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]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.999, -0.0227, 0.7998, 0.6189, -0.3866, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7299, 9.5658, 1.8046, -0.1099, 0.0952, -0.1148, -0.3487, -1.7299, 9.1966, 1.917, -0.0952, -0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423cfb7f3123ab9b7aa587e030158816e65d38366796bd503a64052fec02fbf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d2fefea725842e2746d13e503d9bbd54ae55e6681d50d925e51bd441249065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b679ddebb8133d0548aad7a3da8d66dc126d37339ab718b6366073816d884d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssNy8q6dzD5MI2Ovghoxf4XhE4aCCVzWfutQ3egqiCBio9SPZOhRBTvW4piHlKrYaSsmIqKqAYy3zfXZOBobFMvTKsas0E27s7QBezNrAqkLUMH2xat_qSnNePbFuxafj_OHLuRZkrxLjBy3kxW3Fk4EGu2q-3o3wItsfZoqqjm3ocTvMKzayjWnLxth1xvwM37INiQMrY_PWqNxhwt2E_mrA3MtHCXHaeBbGu-iW_jVsQHfvz8GdveDxGz5CmxEjBCdcF4bAIpl6XjVFItxfO6LL2tidnbkf1cjrlfzJcixF3QUWFk1I57vM9H9ULsBgTwHhz-a-J4nbaJfXXx2l90QvyWpDy5HPzWo3qCinj_SWh0Ap-VS6w9Xk4m1XcyUrmtFNCTwJ8POLSTwr2VPNLUbw_tGB1_Wga7iFGc5qTfL5dbHNRZjzQgGQlWXMe8K4gBmJ6Xf_iHQt8iwcun8r2pmnNOQj-ImLRgjWwEJu6snGUP1tvoBY9Mh8I1KD2s5xncgA0beirKZg4czBxQrmHU5qfWNFgv43Lyehq_JjenGCJ8ISuefRchESNk1H07DEweX2d5EyKGT2YvnjRpqopNGNnJBODX2Cp8o2l62lFdphz-UHCz8eP3gKWLNjXKksZs5iTzmZVKogXBFYA0LnWKM3rytnRNFwB3Hneqz_S1sPx8tMsezxtz2rVVl1HwpL0Q5k5_L7kxRoP0OJMPtXW-vraae0De4INhn9gb0anj6Gya_sMiPpcC03JtBtzuzTs3L4VsiPd02snuRqTQjLcYislTI1QHkg6Y4FEPFhBNZ7U0GxtZXkECs1yQFgaXkjHMWKFFRITq_SXEO_TR8ps7ev1xnlFt-sCyD3Z1yBUu6T_hXWtP044mx0aLGWcbCAhE3KZ1mpEJo1OxGPF8qRCQfc_unyhc9qXyyftZGsEQzbABNHUxli_Tr6IyAaaCVQU-kER44XS3JOQRocyE37C-5O2D_K1SOb4o9P4g32YIsHpmCwrFx32DfCKXZuJjFSN-PbiVo03dWPWvgpy-rO86TXYUmhT_nzyX7vSy2vfg_dCkU5oxykQmWCquckSaeu3LSKNgZmxaJ4tyartAPY-CXbOVkLiynYi8pWVirDEFkDPa8ShPXM3KwrJGZYtfANixws3P4bqUzH1Ij5gfcddhGIB1PMihMSx8AHtpjozItt1EBFJmyIMNUOEPPFHmo6_JBtPrugbrNwEqw8KLHaxzEmNoGTeoDMbPGWpjoSNmVfpoKYaFox0b_00q0sSnzVMd0wy-fcb6fbOYm-P7A8UQPIdzJvuTPprsCPUIuSbeOGExvLVhIuYYTfMTfU3hJDXcBH0JxAC-d8BM3lG1Nfu1bHZaWR-A5ftmuVWUkHOu0Z5mPTahUaFwWxgWbqMmMDUzLlcxD74M0AtLrP2zJg1sKWgW5ibJMD4QNz1QMMQhSMpoHXw4x5pVMVdwlG5gi-c11WYPe7nFLERf-kzj3da-yZFZVxAGhU6MlB1696sMVNb780Uo1cj2dHUeNt7diQvmfDIX0sjFuzi6jAN27eprMCt2W-RncNyBfJlMbQJltmKZkVJp0eFe0RTmVOKXPTJgZpxt0A5CR6qbZrlxI-DH2GMLGBnnOWSmtgAomztpAYohk-AAYgD8KjBYSBg5qw7je",
  "id": "rs_0f4f43fbaf0b6d03016ab2c36cb30c87d0a878353fdb833c72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits: a dark avocado on the left, a yellow fruit near the middle, and a green pear on the right. I am bringing the right gripper over the pear first.\"}",
  "call_id": "call_VVZNZBvXPBFhh3J15aC3WcEj",
  "id": "fc_0f4f43fbaf0b6d03016ab2c37110a887d096efd9a6f0c8917c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VVZNZBvXPBFhh3J15aC3WcEj",
  "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]: [-0.02, 0.8051, 0.6132, -0.3943, -0.0139, -0.0307, 0.999, 0.5262, 1.2587, 0.6762, -0.1192, 0.4152, 0.2813, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1782 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.999 right_x=0.3398 right_y=0.1191 right_z=0.1291 right_yaw=0.0299 right_pitch=-0.0651 right_roll=-0.0368 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.8437, -0.0513, -0.0073, -0.0171, -0.212, -5.012, 9.2376, 1.8681, 0.2955, 0.1197, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b540ab3f89a697c244c711ca0221b84c9e229ed4b2e96ac31c5874458895b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca840a7fe9fe74150eb7e6e95fc9b56ee475bde4c8bb41a847a86f1e8c3c47b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e1cd1a596a57dc61cd6a7ea79a709776c1e5bb1d61afdd28d964c8addbc96c",
      "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]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.999, -0.0227, 0.7998, 0.6189, -0.3866, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7299, 9.5658, 1.8046, -0.1099, 0.0952, -0.1148, -0.3487, -1.7299, 9.1966, 1.917, -0.0952, -0.0708, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOCor1coArv1Zd4zYMPA7Y6NOlvaM4GC90jwN3fxLrgSstycRHlyos1x1cn2fuB9U4PnuhIfbN5mNah11tkKoEprkW0Q6kiS4MPPEwd27m6MS7AM_Cgb-fXzVXr9s-ArnyASlbuBp-HBu8-znRvkluVlfh7rRo7pIH1WRBLHenIoEeplUtQlg2npvsYLDGpm2q0zgfC0UD2kC3Mfb4qL-Sw7Gb_-8gA9F69N6T7VU-CVe4SRQL_VfPlOTjk9dP75glwwBYtAbe7G5ysMvxGACVW2ubnbb-eTTwCvjOmPeUZTT-7TKbjTokbd-lmf3liZYemuItBI-iJlCgqTbOFe0EV_rRrWGNlMbknuelGhpK00NzBystvXT0Ir5WCjhI59JJToadgPNB-Iikxf6k_3_ueZ5JVfayALyliVl6NMv_1QqkCfu_ZD9S9iQf7S7ZbYT0HpjpOY9JI6aZeRxMdn7UstTFaV1UEZYiDUHQC9rZ-fMXrHx6SC95PzAA1oE4vsriKFxQsba2Vw445crfdqsIPFvrgwGJFQKGeBDtsYs8bV8j9DA7DrPV0PMQLPP_FIwOgA7l1u1Lob1FrUTbAszVlv3QwX1Hf8RhsuzXAA_bgovbQbV0EYoMs-1V-J_939nYzof1OrJAooXxkZAhBAsSP5g2682CCnzmY_DYGAC7eurKWzmqeIFkJG_xJa8NZl2HjdFDJ6kPpn7tboAs61k5tgPXD8TnD3bCzYEzknCvAeJe8z-76TRrtO2Aqi2I6PzkOcLEpCLQsjR9QY0IY0msQNK8Evn1iEaHwsZuE6kduBApXpoXp_F3QfYcyNFidTfGzdxd8beXj0QamC93b5wYcgMyDAioKRPte2HhH3vozH5LWHxB4gLHL6ZBcuUxMcsK8ss_dapDnMBLIqZpYh3Py-Dc5-0zHppw8H7YYkApbFJF4nZ2zkTm83bhXmbc1S-YKc2D4jsF4LDdl6Puk6VakmJC4Z1vHwr4OCfbpn_W2WZKi6xu1Oa972jPgILjX6pSc9eC0gzE7b01e8dZXLwnOPmvW509o8_s7btMNIMHahhPJRfVOsCdIWvgVk4VmLFhYALTjY2udh6eNbSV4JbcUzVKrMdHKT_jWWii-3Ek60vjaQFBKtE4BmQlqzmw-UmOtOxiHh3KZWkXOulqkGZ1YJhrSPDd8iTnrxqFgWcsSfMZkXfhVj6CSrKs01VaXvrYHdRGdG12HyYbfogRy48TwUs-vDXq6B6LohCfoJqZ9N7vnMQFry4yM22vB4rZHv_WxPdaglRf25zbYv8u6ckKrvb5HTCVVes5B1elCqhs5lLGVIVedEvahir6wvfBrT7V-LXauq-2r4kjIhUxgnjpWWvl2fGDASD4KzuGVer81zFfVd5wL0R0QVVPYKXzmHIk8BFqlPnFzwkL8_D6_HFMfxzYSwhGtZ-6wtwpkEN8MD-v-A5AYQoMmPqnZglNNPIUSfBZPxYQYf5yMVnKXrXFvIw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c37e3bc887d09e3ac12f9f8a5544",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.085,\"right_z\":0.045},\"note\":\"The pear is just to the right of the jaw column in the wrist view. I will shift right and lower the open jaws around its middle.\"}",
  "call_id": "call_x5YrmQgTKPfccL4bwmdx5vKk",
  "id": "fc_0f4f43fbaf0b6d03016ab2c380fab087d090bc8994989ad5c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x5YrmQgTKPfccL4bwmdx5vKk",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4053, -0.0139, -0.0311, 0.999, 0.416, 1.372, 0.347, 0.3176, 0.3351, 0.205, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.999 right_x=0.3207 right_y=0.0821 right_z=0.0387 right_yaw=0.0253 right_pitch=-0.0945 right_roll=-0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2513, 7.0359, 1.8486, -0.0513, -0.0611, -0.0122, -0.1709, -4.0274, 5.4769, 1.9121, 0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffcce717bd5c5d755d4a9e6187a2abc61b1b1af2bf13df20d828e6e2a7182270",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309c4d6ea7012551550aa7bf8c58c592f945c380bb56ccb1443b07c8a07507df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4efb2ec8992a4dd83f031faab1fe0d0f0aee1119bf5bffe5e835f006bdd08c77",
      "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]: [-0.02, 0.8051, 0.6132, -0.3943, -0.0139, -0.0307, 0.999, 0.5262, 1.2587, 0.6762, -0.1192, 0.4152, 0.2813, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1782 left_yaw=0.0001 left_pitch=-0.0172 left_roll=-0.0005 left_gripper=0.999 right_x=0.3398 right_y=0.1191 right_z=0.1291 right_yaw=0.0299 right_pitch=-0.0651 right_roll=-0.0368 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.8437, -0.0513, -0.0073, -0.0171, -0.212, -5.012, 9.2376, 1.8681, 0.2955, 0.1197, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssONozJIizPeFRB18TldrKdfI-z1lHmklf7KitW6uxog1b0DmQnIskJrDl5y07a_CKELEIXb7Px_zWu98SOwEy-SPN4JH6NzYuGA6q7UA-JQg4ichDpmjqLDyDgxTgKHLQTy58Bm6_sTL6AYNLcewnEwdXLXUgcgKmbtO_Qf1ez3TgGu4lM4t-fi4WLbweZQKZ-VWD_CVOlNmodzAjMuLgUhEz2n_k7Jn-WOa2CicXx-UzRumS35zT8eE59GZxIFjnmIRusN-DuH59Tw3UjrypQVfuSy7zPYn_d2U4pHzRw5UxccAwEqMAaxW2SPo_z7aGAkDR8BxQr8mD_sg6IJCss1C0QIzFDwiyo_YzYGNJt1BIg_5Fv3ZDT2bzX8ESJ4Gt1NQD9hPXcZyTaMvHu27dsMxH5qiBhRU-IkK-rOXnxCp6jd95aqkefMM1LwcwORHw6eRJNVxunYfefGdLyr4GO7MD1UnucoBil-G5e7Vg_H4O8kZMGtwsL7_P_4mQEvvLik_VuEtjJ1tDOZXeZhYSqoP8pUijjV-VLKtgV1UnzWL8RS-smfyuPdm4xw4c_M-A7Wp66184OQcUCAl5A6qF7V7FsnxdDUGWlvplgNKP1KJZ3ttNc282Y3pFN7oFNJq--BayvYU0MQuNcGFXY94Z8a4H1EzMOMe0KiJAZyGOFZdVEH82pdTGrJjm6q5agnykElC-zZTltoHTT8ek496eOcttjw930-StnFiCIIFWFJXjoWsiNqsRMD0sLDq_nOyBEUMm3f0F3PTlysg5XPoS9gOqLJV9ZOJUIgWT8fLZhyEKbd0yH8jhyEGL2VcPDIylFVgxppBaLWYr3Rx6tvPdkxiQ9xgLRWm-RWAljKyPcJvcGJi823khTpdA7wEqvGZcq2nCdOpnl7Kiaxn1P3eqcK1bl6RRFKRUQcvTZoRlQNzoa7oyeeWccexvK4ro5hCM_YorJ6greEcQHdfldJpU7nnrlUI0PSVbMyWxtyzCw9N-R-lt6MHRwOFgup3YJlY-GtcHDNK1diwqRMoUEGm98PsGa0xCi2z5M5NUn0epLZUpxzErBm7GNYUSvxo0uhxngEGEVwnyN8iyo4gxmBx1Y2IV6pMyldQgMSsohdZ6L0wY4K4PYlA1eUGKcAkSdBGJtVKp2xFUOc8rrfKa41UyzMn7Rvmsc0UldWDGzkEx5NSVQGZO8VPPrbEHq30vRENOW09jzsJPcp4LnPQPEpcgnT7v2lRxKXid8cDpBFkapLDJ51MdQXPMlksqoMHFXqWL4ZHOdCgpOUDk-6mt5dBPmDjF9Na68cUn40ZHGxB5UeKnBXfU7YzTU3mLcxeUT2vVEQ4XTSvNSlpjz8RmheRU1GQw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c389cd1c87d090db927957846b90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.025},\"note\":\"The pear is still right of the fingertips and slightly ahead of them. I will center the jaws farther right and forward before closing.\"}",
  "call_id": "call_MTUcQkPodZjbPGvJ8lPnP8zr",
  "id": "fc_0f4f43fbaf0b6d03016ab2c38b4ae087d0b46e92b1c3eb4b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MTUcQkPodZjbPGvJ8lPnP8zr",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4091, -0.0139, -0.0307, 0.999, 0.2466, 1.5276, 0.3611, 0.4393, 0.2039, 0.0959, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1741 left_yaw=0.0001 left_pitch=-0.0359 left_roll=-0.0001 left_gripper=0.999 right_x=0.3393 right_y=0.0522 right_z=0.0126 right_yaw=0.023 right_pitch=-0.1431 right_roll=-0.0616 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5248, 7.0085, 1.7607, -0.0317, -0.0317, -0.0122, -0.0068, -5.2718, 6.1744, 1.9023, 0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303e15e718beebde5bc96dba701872d2bfc464b20166d1df24d54582d3e31748",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1413733c8f88f2feb2935b54663e2db7cb0aae7a30fb48f5552654d602a09a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c471723711d843e650ef2da0e22cd36d5abdef5d5437b3e80defa5c19d91b1cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4053, -0.0139, -0.0311, 0.999, 0.416, 1.372, 0.347, 0.3176, 0.3351, 0.205, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=0.0002 left_z=0.1757 left_yaw=0.0003 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.999 right_x=0.3207 right_y=0.0821 right_z=0.0387 right_yaw=0.0253 right_pitch=-0.0945 right_roll=-0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.2513, 7.0359, 1.8486, -0.0513, -0.0611, -0.0122, -0.1709, -4.0274, 5.4769, 1.9121, 0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOTEjQtrrD5AboIF_oKRYfK1prn3ImJyJcstlpuw4Cm7Ik5P8almPpazk8EdGj5k7X3Zv-ub5iIotWZyxg1che25PQaZde2v69t3lHmiAPP07_ue7qNcG_6q-ljvdZqgJckM6I4s-3YtiJZkDQz5a17FsECmIXDiodR6XrhSgyWXFYZ4NqzFseoQC2SpJsmrYGYNIMzUYM80awgYkpNgtj3wmHzEjn97CjL-jiPSPrOss3xi1QFoadOLC0lCWF2W0crlhYMwLI9ng1F1jcm-J_2m6YTXelvUMDX0tkS50gr_mD5wdKNgfIaKE6ouq15HyR-8JX0YpdRKSunKV-vIcS8Y-dwhlnmwBxu4ODKpPGaP-FXhLYzISqWxzIkG0QF1H2VuKvyeEOlUld-3dmoM2M8_Uo40TB0JEs07s0p0mRhDkRCvI6aH9G-4TaQskeEGpSB02ZLe4Fw_9kl3eN-BjY-fGSKdgELzUTb3emNWzuoBERumwInyLp0LsF3o6A0CjvJzKxbOeglafkjaox06mdK-bE0AzKh3E7TeUDMV9VRlWzIdgwjkO-yYSoW7r1WXFWUsAXrq083U847aRuNQZN9Ds6dTiRt8NQv59NGEv5MhrOEzKJpjBP2b1-4Kya4SEnWssgM4d_AKXUemPo37mqoRYNrnpruuxbN5Rn0-fEz80kozRWW4Pal9s1gdHDKowsiBCO96M8Y8dbfH0BP5i6wBbANshm8ODy0ntzTaRGRwP_busAbu9BvbSI62mgBY05HSjT_0S7PCCbeGX9mteUEiR5kRLDTRYov4UY7gKnnNmZdPAw9TeDBDn_QIg7y3lN_DawOkEFn61vkp9YBTs_zw9S2kKtOAOO9WpDxBrfuSZpaP18wxDNSUU7HtFJWFEZv8s0bTv7waov9-15zhbtXdOmqQUicNEeQ91xQdOj0HK8e7-hpvUcGAyhLLK92Cn-OzYo6aLOzPL_ZiV-zl6WGJMCVg-pevhFqkpLsfwcpxSLIHSS0AHil30WifuNb4cZ_dkY_mDG_QNi23Q9SjuRlhVc-tJhwswRXyZNNwP5nmB5WVYJlrBnhoZZpvkc57Mpfw0VaC6Dg-Hi1-QaeLm_pvbCIVsis0zZLE5u4jod81pcYjWYUJWaijQAY_SNo4p4XshEpx60Gku0HS1LFskGxZZP6MyfrJZc92ujpUoxcT80zu5rdEpFgMIoLmZ0hQQN93jqw7gefIioYOYrI9_VGIg==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c391dc3087d0b1e3400339735cfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now centered between the open jaws. I will close the gripper to secure it.\"}",
  "call_id": "call_gRtFSLPWMuFriveI89d2NIpl",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3927cec87d0b255092133d97130",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gRtFSLPWMuFriveI89d2NIpl",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4168, -0.0139, -0.0311, 0.999, 0.2466, 1.5276, 0.3607, 0.44, 0.2039, 0.0929, 0.6845]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1726 left_yaw=0.0003 left_pitch=-0.0435 left_roll=-0.0003 left_gripper=0.999 right_x=0.3393 right_y=0.0522 right_z=0.0127 right_yaw=0.0247 right_pitch=-0.1429 right_roll=-0.0638 right_gripper=0.6845\nstate[joint_eff]: [-0.1299, -1.1282, 7.0085, 1.8339, -0.0171, -0.0464, -0.0122, -0.0615, -5.0803, 4.8205, 1.6044, 0.0171, -0.0513, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c10f2712e723645e690590730fe03b5fa9f6e0447a9f42fea599d94b2c5a5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4991ccb2b8598caa6347255f9690bcaed1ab21254cae08459f5c1417d1a335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1973c00e35ed15672db8b333cc890d5791baa4800a730420068f0ba0b306b17f",
      "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]: [-0.02, 0.8089, 0.6132, -0.4091, -0.0139, -0.0307, 0.999, 0.2466, 1.5276, 0.3611, 0.4393, 0.2039, 0.0959, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1741 left_yaw=0.0001 left_pitch=-0.0359 left_roll=-0.0001 left_gripper=0.999 right_x=0.3393 right_y=0.0522 right_z=0.0126 right_yaw=0.023 right_pitch=-0.1431 right_roll=-0.0616 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5248, 7.0085, 1.7607, -0.0317, -0.0317, -0.0122, -0.0068, -5.2718, 6.1744, 1.9023, 0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_z\":0.1822},\"note\":\"The jaws stopped at a width consistent with the pear rather than closing empty. I will lift it a short distance to check that it is secure, while restoring the idle arm's height.\"}",
  "call_id": "call_WhPJmC6b9TcX1xBTS4zOi8j8",
  "id": "fc_0f4f43fbaf0b6d03016ab2c398bc9887d09789d13e574d332b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WhPJmC6b9TcX1xBTS4zOi8j8",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8135, 0.6228, -0.4633, -0.0139, -0.0311, 0.999, 0.2466, 1.2415, 0.532, -0.0738, 0.2005, 0.0921, 0.6787]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0851 left_roll=0.0006 left_gripper=0.999 right_x=0.3296 right_y=0.0504 right_z=0.0763 right_yaw=0.0258 right_pitch=-0.1985 right_roll=-0.0746 right_gripper=0.6787\nstate[joint_eff]: [-0.1436, -1.4291, 9.6889, 1.8242, -0.0708, -0.0122, -0.0171, -0.1573, -5.4496, 8.7726, 1.6337, 0.0708, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35d3d211db42ec3690d4fd6bb19855e07119ed488f2961091afa7924ac86d6da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cb4f58c8954ba1e915807aead26a1e7577a3c7b570fa65c5a6ac8daa100787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56494c22dcee5e3e35336b8d922cbea425acde072b3424b6d996beaa3c9a6f13",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8089, 0.6132, -0.4168, -0.0139, -0.0311, 0.999, 0.2466, 1.5276, 0.3607, 0.44, 0.2039, 0.0929, 0.6845]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1726 left_yaw=0.0003 left_pitch=-0.0435 left_roll=-0.0003 left_gripper=0.999 right_x=0.3393 right_y=0.0522 right_z=0.0127 right_yaw=0.0247 right_pitch=-0.1429 right_roll=-0.0638 right_gripper=0.6845\nstate[joint_eff]: [-0.1299, -1.1282, 7.0085, 1.8339, -0.0171, -0.0464, -0.0122, -0.0615, -5.0803, 4.8205, 1.6044, 0.0171, -0.0513, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOjhr3101kc8GSik6ULqKQ69dzTU3g0ZxuXXpPCvIpU4kmcO5eA0f8rWzuAAWeHMRAoZdwIViCzSGGfIVXIc4mXIbNoz88Uaay_WVFnGDYArEF_9hueSUCWTovGN4noEYZpi4sck-hrgA1LLgNttvXZxXga4NQlxEniUGiAB6210l0mcBr0-8nEDQ3z1FSP2B32t2LMSvdufQw4cvGhbA1f7qClhsbq2CMMBVVoG7StZxEo0UMf9EO_hfmWUkKsHSrywzTA6a206_jpbV_jPNZrUecD8uGTn0ugMZty6wWv1fr-CirrQZT2EFumTUKPpz0GOUo6NkbTcIoughy923iiGc7CcvXMu-MPhdPaQnP5v-s0Nq80PmgJz6HOj15JU742yybdRAZaTiU8OKMf5zdB_sSkdYi0_Zdd7_9kIg4AFwUTXKTTEjbU8bLN3C3PeSGJi_SFI7YaB89sNKu3l9oF4Fhnr6roTT_nisaEoLFlA37c0gjR2b8Wafw6D2yJHYEgkFKX3EO1Ya0rxYnvCL4uvdYYw8IKh6pl2mu0lKBmCCgkhwwsLNu7EuGvKhZLUAb2ght2Le8y2wLJVu5xyLzuOdzE0n5rQr7djpasUCA6ndzm7hUn_Cs_P010y9AHQzqxP_SHe9HNr4_n1K496hNK-6YA2y-pRyGX1TFDJ69TB4eHGd9NzWcCpZrbHTepXvWCzuaknSDLRFEpxqF3gg2HgQEEATDqXLw559OVnPNE3QMRNhto6jCY-DlR0hH5UUQA3ZHDGnnyiv9fASKDzAAZDAa1BTkYj0j5k2SACPn1xaH7_6MS12x115ZdTBaEdbBuFf32BHzIkyyp6Y9nGKCjXID2PI5S_TMFfMdrqWDZtH3Mq6eD4OL1XJin7kN_pIQswRpN1YjsIIEyT0kWcNEUYgjXnvVGWPWcEVZ4jFQaXw7m4VneGnzk4U-J3Uc6rhGnJB9c3ncqNvyd_B4m8G9-OJx8gc_Ga_acQFGcmiJ40-1hhr8fDB-72BShww1HUrWlyYPatevYZkUPfroK0pGxnAwdqhk51YehQtW2hId0gQArOJJ-DcE7fhlUI8Bc8xvgHU3aiorstr1W6FNgIq_XpGMjJgWrTm4mZSgYEMh2ViUiOgDL2XI3JHViztQg17s1_IXX0BjoagbofU2IVZB46rE_1UBuMEcC0JXNYxYYgiWRp9wt2s5k24d9cL9g7LmD74rcOwS59AbOp5PTnHS3ajYJER1gM1ue4UO3Yq4HD5GT9bdMTNDiNVCsO7wSRg9cN5U5a88cqj-j5RpNbEAtfGF06fy6IlH0B1Pst9fFSbdES5WthyXl61ShUUvRwqfExJ-ED5ZVFmv1bU8AjTpgwA==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c39f2bdc87d08461963f9e7806d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.14,\"right_z\":0.2,\"right_pitch\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2},\"note\":\"The pear lifted with the gripper. I will carry it above the blue bowl, keeping it high enough to clear the rim.\"}",
  "call_id": "call_mnVUPEh5Go4PB0GrT3cD1aYR",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3a0e25087d0ac2da84b7827413c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mnVUPEh5Go4PB0GrT3cD1aYR",
  "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]: [-0.02, 0.8753, 0.741, -0.5659, -0.0139, -0.0341, 0.999, 0.4236, 1.6371, 1.1984, -0.2523, 0.3473, 0.1314, 0.6821]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1825 left_yaw=0.0021 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.999 right_x=0.4489 right_y=0.1404 right_z=0.1753 right_yaw=0.0631 right_pitch=-0.0798 right_roll=-0.1132 right_gripper=0.6821\nstate[joint_eff]: [-0.4171, -1.6205, 9.5658, 1.7314, -0.0806, -0.0513, -0.0122, -0.4444, -8.6085, 9.3333, 2.0342, 0.3297, 0.2759, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229158faa982a9babebe1f3bd3d7ecb486f7256580d950f4f9f52f03c644a8c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd0b11190df84cda375d52d8ec6375b9cb58ec42ed2a647276d751b64dfed44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ae9efcbb34ebc2930bb99b4b93cb0917a25bd72a74b35d6ac7a8e15483e4e4d",
      "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]: [-0.02, 0.8135, 0.6228, -0.4633, -0.0139, -0.0311, 0.999, 0.2466, 1.2415, 0.532, -0.0738, 0.2005, 0.0921, 0.6787]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1664 left_yaw=0.0004 left_pitch=-0.0851 left_roll=0.0006 left_gripper=0.999 right_x=0.3296 right_y=0.0504 right_z=0.0763 right_yaw=0.0258 right_pitch=-0.1985 right_roll=-0.0746 right_gripper=0.6787\nstate[joint_eff]: [-0.1436, -1.4291, 9.6889, 1.8242, -0.0708, -0.0122, -0.0171, -0.1573, -5.4496, 8.7726, 1.6337, 0.0708, -0.0562, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOxI6UO_FhUopYQZYEiWCPxmTYvszKsLRVQi-oklMbv_lq9DrcQ9gO-JNdAPQFrX0R8aL8dGcrFu1YkAVMYI7udrvAWIYK1qAy8GpW7_Sm8gYrsKsv6NO5B4K9OzQIH2MgixRxaiG9WoVBv1aEtfdBNOcosFcgRol9jrTwLAnWKyPB3Cl3jRINQzi8Ad1ZtNZmk2HSvwsKKJIERPx7slImDmMTiVRtkkGHq8aTGiPguz9g5WTsf5nryMke311ic16Z0Eic32uS8mIbPhpdZPimy8LPYVPCS9KclJuRIRy4UBFYCZBRDMSJGTaj2DrfYzq-W2OqOMhLoAHD-b-MJpfpnXsUMOI7qOFf7GRZN2F15zPgx8Dz6KL76yGJHGE6EXxQmZz1kxSY5ssrSpJ8WKsoL6cpXgL5fFjiNXTRNO-6NaN1UgshgcJHWAqXAkuW6ngm9umz7KpkxcBOgfwSlldDtRkrmTZpfC9XcDhI6trJdRkMTJOH4PJP6vRd3nJrZim009ArEoeL6zNTmTjyZ7qF_sLAqHwTHG869-AVOfwe9ddFCnKmF0s-VdYEmh5vkFALEtd6JPfiVoSTqfo2ZTVWjkegxKIQ8txULNal6VdeAo2vF_2B0AmT_oolOPQVmvBlT8Gvldmk16aqddkiRUoZi5qqZDM5sCW_uooEDaejfy43GKwrC4fSVg8Ka7K6DJ1vrLEkoJEBdxxp1VTRmlHWKfUh_E5rwuIlc6dyFhEtrFMtmfA0eCSWYOOvige3aTkxGam_PNQ3sfM-ekXeCftne-9CZPhFiQvabSP3pR4Y17yDYa0mmgJhFl86vGrwpnXa4VOlMOzq7v6Tz1Oljlbq9U027o0YEZCkorpSUBlr4fwSksEiqIfhnbrTAQYEl-e4qxy8LPGBzE5JNDMDEajKjFM_g9dd7jQMz4zPkbhwHjnDq6ZmQdCiI42JWZ8BQ7_aOet4VPMVHQhvgoflZ-HWPFf5mGVNvOJA9wD5HGt0Pzji8mUsYhIUZeqw3OTQ1u5bOxrhmWxugVM1-aKkA1cA-KFbzc5xTz3Tr28dRQYKpd8nd9JTsoEKEwv4jJv2maa6Pbx8QcbWO0Nhyah3oTJlEe-1wEPwm6rMGRxSWOODY4QXSeE_HGUtbF_QdbjVYUlnwP7ywKAmMGCvaxpntq3TixFR02j1vqCAqD55TT-j2RvNtevaSk5cyQiOOm5NA9d4cWMOSF5vjD-1nvh0OwH_c1bKYQCMcijVv9nJJ-YcTy3_FbR_7qsxavVTUs1sZNgifffaRK_Eg8l3WKUAEqJ8RBKM5sPFnSmC2ucEIzTWqAQUG4E0z0H59CvBdsLxBRc63xkkRiTHhv5W4IAY6LiJOUg==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3ae82d487d09f2c6d879bf73347",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The pear is positioned over the blue bowl. I will lower it toward the bowl interior before releasing it.\"}",
  "call_id": "call_MfUb4X9oOfoMwS3A1WdXcilx",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3b09d7087d0a3305414864dced6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MfUb4X9oOfoMwS3A1WdXcilx",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8783, 0.7403, -0.5735, -0.0139, -0.0338, 0.999, 0.4236, 1.7058, 1.0382, -0.0715, 0.3363, 0.1265, 0.6843]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1799 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.999 right_x=0.442 right_y=0.1393 right_z=0.1097 right_yaw=0.073 right_pitch=-0.1278 right_roll=-0.1271 right_gripper=0.6843\nstate[joint_eff]: [-0.3214, -1.9077, 7.0769, 1.7265, -0.0317, -0.0415, -0.0122, -0.3214, -8.6906, 6.6393, 2.0049, 0.1685, 0.0269, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4da65753ff9918a7037687ea1ab340172cabb6ce14e985c335122db92f291fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2afeeb77460c1cf8f4c7d9940dcb25e57a2a0ab3bdce258732ac797b468cfe0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89593e96d3cbba492f49feb2d1b6c979c16ff9f65c6c2308ac331cc3b42a325",
      "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]: [-0.02, 0.8753, 0.741, -0.5659, -0.0139, -0.0341, 0.999, 0.4236, 1.6371, 1.1984, -0.2523, 0.3473, 0.1314, 0.6821]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1825 left_yaw=0.0021 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.999 right_x=0.4489 right_y=0.1404 right_z=0.1753 right_yaw=0.0631 right_pitch=-0.0798 right_roll=-0.1132 right_gripper=0.6821\nstate[joint_eff]: [-0.4171, -1.6205, 9.5658, 1.7314, -0.0806, -0.0513, -0.0122, -0.4444, -8.6085, 9.3333, 2.0342, 0.3297, 0.2759, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered over the blue bowl's opening. I will open the jaws and leave it in the bowl.\"}",
  "call_id": "call_0WDOBnf6iwGGhuSfysgibg2g",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3b8217887d08a0f3f1e4ffc029e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0WDOBnf6iwGGhuSfysgibg2g",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8791, 0.7403, -0.5808, -0.0139, -0.0338, 0.999, 0.4236, 1.7058, 1.0382, -0.0792, 0.3363, 0.12, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1784 left_yaw=0.002 left_pitch=-0.1507 left_roll=-0.0001 left_gripper=0.999 right_x=0.4409 right_y=0.1388 right_z=0.1083 right_yaw=0.0762 right_pitch=-0.1354 right_roll=-0.1348 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.5521, 6.8718, 1.6923, -0.0415, -0.022, -0.0122, -0.1162, -8.3897, 6.4615, 1.6239, 0.0513, 0.0366, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20133abe8e1685302414de922b54b59fa079524bf471a3745305fc44d1ccfb16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ee5868d41edbb1fbcbbdf1d65b9f3ea319da8a65a6bbd70d26038382f8236b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8b5e29ce3ba840c00722a9f7b8f11f839fe52c562420d512cd71dead77b1b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8783, 0.7403, -0.5735, -0.0139, -0.0338, 0.999, 0.4236, 1.7058, 1.0382, -0.0715, 0.3363, 0.1265, 0.6843]\nstate[eef_state]: left_x=0.2894 left_y=0.0003 left_z=0.1799 left_yaw=0.002 left_pitch=-0.1427 left_roll=-0.0003 left_gripper=0.999 right_x=0.442 right_y=0.1393 right_z=0.1097 right_yaw=0.073 right_pitch=-0.1278 right_roll=-0.1271 right_gripper=0.6843\nstate[joint_eff]: [-0.3214, -1.9077, 7.0769, 1.7265, -0.0317, -0.0415, -0.0122, -0.3214, -8.6906, 6.6393, 2.0049, 0.1685, 0.0269, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPAkJIjyqfGLf2AR24mn6h6uWvnsIEjbKJW5VNH4S0YJpp00QJ01F0bA4XoeNmrbNJGOnw72EYkNSyC88PKZCiUHE7kTb-dmtG3O4pbEqYHIglAap_FNkSR7ysK2mUVZC2su99dNfKZ0bdfytbXLKSBuDGi3wA_Dj4cEPHoUW1cYSIYP1pfNNdNynfK7EiMEL2a4PcUmw5Ikh7cGnFe-7_8psKcDDRxgw8idE_mhVfzZ0dUbay9DGUD366l3bip3vsVCjFfwOvNwXB70CFS7XXUIzS0ZSrigA0kCc5OvSq72Amc7L0jL_bK4_aWHFuVxEpQeFt3PYSMq8zkhsVCLp8IbL4d4GeAOhj73tABBgXjVnHsrB5VgFxg_ZJqEPfMphWOzpMomAQG-z1t3wwkohU5It-kFQdBbPkAtmBvZTC19WMwOklI7MvuYNZSSDPt7Hbo1oNd2DrXRaeIpEWhjY0R-SFCzuswytTvQmy1F7hpAo20he_efnXyQJ1pcbneKLDVVrxoGz2mJHwP1q8Fd0y1SKvKolxSHaieZYALVetrmHjtrPSSJrT9CbYTk6TQW40WMFMd34vl4NTPxFsYYUiuf069sujJ5n_biGkp4v1j8k213Igv_8u9TG6Qj1sLZvxilAY7WxK5VYnuARc4DEePAJUg13Eh5n2-W4VDEBTNdni6bU2JMmNOgV5wwIbiUR_neaHzG_pPd_wT-weXYy6z31LpdUe6XDZWy441TAY5YpGDelY5otrEjG9NqBnrz9fZPIvwkgCBsnGnTvGI7TGTr-li4s_tZ-5DoodzHAdMjHiYr4z0bJaykismhMEqdCHDLS7JK7ZZZaaYCNFjJ_ibFMPAn5cdxeTeN62JBNI8DcfHIc-TGgSl0USdCi9uxSFanKSQeIF6KWehwNQpqzEUrs8jBJj8_dSQfbwDKPr2mdGbZcK2kieXfK3SzdRReIe3HUxclibv0jX69mBFZy5fooUrqlRUIhttfSuLfUztnNCqZRo_FFen9NjQOo5esAuCFTiTpDyN8c5dZ6n7v0OwKhXi0wJvLnnRRbsbI13uWQlXggF0-_ES7o5sxzATu-BFrbjhh79mWZx4LdZ2HQs60K9A31vyRS8x_zYLSO-8Xo5MHc0TDAFxXC4Mg3lNXfcWaYO0MfaZP5qWDJgc8kPcBxwTSgOxh6C1nD9fsd0EsUh0jnoQ2ZiouQyFBzpX_xU3u-IXEoxhPrucJQKzDTBvWa6fsy7sazw_6Ivhqc64WCyXXBGX6jDu56iCjUeWrqAWWDlaOCzPv0KgIVNBKbIByFcLUvGakLOZz0LZh_RsnC6GFloHKJsjEzUTjzJxNJafDHNa4jjKC38W4UokpWdKBv_mvxZqVXbed4Iwx1UoSslj5IDNTu24HT2eLRecXfKO",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3bc421087d087c2bace9f4958ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.22,\"right_z\":0.15,\"left_x\":0.32,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The pear is visible inside the blue bowl. I will position the right gripper over the yellow fruit and the left gripper over the avocado; the two work areas are well separated.\"}",
  "call_id": "call_MuppVGnKYXVvB2LHclWPi3P8",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3be183c87d0bebdfdf7c2a396e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MuppVGnKYXVvB2LHclWPi3P8",
  "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]: [-0.6052, 1.2163, 0.783, -0.4484, -0.4107, -0.4294, 0.999, 0.7467, 1.6363, 1.0969, -0.3542, 0.535, 0.345, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.1231 left_z=0.1322 left_yaw=-0.0252 left_pitch=-0.2176 left_roll=0.0316 left_gripper=0.999 right_x=0.3651 right_y=0.2201 right_z=0.1282 right_yaw=0.1104 right_pitch=-0.1775 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.1915, 9.1145, 1.4628, -0.4274, -0.0952, -0.1148, 0.294, -10.0991, 9.1829, 1.2186, 0.398, 0.1978, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd6b844666c08cd63ecf6d6300ed55210fd0f587204b4d72b0329edf362a007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095a62e00f9093f23b6958e39730dabfa3ada807340e0d6deed448d4be4491d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9804187d27af37571ae16211b3b6d3151bf23fa0d35da800907774d19570114b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8791, 0.7403, -0.5808, -0.0139, -0.0338, 0.999, 0.4236, 1.7058, 1.0382, -0.0792, 0.3363, 0.12, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1784 left_yaw=0.002 left_pitch=-0.1507 left_roll=-0.0001 left_gripper=0.999 right_x=0.4409 right_y=0.1388 right_z=0.1083 right_yaw=0.0762 right_pitch=-0.1354 right_roll=-0.1348 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.5521, 6.8718, 1.6923, -0.0415, -0.022, -0.0122, -0.1162, -8.3897, 6.4615, 1.6239, 0.0513, 0.0366, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPJw2KT2aHhJF6ckfsQXH-APUKiimSunP23TqR7E92XG2YoHS_uWRMgxVvSA8hvb5Bnxt9gCMuDGH6kzB00jlKKLPmsF3DyP1HyTaWhynXBUGqxwwGFshT9OoV2PBXCevjv437XbLXuaLZxc3siHiWfwFMDi511LLOImE3XED4badmaOEAEkTBWhJzHTEMbFpCKK_HyFayYRbOQrJyvnLJJPyDyK0bJVttiAFB4hNEySYZ4wqqApjWz0GMos25eyrSuVHi528WFFTNzR8m3KwZqX_MVoDlfUoB3InZkgxa5qMxsAMnpESvSXhvC21lZ6DhpcSIDQN1mqHkvQ3-WPCjiZibG9Cz9Vm5IuQvZsDt9GQLZedBZ7PMrJZErbmjeR1GqCUkXWnoo6sVTMMdxrYloUZ2TZO8eJHIYAns_0v3HI3g4Rvu6UYSSmfuEqzoVKHPMGJM7rING8JwQQqwwWfOulD9COeEYLJruTiPs5ohaN68BWVVKqpxSSYY-DVqbMbuigH1iWcSONwdAMdU7nJSFB_p0cFSD63mF9Gi7C9jCU_X3et9Tz-mpvzpxKUBJjWXw4wmzt5v5PtplxTeIptgBFqRGcVIwSdeocZ6TP5W-nLRN73N0k-HOGMtmfz5zGSCC_SnSyQubOkK6kzv3g-40wob2hehgyK03j_7QMdz68XNfGD0UMi8R-PLplMBlXQjzkOIMdKn4cakzfqYf5a0AQS0vnl-ozkxMAOvi4q5_4YXrbWO6hVUu_mDmS1-2HyMGV8IWNwRP2soybTbioXF9VvCloKnEKHvdX_L8TtKkJrWbPNdeUTWrxIl14jcIIHEVl8maCWIGHtpLlBYTf0oIsqvG4bysiDexVB_twpTcX6sQxy_pTFMZnf3ebG3xHh0IOkwSM0EblSyOPV83sBmCReg5wtwb0C2ilqGzhhwFfXYvXr68p2tDaZp3JOEpAVO2BhBBIOTArKflv6kJc1bhW7qm8VVxyIKr7fqxk9V_vIi8wTJyEXv6Op7-0y_SnB55b6wfhxjlZOv9eTw6ASXGe03C0kJukemJ6vhZlCWiVyTX59YZaIl4r8_r8paS3WRDGo9KskPKvf7Si-4WcTX1SRooEkm0jxDTDi6o3ogFvDZEW19sj1FKMNDqSMih1sD885_6maUATG-5q2w_I9iTmoL3GgnxpYDu4ms3ZQFnJodcz86d_5YG4_8auiveiupeMpCa81jdPFgwGrZ7y3eS09QTKSs3CE4Z3CS-3U6bWI8Zgmr5FP8m_ap5UHqAAINhWjVaykvwAknOvZMSR2v5OqgfIhDS754vDRVeQSht_BShvOb5gY-kYmX33np7suKo-njKZdm7fe17DnxrBa2sHFgXhB-2P1BfKAYGx0vp1QObWz_qsgvPqEh91Mk0pmAI_2ylS61wRhCSOMzg-vSCNWqgt9P30AknUdwdFwt_OfA=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3c3c59887d0aa543eb1b3a914fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.22,\"right_z\":0.035,\"left_x\":0.355,\"left_y\":-0.1,\"left_z\":0.03},\"note\":\"Both remaining fruits are visible in the wrist views. I will advance toward them and lower the jaws, with a small sideways correction to center the avocado.\"}",
  "call_id": "call_exVOOhwQU6KPjeE7GVq6Sy4N",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3c6cb1c87d0af2d053f0fdbc61b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_exVOOhwQU6KPjeE7GVq6Sy4N",
  "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]: [-0.4332, 1.5375, 0.5919, 0.0231, -0.3157, -0.3172, 0.999, 0.6945, 1.8637, 0.9859, -0.0422, 0.5007, 0.2977, 0.9965]\nstate[eef_state]: left_x=0.3394 left_y=-0.0926 left_z=0.0227 left_yaw=0.0138 left_pitch=-0.2924 left_roll=0.064 left_gripper=0.999 right_x=0.3864 right_y=0.2162 right_z=0.0357 right_yaw=0.1062 right_pitch=-0.2192 right_roll=-0.1914 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -6.5709, 5.2034, 1.5604, -0.0659, 0.1538, -0.022, -0.6906, -8.5538, 4.8752, 1.4725, 0.1734, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68fbc93cc925d85aa155eb3538807f1273f700ccb3751b3eddc43d8de5dda190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5690e01e35b15293e96e89b49dbee0d4086e139c8717b9087c919c7100adaefc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6fd02a4af71fd4f537d2dd4fd809ce7ab62c9d44eeac78ca38b347e6eac2173",
      "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]: [-0.6052, 1.2163, 0.783, -0.4484, -0.4107, -0.4294, 0.999, 0.7467, 1.6363, 1.0969, -0.3542, 0.535, 0.345, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.1231 left_z=0.1322 left_yaw=-0.0252 left_pitch=-0.2176 left_roll=0.0316 left_gripper=0.999 right_x=0.3651 right_y=0.2201 right_z=0.1282 right_yaw=0.1104 right_pitch=-0.1775 right_roll=-0.1637 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -4.1915, 9.1145, 1.4628, -0.4274, -0.0952, -0.1148, 0.294, -10.0991, 9.1829, 1.2186, 0.398, 0.1978, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPQtXvU6ipBbeBWXiel9ZC2XIdnMBw7Xw9jyV_TTpiadPE_Ng5b8fZSKav5rKd5qaSdYDfzVTq16Uwk_umLizauNbhEWlYJAuDvhOR0zQXbutHMdFuRPk8sa1Ml5vA17661S2n1alStGyLxD2Jc_WRFmemWPdR0ZPNP38wOaWIFCK_08AweHQGk_pmA9wyZoJdHtrS0Jei1QcJDNSHaIPgOdmW0LAfZQOAYbladoupuoQuOV7RXTTpj-evhnY0O4z9SHQ9leRxL5AHW4rKxNFgzeJDlZ00XqClbIwWVzpDjvIgFDSh1aPObYsV232e94Q0-My0y9-_qLCu2jblAvUiOh0ExR0_ahadd6TsWjfU2UX4hnKbxYgK74Wg_HZ7TVaHZaBr8Sxx4YFM5u0P9bpaiJPFu5XLp4TK9_pJnfvrJH2NXdnXfALTsHeTctVnkLTFi5JYwT9saut7ZTa-Q8VIiWyqbMoBt5AvfTCtSfs2wipAe4of6QlT0Ujkq1tam1UCxgoMG7WoAfugQY3-N-3mLj31osAi935kfsUNASByApj1wvrEncUnK79_M60CZXha-Yg3xs9Ux_AYfGLAMWlbKBiljRoLkzVGfrClGj-uGUXDXtF3r7GV9VzKVwJWEvxTtKBTVyn9b1s1gdYJSfdHF--4fvEE0ivREmF4JIit0MLpgSCy02JRQ6UKUuM-TYIomO7kgasosKqBL7V7n8fBMCembh5CmcsHdDmFqwE5q3Az2GBFCMsgcjKOds7TnEgZEQFrGyOw9odZ1zf9W9nakeGnGx6dtDUizZZJovEv3TQM6wR8tKH9pbNMyEZcM4p19m_cRvnQFyeu439OZaoGv9U616fJyZ6FFJ2rlu0L_mhoQpNu9Nly9QTmfTiN3bAmw67eh-5t7wPVeEsIfH_bybZf1cD8Qvm3DNo21QF4j-L_fidm988qamh6ooX-Z_Yb_4e8dpMxmexA4hUghikaUG6Ap722zIE-qdc4CaOqtB1AVklOBwW5hJXOgIywu2jJPulhBeQYWyJV5joNvGvr05cHvmDnFiYu8fi6lTGVKkoEsrNSxDK8VdArrtQeDh2UMrZw3L2W1ZJ9MbjCSpE3u507__ttHVd2kJNtXiZVUGbg_G6awjnWOZlgvVxbS2cdY2e7dN3A_q2qNOC3_xm9b2x6JFMrS7HagQjPA5Jdy0PM75BjtKn6L6QhQhL0_sG-cVlrSBzJRUUxaVOcNFvPHJA6-1PL5oNCNDeKyhknrcGv8xUbVkQ9l-_MaqYb1LHmompcPb15nJz9bvV5GpWTG4w==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3ccc25887d0bf5bb20b08b1ad58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.08,\"left_z\":0.025,\"right_x\":0.41,\"right_z\":0.025},\"note\":\"The yellow fruit is centered, while the avocado remains slightly left of the jaw column. I will make the last small alignment adjustments so the jaws close around the fruit bodies.\"}",
  "call_id": "call_7N6VXWB1V97C11T8HvLpwkEm",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3cd947087d0b55f896b121b31c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7N6VXWB1V97C11T8HvLpwkEm",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.35, 1.6276, 0.6621, 0.0483, -0.2817, -0.2752, 0.999, 0.6636, 1.924, 1.0225, 0.0025, 0.4839, 0.2676, 0.9965]\nstate[eef_state]: left_x=0.3652 left_y=-0.0772 left_z=0.018 left_yaw=0.0446 left_pitch=-0.2999 left_roll=0.0644 left_gripper=0.999 right_x=0.404 right_y=0.2161 right_z=0.0277 right_yaw=0.1068 right_pitch=-0.2118 right_roll=-0.1903 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -6.8991, 7.1726, 1.3211, -0.0464, 0.1538, -0.0122, -0.5538, -8.3897, 7.3915, 1.3553, 0.1197, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eac61ba8f6d69cddc57bd09ca4758b230b10f86b903dfe3d9d7a034dc56ad98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4c8edb6540a62763cdff17ea354f408b6bc88b4f1f0d6bd196479e9bd29338",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2dafb060f106094438ccdfe187ebc8e1b63523ddf112a4b998988ce622971f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 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]: [-0.4332, 1.5375, 0.5919, 0.0231, -0.3157, -0.3172, 0.999, 0.6945, 1.8637, 0.9859, -0.0422, 0.5007, 0.2977, 0.9965]\nstate[eef_state]: left_x=0.3394 left_y=-0.0926 left_z=0.0227 left_yaw=0.0138 left_pitch=-0.2924 left_roll=0.064 left_gripper=0.999 right_x=0.3864 right_y=0.2162 right_z=0.0357 right_yaw=0.1062 right_pitch=-0.2192 right_roll=-0.1914 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -6.5709, 5.2034, 1.5604, -0.0659, 0.1538, -0.022, -0.6906, -8.5538, 4.8752, 1.4725, 0.1734, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both fruits now sit between their respective jaws. I will close both grippers to grasp them.\"}",
  "call_id": "call_G2AdwkjO3Li9Ev79J8bTxoAh",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3d2c1e487d0b1a4cc0fb8b00cc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G2AdwkjO3Li9Ev79J8bTxoAh",
  "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]: [-0.3359, 1.6367, 0.6788, 0.0299, -0.268, -0.2504, 0.5401, 0.659, 1.9392, 1.0283, 0.0029, 0.4778, 0.2539, 0.485]\nstate[eef_state]: left_x=0.3674 left_y=-0.0749 left_z=0.0172 left_yaw=0.0345 left_pitch=-0.3147 left_roll=0.0746 left_gripper=0.5401 right_x=0.4052 right_y=0.2156 right_z=0.0227 right_yaw=0.1132 right_pitch=-0.2236 right_roll=-0.201 right_gripper=0.485\nstate[joint_eff]: [-0.253, -6.5573, 7.2137, 1.3797, -0.0464, 0.1001, 1.033, 0.3077, -10.6872, 5.1214, 1.3211, 0.2613, 0.0806, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f2721cf49c9707a481a99ef3051052482df80c485e21809311726ea96c0e23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:798226daeaaffd0518c374cc251275e6a7f053881d5898745c904f6cc290622f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ffa977b3a1c1251701b5bb233c1f85db599f5de0ae50583209f1df526fe2e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 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]: [-0.35, 1.6276, 0.6621, 0.0483, -0.2817, -0.2752, 0.999, 0.6636, 1.924, 1.0225, 0.0025, 0.4839, 0.2676, 0.9965]\nstate[eef_state]: left_x=0.3652 left_y=-0.0772 left_z=0.018 left_yaw=0.0446 left_pitch=-0.2999 left_roll=0.0644 left_gripper=0.999 right_x=0.404 right_y=0.2161 right_z=0.0277 right_yaw=0.1068 right_pitch=-0.2118 right_roll=-0.1903 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -6.8991, 7.1726, 1.3211, -0.0464, 0.1538, -0.0122, -0.5538, -8.3897, 7.3915, 1.3553, 0.1197, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"right_z\":0.105},\"note\":\"Both grippers stopped at substantial widths, indicating contact with the fruits. I will lift them to confirm both grasps before moving toward the bowl.\"}",
  "call_id": "call_W914FZeO89WKmX22AXOpEfUt",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3d8236c87d08bdb49c6e0e7df77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W914FZeO89WKmX22AXOpEfUt",
  "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]: [-0.3359, 1.4754, 0.8562, -0.3115, -0.2684, -0.2588, 0.5437, 0.6598, 1.8294, 1.1538, -0.2802, 0.4549, 0.2531, 0.4871]\nstate[eef_state]: left_x=0.3686 left_y=-0.0753 left_z=0.0888 left_yaw=0.0399 left_pitch=-0.3168 left_roll=0.0703 left_gripper=0.5437 right_x=0.3995 right_y=0.2162 right_z=0.0741 right_yaw=0.1258 right_pitch=-0.274 right_roll=-0.2106 right_gripper=0.4871\nstate[joint_eff]: [-0.1709, -7.5829, 8.5949, 1.37, -0.1685, 0.0317, 0.9158, -0.3077, -11.9453, 8.4991, 1.3553, 0.3785, -0.022, 0.2222]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1353fa5c5d9369c744e3b357268f312694f5efe9f17f39db0b5aa41fba87345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f511e651fed9e520aeb27bdc535294d46c723033b2c16b28dc2dec81ba3c4095",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02616b72d91129e263d10dd1c0b2294e7bda9f5004966b9697b0c23be61044d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3359, 1.6367, 0.6788, 0.0299, -0.268, -0.2504, 0.5401, 0.659, 1.9392, 1.0283, 0.0029, 0.4778, 0.2539, 0.485]\nstate[eef_state]: left_x=0.3674 left_y=-0.0749 left_z=0.0172 left_yaw=0.0345 left_pitch=-0.3147 left_roll=0.0746 left_gripper=0.5401 right_x=0.4052 right_y=0.2156 right_z=0.0227 right_yaw=0.1132 right_pitch=-0.2236 right_roll=-0.201 right_gripper=0.485\nstate[joint_eff]: [-0.253, -6.5573, 7.2137, 1.3797, -0.0464, 0.1001, 1.033, 0.3077, -10.6872, 5.1214, 1.3211, 0.2613, 0.0806, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPeAWdaEUVTppE45boHwYYH4CsPpbFObJyOpIA4azcii0qADbZ5h5g-hC1J6s03wRugE6eKHRvaOBo4CYhVEx-N0G3xcfY7L87FqvEc7ZKy7WESENmY0ealIzdzM_goc25odls-BEVPGMJgbfgNcdnAMUmHV10OvKWPtuD7vZlzOHtMrVpbb5RdOLO-BrgAHJTGAJbkCDOY-_9fiXQsfCqthevlUh62VeqQCU20Xb82JHuIlF1Agc23QAu6FjXBEs2r4jnxQw_ADAYscs7W0QxKU5XNokSfVE-xgdFv1GVNvwKxeDhGqVphOW4pi2eqETVXYyy6gI09UI_BZyKvJ4vjPh5VoSsP48vzA5tNHNS7bT0ADdrCSMdau5k31hfzNwhN31D_lQunt3UoB9L38cU_Vr1w5_wadyXzCXfqNS25gxqoYH6dj-al8ZfZEKuQISyx9YaapCCNVIz8bze1S7eGkBwK-WcY3EOpF5hsXa7DKBNJlGPdSBSBNDsfqZZJpVVIh_-MzcZiszMOb5ChN7P-TLjfb4fxzMigHvLOXyGKbUbhRnLYXl_NXiYUEDoiEOAZRhfgqfAAkhpmWIUx5hDHy8lUkRaAMH7XmNj0JXCxrKdBK9xar5va54JosHWHRshsszGaNLejOH4HRfIX6P-mHGB67ZcmpMbjNg2YKn7YBjJ4ivs_cmMW0i0zuaxt-434j6gciorSkm8weRTDKHH3aGWZhXDFBKWjGxIaryp4_fheNrEpbFKw7JDrun74giNbKgqs4RlFFWoTTJRSklkIS6Ax2H9mivvH-jDXHz9Idg5NcQdK00r57F4LQ88SoKy3_9dkIWpIKy3dbBUqSpTpUva0ShD5wWsdiOf7umXWFVG34DXgniBtZsjQL7o4EXNlRKtWcT0b4I3tgyWaN1Svk7mPyzx3aGBycrw_OxlvfKMunkIbPaYKtfobSxBYA2Gl1wfeOB0bdE4s79ftCTus5JANJKGHyr7fotfMTGv9AaP2FBgysigqQehaVFYuX3V6q2M2irXwSUwJkLHEYvXZ1mMtlx1a_XvPXNGG3uryh-YBqdaqnUax_Qu81Ol68KJvO-B7NwIFVRafaf4mWtBbsNdXM14U-9kO6YZLo291h2KtnVHilC5XCFbag9w-yYe3CQznCi_s3V5cLcIG7TfghZ6-g5c7zEcrl5axUu4LaZM0FMS8VfhkAKnJiHIdOWg96LuO_sokroe-9RCt2lN7cw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3dcb67087d083ce2abe1ab519c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.14,\"right_z\":0.20,\"left_z\":0.20},\"note\":\"Both fruits rose with the jaws. I will bring the yellow fruit above the blue bowl while keeping the avocado lifted safely on the left.\"}",
  "call_id": "call_yuyrCbYBbRjkqCvQxWfPGKcO",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3dd488087d0914393303a9972c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yuyrCbYBbRjkqCvQxWfPGKcO",
  "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]: [-0.3359, 1.4303, 1.198, -0.7265, -0.2684, -0.2619, 0.5443, 0.4076, 1.795, 1.5253, -0.6662, 0.289, 0.0505, 0.4889]\nstate[eef_state]: left_x=0.3691 left_y=-0.0755 left_z=0.1787 left_yaw=0.0452 left_pitch=-0.3429 left_roll=0.0793 left_gripper=0.5443 right_x=0.4526 right_y=0.1445 right_z=0.1693 right_yaw=0.1237 right_pitch=-0.3328 right_roll=-0.2104 right_gripper=0.4889\nstate[joint_eff]: [-0.1983, -7.3915, 9.388, 1.3211, -0.1685, 0.0073, 0.8718, -0.294, -10.8786, 9.2239, 1.6093, 0.2613, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85fa60efd924ba5c7d1ebfae602e4a51b8a57eb0f059b95a3253bd16b62d49b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22b9486d9f9244ffc6f54080a404ee3172ef4f830f819243af65e55fbe532bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053618d44e920cd07a6b1ce53257cf7fc7c67b1ccb8e7901b82941e69f1e1dbd",
      "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]: [-0.3359, 1.4754, 0.8562, -0.3115, -0.2684, -0.2588, 0.5437, 0.6598, 1.8294, 1.1538, -0.2802, 0.4549, 0.2531, 0.4871]\nstate[eef_state]: left_x=0.3686 left_y=-0.0753 left_z=0.0888 left_yaw=0.0399 left_pitch=-0.3168 left_roll=0.0703 left_gripper=0.5437 right_x=0.3995 right_y=0.2162 right_z=0.0741 right_yaw=0.1258 right_pitch=-0.274 right_roll=-0.2106 right_gripper=0.4871\nstate[joint_eff]: [-0.1709, -7.5829, 8.5949, 1.37, -0.1685, 0.0317, 0.9158, -0.3077, -11.9453, 8.4991, 1.3553, 0.3785, -0.022, 0.2222]\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": "gAAAAABqssPsma9nJ7n98JaRjD6dt-yCK9jbVd3XBvIuAkf-MkJL8kQHFmM_tkFXrKJiwld9k9nS0vYMpoz7maStrIEIgkRtausC_RFKayb1KMPJq3j9_sPmNN85aYo-CMCbzbrmFOisK3R25s7PsI4gONEmVn97k3qx8gdvYgwoGUxHmX3f7v3_VE3dfEf_1vXUz8YpAZkzQ6NPg9PZMtvSPs2v0hnavVdHGOwb8Ae-M9I7QG2oTqyY8BzGTan3HLCXKxy_JYC2X0V-gLjKqr8Z9VauojWD21vv74fac3dgyrYAcTV945hzs5wcmG9B6pSNMPoW27A9OjU936dgFGg8yqO4I6v2cRA9Bgo5Amdw31SY0pj-1IkH-aE3vjBFwSsFpKFZ6EnkI_DB1b-2Z1GxubRKQUOgPFTDIEaK361lLDW-c8XLvZHdKFXz8-PY-udpxtKUcMr7ARe5huTaQwuppovaHz_gMOzWJtnFPKP3BwiUKfGabkN4-dGQXqlI7NILB3_8D7SiASY10BmJoMJ9NqWSbTnY8fXPGtCQTT0vwVdRhlzYxnfmW1yZ-zx11I7Y3zlsvSn1CORcxMULgnxpVjC7spJ9axAz4_U24uBlaT7lmPzwrIFKgxRW1Fk3PBFEHnfYdr3hr6bzCO4kHUpt5JMbvS2RI1y4-mJDejaZRiwYinjET901b_fPHKIIo9yGTIXx4LBvPhwEiWQq4WcJaj8ERn6pnNdcdQSpTUrfaq5uOFx6QTmPBV0ts3wfJa51vwvs4nz2_IAYMHV7afdEGAlvk6Rj2I2YI0KXqZR4UJl1Tp1NlHFMnv-8qe3ha4RU1O-5KOJDQJ1YmFNejQlheqK00YoSvYoTli3qnanqlgIp6rTSjOQKzMXRpLJi_wafW1wEplzfDcXlTW4_S4Po7_pgqvffgnczMK70k8QX2kIw75q3XPSkDNix7wnt2Z7aXTA3IgTq5UmZFNm1D6qp3VBZIZdCa8MXqIlcYSGeE7bSr7vzQ73W1SAK1laXYzvW63qqynSjIFQakDEtEB4wURl7rY6Qz0L11LZX6V05Pg4ec_1hqPuszFa-6tIUl9xspR-aTSrRe4pblVg63GDQvlMTno8BE_2SdKiwHPUs5Mrj0tvfEgrsf5rfQiRqS9rOqGMvnmB-VMRdTubjOl_muMFY0liafIiDEvB4oc1hU2EPNgj8dehu97w3zrvkdX09kcT5IwkqMvIaRx9IjUSC0zJ_S_gCt8TPJOOQDulY4xU85TAQujir6g3txtT1Vkfolt4xmqGVHnCZ1o96Tpz-PfxxcXevhJrS6zXAabKBVmqT488-Z5DtSCQFszOXLmF-QRL5aDpW97t9JawhL9fzPVkh8tWv1mV4J8yUeOXyIHhXh2Hc-pJOakHyqFuO-636WiBwg1lruqKD63aOyNs_8Gol3v92TrLowfiKcDT1_UT15RwpCTtj4LWcDnq0CSelQ37yUxwx3iM-ZtNg8ULU3D7goAGzHyjooFVh2EVDPmESTjjTNaJ1bod31mwdiFaq8wL_-lSMTatec6YuT7ce7FqbFTjKVeTEDqdvAy_fQaS6rN8CgEp75X3uaihhMiTZalt4-UXUfZpNapwd2Z43n8_yRYQC1d2LTZuNGX6B6gm6SMtHLygbm9d_JS_-AMXEJx3ifBMI7ParDo-STuTJtKXIa3hlF-gLf3lt79Fq7pax6H3il-jwuKJz6SoyxMcdzE1rUo0gd8Y9LW07_wqNTggWYNUYrpzLIQkyFlcAx1y5JWlhAAhB7ahPlr-bvseDE0_BKFmgUWFaXm5s2nL8ZMM6S0vBiYcESYM2e9OYi42UFKdlQyblJ4cGpTVmHFNJBtCxM-7O5gmMlu5rJ8rbYtCaSoLBNLY6zc4QZ7xaSt8bvYr5g8TnkON-yqKEm-K9JbNmSV7iFgMKPZSD1hmlaR_zZmNrCbtxlL1rhFQnoNmYP0rg3nFDgcmNzkUBT0fBwPuaOLovgEx4CcLEAmEsnRxlbn5FWvbD3p-SqgF23Jga2kvEKnMV6EmUGda8UMv7-EPO5lvUWYMBWobXS_m8GdikbnXSTYu4yuHlP--qMbAmJYjGYge3JJ69N_1wSrccUyoK-TM3nnbyn3yzNbfoinSLwYCrd83ux2TxrCBOowkt5HW-OBqEJfQNSX8o325EPTFfSxlxftyNK0PQZVovrorMGiAwbNYrKyif1VNP9jDMJrQuQoQe0DjVcUFB_Fqm2qVSsF1ClTblnXGoawadRwr5U3q0aN14IMORYAAXOgvvoPeXMwyiWJfLS5sdxm_lSwM9HHi6niHwDqC7V5LE88OwQrV0fgBFANoFlZPOWV1QQhx-EphQiXFQqe47dGTdGxjyGhy9SL3hSODXnot78F5np6vRzvJdFF_MpW6shcIIvi5FBX-wohwgQ51RLYdVfCxmJehjGvi5YkIDcIr7Tq5vCfZb0iEcwqGNNH6vkZhuDn2hcdCkf33rK5mrQToDKhARxd5Rg4k3XE_kX9a5CpN1inJ27pZ9QjFoPiWKTx3SfpJY4ro5fr7RhkXiGt0KhV_Y-5ZqzeAY2orhUvoKzTPsHBc17DAFHYjXOSyVeU1XK6J-8b0=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3e2296087d0a69c696790a8f656",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The yellow fruit is close to the blue bowl's near rim, and the bowl appears to have shifted during the lift. I will lower gently before releasing, rather than pull farther on the rim.\"}",
  "call_id": "call_zI0dYLDwO7mIY0BJ5Gk4uJLB",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3eb2bcc87d0b3806af0e67b51de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zI0dYLDwO7mIY0BJ5Gk4uJLB",
  "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]: [-0.3359, 1.4303, 1.2003, -0.7506, -0.2684, -0.2615, 0.5476, 0.4057, 1.8286, 1.335, -0.5289, 0.2825, 0.0364, 0.4883]\nstate[eef_state]: left_x=0.3651 left_y=-0.074 left_z=0.1764 left_yaw=0.048 left_pitch=-0.3631 left_roll=0.0882 left_gripper=0.5476 right_x=0.4374 right_y=0.1382 right_z=0.0996 right_yaw=0.1259 right_pitch=-0.4192 right_roll=-0.2397 right_gripper=0.4883\nstate[joint_eff]: [-0.3487, -5.8735, 6.694, 1.4921, -0.2076, -0.0611, 0.6032, 0.253, -9.812, 7.5556, 1.7802, 0.2027, 0.1001, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89eca00d264a2ec118fb8923df56570688636408a29651bb18d18dcddc3cebbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680378861b70f3a1a9987db250b60b08548c9de12db70dcafb4f48792edf1341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a37ec16d2fab039eb2377f30c52532499fad162fb09108ea734931c2a74a4632",
      "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]: [-0.3359, 1.4303, 1.198, -0.7265, -0.2684, -0.2619, 0.5443, 0.4076, 1.795, 1.5253, -0.6662, 0.289, 0.0505, 0.4889]\nstate[eef_state]: left_x=0.3691 left_y=-0.0755 left_z=0.1787 left_yaw=0.0452 left_pitch=-0.3429 left_roll=0.0793 left_gripper=0.5443 right_x=0.4526 right_y=0.1445 right_z=0.1693 right_yaw=0.1237 right_pitch=-0.3328 right_roll=-0.2104 right_gripper=0.4889\nstate[joint_eff]: [-0.1983, -7.3915, 9.388, 1.3211, -0.1685, 0.0073, 0.8718, -0.294, -10.8786, 9.2239, 1.6093, 0.2613, -0.0269, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssP8MNjVNsQQOo7CG7zN9arJ9sJNFnSDDtdNl61buJ7JcKM9zREklbfaJJwfAIHU1QXXgtate1CRHrwZoBDeRAbHM-SMgsHc07y-GO7W6B5YOnw6rqchOdYUn0QLORKeNT_uxTFDewTax_4AMny7u1sDsO2B9lozFpGItxGSyWdI_ZIt4VuxxAgfepaaCNo_925sGi4t8JP5itUtM1ALy1iHTpH5jzBrZxmBHkHnc9Xle7qhEcKWlAh1tLbqVJH3uxMw8FUR4szj16el3-jiuyCNsfVvyUxAq49XNMINVJzpe0ASEggmp0w5ARvio_XrG842ld6J6IgdWCAE7N5CQMr-a6XFOICgwNR9xcr97S75FnFv4m-g02D4zdSmTONqtGhjPCQmJd4etawhdtJejBqiW_jBRktWE0hxGeLCSTUA4_Lwi46T2zN_q7dSZUtaYG9UtNIHu5tKYLoSUn8oHh7KE903ApMSvDmhIO-FhcotXY5Cwn6CLE9d0UBenz0a4C0p1OSywUSNJsT_x0IX2eA_4uxwPxqJtTIzH4ilCnalar8ch3gYz7zBTZXpPyXUBL-mitlYk_TePfYs5OuJZjD8Dn9sVdI9GijgdN-cFM2F5IFzsxL5IYlzHgURYAKLJTZmONmUf4mZ8PiCO-Jq8nGuWWJqoTzo_IWjq6_6NZqWO8dWCFO9HUCBL2fKyp_d65_WjyAXTfebt7zEYq8VAtPKOGipfCuS8o2sPWPYHNcLeu8F5phcLCLtxrZGjGVGMk5g8o_sJvcjsYpISDOtq1aYiy_U2bpnaMtfkbbn6Bxy85tGcVBkIGciV8545tBUQSC5rMviOcc5CPjLMu5uatGa193D0wIxiRVE4y1z1IAQQIMq-_clUWvgv8Hxnl8hVKwXamgA5f-5cgv6KN0se-gd__Q-8L_1pz6BRLtaZ_yfIjA6GEWfCOTDbw3-ImJcehhtOvS5Gd2fMIjZIz_SRqCc0c7vQnuy_Nrv5Os6O-hgm74l-Xi0ikT09gK4Y-p2o1IQrUBQ_PVaTfBFTzG899R3EPoOa-QMNPbsVsxtq-ukse0SpRV17ztk8RD9PQ4Q55vovAqC2_XqG3tX4qdvdVWZaCu2khGyXqco4nXCfg4WjIS1qs4BzurxaPTsaQdnxI-GxDGgJAX4ExJyTCfBtWoA7qwTxC8IIJzUNO_fOPjccbXUKgiWvA9AACBTKnKD_rAsAk7o5gtEeNW5U1YTse-s7fEBlL6vq8Fi5YM62KIfNN_AB9AvLK5bpDlG37hYXOcohveDtBREg-pl5RUf3ayZ0s3zTDwptTz7t9injTjC65o0vbDWkFDhxV4F7r0d4CtjVqf19q5DUaHwPzqW5ltX-XkFZMea0Dy8Fwqd-_37Nn9Uy9i7GaTfFcvMkXhaJRtNWXZE5PS7CrrReecqrvSO783dMf-HiWgtXzp3GQy2gv3NIJllsbiVYTIjNw7UHLH2A3N7XYU8xLt25dBpJRdFh81ZdeS6zNBtb4NJJOSH4m3aTJ8ZQlwsX8IX2GMBfJ-9P1UmQsBX1teL1WMUUCz7ug_O5KomC7_vjRNZZuoR-1DlU8PB-NjhoyQ77VxxFNkJ3ej5CcZ_aB18UgyHb5WRhnnXi4AHrpDkieH4KvD6tStueGQ6C0wbSCIBkgF-ylA6_7uKM3uCT9FEhF7FPSbqZCm24atGxkxWc-lSSLaBXa9w8YWQ-VmvT0ftuvTx-6R_xLTUYPeSer_3bfOC39IHJlmAVCDXqvqjrz6jaQdtrArbyAeoDuFyTzrF5nVcv_vJsMX4peU5i4N1-JlB5UDVCSm7r5gZHojTtoQUrAd1U5GP_vD67KrcwiknKI0L3MXwCylOMxG6N323qDGO07Xe_yK4w2dfxBkYzFb-e-YBQHGso3RPnhuDCaDDJepS479m4ezm0jBghll6xnaW6bOWKgHpidipzFBdBKjqo9ZF4g2aJTqXsqqkO9VG6aKBd9RqF4YOiwQx7NwgucIW8Z2jC-KHyhqzuyxj5HAi5zD4I9nfm6hkcTqEMQ5Xr7E4CwbY1KBD7jPTeOuN7f0jMP5gMcw0ur72gCElLdWYi_gDesfyYMqnTQaP-BkT26BLVdz3nAaCSCThEjMXpe3TIOYqoXAz87eGu3pz87TVgR5ttL1Lxs6iq8vHy7Dkz4e6I4OvFH4wI39YC4mQ1Zpm430Fy6J_EuPCrnRJpRLx8qygj8Lvrt-k8ta-kZ4M3m2iCCiGi2T_phnrtRvm97RCGrHLzPeIvsxpFI_Ri_OIbyioq7YuY0NV5ulgVgUonvcExuKiJ6D0AusTCqoxrCuJSa8ZgL0CTdURfuVKKEfER-YeQ4MjN7r6EoRTMza6NdKKCie1-MtuAPCvxVWv5fNiyel7256uwauUkHPafTwMabSnsSA3jUQXQq7ECdHAIIpFlfL1lWie9SnLWsUtBhaQsF0p6LAblPds_fA3VLnWEeiKPLLzOatJhI-HiSRYkRWNvACBemFBTqdlGdqR7lQsLhoUpw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3ef7bcc87d0bb76d9c8eb803c82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.21,\"right_z\":0.09},\"note\":\"The yellow fruit slipped out and is now on the left side of the table; the pear remains in the blue bowl. I will grasp the blue bowl's left rim so I can bring it within reach of the held avocado.\"}",
  "call_id": "call_wguZCb6HCaabOIcDflSGx4rR",
  "id": "fc_0f4f43fbaf0b6d03016ab2c3fa9b8087d09ba11342a5c40985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wguZCb6HCaabOIcDflSGx4rR",
  "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]: [-0.3359, 1.4322, 1.1999, -0.7601, -0.2684, -0.2615, 0.5504, 0.5068, 2.1262, 1.702, -0.6456, 0.3096, 0.0906, 0.9958]\nstate[eef_state]: left_x=0.3633 left_y=-0.0734 left_z=0.1743 left_yaw=0.0497 left_pitch=-0.3741 left_roll=0.093 left_gripper=0.5504 right_x=0.4804 right_y=0.2093 right_z=0.0813 right_yaw=0.1653 right_pitch=-0.4499 right_roll=-0.2477 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.9966, 6.7487, 1.3602, -0.1148, -0.0366, 0.569, -0.1573, -11.8222, 7.8838, 0.9939, 0.3346, 0.2808, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162932967592b530b909b1823b9e36c4833c51b908aab2fcc1b53eae694b75cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cadc4949f0e21b4b70dd41b7d225b803ab24760a800906537512c0693827ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7d2778036d81315d35ae9af2069e2d5dce245cbd79696c81ee85ca50a98c84",
      "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]: [-0.3359, 1.4303, 1.2003, -0.7506, -0.2684, -0.2615, 0.5476, 0.4057, 1.8286, 1.335, -0.5289, 0.2825, 0.0364, 0.4883]\nstate[eef_state]: left_x=0.3651 left_y=-0.074 left_z=0.1764 left_yaw=0.048 left_pitch=-0.3631 left_roll=0.0882 left_gripper=0.5476 right_x=0.4374 right_y=0.1382 right_z=0.0996 right_yaw=0.1259 right_pitch=-0.4192 right_roll=-0.2397 right_gripper=0.4883\nstate[joint_eff]: [-0.3487, -5.8735, 6.694, 1.4921, -0.2076, -0.0611, 0.6032, 0.253, -9.812, 7.5556, 1.7802, 0.2027, 0.1001, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQEhWsvvhhmrEcvT6N9HrGFwMdwFfejWNBdDDIcEEGHRCgxQkaaUsps2mLFeJ0FcJn_Gq9C3ythKF_fDoKkOkCNKnQerFERdrtgwr4EszPjKHusYRXtTWYWs_wDcEmHUSn3MaxZU8OLSBs-whBC2UwWMNE4Nc-LkjaveNBDLpeNlKYqIJqJYoDVEg81hftjpcF2xCi0gWgLP4ofqV6f4diO-NeP04IaWE4YwdAZFZ3tvZcXXoB5sodq4WRSDav8lmADaWTWtc9ph8_EgCKF-5oOFlZgV1eOwEU4kSXK1YkHbZVsFCnTqqNfkwQc9oqRSm43lVWNrHwAV0PjeIxJarppJuzqBeYUbWrZ2czPhqAGdqPP2rQ9xJEaGLNm-DuPq99_b2xGwMpZJfeimk0jvL0lz7MYP77aNol8zRDJ5uhxELSRNE8sfMso4q3vQ80KEWjUiyBQMl5LZ6_0hwE4hgwL2W7ZZPLXJJrLI33pH6ouKxpgQF9xX7IHbNth05oB4FjxZI5eXR_IRGaRKbJSbDv1-2WKcubKIR5TSNJoDhDWjsv-Kvrf8vKQxTseJNdxuuflLIXt24Wv5EL-EdWMofEksnOmp8WzncJ6DX7eWE5tRk3rFa27WgFw9leb_1f4PBQd3k2y_nWmzcj48Ud1_BqUGnDFp-eoXzz5cVDTnBolM5DCssGWcPDKMODbGzM3XbC7WsUR1uooMZSGPSGgeKgU6ACsgVfdkyPExtHPoQ0hhUScN2bBE0A1K71JwXikR4BmxOaj1VZbQSp8UrOyFGSyYF4CRj5UFYkRKviHPKZq3inAtXm2XyVz03hHsAqqzuhvNfaDWtLi8tJxZy1XDKt6Z33-lqRgKQLYdSxfH18m245zwlD4DiOZ4n-4G_WztF-atqTn3Z3DtwxAdsYyfmYkfJNqx48sLOcaIj7QjJVVU36zmKTCEI5qXYOnzPPawNOaswaPieL6MUDNkLD2ckwlVQkBnzcE4ccvSJrOSsghzgtqItnoHUFndoVqk29-8-AbDFYoSxXJ_rVkPwpcLuddVox_QSAoUcgRRC3gqH-EvwqeHz-H5hjwXfFyzzwFNxBkoOMx2e4VJy1FbxGaet6cGD3G4Re6zBQf5BvlKlsxdRCuczGFPVnH8J58CYSo8gZkmBE4hY6FcappfFGlQCrMJ0y6HwEaTxZOTAckU2XFIPxQNKKeNYSs1_L9htRR09qH7ow4JAcyX3ih4iYr5GDl9HmqFyIXA4JodQDgZXUdPOEpN4ibx1fASSRn0yaPLlK6nAo6Q6uUy_SH_ymJMswrZZRuDUgYxkT_lP6SX2Bx4c0UsVKooT372iwH4WPdPkIVoRK1Ypx96qYotSRIvZ8u1-bhIaj_VEoAyqMoXv-eg9byikrMcX_Dp3PNuNz3Te6S2I0WK0MoPlHQ5M4ai3x0xZCko8GgeszrNXv69opEpUWm553hLgA88HYXCcip7TIH809ytql2oFwWHLoF6yGOArH7uF4lVfZLZuStodmy4YUaq4GNZ0XOjmN6w0a-2naJDqL01IsgW5RgdV_G5XpodQ9Ht7LT9rmFvtNbOJPIYGAeaH8UJoiaBk2RvLk7WFEf",
  "id": "rs_0f4f43fbaf0b6d03016ab2c3ff39e887d0a893c7125da55f8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.185,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl's rim is just to the right of the open jaws. I will shift onto the rim and straighten the tool for a secure rim grasp.\"}",
  "call_id": "call_lpPg4Q5PL73UrWWxR02eWZYr",
  "id": "fc_0f4f43fbaf0b6d03016ab2c4025bb087d09f161476c98f55f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lpPg4Q5PL73UrWWxR02eWZYr",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3359, 1.4342, 1.1999, -0.7635, -0.2684, -0.2615, 0.5504, 0.4934, 2.0605, 1.1065, 0.2348, 0.3912, 0.252, 0.9965]\nstate[eef_state]: left_x=0.3628 left_y=-0.0732 left_z=0.1732 left_yaw=0.0505 left_pitch=-0.379 left_roll=0.0951 left_gripper=0.5504 right_x=0.4798 right_y=0.1856 right_z=0.0262 right_yaw=0.0316 right_pitch=-0.0887 right_roll=-0.0545 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.0786, 6.5846, 1.3407, -0.1197, -0.0269, 0.6813, -0.4581, -11.7949, 5.2718, 1.746, 0.2271, 0.2271, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5221bc1cbddd541307b602aff014491abbc2bcce7817e0f90db18d51c1350e36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d72e3ab4768f37ebec0adade71eaed70fab138ca28cc05b7740a648a10b4081",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a475e7cdc75f4b1e237c43dd0d9c7fcc898b6825cb47ffec4f0e2edab63d87",
      "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]: [-0.3359, 1.4322, 1.1999, -0.7601, -0.2684, -0.2615, 0.5504, 0.5068, 2.1262, 1.702, -0.6456, 0.3096, 0.0906, 0.9958]\nstate[eef_state]: left_x=0.3633 left_y=-0.0734 left_z=0.1743 left_yaw=0.0497 left_pitch=-0.3741 left_roll=0.093 left_gripper=0.5504 right_x=0.4804 right_y=0.2093 right_z=0.0813 right_yaw=0.1653 right_pitch=-0.4499 right_roll=-0.2477 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.9966, 6.7487, 1.3602, -0.1148, -0.0366, 0.569, -0.1573, -11.8222, 7.8838, 0.9939, 0.3346, 0.2808, 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": "gAAAAABqssQMSIcTkXo_1YDtHS5EKuDB1kOu1G1_rhgUEW7CjSJ5sjc0HU9CWHNBOE4RhDmvKM4wGrPX01c0A9oEU_y-1aSfLdhKaIgyJSny2eU9ksnV8jDyiha7FyOYlXp7SLXmVE9pTyqiWsUvMn3CJQFXjLJPPzlHONOJPsa1mQRsAGWmbLesdpRHzKK4y2odmjJL9sgf2aRrkpZTGp3nnUiRQOVI1qe2X7F2sF09kfPNh-VVKT6NrXUY2Bmi5R8D7m1nQI3qkihjVloDUYoggZLerUvAf3fWjEo8Zg84edCX0jQCxj_TGs95V5DTY4idIeVLJD-XIaZxOpvkoRIQAuRhqm2a2wSZV1dZdrOIPrL5ZkRI1dbSK8V9GSA6RH7UMf_TRDH-eadwHHmGt8-ZFc3IgLnbjiKBDBqTYjWNGL3dtVr-48bJBJetmcHN-vICSKFsyq9nsqnOF62W0bqCRy82_iXIr1SE0nJlATKKu5m7voZazk_qx0Zce6-DmkDm02Kag-Pd5GU_72izeboMrvBJV0D-uyWcHJjwTM0lz8JkEhOfevkGW9EcBcI7QnOb6_c6S0y43VYBgjNvDk9jsLlPcUsLM-5njUbjvoEo5GDbX-1EzIY-i8mjhZhnOtmm8BRfuBz4Re2JAOJ0veC9cOMR3qwMALszaIhBJRNqKjZWi2jCSaOsOG0-n3_ulNSgBtpBs6fvfw9mfbJKLY-YX8U0KYoRy-PkbwF-XKNan6KiP2TSgHgtxzlXNpjL4xVg_YQ4f8f_KYK_lLATHaJK83wvK7k6ekRrmOK7Bje4ZsYnULeFAoYK2glAglhlyjeD0g6g7gF_4gfKAigUt5HO7ujaJjA8FOu9ZHng-4J_EAd2FYIAXXN5_rqXeeCAap0rJS8vVe_b6G0UgaK5XWIEeDt2AUB0MC49EDmpq-4L9o4QM1awhtkMEHI28gDt5cQteVR7USSNYspEfj68C0O0je0ZCMpByZM4wZ24OdICpsjaiZTTx3Yue8u74GCXmpHJxsnbtvEUgKxM8Zb_8LCkW2Xt8DnTip7W6Pud1l1I9dGkQtONzY9yloFLt0JeLekCsB3vFBRWoRWts6jBw5yv1zHPu9o3aBHn-uUggQwg8oBaABGzHg-QLh0iwnwGnXMilJyMV9XXCWiN_iXa_w4dAUsZCx-EX3K9uyFwOvkYuUlR1A34zkc0SKmMmbmF2YDe_86985RE-v3o2H5iftDKCYsHrG0dI5ZvcHmrLgqgTeP1eiBdZEZ6aEYDo3tKWqyDxfs2Q0HTpX6U5L1Khce1seEZB4B2iZ-5JghvarfmbiNMh_Vtd2xV9OCox_cC5kPqkoJvHEKqnGd-7gW9CXKM46Xplt0sM79RCWiU2W4zG9I_qeQOCaBaekDJN_AjxkI4cbMwHOOM",
  "id": "rs_0f4f43fbaf0b6d03016ab2c408bc6c87d09475738a1c4cba28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Straightening the tool shows that the jaws are still outside the bowl. I will move right until the jaws straddle its left rim.\"}",
  "call_id": "call_hHjMPam9o689l9EFs2aJnLey",
  "id": "fc_0f4f43fbaf0b6d03016ab2c40b27ac87d0a5ecc03b9c07ef78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hHjMPam9o689l9EFs2aJnLey",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7662, -0.2684, -0.2615, 0.5516, 0.3534, 1.9762, 0.9291, 0.3931, 0.2821, 0.1787, 0.9965]\nstate[eef_state]: left_x=0.3622 left_y=-0.0731 left_z=0.1728 left_yaw=0.0509 left_pitch=-0.3815 left_roll=0.0962 left_gripper=0.5516 right_x=0.4745 right_y=0.1265 right_z=0.0267 right_yaw=0.022 right_pitch=-0.057 right_roll=-0.0242 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.0513, 6.5983, 1.2381, -0.2125, -0.0464, 0.6813, -0.3897, -11.7949, 5.1897, 1.8535, 0.105, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfb66d84012f9e235ea1254737789611e98f4f5ec7e1e72e0607e525d39c7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e790663862fb1c5db705139ff4815f89385fc2ec32a703e9f426d9cd1ef096cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d69cacbf0d7a22d3d4428292f81d420b0dbecd682e0e4dbcba43e9ea9403a442",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7635, -0.2684, -0.2615, 0.5504, 0.4934, 2.0605, 1.1065, 0.2348, 0.3912, 0.252, 0.9965]\nstate[eef_state]: left_x=0.3628 left_y=-0.0732 left_z=0.1732 left_yaw=0.0505 left_pitch=-0.379 left_roll=0.0951 left_gripper=0.5504 right_x=0.4798 right_y=0.1856 right_z=0.0262 right_yaw=0.0316 right_pitch=-0.0887 right_roll=-0.0545 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -6.0786, 6.5846, 1.3407, -0.1197, -0.0269, 0.6813, -0.4581, -11.7949, 5.2718, 1.746, 0.2271, 0.2271, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQTIucIf5sl2FLM7l4ANEP6C-s-V70lijFo7OR9ml2hlKbAHw0D72-EkQIockMVLBfcZWm7beRXt-nQ8eFj7wfMAYe7mmpGtJfa1oSvLMZ9Ezhbo5dK4CKJEp9nct27w38KUl3-pAdBfpofvKWhkytgXfHM58BRmBO2TC9HvyJUaPn2FCiUGi7jv_WSAXBqUd7-SIMzPTWdjXwxBArThZeGyTCV0hytVRV1pFg8bc3EkZ-grO-HNhtJ5KKdAlhwWZ7jk3hhoij27o96LpG9tP1jMnpXEW2Yx5kKOYW56rNg58hO9Jy1PVAtZZOH1nIYEM2c1LZbATF0Cv8_JKM_993Qmh7n-Kh_BGIIWcCMbhjSSxVi3UQImA_dh-coCb2aTc2W49rCzoruNMsWzj2putqQYmK7nlhEcDVO1sZBxlbeK39CVvtN60eIM867BavjA6l5O1-U_wJwjazuWc3xprZKPsskFyuvZCfOO6X56FqypHLRnc_w7sVNTJv2Vqzc71b_IjFjwJy1687GHWrwu3u3zWu8XM3OsUd_Em7bBeEU-SYBkBxIV1BGfzU0U0LRpXe9Lno9aAxHTVdzTvh7gaA1NtpqVnFXHje-hYx6ujTNSo--albhX4apn4udjwvwKwDU79j3_kOUevJVW9HlsvO7z-VJNBBLH95Z1BAJUwAM2RfoKz_-DP_eOahr9X0rECBHU2-e9DPLrYK-tZmK49JROqZ3CrMj1IVNJgG4NlVk7lFy3y9lTFNnyMRwRVvQDw43DoNDnLj2LyM3aUHxuYCGMQsX8_vlYqBJ4KkaPZ03-5yo0JQpksdDhIs4uvhpLcupTaYLEAzdUW_AmqeCbuSmTAFCO9504K9ElW9tHhKHdUI3mYeqe7Sr7HbYeBx2zTaAWfSJARZs4Y15DOhH8W-RFvFN5nZ7uGt34WhkMs64WaHkJXDcf4xYG5BpyePYRjgrc2HfzRiHNCC3iR_V6RfcsTOUPXQx8lQt0ud0W0uho5X0RAUWPnOmLvYzCCVSEevDjXoH9PKkZPuTaJvsVoJVhhazx8au1_21yMjCNY-WmVWYzeorlFyTtm8YE4mjEbljDxLKe2-4pso8kQrKNVQ_Tgf5E7lqECaBvq8ddIiZxpnBfsVdUewpow7gqT_eTm_tD6SIvGBGspBRNiVZL8q_Xn0FobToQdmubSNHSfkYEIlTlZP2oOUc0DZx8gy3xm4akie_0NbLX_xtfdk52F8du9A7KC1tzodyzSqTiKnT3TQvxGQ_qrwKG_Bsp2mkFxy8E-aLTkv2HCoq01mHr5tHTup2UQWk8shTE8DBouXTgNqpOev2Eb_gZZ0p-NzNA4biu55leyS3iY5LKkau4CVGIQAivL9Ha9z11HqPbqIOq3I=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c410110887d0932eacb176a21123",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.10,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl is sliding slightly because the fingers are too low against its side. I will lift to rim height and move a little farther right before gripping.\"}",
  "call_id": "call_AzxdEfrtTSiIB20fS4wMHwmr",
  "id": "fc_0f4f43fbaf0b6d03016ab2c411beb087d088de7dc54d13236f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzxdEfrtTSiIB20fS4wMHwmr",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7666, -0.2684, -0.2615, 0.5514, 0.2901, 1.8614, 0.9035, 0.3462, 0.2249, 0.1474, 0.9965]\nstate[eef_state]: left_x=0.3622 left_y=-0.073 left_z=0.1728 left_yaw=0.0509 left_pitch=-0.3819 left_roll=0.0964 left_gripper=0.5514 right_x=0.4742 right_y=0.1042 right_z=0.0601 right_yaw=0.0235 right_pitch=-0.0268 right_roll=-0.005 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.0376, 6.7214, 1.2869, -0.2076, -0.0659, 0.3199, -0.3077, -10.5504, 5.6957, 1.7314, 0.0513, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0125499f7a29df4f52776c31a27d3a6dd1e1324b111b3f775245c4eb8f81d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0d8b889c30b0b418142846f49054a1787f6807b0bddfd217ecbbf54fb5412c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534f23bc9ee561849a48226cf14b67211c3fdf3e7d07da55603895c90a966d22",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7662, -0.2684, -0.2615, 0.5516, 0.3534, 1.9762, 0.9291, 0.3931, 0.2821, 0.1787, 0.9965]\nstate[eef_state]: left_x=0.3622 left_y=-0.0731 left_z=0.1728 left_yaw=0.0509 left_pitch=-0.3815 left_roll=0.0962 left_gripper=0.5516 right_x=0.4745 right_y=0.1265 right_z=0.0267 right_yaw=0.022 right_pitch=-0.057 right_roll=-0.0242 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.0513, 6.5983, 1.2381, -0.2125, -0.0464, 0.6813, -0.3897, -11.7949, 5.1897, 1.8535, 0.105, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQYZG8DoFdDraQKPo7s_bT2RM9EzEZtdO711FEm8QH7BpXgVhNSiQPX5mMUXcJ9sbWq-iFAmu1izics6MAW8kLaFAOypWXmn6UnfeKgFmWkJ7cac__wAZI4v412Brf7Ebj6u8ry9UF7OqNO05EQOLBBq47GY4RXOn2luUbu9j7_1teOOJ64u4xRxq5XMIafjXH7w0gW9YPUrqQNNE_5t0nhuZijJyJnIm2SS9JpVB_lFkkKEK61ERTtLl9aHg30SDrECUphqsfF0F53p0nIT2h9ps26pJ5uFlZZAGvBTM-mg89y6oPmqf-2Q2qZOpDNkHpzwk9zfd4oKFW5spiToHyf2qzzAHQydGA4AE8ChXhbVLc7tgw7mIOb6PG-jX09mKqoTOIBwtwzwu9ItmEAzQzf2EYxJ8sNuXurLJ2aGCBL6KhG34Vs040HKxRyPBl8f9BzTjXfqb-Nk3mnn7k4T1n3vcFtEMuVv_Af0FzHMyOFvPRgtykBhIAUwoE2xOIqXpMLYMHgmWLRzlAdocDkh0CAgEplmnj6YdT88hxCNEBz35CGcHyva0jTkDwtWMGDxSvwnujD2oc1d1jTgIO0_SSjrVvcR5cMTwgxSNGuQOsF8n7ha1eI8e41HO1hCx_okXPgaOu6aJGYvuM5_doLkWZYxdUTCID3EzA1QyNXS9GfXPWksWkB7XA0Xxx7AaqBgjveRJ_V_EofbttOeJeRKoSfKXYZOUE2F4UlrQ83Vd4dbVme0bGSXWOYYF8zJnO44AoaMieLFiM9b2-rMsEUCVq0fjKxIH7wr7xs8kYisUk5134e7S_sXCuCiZ4H0USBrbNi7FcF7X77ehA4m0Cja1Z4Ncfi8zSzqLchbsSsMrAMPqDkuFL5D206kcO3wNyhwr8_GAbZbvst1TfTBn-lWKDvkYmmEHg2y1HmE_4L_in2FBp6OhKANrvxrMjMeoqo13lDMUhryEKTfRaPiJlvD5JnSI1old5eYnskXQk406WO70KR15WG9HuhXRwwJlD9kDUk3IlYRcXQJ9sFZo_X1lBaTzzyDiAbSyQ3rDZ8JVWvuIwOzrLNKLQKCoQI5w4xwsG1f0YoJnesKccUw8ylQJr6O467ScciiWXDIgTcmIl_0IQa07ZaKYvwqAoxIZg4WOhP5U1g4wQ0xxJmCpDZHdMbIvd2pS545Zl4vtwjVAV5iiJP4h8Onr07F9XnuyU7KZ52xTeMeYiu5ZUcBh3GtfxWBw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c416733c87d0b18882873cd5b684",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The left edge of the blue bowl now lies between the jaws at rim height. I will close on the rim.\"}",
  "call_id": "call_WIZcXVxqYqQx942K7smzXn2i",
  "id": "fc_0f4f43fbaf0b6d03016ab2c416f7c487d084f3317d52a4dabc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WIZcXVxqYqQx942K7smzXn2i",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7673, -0.2684, -0.2615, 0.5535, 0.2794, 1.8343, 0.9035, 0.3347, 0.2214, 0.1379, 0.0107]\nstate[eef_state]: left_x=0.362 left_y=-0.073 left_z=0.1727 left_yaw=0.051 left_pitch=-0.3826 left_roll=0.0967 left_gripper=0.5535 right_x=0.4749 right_y=0.0996 right_z=0.0703 right_yaw=0.0209 right_pitch=-0.0123 right_roll=-0.007 right_gripper=0.0107\nstate[joint_eff]: [-0.2256, -5.8462, 6.7487, 1.2527, -0.1783, -0.0659, 0.5153, -0.0615, -9.9897, 5.4769, 1.8486, 0.0806, -0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a6e2b905155717155abb430d7b3f9698ccdd67c8885924f89a5133034c2b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9db1ddbcd3d8c496cb36402a370056f7c699f3f4cc6dc2af0c11203c0f49e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1853c1f37c27ec27416f12d9bdba7515555ee1f4ee62b34f64fcb5861ef194f",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7666, -0.2684, -0.2615, 0.5514, 0.2901, 1.8614, 0.9035, 0.3462, 0.2249, 0.1474, 0.9965]\nstate[eef_state]: left_x=0.3622 left_y=-0.073 left_z=0.1728 left_yaw=0.0509 left_pitch=-0.3819 left_roll=0.0964 left_gripper=0.5514 right_x=0.4742 right_y=0.1042 right_z=0.0601 right_yaw=0.0235 right_pitch=-0.0268 right_roll=-0.005 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.0376, 6.7214, 1.2869, -0.2076, -0.0659, 0.3199, -0.3077, -10.5504, 5.6957, 1.7314, 0.0513, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQguuEb08ChvLVA7avm7wlSc2sDtbwAkiGxRmE79R1jur_yqIWlwcOzC4b01rGEtrxi-2I6c-hzTsa7eqBOn57MXEW3HoUY9GMCoIrOuYudvl3ocpy0WOviNgYEd4nmlsHAHTewuSB2KfBDT9708urZ1WTV-E_3SHKeFvA3dBqzDdXBH4r7-cRTW-mxiWz-6fwYONu1PnqyZZWs1B7dARW-KZY_UNH7lQBB6l00om_ab-n-NaYrVNCSVFcroDhrIF8wy5wh5AjiWjeVYaCJUb95LDUFZL3z5c4IBways_P_Q2RYpRy-yZm9edxi1uC6qyNE1OqYG8P6zinzCCkYll8E0JjXhi6gYjZSL-DOocCcfVS_1fEjSvSkDl7tTqUnrLVnWwQkHTrapooeDce5a22rbI_C7jUCkiOu1p_cOkFL-dZNneKr0RDpeUZu077VS71738kCU6vI23whlLFdLlaba_7P62apsSkjTd06P4NDpuUWLg6kDiP4Hvsq_j6MWJyykwawFkksSX5_Xmd0NtXPxOLLT1eV_Ajqx6_YzuKgPNeOeweGCbc5hgSDg69vam08DJa3RP-35R_u4Ms_T109LkdLRfDJhlytZnvGRMnVyZwwKZ2SUJkXjfn-81N8ICKNGzBD9_f5YiOgCJJ1uQGsFgR1eTco2K3lfKqqoS4uLr6HA5aZsogtrVvjas1uPZTn1kY3dNdNbgA9006caqYI2QcG8ooXnPGabJzIV5nFlZGSb5lTTq8sDKxrpsXdmjuElHFYKp1nMteTRA-Ms6m0_kpQL0heoTnV5_DY_58oh8EP8JUUzhzUBVugbC_8OqjGa_n0Xij0Fq0E9uUSrqNBJGJkFOCVbiaE5ylPFyF-L9jg7HwM5HZDmmsVSCBNMTuYnlk3wDRa-1oC_Ztqn7Wy7q0aeIindBhmf4R6OPZ9M4Pz5WtjFtgExzFpugCgwi7deh6ECoLaV8LJVrAFo1t5V6ea3BdmEWi9PupVylOno97WxMxyjUYZHj1vvCLS2cQbzZO4YFNoK9mS5KQX1HIRY-B49cubgw527i_z8cBnAgBWr3a3y1MEMN5jlF4LpSXOCvWvq1-EtyxZg35QvxbJu49_jpzJVmJ0b3zMJMNQxrnSqs-ugqHEBu20AXYqDC740bOlJc5953oLKvcTDpihu4HrdHxxlST3dphr6hF6rDQRwaHkdQNsoW21_v26a8eFSpbjHiHoik5nKSX7Dyq6cQk9tMqkbrANwljW6icV8JQVvpcWZZzUjFsugXHTH2pyjDA8t1YAFQ9e_606CnblZcihBr5cselq6SfPSQbH7jk1lcuhkHl_twqCnSSHP3gN-KISpZ8YGatn5Z-ZcOXCiN6jQW7jNVDgCGTLcE7HUpO7srdj5tlo0P0VDTwyl2KEYmgRbUr-WTNR_MqowbM2z3MaZ-ZDtz9PZvehHII3AHg=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c41bc5d887d0b7aa06b66a7a6d7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.075,\"right_x\":0.51,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper closed empty just outside the rim. I will reopen and move slightly forward and right for one corrected rim grasp.\"}",
  "call_id": "call_BVyVeAHKvWcHxGqbMFkRE3o6",
  "id": "fc_0f4f43fbaf0b6d03016ab2c41e845887d0905711e2c22ec015",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BVyVeAHKvWcHxGqbMFkRE3o6",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7673, -0.2684, -0.2615, 0.5562, 0.1974, 1.9545, 0.9634, 0.3626, 0.1398, 0.0849, 0.9958]\nstate[eef_state]: left_x=0.362 left_y=-0.073 left_z=0.1727 left_yaw=0.051 left_pitch=-0.3826 left_roll=0.0967 left_gripper=0.5562 right_x=0.4959 right_y=0.0777 right_z=0.0408 right_yaw=0.0355 right_pitch=-0.0541 right_roll=-0.0117 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.0513, 6.694, 1.2723, -0.149, -0.0562, 0.2662, -0.8274, -9.2513, 8.212, 2.0391, 0.0171, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3679cb67bfcafabdefeec4d3121c34efc55688adc8d03e8b6deb5e75cee9e659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9b826a1487ae764a75539847963f3bc8c923b565cd7a43fa66d747cf54c6cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c344980ea60cb13a13e3d487f4241255a830361f2b9331825a560794c689c0",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7673, -0.2684, -0.2615, 0.5535, 0.2794, 1.8343, 0.9035, 0.3347, 0.2214, 0.1379, 0.0107]\nstate[eef_state]: left_x=0.362 left_y=-0.073 left_z=0.1727 left_yaw=0.051 left_pitch=-0.3826 left_roll=0.0967 left_gripper=0.5535 right_x=0.4749 right_y=0.0996 right_z=0.0703 right_yaw=0.0209 right_pitch=-0.0123 right_roll=-0.007 right_gripper=0.0107\nstate[joint_eff]: [-0.2256, -5.8462, 6.7487, 1.2527, -0.1783, -0.0659, 0.5153, -0.0615, -9.9897, 5.4769, 1.8486, 0.0806, -0.0171, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQo7fEetbxg9I0G8lWOgTxS1ZiR_6QlnpRRzwVI_ho6FhvbH_PBGRyRnT5YPzll2Ndxw0r58AUhlMZKkeAL0Nnsx22-6Um6IS94hakeMe2Xi4Rp1nN6JVC6LUG1gG5rQfqD-ilrDvuKTrSFkbC4tt4ijCC4H5mNxGVyMETpL0cyoikczTxWV_ljG9FNm2-Pg5_Xrj36h3T-qwUCIpdefOzG1tiTRX8y2h4jEa_FPSRKmDVHHntQvtYgEyNDPyro3_kEUMOt1MG46LZbclzkQIkgttzQe_Cey9OuNKqo0Yoqo-a3eNcUMizm2eLFj-DOxpZ7G7q28sZF-Myj5SQ0rXhehr-UyZm67E3IKs6Ht3xk_pxUeE5ZVzZUGYo4sgK9Pug6966k4S7Z0q1ubGG0caCdMN-YgxXCM-QDl7smO56Y01BY6zi7tLWSUpHi6y1MTeH3lB5tGkRwuNFcCTGCLMqLs8e1fYRa3ilcXorMvazCNPMbzMBOEarXklI9GG6HgJ5f1-tOayd-uwFnEIbso7B8Flf2aUnGnGMob03bvM5bwufREAnKEtoTKjCc74ahIdtQAnk2Xlvyiz3j2lAk-Vm5U93ndQcVQjNlfZnAw7O19ja_3MQ8M5GmJSpP_ZRj2OxocTXqR6D5mpSR6osc1RhXQUIht4iOI44fC1LipCm0EJ7CcPDB7K-jVMSjIkJFzZyamut-fyj1gPiUwEmg21lvrCAPwq1iBxaheWSI-MhO3Y4oi5bzAmPdyMJ3NqQeN0HGC3Q2Mh8JuS-7Hl6652xURG5pI0_twWMVFZM00dfNgXRM8jya-AzmnDMWzmiKLJhAUNcYWcwxHDoQxSpo84Gmojyt-RMz3h2n8xa3-HCumXOQ4Ruoiyjz34LQWtLGHhvAdoD5bxBdNcflP-xO7bq2QXtDjnSskCohUo08lbCslP_CXcGmzndiHxhgNNQeduNpNwoTZauJSKrXRJdRp68cUvKs4GRHE40XWXUyB6tlDGPyYd9k7E-kDHh5-m6EtqU2vl7P0MCBjOA_8m1wDS4NwbSYCuAayWY26ZucS73qq90-CBbW-6S0W_Yw3-dWmhiUtlwAZTNOptD8jAjVApnl1wNPQG2X7ZdNJTtUMsK497j7iPwu0d7RnOKC6a30PZM-vvxTxiUAyIyTUyXE3gyYo0kjt45a3HfjiP7afQOgJbunmd_VuXIXoCaKR-gIQ0VwAgh4zoOntcigKLPI8q3BnUJKbmO5ndqVoz39WEDNcYJcPRf7bc3DcqPaD_OeR3UmMbegeBoBVtU4saQNxoTYcIUl5DyQoa-rj_GceBLjzygxJlH1ab97exAgDWM94mpoGFFKHKqgokz7voUxH5axXw8EiCrRNvM3mzuVusf9triyLdxhyuqPuR_7pB2oNRvXDetbJt30J1ng_0H6dDmHFsbn7nvNtsOKnry_DeJSVZk=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c423eff887d0b9c81dfae063691f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.025,\"right_z\":0.085,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl moved right again as the low jaw contacted its side. I will clear the rim vertically and center farther right before closing.\"}",
  "call_id": "call_mWyOnTN75GeX1RVHFd83VWJE",
  "id": "fc_0f4f43fbaf0b6d03016ab2c42699a487d0bdc591e1130bb101",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mWyOnTN75GeX1RVHFd83VWJE",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7677, -0.2687, -0.2615, 0.5577, 0.0605, 1.8614, 0.9493, 0.3092, 0.0353, 0.0177, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0729 left_z=0.1726 left_yaw=0.0514 left_pitch=-0.3828 left_roll=0.0972 left_gripper=0.5577 right_x=0.4956 right_y=0.0273 right_z=0.0682 right_yaw=0.0229 right_pitch=-0.0352 right_roll=-0.004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.7915, 6.6803, 1.2479, -0.1978, -0.0659, 0.1392, -0.294, -11.2479, 5.8598, 1.7265, -0.0269, 0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c32d773a90f034640157a8d1bfdd909f888a4a60716fd53afc3575091f2b095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac80ee5716e2dfb8a8af2069d61cc657d890f7db282f7942123d81e84dc31289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2feb16bdf38606a83ce64ea04b013534aedabd0013780556166c27773e6dc811",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7673, -0.2684, -0.2615, 0.5562, 0.1974, 1.9545, 0.9634, 0.3626, 0.1398, 0.0849, 0.9958]\nstate[eef_state]: left_x=0.362 left_y=-0.073 left_z=0.1727 left_yaw=0.051 left_pitch=-0.3826 left_roll=0.0967 left_gripper=0.5562 right_x=0.4959 right_y=0.0777 right_z=0.0408 right_yaw=0.0355 right_pitch=-0.0541 right_roll=-0.0117 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -6.0513, 6.694, 1.2723, -0.149, -0.0562, 0.2662, -0.8274, -9.2513, 8.212, 2.0391, 0.0171, -0.0122, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQvGCgObKw06wRzx5xDk1j2nIMH5SBS0w9gqkENepz9IZqMQ7QR3zNxn1UiCmVuhtkRUdGLYGKXbkdadnU3-ZM3vpfmq2iGatysOT17RV-B7NZ-uK7gk2B9FJY7XU1BXCSCq7mugDPWkAa6xAxh8O6srx3M5gEM0oCDm8n-U3NecTg2IeBKJZRnxyJPOiT4ldO1_3cIGmBPBpdrnFvIw9E5sVe9zo7i17xJyrSvMnneQWR1jZa_rKm3TIQVC9nWfWnOjwbwN7obPd-wCd-_muE2ZctzUtoPdve8yVHQjZGzetsv8zPgWAQeQCkkrUial1yN0vh5RZbNJqxuQxZLHI5s-AXPoY6HzDoDixTS8ji4bhg0HgynAMLuya96H-ehqCIKhl2s68ckUrngINxNWXepFZWSIOJlfIe1-_gwThpFs0Pms9OLkabdhjTUHZpMf1qoX8Atw3KJgYuvphQ6cE_qZHkvH2M01be0uYYgHjpMdaY-KxO8CQ9qAdSKNJGgGrb_aPqkXe1NuaJVTQDKtECZGL2WF0r7pZkmPwuXO3hQIR5AelJbWVAMurHlEyBtOlrJ90OUeCabrhnNKvNirkQDh8jKTAOxpageFY4_MQsoPz0lpX1vtqRYycZnvBF0qeeQgjekN_k6eLKhTq6udVk_TanvKewZoGXS3BxxuHzVHRPc1l-6jkf7FR3_d7PW23JUTzcPEq_0KDEU5cWPn0MLkBRcXBWE85VuGCzBCLrKZkmxNBNhMhbg77342jUwY6OjnVr2O1h9L699kaUVJ0PjSmah-xp_LV-QXiGQXJnrJ07Xn7d1K84A0fEtaO8nZZyw6A8ugd5QteNRT1oCtqYmttF3fy0v94_9zCrcbq2Tg622yvBCQhg1gj8LrowhCyZwmzNerIJU17izsSp7nOrfBtJNxyjeYt1-fx-ViPjwdmSlRggevncwwfD4HFcLXp1Fb_nlSIanH0AEwlZnAIQRW_3qUI3Rkqv4sJDqbxJvKyLA1G7Futbo9tpMKdVrS0N2Xt2UjFgI5ensPG0vfhTzLn5rPp2_jrEAA6BPSW758uZ--mgk6QWGmtkitjZxLb1XK4cP-_2g0fMw7u3FtXGyMZai3aHClNgu2fTDv_Wp6PQmrY2odDWYxrQAPWIwFpk90YBY06ku6PlVqoxtHNQWvxNxb5r0MPI4rneqs-9UE5xduZz7Gkl8sXvhnhS5YblaKVbBLMptO9kU8rmX7TkU2A==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c42dd23c87d0bc7ced974998696c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rim now crosses the jaw opening rather than lying beyond it. I will close to secure the bowl.\"}",
  "call_id": "call_3LgLcyqAaLdHSY8BeGneZhQ7",
  "id": "fc_0f4f43fbaf0b6d03016ab2c42e947c87d0aa8dc1f571dcd49f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3LgLcyqAaLdHSY8BeGneZhQ7",
  "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]: [-0.3359, 1.4342, 1.1999, -0.7677, -0.2684, -0.2611, 0.5592, 0.0578, 1.8496, 0.9493, 0.3016, 0.0254, 0.0109, 0.0104]\nstate[eef_state]: left_x=0.3619 left_y=-0.073 left_z=0.1726 left_yaw=0.0509 left_pitch=-0.3829 left_roll=0.0971 left_gripper=0.5592 right_x=0.495 right_y=0.0277 right_z=0.0723 right_yaw=0.0323 right_pitch=-0.0312 right_roll=-0.0039 right_gripper=0.0104\nstate[joint_eff]: [-0.0752, -6.065, 6.5709, 1.2137, -0.2027, -0.022, 0.1392, -0.1436, -8.2803, 6.1197, 1.79, 0.1197, 0.0513, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c24f8db7d60d1b64a4bd7235e202c20a19bc0bd528f7d8a8a4fe136b1c72224",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3fd1cb6f34d5eab29128de34d716610290572f0ac1a27ac7545b2c6abea5e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f98645327472b7d97c17909646b4570fd7d828d5e8d4c635cc0244710a97ca2",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7677, -0.2687, -0.2615, 0.5577, 0.0605, 1.8614, 0.9493, 0.3092, 0.0353, 0.0177, 0.9965]\nstate[eef_state]: left_x=0.362 left_y=-0.0729 left_z=0.1726 left_yaw=0.0514 left_pitch=-0.3828 left_roll=0.0972 left_gripper=0.5577 right_x=0.4956 right_y=0.0273 right_z=0.0682 right_yaw=0.0229 right_pitch=-0.0352 right_roll=-0.004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.7915, 6.6803, 1.2479, -0.1978, -0.0659, 0.1392, -0.294, -11.2479, 5.8598, 1.7265, -0.0269, 0.0855, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQ5CXcZQehVv4uJC9D8BRicS9T2QjTFfAU34QhpBSbcMFJm6j7kvnOp4UbkEdG8ThuppUryBq4AWROXpN46A8MPX-qYuBeae6CBSs_qlJtAPyXGPRRvbpMIZo-uHYQq_Iu0kEl7-YhIGUOyPeXEAKL2evJYYZeYYooGza2-cvvC1BubNqUb16_I_V1VPdDS3uXDLeLjleNxDEjrsyYACrGzToIAmOG-uokmD0JEp8LgPk1dWG0fRxISpbPr7WBOwyWWo33_ElOFhi_oMmMP6jV0_Zey8TjrpMKakU2ZLnK6dcgLVfx0e_Yxp-7slfCAmY8ECXL6B_PZpULQeQ2j4aelgXsqYPTlKUvrhitEpLeKl5sfiI1sdKgJ49n1CZvjBXnLFqxePA5mwSyKPWjphWk1vqW4KycJjRxsf60UGM4pelplZ2rVYTmqvm4K2R4vhbf154SlKdGzFkGZ9meoqCImp_ggOUjBxnEgbF5WgJe0i9EGx1wp-BG2LZIugv2vUuQ8TLIYE1pAI666bvBIe5J1W6tVp-sCYcPELdnMlen6h-15xBeYt8rBK4Pe_lcMdC_dyIF5dbggo8vdUFoESoeoLXydnElb-zvoXTDSuZLa8gF4AhskACjSyhlBj36X6Ok7gBeTQfRT3l_jrr7cd-l7LVCnsf0hQWFOMblzNGyefwh3rm76i3VBBHkbbXY90JbMa9FU0SmwPa7e2GM2YR2fnfluOgYd4mxq28SC9PahwmyBUmOwkG-y5MY1tkZ1gAmoveP1Wpe3_n1B8WcvVGATVCnhhod8FF7jcanROoLDfCojeL3BMTLGrtvu-YPe6LIOH3F9bUIX0VblOEJa9hIvo6-z28DJAAkfN9o4K9Vg4rejNwQ2rkfC6xruK2_pr8iK5qCNrJ3Lg1LixGJXwcRDHXBRXnfo19XY_iszFN0hMBXK87haHIhWmL0uXFt7Jbwzohrso-Wr-GibyaysYbIUOYlC-HX4gtm69_h7wlxXSYiOM5FVuouh8HJVuXoxGiUoRbhEoCuMVZ_y3zZ8D3nnZAI1yrEbd_t42jXcIbT_pEkBWQ0X7O9AAHQWrVQA9zdIEizgd5Re4bbE-XtAE2azqBmnbkpW67AmLqKNC01EB2l7ieAslJQJXJxS_zuirtJIE2Jofmh1Cl3wrxwzvzMjSXfvmo5FFqmOftGnUd7hDkEk8_bBjUvtSwH1PEpfh7zger6xE233zTY1074aVRY9TTlgV8AktP8a0f2Y-sR0gvFxCgxh4_1_JQ6DlULAMzANtCKVsGPUNTE6oUaPQgylphFaE4A26dCRNIPRQLF4sRxqccvW2Xsz9c1No43UTUzsJHkAMpUdqBOR3zHeWcxmxXSLa7RZcQ7k0UsIHqyFLLE3yRsj_S5ah8ce_LMPLSuupf1UFQ4Ea8UR9njTApafgLVxq-kc_WFiwzbdgyVNKOY=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c43407a887d0978b1289eb37c7db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.37,\"left_y\":-0.3,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The second rim close was also empty, so I will clear the bowl to reassess its position. I will also bring the securely held avocado toward the table center, away from the yellow fruit.\"}",
  "call_id": "call_1HBwZ0p5aTZ4Vk1BFiiIP6ic",
  "id": "fc_0f4f43fbaf0b6d03016ab2c4364a3c87d081bca50b4f068dd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1HBwZ0p5aTZ4Vk1BFiiIP6ic",
  "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]: [-0.9424, 1.7958, 1.5227, -0.6594, -0.7425, -0.7162, 0.5612, -0.0235, 1.3083, 0.9783, -0.3107, -0.0414, -0.0429, 0.9973]\nstate[eef_state]: left_x=0.3642 left_y=-0.292 left_z=0.2004 left_yaw=0.032 left_pitch=-0.0646 left_roll=0.0355 left_gripper=0.5612 right_x=0.4007 right_y=0.0015 right_z=0.1971 right_yaw=0.0364 right_pitch=-0.0727 right_roll=-0.0083 right_gripper=0.9973\nstate[joint_eff]: [-0.6222, -9.2239, 9.1009, 1.4921, -0.5836, -0.1099, 0.1978, -0.5949, -7.0359, 9.812, 1.9658, -0.0562, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47bad083ae75fa8c363d5bd2a3eb8ff1cb664cabaac13da951e5cec28e92926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4e2b35cefea8a0bfa6062bb492a2003d18f638edaac8793c32afd9eb2c0c51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8bed09e8035684721d9a437542edb1a067f3a9fe4f3c5d760d580847ce095d2",
      "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]: [-0.3359, 1.4342, 1.1999, -0.7677, -0.2684, -0.2611, 0.5592, 0.0578, 1.8496, 0.9493, 0.3016, 0.0254, 0.0109, 0.0104]\nstate[eef_state]: left_x=0.3619 left_y=-0.073 left_z=0.1726 left_yaw=0.0509 left_pitch=-0.3829 left_roll=0.0971 left_gripper=0.5592 right_x=0.495 right_y=0.0277 right_z=0.0723 right_yaw=0.0323 right_pitch=-0.0312 right_roll=-0.0039 right_gripper=0.0104\nstate[joint_eff]: [-0.0752, -6.065, 6.5709, 1.2137, -0.2027, -0.022, 0.1392, -0.1436, -8.2803, 6.1197, 1.79, 0.1197, 0.0513, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRHrVYPbdmkHq2iEdEAho2oeJTFXua3DuazchWstLxfIIKdF4-vH0AXaThsXsIiYUhEIFq-zjX4CGr_D2UVJWmKNSyzVk7UmHpgn2ilFseOURq6C0DTEKdU96A6GTVCz_7grSRMfdTKUCqjWKLF7tjZi3lJHXwAHeom4fS1h1DkgONEv9CWMUm7oq2V0hHE1HShp1ESV5eo8r_beoo2iwFH4NvT1lj7ytUWdXK5rTCP5OX17CC57P-ancJzIFdpKky-0ZN8i-Sr3p_regpX7yreuMJJN3kib3pYZBgAgbwGkEYotO-xQcK0pvgKZaV4OO7XV1IWAb6sAAchYZAeQb0cv81DzIAVRjsOytidltD2lk7DTFRigmpcEAqHjZZYtbXuRsJmZu220JqasJ8Nqm4x8PFbIfpLc9MC5Vh-BP9HsV1w1obVgr1NTm0bGu78jhScq-fpWdyhgYULlISe4XOkHVgeyZRr0eQCRwOODyBe19FQZ7JHIvaSopohogG-1Y5Hd3bvBErFw7fyCh04HX_RSxLdrRA0sAXlQk-Tve9i1JuYlGcw_SpUiKOhZRBQDbFyyL-bnckrnqjnngx7beLjJ0uxpJ53MXdNBf8f5nLt05yY3c3mBgXGafJtQiB5Ey-BsLk7yzpJiJylbCDCcESxGmF8Wf38Wy7JiLrybgIkgowDlFpIaUWON8TcwBZRvZynxLjBFWDGn9OAFAiWTSYKLcWZ1s9WaokVKdQur4-DtbL7Hf8jFBzzNJafK2X5PXeGojSImjJ-A9Kda1rzFT27UObFmWu00-Q9g3uqRZsq1vPZ_XdhOTe4OWbfN5PM1SVkOS55Ph14Aqu1L5O_sHxIBMCVaxIDMqz4dF7Vxj5OyA68GCAmcgLLSxKJvD-v7xMdFliVZS-Qf-5wsb7VZHgLeL2_jbSRHyY6CSivGge3TQpmeIu8_B18Q_2j7x_YF2IQvC1BtHuJALZfBYWOfaeqXM5vyadhTxQhKzUsHgs0DlpPlknONjbOt-dYB57AFDN1QM63cLfFTq6fctk_-QzgKayuY-rML6hIZaCeW-TsnwutWqIijQeRHI9CZBkCcWbz94oRz3udC9sZ_WSh6Ek0FdRmPxUfGF_lPvI0ByLKAp13LFXL9tXBpV5xFHnS2UQtFJGKUQEV-kLSyIpCcZDB6X3HL7QJgFh4v2-8KitQWTADoqfMlVSUdu4uQ_SS9KNrlOTtTeTI5NEzG6Dy8gHrMlDSqKG2l2v1SQnV4BJbUx6cypSOtv3Ls8f-pitRZBYTGrbV7WGMpHQQ6RZRXB4z8dygpnzFkg7j6W1Eipa5EUJxOZYOW6on4mZhehtc3dXSC_bNxI4p-719ORvodCW6-e0RkGgPrRFAXwaakEIfMcsA8AUpwRGoR_mmm5cClV2XQs2jmdpkLLXQuXMNffLxnJwLxlGA6xDDA0pULQ2Nny5CsTlciowLYUeZRV2JOj5NY_hgSSRp1V6bzTcYmQ4r43eHBYWX8YLpZX63EZ-PjvqosvFE1KfwY8O8v0HI4fmRraWxBuXAPOucK43mA8KnWg4FKp4QBoN9_ElEuBbExaXZCdFyApTvDDjLX5rEv6quFF5UE0tgXC3354nlnzCJWq8Uojg7KKssgSkjL0AgXh15gSrsvlYTEqA7mSQ3JTaSZK_FR_cFdrCafCtANU5GfhXKF3jBO4x3_p2CpwnnsBQbE-_sYijVmMKo8X39Pt3j",
  "id": "rs_0f4f43fbaf0b6d03016ab2c4419d5c87d0b3cffd546c215445",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":-0.025,\"right_z\":0.045,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the view cleared, the blue bowl is near the right edge and farther forward than expected. I will approach its near rim with the jaws rotated to close across that rim.\"}",
  "call_id": "call_7asyPbNDE0QFwq9QI5eHxw9V",
  "id": "fc_0f4f43fbaf0b6d03016ab2c445f53087d0bbee04043e9deddb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7asyPbNDE0QFwq9QI5eHxw9V",
  "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]: [-0.9447, 1.8072, 1.5223, -0.6621, -0.7395, -0.7296, 0.5626, -0.3321, 2.6076, 2.1601, -1.1572, -0.9524, -1.6356, 0.9973]\nstate[eef_state]: left_x=0.3636 left_y=-0.2936 left_z=0.1947 left_yaw=0.0359 left_pitch=-0.0745 left_roll=0.0354 left_gripper=0.5626 right_x=0.5095 right_y=-0.0196 right_z=0.0223 right_yaw=1.277 right_pitch=-0.0508 right_roll=-0.0175 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2222, 6.6256, 1.2234, -0.2515, 0.0757, 0.1245, 0.4718, -12.0684, 3.5761, -0.5397, 0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318f6385efd07f3f2df7e0c52b96854a2392a84eed15e9fcd2885412d13484aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcdf3c3d8237237cbe575fc5da5fe347675257d5f772e503767db504f6a84e31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dbf81d4a47e63d61c413112719611a199e63f90b4ca37e55950cf9147e0d351",
      "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]: [-0.9424, 1.7958, 1.5227, -0.6594, -0.7425, -0.7162, 0.5612, -0.0235, 1.3083, 0.9783, -0.3107, -0.0414, -0.0429, 0.9973]\nstate[eef_state]: left_x=0.3642 left_y=-0.292 left_z=0.2004 left_yaw=0.032 left_pitch=-0.0646 left_roll=0.0355 left_gripper=0.5612 right_x=0.4007 right_y=0.0015 right_z=0.1971 right_yaw=0.0364 right_pitch=-0.0727 right_roll=-0.0083 right_gripper=0.9973\nstate[joint_eff]: [-0.6222, -9.2239, 9.1009, 1.4921, -0.5836, -0.1099, 0.1978, -0.5949, -7.0359, 9.812, 1.9658, -0.0562, 0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssROpy6KWwrhJXoBFYQCdKZaCU2qgR7fseRCsNDcoYayPUl2MtwvBKVGLapAw-vebAsbhwB5RVQPpeBpUZOMd5f6ap2dqNAceWt_OyEbzA-DQXJMiSX3HpSRusnVlVe1lrMrl9x5PSt3SG3xCUmyUTFS-mcQJHohsR08H1Fw6e6yt-PB_N7K-pKMpeymAVOuB8tuM01BjfB5leEi8yVGMcipncGbwGQ9ZgpaicH7nsGWzb5yL7QySrnttapOZHeVeFxHU73AT4WQrwX0G4bIB8dZ_bWcoDnl77nhSJzpVSfzwJfKTVrSkEHeQ6RjEotNmbhTj0ISf3I5jRNwPg4CwbLKSpcKgNmjoxwFU-QUIFWhk3jsU-AFIJ4yt9m-pXhl_kwmlU4HdopEJG51VqJyLV1NG-COG_4tjwvEbVK9oyRBqZTIyj3hIXk8rAamdbr-dVDml5i4GevZOKj1fjgs_-xe6B45L3diR_dU6JPREOGx6OV-zHY5ASb5dtxqDraudEeETxnO-B76uEKAvx2sSFbEN6ygyZ0so5teYG6uoI8J96xJmjIHu53yFEHdkHeMR29e8COxsMLLyjROnecI29mi-qf8T90RDcJvQfOsYissblXmf7VeWq-AdrQ5kR_GyJkM0hLXQIPPB6A2fxFNAGN-hpmju7lqSy-EIyRlbKVWO47T4ExP-0BXwbxfY7mzefGHSVTJyp9bPaPwU-NPmqnhi_iWJqezbVbUX_BleVZr2u9uc-lTBLJKvlXH3509df4E3AcFh2UnCBzQS6G5yV6TKmmQXa9zzZw2pVs0zCT0hdvGjr98P0Y1kdHnRhl3v5Pj69BAwiWt2JW4HFJ4DL3jHVj8xQ3X2xCQVdmPvgbpadusGKe6QMvB76Ox5rXCDnLNltKwWCZiMIZ3_YaiLI-4wkQiunIvUXJZeAfVxbu3GJxJ6u3nUnkJ9-Gp61dEIJX3hSgrUWdQipMCNyTD1d0q5XZymDv7C-EdiP3LCjQrdR6sViDy9zVzMBAEkgrX3L8tOZscew5vrYnyVQ_ZnHvUdZjAdHeYRJ6FVAdVprKoUninmHhALfnTTEeNWViq-Vnmymofs03Qe7jw-Uoh56PsuM_IRhltuSvcG87KOvAiEeCjSGJ6j7TdHjm3BFOD0UEPBRNxuAq7O2k-tzh0HU8506BPSdfL5c458RJiB032qaeRyFLv5tnJSn9g8ag9KOWE5psxERHNSk_58fjCj9FoXbTuUcq-rz3c9Xfc9PJgMKQrT60oh5mNK8BTA0e3ZeqivlB-qxwSUnTbqDEXC3IQ-bAk88OUlgw9Zf266PzBEQRIDLMh5anobjziv-9mABkuX55a4dKnYvkoz60Y9ymZSw==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c44bd34c87d08cfdca62d2d72b65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The near rim is now beneath the rotated jaws. I will close gently on this edge to test the new approach.\"}",
  "call_id": "call_POE9Q8K35RQctW1nuos7BQrR",
  "id": "fc_0f4f43fbaf0b6d03016ab2c44ce90887d0aa2fca3462d37c21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_POE9Q8K35RQctW1nuos7BQrR",
  "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]: [-0.9447, 1.8072, 1.5219, -0.6655, -0.7399, -0.73, 0.5637, -0.3172, 2.6064, 2.1715, -1.2453, -0.9749, -1.6367, 0.7427]\nstate[eef_state]: left_x=0.3633 left_y=-0.2931 left_z=0.1942 left_yaw=0.0366 left_pitch=-0.0764 left_roll=0.0384 left_gripper=0.5637 right_x=0.4988 right_y=-0.0061 right_z=0.0298 right_yaw=1.2937 right_pitch=-0.0254 right_roll=0.0562 right_gripper=0.7427\nstate[joint_eff]: [-0.0479, -9.4427, 6.7487, 1.2381, -0.3736, -0.0122, 0.1294, -1.5521, -14.0786, 4.588, 0.9792, -0.3346, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86bfe9f102003a6b342425bb1bf8d4bd236c6f8b8f8efe0fb343aa6a014c0a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7468c4a83b3e1d164546f69223e9683edec56a56658597fd1b0824853a0aa717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f749aa0f64295a2a7842b5e544e635f2cc1fbe227136c66057ed9366d435b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9447, 1.8072, 1.5223, -0.6621, -0.7395, -0.7296, 0.5626, -0.3321, 2.6076, 2.1601, -1.1572, -0.9524, -1.6356, 0.9973]\nstate[eef_state]: left_x=0.3636 left_y=-0.2936 left_z=0.1947 left_yaw=0.0359 left_pitch=-0.0745 left_roll=0.0354 left_gripper=0.5626 right_x=0.5095 right_y=-0.0196 right_z=0.0223 right_yaw=1.277 right_pitch=-0.0508 right_roll=-0.0175 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -10.2222, 6.6256, 1.2234, -0.2515, 0.0757, 0.1245, 0.4718, -12.0684, 3.5761, -0.5397, 0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRV69TmS9h7d5g7p12h7V2pBDkxDXhC3sHjXumEQMcEY_dQu4FR9AS0W9dkvFHXFFsbePAOIRK6T5LjRSpLybqPVGyQ93Pzi6XNOi_hAwDKKkVwjgpQGlCHlqayU24cIQrTK0vxaDmpcQ46lmetKrtYT9LRdGNwfBq_3rdEx-rSFPcYXOA0mDAvnQMc7s3zoTbQm1T3RjZ6tgDO0IN23Sd7pSYF9ARKrPryy1tsfS35vZ7jD8HOhvL51k7bckMewn-BITnL07Cv2qSdmEPz5ZC9Ex1rDPAW49Om5ykjgp-5km1P3v0i82LZAdwjZcrA6vW238iHMbQAayiolpufpVWOezZS1XCxPfVFPQcd90fvJCwKaacvtAsoFw82BmS2XDanzKGymw1zc2xjFnMtwLUQj6uNPO6vfCdMt3_j5jh-hCVcxNf2bYTOlFfmQ18k4GxwZ7ObObiwlFpDs33MkP3XFHEaPb8hC8fUX7KVO4TdxxrrvP2-a6yR4FcJUL04YZWbln-Po4IOIkzwVjoxc8n9mTJZDKfQIoSvgPG2svHtj2Ay4xb5yWDaW7CFfI4czZ7z_oguPYYCRmzoTm54-Aa_YCLU7rrG46iUhEZXrPK7NBKuLeX0OAlIwBKZUqbLGkWttF_XYeykhiVszr7bYtt2xe0BD6WEx54z91DNgMEXUyrHIPOIDwYYTPVZa496W8_jvWCIK7_evxRm9tK5TpDYUk8ysBcIyZvAZmZPjbltyQPp3qTj1J8DBuFQRnxC4UgBkpLZjZC98bPfKqKTYl6CO8FV3lYt5WwODIlDkb-5__w0JBJmhQ2P35zgRvnJlps-1jeqB2zgmlLekyyODgKqqAwIi1ZwxjwnuAiuBTD5lLm0uF6rlPZrEkdQl_7TRTVUDJAmgzRVZF1k8JZmg42IKw2zgLRvkVp2J6TcGGSy5szUnU5UfNSmx20PWpyBIwNT51PXaU-dV0VZzWjRJ7OEkDMubXOcAhI9jJtRKPRWc3ylX7REQj-faGgeJ3KEjYZeFDDIDbhJZ6QhVFnZkromaZ14HVsV3zMS6b94Omfb49tPBwuudQDk0z3fYL8ODeftLn3wuxOQMKb1_7fbzF9gCj2NDWHaYn7Bb7NFfFCyvSrcwAwWsiS-Pm9X-8BQf4tthJ582Fw5WeN00XjFdyu2AHVrW1LG8S9uzd-_pLRWjDVPTzXno3IKjOIqqWqvqxoM-diZe3jI209aNEEOiFGcWau2gHjXUofNciMCODmTv4o=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c452736087d0873f84c1cfc85c7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws have made substantial contact at the bowl edge. I will lift a short distance and check whether the bowl itself rises securely.\"}",
  "call_id": "call_4522N26znTLppAolP79H4JGA",
  "id": "fc_0f4f43fbaf0b6d03016ab2c453357c87d0ac983002b5e3a586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4522N26znTLppAolP79H4JGA",
  "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]: [-0.9447, 1.8072, 1.5219, -0.6659, -0.7399, -0.7307, 0.5642, -0.3107, 2.5958, 2.3665, -1.4567, -0.9592, -1.6569, 0.7426]\nstate[eef_state]: left_x=0.3633 left_y=-0.293 left_z=0.1941 left_yaw=0.037 left_pitch=-0.0766 left_roll=0.0381 left_gripper=0.5642 right_x=0.5004 right_y=-0.005 right_z=0.0817 right_yaw=1.3131 right_pitch=-0.0402 right_roll=0.0459 right_gripper=0.7426\nstate[joint_eff]: [0.0068, -9.4974, 6.5709, 1.2137, -0.3932, -0.0513, 0.0513, -1.306, -19.0974, 7.6376, -0.1392, -0.9548, 0.0269, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33526c7d5b3308b6382bb95af91c5266f3dc0d95b1591c492c2aee653a309e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321069b48ecdd9dd2d0c433e4062813ea9826f5d27dd11f376cd4d0a09d2cadb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d24de51815fcb720b725c653fecd5472fdb264db5c8ae555d8b8bfd3ee89e75",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9447, 1.8072, 1.5219, -0.6655, -0.7399, -0.73, 0.5637, -0.3172, 2.6064, 2.1715, -1.2453, -0.9749, -1.6367, 0.7427]\nstate[eef_state]: left_x=0.3633 left_y=-0.2931 left_z=0.1942 left_yaw=0.0366 left_pitch=-0.0764 left_roll=0.0384 left_gripper=0.5637 right_x=0.4988 right_y=-0.0061 right_z=0.0298 right_yaw=1.2937 right_pitch=-0.0254 right_roll=0.0562 right_gripper=0.7427\nstate[joint_eff]: [-0.0479, -9.4427, 6.7487, 1.2381, -0.3736, -0.0122, 0.1294, -1.5521, -14.0786, 4.588, 0.9792, -0.3346, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRhyO3IXVcvn4oHb9b8iXwkvxdnvD8wttovCXSr9w__k3ZyrrGSS-7ldKuO1Ha3Nwr-vjF-yrAEYn-PXAK2xIOr7mf0FGXqvlHOUvF0LstJvpTO06LcEBUxcsfxnvnCkg050Yt3gDdv3AZlveN-dsSrrP7yBifT8msZ1lKCAYlemzeFYGUr39ceztdMqqP4clK_d3mVw65ypbpvf6IW-FhyDZrE_BBHt2bqJlAmliFwztWRg_9a9Yb2L196CPkqfmESVNHJTreE4u3sm4fLAN0KCMCBr4PefgHrha7zl6QrR_BsV-4r-hfc7uhW8R6RGho9wDOdAFqbi110LxMBFGpxHpcnLg7Hd4kw42YQXt3Ietmrq0FEDkZRSInDZJat5ihoZdcBgSN9d-rwMtUincCV7Rhfs3NN6RXd_2gW17Wic0b57-OgbRkfXs6wHBDdpSfH2orrpyFBGDmfef_YFFVhLmWCuyZesiSuWcr9yJlNoSa_RYXBw-J8NrLvX_MeCKAiruxqz9NZZ4xDc10iv82k2b5mVZdJYiEn69N1YHUF0KN89TJCRzJbRh8oejgSzQJ-C76B5-U2pP9aRYnD3smfgxsadelj_ljrY1J4iiUtrlT2ojYnoc1Kb0mULD14nSF1UX1NCGvTL-Zy5RVFlggesrw5cFsvAfZYcDUF3NpugP8yqxDflD1KApMR7aV2N74kgZAgQYLgAd4OAgYUn6mNnZNBAYSMql64ys9neYHDaRreXXFsLCKECEiUIta_WxUL05op-rib5_lrRnxF5d-BrxpMjza6XSH4X6KeoHzqitPwN-w6tEaNqChKqD4k9-bPOvC8186ZIh_AknWEJu-TECTVGInQ4WqFCasDkFTaq9tEJVIi6vRezsqZ-fuwMUbeVQqToufAn1BXcz1H3_8MryuojdS8LEDj7bN9-b6mdVHBIbJydiHvc45SmOByEMc2Mao86KgeY205cnYWF7fm_-yQm1OnBsKC2H9MQbNDXqVc-TM0X4d26ZRFpqfgCu8zXMR2iqlV5hNG8Wk4Llq3Vi4FGV1KglCDseRlvjQIhL-dBkAlaStjoaL8LCPhdK62nyZpmwoJxZR4JvgVX00whl43UrCAhXWAJ_OPHoh7I99Xgo0Fj0UeqHVc3uhKxzt9G6Pt_8K5uN_HZv1ZAx8Si2ygxMv4fTBuPsZ3nu4qPbr542ZhzjlZW8wlKil_DK-T0jE-_-qZFk4sygtIf80QilnaFoHGAs5f-BMIac2gsdKW_NW9AYMiSpFRSw8imzjxp_L91kd43Lgwl2xgLcN26A==",
  "id": "rs_0f4f43fbaf0b6d03016ab2c45ddf8887d09ab5dd47c8d4774a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.29,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":1.3,\"left_x\":0.31,\"left_y\":-0.18,\"left_z\":0.24,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue bowl appears to rise with the gripper, with the pear still inside. I will bring it toward the center while moving the avocado clear of the bowl's path.\"}",
  "call_id": "call_UjwU6ESkVIgiVPk7Y9Iwejak",
  "id": "fc_0f4f43fbaf0b6d03016ab2c45efbd087d0855f30bb531d0ce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UjwU6ESkVIgiVPk7Y9Iwejak",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8745, 1.3121, 1.1309, -0.6472, -0.7177, -0.6422, 0.5656, 0.3653, 1.9141, 1.3811, -0.3836, -0.741, -0.6685, 0.7426]\nstate[eef_state]: left_x=0.311 left_y=-0.1853 left_z=0.2325 left_yaw=0.0401 left_pitch=-0.0195 left_roll=0.0005 left_gripper=0.5656 right_x=0.3973 right_y=0.2834 right_z=0.1289 right_yaw=1.3222 right_pitch=-0.0586 right_roll=0.0446 right_gripper=0.7426\nstate[joint_eff]: [0.5402, -6.3658, 6.612, 1.4139, -0.3834, 0.1978, 0.1245, 0.1573, -14.5709, 6.5573, 1.6435, -0.4322, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c221ea7ecdda470eabda4ef6a5d01417a0f898eb4b0c320f52c8d505d9dd676",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d12f151fd47082526aa7b0798609ff6ae957acfc164ed587ff4c04db752319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b407456cd116e9d6214ade44aced12ef1284f2b7aead108ed63f54cbb0118d9f",
      "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]: [-0.9447, 1.8072, 1.5219, -0.6659, -0.7399, -0.7307, 0.5642, -0.3107, 2.5958, 2.3665, -1.4567, -0.9592, -1.6569, 0.7426]\nstate[eef_state]: left_x=0.3633 left_y=-0.293 left_z=0.1941 left_yaw=0.037 left_pitch=-0.0766 left_roll=0.0381 left_gripper=0.5642 right_x=0.5004 right_y=-0.005 right_z=0.0817 right_yaw=1.3131 right_pitch=-0.0402 right_roll=0.0459 right_gripper=0.7426\nstate[joint_eff]: [0.0068, -9.4974, 6.5709, 1.2137, -0.3932, -0.0513, 0.0513, -1.306, -19.0974, 7.6376, -0.1392, -0.9548, 0.0269, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRrLBqM8BevWkfDnmpniZnY4nnT5QW2BqNsI3XN-q2xJrj0xaJodaAQzj69k6JupCj2ZWwC7vfVVWBKxlEqhTX-eu2sTRFeGG46VOKh1n3NIie_4RYmvaa-trW2bVrWXOZZo6kCN-AfWz3QsuwtIaURjVf_MG7kEpK6j0uRbv1l09Ni-SJQk5knwH51nneje7v6FLJBqgdmcDh3lTZwfcg62yGWjF7J51adw3Glj0yt9cbPzywP8KyOeSjzgT-U7UAMuym5n_MoOdz_D0KqQ-FDE8L7ZZ-laxG_YhDm7cjugex9fctmfcy2NvkVm5DFOVmyjcf4PQ13Yv7pPkbgzQ5lysqKnPiY_oTXsLe-4z9FrhCxc3iyyVeE7oMAAhUSVdSQyJQh01SW2FY2xC_q9VwFZZAJsGwt2Rze3-mOYRNNjR7YyqByGC2pe6k8y7l2Qp7t3bdYu1XqaTuNdisMUMKFSDjuwDYuJu6uJT7RwmdLuHv1IvR27F_OLdZRPLeQaz-zOgVFx9SyLNGI0DnK5PTG3hDQxX8FnqnMu8mtLaylZ8L4qcHoXJgveyTANdjfLhdDqTnY8kYtjJegogGyILLIUhHdLHYzooSThJG8OHtMCtP8VGI-d_2zNRX0WW81JUcxxy6_Qq6UHKs-1hVNDfpvBAsSFnEf1eilIaikMilhMExN8O7_U2aeQVoKp62qAg5WiWuvWorZ5uIQklayI59BRrbtdwpcGosnOBSQTORpNK2igsM_k3JUJD5YMZepAaBTMwyCr9IJnLn0T6HpDG8ltXQ4wCh9kuFRBWnRWVMhNE2gWlsRAlHEg5uchWb1v6WYW16KCuOsxt0TK-MEUSN-jP8p3fUfyrM2nfRTOV9nga5rJ7U6iX2rJSStD06yHeyjm53jh0us96WjlWv__C_0xuNbRcf_vhDMTywGkd0YUEiB8ZlNkRty2xknYjNN_1Q8VSCJlCsRd5s8z_LD9jBLwfjdAxVCRBmVLLgMgVZ0_VmX6wC57Pu6MRN5-KKPa0JXlmp8X583n3aou26JgQY-a3kezZcH0bqqNS-WVNI3IYEOpjk5eIrHgPWFdy0k3ejVPpmGnonfAsW7Ci_OAV3gSELUCTxXF8Pz2KnT7m_q-vljoIHHuqNjCM-5FbPMCpJuGelxRBs-D7o0jF50MopLe_QpOE0n7TzCCbyn-kRZjaym7aFSTYvBbKhmGQTkJfvLTEcFeIUMz0ZoMH0dRLwDYvADYh6s-tQ9DOxXwPXuE0rIo-nrhOqBFgp2HcDggJhmLT94JJjE8T9hQO4Ee9VDzFwVwa0lquIi6yRYZsOq2NHneYHo-gXl-HVs9MOuuBR0ha6k42pZkUajaskFS1vLAQsihFPuY_17G8QA-sY-xIFxQC8y0FcJH2IsKJ-k5ErcwMY6gFrowHfEnWpaFb5Bl6jcfkCm2X1HAPdixvv1TJIKGIT_XYRPiDrJFO4-pDt2L022peotMjtdXjca6kAXta5yZo5gjLmO2uYxtdfVuLY-aZi1QeC0uSjyrqzEh2VKP1eqWcU2h_MPlISeWNvLkb6_t-3wx3PLIcoI_cJsR-oJT-V4q3Cl_dcRo1keZ_PE9wxBzN8ZRHUGLgCE4zYhq9EJ3-VGqw6eRnifp4YF6T2wyjm_NsytrjZVj_IeD950_QHnyjPPnDgNIFSn3WRtoohcpaY0hiGVvsRiCXM-eDVChIhAUF2mxn6Fps8L8yUx",
  "id": "rs_0f4f43fbaf0b6d03016ab2c4663a2087d081c47caccca0c141",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.35,\"left_z\":0.25,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue bowl is now near the center with the pear inside. I will move the avocado above its open side, keeping clear of the right gripper holding the rim.\"}",
  "call_id": "call_Qqv3nNm6tBfyhDL3MRHpCh1X",
  "id": "fc_0f4f43fbaf0b6d03016ab2c46a240c87d0a3a3cf8482d3ce48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qqv3nNm6tBfyhDL3MRHpCh1X",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8963, 2.0911, 2.0636, -0.9745, -0.7784, -0.6449, 0.5662, 0.3065, 1.9224, 1.3808, -0.3889, -0.664, -0.6365, 0.7426]\nstate[eef_state]: left_x=0.414 left_y=-0.3134 left_z=0.2294 left_yaw=0.0657 left_pitch=-0.0833 left_roll=0.1669 left_gripper=0.5662 right_x=0.4206 right_y=0.2511 right_z=0.1173 right_yaw=1.1974 right_pitch=-0.1168 right_roll=0.0442 right_gripper=0.7426\nstate[joint_eff]: [-1.4291, -9.6205, 9.8256, 3.1331, -0.0904, -0.2759, 0.0562, 5.094, -10.6735, 6.4889, 1.3065, -1.0965, -0.3883, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42061c946957660076830a52695a5525be87ccd1aeb4ca6286c04de99756d4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7612206aeb0654677c194520576cd53120821e40b7bb97979c3759661aa74474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce646c8975c72f63274034be37124ca28571194d7228002d3b55f75a6551d37",
      "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]: [-0.8745, 1.3121, 1.1309, -0.6472, -0.7177, -0.6422, 0.5656, 0.3653, 1.9141, 1.3811, -0.3836, -0.741, -0.6685, 0.7426]\nstate[eef_state]: left_x=0.311 left_y=-0.1853 left_z=0.2325 left_yaw=0.0401 left_pitch=-0.0195 left_roll=0.0005 left_gripper=0.5656 right_x=0.3973 right_y=0.2834 right_z=0.1289 right_yaw=1.3222 right_pitch=-0.0586 right_roll=0.0446 right_gripper=0.7426\nstate[joint_eff]: [0.5402, -6.3658, 6.612, 1.4139, -0.3834, 0.1978, 0.1245, 0.1573, -14.5709, 6.5573, 1.6435, -0.4322, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRz0smisTq2VR6b48mBfs2aTJiJ6p7oo5Q-cjV8oJqYw1W3OCVN5cGCBmFNyNCNhjQR8zoCXDCNuCeJ0yhrA47CvT2jBkjkiWM_JTzUCJW9xf64Rhi_AVzFrSxyy7fsoZo3c2yyQYwihHFOVQFL4sUEqqCgWWu9oor6zsDeIHM_eWTrbUHBCAs0ArnAINadUd60fdUZRZ4ROQ9tTDrPnxuxItUtyO6zMic8pSpIbpfirEAyisNidtCV1rqyjDwUEwyJKagKw5_O4kHaGoBsTliWj_aA-21PR7w44Mj5OeBVu9pdjMxnfmh3xd-CPOmaJMPSApwhro2zQESmCUOE0izHEsXO8W9HKVT10s8aTv3KB1fD0geuEBunmysvSc0V2U702iITg8MBH09izp-LuIqTG5DF0tvEvIG9tiYWZ-Z4K9Ui6g33GP7R0dI-MV8ltgozOy8IQOZRPiQl5v1aaBgy8_gL35zowH-e0s3IReqOdE_mrXwC0cn6NJbB2FnzJM_XLC_Qd_XNqH74ow8WQDTRJd7R0NdoJ03KQ9GWgbF170hcIFIdCp7VtjZ2MiJLhyOuGonVW2OTNdjcz0RbRZwYLUvCCYPaTmA65GfhlLw-cPPGXtNpMC75XJkcoBcJvdTW_f6ZEmgbKfOtd5UpmtOxzpYzoxTMOgfMfQV41ytRRu4M7RjjerTHAm9U-z6WQooHL8nhVaw5YrXyNmLGV2RfxsdH6mM3C172HOzZ_ZsRLZEGeUqICsmBTy3JPdnSzXg6jjZ_acQWsWLgecRR5-mOLsDZIlEeDdqi2Qzv-mOGcNCstHZg20qrSUIt44N8aCXecG9wzvwSecSwYCRr0eoTcVTYOejbgKUjIlCK2wpkSlfSI4Cng9fHI-BN8g1W316jSaSfG39xq70oWXSD2k4wwMeR0UzfZmxVNB-fJ-Z1BzF_wDPSmgmEVjz--B88kE1xYpgpj52zvTFAaTvZdJ3bZpVPp8EmKSU06CLJBd9wJG-Z00r-6eAmsYEzNVj6KC4PmOaDRRxCJWkXvCsmQ55g5Zuj-GomjOn3oL5vwaIbaI1Q3qrZ7wdW5QFIQ24Kfe0l85n_XCCgb0EUYWOBFyJhXdCiuFRu-dNj_oLd3cosQ4e8R8QbXAHc2uagCmVO2pjSLoqxiPGdaFNJrwE7y7jm550SDljDvprzqqO9lGnDzVyYjCC8ABoHG03LyxAL94GKB_OJz8KE0oIdY1nxjEyy8gSO8bjOfItSbkqwgufNhhITFNU69QRfEru3V2e_Qpt7nxmrYyJaXMAvYtIT36khp_BENQ87LQ1P5re_yPJ3JeI=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c47000e087d0b82ba765df76ddc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.24,\"left_z\":0.25,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arms are too close together and are not tracking freely. I will separate them and set the blue bowl down before placing the avocado.\"}",
  "call_id": "call_K6YoasNwalw9vxvx7vKhiEBt",
  "id": "fc_0f4f43fbaf0b6d03016ab2c4714fac87d0a394633956a8ac95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K6YoasNwalw9vxvx7vKhiEBt",
  "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]: [-0.9039, 1.7309, 1.636, -0.9398, -0.7704, -0.6594, 0.567, 0.2913, 1.9766, 1.1519, -0.0578, -0.6903, -0.6209, 0.7434]\nstate[eef_state]: left_x=0.3545 left_y=-0.2456 left_z=0.24 left_yaw=0.0637 left_pitch=-0.1063 left_roll=0.1786 left_gripper=0.567 right_x=0.4127 right_y=0.2449 right_z=0.0562 right_yaw=1.1876 right_pitch=-0.0708 right_roll=0.0321 right_gripper=0.7434\nstate[joint_eff]: [-0.4171, -9.5521, 6.5846, 1.3846, -0.5543, -0.0757, 0.0659, -0.5265, -9.347, 6.065, 1.6581, -0.6911, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:861267e181a8e8bba366bdbeb10c2c945473830e61dcaf05c7b6e02dce3240b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb016ffbecca552556d9c6eea61f892074ae7d8dc20a4aa188b487da510ba4a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98f7191a42795fa8f9de399a70fc4c72c4ef00d05b034f495618509e2430be9",
      "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]: [-0.8963, 2.0911, 2.0636, -0.9745, -0.7784, -0.6449, 0.5662, 0.3065, 1.9224, 1.3808, -0.3889, -0.664, -0.6365, 0.7426]\nstate[eef_state]: left_x=0.414 left_y=-0.3134 left_z=0.2294 left_yaw=0.0657 left_pitch=-0.0833 left_roll=0.1669 left_gripper=0.5662 right_x=0.4206 right_y=0.2511 right_z=0.1173 right_yaw=1.1974 right_pitch=-0.1168 right_roll=0.0442 right_gripper=0.7426\nstate[joint_eff]: [-1.4291, -9.6205, 9.8256, 3.1331, -0.0904, -0.2759, 0.0562, 5.094, -10.6735, 6.4889, 1.3065, -1.0965, -0.3883, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl has been lowered to the table. I will release its rim so the right arm can move out of the avocado's placement path.\"}",
  "call_id": "call_SdJga7eg5FhTnmgL6zEt5XaU",
  "id": "fc_0f4f43fbaf0b6d03016ab2c4774a6087d0bd0dd0072dea4528",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SdJga7eg5FhTnmgL6zEt5XaU",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9054, 1.7222, 1.6218, -0.939, -0.7666, -0.659, 0.5671, 0.2913, 1.9854, 1.1397, -0.0399, -0.6872, -0.6201, 0.996]\nstate[eef_state]: left_x=0.3521 left_y=-0.2443 left_z=0.2382 left_yaw=0.0603 left_pitch=-0.1116 left_roll=0.1808 left_gripper=0.5671 right_x=0.4118 right_y=0.2442 right_z=0.0502 right_yaw=1.1854 right_pitch=-0.0746 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.5419, 7.5009, 1.0965, -0.4615, -0.0366, -0.0024, -0.253, -10.9333, 6.8991, 1.243, -0.3639, -0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2a554ea4b4128d989784db6da6a7f69e1ff76a147b98c37a6befe4b2a64e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935389240f4bfa70e10ae89b6c5d128ac4a0eb0fcd8a0171ff44b857c564aa0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcb93de926ffff9e7db21e64a35d7221707aeedcd189660f491fa9cee139b51",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 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]: [-0.9039, 1.7309, 1.636, -0.9398, -0.7704, -0.6594, 0.567, 0.2913, 1.9766, 1.1519, -0.0578, -0.6903, -0.6209, 0.7434]\nstate[eef_state]: left_x=0.3545 left_y=-0.2456 left_z=0.24 left_yaw=0.0637 left_pitch=-0.1063 left_roll=0.1786 left_gripper=0.567 right_x=0.4127 right_y=0.2449 right_z=0.0562 right_yaw=1.1876 right_pitch=-0.0708 right_roll=0.0321 right_gripper=0.7434\nstate[joint_eff]: [-0.4171, -9.5521, 6.5846, 1.3846, -0.5543, -0.0757, 0.0659, -0.5265, -9.347, 6.065, 1.6581, -0.6911, 0.0904, 1.0281]\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": "gAAAAABqssSBnQ8M_fwxu_zqSyrfneyA8mYuvjL3kLm76m6BGi1zvlgKWBKtqIX6QqkownizKYCKfSC3ovJJwk8whaM2gOrS1lRbumc8k_psqkl0a9EEiQxAN5vRjB2xQ4Oa0BL2Yj-E62zjha-gkbuS--XX_9E3_1qKWAwRXV93Rw6XyKaIdOg9UfnOPhXmJtQ_XBMRXI6nArnhDkFTxYP3QLoUA-AAblQsPQoIguauPpY-Qg-YUQHGo_ZsLAtqHBmKHq_yvFujdCPd9cFsTsTCz9psblDSozdlWiEIzoQnJ4XzWeQaKOC6jkIP9ONIk0P8xMNdYnSexCVJlBae6si7YiM8uabGeeSJL0tbz5ib_dLZq-xk8gZ3v4vmxS9tm9WwLvkw2FOVp4oOXAz6A4YYjYVki1XGYQOpN8U31SEWnqE4nAlSFBAjmsmKBJeD4XrOFihfczJzCUkW3c-SpOi630KEHq0HqpwkcUWadRPrBaMSXz1IVmRGxGf-X7i0qkfUDZ5ZS7ctf6Gv_zcBitBPoFj5vEE7ZXuZLV3FT_Vc4OEu2Yykj0crituPk97wY_JMtZovW0a74GiftchsPBeMhnidvaY45SXt9iL6YY-TG2dB-EfHNw8ZEiizv3lo1oRrp-AnYhmnAM9uJ7K2gdRMY_DcnvqSzqu2zJ080o7RX4d4oTN_pUeeK6sgX_MBLFYtfH5I-n-wT7LqJ_JTbyDj-93ODtNzLegqGUnf5xQfJPMWvwWxpiiXhgeuKIm4c6VDusUzSA9BhKuWtdTkM0Y63z1O6fkguVVgIoiVpWhezVA3PlnHRUHiBbZIMCn-hZW2_yoXFOV7NtkY94yciyg3uMnII41eXiwpwfoCfhHPcyZRoNkqtTJgmQfcCJ8xLfGMnCppcnhK9jLOT4HDFZUdg3FI4gdSdR4KMN0Nt3gy7uDJxQfy-Oo_cFgd3M-_jbDrKzwTQaRcyI6wYWdAZXmEVa0Mu0eMvAv2u1wcpq_uzHYVw4XfC9U6Lrxqt2gyJfesHKirCQ8Yul2Xa5gDNvvA5Jh3IL0s5iV8WFWeyyxv0vFC7ewDzdNN--M3OJRB84VbFcu04UgDQbmmaTihVRvvr-jgH-MI-QFJnFffUo1IGLZCPXz860vr2e8WMPIPNwM6EXmwB578JwHlzs3b_o9EG06XXFcfQhqNaXc0AZdSHGnyvoDOTZ-wPjuBV8psxb7I-IRdZOmumXciy03nNzzoRpso9gueaxdoZXEmosSEJDB9KNYAk3lYvjgLHAOJyBfMe6ouWKnRqoMASN7qfAgalGTGmIVObVfT3J2ZDMF4aXYrmyHbnfrRqQ5PZRqeSsgkUPEkLokqGZuZrieOmnsEGg78YQ5bSv2CvVGKpnFg-cLXTn-svzH1RWE37iwJa9C679RHHKSKeFymNUoUmnNLBLcTPLaEglYfYzoVT-djWNc6mbnhezSSwFPy09x57mHzM-AZcsmnIXk4uzaPZGxoCGu2xHTQqEw3SjxD9p8Ay05neAyQ1m95qxgHd0iELn8oylEeDxlHGUeFYrmM2KPp0yDS58TMW_hf0j62hDS4obkEpFRTi_U=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c47ca6b887d0adc474d90c6b5c58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pear is resting in the blue bowl. I will park the right arm away from the center so the left arm has a clear approach.\"}",
  "call_id": "call_yrKRhRQ5aDMV3LMIrUgvUWd5",
  "id": "fc_0f4f43fbaf0b6d03016ab2c47f4b8087d09777afa2b339b0da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yrKRhRQ5aDMV3LMIrUgvUWd5",
  "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]: [-0.9058, 1.7279, 1.6211, -0.939, -0.7624, -0.6594, 0.5671, -0.0128, 0.8555, 0.7338, -0.4686, -0.0605, -0.0532, 0.9965]\nstate[eef_state]: left_x=0.3521 left_y=-0.2455 left_z=0.2352 left_yaw=0.0584 left_pitch=-0.1183 left_roll=0.1838 left_gripper=0.5671 right_x=0.3023 right_y=0.0104 right_z=0.2041 right_yaw=0.0685 right_pitch=-0.0218 right_roll=-0.0092 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -8.9778, 6.4615, 1.1306, -0.4567, -0.0171, -0.0073, -0.3487, -1.9897, 9.7709, 1.8584, 0.0024, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79eb88a4f84a15369b9b27ec580fd99bfc9c905476580dbdca7dbfff1ab45604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3099e03d041b3c26b47f84d91674d50d9657b0d52f606a80dc6ed77fb854bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cce94f108d04f33aadc544b322f3b98b210a1e8ac1acd41eb039b13cb08f38d",
      "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]: [-0.9054, 1.7222, 1.6218, -0.939, -0.7666, -0.659, 0.5671, 0.2913, 1.9854, 1.1397, -0.0399, -0.6872, -0.6201, 0.996]\nstate[eef_state]: left_x=0.3521 left_y=-0.2443 left_z=0.2382 left_yaw=0.0603 left_pitch=-0.1116 left_roll=0.1808 left_gripper=0.5671 right_x=0.4118 right_y=0.2442 right_z=0.0502 right_yaw=1.1854 right_pitch=-0.0746 right_roll=0.0336 right_gripper=0.996\nstate[joint_eff]: [0.0479, -7.5419, 7.5009, 1.0965, -0.4615, -0.0366, -0.0024, -0.253, -10.9333, 6.8991, 1.243, -0.3639, -0.0317, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSIVGKLvw0VV8tvvr098CD_fJC1Kgr4RH2zisZU9xKQRALj7DEkXgjk70pM3WsJ-cti3z5bC8m8sqETisdy00--cOcn5r7yMBIPqIGwec85bo-J1vdxwa3yWRAQnre3B6ZcBNCie7axS3xqsC2MoaA66VI0w93V9xsMF4a7-AON3ao-GR1H83qkULNLCh8LV2PsqMu1L7QG-mIz2vYeBtzsMldSDYKsbvZcspDh_506kExVHZsfkq20SnAQDTcc0wPAflHfjb7YpvxglfwwFtXAI1bsk5_IqOBSnLlxV_EoIYddsxoQ5yri4yPaqYiI4dITkNURQVtNZ33SKadfjSYQsDLkeau8WQX149p1pHApsFzIZcpclJN6Yodc8l7W-v5zZzpCC3I5h1cx4DLwGW_0_gWnzpxA6Q2hFSoCX3Vmq3KPbetQnynSeEK1o7g411nC7kZRPaj_ndCjNgy9HQZn69pZrpZK8Z-R3t2_KSxQ1KabFrA7H_MFJhMDlIPlQYn6TVkhkXMPPOI5VBhDV_XllP-Xm0WX61gbG4HwIIUhyguuNj1Z2fhcIhdUEvbayhWgVWqSWNV8u5RlOU9mqkYJljl612FZlaX5NKOiqFBg5lcwyrmeJYFZ_CkBJh-IuF1M7sP1iwubtEchZsWyXQOKZZozfW-P5Xv7mxsP5CE00InsfUMON-n9cl_YQ6v6U82WKJnKhAp8A8ZMoWHQUrfxN8Al1VWp4NAskREjH9FAuNVduinYwacdWvZ5YSt3wtAIkG6PTG1Fwzc1cJ71Jw_TJb6mDGNCut-YiuAMtm7pJ9MkcTlhvvy5tToiIjp1L6MxWupkLwkbzNKC9OnRNafIej-ohSd5fOcBT9plNzfu4s8KxCthsoPL8P2LuvhzmXiy5LWsqYh40c7SYxV8FplJG_dcEqK-LcoaOtf4BeQIq3ISLUJhOTelQPPX-c-Ve2tClJVBkgewR8TbelFQun0YKT4OEfyudLrDu7aE5Ks_pHk0VDqDRujFOiFANdQiIhn_ACl3Ip3Vjf0UuhzlbgESJHQAYmzZkb6jqd1VKxCuI7Uv_ez_uALSDHSMHFCgKnQ4xwStNba6hqUvAXyx8FjwiWtsjNEeJ_2-hmu83ir_WAm6xlJ80785D4FsraJKC1UgZRk0bHAETVHLSau93RJYgcj_CmwFpE9ypceseN5PM4ERGn4JAFy211fUme97yv2aMmbyOQCP1p_-6iQPhnKmq_fEiZV-14CsLO6OwJBnhI4=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c485cc7487d0987a7df0eae6ce1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.4,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right arm is clear and the blue bowl is visible at the center-right. I will lower the avocado over the bowl's left side.\"}",
  "call_id": "call_fwr4ru06LpIocpzBaTG3RYsH",
  "id": "fc_0f4f43fbaf0b6d03016ab2c486927487d0a8111def3ced3270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fwr4ru06LpIocpzBaTG3RYsH",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.934, 2.3585, 2.0571, -0.6327, -0.7708, -0.7162, 0.5671, -0.0151, 0.86, 0.7403, -0.4923, -0.057, -0.0521, 0.9965]\nstate[eef_state]: left_x=0.4443 left_y=-0.3877 left_z=0.1247 left_yaw=0.058 left_pitch=-0.0465 left_roll=0.0493 left_gripper=0.5671 right_x=0.3002 right_y=0.0091 right_z=0.2009 right_yaw=0.0628 right_pitch=-0.0436 right_roll=-0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.9231, -14.4889, 8.6222, 1.1795, -0.4811, -0.0562, -0.0171, 0.1709, -1.9897, 6.4205, 1.9463, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229961130d06b0eb67714deb8296a445fd6783162188006d8bd8ecdd3e1d0b87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b60cf4db27f2f7f20a5db50a6e70e219c99a2a8f4e9c279be917615d81439d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec63d2276ff88e2c46e0d7917dd53700c4daff0a8f0aa02b0949f2601a8f7a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9058, 1.7279, 1.6211, -0.939, -0.7624, -0.6594, 0.5671, -0.0128, 0.8555, 0.7338, -0.4686, -0.0605, -0.0532, 0.9965]\nstate[eef_state]: left_x=0.3521 left_y=-0.2455 left_z=0.2352 left_yaw=0.0584 left_pitch=-0.1183 left_roll=0.1838 left_gripper=0.5671 right_x=0.3023 right_y=0.0104 right_z=0.2041 right_yaw=0.0685 right_pitch=-0.0218 right_roll=-0.0092 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -8.9778, 6.4615, 1.1306, -0.4567, -0.0171, -0.0073, -0.3487, -1.9897, 9.7709, 1.8584, 0.0024, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSPw7IWeQHtK83njXRbBDvhR6_VfDKeXcgeSjokq2U8pXX0TD6ObY9nKehPnINK37KyfxTlceKZuCCh43w0MMg15me0V1oZLJLtoyayNBjHMrwqdsTfJzUnKIDYLBJC4XH-F18uvuhbivP1d1eoTgHV0W_sCOFKtKLVkVslHG4U6S31EbTKCujQnbn5Z2CX2cLHpmiYjPjQYTG-0N3zOs9yqtz2cBDdaPHZbyRA-2TSMdyTChW46ZwwXqYd-4sq4D3mNvJ3mfpAvD2cMEIgjJS0jgrPnGThW38TZ19K_SxEl7fQf47UOdlB7haJTltCEcc5ujwxv7jXARaM4U6dJG1j0fOEMjXWdDGRzUGjw7eU6GyhpqkMkTHYO1Y1xLUqqa8_Sa1B7lkvrvnNRMwvWJNVCyRCsPJRSLLuYw4AHGAM1XAawtK6jZr9P97l1BVTuAiZrAvDJgqvmFjuSjCsIsL8NL0y66-ohO2LSCSHuNSeEuMybi4L_tGISU-1AGbkUvnCMLEZn16OTROOfcyBzLa4YTo-TbY3IgQ1aoUHKI92QfxS0eVjqAIrSZLg0eO-I6LqTH7iM8F41slEASzsUADVC-67ib5avKufeSCppTtce994e8S1djtJ8ROcGFei5BK-9AwqF_YxLiRx7B1QO3Dy1bFOMmDJtduMS9prHQ3KDm76g5g493ipMpCrMYZSpfch6zR7co9nXvZYdPdnEe0k1xEdVJJZ357EJFWAjqA_MyC9tjP_HvK5TVN3VxmCZ3v4VT03zJkeSfeuNor6vAY7lVNLawkrxHZJoWqdstc6S0zeA8ki1_Xj7HUO3C1GTk3SdOcdNp-w3j19bOMozCI74JqaMGGpohIIS6LbWokjJk4B4zt2l85rA-vmCozAs2iwQk8ODiWBG-n5wF9wYWR_9kKiWSbsIeff0MVJY7frSmmzWNK-9YrLbZBBMc42THyB7UvL_IKWAFaL2M952SyNbf52CrSfuSgFu8UXMQ3_PlhdvjVURxKr32_ReIlePKLW4P9WtTARYJsQN0Hw-kbkUUoIcwyI5WNa9dtF1DezD_gcosvZZkn-MZERWEWPVGEIxWt0T8BM16YRJNBkA7zi7n0sBJ1q7yhNOFmnGSroKCfYzIMFT4BBL-ZC1_DQ4YFttAc6Q8X-1A4hwyG0MHjtOBEgTB_JBrWv4A5WvpE23IHiBckif2Te8C47nu4voleUSVyc35uUHRfCKMzhdYncW6CDGrpgOPKyrerBfNF9HeAxiPyalYmD9uoXcFx6eTICNibUdilsxZQ5d9RrKZMqnL8VewZo_ASkC-F8ZR_btwg=",
  "id": "rs_0f4f43fbaf0b6d03016ab2c48ce7d887d090a29194cad5f11b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The avocado is positioned above the blue bowl. I will release it into the bowl.\"}",
  "call_id": "call_fQLiBkJnGp3MwgoxI7euUw7Z",
  "id": "fc_0f4f43fbaf0b6d03016ab2c48e439c87d0a3fb1381df4b4e61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fQLiBkJnGp3MwgoxI7euUw7Z",
  "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]: [-0.9356, 2.3825, 2.0613, -0.6315, -0.7692, -0.7265, 0.9955, -0.0154, 0.8604, 0.7403, -0.4988, -0.057, -0.0525, 0.9965]\nstate[eef_state]: left_x=0.4442 left_y=-0.3895 left_z=0.1129 left_yaw=0.0619 left_pitch=-0.0575 left_roll=0.056 left_gripper=0.9955 right_x=0.2993 right_y=0.009 right_z=0.1995 right_yaw=0.0626 right_pitch=-0.0505 right_roll=-0.0083 right_gripper=0.9965\nstate[joint_eff]: [0.0889, -15.9385, 6.2427, 1.1893, -0.3883, 0.0757, -0.0269, -0.335, -1.6479, 6.9812, 1.7705, -0.0562, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7377ed160ac8948906511759fd3a91e9b91af4a9b85f608d7c73ca3d4a4722ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04497a01d253c2b2769f308efea70523882ef8243ec3b96a5b4e87acc668f79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a5288b4e8c789c142f8564527e3f9950f60ec3d8ca7c83ebd4addaaa646cae",
      "type": "input_image"
    }
  ],
  "role": "user"
}