[joint_eff]: [-0.212, -1.4838, 9.4701, 1.8339, -0.0073, -0.0464, -0.0122, -0.2803, -5.4632, 8.6359, 1.6581, 0.1099, -0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6baa1a8048e317b4c0db676b1bf4ad05fed18a50ce7b0fd2f729e28b6e0b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fc3f95bf7d8f14d9ee6bb32a7a370f1eaef751e2c5b5563d11b96bc0c0aa0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baffeb91806f113fc13eb07a795a40ce3b5a20106cf896f74c79e958f8d85719",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8024, 0.6147, -0.4164, -0.0135, -0.0265, 0.9992, 1.2285, 1.5051, 0.7303, -0.3691, 0.8597, 0.9424, 0.4461]\nstate[eef_state]: left_x=0.2917 left_y=-0.0002 left_z=0.1751 left_yaw=-0.0001 left_pitch=-0.0359 left_roll=0.0002 left_gripper=0.9992 right_x=0.2222 right_y=0.2355 right_z=0.0783 right_yaw=0.0407 right_pitch=-0.0746 right_roll=-0.0551 right_gripper=0.4461\nstate[joint_eff]: [-0.3487, -1.0735, 7.0496, 1.8095, -0.0415, -0.0464, -0.0171, -0.1299, -6.3658, 7.8427, 0.8425, 0.5543, -0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzfPSL-RziRQnsaW-2cGVCJD_X9KXE_5fBz15Wp9h_WRyGCWaIOaM9PYv9z_TxEpnKL5TI_Asx_kbYwJK543RAzGfBFaJIoPDQkj3aZyY_1vACDed0ACLrHMFL379SgkVZnmppRVF5M9UZspYazaI3WoxyH91si6D6QBFoRq6JOgZpYKf0-Vq2316KKSbfiab9-cSTwoMzoTLZE5GBa9Bzg3GwnKIoaWwl8bmQgOnVZgZrLJObPSyVQqw2E0aaQSfFIRXquCCkGjPR5T9y4hH1vQw_k_mJ874rXs1d8DV4DVH4iFd6imQYrX1b-fucpchEc5rt_G3qNq3OFEJP1H8IOAs6PZr8IL9ZkTA8u75NXbU7iwnTupp7GMhoNvAy0KiyzqI_Vbd7ATuG1IMjZ3j78qhdN5_6QY3nH6JdnZp5nuz8uFdgDLXpA8mxFeq9MR1SoUxPqcMNR1dmUnUVTJp7DKTyXWw5UQ6VpMilfavvTuvpDH62OBssjNruV6tuMjFf66C0GMVZLXt8Fi-AMqfYZTiw-_SuSZeDdEHdX6I50ypr80Uob_koh7Zfs1ujzU9mA5ksZw-0pxi5wJ37_zhS8x0MkOw0stED2r_0BUkkZv7iANSxsswOCnxCVoU61e_vPdPzGUuR17P7CDrDyphxbwqLqMb3Bbtt68h2oCSwPWck2MAqYTxdYM-bhNYiqFbouh5242dUQ5taWe5dysSuJhUbotAjwfVPN254Cch5EIjV5tsOwPfPN_PuOcwYs4OgH7a3qcum9vbTjMgmSUPVbD6B_i8xq_WXrnuFHGdBy9VYfwTyNEYxSLsxeZjyyTkboodk-1Ftfqwg2K9ibMVUTQAixeQ3ZrvAonwcWoWqArWTcaIU_gShBEIKe8cDTdZ30WWs-JIQkOcqmSH4mk8-vpD7IrUVMt8gddgT0vsPoD5m8rtCvJ-2iUcAUyp41ePo5kDdJYoewuIC_mfi0a0mweuX8kVLLQYWPTqqYQ5aEZhL9UoUVmxF7lnvwxJiY3s-uF6FdPVQWQKs1q-w8B6r8c1ZHbyXEnoa3msqymiYCouVEa7s_2K6_LEwWW8rO2nKAvns6I_Xgpt44n5qq2d9qe3Tro1hwFgXfEcHf8fla1GrSy83hr6gRM24YewDNo9DL17YP1OqsHE057T4oA1mUymw8HlHTJVDuAtzkVY_ot0w6t3zX8qXQGcHkfwTjz2-_9mKGDWChCMw5RhnHRSkAMn2dn6bzukjyLKkHbGgZJzZz2Qoz0bz934U_Vw8lIh7XvToUOhKuNb3StVNAYh4ttw==",
  "id": "rs_0bf57f37863987c8016ab2acdda16487d0bd72f9c4fefa95b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The yellow fruit is positioned over the blue bowl. I’ll lower it toward the bowl opening before releasing it.\"}",
  "call_id": "call_QU5wza4ripqGM6xrzYkn42KD",
  "id": "fc_0bf57f37863987c8016ab2acde88b487d09ddf166f2fc434cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QU5wza4ripqGM6xrzYkn42KD",
  "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]: [-0.0212, 0.828, 0.6304, -0.4534, -0.0139, -0.0265, 0.9992, 0.4877, 1.4536, 0.7662, -0.0708, 0.387, 0.2165, 0.4509]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0828 left_roll=0.0015 left_gripper=0.9992 right_x=0.3708 right_y=0.1253 right_z=0.1046 right_yaw=0.0377 right_pitch=-0.1302 right_roll=-0.0833 right_gripper=0.4509\nstate[joint_eff]: [-0.3214, -1.4154, 7.0769, 1.7363, -0.0366, -0.0611, -0.0171, -0.0752, -6.0786, 6.2974, 1.8144, 0.1245, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540862b9ea4970e5ba61b751acd426f123ef2bfced88a2fe6d7fbf2269a506c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ba22a20accbef7f2d8d74493ef88bcb14acd933035c00537ad586920177f26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd3aa2705434973b8a39442fc34283bb6991ca09be7b71b45bbc6eb226999ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8276, 0.6304, -0.4492, -0.0135, -0.0265, 0.9992, 0.4877, 1.3674, 0.9829, -0.3416, 0.387, 0.2226, 0.4502]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1688 left_yaw=-0.0001 left_pitch=-0.0782 left_roll=0.0011 left_gripper=0.9992 right_x=0.3751 right_y=0.1275 right_z=0.1793 right_yaw=0.0361 right_pitch=-0.1011 right_roll=-0.0645 right_gripper=0.4502\nstate[joint_eff]: [-0.212, -1.4838, 9.4701, 1.8339, -0.0073, -0.0464, -0.0122, -0.2803, -5.4632, 8.6359, 1.6581, 0.1099, -0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is now just above the blue bowl’s interior. I’ll open the jaws to drop it into the bowl.\"}",
  "call_id": "call_0LmhToCL1z8ypTv2EyM4XESb",
  "id": "fc_0bf57f37863987c8016ab2ace55c8487d0afb4b7b056203d65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0LmhToCL1z8ypTv2EyM4XESb",
  "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]: [-0.0212, 0.828, 0.6304, -0.4541, -0.0135, -0.0265, 0.9992, 0.4877, 1.4536, 0.7662, -0.0795, 0.387, 0.2085, 0.9957]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1677 left_yaw=-0.0 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3696 right_y=0.1246 right_z=0.1031 right_yaw=0.0415 right_pitch=-0.1385 right_roll=-0.0934 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.3197, 7.0632, 1.6728, -0.0269, -0.022, -0.0171, -0.1983, -6.0103, 6.3795, 1.5849, 0.1294, 0.0562, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897d3f5fcda3e6a5e752abf43a472cbf4c0609ba9c2bdc2b8ba5e3771d7ae342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eccb81c91125c18a27ffe8228276e68a2acb2b550b3889b4a835edd0b52cb5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de81a5e6d82f7c488092fd39e9a9672bf2d8513ae0066140efd2747757f19fdb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.828, 0.6304, -0.4534, -0.0139, -0.0265, 0.9992, 0.4877, 1.4536, 0.7662, -0.0708, 0.387, 0.2165, 0.4509]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0828 left_roll=0.0015 left_gripper=0.9992 right_x=0.3708 right_y=0.1253 right_z=0.1046 right_yaw=0.0377 right_pitch=-0.1302 right_roll=-0.0833 right_gripper=0.4509\nstate[joint_eff]: [-0.3214, -1.4154, 7.0769, 1.7363, -0.0366, -0.0611, -0.0171, -0.0752, -6.0786, 6.2974, 1.8144, 0.1245, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqzyHZRbQlsaECiyR_hdnCPSKhSaQv5f3Vw96iucIk_X7hFWjqHnDJR4Y_eCCFydF3UnkhqMNGakcpplehqpO6kV2ksWckd8gJeVcKwJQfSpEYiSwLJBt2DI5OcG1V5CNCaDOutFqEIMeKisNL--YIcobtfwgvVoRtooMbwYH2ijuxUPvElpokT04Sx3zjzmgGgrQKOLyak5umlsCnopYMBsgmGWP98Sl3c4YjoMrUexoMv6S0yN7qa3kM6AOFfjCKqa4RSIf6pwSIntKWtJi4BQyP63IlID5z0Vpoo9L7WlDIxiIswG1ykm1k8jJ6FncKqe7K2jshfUFtRKNq7h95jtmb6xkbZ-K13RRzUOVmHEZ4p6OTxnCcYCYvHRdZBlvNNIW77euaY5dGXJDM4_2UQC2VeqFM-eP40O8HkprPiWlW5LH8xMMkHGfBjtnygI_kX1_5mibVYKQAMnOCKUNwk81XcFB2yn66kZ-2i4bhyHCQLtLZ3gxTy0wQP-jFwA31Gyg1UVRGcc-VqPhk7-b-vQVRngyJLPYZd_kniD96Y9N0tCHen7rMB1fwmsnC9FJD1BjEbk7C75CZGnj9jYhd3foejQK491EwzsDkzoUk45OyXL6HU_lKD96BbnXkb_hjdNS_SV0-rK66Sxyf82G6_LOSmEIM2u5FveZIhuSYoH6DQ-dF9uQCsfpxs0FhqyMbwpnO3bQExMwYGYeyv7VW2eT4QAfmmtrnCJz_S9hpc2aacpiefcFD24lug0NDE72XQqR0DB6--qStj0BpZeP8pxZeDK389BJklu7cHoQ-ssyNwFPo0JdLhsQDW-MnwEp2SJS-AIh7QAVwuj7Tn7Tfpiw9Y8s5O8DeTRg2KQosLBYo3HQXvkEpQmbvdb7CkMUSL1TS-l089N-lfQzd1988BjEHAT4NAeQQphEwrTthjI_zIwOjo1sE1DZjzCl-GPPybbUIJ1eny5ptHCU3RgKpysuzzDLwu7_keuN1qMhLfgWCpwducVNt473eYfeVZwjuBt2wZAOaDhtU5p8mWLR3ZZ8hvl5sKY6lakFyFO5zZXys-DekJNA_B2i1vX-KyGtkR-ijVuxIxF9zLjqc9Hiu1Cd7B6uMv3jam7IWqEzRok6AwlbowAAMbCIGGDcQsRrMMlZYvPQKqdhYHao5QsT6oooPtR_ARQbJhoVcbA2FI-cgGh_SuA_HdNmQrigRl9u5h9daBm3sHGGFTJ4lHgrR0GqaxJB7RV5EE5rjGgPlzHxbc=",
  "id": "rs_0bf57f37863987c8016ab2ace95bf887d094f549856244226e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.25,\"left_y\":-0.18,\"left_z\":0.15},\"note\":\"The yellow fruit has settled into the blue bowl beside the green fruit. I’ll park the right arm and bring the left gripper above the remaining dark fruit.\"}",
  "call_id": "call_9koK3mguQWT0XSxpK9ph90Rf",
  "id": "fc_0bf57f37863987c8016ab2ace9f83487d097bcde742a8fbdb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9koK3mguQWT0XSxpK9ph90Rf",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 1.1934, 0.7593, -0.572, -0.7265, -0.8089, 0.9992, 0.0006, 0.9108, 0.7486, -0.5816, 0.028, -0.1177, 0.9965]\nstate[eef_state]: left_x=0.2458 left_y=-0.1781 left_z=0.1382 left_yaw=-0.0126 left_pitch=-0.1153 left_roll=0.0142 left_gripper=0.9992 right_x=0.2912 right_y=-0.0012 right_z=0.1734 right_yaw=0.0335 right_pitch=-0.184 right_roll=-0.0925 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -3.8085, 8.8821, 1.1453, -0.6325, 0.0317, -0.0122, 0.0889, -2.4274, 9.6479, 1.6386, -0.0317, -0.0806, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7f7058608048c30824158c9a5f28999a8af8501d121c40665d69b2e78a7913",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71fcd3e039644fe8685dd380e87c243370231e633292af5de1fc8733ca5a1c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6383863a537efe20417bb46155ceea8a3561e9562cdb0606c8c49c3e429c82c5",
      "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]: [-0.0212, 0.828, 0.6304, -0.4541, -0.0135, -0.0265, 0.9992, 0.4877, 1.4536, 0.7662, -0.0795, 0.387, 0.2085, 0.9957]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1677 left_yaw=-0.0 left_pitch=-0.0835 left_roll=0.0012 left_gripper=0.9992 right_x=0.3696 right_y=0.1246 right_z=0.1031 right_yaw=0.0415 right_pitch=-0.1385 right_roll=-0.0934 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.3197, 7.0632, 1.6728, -0.0269, -0.022, -0.0171, -0.1983, -6.0103, 6.3795, 1.5849, 0.1294, 0.0562, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqz-Fjso7Jq2urqE7tlVdKD4EGusR1hzeATcEBs2PBHEet5oa_KHPGcsyGbmFLLrxq8LcxRJjPXJlpWCTydlTCD9Y66RxWtfEiMLItwmc5j8oewQY6ZJoSTN_g0tZmJT39GpA8azAUCXqqafI2rdgQRN20gaQenfYW45VjkUXAAw0sRSGi_TfssWB3zEGCOjEnuEuDVn-3NsyycC60flIBgtj8WQ4qJYR0oR8BHfcPxYVtYmVQ1wYbW4bvRohhwRBqcU1ucMjX86sbgJfj3xP9rahF9zNL-_QUogVAFDM2wAzGTrOQnGQ5rX9oxFCIGQLa-oHtgJ7DJ0isKNR00iEVLfqVeCDHQY3Kh7eP3XdZfME1NWIdjXE5pWgh0DZgvH0ehALEckmYArJdbU2yGcp0ZNzCUw8Byavei60NnBUa7oEs9RFG_zdrq07YiMJZPJeVNRH4g6rvzRi7KMARDaX4Uy5yYox2V_KSDiw527ItPBVknaF0bcTljyjFlVUkUdTBfDTf7DpbtlhbhEnaWsQlx_N2eKwC-GG_Hk2fY4W1z3bExarkWwSluZCEbsrL99L3sB0_Uvfsa8XSmANXO3dAb03f9tngxtoZ3hryevXSedNDKdMRTJGBVujKfinYd8k2emYet41veqcQ1NVB7C6nrUnE4qajzuPYJa1skJMz31cOH--n6o7oJ47VFVLcTu3lXi3Ib_fP07KSy40ggk5U60ysYzJHdbsidZn8cdWEwl5qAYAiWP7ewmQwHuEvdThGUf77IwTp3W3UhnBVxE3hmsB_BTeKJ9ivv3XZ2VydDHptXICJfspt7WnOuwcKRtraDGeUDALb0SFidcEw9gt80iS5lXApyw60aqdDBKIE4ExdQHDYeCh0SghZ-1-Omxw3XiND3WW_vpZfeOgo2qG-G28741ALkpRZ09PS0Ay7hkb62riCAvbCz2AxxhR0oTyIbR1bAz8Ymp32OOVFdUODN2ZUq3jjiQvCNEV4EcY8uSKja6TIdKt690w79KN-VPPZMegQCy8GSUukJS1UaF6NtHQkYBDQ4T-SropHIIfaOmgvHU8cbYhUaADZ9EN3PSeyNMP1KLVit6lK2T8BxLDJCcRRU1qyr3nYkB8-prsponGszVQSaez5pPm0q1t5WSmw0HGZqO-aj5dPh7qBKdZAr7EqFPRCDjLNLVJyDk9d0THkw6WlvOngSfZEqMUM6HP0QezntAUipA-KvDsRDTPpXPnYkDdmRRuo1Z-wEW_p9tjeuA6Y-NmQGVUZigPpogvNAPMjeqkJAnFX4CwPOi4z6wHn4mCwryWPaKVg0ELEYOHotnwQ0TDbmPK3rkgESXLC8H",
  "id": "rs_0bf57f37863987c8016ab2acfb6f3487d0a73d3b79e0b20bfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.165,\"left_z\":0.025},\"note\":\"The dark fruit appears slightly left of the jaw center in the wrist view. I’ll correct the alignment and lower the open jaws around it.\"}",
  "call_id": "call_36WR6yrgtVDxwsBBMHhJrhz9",
  "id": "fc_0bf57f37863987c8016ab2acfd324087d08ad0e4ac0ce0c1ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_36WR6yrgtVDxwsBBMHhJrhz9",
  "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]: [-0.9295, 1.4689, 0.4179, 0.0875, -0.6617, -0.7033, 0.9992, 0.0017, 0.9123, 0.7479, -0.5896, 0.028, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2612 left_y=-0.1625 left_z=0.0199 left_yaw=-0.007 left_pitch=-0.1368 left_roll=0.0298 left_gripper=0.9992 right_x=0.2899 right_y=-0.0009 right_z=0.1712 right_yaw=0.0345 right_pitch=-0.1942 right_roll=-0.0918 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0803, 4.8342, 1.3944, -0.3492, 0.1148, -0.0171, -0.1299, -1.9624, 6.9538, 1.6093, -0.0269, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c3bb8a0b8885a78e8419e0c53f9064efed9320f26ccaf5cc40a3afac166bed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffd19813426f14b588a05d9d99076636d36e7e2c46ec04e359ad93bd56569db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c626e282e0f149c7f5048e557ad3c18a7da174fa8e2299e5acc1b7fc9e8c604",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0367, 1.1934, 0.7593, -0.572, -0.7265, -0.8089, 0.9992, 0.0006, 0.9108, 0.7486, -0.5816, 0.028, -0.1177, 0.9965]\nstate[eef_state]: left_x=0.2458 left_y=-0.1781 left_z=0.1382 left_yaw=-0.0126 left_pitch=-0.1153 left_roll=0.0142 left_gripper=0.9992 right_x=0.2912 right_y=-0.0012 right_z=0.1734 right_yaw=0.0335 right_pitch=-0.184 right_roll=-0.0925 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -3.8085, 8.8821, 1.1453, -0.6325, 0.0317, -0.0122, 0.0889, -2.4274, 9.6479, 1.6386, -0.0317, -0.0806, 0.0757]",
      "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 left jaws at grasping height. I’ll close around it.\"}",
  "call_id": "call_Fed0iJZhMAcAFfvAhVZOdzS9",
  "id": "fc_0bf57f37863987c8016ab2ad034afc87d0821f9c4c7ca5fc19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fed0iJZhMAcAFfvAhVZOdzS9",
  "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]: [-0.9295, 1.4689, 0.4175, 0.0902, -0.6609, -0.704, 0.5238, 0.0017, 0.9123, 0.7475, -0.5968, 0.0284, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2614 left_y=-0.1628 left_z=0.0201 left_yaw=-0.0073 left_pitch=-0.1359 left_roll=0.027 left_gripper=0.5238 right_x=0.2886 right_y=-0.0009 right_z=0.1697 right_yaw=0.0342 right_pitch=-0.2019 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -4.7111, 5.0256, 1.1844, -0.3297, -0.0171, 1.0232, -0.0889, -1.7846, 7.0769, 1.6093, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd99750b2627d1fec624687f2681a2c3b878795c435536e2f34567cb7017c75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d8874829de95ab56e960bc2db26359181c2fc034ec1194b8da53436af7f53c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65df2845f5f2390784456e991912199dd8eee54345df8c6c6564e0c4c236d246",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 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]: [-0.9295, 1.4689, 0.4179, 0.0875, -0.6617, -0.7033, 0.9992, 0.0017, 0.9123, 0.7479, -0.5896, 0.028, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2612 left_y=-0.1625 left_z=0.0199 left_yaw=-0.007 left_pitch=-0.1368 left_roll=0.0298 left_gripper=0.9992 right_x=0.2899 right_y=-0.0009 right_z=0.1712 right_yaw=0.0345 right_pitch=-0.1942 right_roll=-0.0918 right_gripper=0.9965\nstate[joint_eff]: [0.253, -5.0803, 4.8342, 1.3944, -0.3492, 0.1148, -0.0171, -0.1299, -1.9624, 6.9538, 1.6093, -0.0269, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper retained roughly a 5 cm opening, indicating a grasp on the dark fruit. I’ll make a short verification lift.\"}",
  "call_id": "call_O1l1DSIjmuBCEAi88HmnDeI6",
  "id": "fc_0bf57f37863987c8016ab2ad07b5c087d08dde366f5d2b0944",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O1l1DSIjmuBCEAi88HmnDeI6",
  "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]: [-0.9295, 1.2629, 0.5682, -0.2817, -0.6575, -0.7067, 0.5234, 0.0017, 0.9123, 0.7475, -0.5972, 0.028, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2594 left_y=-0.161 left_z=0.0791 left_yaw=-0.0063 left_pitch=-0.1473 left_roll=0.0355 left_gripper=0.5234 right_x=0.2885 right_y=-0.0009 right_z=0.1697 right_yaw=0.0346 right_pitch=-0.2022 right_roll=-0.0916 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.7932, 8.1573, 1.1258, -0.4029, 0.0073, 1.0232, -0.0615, -1.9077, 6.8444, 1.5995, -0.022, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50b42d223e1c6c41d60d942fd5effe1cada75e157cf2dc67b5d8c4227a63297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af98c1baf74d8b655afb9d2c7d3944ee44e8324a69e2332abee03a44a303d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12accf69299764deda6de4605c2c5d6763e3cfcc96ef72066423baeef60aa1e8",
      "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]: [-0.9295, 1.4689, 0.4175, 0.0902, -0.6609, -0.704, 0.5238, 0.0017, 0.9123, 0.7475, -0.5968, 0.0284, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2614 left_y=-0.1628 left_z=0.0201 left_yaw=-0.0073 left_pitch=-0.1359 left_roll=0.027 left_gripper=0.5238 right_x=0.2886 right_y=-0.0009 right_z=0.1697 right_yaw=0.0342 right_pitch=-0.2019 right_roll=-0.0919 right_gripper=0.9965\nstate[joint_eff]: [0.0068, -4.7111, 5.0256, 1.1844, -0.3297, -0.0171, 1.0232, -0.0889, -1.7846, 7.0769, 1.6093, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq0chROt6g_3zfaZeVkSUDTLemFpdzBIQcmmSribY5onZROdzswg_hg6evWkMC0XKLjvQhVOpHkpXl9o4k3WXtGadb5Cc4zIQcKszZMuTEyj_A_8mNxlkLh80Lg8xj-fXJiidQpSQKZQm6XSuJuePyqbi0-zr_AXKfbTaYCJfqlda6k9Ho6bFGo9uqGyT_l3XvBFYrI-Clv6_vIs6CkoG-6HxzKR_3hBI5GqoPs0mZQNfpdOt3Kbgz4Ew7ZFVArgBeaWfJnATwK-ekfCXh9RI_KdD2w5ve2gASf5jOAeLQjgKR4X60mHPVyunRBoHrBVqgEic60t2rhxJsh9x5LVBS9ScNnpO9UWkAFdA-saiExtDANPlu6HHpJq6plolDz9a2EdcF7Gy47DJZTBwo2cfn1xb3q3rmbNwcF00GkPZMx0m1tItpzGP5j0zqOUaJ0zmqA9yHoAtNdZo0_TSDwpyXSIjstCj6TJySUFuG3KqA9_uBNWJv174r3XPy77-cKb2-rrmh7rWT6b0XTm28HxTICuPTjc_FjsezKCV5-KGv7rECYf4l6oxG4lAUUDSHUwb9Wd4B1jb1QuWQ5NutyXbmHc2lZ4wiyRZgQd4XZjDuXwDGhBsu1uNTstnS-kmCVBfJ5jf18rtSO7ULuHrTMonP5HzoZOImAUPZeYQIKAU48Yhd2fuwJAAFYsydsX5eNlPPBDEuwO9wRfj5IWq7zsTiVTj4ycU9U_XEue_prr8OjamleGT1jrY7os71cTRNFgkuNjPMI9HX6EuB07Y4f_XKpGUR3SFI-paCpBfC_5qi4GPzAImuK6Q-koiIB6y_-GmoFsNxklH2wX1Nlyj3aGjdaYWK6PYn2f7vq0qqG-DdDeq1mqKpJnhmfRw7iBoVnZ1iEVyM364SCxioQ1wkzXt-IxUncptTcmEwd_mGD65w1sQEKl0ACA2ztWZdiSXtyhpwuRxnMFdl_45BvdVGNH-fhdfCKbvo80pWXfb7ECtK68zD-s3JB2Y91NNHoH4O4vl-vhQQWMIwlBOhNoi08w5OItfhADbJ1OAJfShOPwqmSBbOp9vAcZXD9mICcSXOSI9I9TEx0p40mOrk8t1OFepky3sz5Q1HQOlq94JfU8Kys7ovKq3XxIrX1eWX_LLCEbzt8wmG8vYJcIpZnNwCSi1yUsH4PuwwS2eAFsiDTZHVxFklqGcEUb3eEpDR1ZmF_lJEc5hd5tWIXH0sVpjigGdcTdDpaPMW5pq_2xAtK6beK8KRAFd30vEgr4kWryl9jGHMarQoN70tQ8-6a_gfDi2jZxpyrj8df67-Mbn4B2plfkg8YUqY_0tkOXgn8hA8WkbkD8OtWg9vYls1fDVO31xUaZiMtF5OgkDqPzwEvQik3QWPEFyNmcVk35dAEnCWucaF62lFKsibNiZsbaNRyvL2ajZbM1iGFIBZ9GMVfJ4yk7waOm5_TiNbmqIYhX3kpvmA0BavJPsF0lRlsD1uzJt_Kk-fCS1Y8u51MorOn4vKkP7IQ2t3TQRhZRApUNFjVMI05liqx9GpUSwO4sqbR3Fqct-QCUUdTmYNjq7vVamued_ixWDpR7s0GyrgG2Dqcc_XC9FF-UzhwKZCB9leGb1HbXCieN2v3diWLU3EZmNykbmC1fJmHGzKLs-RyHXX-yTeG6WbGxEDRAZEuurSpBOdyib4lj3hktTov8kNqSES3RofpolUBGxCTd1tw5wZ5bhdO9ga_ZXnlWOluQ5LNksh0ublW92TfJXsXKaZD-haJPI6EsYeb9Xgrq5NGOwMyndxtLUNihN-HvguMMKKmWwKHf3XbGRN1cdAwCnzpqlSHvs6q1ww3KQD95u-pJY0pTdsBVS2A0gBMKcnoeTpmlYJiqDkMCdc_gCSctMD5mlZGitLILvIQOdkC8Z4EKLHqtk4cxlFZGh8pcu8O99k4Pl7Mm6AsEKIuVutWSjKa1D80IQrTqWIgPXUZQgoQe5IK5948SafEh4aEAh9asoU9bkYcws_Uye2qGA8pGZbCWvxjtUBa7morHv6zjFs9JAtGSMbzChnsNF5bbVEubBu1yozUN75-ALE-mCBaWBo6wbBwcTDmwhx9wNX4IIRglLCgIsnUvqC-0OH2EY9nQiFrcaMGfo8psx5p9RWUYOn5lg-eZhdHM1HtZ6pTgHVT3VVL51jen76xhV7VyslOWW7anUzfKQrFOXYpQaxQ2Tkm_Tun3O-idnYlruZgzz7nJTsnMfmfzzPOhDVShAE43ROQB96cu60nJi-PHMQI5F8Qo525fo0Jo4c4N6jp3T-1PgEaTyH_B-uff2urIwTko6A5R43Ye0QEL0HI9dSgrYnyOaiCVIMf1B02OH0gY-9Fwd_-9S7Wwsgc_EJsw7mMKkz2mV4JbshwuWfb3kaDdVLx5TKhdlPIojZGFE6HqdyIVj2dqQpp3K89F9kTVxiQyppJKiPir-6-Hc-0cAdV2ysNwNkstECPHySJ-xbC2xBe8sqSjavRd1Zq1kDmmVwUPSZKXnQzDZcqL_MvouumwZXNG1Oe6XJw7l8QxhyMlC66bPvOiqLJ4kwBCpLPs_UKtSIiVwhPGTTmoslaoScLhpVvvD7oXq5jS3K16UY054MEn4qR9mZ8LbCvSAsMFaNDR3OcN1Dz5s3zG5u1axZsEb6EoXxQz7LnXkoKsoJVJ5zhKq8jHZN6XozahFS6zfiQ84UdOXPo3CA==",
  "id": "rs_0bf57f37863987c8016ab2ad0cc7c087d08f0fe882edc350c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.40,\"right_y\":0.065,\"right_z\":0.16,\"right_gripper\":0.65},\"note\":\"The dark fruit lifted securely, but the blue bowl is beyond the left arm’s sideways reach. I’ll hold the fruit clear and position the right gripper to take the blue bowl by its outer rim and bring it closer.\"}",
  "call_id": "call_7IHZtcG8cOfknL3QweghlGiv",
  "id": "fc_0bf57f37863987c8016ab2ad19fa8087d08437859aa3b163c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7IHZtcG8cOfknL3QweghlGiv",
  "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]: [-0.9295, 1.1759, 0.8886, -0.7341, -0.6464, -0.7143, 0.5254, 0.2394, 1.4364, 0.9958, -0.4038, 0.1833, 0.0193, 0.6507]\nstate[eef_state]: left_x=0.256 left_y=-0.1591 left_z=0.1639 left_yaw=-0.0031 left_pitch=-0.1817 left_roll=0.0605 left_gripper=0.5254 right_x=0.3893 right_y=0.0656 right_z=0.1413 right_yaw=0.0614 right_pitch=-0.2684 right_roll=-0.1142 right_gripper=0.6507\nstate[joint_eff]: [-0.0479, -5.012, 9.0325, 1.1209, -0.442, 0.0611, 0.9988, -0.3077, -6.8444, 8.6632, 1.7851, 0.2076, 0.2271, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251b8cd49bcd7e595712c60db6890da877bdc20bfd5d5010478255ead37c3ae0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78b17bc80fbbe35b24cd801be74d70f6534194c368f7ed9ef0e3af54af664b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ed1b9611b0455debbab01f564806a449c4f3b50111831e25ec2de6b6cc76b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 1.2629, 0.5682, -0.2817, -0.6575, -0.7067, 0.5234, 0.0017, 0.9123, 0.7475, -0.5972, 0.028, -0.1173, 0.9965]\nstate[eef_state]: left_x=0.2594 left_y=-0.161 left_z=0.0791 left_yaw=-0.0063 left_pitch=-0.1473 left_roll=0.0355 left_gripper=0.5234 right_x=0.2885 right_y=-0.0009 right_z=0.1697 right_yaw=0.0346 right_pitch=-0.2022 right_roll=-0.0916 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.7932, 8.1573, 1.1258, -0.4029, 0.0073, 1.0232, -0.0615, -1.9077, 6.8444, 1.5995, -0.022, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq0pMxKQ4gY6ZT7-YImdKoG0crJz_T-9S1fZ82GR7DHZzyvDNDG6x2wDMimytxnSYt1LKCUCMcsvO4lf1TNOt7kIhc-fj2PlnMGcoBqNF9QMz58gbDRxhLZwewHs44oJwQ62UW_Aba0bdYMEcVC5cCGGZ4gYvANbkrINKZvphjkwGQcHTLB2HL80FB8Y92ftg9gxtxfXDfB2NnGAoqqSyoxgDLg9TUb6B1TRUBqf5MUxfvsHb4ZtBVKLBOoF9OSEhYQgI4wU5StnFsZsOyZXJW9r9Qxz6dfsLoFMe3Bsq3vaqNkvHI_qOwXIih9tMDFWVMx5FzE6RwhPGD_pmUdQ_amUneiFdWpZ1JgnJWq7MjAaDTceDsQR-DRCyVWwJC498juP1ZLEPAGMAL_p4-_8GdjEpIKtdXoX5bq9N-SXWp836W8WTx6cqU7C3mFEijl8DxKBwlm_YbeQz4otqqOfztHI24pkdzzKrA0A6eXq677OPhDk1klHighLxAhRFIG4dY8eafSOV3PcbbNxzHBXJkuuGdW3aYN67zCXEz2u9w38YwhkeCmCu_WM6uEUaaWHFuW7EZZ6YgVBiMSxBRYCqYbc5n6kkpywTkUg57jLLMBzH9UBs9nOPDS7sjSwSVat3UXdIt2D73zF3InGYCXmNYhAl0ocIO38XqAnxbsGpj2v4MzJDY9PKq1PkcRmXnQHDRAmvixmyc1XIuO6wg_uNkpvz9QuyzARpNUMjR6cKuQjXAZfmUCC6EBXP-eLYgUBE9gPhwgnhmuJ2VrN-5nNylI76auErHa6guuHrofHHZHcYcmjYNNI1BL3W1x3VqHWWSlseFiaDgg_I-NLm2OhE7BvW8G96n37dLIMo3rUGr-hSg0UAXdlPJDyHIGUub5nwibIrTjtOFj6wMOMQ9G1HDIV4XUPhxl0YLFevanHVmRyFL_B98AQAZMDZKSfkUx8u4n4cgcsoS2b1mv-nfqQKqiwymUZgK5nu1hFDB_ksTTIz-bdu6pskz5KteIiHu26mfoFWZrS6EhA1P7tyR4Bsnhg6CKJvJjBakoUMN6gbD_iSJxjX4HRn17LvktOhYCG4-TpVHZfQI6ezlT_a0q2CI6bEo28Rx4cuviwnTq1rIZ-dt6s1ZaxYh6i0uYgE1ti9cm3A24tzGunRh1b-ArrnWxkjhDZIb7rgFvAGueRCJ_CKGJbeLDrsWaX1yVm9dNl_eeDVmSNJG334P0qU5DuW2Figau2KkasQjao_nEf_G0P3gkPDkNBNJnRP-BFHxqVp5ZaNx8C1mDGnlkTbMShCl2omAtrYzmwPC7OWzBo7EU6LmTdRSEUZR5zVNe0GqO-vQZJ-bPWomVzxMuhyOowaNJfFVS4Yl_4-uDoqGtY7qp2lU8-c_eygZxC3UZRoNS3l2qD_9QehJAbL6E_6efiIYd3IHpbZO1xDDhy3VBeAivZmt9sM2iN8v8Mqcw-a6PDKuVl",
  "id": "rs_0bf57f37863987c8016ab2ad24d15887d0a7ba4b584c7005ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The blue bowl’s outer rim is aligned near the right jaw column. I’ll lower onto that rim and straighten the tool for a secure edge grasp.\"}",
  "call_id": "call_eE4KI52giKzat6PN7TG9lExA",
  "id": "fc_0bf57f37863987c8016ab2ad2710f887d0a38b9b0e97d9e505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eE4KI52giKzat6PN7TG9lExA",
  "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]: [-0.9298, 1.1763, 0.8883, -0.7372, -0.6357, -0.7147, 0.5252, 0.2535, 1.5738, 0.5098, 0.4782, 0.1982, 0.1059, 0.6507]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1624 left_yaw=-0.0093 left_pitch=-0.1913 left_roll=0.0577 left_gripper=0.5252 right_x=0.3902 right_y=0.0689 right_z=0.0566 right_yaw=0.0232 right_pitch=-0.0101 right_roll=-0.0042 right_gripper=0.6507\nstate[joint_eff]: [-0.2256, -3.3846, 6.5709, 1.1746, -0.4322, -0.0415, 0.9548, -0.0342, -5.1077, 4.2325, 1.9463, 0.2515, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7a610565d1cef387991a39635a60afef998ad836c17735fd476d530a21f20c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e64f9957d15016fcd77ef3844e0a1d83128d06772d6df4a7526bc808ac1953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e41efb394c63ad62d054768eba650ae7af888fef98611d33e262bbf70525e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 1.1759, 0.8886, -0.7341, -0.6464, -0.7143, 0.5254, 0.2394, 1.4364, 0.9958, -0.4038, 0.1833, 0.0193, 0.6507]\nstate[eef_state]: left_x=0.256 left_y=-0.1591 left_z=0.1639 left_yaw=-0.0031 left_pitch=-0.1817 left_roll=0.0605 left_gripper=0.5254 right_x=0.3893 right_y=0.0656 right_z=0.1413 right_yaw=0.0614 right_pitch=-0.2684 right_roll=-0.1142 right_gripper=0.6507\nstate[joint_eff]: [-0.0479, -5.012, 9.0325, 1.1209, -0.442, 0.0611, 0.9988, -0.3077, -6.8444, 8.6632, 1.7851, 0.2076, 0.2271, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq06_qVPYIIzJU90SXpq-KITBkVY3PS88BHRyQy8F345_ov6pC4GQp-T4SYhvvBWAD7oZ_e8f9JMDOiLbXJYvyCgmuv2vakj20edzVajKobnI8Pn1KXNG5WLaPkhnFwNmjgJV6L6Eg9MFQ2Qp4o4nFulCKCv1udCXE5Qz5hLpSpf7f2pITEk53u3iHarOViaVQXDGAge963zcv6LwEaOJi7033vVoA_cZT5QQVsBUgTPNnRL02TJ-IIXNVKF1CUakp6MIW0YF4I6HdmhyToPWO6S2y4IFVJrfXTSGNTBvoVYrJqCumxcCrP84-cxq4gcy7Oya9nlSeET53eEkby-5asa6R4_XOGJzNVlCJkCc-nWG3pK7ckXTu796rNMQqn6B0rHsj3BT0YbyVIDVN50gBXiQh527w0XRW-nq5fDWo941O_9qHviNqMbTRaUeHPeieFpHqdFGUOwnX9r8iJSBgOMuMLlkUxIFaOcGhDPOB3e9wUGetkYqfYsXhQsN1G2sGeoDMIEUrQe4449vhH_MVgK4y3Y6jeBYnubaeQ2wIN1BktqOxqfRMPrKA88LKl1z-NgQX1vYNg2XgbP5ZQi9CtG62Ulm06Dl-0bogfJtl2Ues0zs5GPB9mUIthIc0qaNX7ZSqHOHMEDT43qkawf7khH1iIzqPmDay8Ij_3_PtmajaoJ67dvcTRZMbe5TPwQ1DsXWIjTgaiwvtK7ITsQlZsZNCIl-CgjtYDyfjL-9cPV-pWN4Uo3c2ff6dctfG82ycTeSs4pqqMoKnjqOQm87_fepA_ui6zM51K5h1bZd5Z7VshqQSRfZgxqyIbpEf2HQWAbdBMc32EClRqbHjX4uNM918xhj7qNJ_vj4HLQ6-S4Isk_OPHKGEEFQ4CKNysVJ5_S167k_f0tC9uRGLkhV7uQk-Z07zVWpk9_wuTgx-OA5ShcBCntbDOeXmIgYz37f0yz_ed24cDOj7By-LhlAXmmTZ1OIOJb_xk338OYc2uEGaJB_ZbOg2CcEyiyPtwvaiVFc52twwlR1KLDWfWUMBSAGh_rA0kNlqwfzRzQvIKQpd3H_E_w4FrgTxEdB09jrqWZxXwFj4UOzq4_3YLh7sFtJOrHlMyIc--Grg97hxFq1tE10ZZSM76_sSrMuM70dxRJTBQol1_PyB9DnajsII-d21pNSvqHt4dbqTOyQfmI3nTsMGElpF_uNFl-oMWVcwjO7Jy7GPVcq91UODtIOaPjSPFk_fW7z92MJyAejqNa6irDMSnHERy7lqUAdHcKHWSlr9CiF-Q4qLwekoqihQk73KTnwU3Z48XkT4vG0PT8a6aNdjnd5PBXVjEzw_M5uWceutoBr7wS2osKEX09Mie40IViBz60C3JnJykuTkYQQKiD0Rtmzv7Z6_aI66f7liDCyDd9s3B_V5wVoibEPaDQbweEljYhoZlDcpSyUFbMzDG7-EKWJsVv5YSOq7z123lPe-zwQxM273M3flTkYPXNtRbADZEW5xxiUUQMIeurx5ZsBTOD-Kgcxq4vC-JzUtfAbWWqsR4ikWyppb0WGoSfRnsJf-O9LIB5rg-eafoko7Qf_LOjhxNr2hMuxC7qJYBNXjEEOTXxnO3wJOom9EvqKbsTX4cHJjPAbR1yywtsFNGObrhIUQTwC9d0RFnapct9",
  "id": "rs_0bf57f37863987c8016ab2ad34d4d487d0998b3b15eb8fc549",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.045,\"right_z\":0.04,\"right_gripper\":0},\"note\":\"The rim sits slightly to the right of the gripper center. I’ll shift outward a little and close across the bowl wall rather than its contents.\"}",
  "call_id": "call_JBPszG3qHMJ5LmZOuTcK2y9a",
  "id": "fc_0bf57f37863987c8016ab2ad39121c87d0ac2e86f2cdc6d6cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JBPszG3qHMJ5LmZOuTcK2y9a",
  "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]: [-0.9295, 1.1763, 0.8883, -0.7376, -0.635, -0.7147, 0.5255, 0.173, 1.6012, 0.4839, 0.6212, 0.1093, 0.0669, 0.3949]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1623 left_yaw=-0.0093 left_pitch=-0.192 left_roll=0.0576 left_gripper=0.5255 right_x=0.4022 right_y=0.0544 right_z=0.0652 right_yaw=0.038 right_pitch=0.0698 right_roll=0.0235 right_gripper=0.3949\nstate[joint_eff]: [-0.0479, -3.6444, 6.5436, 1.1209, -0.2955, -0.0708, 1.033, -0.8957, -3.6034, 3.6171, 1.2723, 0.232, -0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794b359c28b5d2004448e0fcdbd198e7cda13907a99257ee5d3f5bf9b603caab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319d02456f713c66828d304ab43f04e5cfc2222c710f47842173dc15631f1a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cf1cc057d4262404516a93aba3c04bd2a2ae2d6ec9cd8c7bbf219096f7f2b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.1763, 0.8883, -0.7372, -0.6357, -0.7147, 0.5252, 0.2535, 1.5738, 0.5098, 0.4782, 0.1982, 0.1059, 0.6507]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1624 left_yaw=-0.0093 left_pitch=-0.1913 left_roll=0.0577 left_gripper=0.5252 right_x=0.3902 right_y=0.0689 right_z=0.0566 right_yaw=0.0232 right_pitch=-0.0101 right_roll=-0.0042 right_gripper=0.6507\nstate[joint_eff]: [-0.2256, -3.3846, 6.5709, 1.1746, -0.4322, -0.0415, 0.9548, -0.0342, -5.1077, 4.2325, 1.9463, 0.2515, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1AsP5EeCVwKamBKOdwtpeBfIrjNEEshv1KsNgPSm2GEYn7r8l90Fbyu7p8bV2TzNq4MYhZW6ugHrw7c3iFsbqgJ0UiSjPMjhEPg1VkD08MBtH22xobMe5hMS3i5NmuYKdXRnMfoaBPpClxdKbgJiL1lvNUKm5gpGv9AMmb8d9wn9AtPXk2f3vq6KYCsXkIyrmUc4UA8cxHIp04jyqw-CXADtX2KD9oI2jr1V6Pa3upyZqN5zXE8kI1t6L2ZChpxyXJnkl8oCqQyrvojvnI2VZpNASm_T8T3ObErmq1pOVFkArFxIPfZhzBWhb44mNyDSYdhtIVwkx1jU038vnVq-V58Z-NSTwwi1A_D3GLms4tMM6MJQ7ufF5SxeP6ZpKqZmO5grjdpLxiUAzB-_X44U-zBPDLoTTaGT_7XnbMpeCyhj_51o7LdoCn0gopklfj19PMqL9oDY8foguDUGPdw9j2L8OJt0ev6s-_9U9kI8x8r9HfwUeIrNm99eactMV9Kcwrd2qPe6qTWlseEFl8AOl4wPUHuGwprsaUZkILOzGxP0IqMSDdc2SLcIpMn1MeSnEpsLXczx_f7ZaboEnplhq5gLBShTMw4B2yug69_V5TLFsbRDvxkjp0QDgYIgvSsSNsZvZEu3mYe4PKwAyPQinA3i4v45PxFQGzI2qz6v2ALF82qnTruDUbOxvWpmJtEwIA2w90PfA_YIWeH7XwcFlWHkZSikz9HmtRH0pGo8wQgL0TWSYFaHg1SgcwBBTH-3uRG2rYSF7D9RnnAdlZqyOATQp09u0Zop3m9o3-ECqHEJoqP_om6t5zc07wWScVWzoJPSJoYznx3nZwnVZkDffMBYEy3tWVtSjX6p2nmPF2JR4epqi76NntdYAh7Wa-y2jQuf13TdbfTtQs2y4EYkk7KPJ6FaN8C8e2Tw3SBUQQ2OxgTcD_3Gv7_HPHLy3sY0oGsHo5jdSid2zW-bFV6Sq4vDuLp2t9szm0YOPL9-AM_SxmFtN4rVPNXd1j_kLvtvWoKz2Aj_zEHWpo_6SxjG26fG6fvRViP7xLWD6oVVjXU88P-q53g5bGY_6P05nU6Gr5aPCoF3b05J4bNm-T-R9ssp9Ck3kZGfsFUtUMQvxtgRiXyObXxLvazlI5BKU-mI3NzZWcB1Z8SYX9Fqdovto0Gbctxg1ti7NmLIb9-ICru79vqvw9EjloQCiiXZJdwpJNiV6efSkiYD3gTtI0a_lU9x-ibPpcDtqEdpwAutPPQjbBk82vTY57iQymlAIn_aQTsiIndp1g4fhHV25cqWYBQ5lh_g761R0Hg2VDHw8s6Bk=",
  "id": "rs_0bf57f37863987c8016ab2ad3db9d087d0bb39d3ef73c7a769",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper has contacted the bowl wall and stopped closing. I’ll lift the bowl a few centimeters to check that the rim is securely held.\"}",
  "call_id": "call_bSCxExvwVzvI2fzcoTzdmG9s",
  "id": "fc_0bf57f37863987c8016ab2ad3f24c087d08a39c18f7ef99081",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bSCxExvwVzvI2fzcoTzdmG9s",
  "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]: [-0.9295, 1.1763, 0.8883, -0.7376, -0.6346, -0.7147, 0.5258, 0.1738, 1.401, 0.5938, 0.255, 0.0994, 0.0601, 0.3978]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1622 left_yaw=-0.0096 left_pitch=-0.1923 left_roll=0.0574 left_gripper=0.5258 right_x=0.394 right_y=0.055 right_z=0.1079 right_yaw=0.0511 right_pitch=0.0136 right_roll=0.0153 right_gripper=0.3978\nstate[joint_eff]: [-0.1709, -3.6581, 6.7214, 1.1355, -0.359, -0.0562, 0.9402, -0.0889, -7.1043, 9.1829, 1.8437, 0.0611, -0.0024, 0.5788]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29cce5140012217d3520280f4bdb5b2910256fc0f02b910e71fbab4731693ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6883910e44e04ed51cb6c4de762e05b46d2771c161850f688ccc6b72dfde4a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360f230dc0c7cac6639103cf97e9b2ec197d495374ea5e9cc31b7927417c68b4",
      "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]: [-0.9295, 1.1763, 0.8883, -0.7376, -0.635, -0.7147, 0.5255, 0.173, 1.6012, 0.4839, 0.6212, 0.1093, 0.0669, 0.3949]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1623 left_yaw=-0.0093 left_pitch=-0.192 left_roll=0.0576 left_gripper=0.5255 right_x=0.4022 right_y=0.0544 right_z=0.0652 right_yaw=0.038 right_pitch=0.0698 right_roll=0.0235 right_gripper=0.3949\nstate[joint_eff]: [-0.0479, -3.6444, 6.5436, 1.1209, -0.2955, -0.0708, 1.033, -0.8957, -3.6034, 3.6171, 1.2723, 0.232, -0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1Jgby1TARQXxt-FQuqt7s29wQHMliwZS1Dw_WWYcD1q2GRSUgFVH-dDVFyq3UvD1Ey4X_rM8WVNg_0Ym8CrRYS2mnkm7S0ub-cF0MNTLkscWrFYnbhIEzxw6drODcww7ZiCkpYzewexhtcCNkhTzPnFeaFMgxF7j9JzBVZq-P5gRP0YiGnmT-V35ydw0ofUNxrr0zWsjl1lY_4f1A3uayq344MkuRPObIiFNFhr0_ce6trVui8ZsxaazKn_auCHYgdCbORuAwuJqftToM8oRopWha97qE8ZzNBzBN21sMoXoEM_2kXHXPEoOrhecr6vNGTchvPlYvTdj2nHbdyfEH89sBvtapDQr28wXeN_B4dtljO4N7-hO40KdF2hXASKYfJSoPdJ68xvvKJ-58tChMyJCFsI2G3YZUuM5AH4vZZUWmNGG5FAlBUGviY-6it7IlhXmFV_D5yJeP_KZrnDOdMgk2DpGh56_8Wh9TCVODWHH92733ovdPBc-Jvo5b7-dBD0ATWGfqqLjfeDTZMkKurhiSqFfQFLHiiwsfIyYGug9mG2Q_ZunWvpk18BD2WHZ4MaEshDRDqb08-DkKQTlDBEngxNuNTA289n-BhRkrA0VkzhiP0MleyDNIuIrd2qW88KJOdmR0Gm_71VWuVp1MLLZdGRgmYTv_Jho4IwHHG-lef04r-xbk7KTu0CCP20atRxHkFrMcyWHhLdzPOnRqCEPUH4q6K_nniUY41smJk0K9vtf5sNFFvfirgC6NJDuhy5J0YXMC4D1kP8EJjyp_Kvs28f8j-acy6HpwXFN8zi86COSnMMTApRdMUEAlzsorE2wKZ-8E9Ha7GzKA11k_HvwR64UFXz-UeBLpK7hAhsmPreP5fB1947epQNS-1RCDB7M176KZKGYHKsU32pL7glxJrgvxmKux7npkvWAF9P5yclIblW2aSY26LjCR9V4hJ_Rf4gPCDzHPU91MvkxXX-KXHXrymbdTijuvqDdyzj2gKUJBM1r_WPWx-LJaGnrUpC1KE7McPlRKykS7FYskqo8EDcGagNifbbOT3PEp7no288Qe_HiBYZLqCyySFwKN0OamkvCUq2V2DMf6P-6fxbmG2iEs61_3vqMjDcSPZpXmyJrRNnZ9eCjgzusvENDP4xpfIAChD45Pcnw_AgDzS3AfOXUY3HbDGp0oYQq2s2vbpzRIAtyVEla54hoUwn3VDL6NVJ1QEzYU8cqMzVgfTBInjNeazv7ZzY1oQTCazCUL9B_zkKSoejGZw0QsUQ26Ga_TE2Vi_Db98d3Jyq9Nxzw==",
  "id": "rs_0bf57f37863987c8016ab2ad464cd087d092c92319b76a26e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl lifted with both fruits still inside. I’ll move it toward the center of the table so the left arm can add the dark fruit.\"}",
  "call_id": "call_lMbUpMcr2jxK7qITDOihatK6",
  "id": "fc_0bf57f37863987c8016ab2ad4792c087d086c1209e852fd973",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lMbUpMcr2jxK7qITDOihatK6",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6346, -0.7147, 0.5275, 0.7952, 1.7424, 1.2182, -0.2142, 0.5732, 0.4049, 0.3976]\nstate[eef_state]: left_x=0.2546 left_y=-0.1601 left_z=0.1622 left_yaw=-0.01 left_pitch=-0.1923 left_roll=0.0574 left_gripper=0.5275 right_x=0.3941 right_y=0.2702 right_z=0.1545 right_yaw=0.0996 right_pitch=-0.0386 right_roll=-0.0284 right_gripper=0.3976\nstate[joint_eff]: [-0.0752, -3.6444, 6.5436, 1.1941, -0.3297, -0.0611, 0.7985, -0.5402, -9.3607, 8.4034, 1.5214, 0.6422, 0.1978, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6892cd8ffae283e824726fbf21cabf982728d438792da5a6f058a772653c90c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f27bf61f8bc9a281974714342176521a6a60718abdd4179378fdd7ab40c0a36a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cdbb99192a99a64476b95e725d12a9d57d93bc36a0db41121bedb5316483e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 1.1763, 0.8883, -0.7376, -0.6346, -0.7147, 0.5258, 0.1738, 1.401, 0.5938, 0.255, 0.0994, 0.0601, 0.3978]\nstate[eef_state]: left_x=0.2547 left_y=-0.16 left_z=0.1622 left_yaw=-0.0096 left_pitch=-0.1923 left_roll=0.0574 left_gripper=0.5258 right_x=0.394 right_y=0.055 right_z=0.1079 right_yaw=0.0511 right_pitch=0.0136 right_roll=0.0153 right_gripper=0.3978\nstate[joint_eff]: [-0.1709, -3.6581, 6.7214, 1.1355, -0.359, -0.0562, 0.9402, -0.0889, -7.1043, 9.1829, 1.8437, 0.0611, -0.0024, 0.5788]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1d1PPXK_7PpcJTfvBG9yTE1DeePq8onp3NpK-IaSdlPJzwb6O5mBS-wMCDIuCDt4uVNze3SSjHnoU6ukoCTLLwl-VL8Daxl6dAbP45idJ7JDl256aUUPseyO9j_ummEdb70MHgtQLwqDpST_jZ8s804yBrVuFyZ7VjnqzsYjwce_SJQGJtE84qqbiH_yPyw_Z2BG_pyAQq0xHeC6euWwxbH1oSg5Bu4P3w0WrRxgHe6bPurqWxLF1BahE1tmvwZfSq08Wgok_1TH2f4q611EGBiCi7qY5V5LE4bV4MeER4Sq8gbLqYrvQ3aafK-IrXdUUOi2axoMqkqkRgh9iW1KU7r2fJI5Yj-OLXOdcZ0VXluO2S9q9uIbRLmMQjU7i3jP4y7qwMIECoO9wyQsTXPTWuJZNYIa4PfFbRL_zs59_oOUh8XDIBvsbJ5zUYPTvxr_hlTc1EqJDNKdXgg3Pgu8szjlBF-t7osGCioRHH1_daridSq08u7sXIyjN3XKBoIbjMOm4psBfjhqjytd0ZNUNnKcRK8px8zybNOs6hNLgVr2cboM7-05usgAmSlx3v0hPrtXFGw-B1cHJmWVZhnoQbhR8zAyF-A5yAUt9ReVYdC0CHBZgC7sw7_uyCNDik8lzlRNK1-sTmngTUHaGb9ruaThXrEcXO8sMCtGHbj-u07bScCWb9j_plA9U7S5EMOnYxZwYXZa3HJCHjw_NmUgFgUnTb44q-IJRSLUezdL_MbW_0Tim1om_zr2SZKuGKpO_f9nt_5Q-AhJDo3OJZJ5JJM1amINdxI_M4yyVDUkpHWCYWRS0IKd6ScFYInXyd5wmYC8JdH0R7lOgoxxZj6vwdmOTsKS7jzws4OnRtZ9zdXzftuEhe6q8OVOAMc4I4PB5_Fbh3tEUW9LmDeEsezfIiRbYHiqMnMeNX0tbpLpfxyVwvb75umHSpnOSEb8sikGlImM98PlOnufj0XeYr8rswFW37OwRLT3DzqJlgetbvijS8hj-oam8HQrJzOTmZs9-6UDb0x8fhPpxZBV_NXiK2cjP9Sntt_4n7XxU-rmNbaGVG8gY5oqiC-b1yL8EYGRcVgvx1BnDfUEpVGGPX80PEihkpLu7eslwXcNabH6H2xV7QIChDkkVVbPDaJM-sfsoOuuhzbcBQsTKzZwqOmIK8LXG4yAyL3f3-anhoezgsnqvO28xXU3xlAju4UMO3RPe6O8-RNFqT6oO6vMxWYHN18wGa1ANAaY94GsTW2MTYs5O6dGZvDKu8b3RANLUqtUdDZouIDO61fUbNrEB8X6g_9SwqFfReLqk_yEw0Qduan3WBsQQ5Zs_JvKfo0ZzcduiM-sEvAnceqcls3DtZRNmSoIVFoTW8ciX0-Ia3xhQzpT7ELWSJUgJlQSBOeix2Za27XEZLLGSvCdzhL2QG3uf2Y6z2bprqRP2UDgv2YT4pc1Y2cTgP43tqQ4oIlKQUsxUvvNHKpAbrJ24tJ3JCsHaLju0P3uLX9LVAeXcwxqmykj7yiq9Gfk_4OH3NzFRtCXM9UA4ILY32WEOfVRmRtqv1NJ-YKaKgO5UmrXbBgJG4Y3VR_AqaCUaqYvAnnslh6HpfmGsQ6q0FGabZVQbbGl10hLHkM9S-kUgXeKTirwK3j_1s0HumR_gVjAbFbZXU9BIZT5vwpkEbin0-t5OWf26brSEa9bOXfBfRH1YFUB4WNvnO7Cnq1BzKieGKANG-jtghE_RxFqh75Yn3io_26qXlaZBVkWH6PqGa0r8dL_PCfoE88tzUpiryIANRrpi0ObI6CyxBCTpRgD257b8g1CHuz8-0wrGObI8Bhh2P1u-NIQ9I9ugVpbvf6BDQKIL_lcLgU-u_NsV0RMEEhyK4Ghq4Vf8NyJUkFQdRax6lYHsrVuIPsIwdoTQh1vlbzsjoW9SqDESvIy7YFbS8e0uEjamQ4d9t6AxcMC4raEWGhi4WyxJrDdkwBPTxo4vpDJL2GAq9CQjc6lUeK_b5GmmJMjcQywlMf7vjTsvmkm2KUlyF2MQCYdssMatEMi86fJfrBJqVzT1HWBLfU2e7doWK82DXgXopUOMYLfKKCOrRzmfzqFFRf9ezi85_gVsFAiMaP_UCRYRfX8E42aq1WAtkeRzhP-vQDXm_CAPzGxhNNAgIBFPcrrqgnGqzgYnvWoLjICF5tLL2EjGAb9UdSRN5Y9Ydr8eEm4s5hlOeJ3r0muPDMLu9fgHLuj2pv47qFN5YXF8AOdc7Ywf0o3kJ5cZRBWWyuwne6bCW-12aWCoi3KMB5ZEEonFdDNyZHhszqbwhGCdzAoHaOIsMda_FRkoQd8Xl0qZ2QXs6qG4WyWiRrq94iwdTb88yjG04sLVRYpWbZrqU92Qo29Ry1IY7jbAddGwf61bO8ji2WcJzT35yO_CPOShKazbQ8rOsRzYzxZcXKBntbcF6xD49XjJKGXjsoV3GluimCSBFv4P0zWLMs5ghaMUJbkAIQNZmI4rE599vSRc-hrxhr6xCMuyyEA5Di_EWR_qmSi4t_Tt12xErO5foCemrCSIjrzdZqU_rvMr5-DUHReAuEfMdEcMT6Ql0t2gI5htP4N_e0AlbJppLhlBOpYKR95SwhMdDP0xY94VIHhj5jZcybJrL2HRUklMd1B0Ha9Z8wAlYsQdAD_To2fLEeWrmV3wwWiv-azQHYvvAVjFLsA8lnCwysuO0Xlvnls5SWAVPianZYoHjdjipGtACgUrlECwnXh06es3wZNZmT8VGPyjERp9DSa2D0K6aS_rZrQ==",
  "id": "rs_0bf57f37863987c8016ab2ad4feda887d0b6b5801b1282ca79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.13,\"right_z\":0.13},\"note\":\"The blue bowl stayed on the table, and the yellow fruit was displaced; this was not a secure bowl grasp. I’ll return the object held by the right gripper over the blue bowl before correcting the setup.\"}",
  "call_id": "call_vZm7GRw3Z7kyK1p9LIhweolt",
  "id": "fc_0bf57f37863987c8016ab2ad5b094487d0b8bd632e18adf987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vZm7GRw3Z7kyK1p9LIhweolt",
  "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]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6342, -0.7143, 0.5286, 0.4671, 1.4292, 0.7567, -0.0353, 0.3344, 0.1917, 0.398]\nstate[eef_state]: left_x=0.2546 left_y=-0.1602 left_z=0.1622 left_yaw=-0.0104 left_pitch=-0.1925 left_roll=0.0575 left_gripper=0.5286 right_x=0.3744 right_y=0.1279 right_z=0.1138 right_yaw=0.0756 right_pitch=-0.0996 right_roll=-0.0497 right_gripper=0.398\nstate[joint_eff]: [-0.212, -3.6718, 6.5162, 1.1258, -0.315, -0.022, 0.4078, -0.212, -7.1043, 6.9949, 2.0488, 0.0806, -0.0073, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e107434fdb20d04d60fbd50d358619c6819c3cb30ec1ba35d637e2a73d96c4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801af7638fc68ae73110a144eff90b609831ada29e8ed95818565178a9297a28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6dfa595a53be94b4628357a4e922f5c9c5d043ede9115e97e70ea94929c99a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6346, -0.7147, 0.5275, 0.7952, 1.7424, 1.2182, -0.2142, 0.5732, 0.4049, 0.3976]\nstate[eef_state]: left_x=0.2546 left_y=-0.1601 left_z=0.1622 left_yaw=-0.01 left_pitch=-0.1923 left_roll=0.0574 left_gripper=0.5275 right_x=0.3941 right_y=0.2702 right_z=0.1545 right_yaw=0.0996 right_pitch=-0.0386 right_roll=-0.0284 right_gripper=0.3976\nstate[joint_eff]: [-0.0752, -3.6444, 6.5436, 1.1941, -0.3297, -0.0611, 0.7985, -0.5402, -9.3607, 8.4034, 1.5214, 0.6422, 0.1978, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1jNctJHj6xryVwNZY81UVzjGraU_B-f1MWBAxmTmrmFSo4T6iKmhrw1vCpzwrMGVonw_sihfUzTdXrEAWnQSEmq7nGkMJY_a6_P4024J2sybFplFXMgvV-OOHUdL3prRGmOY7kLxNup4gJLj1KMouef7wTeSLQ669hXX3MUvrsB0NapJmo9mtXgs3EOOxbOO-aycprruVvVofdky2W2LSn6NYXoYJct31-k2foJT7-8Eje92EoYAX-Is7wfZb7Uxgz4gaokYExlhWcIMBgdMZgUWliT_sknDXthUYIi0a6Z5CS1S4nnMkQ__jbS4JqsI8wBxo8JSAFfuVYZJQdGsiL7B_ECmwL7dzlLPG9rauxOyv1QxBXqmntLf6Uge880bt4osZjlUn4i_eg2vjE667E3lQNRA51PISU544GVAem093tDPvXIhio1t4pN8BMkbAf47nOlXkhYQVd-Z94Jb8V9H6gMH0eucwHzUqsL3vfcPuTd7LbfSB8q5HHdCAcv7I-hEf0F8oc-WMWqlOVo5Zk8X4ywi-rEXyoepdTHK7HA-hHFacSx9QrR3K8RilL3WtEygoBarX_YKgU_CYIdSqBbFyKoEjojytJfGIRcx_Vy4rpJ8kaBRr8Q2n9SVlPwexEtGvjmK6Jwx1ibbkc2qbUR9DVxAluPm8E6XT2I1GS8vd6n1nLVB9sm-vIRH4KtMOblVDcKJMqFkoM5dT3nV3lP27M6MX2k_upOLFNay4EtS7RE7t5DLdP7onQ2mqE7Jh4gARip9cWcN5CrBx6HYLRLeVQc4929Fp_Ojg2VqaZn-UZIyLjbTUDxnhSLbPSxKfcCxqwYBg2FWLf0KMVPRnV7pP2UqhmPOXnHaE_DDa5X34BQWs_FSJeos2L5vmiIgPoUmZh9OTZOJEKzxwffJBGyk4OL9IzZ5QaUWWtTgiIOyhwiAgpJ6KEhl_hboekFMwpsW3VA_qpQIqkHFKtzIrK5x3gMCyggDgpBAmkkPZUfycFB9zXE_jIfwUJZvaxu7x3PwRdGID9NacFsddctFS8SpFiDwLLUh197W740xyPZbtstuS00-uo3ijib36SmAAiL5ZPcZsmmONz0vMKSiP1xmiWT1yuiQHAZzuLmVNIdUo7v9Ux7iq7Ge8989F1-UX0sEIhL-vQALCNsRqV2_TzPex4PtXZHfs5DlwewsxN5W0nACLj1IB3j-9XdzPnCKxybhwAr08NUFo3L2Pw8K9oMp-9CYypZVGbV_JGXb_Mhs72kzEAUDH0NqCDZyCBQo1F",
  "id": "rs_0bf57f37863987c8016ab2ad6193f487d0adf207b5db2eeef4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right gripper is holding the green fruit above the blue bowl. I’ll release it back into the bowl.\"}",
  "call_id": "call_jOb5S17Wj5LdCBq2uqUrMblT",
  "id": "fc_0bf57f37863987c8016ab2ad62d32887d0ae45c01928f9dd8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jOb5S17Wj5LdCBq2uqUrMblT",
  "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]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6342, -0.7147, 0.5315, 0.4656, 1.425, 0.7467, -0.0456, 0.3202, 0.1753, 0.996]\nstate[eef_state]: left_x=0.2546 left_y=-0.1602 left_z=0.1622 left_yaw=-0.0102 left_pitch=-0.1925 left_roll=0.0572 left_gripper=0.5315 right_x=0.3703 right_y=0.1278 right_z=0.1089 right_yaw=0.0938 right_pitch=-0.1184 right_roll=-0.06 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -3.5897, 6.5846, 1.1404, -0.3297, -0.0269, 0.6276, 0.1709, -5.5043, 7.2684, 1.6484, 0.1929, 0.1245, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e6f9ec84297ac054e516dbd998d071397f0a992d81d893d8486620d56b56e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66f1e2f90e605af7de09e43e6dcca47635ea68f9882a4386fab6f000ddd4554a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcc18a319258b30ddf06a4c2de1208cb3213339debb45f2a1984a1f90831a12",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6342, -0.7143, 0.5286, 0.4671, 1.4292, 0.7567, -0.0353, 0.3344, 0.1917, 0.398]\nstate[eef_state]: left_x=0.2546 left_y=-0.1602 left_z=0.1622 left_yaw=-0.0104 left_pitch=-0.1925 left_roll=0.0575 left_gripper=0.5286 right_x=0.3744 right_y=0.1279 right_z=0.1138 right_yaw=0.0756 right_pitch=-0.0996 right_roll=-0.0497 right_gripper=0.398\nstate[joint_eff]: [-0.212, -3.6718, 6.5162, 1.1258, -0.315, -0.022, 0.4078, -0.212, -7.1043, 6.9949, 2.0488, 0.0806, -0.0073, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1r8uWCwGAjlkvZHcyzucgWvee7FW4ajJogIZLTAYEWSk7xx5HXsbLrJYHJoMuptM_rskJGdo8mcZIwRSFJTCwuC3STqAC1a6DKDW7ldvZGpQQDjG1ZIPDZnSnxKbVT0hZpnziIbzZjcds88a03nw6w_6TSgsfk2O58m0u6qBXTuyLqInnBrddgWrlySmdGyxaKk6RJsOyINTqW0LUA5rzcfxO-DsuhMHAAuRrkHEnC3gGl6DFaw-3BJ8oJzqjhkgo1WbyO2FefqlZAMDY0R4_EfqkB91pZensomaLkFgHwBFGhaP8SCVRmDIgswX0luo1a8tfBO10XjGERNL0MQVKzz-b0pqF3OxD_6X7O68WeqW0yg8xAH51njUy0XdsKzGjfKKvv4hKjOhoovLmgLNacbwNjD56zwqtUQiGDfv9q_tCg8dR6U0Xd3I43dqzTZGlPnYgKHnAq_lhlRm7Yg3VN1bL9HNuIEhAzrhMYeKnE49ivuv50gwqMWPC3PFnIAWVnSXj08A5yt-FDNPA0BKii95sO5Zeq8EknbG0wPNAmfrJ-1RUOPlNlO9ZL8qqyhQArb1WlFiBxIllrshMzREt9NetJd_3Ng3hiYGBJvpn9vaj1F8A2_UBB4WTP5wG6LjudNCsUcsJTjgMbBXoTXJo5cvg01MWCeLmYgF7-a6FyOaJqweM_QXFEgSUWxIdicvDGz2CWdi3f3j14lmR4w8DrUoqbREIG5xrfGI_p0ojXnPwXKAYCEEEWHKpU72lwfPnN1J36zLu4itcVCBjOJC0bnhJEmqUs6cw5m91VPMLEzZhiKmhI8cf2o1d65Bd8uXH2E5leIPm2maaSIgQqa609nCxFhdhr8bcfO8UQrZ_O8IMku9_AtC5z_AeRMSGWNttHd4F7RMs0oEsuePx-spIFQjb8eSjOK-es6UMfNaCTZ7ua5Rlq8ZwTASSIDrQUFSjOhALokA0t-5mAwWEEjveBUhKp87kP5XZ2wx0HmKRuspDywAsUi1H8oYDr4C2zA50Cf_7CC-SaI7lHYSFgAGAdebjvUebnjvaCqdgaIiyod61O10wZgjuM6JG8fg2N1AJxrRpHRp6QVuumobZV44QDs1BhoVUxbWMRcdhAIG63Ek6k0f23v2bvSFd4Au_PpeSsPuLM-OOzgCMhpLHFq-zu8AdOnPIDltvHR8Kn60FFVrnMB67D3xdXWqp7UROoNIkNwOIuqV34EinyUH8LFEfZgjV12IQAP6h2kbp9RQ_dvDB40wAo2pri9OvE3EarK6bh6x2RJ1ZBoprn8McOks5lQl2SrBc8K50hcTNH5-QMSscLhDBRYuempYdEdvtTWhSwd_ksF5Ny5UKJ1rmtrguZRas-tbDBG4igC4i-JBhqWSMjIXYth8l8xCVEv0gJcgXfBeIjPbG0oCDRcB0NfTokTY8gj07tuwWywWipwp2Emf2wEYpYN_XRXW7uc7oUolKOWdsDY1Xz1cWcSZGcEPFrlkzn73bKjgipLGi0zdu4D6E1Z8OFybloKqnIK_GCbl3L",
  "id": "rs_0bf57f37863987c8016ab2ad66c9b087d08cf977ea24450384",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.05,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl is tilted after the release, so I need a clear view before another grasp. I’ll lift the right gripper away while keeping the dark fruit held safely.\"}",
  "call_id": "call_Kgk3OhDLV484v0Vk0b2tbkJ0",
  "id": "fc_0bf57f37863987c8016ab2ad6a15f487d083db432e1be8e49b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kgk3OhDLV484v0Vk0b2tbkJ0",
  "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]: [-0.9306, 1.177, 0.8883, -0.7376, -0.6312, -0.7147, 0.5334, 0.2054, 0.9714, 0.8085, -0.4164, 0.1295, 0.0544, 0.9965]\nstate[eef_state]: left_x=0.2542 left_y=-0.1608 left_z=0.1617 left_yaw=-0.0127 left_pitch=-0.1951 left_roll=0.0562 left_gripper=0.5334 right_x=0.325 right_y=0.0481 right_z=0.2154 right_yaw=0.0604 right_pitch=-0.0111 right_roll=-0.0092 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -3.7402, 6.5162, 1.1648, -0.3541, -0.0464, 0.6862, -0.1709, -2.4274, 9.4291, 1.7607, -0.0757, -0.0659, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c34b2e8819d3e0dfb73c2962ae86c18158b5d05c056b88ca037e7c2167bdaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6621da32b7c065bbd4b25e20a0dc468d421565668d31e7f4ebeaa6821bd60754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7dd306a5fbeea7058dfa40fdd4c729c7b3a0001f119212274298e04bd6c5f1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 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]: [-0.9298, 1.1763, 0.8883, -0.7376, -0.6342, -0.7147, 0.5315, 0.4656, 1.425, 0.7467, -0.0456, 0.3202, 0.1753, 0.996]\nstate[eef_state]: left_x=0.2546 left_y=-0.1602 left_z=0.1622 left_yaw=-0.0102 left_pitch=-0.1925 left_roll=0.0572 left_gripper=0.5315 right_x=0.3703 right_y=0.1278 right_z=0.1089 right_yaw=0.0938 right_pitch=-0.1184 right_roll=-0.06 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -3.5897, 6.5846, 1.1404, -0.3297, -0.0269, 0.6276, 0.1709, -5.5043, 7.2684, 1.6484, 0.1929, 0.1245, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq15KxM1d24Ky8bzPAMuSnbFgxI9ZwnIUFL2QXYot4dW9JQuuASB99LQA80dt_CAgJTp9RSH5OmZnk_Zbf7ed4Ndqzq2rRQzpBqRo6Tzie452PwA-wz1prdiHqU2M8jC-0KSr6L04FLsShkeYX5_T2r9VG0QrHKzDXZ1Ip8Xqnpdq4CAdcp5T8BEMpz0583JdP0GVG1ifJQtHTOcOR7Lk6H_UG0H3d2cYf0zswV0wE9XUiPd0GwggzVRnREQucr_-BPvg1Chvws3gVLQoyd3vuW-BzwwLDbeXBQgl9gJvQmNPsn8PYdpJnkXuAVkGGjspZB5asyYrDFcGd0piKb5zc1alviM06rnf32TwrkdLVuvCsjt2KMhOVqPuBYzKmRP2TBSDFvgUb6wR2g6RAx2WytEDyjdH3XIqPXLfVt40bnHDRwYidvpONFcIdut8E8PXo8ils5kazNSeJAl926Xs9ut5Zq-sA9UsZYu8JQrP4g3tQxH99ML5hfOFZNRgwlmIu8Cz8BX9xb-STL_83SmjrUQceo0_wDi6FHFpN40RzK_9v4LlgO6cLXL9GWU7UnMB9IVjFZQnMr-EWKF6N9iWAktP0GApKCG7LLHHjYKLM_yIcgKqd3uPCWvcekqe9PLRPz_4JL0Ztd5HJ8IkSzfNLeXxzF56kZ2DPszT7fsYuYG5aKtEEqXoLdGwPG8yRn1gNtsZklCNCXkOEmg1SZ3oKlBDsfBinDmlatyk_Req4-dGjY0NXWOCDa8WlKCEehRVtWhk-_5uSVndXJSszKEorCusHheOrixtmcJIaiamOf_qIWNDthAwLCtX_quj0PtzI35O6OgofzT9N3Nwm5dW_TBXZaWn0GueCTGRBSYUt_A6cJWQ2pIezEfgA2ioMCDPH7uAdcnBYeEPC6AZ9e5hloY22lTQMidpPn4z45Wq6jOqJMAOo3NoKIBHhHqDfYD1pVm3Uj-RnsTuW-tJeFbtTA8mphWW5wfyXxUOVY9paVhymeHoRMs8SjjBJSNMFmnNZ6j1khm8K_RqtUL9bnMSUCWkunigAp52dCAsi4L9m1r6jKpD9mEBDRZMm6zZmHyfUbVWb5czKmHD-mFyOYa4JFZsaoT8_BwVju8iSmxcaqnwo3pofeK1N6est3Pmm1IfvbjS0Zu_Frm_tMzSmmknDUi6BXcvsfCJxWJU0SbpZJl4BcQEwjJKm_utCKK9U_NnnO4qKRTiFic25SIttf9YvUqyBnVBEqinBiwLuHv01-24PgD2oynDET7XsY-o5jFz2J6phInlsJKXb8cxpC3S8lhICvqsBxsK-VBNvfijgyniCsi7meKoqlDBHvvnGx1Adqn-FweF2SO-gc55PXKXF3DXr3aiIQohC3Nm8QVWTCPnziClebCjpLfCZwIa83zYqB2GkQS95qryiZtA2AxiUypbUReSSR7KujWst7f8xhWOB1jj6qtsHHCN8oPSAq8CAagxqeO0Ku1-v4mTMVHdvT89HsJ76qFFtzbIC6W62bboHLchMZ8JI6XVQ27tJgwJcS-MWsiLK1ji7hm5145trV3-WUbAok2hSYNGZMdclhE65S7E0y9NAjsxAtKFdvpEvSkPHk24VJ40wxrbTEMDgWDuIetB8tVpsMMtaVPC5Lu9IzppjhVtxrLheoIJtUhKHx7OgQtDIppt_ZAVrydKcjdt7eRV-qNeNXLCRwO4PHyXH8n0RViul0ACCbw4TEB9vf95cAu5igW8NaJDQfBPPGhhPw3lhPcJaoGf9Sfrx_MOe_Vt1IQ61jSuXP6T4ntKDRhVYZLY8n89sAdxqj5s48FuYMtqjM84z0ViMVjYz35Yi11R5tiBtgg6C3tASP_zallC66y3kDJB7i1fmeUPeJcUTgGymqDhxbZfYeghOR5IQjNQWXXqkRNZSwhXWTiiaEULrsEztS3LWfSvvFcFOaUGSmBb_NduD0MaBSNtWrnjqZty9J6ztCZe4k9tNCY7LP6hYJi1XjOo4YW8PbrazGq0Qmy4_7AN4oQFP6hwdQo9BnWDvavnur6QMNXwR3WNratMb3Atmk3EKv9XKyVr4WVW7Wo7YW06TLdZXyn78oxkfVHGTPTkYJEwB1LXD-x25MDqb6N6dtb0Yh7BzC0n6jVyLQGwnnFKaZu50JY_z72ewHR51irfx-fXdZUDEWRqxVvcig2Fp-oAzT1G5tSHNK4kK7pkqeLdnrXe1AYteQlj4Y1s36HgRqDWvXMeJMx0Jcgw3qtu7Sn3EDAhLFLk2FxFpIi5jKDfbPvzWoKqWGIOeSJJbRgslY62chuexZTW9RBjtzaIO0CxnpsXgZADWqvRQoRx0cJpq-MtdSpJjaHoBf92w088JrTisZKJ6HQsayeK72RanDBWfLj6uGrAS3Olc7OH3BLKmuppPFPZNYU9oAUxuFrXPCoysUnnJq3wK6tTkrKK8XCBGB7O9UtA-bVVQ==",
  "id": "rs_0bf57f37863987c8016ab2ad6eb41087d0987c4b21b5aded41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.18,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The blue bowl is resting on its side next to a fruit. I’ll approach its exposed upper edge to try to recover an upright, usable bowl.\"}",
  "call_id": "call_bldU543W0A157zwP0sLXoSe1",
  "id": "fc_0bf57f37863987c8016ab2ad77453887d0a91d2476f84dd981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bldU543W0A157zwP0sLXoSe1",
  "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]: [-0.9314, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5358, 0.7631, 1.5314, 0.5045, 0.347, 0.5385, 0.3794, 0.9987]\nstate[eef_state]: left_x=0.2538 left_y=-0.1614 left_z=0.1613 left_yaw=-0.0156 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5358 right_x=0.3205 right_y=0.1861 right_z=0.0579 right_yaw=0.1088 right_pitch=-0.0074 right_roll=0.0044 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -3.6034, 6.5573, 1.1551, -0.3541, -0.0708, 0.6081, -0.5949, -5.2718, 4.7658, 1.1844, 0.6081, 0.105, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14fc248fac2bc4fe202be98c9c3684212530040085f59068d82dfa6eb021596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077e77336586b8beb3668be35e3e7a58615812041413fa4a493cb73069fffe64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e38d69ea0e87d0e87f935b45cdeaa4fc8b98c9eaa57f8c319a2efc036cdafe3",
      "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]: [-0.9306, 1.177, 0.8883, -0.7376, -0.6312, -0.7147, 0.5334, 0.2054, 0.9714, 0.8085, -0.4164, 0.1295, 0.0544, 0.9965]\nstate[eef_state]: left_x=0.2542 left_y=-0.1608 left_z=0.1617 left_yaw=-0.0127 left_pitch=-0.1951 left_roll=0.0562 left_gripper=0.5334 right_x=0.325 right_y=0.0481 right_z=0.2154 right_yaw=0.0604 right_pitch=-0.0111 right_roll=-0.0092 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -3.7402, 6.5162, 1.1648, -0.3541, -0.0464, 0.6862, -0.1709, -2.4274, 9.4291, 1.7607, -0.0757, -0.0659, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2Cn5MsIe_Z1dUGN9qWCyZ4OU7CIMw7IlnrewEAhOeODzbDZDiXC2uDm6g0vGIbTfyVDIkjevyPdFAGMIoqZVFXSHPcBB-BBwfzLkS-dGnY1bpIjjjCuPKqkFVbROQZo_2OQOzdsIVwIXbSjqI1t68PIvs0SuzilTKFZLvXYGTZ7K00uEM_ATjRyLZDIyLy7tM35sikaCHrizzW7LIR6hmXqhEeNeZhY2TeAf-x_IIhq1p_BuCIKGFM9BX8J9h-I3xBioz9mkJvRr4J_cNog7Ezg0trfD_UsExzjhisKb68X6pH_-1jeSrrRaXJUar5xvoyyG5ZRiZsYJaOlh1anCT5rruQ4HTAeMKu08s1XQojK8eGcAZBE1ZGz1EmwmPqO8q7q8NUcHg-MUQ-KiG00Z8EClC9ZQWItLmi-FU_hn6TSWg74uIy10qJQphqxWlZlPfcPwfdzXUtzL5ELYqLYAitFGww13v1ElB56LZIqoyU287H9zmi6OYGuWVx3oAypa_4zwUISw4w-R__5qPvvv19UiSkVJCzb0Lkx-WrqO292_GUxrE2UV-aIn-XC6aXBPJTu-xJLfG7errOnbfhdXBuuTXqPwTpwVnTVE3Q-qTs0mYVH6xvMcAd0Rl3ty6YnvkNcdIg-XUVQ1YiXkx9ef_qBDZnLCPrk5dsa_vGtu414fw-jSTBr6mQSdD-vq87GZarOnHrZ2_h2siDbRl9lZjqn3gd1DkL728i5jaC7GaBAzLwTWBN4u1gxWg0c0EKOTxPsTnLNWK306DGeqOgEBfqiOa-efH7UCVoEdEmNJgdMwFy73JqS6xKZfhxErChAKINGYuTad8p_x-mSC47SirBZq37jMC7YwXqhcZvcSyQb15BheEXAIGUzkiAgdpV7V1PGtX8GmYX_eSxaom-N1MbpGBDMjcDRGzW8casRqHPbBPbVq1GojDSR-yC5D2rd28I5nButZYA65hdjDysd09BmWWo-JvtCiqb4_WVbLb1H2loizj1Z336R6aJ8sic1fXSNL8QKxTA8r4rxYkx-0yObKL3Ck-ihnArDqEIVwm5yYr9280PRIvp0asguDpKCA5fSVJO_rVw77C4hXQPKw-noaaaDB3amWZL1HVFZnn1_ZPZXdD0ngvEZR3AAfZH6cv_JsTV1oD6xIKcdRY9q6pTMqbwW03wM3UXYzZ9WmoN_34labS0J9pQVwmglVw8AMZ8qgSXIdXAhUDc9W1JZ1kMpVpK2DHfcGLnd0I6p4szeNr08XlWi_vaVs9RhQSH4fik_8SLdBWzryZwDAtkquceT2chZO9GN3HchTJnNJ5YxC36vNV8A8fHPcmugoMj6x0zBBAl5OWKbi0KtyTuT4zwLoUI04t4rKcrnAs8dSnXfKDxxryjnJqq12txzauQ9Wg4p0_ebI14JnvMmMmhSla9rP8gGAdWxmO59ZakYzAvXTI6WWOC5tocw858zob6_umPra2x0kuMB_-b-aZFLq4GPA==",
  "id": "rs_0bf57f37863987c8016ab2ad7d6b7087d0958e658d94325230",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.155,\"right_z\":0.075,\"right_gripper\":0.55},\"note\":\"The pear is in front of the tipped bowl, so closing here would catch the fruit again. I’ll move forward and outward to isolate the bowl’s exposed edge.\"}",
  "call_id": "call_67fWQcfbbqI92COs80R1rhDQ",
  "id": "fc_0bf57f37863987c8016ab2ad803d4087d093ccb84afa720ef8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_67fWQcfbbqI92COs80R1rhDQ",
  "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]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.539, 0.561, 1.552, 0.5678, 0.3328, 0.4015, 0.2626, 0.5543]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.539 right_x=0.3615 right_y=0.1498 right_z=0.0642 right_yaw=0.0784 right_pitch=-0.0293 right_roll=-0.0065 right_gripper=0.5543\nstate[joint_eff]: [-0.3487, -3.535, 6.5299, 1.1062, -0.3639, -0.0757, 0.3199, -0.253, -5.9966, 7.5282, 1.6484, 0.0464, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf928e2cc693d6f2ff00fe87d19caadf5f845ae636811da507166eda3d41873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f5cbcddfb887f80595898aab1a341969d34a6b0a3a6f951aa4a466b45ce265",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8b773b5bee26d85cbf9e4daecd49c708f808c7ff5b2a6bd5a228349900f834",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9314, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5358, 0.7631, 1.5314, 0.5045, 0.347, 0.5385, 0.3794, 0.9987]\nstate[eef_state]: left_x=0.2538 left_y=-0.1614 left_z=0.1613 left_yaw=-0.0156 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5358 right_x=0.3205 right_y=0.1861 right_z=0.0579 right_yaw=0.1088 right_pitch=-0.0074 right_roll=0.0044 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -3.6034, 6.5573, 1.1551, -0.3541, -0.0708, 0.6081, -0.5949, -5.2718, 4.7658, 1.1844, 0.6081, 0.105, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2Jcz3SmPq09CdnL_pekI8IBV0Qt5VJXLiuWPHXdsykvPICESH1vDdxLnm8bq4TFdxnWQMEAFOA_p5RQmFofwMLsYSycvGh_cK4VkcAN1yt5qYhoNII8sCwp3FKIKfjjoWtCNAGKSGPh0K958V8FCnANKdTbFH3Va36Z_LRJy9PEuXiN9QIVYpSqewqty6e4Ebq285UYew_J8H83Xmx68Xvsjj6Ey0KDoVww3AnpZCvS1OB8qqQY41bogOdm7tEh9uP4d6MxgeL9uK93EwBm1p1wPCA1xmq8HJc7_G5HSA2E_qF2UVEJma3bNbthjV0e43TM3EzlUIXpwotEhvQM8xMsqILYEF_yyl9wOPnUMmwcc5nJ0KxVMdJFedW8UrFHt1cNPlRbEF3NQHvRIp1-o3--hoMWMa5C7rdbUmmo1IXMLpO5GbNkZb3wBOBnvMW-nspjp4p5u2YTsernrWL1nL-ki2Qoc82haJCcDsfoMjOxMu6nWPsS3emWrIGA5G-8zbXPNIeFdsFCyJN1MV2ebgMSPnMS-OdKMEFgKo7-R0_Lls6GNB3mRUwAV56k0-mcClNU5L_n9YIZW5BoWg0135YDug7U1J8CiKVmFgXfR5KQYEHi67JKqYd7I1ZiRhR7P5XKodSzVce2RdYiq4PfXWKkFwreBVvMjpWBFYtNF7i7zA6z0TfvNLqczGeXa5-BFTieZxdHU6h3OnrERmyJvKuA4O7hQgz1Cu5V_ss7bAQE4tv_gbNkezb0PE1TxU41bqUuftBIec5_BfEtKT1YA0mdq48VUSxmAQi9I65MmFrO5SFrKKNiLhObeC57-c8ersIHrVauSPgD9oTKGdLoI4jhBLjZ-8MFmcCTNCc8SJBhom9vH_EoOZe7IvL1ZubYVzgfKFbwSRA9BbFxq8KajsHomxOY8l_G7B9avxdOyQTMy_5BQh56qptAn1WRLMno7KXJq-fHvKaaxMf6PlEeadpWqtinUpBVYyMiRm-NSpEZF1LBVZB3YtYRntpkMu4AiXZ1tsHnkqI1wY78zfpsdHSEe26jNDdSMR8zFGvVrn6mvJj6rS2Kl9K5KT2Gc5YvaE8c1maII-y-P_SwpJMmmbMpiOW2yN76qVsJVHOGR79bxhyYPUDbpnIzcJkZEYOgAT_t1INySKUR-c79GhF2aZ5KMKpDA-rwxM1SvzdHGN6g1w7CunvWG3jhAXzkDPrABSk",
  "id": "rs_0bf57f37863987c8016ab2ad87cd5887d092473a85a8e75dfd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The exposed bowl edge is now between the right jaws, with the pear off to the side. I’ll close gently onto the bowl.\"}",
  "call_id": "call_CILSWJynvktcRv7q33kg7IXc",
  "id": "fc_0bf57f37863987c8016ab2ad887aa087d083c382915ec72d01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CILSWJynvktcRv7q33kg7IXc",
  "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]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7143, 0.5418, 0.5575, 1.552, 0.5716, 0.321, 0.3882, 0.2523, 0.0105]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0162 left_pitch=-0.1976 left_roll=0.055 left_gripper=0.5418 right_x=0.361 right_y=0.1505 right_z=0.0629 right_yaw=0.0911 right_pitch=-0.0402 right_roll=-0.0114 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -3.6581, 6.7077, 1.1844, -0.3541, -0.022, 0.2662, 0.1983, -6.0923, 5.4359, 1.7607, 0.232, 0.0122, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668a84768fe7323c177c1cbc45d52e95c9b3ca12b51d587374d69451afe4883e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764e49a161a8bfa5b36c17f68865a58d1f272588ea145f25de0b96c399a7b37e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a65eae3c08353ce520eb2088ad3942ed4361bb633e7e934793cd6fc8c630bb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.539, 0.561, 1.552, 0.5678, 0.3328, 0.4015, 0.2626, 0.5543]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.539 right_x=0.3615 right_y=0.1498 right_z=0.0642 right_yaw=0.0784 right_pitch=-0.0293 right_roll=-0.0065 right_gripper=0.5543\nstate[joint_eff]: [-0.3487, -3.535, 6.5299, 1.1062, -0.3639, -0.0757, 0.3199, -0.253, -5.9966, 7.5282, 1.6484, 0.0464, -0.0415, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2RYMuJWKMitFsPQqTCUWjxgc_p_u3j0psThMd-JzYQpiFAyqIG6a2qLCftoIP0fHLKQ_LCnP6hzbPHEro3dOFsBfvCTahNEzNuf1m1Vxb50n4ldwT0t-LEnvhvksc8zClaPBvuL_3J63FYv2ur2AXpsk0uUykFINcizie373CEQqf6nKD0s_D0V4XpI-s0JCctYMQAH0KKXWzvYBoLbrvdySpRLDHUn7lGPKHKaGSlCBkmyMVBSGL7O32xdyZGbhg7D4Kq8LlAV9uuQDFaRgzr0VAF_3LojvFkC_xoKrobtny_R-wRQG-YmA6fMWERpDO7Xqxqqbw15OjMOA_2HPR5E5P-SeJUdBeayBBsYSiZgLWvhAjnYTFVmwiOKx025YaCNxhSd_Ww91VA3gA-WgOdQy5PBtENwrfjWSowZrqCvLKZ85bjf-tLyzJLmj4bMgHn9yD7_8yWYN9OkmmKwbf9Pd8tTYbzEjUO07RcpUzCVyDMSCCO0LVDMOS0AlOdzjty_NEYG-YseL7TOotJERkUFQWZWTkrjmHkr_EhRBIsJ5tbomaElEz2kg9Xq2J2sDZuOBSZNjMwkF2DyD0bu-qjsVd3bQyNq7xfxqs0au1qCEl2Va7lymxsUhWiOGhqJ2r4VDTgA5YZCKfTI5ym5QDNgykOhc3h4tLIKFDhIdt4ehL97fltxnJCCNLtk7PmIBpGTUinSuPLZq7AdtXlMGV_-QV4Viw9Rhg71fJn6c28DBaGfi9_kKmsp_FzB0W1v6ycNlRYL4yXGD1bpNjKE7xQMftC8L7-KT_9bFWVXDoJNOPkhtBs6n4bDdgkUGN7AnJK9iVK1fRugq36i7F8GspIbW-m09IPxivwH1WEUS1MxL3whLq22tNtccVP8ZGH-qq3nkmYvvjoZUkz_rc2IZfTiJ0Is3QKkOp1759TnE6u06baHk-Px5XmVdtD8iKwCvXbIcY4A0LBpzGYSCIjbRnSInrtWM4BYGV6Q4dEZB8AJY0N3vchVLM1aS0CX0MK47KW8YYu1DphUr1PUfEhXhwsRZxE3MIgj4z1svdpSeMEIxlA2ddSYYHKM9GzJIFrSDcRR_6Ho8cfjPfWxOvejruf9PD5mJgL4Vngg9jnfhlg-RqmVC_rImqYD329soeEsGw4G2Z-j4to7qa9zEv0NIEkyQ0KD-cP2DmC_nd9nbyNj3vrvU_17OkycX6caOBPz-PZ7Yd7LUVl5CiaZxMze1dQIHkbBY6emGh29P68oPOsCZmq2TOWd4s3KoTcCvouvnrCjRjH8MdlmmoQoBYwx9klmiLeECI-Vv5hYElO0fLP6PQWEzZpCO7-Xxq1JR8O6SUFTwhK9i1BR52Mexma9I1Op_57zo0HC0nLQpcWKRBrU-erMYVsrCcT2taxQyoMLJnZMYpxLjQy8jiQ-KiUj9QSRmCoFlf-N7FdhDgKQ1Zk4to1cBhdtxKrPbzJvtAIXU-a",
  "id": "rs_0bf57f37863987c8016ab2ad8ccc7487d090ff62f9dedbf682",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.5,\"right_y\":0.175,\"right_z\":0.025},\"note\":\"The close was empty, but the bowl has rolled upright. I’ll reopen and lower around its right-hand rim for one corrected grasp.\"}",
  "call_id": "call_c3zpsPPHLtZT61q5h0X6vFVG",
  "id": "fc_0bf57f37863987c8016ab2ad8eb8b487d0a05ea2849bab6ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c3zpsPPHLtZT61q5h0X6vFVG",
  "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]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5434, 0.6289, 1.7321, 0.5713, 0.4461, 0.4229, 0.2817, 0.4957]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5434 right_x=0.3557 right_y=0.1736 right_z=0.0204 right_yaw=0.1172 right_pitch=-0.0783 right_roll=-0.033 right_gripper=0.4957\nstate[joint_eff]: [-0.3761, -3.4667, 6.5436, 1.1795, -0.359, -0.0562, 0.1538, 0.3214, -6.7487, 4.9983, 1.6288, 0.2955, 0.1392, -0.0708]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79fed6955bf00d3044c05acbca293d6802b0b68bb0c8bb18682cb0ca31b2b99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef14255f76a64ce1800ea03e0a971db7e06d985a957787b4271f9aa90ceb9437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897be747975df84d29bce8db39ece16eb9c5e3a28760330b6eb87362e1e13759",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7143, 0.5418, 0.5575, 1.552, 0.5716, 0.321, 0.3882, 0.2523, 0.0105]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0162 left_pitch=-0.1976 left_roll=0.055 left_gripper=0.5418 right_x=0.361 right_y=0.1505 right_z=0.0629 right_yaw=0.0911 right_pitch=-0.0402 right_roll=-0.0114 right_gripper=0.0105\nstate[joint_eff]: [-0.0342, -3.6581, 6.7077, 1.1844, -0.3541, -0.022, 0.2662, 0.1983, -6.0923, 5.4359, 1.7607, 0.232, 0.0122, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2W-1f1vUtKuQHvVz8OiGNkl40vtyssaJxiUWSFvDDgFgHvcoQbj7szYY8UKbKFR624GrPo7a1na8D-zni4DXhKTKNMeu_Na3E5WsevFQdpV6Rlsyym6q6x9aOiWrU7fo3M7NBMTjigDfCAy5MLZ0ZYbOT28CJ1WWOURCxtzPyyF1Dm4OGteiHSd98vm4qqUjzjrZhYeCd5sGg9p3UUQVT0u4PdzFkVIgWWakoO2ON4xdkQB6x_yR4zGxaOKhXVOp0BfDsf1kDLa_616MR29v4gQ8mDPB3oA-9NpFghR_JMoUi-ZNQ52q59bAk7xFhS_pajYEr_EXvWdvdDHKwzwMxyu_2VlOY4GFVJ1o9EwPOrHKrErgHnt5n__QWHv6Fe8lAe8r9EgIG_xNhWId1M2s_Eh3tuEy41Vs1KjUw0t1ijSFuuIJqeAceXmrSRg2XkIPhPe1RQ3Ti8IQqQn-hyTdGZbCEo3bDgVsg8qltY_DtZkwUoT2Alna47ktsSHSNXdIidemfzZt2GuzvAo1od-txGUS3NZqxOpukd1nZcLUoXRhP8DlTN4YyK5OOkyYV5ZJutKsBltbiexv35GdNHzdSekMnOAAumHAEb2KVXQeE1ucSctxJcTX7YjcS2uwtEHAzj1OMA-pYmk9fl3MbvSlp3VnQ6KJypdrF4m6REqiM0rh9jqVsDd2fu7pTlDtCEdEjKMT-Inf1QGyq1EsigG7q8lidyrPF4O5Ska_qZVMr9VARos7kLOC9ekm3j4sOHx3F-AWrI-kzMnjIWN9k3MelyWO1WXeMu2Y5Oc4f0kawm_rjiPpDf5-8r3bWXKS-VkSAkBZJH4_Ia9mi5REHKYWNenHDAFHUpCreUi7i089l8C4v3iovhf5L5xqipddpdfR0g2rGxnCfC7jkpgPyEM-fo846saECYj1FMsY8T6rEOawoPrJ69cRz5GJGt1cNqHKP_Ym4paGi9ETBSU1B6IDL6Vt58pzsc9uB8iKNYzL1UYadL2ycVV8vGimuJsH6CeuxZBWle9SmNTFW2B1yPpOGRuCIsF_O_pt7yOerEKfWZwmNHJSOAScBvaNMOPsg9tk83RDHpplzz7OrB7QgNwf63Mw05irEfLfnfkuhdLGssjPalEvhxrxNcy-SnsZhV5G8rzXi6gHS94aZ9de788gMpE0k2YGmUUNOXT_AwPalnEnw=",
  "id": "rs_0bf57f37863987c8016ab2ad94e6b087d0b0c8c7b343964894",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl wall is now clearly straddled by the right jaws. I’ll close on the rim.\"}",
  "call_id": "call_eofByyLScTHDAlHT1EmQDR2C",
  "id": "fc_0bf57f37863987c8016ab2ad95285087d098f8d330d8c6f5b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eofByyLScTHDAlHT1EmQDR2C",
  "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]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5449, 0.6342, 1.718, 0.5785, 0.5003, 0.4034, 0.2955, 0.1031]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5449 right_x=0.3631 right_y=0.1855 right_z=0.0371 right_yaw=0.1327 right_pitch=-0.0181 right_roll=0.0256 right_gripper=0.1031\nstate[joint_eff]: [-0.3624, -3.6034, 6.5162, 1.1355, -0.359, -0.0415, 0.1343, -0.6085, -5.9145, 4.6154, 1.1893, 0.2711, -0.1832, 0.4811]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:724a58b3b65f8177f88d2698fed444dc6cc66043b300be7516d88371e900ae01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a224d1e92cffe3147dbf7b61b3e5b7abaf7815a12a94da9bf5300a62395b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2cff6c2e657076b56053892c7763ee6f30c3c464f05b0894b0c8d46fa12c2c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5434, 0.6289, 1.7321, 0.5713, 0.4461, 0.4229, 0.2817, 0.4957]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5434 right_x=0.3557 right_y=0.1736 right_z=0.0204 right_yaw=0.1172 right_pitch=-0.0783 right_roll=-0.033 right_gripper=0.4957\nstate[joint_eff]: [-0.3761, -3.4667, 6.5436, 1.1795, -0.359, -0.0562, 0.1538, 0.3214, -6.7487, 4.9983, 1.6288, 0.2955, 0.1392, -0.0708]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2hgKX7SW0ThJRg2vWdNlGYzEcyoCm-tu6utc-3pa6fc3VuYZMX9qcEbYchgx5ShpDMnv0LV6XDS_k8N30G4qQfpufqZOxoXkq7-prZfv78mTKjN4eLJLuyi1sdBC-LlYnJNkJRhEvQwS9T3j1P7houjJyi0ImKBduJklyDqzqxXVzPiTIIcs2Nl3NPxBsp_Zi6j1euhXQNyo-jSkrEwkkYji83u1gDx3cIZOxDdxphAkPg3-SsaDBN17Dfb5D7zegnC38GCfX3W2jtbjdrsCgfvWo0ZRRa-Mh-1DP2eZ0KgjsxP9-eZnwQamwbyBSMpoQYvptpHeXeMZxim-p9Ezlgc-eRspYJ7MY4GhPwFnKqnB1B4-W0Y37TRKgd_2J4R7XxIkB3PpgUp0cyj5WY5cGDPrRqPpv2b35dTHDdl_489gs_PATqA-dwUfhc3vjBQsXkBFZicbGrMczpgDXdCxqOeY3EIxYTkqOxAcBc2ylMnKawkZB-63fzUVZUqAScQsC0XRB-1us4ToOGWQQvot6TbgwgXlZnZScMDsEygC74O6akMvGx_HvdVbK1vAT9E9NedR7fX9DdQBnnPLMx6uq5v0M_QAG4sTni7c4pz-HXjdfLz-AjkWv0BCAu7WNxTsjyHb_geH9UvnpV1DH-vrTe6aCfU5od150AR37x8GHshCfCZlzW95BSaF7KeNdwdDSCr67rCGkXHKRRxYfj0Vqlse3ZIMKazGV16xRUc9ypq2s2he3GO-etRiiwjX2lhsYnIlochU-b3QJexwsEru6rTte5nLPLIRseXBwNUJvSqvgQbdQvfjbCU8rqcrcbAnQIGhLhlgwQzbHe43zk6VGm_qqEkQIWl_2JiGS7YHWww4sWWxXE4nw36VmNpqPnYPOfba1XfN3-Z2A-XCv6bvMLt0gXxav864CZ1KUpz-zKDAqRcpZOGfySMQkMnvJc62v_Doe9DzCH30sFka14XG-k0sojw96o10INLRP_iPMUotSfGO1p1FXccmBViupdEGL7t9nlu-rglbzXyxiFgAndy08TGlm7o4RMOZUjPu41mRHGuVKSaB4K3twhDH9jpRPCpy93SLGqmOs5lpbkObI1hAxCgqCusCVGBF173ZKFBvDncEX67r13sukCz1ITZZ-C9QP3-I9uIlQcDU-PbcAEZb2AzEmNzQQFLfJr3Q6OZWaNkgQ4vG8rO47gjeBwwqh4iVzskRS4NS1GvsRD1lXdP5Tn8g0EoiKb3ontL6R2dtVUU61bYgFC6fW3PGiX0mnCSISLWlwjimr9KVrCDk-Ui9Nu1XmWaf3cD83E8GRZUXDVcCvCFGPj088GX4NIQHXlIw4Ea1DGUMnQUkA43Mcd9JgImYN-LFiqh9v46vZYunRAA4yVabHSQpcaWyeOsgEQFdrzGyyTfMF892-r1ni2VYrqH0zsAUnx0k2HlKtAsmo23PxeWYOSRj6I5FpUQS9Z15nS7tthgxRW9NkHXxcBYWlacaD4PgbBPH0AkqAIAy6wCg6uNQVmQqyL1IAadx7sd5psUIMpNbOd4m2P9uSFYbfsXjUGqQeGOPm63EyLzRpyJgrddAzgoFUKTxzeeXDOk4uMmJYkE2zEnbGrxvr2Ld4A0hh4rpAojN7GVMuStenrVyqR2Jig742ch3vbQICflpATIQsapxnwKTVIIbS9Zs0SRPgYN06UPno_V_lLce44k8gKYA2XY0uikktY1Roy3fADRWXL2SAzW05hOrlWO5Hxq3OGvtESAJqCcIQ-QVh7MXOxF4JvHOD4R56JClQe8N-LCNTGOxOhF-W1iAuh19j2Jwp1PuhviRvHPcLjcTycByf166cVFCy81b_RtT-luBZRFksqfx0qZMvq-1cW4tPp2mfDDNsqIGznJJbljOS4YcVC5ZclabhLW-oUnRC-gYqMWhiRJPjNtSkwBlmgUpm1-9uN6gjmEP3l0A6NFJKKicIz-ZdTT--eQVJdt15y",
  "id": "rs_0bf57f37863987c8016ab2ad99457487d0bca221759cf023ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"left_x\":0.36,\"left_y\":-0.39,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The rim grasp is holding at about 1 cm opening. I’ll lift the bowl slightly and bring the dark fruit above its center, keeping the two grippers separated.\"}",
  "call_id": "call_EKSAE4UU3HxWTkcb1H4Mn7oV",
  "id": "fc_0bf57f37863987c8016ab2ad9ecd2c87d08e68dc70d3356187",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EKSAE4UU3HxWTkcb1H4Mn7oV",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0496, 2.0274, 1.9152, -0.981, -0.8574, -0.7742, 0.5463, 0.5781, 1.5394, 0.6418, 0.1585, 0.3885, 0.2874, 0.1036]\nstate[eef_state]: left_x=0.3539 left_y=-0.341 left_z=0.2164 left_yaw=0.0326 left_pitch=-0.0612 left_roll=0.1739 left_gripper=0.5463 right_x=0.3563 right_y=0.1569 right_z=0.0645 right_yaw=0.0899 right_pitch=-0.1105 right_roll=-0.0201 right_gripper=0.1036\nstate[joint_eff]: [-2.6051, -7.8291, 10.1675, 3.1136, -0.0024, -0.1832, 0.1343, 4.7521, -8.5128, 10.3453, 2.0147, 0.2662, 0.0464, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a546ecc844f734b077777a8aec7a40b36d750421cbe18bee75f6bd37f8b714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf65d215a5284ddab9edd57c0fe72e487aab441a87b2091c09c8541b9310daa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66c4d5602c41a52e9810adba14edbbd00be5bacc4d65cc7507fcd57aa47ccc2e",
      "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]: [-0.9318, 1.177, 0.8879, -0.7376, -0.6277, -0.7147, 0.5449, 0.6342, 1.718, 0.5785, 0.5003, 0.4034, 0.2955, 0.1031]\nstate[eef_state]: left_x=0.2537 left_y=-0.1615 left_z=0.1613 left_yaw=-0.0159 left_pitch=-0.1976 left_roll=0.0547 left_gripper=0.5449 right_x=0.3631 right_y=0.1855 right_z=0.0371 right_yaw=0.1327 right_pitch=-0.0181 right_roll=0.0256 right_gripper=0.1031\nstate[joint_eff]: [-0.3624, -3.6034, 6.5162, 1.1355, -0.359, -0.0415, 0.1343, -0.6085, -5.9145, 4.6154, 1.1893, 0.2711, -0.1832, 0.4811]\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": "gAAAAABqsq2pBKOiE_QpN0voTOCXnsP3FXWNWXs5y12q-vKwHcyN4uA0xiATfECJsCBH55O5luQgl_6TTInsUkaDcWCVJWcesMvEdqfwMizfoPVapbH9_4ovq1AXS0Y8Zc-AuIv-osxP9-3bPtPYkoBHbdvs-FgzUwwXDSPjKLBzyXKsp1yUAor7lbesFW5RcVRZn5dbvOoERTgCDtfUXDou0vuI37JqYTYNdtaJrm4zhs0dDLKCV12-Pn4o5IuMPEHubqEfzdm5EvHlmyhMKWvN4q_7bX7WFVjCO2YaPBbCgqrX_59PciWnGQaTaJeQnhl0DsK_WySewWUXXfQRCY8joCyCF7T3IW2NGBOfOyvKatpyqO1oGMpW9PBZHldz0_Sa7ROZYqRHwh4Zbh3EzQJVhwPQUcj-n_7EfYoEPVmjDmoxYKqQwBH2pJWBJhKf_9yf36KUyKx_2G03wmcADVFZYdcC6Q9KDlLod5W3r6aKPJWlSmiZdrgzCXYrT1SF3DsxVJuSuOMp0B4jQ1IB6qSBxgzZzq0a1_3Y2bvnr5AOHhGGAgpxKnHukpj82qbna8T3QuC2CW-qhs2QBrHndN4k3l132dOglxStIh9Nz_K1iv1esVI2hfvTHSUY0VDaugqcrij69GMz5_r6mV4jMhuDAr6d_Wp_QDJJDETIs_lFN8O0b9ZFchdLLOmvOMvzuqh1puLd0M-c5hX2wNRSC-oe4b45CsAjh-N850AO7TcNMYbvxuYEJPC11NMQa3MPVnO77_SPkQP3yg3ASd40gvolR2yIt1u9ecj_uoR6HLqsscFiw0YkXmv1SOQynfKAJF6oZzzw07mHlw9JtWftP7l7LxdHjkigoNimmF7vS57jgdTr8wE2VRvh_3c8-KZ_eYZ7pW8i4TPZh2LOshvwBZcoW0fPN1O6zR9GDgPxmoaadC6o7d6CocSN23lggjdNr-8GJFKTVkXgYbJxLYqtJHJDmgj0ajYHJGFaiwLFhP0xGbMcVwzyx63yEMDDSyEUuFpWEKBNUC9YL6KNGdBJj7y3sUVIECWV0oJFxbHXMSe6KvANF4eYFDdiotLZsfVihDfHa3UtzwQhw6C_sdl7OXY-nLsFJ4C3wWYZgEmbiRna3pFyQq6wrvMI1miY0xFMvkP8SwamytqfPzDYr2grxyNjXp7Rvou42VJGTLvda9m1HmXFTFGZmyOGeLBDP7oMdElTFOwag8ckPVRFGOhhmZ-U3PDtpC8gGnm0wlWGv4p9bKTDu7hhnUDrvCeh7Nn1Cv9-ez4tdWCnkJuoZMmWKRKHk2yXVmRAgY605j1i6G__--9itrmFxhoR89g_GLWyP_VnfXNC4hnm",
  "id": "rs_0bf57f37863987c8016ab2ada5999087d0896cb12e5a213156",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.24,\"left_z\":0.27},\"note\":\"The arms are too close and neither reached its intended pose cleanly. I’ll withdraw the left arm upward and back before moving the bowl again.\"}",
  "call_id": "call_lsPpqgTwSERJ8aGHDiB8kg7I",
  "id": "fc_0bf57f37863987c8016ab2ada7655087d09ee59054041b870a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lsPpqgTwSERJ8aGHDiB8kg7I",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0874, 1.6108, 1.586, -1.1057, -0.8543, -0.8246, 0.5477, 0.577, 1.5391, 0.6418, 0.1337, 0.387, 0.2874, 0.1036]\nstate[eef_state]: left_x=0.2867 left_y=-0.2518 left_z=0.2615 left_yaw=0.0225 left_pitch=-0.0763 left_roll=0.1654 left_gripper=0.5477 right_x=0.3531 right_y=0.1545 right_z=0.0604 right_yaw=0.0886 right_pitch=-0.1326 right_roll=-0.0307 right_gripper=0.1036\nstate[joint_eff]: [-0.9094, -8.6632, 6.188, 1.0232, -0.6227, -0.1294, 0.1392, 0.1436, -6.2017, 5.7641, 1.7314, 0.1001, -0.0708, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0b41fe5a575b74a95df5dd2aba1b681d82945420088713730e588293068eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f88db6c69e1a0bcf71039a06d858f3cf68bdcd6fa863176d4c2a7fcab766611",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c822caa4c0e8bd4eb8c553ecdda72f7848fb1a8566766c4c0305a95e6555f177",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0496, 2.0274, 1.9152, -0.981, -0.8574, -0.7742, 0.5463, 0.5781, 1.5394, 0.6418, 0.1585, 0.3885, 0.2874, 0.1036]\nstate[eef_state]: left_x=0.3539 left_y=-0.341 left_z=0.2164 left_yaw=0.0326 left_pitch=-0.0612 left_roll=0.1739 left_gripper=0.5463 right_x=0.3563 right_y=0.1569 right_z=0.0645 right_yaw=0.0899 right_pitch=-0.1105 right_roll=-0.0201 right_gripper=0.1036\nstate[joint_eff]: [-2.6051, -7.8291, 10.1675, 3.1136, -0.0024, -0.1832, 0.1343, 4.7521, -8.5128, 10.3453, 2.0147, 0.2662, 0.0464, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2yboR65UMlOYUMCKYh92xG6TU2_7Bbm9N0XxF7-Z0uUMh3Vsh1nWMD636XuR1CBNr3-L3L1RWCVWEshJFOV_pvwia4XH-L-zxHkrJRT8JPSstE2Lpq7rs1nkP2gdqqhT_5XDZY7EO4ddGhwPKdyhS7vU6Frp4LbUor5GUM4VUXf2E1CJ3paTtAAK-1B8h09ZqtNx7tAZjFxqmV9wNbUaMuCKG2M5uVX6Fakpchg77U6CAmN-Bigum_X9NHGO-vDUppBMhQAMzrt1gU1KMde9CyWc3zMmqsWFcvAWX5TE-EVp4vUrnQkoOA3ObprAjtsBt9b5wN5Twm97pl_ch4jFcl65SiY0zdjm9D1_b0EVrlnJTnknovh6xxuQ0_xw-VaVzA7W-SfAbuP8L07oli5gPQDeiQcCsRq9d_zSH5La9J22cvK-hDhDjIKniTkUNeerkHFnh9492mfNxxqZkCOh8r_re8vf8cfaTUdIJYC1JNR1MsRKHQqvmCaORQ8afttklSFwg14KSmwimAtIAmzsAkZ2CLW2pPYk4P14ZSC23ahv7NJr5gAUsVPhuP20e90cs8K80Ri62M_VYAhL2BWJbC1yI4udhJVxNy7-obU1dHfbDffnSuy7PEbBzhxW_366tDowRFNGWlSbl9RZpd2Q5WRoPCw1hsC4Kq5n2y9SYacTkm-JK9T5mZECVV1wpDXQVUTqwKXEABqqX6gr1_WuqrCLDMHY4-XGX4-zmdokxSs3-tf24PqqOC9WuCr-mLMd-Zi2loJi8G59aWhCqd-1GxVhBN4v_RHvHT1Gw5SGqcJZYiyVcL7tbkVdiR5eMq3uo3a2qZ-C2pMyVC4mcVLTtICQY1k8JNvT5W8cP4qOnenLe0985OarnphridxUfnbm3frk9u5lNMHCxRev5yu_ZauRZl5cGIjuXmEc8QuAOHBM5FfiEJM_RfMqwf0iGLiNckY_M-S3HUNq83Mg3NvorSsB1g0fyYikJjktSDAxOW2nS8RH4KujvmgqoV8Bwb-zINoyHDcSfWM9oMNHmQ5qkyzOq5Jm4MAptmbt1TfvGMC8S1B9YqETQlyMY0DRI5DYxk39w8SYLAEq1aC2NwdT9pWvdFtBaVU5mpS0S9fmgNHpdE64r8-AC-Emk_Nqj845HGN-s4_UebUSbTk_RNPER67xGbk-BSsQMDBU16Wv3KAsUYnAFtTXLDLIqdI7aCWOVu5NvWFr3JZQGJjFaKR85bufxb9JE0QoH48_MnmjRyfiBA1C_y_HOzM-xAXL512PMCCvoOY5d72eWWbSPNItbOIf2E3OiZcRaxnOkG_Us93wLYVmudiJ3F2qHhZU3udCoxuPHwH_AzYGYXfZkmBHDDZWT03mNF22amb8P35cmbQDo=",
  "id": "rs_0bf57f37863987c8016ab2adad5cd487d0bdb27a85e75c3927",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.28,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arms are separated again, and the right gripper is holding the empty blue bowl by its rim. I’ll carry the bowl forward and toward the center to make it accessible to the left arm.\"}",
  "call_id": "call_GojZmBHuVnHcIjvx709F0x8i",
  "id": "fc_0bf57f37863987c8016ab2adaf68f087d0b58ad527dc79d190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GojZmBHuVnHcIjvx709F0x8i",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6157, 1.5806, -1.1187, -0.844, -0.8379, 0.5491, 0.7338, 1.8801, 1.2636, -0.0769, 0.5014, 0.3336, 0.1036]\nstate[eef_state]: left_x=0.285 left_y=-0.2509 left_z=0.2558 left_yaw=0.0271 left_pitch=-0.0939 left_roll=0.1715 left_gripper=0.5491 right_x=0.4318 right_y=0.2799 right_z=0.1271 right_yaw=0.1327 right_pitch=-0.0324 right_roll=-0.0226 right_gripper=0.1036\nstate[joint_eff]: [-0.0205, -7.6923, 6.5436, 1.033, -0.5006, 0.0562, 0.1245, -0.1436, -10.1949, 7.8974, 1.4628, 0.4957, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b2e0f4ba7370742f7a9502ccaf68789e4ef76b1e956d2e17a4ca6d37a54e26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1da85b13cb8b8ccf8260b83bb5c3736ea3eaa7d23f5803ad583bfc1c31b7fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2855d999064c56b44898ccb1571dabe2cc18b8427dc4e6ba149f8e7f6ab033",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0874, 1.6108, 1.586, -1.1057, -0.8543, -0.8246, 0.5477, 0.577, 1.5391, 0.6418, 0.1337, 0.387, 0.2874, 0.1036]\nstate[eef_state]: left_x=0.2867 left_y=-0.2518 left_z=0.2615 left_yaw=0.0225 left_pitch=-0.0763 left_roll=0.1654 left_gripper=0.5477 right_x=0.3531 right_y=0.1545 right_z=0.0604 right_yaw=0.0886 right_pitch=-0.1326 right_roll=-0.0307 right_gripper=0.1036\nstate[joint_eff]: [-0.9094, -8.6632, 6.188, 1.0232, -0.6227, -0.1294, 0.1392, 0.1436, -6.2017, 5.7641, 1.7314, 0.1001, -0.0708, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq24NqibzhwjXQlHX2_bmf9Xeq172EwjfjH7BM-bY3Z1A6nkn-cEWbTsRvrVj59Qu_XDyEpEiFRGTxb-DNuEEDy0gdShka79hrhh1HaPRKmfGm-40pU3cHZLxMmrsw5XGC-52cNQzTzlXkHm4HMR3e_t4SFXe6nU4TMkzGD-u-EKEof96bqJC3D-E28_I871IWvrtexqBrd_gUdc3iNaLmt-5_-CLJn0ja-1nHdg9nxNxC-BcSibcZCFMO-kDWo0L5vwEfTgIJ9FUO87cdxTv4JEpUvMIt_ay-j0oHfE1F3yhguOwKxp3im_jRgaHJE8-pNUlfy_YwOJW8CtCHUWBdh9taqsEJnnT2PJD4u7YR-GT9ZE4g5vnOOgCgXhJskLfHSvTvr8JlNxezE5V0C8gfqBj-fwXNlXUGScFWzY_tvnQtcyCokNefKqO6bBbROv0l0oKtQzczAvLyO00oVljFdw5EtDYTzHwH_XvkslotLYRd7bSfLX1PAIHfzTGSm4XWwCcV_b90bjtRcLj8_DxRGyAzFN95L8j125eE9Gta8KmBvRk68N_HoDF417Abrz1GQqpW8mtj_9kJHZiwYxVLQms3ulvnJ0KTLTbmAz1y8wV8jGfMGWW4TOJGL3xJ84BGy1CnvkFPbdFpMRORcEwuqNnQOv8vm2v5KLodanqL9sMW0S9DQMbzI-mEWMWKevNBY46GyLIT3IIL3a2FaN1dkYz3yjuaoV5GC1_ezJIIRnfCbnWhULm-305gz51K4D8JtYQrgQv9Czv53cPY2AeuVYBsmDijmVhPEMTQdJ0TbEUhMDey8J5PHgsKT3O6FTD69Ar5Jn-1mn7fDuRD0HZjNqd6OBrMCLLXWeYMO2VTQgdlQ2urNySakTXBuSk8f_yUhrPuXashOnPogIkQliUT7KHnAwjB_Toh2Amczv7jhadpqPrSgsAaUFYYAsja9W6N1DtTACfr6HYvM_jSdJ8amZLQMGtabsi1CJRvByPx0vi3NWKOyh3F3K8jel46V6AJaewh-Gjf-R2b4KVC9KmSCv-98ZYrqMbUtNSFfCQo94_QVjDVCuyftq2Zx2gggQ8aWtwOKCnrFEASZVSbQYFVPYtpNNVsGj6z-kBMqARAC9oLVIb3hHnLXzG-DuYhLod71VEfy_Q0RhufLo7POb7BfG78JGmO94BZQ43RVyp6QrI77IpHQK1NpZZiNbK7c8ISh0D8dgRioa_V1xVHWy_aOk-Q==",
  "id": "rs_0bf57f37863987c8016ab2adb6055487d0b6ec1a7906573fdf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The bowl is now near the center of the table. I’ll lower it onto the tabletop so I can release it and clear the right arm out of the way.\"}",
  "call_id": "call_lfjhSELPXhYhdrA50Zuu4rxQ",
  "id": "fc_0bf57f37863987c8016ab2adb722c087d089a7e26e04fc55d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfjhSELPXhYhdrA50Zuu4rxQ",
  "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]: [-1.087, 1.6157, 1.5806, -1.1194, -0.8375, -0.8383, 0.5498, 0.7349, 2.0403, 1.1194, 0.1596, 0.4961, 0.3328, 0.1036]\nstate[eef_state]: left_x=0.2844 left_y=-0.2515 left_z=0.255 left_yaw=0.0245 left_pitch=-0.0995 left_roll=0.1693 left_gripper=0.5498 right_x=0.424 right_y=0.2747 right_z=0.0333 right_yaw=0.1361 right_pitch=-0.0904 right_roll=-0.0587 right_gripper=0.1036\nstate[joint_eff]: [-0.0615, -7.2547, 6.1197, 0.9695, -0.5055, -0.022, 0.0659, -0.1983, -10.5094, 5.5863, 1.6972, 0.1392, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fd6f5ba32de7eaad7ab6ffe0c3d9605adc8c669d66f4101cd2893598b1d05d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6c2fe3ca4c17cfe64a4e2aedbb87a9a7cc23b2094dc173dd3d0043b4027b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6020d2ba5446eda956fcaa4a5ade8d1ae7efc9881c9c5f311c6d864cc678ef90",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6157, 1.5806, -1.1187, -0.844, -0.8379, 0.5491, 0.7338, 1.8801, 1.2636, -0.0769, 0.5014, 0.3336, 0.1036]\nstate[eef_state]: left_x=0.285 left_y=-0.2509 left_z=0.2558 left_yaw=0.0271 left_pitch=-0.0939 left_roll=0.1715 left_gripper=0.5491 right_x=0.4318 right_y=0.2799 right_z=0.1271 right_yaw=0.1327 right_pitch=-0.0324 right_roll=-0.0226 right_gripper=0.1036\nstate[joint_eff]: [-0.0205, -7.6923, 6.5436, 1.033, -0.5006, 0.0562, 0.1245, -0.1436, -10.1949, 7.8974, 1.4628, 0.4957, 0.3004, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq29JeZrgGLGCcCHCRBW4QE1Mm6z6Ec1nyCoEggpNRVyJrc8axy-DE4OFM93CSoyH0itwK4BYeEdbVaAoNinzrtiFbioGHRMYb6WCoKuc52N6NucGVG0XLpaJBvwft_kjx2CoOSoJ17WgF8wxH07NuFcBqYyDEeOSRv656sZInw4WS5F4X6oHB0Su3PeljFQUEjDLRoij7VpFu7d1yDNEX97CUY_Vh-qN0QTEdiHBLBdBaILzqmrN1D3goSSXvidqVP2vfHIHl_Osl30LcuplTgtUakpL3vfT9-K9qprXCsUkxF1yaTrad9vB1RVa3gL9ePRUqe6dRNJK3cdYLjl1H8zFn3rRkkLItRLU1wva47rQjw8xrINHxe0F7Q0-dhJ21Wjgk5qwdwGgHJ1KlvuPAWf7tO3TAh4Ti4xVb5yp3s5bwi3UzhJ3Mz8q8KHPMPcsJe4lN6ZQIPXA2pNUCFSJ6B65InosU90VXw2Y-Sb1odflapIRBeWJHnomD93Szrcqvi3Y6ZcMZS_EXr22NEIkZ9Pxv8No7YgCKEqClGm2zHedc37N0ei4B8EEjVVSf7czKSDKGX5eCabZw-S_fJbRgipWTTG-oMSayA-RO8T3UbFIfdg8dfFWSDC48A5AQeSchXUl-GdkoJVul2VQZ6FuAH7K3nQ6NfLVzZLJ8fhrrO7ywsK6Io0od2ehaQa43eXZjeiaYuxZH_YzduooNGHA4wUlE1lhkmFj1FV1DfS4qmmMCLTP0wx9qSyzsc_o-i-Mtn1kfGHup9juBmnNLpvsFUwZUZqdxG_FjmFM8M4mUAlG4zyXUuXpR2GeNzWmrLkRVbba8KHi0oIYBVJXiEeVsnQlQjM7hymDp5Oz8-M-4s6oEchH2zo45_tw4QKCqz1GO3KNVlOV3qWSjEcWpGnOu3DXPiEXU_skc5m9WYweovqbUGBekQJgwrcY873PE5wxo3EcNgmZmeZyUtXr-cJNMg_JFtWK0kiBQSjq8r22ldUNHc-4TqF66WSzLa4R2WL32VurabL7XryWK-4cURZMbFiXMcYl6764BsMsEbUqV9eAe9YrO0X0lTUd8JpPfj2ht49zb3NKNlSVunWGzwGZvJ6D0HPyrNNV8qBTjA36-Xdn7IKRQHH8yYdfhZkjcFqRazhc15BJSeUgSoMx_jHXp06P3xcIRuzZeEVrT84KwWXMa0eSyDG2vOxfUPp9TLgnfjGgz05bh9VSLP0kK9p9mZIwtmV4g8V8QBTFi_YDQG5T7HnbfNdeyArd5ZdnXOr8t4Z",
  "id": "rs_0bf57f37863987c8016ab2adbc7d2c87d0a76db7c12e62616e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is upright on the table. I’ll release its rim.\"}",
  "call_id": "call_U3Vjbex0iuRZLljCCkr9SEzw",
  "id": "fc_0bf57f37863987c8016ab2adbd1e4487d0b6c358cc6d288985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U3Vjbex0iuRZLljCCkr9SEzw",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6157, 1.5806, -1.1198, -0.836, -0.8387, 0.5505, 0.738, 2.0346, 1.1172, 0.1886, 0.4927, 0.3302, 0.9952]\nstate[eef_state]: left_x=0.2843 left_y=-0.2516 left_z=0.2548 left_yaw=0.0241 left_pitch=-0.1009 left_roll=0.1687 left_gripper=0.5505 right_x=0.426 right_y=0.2793 right_z=0.0399 right_yaw=0.1447 right_pitch=-0.065 right_roll=-0.0407 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -7.2684, 6.4068, 0.8913, -0.4957, -0.0513, 0.0659, -0.3897, -10.0991, 6.4479, 1.2772, 0.1343, 0.0513, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5819b9ff2668321930c201858ebfb35e9bc983caef834ccdae76828a7dd1487b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88be0cd75353d210d0912272de4e83d96c688df3162081ea9fd9cef863514fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7296a811be70b75df62db2a8a3c5ed11833c7dfb7df75a3ea7e7ea22ae9b09",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6157, 1.5806, -1.1194, -0.8375, -0.8383, 0.5498, 0.7349, 2.0403, 1.1194, 0.1596, 0.4961, 0.3328, 0.1036]\nstate[eef_state]: left_x=0.2844 left_y=-0.2515 left_z=0.255 left_yaw=0.0245 left_pitch=-0.0995 left_roll=0.1693 left_gripper=0.5498 right_x=0.424 right_y=0.2747 right_z=0.0333 right_yaw=0.1361 right_pitch=-0.0904 right_roll=-0.0587 right_gripper=0.1036\nstate[joint_eff]: [-0.0615, -7.2547, 6.1197, 0.9695, -0.5055, -0.022, 0.0659, -0.1983, -10.5094, 5.5863, 1.6972, 0.1392, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22},\"note\":\"The bowl is released and stable. I’ll withdraw the right arm so the left arm can place the dark fruit without interference.\"}",
  "call_id": "call_033iVEw44orFV7LBptPLAvUv",
  "id": "fc_0bf57f37863987c8016ab2adc148dc87d0b8d51c85315018d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_033iVEw44orFV7LBptPLAvUv",
  "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]: [-1.087, 1.6161, 1.5806, -1.1198, -0.8288, -0.8383, 0.5519, -0.102, 0.8906, 0.8032, -0.5587, -0.1265, -0.1688, 0.9956]\nstate[eef_state]: left_x=0.2837 left_y=-0.2523 left_z=0.2538 left_yaw=0.0207 left_pitch=-0.107 left_roll=0.1664 left_gripper=0.5519 right_x=0.3003 right_y=-0.0048 right_z=0.2081 right_yaw=0.0888 right_pitch=-0.078 right_roll=-0.044 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -7.2957, 6.1197, 0.9402, -0.4957, -0.0659, 0.1294, -0.212, -2.2222, 9.1692, 1.7265, -0.1783, -0.0024, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02379b99e52156f71bca301624acf98dcd7b958fc91b0f41a64c1ffda0cc78a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b351a29afb968cffa9aca16937de68fc86bda64e20c208e065ae6f076ce7130d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a29017b621726a2711a97010feb104263ec82b16c4c8086d6eb1daf04870f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6157, 1.5806, -1.1198, -0.836, -0.8387, 0.5505, 0.738, 2.0346, 1.1172, 0.1886, 0.4927, 0.3302, 0.9952]\nstate[eef_state]: left_x=0.2843 left_y=-0.2516 left_z=0.2548 left_yaw=0.0241 left_pitch=-0.1009 left_roll=0.1687 left_gripper=0.5505 right_x=0.426 right_y=0.2793 right_z=0.0399 right_yaw=0.1447 right_pitch=-0.065 right_roll=-0.0407 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -7.2684, 6.4068, 0.8913, -0.4957, -0.0513, 0.0659, -0.3897, -10.0991, 6.4479, 1.2772, 0.1343, 0.0513, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3KhsJwIrCuFh6TLd9jDKRm0enkMLfCBWnk3lukI7Kx-EVow28KMhWovlnee1XWVyJkAdullWwBs46-vWNmtahd4Njahu3dZSYQqdfhOBYg4Z1ICJZhAY-ebgCEf2sWhAp05zTCcfrIkwZ4_hx8NhFm1MrsFTHOoM3nxB8LZ4VRLQFSrUCX7wW7iRmuRwfGxfpcYUCNz6dRkPOCmAOeUA-4l5y-GT3Qhjj_J2xYAUIMRcYJI-80SgwOi81YwTl3Dv6C_BfBqqWIXUv8ahvPW4-kbXqrJzkOHKKkaQWef4R0TOQW4Oy4cDfYzsUtMtjNWzpoV-Rbn3-eZP8dheUHz43mnoUY3AOV8o-5GH4XrXahVyL4vyKq6hTEDYuhhxsyIuswLIQkLPzfMibCqeV7-CJZR03q0cS7RQzw7-Yfg2-ktBMjyDM1D5rdg2YiFbGjUaziAbjYg0X-PfPEUDGQYDoYIR9zUCh3W2w049mVg5FTYQ6p63GtxrzoT7aaqoxG9gOIoFa3FeKBraB3wCduW3qjFzkfHfoI_7E0HqVaTaYytAwcwtxFZ1P510cO9cGeDzfbdNRWXr-05TRp1odrM4rBvr_y8nnVLH1eXMM65aJPfFnO2CAH0ZhGdEuG5UwPmnbxpUUfImPb_jC8s1C8KsFxfK3tlbXRNcKUP6U6qne8ywEimg3j1IasFf_bL2DqNFjFdGK8msjIuq3Sslh-CpKEHZCz9AmWfEHksLKrJZUJgHpombINFJ4KRLG2cGJIBT1VsMxS0Be47_1xh21LVtx3vi32gvi9c-10LFoKMK1IpC1D7y84SumI-MfB2qEQsP8rQR5vWjJVXRMzzyVbYwTA1JKSj6qWVDrKvND5WwbyHhN2R37h3y8exBigIiljE81vbt3FM0Bpay8bGVRzJP0M-XdkQPzvy7J8MOnGUtJIpCy9ovQoTl4eIo-IKKKDL0X6F2J7vZzzxrTxO2WtYLyLsviUvdAvS5ZCYF0foVG_uRw3CNWaKeGrWHdMkeNe4NrmQ7dofxVeAEH1qhoEFbPT4J8H6GhELy-XOlA2nhHCp_4aFyBMbgmwXF8CCgq-Xq6s-Xor3EruDftnMwitTh4-5eAGG4iXmmeOYLmph-Bh__HJ95g6-wC-RZ7mQ9dIu1Y6Wy1SXwNvxGuYr_-2viFFJIr5zccQ3fzeAtnvkaPewrUIyEE-NNv4Y3A5T-Lxl2nsxVNtOmR99ShoVxCxaQyQ4g9xxiXTk95Y7SP6xHXhcrqKZPKqC36J2LVA89Sa4tXk",
  "id": "rs_0bf57f37863987c8016ab2adc86f4c87d0a30ed638a49e4eb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.315,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm is clear, and the blue bowl is centered ahead of the dark fruit. I’ll lower the fruit over the bowl opening.\"}",
  "call_id": "call_2J6IIGqrV7hfl7EgTNSD5MlV",
  "id": "fc_0bf57f37863987c8016ab2adc930c487d097bb5fa938dc743b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2J6IIGqrV7hfl7EgTNSD5MlV",
  "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]: [-0.8532, 1.9911, 1.5314, -0.4274, -0.7074, -0.6117, 0.5528, -0.1009, 0.8948, 0.8066, -0.588, -0.1352, -0.1909, 0.9957]\nstate[eef_state]: left_x=0.42 left_y=-0.3011 left_z=0.1398 left_yaw=0.0436 left_pitch=-0.063 left_roll=0.0641 left_gripper=0.5528 right_x=0.2967 right_y=-0.0025 right_z=0.2029 right_yaw=0.1098 right_pitch=-0.1071 right_roll=-0.0503 right_gripper=0.9957\nstate[joint_eff]: [0.294, -11.9316, 9.1419, 1.4237, -0.2125, 0.1929, 0.0806, -0.2803, -2.0855, 6.5709, 1.9512, -0.0024, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c7d52800f30938fb73063f2664c8de99b2fd2c7911f176c15a6650f3c27aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29ed083c0fcb103fed42ca41f53b875469d4b983e71ea3b7f34707b052c8b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38a0de29e6f769feab1b287ece7d4d02a47bc3159f64da0e09b9f4dabcb5dc7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.087, 1.6161, 1.5806, -1.1198, -0.8288, -0.8383, 0.5519, -0.102, 0.8906, 0.8032, -0.5587, -0.1265, -0.1688, 0.9956]\nstate[eef_state]: left_x=0.2837 left_y=-0.2523 left_z=0.2538 left_yaw=0.0207 left_pitch=-0.107 left_roll=0.1664 left_gripper=0.5519 right_x=0.3003 right_y=-0.0048 right_z=0.2081 right_yaw=0.0888 right_pitch=-0.078 right_roll=-0.044 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -7.2957, 6.1197, 0.9402, -0.4957, -0.0659, 0.1294, -0.212, -2.2222, 9.1692, 1.7265, -0.1783, -0.0024, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3S5WAYgaqyn8htRI1xPcTI7rN1CiD8owqAGZ0AQ7Yz5m10kFV0P_ztyV5zOB1qrrqkyj-8mqaT594yMFKo1_AZN2BPvmN2oV5JRbRE-c9XuNDPEGF7k8FE5QJ4_6Mcyz9GT4BmI0PPThV91wqzqGStFNgJ7NLFsnLHbpAoGQRF2fwM6azXNKovg5R3YcMqevWQE_n5dy-gHQ6zocF_rlUUpWDbscCSbsmYN9wp3Gr8r8pi8bfhVyRbbjTo8xFC1EHt-YVcecZ_cmt_eBuLpZepK6Z1S-rC1ApOuJ-Sxv76T_-EemUOlMfMji31t1CuMB_jaaK2S1RVZlBUXNk4ADcqcSCEVOkjpVutPSwy0ogzBr5jNI8EZHsW1YSu1qy8gcu2jjFPM8DKCxt6vG8vhSDHOalhn2TL2tzO_YZc2Uafd_uxHR3bC7v8giCN5zd36cMG2ekkyZdpAesuwgOQwbN7c5ZYyVkYmwSpb2QGukBq5XawaGWF8RSOoNErzNCSr74owfkhnKqw4iVeYyqLQVoVCLJXZAgNvl9YfPosQzwmCmW_UjvPWIjFvqMclnXB1YbIe4Y3dCR5g3sTrEh6WuBUrP8ktAPocLrxnsdMUowtfVrWt_83CQf6NBkZA1uBahRRt2z7IynmRlkWg1J54ejgndlayp_DiClcsJRIfTvlhxjyYE9aDKP3CGUFEnVEn6LOSv9OXkTE2OocPx50Hs1PX3kKrJUpGofl0XLgeDDbohY3NUIC8erh0ZN-IFEKJtPMOuIw9vpDt_Dh3XCtBg6mc8SEVWw94xOypSBict3ITa4IBMduZUNZzCH5NVyUV9Yuo4OovS3mMSiOU5b5hC2rqS4w5wwNO3fpUEXkjq3LWtbYs_EifJpEk0MT94rNR9jPFBUXmIrRtogASJ5MOhp1sx99HZqiRPl_jQvDUMKVjOKCA0IuTQmbZhcFt3B9hI9KD8cXmYpmOGEtAATc-PkXdbWOJi89xbmTwC24--CtUCIqeLPJL7-EjGxsKlLsO_xj_KdsbW6eDxuL3m9kf8ClNZZDrML3_HXdoPmbZaJre8216F3vMp6NMAXbAyw2oc5IkbOfJT3Ko97N1TKrnc5HbTq3VFPgtaDcX5tmIaCssxQfcM_4gGZOLhlwd-6GH6lii5LehbUc2ip9YN-wxHjDQmbiFA3IZMJwIC-CPcId8bHDOr9SUeFYnTX9sXodOb-MBpRS7--iqD6w-SixPw37ZKYTbOrYjfgNH8aamC8bnzg=",
  "id": "rs_0bf57f37863987c8016ab2adcfd07887d0ade202831ee0bd76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.34,\"left_z\":0.11},\"note\":\"The fruit is slightly left of the bowl opening. I’ll shift it toward the bowl center and lower it closer before release.\"}",
  "call_id": "call_y5TSRI2RiSSIcpatj9P7ZqO3",
  "id": "fc_0bf57f37863987c8016ab2add0871087d0941f466c49cce0f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y5TSRI2RiSSIcpatj9P7ZqO3",
  "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]: [-0.9028, 2.1311, 1.6047, -0.4217, -0.7246, -0.6598, 0.5533, -0.1009, 0.8948, 0.8066, -0.5961, -0.1356, -0.1921, 0.9957]\nstate[eef_state]: left_x=0.417 left_y=-0.3337 left_z=0.1002 left_yaw=0.0346 left_pitch=-0.0876 left_roll=0.0825 left_gripper=0.5533 right_x=0.2955 right_y=-0.0023 right_z=0.2014 right_yaw=0.1109 right_pitch=-0.1149 right_roll=-0.0493 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -13.0393, 8.9504, 1.2332, -0.5055, 0.022, 0.0415, -0.1436, -1.5932, 6.8581, 1.7656, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcc52b66ba68739525d160ccefc1debdbd920ef6da4d21e7a18f16cce348167",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc185b2d94a49d1c40ec3b71f41b0e9f59ac8452007eb43aeeb77309402ff75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7a1fe4ac0a926cd8d539ec55ea0df2c901ced43f0fb6beca2b810bea7a99120",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8532, 1.9911, 1.5314, -0.4274, -0.7074, -0.6117, 0.5528, -0.1009, 0.8948, 0.8066, -0.588, -0.1352, -0.1909, 0.9957]\nstate[eef_state]: left_x=0.42 left_y=-0.3011 left_z=0.1398 left_yaw=0.0436 left_pitch=-0.063 left_roll=0.0641 left_gripper=0.5528 right_x=0.2967 right_y=-0.0025 right_z=0.2029 right_yaw=0.1098 right_pitch=-0.1071 right_roll=-0.0503 right_gripper=0.9957\nstate[joint_eff]: [0.294, -11.9316, 9.1419, 1.4237, -0.2125, 0.1929, 0.0806, -0.2803, -2.0855, 6.5709, 1.9512, -0.0024, 0.188, -0.0073]",
      "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 at a low release height. I’ll open the gripper to place it inside.\"}",
  "call_id": "call_l95sgptdXvatukSMgfgkpWUw",
  "id": "fc_0bf57f37863987c8016ab2add67ce487d0a5edb7aa59f00287",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l95sgptdXvatukSMgfgkpWUw",
  "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]: [-0.9104, 2.1582, 1.6142, -0.4332, -0.7261, -0.6792, 0.9954, -0.1009, 0.8948, 0.8066, -0.5972, -0.136, -0.1925, 0.9957]\nstate[eef_state]: left_x=0.4145 left_y=-0.3366 left_z=0.0888 left_yaw=0.0406 left_pitch=-0.1028 left_roll=0.0914 left_gripper=0.9954 right_x=0.2953 right_y=-0.0022 right_z=0.2012 right_yaw=0.1115 right_pitch=-0.116 right_roll=-0.0491 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -13.7231, 8.6632, 1.2527, -0.5299, 0.0366, -0.0513, 0.0068, -1.347, 7.1043, 1.6825, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1f71ca74e8c8044a43e878043da17cc8f787287cce0f8bc7f0dd2bae7da7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a17e94483992aae84c1536323831d91e62dbcc203f30943e5a9f79ec6bc655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9831784f47df6fc75daecc6c8236373e19eca892ebe90bbf69a1185ac83e30ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}