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]: [-0.0219, 0.7994, 0.6132, -0.3824, -0.0143, -0.0296, 0.999, -0.0193, 0.7979, 0.6197, -0.3866, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0009 right_z=0.1847 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 9.7026, 1.7802, -0.1148, 0.1392, -0.1099, -0.5812, -1.5658, 9.1966, 1.8339, -0.0659, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b45ce605c2ce66d08b93e24abf85f411a6de84aeaf50ea0a2b17620eb84ab1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3b829908b4fc4eef8588a32ded9db86d32bfa25ace39e851b7090d8de8a9b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08fd6ba43755fa3b2d63a7bfd7962a8bdb233e95fad966a0b640fe30e98b9c96",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrFfWfRVT-W4YbaeUx1T_toOSH1NfJy60l_LYxv_n8vqoyAOpQ8BixcxeoL3bXP4ps010_C113gbVAAxzPMfNZlr0tfXE9dBs3UJ3Pu9YKtr0nhs45DlE6URPnKYBkfJE8aszama5nifewbgc6iIBC6uGQrpABLkXmnOvUZWPICD8TLW8r1q2V5p9q_1oGYkfHFiscGSNTfmpmvngG57A8V9W5ipX5UiLZjRG3JqfFkUs4FNj3vK0MLSavJjo0p8VxVY4YhcAbOs1LDPlfwUB5pe5HF73PRYE6e7wwVTlonm5TwwhYO0QHttA4yGYjuoQj29JGM4cN0Dm3D3_0ZPcGogA6nn1UlQusEj-W2yJlAZKHhRbfr_T2fb6yV8jM4mjCLkKs20usjT-YuyzBuOwuw7XsZ9HEmkwcKm5pDdbtgPSK80vXuLooq-d6dp8T26ATiKj5ZfsV4yU7Ni_imFPL_CFeweNJrurfz9lmUoFak7OqX61d_Hrve-XvFGWmyzNngyW0rER2pC4P_UGPTe0ga3HepmOB_vDleWHl6JlcM3BbU2q8YaFxeRZulQYEPH2Bv11eOb5l5bl4H9qj6tCDuWk_mzsSUGGbIKn9BSX_9H7RZo111p-PQUCHMUi9fVTERPAjzxOB8BSgmOKKVDAfFN7r9k5sCZEZqQ3Sas_p3gF96yWrxYgUG1DIkm6iaX3T8X2inc5Joc-MzTQa271rcCIf2JtCckSRJ5_FiLlurkw78cgAjVF_rGnsmUeIxaEKA-PfGWx15uMmD4FgBA-8E9kn1BxXgin_Heua3H54VY-RR4OYHZSqea0CsAlrwJ6V6uKGo-jTyZSgQY86kmK9td5DRirr6zSv9eVxn616ufZVqbMJNn6sJM1KqkikPmIsG8Ujs6etknjjDSpTf8_BnxYoMLb3Zc3DDRaFEfURwfH5oxwFfH1728DeuBB3IFWQoSSuTiIeq96ufKe648Obr6uT7MKddcH7C65P3QdAvReqXt62TUJ571sM0NRZiYJuRcf2g_py5Hmk5rC3LMk2iQ1hy8XPqqc1-htc4fdQQsT5TeKfPSsZKXNcGdnl3R0A-Bd2kuwdrtn7O_wjLEtvoSR8jS7Xk5v4GWTezTaBmk52V913EVki_wDlYsge7vpmo4EnGVG1L0HwTq-tzHqFwR0VOMh3rJqvBw44mCHNeLsWPznuoYwu9kLIR_mXs49D7X6q4OydvUIvM0MhSJ4tC11UrNLRJeTmPVGwCSNEeDisn6RzhIqQ_4IdqH9zcEIxk0j-fjWIJLvOAkpZQAn5nnIRznImmu7sBqYtK_sYhmIB6gW1xRm0giLeN96a2vd5uJFSkfXFnxsTliaLNPhd5E1s52uZNGd5D8FsmhP14JPD5YTiiizCgPBQ_0xQkw-WaeO8M9jcdQCpvh7C-hcUPLtX3JDpswPTXhqfyE1kvXLuike_mOrJdga9Dw3UCLgTrIyOk3jwk5d_3ZLeQJ4uhpuRwA7D2ZFQwZ_bm9x1_Xof0fOGhsVro35P-OuLq2G6R52aTJcOkQ-Q2K35esD2cLdAUfD6GMTRPGEBimGol9msLCRYvQVjsvkEQAK2iZYgBW-1U1HNsqmwBEtz2ppTqxUsFWeI5RP1iiSwoES9gU8HjXVG2ES-W0ko_OaB48rqlz5dnY2Ac5WbVSJTK53CcaM1EGlaZaQzp0YdjQB7cy6aQj17OYrHhBsS6Ordm9IqUxlqUqJsPgeL5wRw4CNC4o0-joUXCRkQGNeUTxAa5wz1UyGeAufAaqn5i93mB7FvfsOCu0ZxJEYBjrH-kFxVzSEg==",
  "id": "rs_0876c39eff533ca5016ab2b1584fec87d08066a44d6afc6b6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.10,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"I see a pear and a yellow fruit beside the blue bowl, plus a dark fruit near the left arm. I will approach the pear first with the right gripper.\"}",
  "call_id": "call_QIFes7SHyHSsZWKJHPpTZZHk",
  "id": "fc_0876c39eff533ca5016ab2b15e45a487d09458ecd13ec02d4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QIFes7SHyHSsZWKJHPpTZZHk",
  "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]: [-0.0219, 0.8021, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.448, 1.3193, 0.511, 0.1516, 0.3477, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1782 left_yaw=0.0003 left_pitch=-0.0183 left_roll=-0.0008 left_gripper=0.999 right_x=0.3436 right_y=0.1024 right_z=0.0879 right_yaw=0.0341 right_pitch=-0.0468 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4974, 7.0496, 1.873, -0.0366, -0.0513, -0.0171, -0.2393, -5.0393, 6.6667, 1.8828, 0.3248, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9f46e95e03895dc8be0c044c8e64dcd6b0014ada0f8f6a4bbdb68eeaf4feb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0bd691fa8cce87905689d1a9b5dd3fc28eb71310006e8d434259cababeca1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a98e583e5201266c046cf78fe226254ce80f2802fe6425fa892d1fecf4c9b9b",
      "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]: [-0.0219, 0.7994, 0.6132, -0.3824, -0.0143, -0.0296, 0.999, -0.0193, 0.7979, 0.6197, -0.3866, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0009 right_z=0.1847 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 9.7026, 1.7802, -0.1148, 0.1392, -0.1099, -0.5812, -1.5658, 9.1966, 1.8339, -0.0659, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrFvwQjTbWF-64nrE-n00yyla1-340SyrBLBDHhjH6a6xp3MMi2GAtM2DWLSIP_lSPfLX2UwbooH7YOd4vmUXvTynqQKyaGwuJ-huT6IBP00CJXn1ux9S9ir8f4CI7sd9kNY1PteA92KjerqZorrDoytjTFi42zMdoWEN4Z2A4Dxpd3ULKd2j0DJEORr2JDE3Yh7SstSBlwNheHgQFWd2l4HBe7qZt-MnoZClmwUC_1MKrzY0YX9c1h3va57cwk6oOZDNxUhptxN-mVDAjXpALLmWY_CJNG13XD-Xds8M3Q42N7s9rDjHkjD1783SzCAfI6y--6542X1vS2MxX-8Hoxc0UdjgRAuwGvymi48hJWPapMqf8la6TOOVe0KlHx4nLovLqzhS5Nsn8jhmTm9zHpfmFfXM2_4EUvKXBJFDBnT39UIcgvH_L5h_x8LfE1DwUA1vXq9ZbWVViYErIm9238eWT2A91q3B0GTc0N_XyDHYAP9PNax-lVlHxllySIntA3o91g0JXkKWf_QzZQ_ixoc9497jZAfYm9hOToMGPqZGFUNs-eE-WypsYH-c_1s7VmLT4LV4AMZI29fim_SeXTDEyFhs1UIiia2u_NUeni2W7rYUFB-tBU5gcjrYK9CFEHqNq_0cyYxdJenaPBIl6j0IN9bVhvWTvsZT-_ARJiX3Vt0tL0YcNDhC6jOPQr7yQphsZWgap4_-42Hz3ABZAfQn7sN6tfrvrETMtaJUSSdIZP75dJVVLcSSjYpXcPMtTGCDXHNyGMNTUm54NoFmFC_I77upmQkMBajhK2Weu7FxmmdbZGhqq3CsgntAmH88-y94kRvWf2oPbcIGvDc5-3hOQIYtqCsH4zRJd-wivUEH7DekpGDi4ZwP54vSL3zCVTxlfYgzQTpcpC6n6m44EURuzg061PtjK0FpVvKWya9ETp_4U9KGBmk9w2KlD64ViPwWHNkvs7r2ICmB39jYhBhhwM4vfStIetIg7iw3dXGJDgCRScpAZs7p2le0Hp02BFcNAm2Yn5gHhesH1bgOX4Q9dhkazLFVeTjPrIhdqFO9IyIn_qEca_4hrDztIJrzQL2sTDCXh1h23g4FvsnDYYtkAopGgF3S1XskRx2yOjUbTqXmYYkzZENMwoeJ-AVdXlUK3DMgoc_fzezmLU4dKp_aVh0xSpPWTydehy56hTvS2RvyDbil9tpfjoJuO9dSnvrI3UMRQa-00vQM4YxB2IoUjICP8eQce7vUGbsHxncvKuUhk_9O9bqttXO2H3OEDljC0LL0C2EMcwUk_XBxLrMr9WbhIkpb9V3MpexXSQP9gsbhtpRm8C6QS8uxbBfQSlEsL-4DZXe225BwnERVWNsWt5fOY9kkMWQ5FWGwb4w4TQ=",
  "id": "rs_0876c39eff533ca5016ab2b16b093c87d099f975ea63a6c43f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.025},\"note\":\"The pear is slightly to the right of the jaw centerline in the wrist view. I will shift right and lower around its middle.\"}",
  "call_id": "call_tNff0XejKkXaRKgovhOXSYs0",
  "id": "fc_0876c39eff533ca5016ab2b16d47ac87d0af2fcdd503f2df67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tNff0XejKkXaRKgovhOXSYs0",
  "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]: [-0.0219, 0.8024, 0.6132, -0.4084, -0.0135, -0.0307, 0.999, 0.2989, 1.5635, 0.3481, 0.5507, 0.2298, 0.1192, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.176 left_yaw=-0.0 left_pitch=-0.029 left_roll=-0.0007 left_gripper=0.999 right_x=0.3455 right_y=0.0681 right_z=0.018 right_yaw=0.0313 right_pitch=-0.0799 right_roll=-0.0332 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.8291, -0.0513, -0.0513, -0.0122, -0.1983, -5.2718, 4.6154, 1.9219, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2150288a04d1eeb9c2cfdfe288d1a78629ce3b4f104e86106ded8e07645371e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8933b3a9da36bad14a0bd0b726735445d0b6db756c13ce55c9fc3c324eb7245e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e144ad73dc934a57583851a1de1baca661afd510becbd643efe7d2223e2b7abb",
      "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]: [-0.0219, 0.8021, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.448, 1.3193, 0.511, 0.1516, 0.3477, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1782 left_yaw=0.0003 left_pitch=-0.0183 left_roll=-0.0008 left_gripper=0.999 right_x=0.3436 right_y=0.1024 right_z=0.0879 right_yaw=0.0341 right_pitch=-0.0468 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.4974, 7.0496, 1.873, -0.0366, -0.0513, -0.0171, -0.2393, -5.0393, 6.6667, 1.8828, 0.3248, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is between the open fingers at table level. I will close the gripper to secure it.\"}",
  "call_id": "call_ReJAq3UuaoBTppzT0YII6ysb",
  "id": "fc_0876c39eff533ca5016ab2b174bae087d097667abdd21a9a9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ReJAq3UuaoBTppzT0YII6ysb",
  "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]: [-0.0219, 0.8024, 0.6132, -0.4164, -0.0135, -0.0307, 0.999, 0.2989, 1.5635, 0.3481, 0.5491, 0.2272, 0.115, 0.6234]\nstate[eef_state]: left_x=0.2915 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.037 left_roll=-0.0006 left_gripper=0.999 right_x=0.3452 right_y=0.0685 right_z=0.0177 right_yaw=0.0357 right_pitch=-0.0819 right_roll=-0.0354 right_gripper=0.6234\nstate[joint_eff]: [-0.0342, -1.265, 7.0085, 1.8046, -0.0415, -0.0366, -0.0122, -0.3624, -5.2308, 4.6291, 1.6484, 0.0317, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3b32deac91378a898015fcdf79836bae5f296d4fc9a770a239fda375d5c6567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9f84817d40a3ef0094911d78a154e6aa1d39e70840144b957194d1c46c4a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bd7e0edb0c081371af8e9934ea8b4d7a0109918558527b2679bf472249bd86",
      "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]: [-0.0219, 0.8024, 0.6132, -0.4084, -0.0135, -0.0307, 0.999, 0.2989, 1.5635, 0.3481, 0.5507, 0.2298, 0.1192, 0.9993]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.176 left_yaw=-0.0 left_pitch=-0.029 left_roll=-0.0007 left_gripper=0.999 right_x=0.3455 right_y=0.0681 right_z=0.018 right_yaw=0.0313 right_pitch=-0.0799 right_roll=-0.0332 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.2786, 7.0085, 1.8291, -0.0513, -0.0513, -0.0122, -0.1983, -5.2718, 4.6154, 1.9219, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper stopped at a width consistent with the pear. I will lift a short distance to confirm it is held.\"}",
  "call_id": "call_UuhaPAmKKHNHFxGl3jehYHy7",
  "id": "fc_0876c39eff533ca5016ab2b17c1c6087d0916b67c822c77bab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UuhaPAmKKHNHFxGl3jehYHy7",
  "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]: [-0.0219, 0.8024, 0.6132, -0.4236, -0.0135, -0.0307, 0.999, 0.2989, 1.2793, 0.4797, 0.1017, 0.2226, 0.1116, 0.6232]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0 left_pitch=-0.0443 left_roll=-0.0004 left_gripper=0.999 right_x=0.3389 right_y=0.0674 right_z=0.0754 right_yaw=0.0406 right_pitch=-0.1133 right_roll=-0.0435 right_gripper=0.6232\nstate[joint_eff]: [-0.2393, -1.0872, 7.2137, 1.7411, -0.022, -0.0513, -0.0122, -0.0615, -4.7658, 8.6085, 1.6679, 0.0757, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c86b5ccbfc17c7b1e7a93c3c93e0d49c207e6fcbdbdfeeff0747f470c80830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0693ffb99172e8e80be4277f6993c1584f845f430ade5731274c6be55d8ca26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeed3bbe3546b828005581744b3a9f4e58a157ca25a18ff82b4a53f1dcd75319",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.4164, -0.0135, -0.0307, 0.999, 0.2989, 1.5635, 0.3481, 0.5491, 0.2272, 0.115, 0.6234]\nstate[eef_state]: left_x=0.2915 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0 left_pitch=-0.037 left_roll=-0.0006 left_gripper=0.999 right_x=0.3452 right_y=0.0685 right_z=0.0177 right_yaw=0.0357 right_pitch=-0.0819 right_roll=-0.0354 right_gripper=0.6234\nstate[joint_eff]: [-0.0342, -1.265, 7.0085, 1.8046, -0.0415, -0.0366, -0.0122, -0.3624, -5.2308, 4.6291, 1.6484, 0.0317, -0.0122, 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": "gAAAAABqsrGDChKjZIFBr5y4g5ilvc5960UTQs4Ha5PVip5f72mVXOHFETJmKvIwPV6Ju9rhHMmeNLCuVcRLVrU9ducb2Q3mocNPSui1Z5Iyn6kpGzoD0Ge7kwiXOknntwDQ5RReppAasA30SQpkNJ9um9rAyWEIWqydMC3La8z7JXRCCeSv_FB1MWW-7AXKTYJTeWuLDiqF_60HJad3PZ9kAmY59WriRoV7X30Qksm_eTfoABZD0NPlNQXVB3vS4G-o1367efKB7nxzdf55fz-MMcbNQJtRYzYsgn81gujL4wJFkGG0JrG8_Qz_uXZK-5BaOfiKN15CsiIzCklfcndNmcCHHWAYc5kg28d0iADSss14_ijCyP0BymIS__Lx5lVjN5IsNMIpOEH6WQH_td56gMxRWU3Ir51abx12iVgzOnKelOzG43AlwGNEGx_XMvwwNO7woAYLsKrpbCRNY71ixmvbmCsuyoatBnLFGcZuxhheQesuR-X7ScIeSAvM_ZL3ZvmwJJ7LUmj8OUjmkDjDMaKZLLIwgnhIzi1kXiujiFAA-obftQCp2hWPAU8iVqMvIB63_-r3m7RWwIhKNmABclVd7-t2n5ZnuPlxfK_ATwNiBgvVL824NY1vHqXcgu3NF_Qy6pr25F_HaY2fpLj5bn4WQYl5dimzc5Rtpn3aKhCc-oAIo6yz2dHTl7IwpMUT0k3gQZP-S5Pold8vjV2NarnucGz5kD9hXOVQcp4--dZB_0HkWbyG0Zk7_H4B4T9NbCsKdlJKUBXk6BDfBqvA6OVE9hotOodIvUVcuNr30_r2fHOkmpiYdzPXnisosOm0vjCT76q6xY_aZTPvC6i0wNxN8nqCPOJsxeslZTuPeG01dwfxzSWfpCxGpZ_tkDMwn9I0TQmI30LIKswK-HbkkkUN1tuZmVfsns-hXLRVB15dlzEYYLmTPw2bITMLihUCV5M9lKnnXmfWu01rtmieJ_pwV9SAWyLwrH6DkmZ5sCHAlvQB4xP9Y5Z9jh0a2WFw1LWwR6pe4JPw9N75CsLWELUnCNAGW3KgFntiYf1FNKy4-xkdo1SKpWMQEmh22_c85S4tsDx5M8Hvf4tgN5n9fWfGmyIBYEkS9CKE1lfK3Gzhww8DWwv5vHM1-oqIdq_OF32jiXw6W5eQKOeiHB9vMgSQzT7QwnnSDMUZhg5WJMiqM01-JgUbtX94cLnGqNmA-eYNkQBIU_MuqD-Hjzrf167U-xYocFIYXu-UUZa7E6RncRhATESf62BpsxhJVgdHP2PSCN53DMGSXkGQ_AjH5md3EUSv9Q==",
  "id": "rs_0876c39eff533ca5016ab2b181123c87d0847cd7ea7bd3bf3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.145,\"right_z\":0.19,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The pear rose with the gripper. I will carry it above the blue bowl, keeping it clear of the rim.\"}",
  "call_id": "call_vAyyHEtWOYr6UFA0XCheRhIA",
  "id": "fc_0876c39eff533ca5016ab2b18213d487d0aaf2815f94e78206",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vAyyHEtWOYr6UFA0XCheRhIA",
  "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]: [-0.0219, 0.8345, 0.6399, -0.469, -0.0135, -0.0315, 0.999, 0.4088, 1.6871, 1.3045, -0.387, 0.284, 0.1581, 0.6255]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1673 left_yaw=0.0005 left_pitch=-0.095 left_roll=0.0001 left_gripper=0.999 right_x=0.4518 right_y=0.1457 right_z=0.1718 right_yaw=0.0711 right_pitch=-0.1684 right_roll=-0.0687 right_gripper=0.6255\nstate[joint_eff]: [0.1436, -0.9231, 9.9077, 1.8584, -0.022, -0.022, -0.0122, 0.1709, -9.0735, 8.9915, 1.7802, 0.3053, 0.2076, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4b4efd3c5084cf13200ab4e8387f9811297e1ec37cf48d88c9e3d81840f9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b7bc66c5f966391a04b057feb1acfa0fcb216f3a5b1add2a9db0da145ff9c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c2a5baf0ee8039b0e5f5056617f0b0ba7fcf1e04f55612669d36cd9251d62d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.4236, -0.0135, -0.0307, 0.999, 0.2989, 1.2793, 0.4797, 0.1017, 0.2226, 0.1116, 0.6232]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1729 left_yaw=-0.0 left_pitch=-0.0443 left_roll=-0.0004 left_gripper=0.999 right_x=0.3389 right_y=0.0674 right_z=0.0754 right_yaw=0.0406 right_pitch=-0.1133 right_roll=-0.0435 right_gripper=0.6232\nstate[joint_eff]: [-0.2393, -1.0872, 7.2137, 1.7411, -0.022, -0.0513, -0.0122, -0.0615, -4.7658, 8.6085, 1.6679, 0.0757, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGMNKr-NL7AQUUI47dudzgZqotwaczl-6pQ2QByTjrLOIV4bAQPcMtTEadzl_TKfT1haRu7jX4nD29mv9lU_Poa80mIoi8-BNJApTV63HBTvl9KYWKS2F_Aog5pYBzPNF1zkn4tW9eUWTiGgslOb8aeotiuwAF6eJhz17qdwhy2N-9g45iUq4ynzpAPY77pOPAwrwPD5OX3HV4XwRv3BWZxiDSNYces3lwhUlfPl4RL94FFL3ZVTRcI0WaT-CH3Ax2EIEBHOSD7yyZpvoeYo_91o59W5Xk0ABu_XOOdhsb0G7IMgcx9oS-V2Q9FD7zc6yMRy0GptggOB62h80oRcqP8faykVmYUAnV8ROi8bbume4AWLQAsjpw2gguG8C7BWGURSCCtOuy7UlJZsq-NuHQYbnfCQmJlLPQGk1O-C0XBgRIsRbA8ASnhLsRAR5evQ_lJGnQP96nCafYfEFXOk7q1s2IjsC_IBzts-7NKezUC7D3T1xJ-Rr-DpHndK1CK3W4W8I-bqdf1F_REkSfnY6D0twA5aIppUp_dkBO0pD833CccSALMV3E9vyiaR6fG99x6veV7XMeTf260OTpaDz9g25XBfwrVfgTU_S8R1GyB-HbC1qSvSDxTpyNz1tTUcalKB3mZeStWhb2mjfxinsZv4FHGqwXPZjGOZFSZXHvUG8GKiomwOQTzxOuKD8uoyAxSMzfZO8AKg2L-DXPgxJxQ9PLq6tqQMJVW_XL_U6mp3KjoWslSVxJs_FzriOGQJrhMxa_ZeBn3KtmuOrXVdIZrWAKdLcSzRPyoPYFvqGSLQv9REB4GlefZGXELnoDdW88f1tZ636mu4_JlMDd1xl38zRzM3mTfnmseLGJx_6NBY4PEJjSvl76MR4trJNelLLD4GmT7YZVMot8fd0OWTUQyZDycgaPksSdSdp__skyO90-yCzWcsIWraGMVFOl74yKobIKZZNLLeRDSxDSsWAtOFvjR0uB_PmVWl7HQolvUsyluT0dXuko8D_S87Kkkey2-d303ZchpcX8ImZvkjRsZeRsLBA-n5PtzkekMuJwGDoYBkUd7zUrVqK_HxXeYEI7oFEtvPGyzx6dt05Nd_5cj5khSGv-qVO-tH1erZ4gbN8K__3KtEbXJM3a-DRyI4An1UrYIJwHbPV3MYegdbCfRXQ_IYwruJhhHc8CHgTqrkz_oG8LB9a4A5HgQPgXpLGd-Of-ANDeQ4ddN48wRfqHMVyB9HM17767MjKD4ZCSo-_WN10JEobGJpEb3rSfNCJC7wsDOIAUuK3CzFZ1V290HWGNBxZRDSLqFTIA4F6pTFKGAUALrRSTYU_kstBUBD8K-a_DQi2QtABcIvnYwHFNsJQ==",
  "id": "rs_0876c39eff533ca5016ab2b1897d0887d0a9bfe1fbad30da2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The pear is positioned over the blue bowl. I will lower it toward the bowl before releasing.\"}",
  "call_id": "call_5OKckWQghY6pMPQOlZJfEuBe",
  "id": "fc_0876c39eff533ca5016ab2b18b2ef487d0b55befdd992c2c6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5OKckWQghY6pMPQOlZJfEuBe",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4759, -0.0139, -0.0338, 0.999, 0.4088, 1.7542, 1.1057, -0.1749, 0.276, 0.1566, 0.6259]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=0.0021 left_pitch=-0.1007 left_roll=-0.0013 left_gripper=0.999 right_x=0.4425 right_y=0.1431 right_z=0.0955 right_yaw=0.0751 right_pitch=-0.2212 right_roll=-0.0823 right_gripper=0.6259\nstate[joint_eff]: [-0.1709, -1.1145, 6.8444, 1.7558, -0.0611, -0.022, -0.0171, -0.1026, -8.6769, 6.7077, 2.0391, 0.1441, -0.0562, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7a78f4dbae930015af1ac4a151acdb1c718318fe89256fd1bf607574adf24c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d097c7e110d3138e964cb6f88117b03ee07f574c2e0019078b38fb793754218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98cd52c4a99b618a36736986c0c7656cb18b7c2543f846a403ea6afdc44ce9b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6399, -0.469, -0.0135, -0.0315, 0.999, 0.4088, 1.6871, 1.3045, -0.387, 0.284, 0.1581, 0.6255]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1673 left_yaw=0.0005 left_pitch=-0.095 left_roll=0.0001 left_gripper=0.999 right_x=0.4518 right_y=0.1457 right_z=0.1718 right_yaw=0.0711 right_pitch=-0.1684 right_roll=-0.0687 right_gripper=0.6255\nstate[joint_eff]: [0.1436, -0.9231, 9.9077, 1.8584, -0.022, -0.022, -0.0122, 0.1709, -9.0735, 8.9915, 1.7802, 0.3053, 0.2076, 0.9402]\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 pear is inside the blue bowl's rim. I will open the fingers to leave it in the bowl.\"}",
  "call_id": "call_8rzdnnsdj7iVrhNf2bew89JZ",
  "id": "fc_0876c39eff533ca5016ab2b19489bc87d0bae9a9faaa4132cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rzdnnsdj7iVrhNf2bew89JZ",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4763, -0.0139, -0.0338, 0.999, 0.4088, 1.7542, 1.1057, -0.1837, 0.2756, 0.149, 0.9957]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1664 left_yaw=0.0021 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.999 right_x=0.441 right_y=0.1425 right_z=0.094 right_yaw=0.079 right_pitch=-0.2299 right_roll=-0.0905 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -1.4291, 6.9402, 1.6386, -0.0562, -0.0611, -0.0122, -0.2256, -8.7316, 6.4752, 1.4921, 0.0269, 0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d3d88bb5e6d247a07256032ae3b5dbd5a1cada5bb15476805addec8b616fe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038392543a02ac2fc4aa0bd3ceec362d183287d95a6327b4a8e0ac657a4f0e70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a58b59d452c90c5520e57022aaa77cc4753abb4d5a7daa399c6b8dbfcaf1bb7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4759, -0.0139, -0.0338, 0.999, 0.4088, 1.7542, 1.1057, -0.1749, 0.276, 0.1566, 0.6259]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1665 left_yaw=0.0021 left_pitch=-0.1007 left_roll=-0.0013 left_gripper=0.999 right_x=0.4425 right_y=0.1431 right_z=0.0955 right_yaw=0.0751 right_pitch=-0.2212 right_roll=-0.0823 right_gripper=0.6259\nstate[joint_eff]: [-0.1709, -1.1145, 6.8444, 1.7558, -0.0611, -0.022, -0.0171, -0.1026, -8.6769, 6.7077, 2.0391, 0.1441, -0.0562, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGaQtjU5T0A35VP1NQ_Uz3p6nRMyrm8eSCRgDq3xyFhgoM3IWk1CITjl3mw-5kbM62QcIIxkGLE1UdeB3pBRod9NyCL9wsm6eMuq37dNwB0dE2nbHRpn-zowAoWYDPGaPl5pbOhhZbbRiSDVl2gl6B05ZT4exPky57cQVT-2YDZXUPYZ38SyVNw-Y7jcCwjPBSLaQ4yDcE_DrvPK_c6P7KMbWivE4MNQuTgb_hHK3P98yg6SjN0N3bReZdEnZB6PpG03FdQ1HtiTo5I_rsWywHKnQP3DJ8UFL1680KfXIOpwwSnTxBGpe8P8Afxaf5hmvgZDpF33yxel3SVKGMaUQhFMQD4vl20D1qEPVtq42MYnj6JHh5zqV5DszxLKaK5OALskzRnpTZoskuFRDFcHwzWsD0M4QM__Ie7pFiB5Ns3J8zON4U5X1bsapTGangUMIkEgbJZ83POrDUjjfuvv7yLAn0rx0_Ph45ThWl3JI1M2GOkIwMlj9mf9uqwrGn8zJbrOLMspeCKbiAWx67luNOsWUFEPsvrgJuY7fbVOunPEW-5FUzjNZAmJdXhxuOUXo8BjHNEdNyMy7VH1oqnXFuBnGMUbeijKCEVn7diei1kvhvdVMKcoGNEGUo2DxD9FIazGZIqawmsxe_r5IoIfgnH8mVz71p5kkNys0uA4FcYimoBl2FrSMHAVj2FuCxAJohMOzacKDmIJICSvzpLp64OTs8aOrvQKf-hwFlp4tapwXYPyf-9IZbJicwn9D6DyHimaxnh-A47-Rs9Qjv7byQb3UqfjVYkwjOeHoQVH0NVCiI0KrjNISO_IddvNe56Lcql0WRnjYkYPwBORDGkSMheOVqy_oWn2wcA5Ffm9f_AS1dC43Oo_3XlLWV2vaIfCEJytCmkzBfnxgzqQAOhh2lkbzwSkDZSacVNKEhU4tTZdpw1DVGcM1wPnYs4cRyNfMa0mXfhsZRvRyle61veKi8xjFy17pa8ebuWKaKyngIc7pWwRx6ibIDZSnNXqzOqVie0HaUp4JJYKEmw1ykoGP0FKBDcd7DDTx7_qf85J1rSktdYf54sTSGZU1_CDwiqGW3841QOZ7_mlnW5TfwUDsTnF9JLCoaPXOlFnfGHE2l1BxPgUKt4_R0-PHWxWLTv2kz7mVbCqKhur1Dlti5Ky6i_pJ6Mjh3ZtOOFXT5rAfj8l5R2kEjhAwIMTMIwtsCRnhIYA-wzqH1UpeEM5HDLHvUXa5vG1J9M0AktyciYo5zPJGnH1GotXMbrgRcppxAqM8S5",
  "id": "rs_0876c39eff533ca5016ab2b197f25087d0af4066c240260534",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.23,\"right_z\":0.125},\"note\":\"The pear is resting in the blue bowl. I will move the right gripper above the yellow fruit next.\"}",
  "call_id": "call_IAtZor3B9DT8nvQh5hwWg6Fi",
  "id": "fc_0876c39eff533ca5016ab2b19929a087d0a5b893c74296e36e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IAtZor3B9DT8nvQh5hwWg6Fi",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4839, -0.0135, -0.0338, 0.999, 0.7948, 1.6527, 1.0836, -0.4477, 0.4973, 0.4568, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1649 left_yaw=0.0018 left_pitch=-0.1087 left_roll=-0.0014 left_gripper=0.999 right_x=0.3369 right_y=0.2282 right_z=0.1021 right_yaw=0.0951 right_pitch=-0.2857 right_roll=-0.1272 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4291, 6.9949, 1.6874, -0.0415, -0.0513, -0.0171, -0.4444, -9.7983, 8.8957, 1.1697, 0.3492, 0.0904, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1bf014036ac60ac78ea54186612b8d7163aafc33e846389a3aa02c84928a36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a447f96a6ad176ada069e49848729dd900281c80e26819bf8187ae0472ec2963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b160015491960459cb608986e4caf6dc3d814934cf11e6f02c99572948c14dee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4763, -0.0139, -0.0338, 0.999, 0.4088, 1.7542, 1.1057, -0.1837, 0.2756, 0.149, 0.9957]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1664 left_yaw=0.0021 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.999 right_x=0.441 right_y=0.1425 right_z=0.094 right_yaw=0.079 right_pitch=-0.2299 right_roll=-0.0905 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -1.4291, 6.9402, 1.6386, -0.0562, -0.0611, -0.0122, -0.2256, -8.7316, 6.4752, 1.4921, 0.0269, 0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGkPebijGKT-GEO95ngNulYWIOEa-7AelQ8uMVYFx90fmvVO014z9HH5z117cB7FP_ANeYSEbsXAf0rlULAtwVqt6ATzOlOcrwuJSmls88LLqJsLyev2NIRvzfrsVVmXD6Fxb3rpSGzcRNQ_l7Ys4HhRSDQEoq2mLhwHtzwb3Mo96J19k1Y60BnCYnv0QpaGdzW8O52zWc3iw7AMLIh3oqO83qrBM3bAZL9ceeu74PyRLOf3OIggaLwu8RhY4yBZYm-kLZBjyMmEOlig2Dh6MNmqjAiITMBo8PAx5XhxexqixdB5M1nhulJfUSn9uSVikX7_o0zhFPgtmN5AisWzQt9FRrx3zHsGlsf1DzgFo29v2W5ZiJ2t-E4PEjJP8CBLB5I3Fbgd560I0UlcD3mGCfhz0p3nHQZ3i1dIDY6EMva0wKms2Tqj5yL9wZIjXuRAK6a8QEukG4Uz5ihh3HheamqyeH8lpqPWQc1xJD0HJyfAzUNbRGuJbdjAv16y17xHsUUGcmoLQ_c3Uamy58wyb0TQfIdvlGUZsQ8ZcSYkTryElPMglkfuUiDiEj6z99XWWqQ2QQdAtaTYlH8BX6qdEO92FmxVc0zTq3q0vPyVPSPkdt_XGI0BQJG2qhRAtRVyLDj4yY5nWnb0foX1ViWKw96R9InbflB2puNBTrrt12ATny8Xi25yehT89bsYkObS-8FQT6YxfXLhLSYD3QA3-K8sHziVMu4cKDHS5qUPfLMei5iCJiZ4qcYWRKlg0L0VC139p8dNn_3_VFNPE0FBqMwmi3w8ds1oALRB6NzsjPWcNGlVQWHsPVknk37_tgxJVn3F7dgaduaiqeClAUt-y89uz9WKwWJKr4G5_fNKbkWznZizPWF1Jgoifu5ME5S2Z-kn48SOHnCLVbW95xun5VqTh-x210iRBMAf_nJmrVyLguC0RsRw-FUa1Ophk5CJmSqlrfrP15KtOm_e-yJiDJHQ_-rE4A02mHVMIVaen53rfniykr5ykOCL6iQuuxxKdWolEAv_qnFO9BCThQxQxfKlzbKngMHH3shvWjG3FGwoHpLUC-dxB7dVE_40JjPhOVnvpHdhsm7DEU7UZjPsG7g-E6mn6mWCgyuDK3IJSy0oKVnEqf9Tajl4f9W3ax7EBRGpNDNJoVQuEBuqrXX5L0eOVJP_CjHzNufA5HXudm25pjOoZudbzIod1EE1in_uyWivrz7SihlSywQSp9NbhyUYfUde_sXfnbv5rF2B8sCooaE1T8ppVG8GVQQuC6imOKhaV1SlZpE3zNduhExRHAf3PemhRoYihAvHorhsM26kLuh_ufpUxiELOzIssaDViReq4hLGGSy-o9EAHvIFN1J9A==",
  "id": "rs_0876c39eff533ca5016ab2b1a11d8887d0aff85ba2e8819fe2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.23,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is centered laterally but still ahead of the fingertips. I will advance slightly and lower to grasp it.\"}",
  "call_id": "call_XpUZH6fh3FfY2k6kF7jwWhMb",
  "id": "fc_0876c39eff533ca5016ab2b1a2771487d0908a7e1aac07455a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XpUZH6fh3FfY2k6kF7jwWhMb",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4911, -0.0139, -0.0338, 0.999, 0.7334, 1.8977, 0.7815, 0.342, 0.5041, 0.3714, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=-0.0002 left_z=0.1636 left_yaw=0.0021 left_pitch=-0.116 left_roll=-0.001 left_gripper=0.999 right_x=0.372 right_y=0.2251 right_z=0.0113 right_yaw=0.1043 right_pitch=-0.0947 right_roll=-0.0428 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.347, 7.0359, 1.7118, -0.0659, -0.0464, -0.0122, -0.5265, -8.6769, 4.8342, 1.7656, 0.3297, -0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefc8185752cda0512d5333830a0b93780dac81358cabf261766f599bad72333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da98d40381d94b019aa23e6c6dafd12bcf3a5899475b68627bfc04d9859e4d34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42368462fcc1aec5a058266b6f15193dd50343f12b49287bf16f1600ec8936e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4839, -0.0135, -0.0338, 0.999, 0.7948, 1.6527, 1.0836, -0.4477, 0.4973, 0.4568, 0.9965]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1649 left_yaw=0.0018 left_pitch=-0.1087 left_roll=-0.0014 left_gripper=0.999 right_x=0.3369 right_y=0.2282 right_z=0.1021 right_yaw=0.0951 right_pitch=-0.2857 right_roll=-0.1272 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.4291, 6.9949, 1.6874, -0.0415, -0.0513, -0.0171, -0.4444, -9.7983, 8.8957, 1.1697, 0.3492, 0.0904, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrGprSp1GA_C50WCoQhlOC8gTbtiXqZrim-TqhBLIvqtfGDyXd6i7KVDkZfDzL5ZNut3mBY_RvphtuF-z4S4FgDvUm3iyAeTWctIDOIe0dYjzXdhVkT44qHf_t0p36Qo2wRZIyZqlhFrR3VPf-VjCTRkeJ_EHnmziId82BuLscxjeGpl3sa_72OrLh1x-L-fF4gvyf5FxQD_lYi0ITNxmHEN6sn5P-XswIbL5Q8SE45YlpxWSG7JH-Xkf99-wKgdzxSMCsx4WGmcjhNiqhqAaGg_4_bm71urJ-dLVwpEz3Dwti0zB6HIhFXQkfG065seYQ_AIr1jbpbYsYLbBsiINkw2ILbNEzpNp7_FZWWa6TIkXXHU9zPuxlcgtfI1GEuhBGUXawZ2OFzmGkEFlD8lnPDckAL5nmJFD4azKx7kR8DOlT-I5-ZQp-g60Frv8XUXgRv61KKU_yUPDIgCWfzDo1grYjNZU6_MI5udPgFIiVlNrqgCV-MJIjWKC_jonovrXdBrCBlX2H_qDuVVyYD1QDmB0qEMZa-RG3MK2iB951Xa-byXP40uHpkk8hBkhwLpPWSBw9LbyKvBjkXGaD_JOLuWsWvhmqJVZ-tKqQchnKCZiHfh6sFlvAhw9fUIlMVZkiNflfntF2X-LNQRs9ao27gqYOybgnpKFvp-yAL5pmqAbJ875WuBm4VKflGLYS51QQfb2m6qnYPiuRSOzCr-wwq0LLG3L5CMElsB2k0shFZ8OYhxyG4I3Xgjck8A8ueq3jwbHhBWTYIzD6Hchy83EyEuwjbLks4pOv3ya2CbfeAv28MlGUWwff2wku0IRwBFOWM7hKugr_yfK6FFcREwcN7z_1HUeEtRccZ1NQ4nv2fKGV4fs7M5q9J3tNpU8N5KaDuNbg0VO-YWMnMoOX2NZhV94JIZtvCYzKqPtIxXnUqSnk2anQwG6UefEUmFgOPdGMLEKl8mXNp-6gXIwm0TfDG3cI4XRnSwrLpeQzGQi5Qw2tOZe1FoInGZdv3ExP-J_6mq6xncTq_BilnPMnJi24wJZp1tUJACcCiO4I5FhedDd4LVPdOP8i4fpHXx2zALU08LQBr6tCyhUaZHqBIqDQVJqbQj2zVNZj0tvaGK20gF5Mht59Ih6govdlGcEEFKfOaDb3cV2EZIBqsc4JEG_6Z3GzUh7n2maQ1cLtHJs1oIAYFQ2-T1gaqBoF5n1mUiyT1D",
  "id": "rs_0876c39eff533ca5016ab2b1a88a9c87d0bb530c9f547a74f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit lies between the fingers. I will close around it.\"}",
  "call_id": "call_n9hCOESQuDGwr652janTlGty",
  "id": "fc_0876c39eff533ca5016ab2b1a8d7d087d0a106c97c1e1aac90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n9hCOESQuDGwr652janTlGty",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4915, -0.0135, -0.0338, 0.999, 0.7311, 1.916, 0.7692, 0.355, 0.5007, 0.3592, 0.4874]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1635 left_yaw=0.0018 left_pitch=-0.1163 left_roll=-0.0012 left_gripper=0.999 right_x=0.3691 right_y=0.222 right_z=0.0018 right_yaw=0.1101 right_pitch=-0.1107 right_roll=-0.0608 right_gripper=0.4874\nstate[joint_eff]: [-0.2256, -1.4291, 6.9265, 1.6142, -0.0464, -0.0757, -0.0122, 0.0752, -10.0171, 5.7504, 1.3602, 0.1734, 0.0952, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869bfd594176c961810f1ca2005bb3cbbfe88ff66041e8ec65b0dde36a9b7eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8406ea3b104189a406bc616c88d62d476615f2cbfc1e13ab724f3845b70f1021",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce750088561f1ae594944aee0294fd151429a28c18c832ec5a9ca831c0ddcf38",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4911, -0.0139, -0.0338, 0.999, 0.7334, 1.8977, 0.7815, 0.342, 0.5041, 0.3714, 0.9965]\nstate[eef_state]: left_x=0.286 left_y=-0.0002 left_z=0.1636 left_yaw=0.0021 left_pitch=-0.116 left_roll=-0.001 left_gripper=0.999 right_x=0.372 right_y=0.2251 right_z=0.0113 right_yaw=0.1043 right_pitch=-0.0947 right_roll=-0.0428 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.347, 7.0359, 1.7118, -0.0659, -0.0464, -0.0122, -0.5265, -8.6769, 4.8342, 1.7656, 0.3297, -0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_pitch\":0},\"note\":\"The fingers have closed onto the yellow fruit rather than closing empty. I will lift to verify the grasp.\"}",
  "call_id": "call_kHAUuSEdmW7fuGyHtIefYSrc",
  "id": "fc_0876c39eff533ca5016ab2b1ad3c0487d0acc3f4ec79b10226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kHAUuSEdmW7fuGyHtIefYSrc",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4923, -0.0139, -0.0338, 0.999, 0.7509, 1.7, 0.7753, 0.2024, 0.5308, 0.3271, 0.4889]\nstate[eef_state]: left_x=0.2858 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1171 left_roll=-0.0009 left_gripper=0.999 right_x=0.363 right_y=0.2214 right_z=0.0674 right_yaw=0.127 right_pitch=-0.0432 right_roll=-0.0628 right_gripper=0.4889\nstate[joint_eff]: [-0.1026, -1.2239, 6.9265, 1.6239, -0.0757, -0.0513, -0.0122, 0.2803, -9.1829, 8.3077, 1.663, 0.5055, -0.1148, 0.6618]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daae6e8e3e8a3afff18c374cc36b97c91c05813bea30a1e7899610dc44b0fa66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8b1cc92d6192b285df22401e155291dcf5fcfb02bc685fe45d082213db7022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ccab59ec1ab6a8f2f0ec55ec0d8483afdd97cf2281419afcb2aefa4e4ca83c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4915, -0.0135, -0.0338, 0.999, 0.7311, 1.916, 0.7692, 0.355, 0.5007, 0.3592, 0.4874]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1635 left_yaw=0.0018 left_pitch=-0.1163 left_roll=-0.0012 left_gripper=0.999 right_x=0.3691 right_y=0.222 right_z=0.0018 right_yaw=0.1101 right_pitch=-0.1107 right_roll=-0.0608 right_gripper=0.4874\nstate[joint_eff]: [-0.2256, -1.4291, 6.9265, 1.6142, -0.0464, -0.0757, -0.0122, 0.0752, -10.0171, 5.7504, 1.3602, 0.1734, 0.0952, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit lifted with the gripper. I will carry it over the blue bowl beside the pear.\"}",
  "call_id": "call_KQdzmTHRA1Np4WVmtHa2rOBm",
  "id": "fc_0876c39eff533ca5016ab2b1b174b487d0aed9e4d889da102d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KQdzmTHRA1Np4WVmtHa2rOBm",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4938, -0.0135, -0.0338, 0.999, 0.4046, 1.6279, 1.1179, -0.0967, 0.2554, 0.1417, 0.4892]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.163 left_yaw=0.0018 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.999 right_x=0.454 right_y=0.1498 right_z=0.1711 right_yaw=0.1044 right_pitch=-0.0198 right_roll=-0.0131 right_gripper=0.4892\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.6581, -0.0757, -0.0757, -0.0122, -0.3214, -8.212, 9.0598, 1.7656, 0.0513, -0.0122, 0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3a6c9a054e2055b23e20aaad5ea60388cb3f229dced8e947b241185ad7e136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb79ee6019c21e42e630d3a4c1f71342a8841325cb53370c5a34e782d0de5e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d83eb35e170a16f39972f667ec5e3362b217506665632e0a8d0d8dd90c7f1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4923, -0.0139, -0.0338, 0.999, 0.7509, 1.7, 0.7753, 0.2024, 0.5308, 0.3271, 0.4889]\nstate[eef_state]: left_x=0.2858 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1171 left_roll=-0.0009 left_gripper=0.999 right_x=0.363 right_y=0.2214 right_z=0.0674 right_yaw=0.127 right_pitch=-0.0432 right_roll=-0.0628 right_gripper=0.4889\nstate[joint_eff]: [-0.1026, -1.2239, 6.9265, 1.6239, -0.0757, -0.0513, -0.0122, 0.2803, -9.1829, 8.3077, 1.663, 0.5055, -0.1148, 0.6618]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrG3am5Sv8pvuISwpxSz674ZIU_0nVpjfqVbddXqX9A02lFzysNsCRhmlxD612S_3obogyfBGLUNu1kXJ3eiARMurT_VC6G0KEPQkTl85HJ1QX_o-syCeRCNA0Zc2kpvs9KiuqNM_ZIj_rmgqB3ZbaRO1dTyHx2K9c6x4UfVp4l7MwRS-WbHltBWC0VT_V07hS7EZ9g3gxAwVW0WtMu_0uE92dwEvSYpvkhci93EsPipsxnwdCkGj6tM5cJHB7fNgB9-xWs2IClrL8MVJeTPxEJoQ8cGGJG-5_qAyHhGStKP2R2NqdQvpWiFbHLe6g5WVHCuOg1S0Fmocj4SpslGRlHhZCQAIlTg4cjolclskdyY_JJWVEN5vtLCcW6axAW1j06qYyoThWXm7lsGBTclOQYU8BX5-_FtC0QfRPXLnvFWipGTjU_TtKC6VIurTTKGNoYBksWW9sRacCLQvicEorfTj0muDwYRU-RQe3pQS2ItRv_IZ1yeMe9bjB9-JB6MlpWaSSaxqdw74t87rZanz5qmMQxghmZL7x2BP4EMVMlhG-PBbmQ5vayq0CuUUWVcm9jfc37RG4w4wtxsfj_ZYEBNOX8FV3_sVf2bDp1zW-0-3-Zfyz4wMlrXtwmaOOGDZWJBT2noLTX954PCcHE29ismHreTcZFyyh_mph89ixjGha5MuDT31Hnv7GfZGBucLhRDB0PWNj7Pv1o0A-21r0TYClyXX-COJJIS9vXTUONTVmoHYdrdUjQ4uy8hH0q0hFM5_kdIKdEcQs91NXdFjVjZaWJU5QNwqOn_LNFomcB996tcyhiIt7ccZljK8GO42LkZmXsRsZz-tr-dk0n1qATLr6q8YxMZzm-Af42fbH-8W22JDcZY9ZtSfqWTWpYKZF1zlU-gFTQCwHBQfU6SuiX-Stq71T546SSmCD2YGSo2_8sr-KBt-xpo2BUknPpTkLQF6rZalFBiTxzkpXWGExKmtnRysOOVhiIMQrqDCM4lBvqLj-Sqpg207-l9ex4RNsNKgriZwmMYZ2gzctHfP4sp2vqLf5rBXjzJeYDRQp1keYWLyapEYjMe4JGbD__vDe7OPhi9JgRmO5DwJuAJX3IW9A7zipqIv-t349IF3cnx6YOYK3K9QGiGPaXk4FgSMTjJC7PoUrIrmECYWXiF3Ejn2f1GmAcY7chBylu73PL0X9X9wyJxuvftcKfsimxyIM75zAXH-S5HABD59gBx1iUOog==",
  "id": "rs_0876c39eff533ca5016ab2b1b5cb4c87d090af2ab89b43b6b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The yellow fruit is above the blue bowl. I will lower it just enough for a short release into the bowl.\"}",
  "call_id": "call_53fIZPgvEjPew4sWdaeYej9x",
  "id": "fc_0876c39eff533ca5016ab2b1b6649087d0bf8ec10afe7248c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_53fIZPgvEjPew4sWdaeYej9x",
  "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]: [-0.0219, 0.8345, 0.6411, -0.4942, -0.0139, -0.0334, 0.999, 0.4053, 1.6989, 0.9882, 0.0212, 0.2382, 0.1303, 0.491]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.163 left_yaw=0.0019 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.999 right_x=0.4425 right_y=0.1484 right_z=0.1059 right_yaw=0.1242 right_pitch=-0.1022 right_roll=-0.0362 right_gripper=0.491\nstate[joint_eff]: [-0.2256, -1.3607, 7.2, 1.6679, -0.0317, -0.0415, -0.0122, 0.0205, -8.5128, 7.4325, 2.2198, 0.2271, 0.0659, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0debbbd91b66db6a0a75d2944b06f8fdc0e1bc1ff19a3d5f5c6ede318d9498f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76eaf16f814d0fc89c3ed90858febadc39560ff7ec7847adcca98877267de997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed9ededd1bbdc00c6aeb8bfa79ba977f4bc28cc57bce116c31aab4ffb361a751",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4938, -0.0135, -0.0338, 0.999, 0.4046, 1.6279, 1.1179, -0.0967, 0.2554, 0.1417, 0.4892]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.163 left_yaw=0.0018 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.999 right_x=0.454 right_y=0.1498 right_z=0.1711 right_yaw=0.1044 right_pitch=-0.0198 right_roll=-0.0131 right_gripper=0.4892\nstate[joint_eff]: [-0.1846, -1.265, 6.9128, 1.6581, -0.0757, -0.0757, -0.0122, -0.3214, -8.212, 9.0598, 1.7656, 0.0513, -0.0122, 0.2613]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.34,\"left_y\":-0.035,\"left_z\":0.10,\"left_pitch\":0},\"note\":\"I will release the yellow fruit into the blue bowl and bring the left gripper toward the remaining dark fruit, well away from the right arm.\"}",
  "call_id": "call_kH5ytLIkldDLNBCEjpuxWdLh",
  "id": "fc_0876c39eff533ca5016ab2b1b9ca3887d0893f9e70c7f1dc50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kH5ytLIkldDLNBCEjpuxWdLh",
  "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]: [-0.1856, 1.1332, 0.4316, -0.0036, -0.1322, -0.1135, 0.999, 0.4038, 1.713, 0.976, 0.0174, 0.2306, 0.1234, 0.9958]\nstate[eef_state]: left_x=0.3203 left_y=-0.0328 left_z=0.0801 left_yaw=-0.0179 left_pitch=-0.1292 left_roll=0.0151 left_gripper=0.999 right_x=0.4386 right_y=0.1474 right_z=0.0937 right_yaw=0.1317 right_pitch=-0.1327 right_roll=-0.0451 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -3.8632, 6.1333, 1.9756, -0.232, -0.1197, -0.0122, 0.0752, -9.3333, 7.4462, 1.619, 0.1001, 0.1343, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ec14f783b5bef2684c324875f6ec02e31da3191d7ba92efcf9f89f6322206a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44f914bb944d10f2eb9e53df1f06108c0a1844af1886e86d06d181025e34d36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f5a4979a97590bb2a95d5e5564069d7fec1bd182d4c1a073d3a3f414485a3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6411, -0.4942, -0.0139, -0.0334, 0.999, 0.4053, 1.6989, 0.9882, 0.0212, 0.2382, 0.1303, 0.491]\nstate[eef_state]: left_x=0.2855 left_y=-0.0002 left_z=0.163 left_yaw=0.0019 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.999 right_x=0.4425 right_y=0.1484 right_z=0.1059 right_yaw=0.1242 right_pitch=-0.1022 right_roll=-0.0362 right_gripper=0.491\nstate[joint_eff]: [-0.2256, -1.3607, 7.2, 1.6679, -0.0317, -0.0415, -0.0122, 0.0205, -8.5128, 7.4325, 2.2198, 0.2271, 0.0659, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHCLFgYC79NT-QPG8aPCTxce_Q5-Y-c-L-ixGXF7dOMk1t6294C6fmVyT-xjs5OGv4sVc_NfmawV9kRIrLRi7xe5TXPr2j_QonTB1LX_HZfu1ehKHTAIdQE8MU6IVxMlt36FMA1sPYtR5v_P9q65IcJ4za36W3Zg2A6EVYM7MHHeVLBFMeBOQfe2H-gdG_d_d09wP1wkx32RFZqBWZDqGZwik0cWJzudVj_FV1k_SpeIWTJ_NMwwno3g_aP6oMKfAfMD1Ly7AJ6OnYzmyMkLTTqQPoxzgm9fmF_AA_5F-v6lrFg7uG4QZnXQHqs1ptIPYv3OvX_myYOeddi4NFwEuwc2RTa-gRmRwOB62Pi_vYaNxor9l_b_jRD7DpjLCZhcvOIcQDvpYWlXEc6UGLzKHKeZLc_WPkb3iwQAaKPJp2KCkiVtoYFl-H80LOQsVZM28NIlyMXz-qJsSAOIVibZ_gAVxJlkFiAp5aqE2ALM5zG8QoK7av9G7ZRFyDU04VhibcP1TNxYGsMEptZxSmzxfz2ZxlAp_2sVEpwXlZjvBOvu87nhQzAi2IwKqLuQOFk9ZnDcHJ_SOBSQkdt4ovgBPSFq9r4rnWRLKlFRBLDOQZo4wNxcng0gV8y4i1PKC3Un8Eo8l71_mSlpyumq2QyAUs2zDT-sgYJ_O9h_Eu95iSya3KURqo61oyKslMytoCs4BCGZpYHfdYa8oTgDSXKXyQ4QHXjDqHFmXTLIeiEoRRFurbbsdLBxiBhgiFJSEotEU6tPKaLIlfEkp3d_YzTirbb0SzdslB0aYEBOAkSsPnb8rEyWl66kpJwkRegT8PtnmZWubUdY8kWQDB4pehwk8DZ-YuRTpRJvxMm-hfvKMJWUnx-pFDHavJ0c4Aoqp8AB7e9xmsDvyS7VdLF6U-YQE71scJ3kt5HIFcW868WorCLg1LWgwhmlmStL0lz32F_qlW-OrHCpYCqS3S8tUdLGCKULMdRrqCfUgUa5nj1yhp6Nkt0_sBYAEyeaIDguocO29bg7FAatZhGsxaxnAi9UcbBD2_Lwb0UovqxXpcPX_dGagmAPH-jpL1cioEUUQ1b6UccsNBLglq8mvwyBA3XOlF8KvTaBZ-_B3lLfFm_zsbkLo672Nt8dbv8qxMptZpWzmqUzkFR8Fx7stkeu3omd8JdmQBAusjdL3zTnht6M7ODrDglBqn0ei5b8V2DUnH4yK9AByXqqh1qC135clYM5TIiIvbl6PnaNBfAfjy2HNpidq0fxQnywq4caxuB9gH6qF8gGQlapiBMxPQzh1DFnFlmujTlpMmt9MVOsgA757mpmj9gkLYiByUEjPE-aN2PVWqr",
  "id": "rs_0876c39eff533ca5016ab2b1be2d1c87d0b07efc2ac793a157",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.015,\"left_z\":0.022,\"left_pitch\":0,\"right_z\":0.2},\"note\":\"Both lighter fruits are now visible inside the blue bowl. The dark fruit is slightly left of the left gripper's centerline, so I will align and descend while lifting the right hand clear.\"}",
  "call_id": "call_FJMg2zQEcGdxouh9XhWoYCFH",
  "id": "fc_0876c39eff533ca5016ab2b1bfd1ac87d09fd249ffce3e8b95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FJMg2zQEcGdxouh9XhWoYCFH",
  "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]: [-0.0917, 1.5505, 0.2771, 0.5858, -0.0811, -0.0616, 0.999, 0.4038, 1.6295, 1.2545, -0.3511, 0.2298, 0.1184, 0.9965]\nstate[eef_state]: left_x=0.3344 left_y=-0.0128 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1164 left_roll=0.0202 left_gripper=0.999 right_x=0.4434 right_y=0.1496 right_z=0.1811 right_yaw=0.1348 right_pitch=-0.1392 right_roll=-0.0502 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -5.6957, 3.7949, 1.9902, 0.0952, 0.1538, -0.0122, -0.2803, -10.3863, 8.8547, 1.4725, 0.0855, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e09e5f52e381e5242922f83911de4461ee11223765ad40af5353a779615a2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cbf5aaa5bcf44ea64d9ffd58e6076a562f9720df272839b133d1be2cbfd6710",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f19eeb47b9336179e117c25963819b8c0ae7b19269ee8cc5043d503200dc88e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1856, 1.1332, 0.4316, -0.0036, -0.1322, -0.1135, 0.999, 0.4038, 1.713, 0.976, 0.0174, 0.2306, 0.1234, 0.9958]\nstate[eef_state]: left_x=0.3203 left_y=-0.0328 left_z=0.0801 left_yaw=-0.0179 left_pitch=-0.1292 left_roll=0.0151 left_gripper=0.999 right_x=0.4386 right_y=0.1474 right_z=0.0937 right_yaw=0.1317 right_pitch=-0.1327 right_roll=-0.0451 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -3.8632, 6.1333, 1.9756, -0.232, -0.1197, -0.0122, 0.0752, -9.3333, 7.4462, 1.619, 0.1001, 0.1343, -0.0806]\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},\"note\":\"The dark fruit is centered between the left fingers. I will close the gripper around it.\"}",
  "call_id": "call_Vl3bOfAeb6tmgZfQJzwTtax0",
  "id": "fc_0876c39eff533ca5016ab2b1c47ee087d083ed805bfb51e4c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vl3bOfAeb6tmgZfQJzwTtax0",
  "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]: [-0.0902, 1.5646, 0.2684, 0.6086, -0.0811, -0.0608, 0.542, 0.4038, 1.6279, 1.2629, -0.382, 0.2298, 0.1184, 0.9965]\nstate[eef_state]: left_x=0.3331 left_y=-0.0122 left_z=0.0004 left_yaw=0.0054 left_pitch=-0.1164 left_roll=0.0208 left_gripper=0.542 right_x=0.4402 right_y=0.1482 right_z=0.1798 right_yaw=0.134 right_pitch=-0.1594 right_roll=-0.0558 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9692, 5.1077, 1.3797, -0.0659, -0.0659, 1.0281, -0.2803, -7.9521, 6.2017, 1.9219, 0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33091cf3ef1f2d88deac9e8ad1f1a9cb30a4f95771d184a7bb964e58f0fa5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a707c796b7117387ecd51782f3c286f28f77f6209e2086e97ea078c596bf2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf25b5a4e417ab032cd91d2b7d3368df9c66d473633ed24da88610be55f80f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 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]: [-0.0917, 1.5505, 0.2771, 0.5858, -0.0811, -0.0616, 0.999, 0.4038, 1.6295, 1.2545, -0.3511, 0.2298, 0.1184, 0.9965]\nstate[eef_state]: left_x=0.3344 left_y=-0.0128 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1164 left_roll=0.0202 left_gripper=0.999 right_x=0.4434 right_y=0.1496 right_z=0.1811 right_yaw=0.1348 right_pitch=-0.1392 right_roll=-0.0502 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -5.6957, 3.7949, 1.9902, 0.0952, 0.1538, -0.0122, -0.2803, -10.3863, 8.8547, 1.4725, 0.0855, 0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHU2c_S_YCNrSrEAGRXUpqxJi_AsSLTYAm4Oitgm5k3czgIkSrzJfGytbC1MmaO8KvqfGIZHWNZtQbGc7p329ECVsNVdQ5eZXDcN2cokU6CnrbP5Wd8HlliXjP9DkN7Xl4iqsqj-0v2NvNXmGdt3y4FFfO5QNq0zgffWeNjFxRe3hBzHk6l0041oUD0HyNIUWeCYh_1EjOQ4NeB2PGIgkNVfupvsSFWmlA_iUdPwt3qDDG6XO8Qef0NORYMxa2eWyHAA1CY0YavmCt97IgDluBNJ-dpbfip2nJ9NhnLzuCRAb5JzHrgAaLCsyRnIx-86poLEJ-AEBGJZlzjC3Mmh1DOwc-QCquhxTPhPdAnFYdoblEsPVboG7i4YonOe3I3NLGUqcKrjp3PzkciNxgAMnnlcJICugQPswQle0GoGd-wDNYxqMpjqHhkf5mIS-l3wY90aZbsGcgBLxMmup7HyxZX3ARbhtpe2e33RkyY9ErzztqF035Dn62_tJ_PnUfJXaCDebBd8OdIyC8-ju0alHBoM6rOUM9bY7x5tiYCVkEWI4ZhKMBZp4Zeg0rkzY7G5Sb09MBJtwyVdVskxGsxGiSx32fOasPJ-UuHfU0hbdZjb2eNtKnJeOGtRihZGYCau-PdXspeXiLQCvA2mL6brhj1o2zF4XF5O6KbgaIOIxhwk2K6WixIC8ow4-KytXfHAFjUh72fGtF6eMRgxmODrnqOyyAaC-981KmewZLU24wlvBpAvd8Ijx0h-7nZ-3crKjT5c3uvFZ_34XPknOa4t8T__qJKsvFd0AuHwPx70UB5nOnt5KOwm6ztte913LL67kU6lCGhp1i36NqzR6Gv-bQiUjEBFLM6x1gHh-9uaO0hYD3V8DHP8Iqm5oIViuT7K6D6zA5fZkjkJ4d7n21BfGJrSYLgPFS8veluUn5l1eTvFXY3t40FRhZ3295VTOkP9oYRzEA4u7jca8X8zumLIdHF7_2EzlPcq7iVmARsospUVnxsHWORra7tcvStlnXYzywz14fQ3LiG8m_hiB0EMVZ4-NGvbiYT5hblGosLezRW74b6Id9jsLwtmNenGnRb81vaPdGYtrDORgfjHAwcnSeVNkKa2pyk3xUluS8w7GbIDdr6fPYXa8hVjcLZ1njwIKPG12DjsAD9VNinNLIPnkJNH6bf-vgOokdD4g6WP8dpvG_SsSpkzNDRrQ4mSrnvH4ggVJxxSrdTgH03TiXNauy9hRCNA8s9Nt_j1nooCtkbckarvevoOdyC8MZ5Iw9zhoPoZYnsqhk29utoTaY1g1sQUV2sTyKTYMwQEI6wO8rx6byRYI2pqZ5c9urAx2g_X5Pd4uNO51_RNVhVQdpKHA-hdGryWWOPIl0dEJ51vViepZ1YJ7auSdeWR7rlOsqSag2b9Muu_NljjBVPgv8TFgASi2aFrpm-U9PgyaEn3RyrvJvcnQa38MzgqlzTZ6hrlCozSZFg2dsyctXJsn5Va7VmKpRyWkeWk_BvSpHFM9GhZSns6d-E3qroAuVwtn6IgJXnq6p6ZlH4t-Ego0owLHZMgO4ZWHLkHy8TzXUlUhvvUllxC4yOv1QVLCTYVnB0Hy5ZXjEh3Vv-lyCejndS6RXloebwOTrfNuMXB9BDlMssy7wxpXZq1LRCiO1ztSU20Dxw85g9SKZgFkC54SP1lCLhFJevUQ5hsOX6al279S7MItCs5QS7PYpCUAspNRJGAD2TGM-s3IcwlYNRgBV1tJ89fUiXv7pnq-yHiooJuEbcHCrJSkaIDBJwWOPWDQ5EZ5TMIAfeXCeQ990jEYdFoAJFCJEhFtmqEN4KQl_N4YMAGMWxPaSp4wishWQzGp-pBzhCearGmPSe579HP_Nz4AdtalDe3XVU4m0nkNCeu3CB5FnMEquvk1Agqx9cv2KvpCkLj8C3QjPohNivZe4gwGlQm8TaK8ZKVcFcGeX5SI1LJ83-nNpIt3ynTOUx8WAKt1asOizoWW54yI8b8ckyTz9e4FOMghA_FjXERbr2ueI50S-IIfuoEPcwyhgsvlCXdM8NleaNIL6jAhl9xXFTqRV_3PsckPyJYcmmGTHirBdS-vU2xOgyGG8_shGmG9Syx7JEv24R5XNUlw1uzUCYUbEYbXqZ_vlPNIb5hidVWs-xGPR_V_DmxpxlSGJKRtPsRkvZDnnizjuhjPpGNnMsQUcQ7HKJfs9SEuNm2lHH0vLDtPI=",
  "id": "rs_0876c39eff533ca5016ab2b1c9c80887d09cd36887ef672e0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.445,\"right_y\":0.085,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper has a firm-width grasp on the dark fruit. I will test-lift it while positioning the right hand at the blue bowl's outer rim so the bowl can be brought within the left arm's reach.\"}",
  "call_id": "call_rT1dyJP8Y43Bn7Dy24Z2LmSd",
  "id": "fc_0876c39eff533ca5016ab2b1d1f3b887d0ac4f6607b810671f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rT1dyJP8Y43Bn7Dy24Z2LmSd",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1873, 0.4377, 0.0612, -0.0818, -0.0605, 0.5426, 0.218, 1.7065, 0.7547, 0.3164, 0.0807, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.3319 left_y=-0.0118 left_z=0.0776 left_yaw=0.0063 left_pitch=-0.1171 left_roll=0.0217 left_gripper=0.5426 right_x=0.4368 right_y=0.0858 right_z=0.0629 right_yaw=0.1195 right_pitch=-0.0683 right_roll=-0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.3282, 8.8821, 1.7167, -0.0366, -0.0659, 1.0281, -0.335, -6.7214, 5.6547, 1.9121, -0.0366, -0.1734, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe63de06365867b6c45aa92f37ba2c4876086eb15fab017817fc4f23c9bdcb76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5b3060626f230976c1708865beba045401ffb08e2fe248400e2f17c381a02b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f528f65fc017fa25dcf8dac826e483109cf20845edd044af81e78c736214b985",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0902, 1.5646, 0.2684, 0.6086, -0.0811, -0.0608, 0.542, 0.4038, 1.6279, 1.2629, -0.382, 0.2298, 0.1184, 0.9965]\nstate[eef_state]: left_x=0.3331 left_y=-0.0122 left_z=0.0004 left_yaw=0.0054 left_pitch=-0.1164 left_roll=0.0208 left_gripper=0.542 right_x=0.4402 right_y=0.1482 right_z=0.1798 right_yaw=0.134 right_pitch=-0.1594 right_roll=-0.0558 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -5.9692, 5.1077, 1.3797, -0.0659, -0.0659, 1.0281, -0.2803, -7.9521, 6.2017, 1.9219, 0.0269, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHhLFI2D-dkbkNAi_NYU1FVUHAoHA9NnSXrhgXnXTx0gGYjjTNStqENRMd5AwOWCumqmDXibzwIPRXDOp2OjjzmmRIIyuvBYiBfO4eSKx1_C2580D7WcsoKH-rdq2B017ydrbedwYPPxgQo4OTunX8wlr7RBOrAPIIF5vYK0IsZWu13hdgiD-yUfIldUmp5_7kkLITZ8K6ju0LWdZWdPzavjaxI8hTsy1RQg-5jtstnwuQ2cFKS1nhuNHASPn5k3Bar98o_ufNr9skyu226xBFwjKBTbmuH-Y2mTucuuQNcrkz6nDOvupl30a86U90fisC8uMGJUNi3DhT-BRWe57L9IJRqiE0XVFMxYDSJkUShp82tMmzEMzCucQKVFcaBOEG0J3mTJTDgBupwQJa5AM3sHUEThG-wHO0Aw0yn9GF6ozl3KURyKMwPT1SFrxUFn0n1l10x9oFQtE2CK0oGgWEAwDk3vy6FaSsIlbCQ5twJ1lTxroXkUhYuT3qHWWoeCRToPkj9tPwsaJ4fUwTNgrnm5DLp6Zu8z4r8fN65HJlJNKLsi8RSizGNrPg7TmpP1bHD1UcfduH5wvFZqpN2kPqRzkNFECSMjczOJCq_YIUnOUk-I-5v1Cp3w5C73zsLknXXMfipqrgC21_sd706e9JPF276P_b7eujiZ1XzU2nq8vCChkiHTVlkBT1N36B_7psEI3RORuD2R14Ge4gOzN5Fc2NanPQeN0URDeIyoMNvQEvZljkuhwfyf8VzyxnyT89WCdyk4GZiTD_L6SuVBYggAzhAJAi5JDolyuTwhhMtA5pTSAp5Kb90hfd7MEg_yKgUYiA_56cDO-mzwRMZCuEAAocxJbRu-6w1__OVuwU8ChVVw3fQLiYrGEbxDZQV5l3UWnmUA2llAojKg_hBVoCMqhyuPmX2Gwl9-EegU689vuMvpkaUZ8ECmzkIJZq0fo_hssVQhNeEDDfoqdD1cVM-U3ywGd6M0-at6NlGYbU0n_xkM2g9AiujvyMcheC1MV1UHlSl-KqP8DJcn04ZSGQJG16XBkEgTG-iL97Ad00P2NGLVprlog0DTm9LMbEezqW8o42JMtlP_Xl8vaoCfUatlr68HV2CyB-YGzTwbIR2nYoB0KpXSAoNGSVetdn8-yClLXsnFEdY1qoUcHaLRpr5fHrDbdhm4iusqIcm1rIHRmWI37aVOLpFvTfHNNGArOIddsmKK7ykYuL48HHwZUA2r9doA7BwXZiryxUYhLc7rah62BSEk95uR6f-qQFQP_PEuY-wikjmOEGphp57YZ0u0kZMPNYUPnGLm7lnbOJKh-UnVDEXshwSbOPPJn8SRvOWo8-F54xC2W7rlGEjztW0HDM71okfm2rEwxhJqJpj_miydFNbZ5PAcEIMmYhpguoGIA1UUGaPbGt8yxXulofMekjrdqwHEaaUVPe9co05lhur0Wg9r2_wT-uwMx31w6QPEaa40NU9JuFLFXFtm67qksLUJXjseXz53CQgpGMsW0R9b_M0d0vWVZfeszRwZQ8z3uNHu-DagCswrhD4_0iE6aDzX3gCxlBHXnCkVNylRhoLLuzbrxGdkhWzYhkribfvCnBnkGadm_7isaoQSAk0Yyux2dTJoJbNxuGPNISWQsJu5ZLurC_F3NdFtF8EFlzOYqgqWZZebg3wogVuoeLXmo878dj8YS-owpQZaYSeHX8GlNECaz7pn24smDRUo1DX5Asnsw4pxUFPCKRLxLMIzqUuLej9J8klqDzQha4nTaIYgM1w6jJDKjOzcilAwJU1uoL73R8tlUf39qxcsnzZCESNcQKWlb6a_5bd84anbcyeLsmW68k4gUDV-NuhTX74",
  "id": "rs_0876c39eff533ca5016ab2b1d7c39487d0a8af47b30c286002",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.065,\"right_z\":0.045,\"right_gripper\":0.18},\"note\":\"The dark fruit is lifted securely. I will close gently on the blue bowl's right-hand rim, keeping the fingers away from the fruit.\"}",
  "call_id": "call_29mG2YR59pciWtqZpzUXD4jp",
  "id": "fc_0876c39eff533ca5016ab2b1dbfef487d0947e27b2fdf46af7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_29mG2YR59pciWtqZpzUXD4jp",
  "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]: [-0.0898, 1.1847, 0.44, 0.0334, -0.0814, -0.0605, 0.5426, 0.1547, 1.7378, 0.72, 0.3717, 0.028, -0.001, 0.184]\nstate[eef_state]: left_x=0.3282 left_y=-0.0115 left_z=0.0741 left_yaw=0.0062 left_pitch=-0.14 left_roll=0.0237 left_gripper=0.5426 right_x=0.4357 right_y=0.0666 right_z=0.047 right_yaw=0.1219 right_pitch=-0.0811 right_roll=-0.0048 right_gripper=0.184\nstate[joint_eff]: [-0.1983, -3.3162, 6.3521, 1.8828, -0.0952, -0.0317, 1.033, -0.3761, -6.3932, 4.6154, 2.044, 0.1148, -0.0171, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1383ce2346a3fab05f7583033d35c6f449862c8743c9de46b65a602d0c5c8e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4342b5ea5d032a3b74723dfbc3addee9bc41e927398c16451d95668a3845dcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c3e8d358f5ddf6fa5ad87e3f43e0539647aa7f3ddd65cf81366975b98c78d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1873, 0.4377, 0.0612, -0.0818, -0.0605, 0.5426, 0.218, 1.7065, 0.7547, 0.3164, 0.0807, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.3319 left_y=-0.0118 left_z=0.0776 left_yaw=0.0063 left_pitch=-0.1171 left_roll=0.0217 left_gripper=0.5426 right_x=0.4368 right_y=0.0858 right_z=0.0629 right_yaw=0.1195 right_pitch=-0.0683 right_roll=-0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.3282, 8.8821, 1.7167, -0.0366, -0.0659, 1.0281, -0.335, -6.7214, 5.6547, 1.9121, -0.0366, -0.1734, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHmaQAhRFcShN4zfzvX44xpKhpV99auu_Why32aw8utSnaVVxk2iCXQnokuHit56-1TaXcLlcu5C5Tbjsgf2K7GiIN6azg1carP-5gM5KNc5dW4YXW__QQfTTwoEU_fS4nVI8uJw5hXwrC1yhdL2X7Y-c1IDloec-KX6Zpema--LnGJ2nb5ZAztZnK_T6b9E4yGiykt13dsAX7Iav7L7tVdjNWfIB7UvVlfkCUdZDeXJKfjCmkWzJFSeY880juDRIVFxdF7BI8V1Aj_tbfRxWqtFdaFa8E6jx2Jamf9kMduDy42RhVFMVLjr-V5qnXvcbm5kfgREpQWepEQ2CPMcmQIebH8BnTUWAv5I3setFAW3vWCCFZPmqntaGQOaZQpO8tzB61iiPhJXbe9ANyKHddHzsA-Pl1nsnWv3YGtCzi6JmsCPjho4bFJ4Ql9XKqTJpKJFik798e3vAKrCxTEeRBdkqI5p2lqdNS-Xrp_QfbLvJbAr1TjRUA1XUQv14IWFx2pge_JkqFJitgZhUXCsAWM4duVs9A2pdAYZXrw0dj93eLLS7JxjHV_VKmBXzEeME8GsSNrTeabE9IDENWyB_ad8WQnkSfHBAZIakBC0qwqYvnQr8awDIcd_uZTkOJcImgIOZ2mgeZqMLEBowBO_uEKHC55D3I9CwOpMpCYEZFhvU7GtM8uI7b2DoHoAKUxD2WHjtMlPCEtBqZ2mjCTo1yzDM0KDxdwu4TKWeNYodSRKIeFDHDMWZwD9yChT2i39Us30g45hNvCmXGcm9RYsfC7_RCoJzF9c6O-wAJnqThCMm7CFRHKvLZuIkHWBPPkhIsXB2DtHHPuHw9rf7qy3VSmH7cDTW-wydrT9OraL20iW6HP-e0HtmsJBk8uL3MeSIacyP9tRZpIZltR_3roWkCd0M2jyu6BRGOSPAo9dLejMD3JPPNLBmk-_KQwNlUcPxt1ZqztsEWiv3kJytuuZsWtmD5qvWleXdoN1-40NqkLwvgayJjeog2C6wQEWWN8hk2_aUxX-q3ztqoQvo9THXoyyOvrB_bK7xgGLD7baITA5YrpSMTChQ7P9zWD9bJuGsJJQUk1zLbEaTst2wjsi1hkUthZBIcSu4haM3wUN0WyLGANyXSpYCh2AcyBen6nPA4TDmzMfZaG4e0wY9SQMDsIWm6w410LDy66lGrRcXkrdVFWNBCbgqqihIcyifuyEg_iOQJo-CUgXTnlQ4rIi0GSzCXspv3qV3vfm3J_DDdzsbVJK3PIGrhR5wnHa__qnWPd",
  "id": "rs_0876c39eff533ca5016ab2b1e490fc87d08e2673e4e93d53d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are at the blue bowl's rim. I will finish closing to secure the rim before lifting.\"}",
  "call_id": "call_90jE55nbDkrVRRx1nL2WtPMe",
  "id": "fc_0876c39eff533ca5016ab2b1e53efc87d0a2715795b7bc7439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_90jE55nbDkrVRRx1nL2WtPMe",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.0898, 1.1847, 0.44, 0.0299, -0.0814, -0.0601, 0.5427, 0.1528, 1.742, 0.7197, 0.3927, 0.0288, -0.0017, 0.0104]\nstate[eef_state]: left_x=0.3277 left_y=-0.0115 left_z=0.0735 left_yaw=0.0061 left_pitch=-0.1434 left_roll=0.0243 left_gripper=0.5427 right_x=0.4385 right_y=0.066 right_z=0.0493 right_yaw=0.1198 right_pitch=-0.0646 right_roll=-0.0054 right_gripper=0.0104\nstate[joint_eff]: [-0.1846, -3.5077, 6.3521, 1.6484, -0.0757, 0.0122, 0.9499, -0.0479, -8.1299, 5.9419, 1.5116, -0.0122, 0.0171, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:012b840024931cc29a2c01201622efbd082362c50689f89a071c5ca7ae94d045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5936371693b28adda9b58bcc555ae695772d55df67314ba808369e1f1775f7e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7328c996c40b0ea7bc0bd2b98a7af32bc31caee43a6ce10f9de35d0700b51054",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0334, -0.0814, -0.0605, 0.5426, 0.1547, 1.7378, 0.72, 0.3717, 0.028, -0.001, 0.184]\nstate[eef_state]: left_x=0.3282 left_y=-0.0115 left_z=0.0741 left_yaw=0.0062 left_pitch=-0.14 left_roll=0.0237 left_gripper=0.5426 right_x=0.4357 right_y=0.0666 right_z=0.047 right_yaw=0.1219 right_pitch=-0.0811 right_roll=-0.0048 right_gripper=0.184\nstate[joint_eff]: [-0.1983, -3.3162, 6.3521, 1.8828, -0.0952, -0.0317, 1.033, -0.3761, -6.3932, 4.6154, 2.044, 0.1148, -0.0171, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrHuPkAiE96a_95CZUccpMhje4c52F9WjETeir8H-2cM5BWJslcSn9281uHiWMlBXv1UUDBT9TOew2_fz0GpiQnClktuiHikunn_0jajW1H90Hpw8ZkBOb-rjhPc1mgkWxjNKGN5D1IGUKlB1jk0p_qyrYb4x6WTeT-DPwqOK-D0J9NGdlGp6-S5dUEfzdX4rFdao7g4xxTManEvvbpIURrn8Rek_Bsvq2mvAZmSr3M0XjkQqudzhrARNlXd0GQElIpp38IE-AiGICBu4CDvFODbXu0KDFh1us4vUnJQLV5RE20sx7V3tZk3-dlx5RLvIxwKmYkIGukP-nFY-X83_qgE2YpXXxXYm_UPvIay6YMLGfMY9qwZTt1-xlapvPanKtCceX7XhKgFsDgnJCXKh9JSn0DCsX4H9_CqaEiTImXa7nRxMnpvx_mY5VOxxf7kDljWjIf9ZmMeVVaX3lqyGmraw4Q-VSy5ZwQK8nGti4ShJYabTe0i3CmLal2zjznFDgnFOBwY4u3YI-UBMxbz1r_vZgFLTsy7fsdg-Hc32upiImGYGoWWh93nND290ftsoZdPtgHVWOZZdvsNRTV7n06Nep_lkmRuoc7mNvO2unIpwJZJkS5UaZ4uRTaQEIN21Ozeczq4VznNx5_muEIY5awHp2l1j-iT4dtaXGYKEv_g3iCMay1ly2mpxZ_8vVC-L39eDiIXYAeNXHMY0FyDy_ousqtrh3vjJpJqrPJquC5IPKG8hyzSgDVcrXCiP7Lt0kVoXg2IT0UqPCexCEf-w5Q_CGCKi-fv4_ebaEOwH8PjgDwTGTQGG5ke-0x8VffP5jDo23jW1ZMe3RE7rsx5AHyH2zEdIDUC82rvW4MR9qlgoUQUGr9jkCCHWoaFFOpZ7D8prZdzO61Minlj_xN-iU9yk3nlZxFyfJ1Y2tjOuREdR0cGC38-EjlQRIMCbBtDQIY5jp6crYQA3TKjBH35ytSm_VHLKiKJlAsalJukKjyjaBMmGYWD_XBN8I9r6p8naE_GBtGgoWmGiLF3wEGjW9gT9mAkyHnUwv63Lvvt8gzsGUIe1-MxyKKPDRwkP65HEqBreTHy37EYcFBCyoOxIxFvYS2sGRJwV5FZB3FgozWhxBpViqJ3NBvW6bEbCf4Zi7h2A9TPILRMWLYU0B-bPku9QIeBS5bEfVI9xfUIIWnYv1cFBTm5z0zH4CignVrynipGZfscVQZD5sObquDBH7dej8c4rqxPJrwGt1Ap7-Isk_77DrKi_Bz_VNVHjme-FD6590P-VAUXLUO1FEPgGQPsyMvJJ-EpRj7ZISNlkSylk13qzaVNCk2a_lYp9hX7wz9nsoxKYOzcZgwjxczm8AWwL0aowdPL09FSNm8noTONFeW7zjAGzXZqIhJ6ll5_XVw4gipvU406rA3HZoBa1I1B7nibqLgADtChz8lCoUUnUHpzeStzZSQM1MDfgq5jt8bZjyXQooUj9CEqWtKr1aglAw==",
  "id": "rs_0876c39eff533ca5016ab2b1e92a9087d083e4e6fe0b59e007",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.465,\"right_y\":0.10,\"right_z\":0.065},\"note\":\"That close was empty, so the fingers were just outside the rim. I will reopen and shift inward and forward to straddle the bowl wall.\"}",
  "call_id": "call_ri3dZDqKkw8eeTT2RdKSmJqi",
  "id": "fc_0876c39eff533ca5016ab2b1ec3b5c87d081f7ef678ff411ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ri3dZDqKkw8eeTT2RdKSmJqi",
  "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]: [-0.0898, 1.1847, 0.44, 0.0254, -0.0814, -0.0601, 0.5461, 0.2379, 1.7969, 0.8558, 0.2905, 0.0814, 0.0299, 0.9952]\nstate[eef_state]: left_x=0.327 left_y=-0.0114 left_z=0.0726 left_yaw=0.0061 left_pitch=-0.1479 left_roll=0.0247 left_gripper=0.5461 right_x=0.4573 right_y=0.0998 right_z=0.0577 right_yaw=0.1433 right_pitch=-0.0834 right_roll=-0.0127 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -3.5624, 6.3111, 1.6386, -0.0415, -0.0464, 0.7204, 0.253, -7.6513, 7.9385, 1.6825, 0.1587, 0.232, 0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80279ec9271aed38684599175ff030bfd7c97dd33a8aeefbb2a986fe60895459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6cd2ab4d53e5af44305cb8eb56a8ed19850806395daebccbedf18a567c2618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ede7b69baeb8f812d06a3394da830801b21aef7f1d02b091ec8058ed173fd42",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0299, -0.0814, -0.0601, 0.5427, 0.1528, 1.742, 0.7197, 0.3927, 0.0288, -0.0017, 0.0104]\nstate[eef_state]: left_x=0.3277 left_y=-0.0115 left_z=0.0735 left_yaw=0.0061 left_pitch=-0.1434 left_roll=0.0243 left_gripper=0.5427 right_x=0.4385 right_y=0.066 right_z=0.0493 right_yaw=0.1198 right_pitch=-0.0646 right_roll=-0.0054 right_gripper=0.0104\nstate[joint_eff]: [-0.1846, -3.5077, 6.3521, 1.6484, -0.0757, 0.0122, 0.9499, -0.0479, -8.1299, 5.9419, 1.5116, -0.0122, 0.0171, 0.5446]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrH0llazGxcrqzsm7KPyJSBhqFita1cuStfs2bPF0a-nLnB1BcVFD1G_-nxAQXv-i8NetWtEYbYNdPSKdtqxFOXItvYwPSJFE5g4n1nlfLJK8mOCCwqWDVoxZLGIjnNMMtcI1P8OSZfKg3klVaUg1K8UNoSPdKl0gXSjSeQmypx_CFQPkR7vgfdNgZSrWj-_vXEMhk-KeYeUR7w1wtNVc692B1iCucpyO_dhzjDtDPsbviZ5btBp-Awoe-FyM1UI8SfzvhfLJH6fqgKUTyVsHUDCL9Ce8ZGMlewebxzcMLTt-CecmyUUKU_2ehd-U3xLQzr3HuEFR84E0pJzeM4e1MNgpWU6BcWevlANP3lzrZ2ZKwSZIVtpa_mUaJhxBv-ehpnIOdoA3Ut3bgN5QXCSoFCJqpylGronCzouOxjVAu0gu0LNHWwH8ILO99jN-gQQJW-4cm-CPzjUm1sbhqTKKA985MjWfMz3sgs_3JDSN0KIWuJVNS9Uy4qhz3kuDEu7aO-3PPvjE6FA0RucbpC_mLRjo9sbdjLi1750A2gOwyInpn6YFkLq8x6IZuDDkB6Mh4eauLSWitiK0OlnYyLj6m8RQEhaAyoZBlYCG0_uvujWF7ny9NG69sjHzLdb4VryIgRQMeaPqxoxyjKj0iAw5POj-3miArrQ1bhK89NAD3L6U3__S17TWDyTQM3gtwKSCsqq-4D8mnSDnlP-6zOjzbo5fbONeTVQ1eGainaPMd3uDK1StlPtVUNXAzNaxcMHz4ZYTcMIgXS_YSPIrvhI15WoAYdXFYEaineAsoBrxS8V0l1gp0cYVoLj7LoYXr4XUAo650PzgZ3G0QMmWja5b8uXF-UZAdxohsty-n0dHfr9N_Xe3j1Om2LirCSAitLyA-1SYmWX1eWysSIF-RlBA2IPOTiBuTXX-Z0UGytylDgYwm9GWuXe58daL_32ocOK7OL04BZKRLpEyVlcqXIP4trk4ldBNHVVlUYCrOOdnG-zutGw3pxmIjwHAjvdgjwf8XtsbD3VU8Q4Asou3osYu_QBDk9SMAYbLjYbVHBKaHegGkN0My8WnqKk3pqmI_6NAZTuxuvKW7pZSoL0s0dBTOcsuAlCJvpXOeSSwuv02xcCSiUnE1f8lcFPn7Dj926Fd3rcAl8gdB77WAXURhs1kjCJbIY_YYTPEPwsbvD5BayWrZV_NRBMzkmlCDRUf4_EteXpLK_7E2s7Rivu_UNBskAbJF_NiTMR-F-O_uZbjhy6qeFP3AwdAaInVK3JK_oUE6Yrp1LNi5ZpSPTZG-N9Bt84DUeG-Hh7-ynn-uEW8bn6xMHqFs7kqpQWigL6kg0ubJAlJg5SpgSNAkU38BJbsYh-v05x9dNAFIWLVvpBsQbOVqU=",
  "id": "rs_0876c39eff533ca5016ab2b1f1159887d097050b626fe2df9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.13,\"right_z\":0.035,\"right_gripper\":0},\"note\":\"The bowl shifted slightly as the open fingers contacted it, and its rim is now just left of the jaw centerline. I will move inward a little more and grasp the wall lower down.\"}",
  "call_id": "call_DXKipJbVmGhCTFLZNs4Bb8pI",
  "id": "fc_0876c39eff533ca5016ab2b1f27e1c87d0a9d7c25dc4a3d0fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DXKipJbVmGhCTFLZNs4Bb8pI",
  "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]: [-0.0898, 1.1847, 0.44, 0.0223, -0.0814, -0.0601, 0.5457, 0.3191, 1.8725, 0.8593, 0.3576, 0.1303, 0.0711, 0.0372]\nstate[eef_state]: left_x=0.3265 left_y=-0.0114 left_z=0.0721 left_yaw=0.0062 left_pitch=-0.151 left_roll=0.025 left_gripper=0.5457 right_x=0.4557 right_y=0.1302 right_z=0.0386 right_yaw=0.1611 right_pitch=-0.0844 right_roll=-0.0099 right_gripper=0.0372\nstate[joint_eff]: [-0.1573, -3.5214, 6.5299, 1.6386, -0.1001, -0.0366, 0.5739, 0.294, -7.2547, 6.3795, 1.5116, 0.2027, 0.0415, 1.4042]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c55baf67fca1dd70d8d60a0942ddc00241151e6cb21aec70385bebc1d637edb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11158759ce288f1b493a86e35232c880fdd455acc91ece8b6c72b8fef2dfd92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df5e8b42c4e7156a019c055b033a2244894fc4eeaeef2a7eed54adbb76a3c9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 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]: [-0.0898, 1.1847, 0.44, 0.0254, -0.0814, -0.0601, 0.5461, 0.2379, 1.7969, 0.8558, 0.2905, 0.0814, 0.0299, 0.9952]\nstate[eef_state]: left_x=0.327 left_y=-0.0114 left_z=0.0726 left_yaw=0.0061 left_pitch=-0.1479 left_roll=0.0247 left_gripper=0.5461 right_x=0.4573 right_y=0.0998 right_z=0.0577 right_yaw=0.1433 right_pitch=-0.0834 right_roll=-0.0127 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -3.5624, 6.3111, 1.6386, -0.0415, -0.0464, 0.7204, 0.253, -7.6513, 7.9385, 1.6825, 0.1587, 0.232, 0.0855]\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": "gAAAAABqsrH6ZhuPogeHkwRMYgC4JAzqIOH2DhIsrYZ_BAF3YKuKb-8q88dWxAbjHWS-Tz5QM5PV11_KrxztQM1Q2VGEvgMfFaiecf9VV9eu-JeVn6XmjfrETMmp5SbF7CPucsqyTGsPKMIV5K6-zdZOVm4jswa9LVr6EzDnuv9GFJiW-d4UA4_3fslToSqGhzhLwUvvyXwKlazaXusObdltFFkwkwZgeUpj2XY1-W--2qpXO59vaKqkXDB4CtvqCma_cJGHt5wbxgJKkpeOJI7JPpQ-H05G5gm4e1rK3YoXVrFbTZdJvEuOLK8nFa3mVmT3XIr9yeK83DEapnY3lT__KiEicl_5BrmnT_JKZy_19YAFEeYEw96ArrWwkbEum8zrjENuDvMrK6lLZx4VsRgZixbv7TJlgily0AHRcl7Wqy7Nq58W1buQG9reMpuUpoqDcR8hxSp-tyj_4lYvq_e5SZfk0yX9KjBLDmPiPCgq-QAB9Z-R5iooqpUaHu_t3pSUNFS1mhVMjpfR8vmySGybFBFtIJFm9k-NsLGpdvS5rhDN8dtffY_TexGR7E9f2ahekixBsSTeX1-k_bhv1TBG2Gk4UzsBqV8KsCG1CFNWkjUeEPsf97zjeHSJr3xm0Rs9C0NJTZ1QfzGnmXZ9WcCNp2fC67tC8o1vhHDl6ZwQycN9zTPZJ2MMOkg15pl8A6vNT61IreHr28NERykoQBaeJItMf3tsJ8EayYHgTBWZCLHBGk41ccM3c3Xzk6EdlXy1-1YbSWBmLYF0kkROA4OVitQGQI2de-F1Cs69D89t1CAEoOFAG7tJpjD3qA1ztUg6F3p3fVj-PgN65taiU3rdoRTTC5jHjpdsYnv14H12Xae0YDCDCNp5Ul8Nk6TpsnBDsbpeecf2hMxvaalhyP43hqWvVWt2n2IMUSg0EE7ym29-1KDxOl_OUDQBtECL9pzj49ZyYkBvtH5h9aNo1DUgT19vBAv656fMI-7pnoN5daQsG77Tv1F-tGMisocHi5GP_FdvdQYy6ZQQhspahgrrc_COnHBVjtzeLIpRDox2nd6n_3uh9ywynZZSYwTI-k6TOaut9R8nano-U9gHUMQuodHqqSKdUUtI8BZeCYUYvPjCHG-AWSRj-D2JfWn23diuMRARE4SfjXXXIKkH_yROXFRtUBk5TQH-pZgaOMFhouvIdU3fC_L8NySij4Vy91QIiO5yasLl",
  "id": "rs_0876c39eff533ca5016ab2b1f82a8487d0944bceb6069e64a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_pitch\":0},\"note\":\"The fingers may be pinching the thin bowl wall. I will make a short vertical lift to check whether the bowl follows.\"}",
  "call_id": "call_x5UkOWXPOfbeg0CfyOtKfDKq",
  "id": "fc_0876c39eff533ca5016ab2b1f8ad0487d0b6b6060373629991",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x5UkOWXPOfbeg0CfyOtKfDKq",
  "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]: [-0.0898, 1.1847, 0.44, 0.0219, -0.0814, -0.0601, 0.5485, 0.3237, 1.7405, 0.8658, 0.2272, 0.1307, 0.0605, 0.0396]\nstate[eef_state]: left_x=0.3264 left_y=-0.0114 left_z=0.072 left_yaw=0.0062 left_pitch=-0.1513 left_roll=0.0251 left_gripper=0.5485 right_x=0.4455 right_y=0.129 right_z=0.0749 right_yaw=0.1712 right_pitch=-0.0765 right_roll=-0.0174 right_gripper=0.0396\nstate[joint_eff]: [-0.1573, -3.4667, 6.4889, 1.6142, -0.0415, -0.0562, 0.6081, -0.0752, -10.9197, 9.1829, 2.1074, 0.1392, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ee59d50c8181037e6aa2d65be409981697b806339deb12f016b0def8bae8fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a13b95c1af5eaef84d5c20a01d82d18304fd56638e693e901f399ff955aeb95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:563f3d15a64e69ea87948bbfba4fb2f92f816ab18b8956ef32322e9458533f16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0223, -0.0814, -0.0601, 0.5457, 0.3191, 1.8725, 0.8593, 0.3576, 0.1303, 0.0711, 0.0372]\nstate[eef_state]: left_x=0.3265 left_y=-0.0114 left_z=0.0721 left_yaw=0.0062 left_pitch=-0.151 left_roll=0.025 left_gripper=0.5457 right_x=0.4557 right_y=0.1302 right_z=0.0386 right_yaw=0.1611 right_pitch=-0.0844 right_roll=-0.0099 right_gripper=0.0372\nstate[joint_eff]: [-0.1573, -3.5214, 6.5299, 1.6386, -0.1001, -0.0366, 0.5739, 0.294, -7.2547, 6.3795, 1.5116, 0.2027, 0.0415, 1.4042]\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": "gAAAAABqsrIJW3f3S8jf30F-zBvlGl2OvJpqVj5xtzkh59UjVmBizAM0xuqPH1XVh7-rmRVpyOAIIZUCqv7u2OGvSenfP6cGg3Xp_kA9s4Wbg54N1vUyiUuhWDuhviBCeU7dlo1Zn54WSVdJtp24fWToPdmLyPvJ4klye2H2x5Nb3c-ZXbkYGK8xAdav05uRuGYkA4m8o4mda-dCasCb1z3NbgxwO44XD-UjX23lN1OX6QOFwGPYJ51Nqnc7vU3ko7SjAYnKJLocrh8D1W369xejPYBqFo0LIK3C-kqHKlqfLylTHwQ9KEVPAiT1TCyHo3RfL1SLXYwClzHTPYhtUlhl3Ugc2WJJPZdrpVE-QrCBG3KXOw9ejdrB9Oet-_0vIuE2C7fwY1ENOUhZlq-Us8EtHcuShFEreihGvVbqrd87KyNOHqs4_RIqW5c9KjNG0hFvx_yAmOUrEVcwvrO4fTtrTO-WKRK9PQLAW9bs1hoJ6X_cH_o8DeRelE8VcIAEH8XkasiYv4B3bIkeZDkvelIz0N_2_l5kCtM66HOMk-sIQxlF4lcPqe3EjLtGOfb7H68anjw19rF1BD2dbmsDJVcV4Ir_ErbB10Jh0qHJUTGG7HCUdrlI3ZAu3Fzy-EhEL1shyzJmZJz3WQ5WJ3Eyn7hsUbEBF1RKV0qR6nyAzJt6rpCGmB2K6Sg4TtGT0Tz0BbHii9BuC9K0CtBM1i9e7q9Rt356f15pUAC5wr3r9Kzwl8XBsg7xUMAWV6DF-IbFiMFMcoIPqoc9m9R7hqiOqxI8qsaKM8AgmkTvaqtSffVhNnLVWvvE3tUdDZgmbo7-Knv2uYd6TXFP_paXxhkMjb1tWoaW49naIGy44sguarlKtwJdCPd5_R3AAvc8LqJhz6aMSayIOS2xucO1Foy0rKXwKTK3gRntMHjoJSul_HYRV16jdtXh7w4PG_ZWy6hhBOj_OfmTwx2qxz9CmvyrlOTi4azVkYis4kflZE-hEl-9Dh-7CVmRDDAGtH0v6d8bAE1GZuVyVPQxyejfyD5mkO5G90sTGTCgdZkaWe1W7W0KT09kIQIloLkDjysc84vrffkMjVCdxGLzlRpGOiuhC8_AG2iGSzmeNZ4hAPwQ0Hk95VVBKEmSLeeMdAuusa4xJO482ryik-N7U4oAonxXjEdbJxRDV_zmhvWkI-TKxLteOeEOMGghf6q5hm20uJYIssdvsLI2N-rH6tWgW4bfmGLfJx0n2_FVnMdHWhsgLyu0bTr7Ae75UxsvJSKkNVg_8oOUKlOO69y8EjeDa3_UQfrWfnwL3IzEgBPXWHGb3EzrTqfr3Ar5Z6w1PoY2VbSIHlDXvGNWsscJGdYbcE1EHNe7gzwiA-zvO1ivoHgPg0-0XDQmROpUOKv_sXQULKgo8pcKoGD4n3rTqtG1OK5THfTJ0wVufI_-JGszWA3DLdRj6F81P1yI717YT7lYg0LVTqyAQV4JLnUG_hh2kJamIImu3AVydsQ0t8NoevMsShWRZYCv_8yQ3fyXh6pgClecrLage3B4jgVDuUpw9_-dSkDla4RduSYhiRmNX-QUv9cqUq9y7IQlb6BBUtjVbDsYt4ntyee99ktPeqPmD8HTBT5QSSoBjSY4M_lrXiVjrsmnSYjhBrQydnBPq3GZW2ZRma2R6g0h-zaeRkHM8DclsXv-NVV-OVevQFboXAhK9u_I-hH4giw9DojNgXXYMHuoQ8rRV2zd9zqCfs463gBhD85iSrA5FfoSUNsMeTHBrSmyB-vbWvfK_OtCKbzEMLJGWH3xBLgivn1VAHLvzdHzwu3HWRvg3IH0sS2RysZpLTWcydEMweuv6PLDjBMDz55HkyjOQOcigRsAt2YFQNgrAAEulvv9TpLNMYrXV7HwcpRRdk__ZPUOWJ24zw1T9u9AJ84mIXLv053clu5TjOdR0L8AeOe7IaJx8uEHPEvXCfFDP7yJSR5XdVZRwEocdOqVd2wSl4zn_SiD4xbSUSEw953s3_sHz4Hj062hXfrQJMjum_QLodjMDk9S8_wSqdNQrKGFgLLERs7GDBjHjSPjYw2BEe8P7QOFOg==",
  "id": "rs_0876c39eff533ca5016ab2b1ffa6ec87d0a419deea539638b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.14,\"right_z\":0.065,\"right_pitch\":0.15},\"note\":\"The bowl did not clearly rise, so I will not transport it on that grasp. Its rim is farther forward than the fingertips; I will reopen and reach forward to the rim itself.\"}",
  "call_id": "call_14kWYf8XzoW3NIUNE3m6Ixbb",
  "id": "fc_0876c39eff533ca5016ab2b20712c887d094a93e36e797301d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_14kWYf8XzoW3NIUNE3m6Ixbb",
  "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]: [-0.0898, 1.1847, 0.44, 0.0216, -0.0814, -0.0605, 0.5506, 0.3237, 1.948, 0.8562, 0.6064, 0.1371, 0.0265, 0.9957]\nstate[eef_state]: left_x=0.3263 left_y=-0.0114 left_z=0.0719 left_yaw=0.0064 left_pitch=-0.1517 left_roll=0.0248 left_gripper=0.5506 right_x=0.4809 right_y=0.1396 right_z=0.0535 right_yaw=0.1838 right_pitch=0.084 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -3.3162, 6.5709, 1.6142, -0.0464, -0.0562, 0.6032, -0.1983, -8.841, 5.8462, 2.2002, -0.0024, 0.1148, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76906eb881b20005b2675466dc287948a958ae8b1328be80af69b56df9163b5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6bd82bcad3b480b63fb22b5aaba4a14953989491c763aff51ca88926475f5a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f0567b571f33d1ce7d5cf52428b3a3cdf967cc249b36446fad33c3bc29eb28",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0219, -0.0814, -0.0601, 0.5485, 0.3237, 1.7405, 0.8658, 0.2272, 0.1307, 0.0605, 0.0396]\nstate[eef_state]: left_x=0.3264 left_y=-0.0114 left_z=0.072 left_yaw=0.0062 left_pitch=-0.1513 left_roll=0.0251 left_gripper=0.5485 right_x=0.4455 right_y=0.129 right_z=0.0749 right_yaw=0.1712 right_pitch=-0.0765 right_roll=-0.0174 right_gripper=0.0396\nstate[joint_eff]: [-0.1573, -3.4667, 6.4889, 1.6142, -0.0415, -0.0562, 0.6081, -0.0752, -10.9197, 9.1829, 2.1074, 0.1392, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIQbHzqjeKmzhBJP_CTdgg8JjQg5OrBccmj6JFfvxv3dVE1VtKo7OaNpAc-2E9x7CKFzyMBwxQzcBUF_TW1lRTJ8mAvTT1YcqajZahmm9g9GnXnbVT6UoPxyVZ48DWMCGpnGZGLfqvoXBtEWDPHZ272gcc4mAbtSTPfGAGpGdgIPrOyhtZln_A-CPD2H49OjVgMOCCWtpGTPlWLs4Wp4gQOgGXezoPezRsDkpvtHYVkDi_HR9wVPQekDieMfbbQLtkv23E41LMPH7i5DXZVk_NKUEoZkzKfswQiJ0ZVxqO31mQPy51f71E4dbdtmzV8CMQdBYisr7TlWFT-AkEKnwgdm03SuYryyNNfQKVVq62qbmEK2is4I-7M5TxflBmvdCMJ4rTVqJbWEXnpKF5BpbIr-Ufyb2i_sZjzT2Doe1uwfoPYC6z-3lZsnZLfk5s5snUPq5Ft4a9Q5AnjJwUdvPYxf0gQhROMYwVbZmVgXFjTek0ijsFcaO7UBlBK4LxYHM2BRdSjBdxRB-7jwV3mWf-ezTGG0mccPtnUOD9a99H2VvqDvvi0_cIlqzIOV-0adB8nu8ycdE7FDCp_7je_e005jeUXUWP9bZ2FsSoLqvxgUhGHp_dJalQmlCUEUUfhb7A3UJzHyF2uwVfc2Q7NUbiAHThbZTzJ_H0iKUlxYn9XZJwHZmK2TyqhsQiWtYJMa5Uur0_WjzZEVA73xHrYgKpncQJHmoilEvxY6Y3FEi-m95vJiPrmE0CHzEqPvyPqrLyM59tOmDXjgC5hWQKqG7fwc3jWNDYhlwrQPOez2PNGgfscfQ4c-YHEUmZMpqObhBQOKXPO3kH0D44_LSm2g5_bthsP3mLJMBaZIOWfeXqXymXgoHaaRxJpF8gak9JcX540s-bR8jRwtpcvyzy6Rl8zJahAcbEa5OyFIOKAHP3QnPqCVY6N-2yfTIhokoh5CpGHxeg9C6TtmxQr77DGiXjYVYIQCfy33gDh6zbu2t1CQ1ag0nPDgY0sx14bRSvBrV4E5Cr-52Pzz9tGt16H8s6ewIID_HJdMWmyr-KgZNhvw26iUFFGC7H5aB-xHJ_BI2mFw6jQYyoAEZt74o-ZF47H9l-TiG5KCCbgV7az518E4UCKbMZK_M8FT9FDW49kO6sVShefzZ-2Ps-hspOQBr9OvCKx6FGyE1JwiY-rcg_sAKbNqeXzqJ3fnJLcxdKnKr7mHpKLUpiAJSAkOdje0PiyjsCJGTGfhBUS3inSn2nWcADB0DuRATV-d2sAeiUR4HJzAV5TM3m6W4oBoBUBDoZvNrSGMidZ1wXOSu88jB0VNj8=",
  "id": "rs_0876c39eff533ca5016ab2b20cf3cc87d0b4d1c064846ec15a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_gripper\":0,\"right_z\":0.055},\"note\":\"The open fingers nudged the bowl left, leaving its right wall left of the gripper. I will follow that shift and close across the visible wall.\"}",
  "call_id": "call_ZeZfPtDHuLcSujjD0bN24B2z",
  "id": "fc_0876c39eff533ca5016ab2b20e4ddc87d0b10055109f39c6a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZeZfPtDHuLcSujjD0bN24B2z",
  "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]: [-0.0898, 1.1847, 0.44, 0.0216, -0.0814, -0.0601, 0.5531, 0.437, 1.9751, 0.918, 0.556, 0.2169, 0.0658, 0.0088]\nstate[eef_state]: left_x=0.3263 left_y=-0.0114 left_z=0.0719 left_yaw=0.0062 left_pitch=-0.1517 left_roll=0.0251 left_gripper=0.5531 right_x=0.4761 right_y=0.1844 right_z=0.0545 right_yaw=0.209 right_pitch=0.0761 right_roll=-0.0313 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -3.3573, 6.3521, 1.6142, -0.0171, -0.0562, 0.232, 0.2667, -8.4034, 7.2684, 1.7851, 0.3199, 0.0855, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52099bbb65c0a8b0419963e0d7cb01231819d30151016568427a7eac1bde90d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378aa2c86f1f462c693a50f09e13442b87e48e7cf8beec3c49c2f53a4eb9ce89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0aff4a19692fd888baff0c15000bcd1acce14a84cb5338fdfdfabbeb7d3e9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0216, -0.0814, -0.0605, 0.5506, 0.3237, 1.948, 0.8562, 0.6064, 0.1371, 0.0265, 0.9957]\nstate[eef_state]: left_x=0.3263 left_y=-0.0114 left_z=0.0719 left_yaw=0.0064 left_pitch=-0.1517 left_roll=0.0248 left_gripper=0.5506 right_x=0.4809 right_y=0.1396 right_z=0.0535 right_yaw=0.1838 right_pitch=0.084 right_roll=-0.026 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -3.3162, 6.5709, 1.6142, -0.0464, -0.0562, 0.6032, -0.1983, -8.841, 5.8462, 2.2002, -0.0024, 0.1148, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIXXCA9A62yYG8E9xUCn223g5F37BJQ4NxawKcYHi1EotN_TS73NHNpWIspWBjvJ0gqkDnNpDPFecwgAqKs9sAA_NuABO3OuzEyVXLGR9qJ14e5pLOW_eJ7EYJO8wb6WdqmS5vXceRo-3KCjfXScFFgxJjJraMUbvOFM_mDU_ivDvSexsW-kYtwfGeMV5m1qhCtECGNWuA8nKCFY0NeiTFlB6Qi04htCvE42vN_UdbP1HqM_iZxBN4uTzS44OFt1XEQgag8p3GuGijrjPxi4afnrqSskMoGdU4kKf2jE9Z7DJVyO8G22IyYnktZMABcuvRbKUliJ1_CJKQf0cb5lmVA1j93OIDn0aYJe85OKhXUMh6Mxl8rfIE0BL8EbZLPUjQFZ5EHTu0JoFyk-7WKHzQlK3nDQIpJxQphcytmFtR-P9W8PMzO0dJEOcOBxn9ugrvsfUVHQEsJSJHlbKbZylgtV-pn8WVmtRfpPHhinfguf4Bd0B3rZzFO1l9mHH619DNVZ3oyxSWJhXTsgdb9T30WVho7ef60_8Xj4B0sxyfVeBmuL9XV-bmJCI4kzCJZVftBfUJyqDNfeAH_KdNmEp8SEClGAu_kkKLGS1SVEaaAjYEAl0E4D_kXCViYiIq6kmug_vUsJjPY5iajk5DBx5Oz36QXgc_SM77nyQGtQ6JV4fUNUIjzaGPralXX2Y6T71jGXmgbSwXRV6im_S89HKD6qu13Zwle-Oh0dNgZTP-vUD-eF-WKNbY8nLy2Gs6llOnubEQCH7a19PvyFZ7k3jloA1paVwy6OFVMXhJ2yByDagC_pF7kj5eSjoCsgI-3KJu0QkZkBXWZkUy4ewthzDSNjUfJfxCRTRlnsLSK7wrf-kfqzVam43rAPwK9-_w4uLSy49JGHtdIclLN1tFqL6yBOzdVAW_8TUhs1PEo-xtdM9X-ZP2Rj9OOawghLSRSyFURpe2toVjdht_e90_7Az6NV4QFp8PtocERRKdPgqHCFGVnOqVZXhbXO5I-mtGNalzjfI0OwZ1eOjQy66AWh2oD4UykryPgW96B8JcgUTvjZ0BLwr0eT2jslfAeSDHPnmb786guQS2yPQemLpbL17uBZizjb0_Dd16WGu-tdPSSa6NrgruPSELF4tusWZxsIEa5NxBNvf4frBsW-3VJu3I_wTRUsTpNdNIj8UeCXOu84qS-hozDMqhRThlTkNem7Rs55Rof3rlrJmoWxSoh_8Vn2GPVsUm6Pg7tLtfZZ7Xh4VfuVYrZKtaqv90zEBJimTCIA8qoOVlD7V-rGaFkhrZPKex-gD1d9XFCyKIwNhMf0m4PhyE57lfL4HvYA5_JX8rMvg5JGRVF7zo745Ebu3BODRIeX6230TTP88rgzqjBIrE=",
  "id": "rs_0876c39eff533ca5016ab2b213399087d09668c1518d91b03b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.19,\"left_pitch\":0},\"note\":\"The blue bowl has shifted toward the center and is now within the left arm's reach. I will clear the right arm and bring the held dark fruit over the bowl.\"}",
  "call_id": "call_Zub2VNqDZXY0u9Hb0eRZ7Hp9",
  "id": "fc_0876c39eff533ca5016ab2b215b0f087d0ac7ef56d9e5099cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zub2VNqDZXY0u9Hb0eRZ7Hp9",
  "output": "executing move_to over 35 steps (3.5s)",
  "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]: [-0.9085, 2.376, 2.252, -0.7017, -0.7238, -0.6292, 0.555, -0.2077, 0.8204, 0.5884, -0.3111, -0.3187, -0.2348, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.3976 left_z=0.1755 left_yaw=0.0055 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.555 right_x=0.3018 right_y=-0.0034 right_z=0.1844 right_yaw=0.1763 right_pitch=0.0516 right_roll=-0.0276 right_gripper=0.9983\nstate[joint_eff]: [-0.9641, -14.8034, 8.3624, 0.8571, -0.525, -0.0024, 0.1929, -0.2256, -1.6889, 10.1402, 1.8632, -0.2662, 0.0366, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63ab8f30c053e516ab16e030892d1decb004a7741068d8886ec4a3d2989eafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c747cfa4cdf8f400661a049ba1ee447e49555359b9a9dff88aef901d4154a27c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df45d501eee988341104e21155d2f8f7fda49d7a9144a82b7c1f7528d6216d1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0898, 1.1847, 0.44, 0.0216, -0.0814, -0.0601, 0.5531, 0.437, 1.9751, 0.918, 0.556, 0.2169, 0.0658, 0.0088]\nstate[eef_state]: left_x=0.3263 left_y=-0.0114 left_z=0.0719 left_yaw=0.0062 left_pitch=-0.1517 left_roll=0.0251 left_gripper=0.5531 right_x=0.4761 right_y=0.1844 right_z=0.0545 right_yaw=0.209 right_pitch=0.0761 right_roll=-0.0313 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -3.3573, 6.3521, 1.6142, -0.0171, -0.0562, 0.232, 0.2667, -8.4034, 7.2684, 1.7851, 0.3199, 0.0855, 0.6374]\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": "gAAAAABqsrIi2jPGoDWL2EzwEyK8Y2DmNO_41Jm2GGqCTrNSPWenjgZGijdmAqte94LRlcIRhQfghDqU9XuBQ6PqZnJaZL6qRMec6qQiTWNTmjvnElS-K-7q97EonACWnxJB4NypMJPWuEWFm1mGa7Mjre53waLQRPIlQxG67HFqJTVRTsAM5S4psZGRip42S5eDF_SaARlp4kEwWuD_go6JQeGc4Ko6R-sCV-WqvwaAuleXP6yJuelVretSDQJNzjfPEnQOxIG86DHPNSvKT-XQybR4wX8AO9KxaWl2zyz0W1nwJ6Pj3G9vgQGEahx4NTXVxpC_6ATauAhe18kK8C3dHCvc6IhTfPeRLx31mu014gF7p9t6QKZMI5Qx6aapq0rLu2OqYMvhGiGYtGfCpToIICgYn7rYjaZXx6i_9yzYiAu-lOtSrTjlDIZcIfavB7l_02dXXxAls1r07KzkicBXJ6sOLAhK8a78b2ZpBkxbr5SiLfYQgJWAZsIWt4__OMNbZsxTCnXPRGXyjHaI-yU2oQZmA0jGIe26xLq3T_kWvLPxgtWbIBy6MfVfeYQ1ji9wshcpquRdmgZjG5rnIeLubW4w3ITkpcyjnib1g6rHRh1fc4Zq6oT_OSJUDFizayaauhZdzr1Det-CyFClorE0MaeikoXQleTjAqGzgW0S13idMxCCA-pyDod1MeY4t5AtMS3cyMOgwfJLM9BqHVPjdS2V06jYVT2NPrH7eg5_sp7Q6WXcgazDFzwtnaR5kove7AqB305a1MDEf6azIwsj97jJAfTxxhBEbnkZm3rfpW2DKMVcLWJL4UVxX1gxW5z5t8ahRawoPOlw73dgBXkFxb-waKX_gDNLzLdNLR0hkjGh6N0qPJMvAI6rrfCJg1UceIdJ8icoKl82s_ZLcMkyTF5dafmAKf5h7VnQNVhvm7v47xo1X82quQdKUCff9YLlIme5sAKbYiVHyTFmtrDW62u2KSw1ricKqFFHHTX2STnj-50gyPZb02IMrFc3DtiCrRebg9N8VrOM0zV_1etQzHGKh0AU0Lq_FvcLxRYBS9Oi3qoFqbrsVNKNtvpCkt0DQ5qA-rO97h4X1VlhxUxbbHJ6VzeRGMRPClz2zlASd3F6vTd-NQBx7P0CEBTPEEC9SKMcILh7tiNTdf528OftM1JOrlZ-0rSZ-D42YLdCdASgABWH9ewIhRtyY9MNib8TPG8WjgYNhpjPc7SZJQeKbc5rXcGVM5ExEyzJeGggLKYtYOYZsy8rpff56Ypselua2cIk5rOLUPWQNS1dY9JaMlt7JCDwWA==",
  "id": "rs_0876c39eff533ca5016ab2b21fcc1887d086f3a7c51339c1a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_x\":0.445,\"left_pitch\":0.15},\"note\":\"The dark fruit is above the blue bowl, whose pear and yellow fruit remain inside. I will lower for release without pressing into the contents.\"}",
  "call_id": "call_GsZhLJceCBc7eopU1pDksw6I",
  "id": "fc_0876c39eff533ca5016ab2b2209ae887d0a95f49b1fe67a6b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GsZhLJceCBc7eopU1pDksw6I",
  "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]: [-0.9482, 2.3226, 1.7744, -0.231, -0.8219, -0.5652, 0.5565, -0.2115, 0.8246, 0.5941, -0.3344, -0.3267, -0.2443, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.3905 left_z=0.0948 left_yaw=-0.0007 left_pitch=0.0685 left_roll=0.0714 left_gripper=0.5565 right_x=0.2998 right_y=-0.0027 right_z=0.1814 right_yaw=0.1839 right_pitch=0.0329 right_roll=-0.0238 right_gripper=0.9986\nstate[joint_eff]: [-1.0325, -16.2667, 5.9419, 1.4335, -0.3834, 0.0952, 0.1392, -0.0752, -1.5658, 6.5846, 2.0, -0.0806, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d846287e060b2cecacc939175a803d6660b3f528c5396115a672c81d8654faf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:778c0853671a37e7e999b3caffb48c5eadfc464641d69eae9a9a93597db96a23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a798ef926ee0fbbe01825e966ad1fbbaee0ae2e5d6536cc0125e648ea915b261",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9085, 2.376, 2.252, -0.7017, -0.7238, -0.6292, 0.555, -0.2077, 0.8204, 0.5884, -0.3111, -0.3187, -0.2348, 0.9983]\nstate[eef_state]: left_x=0.4629 left_y=-0.3976 left_z=0.1755 left_yaw=0.0055 left_pitch=-0.0147 left_roll=0.0116 left_gripper=0.555 right_x=0.3018 right_y=-0.0034 right_z=0.1844 right_yaw=0.1763 right_pitch=0.0516 right_roll=-0.0276 right_gripper=0.9983\nstate[joint_eff]: [-0.9641, -14.8034, 8.3624, 0.8571, -0.525, -0.0024, 0.1929, -0.2256, -1.6889, 10.1402, 1.8632, -0.2662, 0.0366, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is within the blue bowl's rim. I will release it to complete loading all three fruits.\"}",
  "call_id": "call_egHfMrWG4TMEET6e2lXXzzgz",
  "id": "fc_0876c39eff533ca5016ab2b2271a9487d0a9f3c6401717236c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_egHfMrWG4TMEET6e2lXXzzgz",
  "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]: [-0.9497, 2.3226, 1.7542, -0.2207, -0.82, -0.5694, 0.9955, -0.2115, 0.8246, 0.5941, -0.3351, -0.3267, -0.2451, 0.9986]\nstate[eef_state]: left_x=0.4416 left_y=-0.3891 left_z=0.0884 left_yaw=-0.0018 left_pitch=0.0617 left_roll=0.075 left_gripper=0.9955 right_x=0.2997 right_y=-0.0027 right_z=0.1813 right_yaw=0.1843 right_pitch=0.0322 right_roll=-0.0241 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -13.4085, 8.253, 1.37, -0.3932, 0.0317, -0.0904, -0.0205, -1.2923, 7.0085, 1.6972, -0.105, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3071dfed27b413c419e03ef0b8d711be5e8851533f918112fac927caf942c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:765f7fd65683753f64f778403fefe0792766a23cf59877d4fd3917fc9cd56e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775f3ecda19f6a68c964d2d33d2dfe477e0c5b7bf597d5b6631ba556d503fc67",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 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]: [-0.9482, 2.3226, 1.7744, -0.231, -0.8219, -0.5652, 0.5565, -0.2115, 0.8246, 0.5941, -0.3344, -0.3267, -0.2443, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.3905 left_z=0.0948 left_yaw=-0.0007 left_pitch=0.0685 left_roll=0.0714 left_gripper=0.5565 right_x=0.2998 right_y=-0.0027 right_z=0.1814 right_yaw=0.1839 right_pitch=0.0329 right_roll=-0.0238 right_gripper=0.9986\nstate[joint_eff]: [-1.0325, -16.2667, 5.9419, 1.4335, -0.3834, 0.0952, 0.1392, -0.0752, -1.5658, 6.5846, 2.0, -0.0806, 0.0171, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrIwz3wYRfk-H--Dxj2BKfb-xsP_bv5iyYf5JeC2Ml18qGKd6clpIKegR_gRDEUdFcep4lJ2RPbnTLPktA7kej9quEXmkFwI3ppoXEwJLi6t6c8GcTmZButClmJY9OAfsRWAwRggB0KbJKzM1MjHEXwPdLTexxuKiQNPd9tPn0Vc9oXvypN-btWJCbybAOpFd8bx6ndbwQYoIr_KkdOke7tV4U52T9UXtpoN-_6UjqNDs6QgygqqCwkHsP5TWjvul2Oy5hxV3_aUzAsrnsGIZJcOYFgUXVBy6Brgtyoqpq93RVULuaCfqK2XgcArk5f7aqQKWI3butArGJT7E8eDSsEQ7PzxjWsswTvgza3VdM8N8aUGGUQux1HeWMu_jH3hb3QhRMJ8enUoH4wEKPVC6pKPPQZilHbBL8Pu1mWHnFv5vuIhVkKCpvsM4iN_X2ytJPRoK792rc1XTKx5nWLtKKh6UBiAsR_uxmzP1F067HZdFOnsNTBDRtNSnbL5fdKWkQUnKJce31Xz9MjdG6jlk38HoZQjRUOoszlT_e1M_7caDdUqD0ES79nItc3WqBz3fa8tQ60JeQQJ_OVMbCO53dvK8vnWCiDyiIhEi8siUksuWh10SdqF_TFmryipirb7Kd-OwM1e3ypT1DSPqWpfk7ou9jy-4x1mgd3DwgbugtTqgPFXckRcDWMS84ko-2K9WV1BJcR4x8dcRQ_tl30RxrTrUq6vfziOx4v_LGRnRpVJnAYWDQ_6F5LyFwssV_8g031Vv5odrV00hKK_zyskWK0RIKbzYNIGmixmtsulaccb86z8V3a_RIVUGC0eNWLMx1urOYCsIrIRJ3rtnESNfF6kxA9ttvUlElpxwV1OYL9PrpLd2t0lAaaOHctAQie5fH3Kq_Wlyf_FmkHUH-OErRiXb50dAUXXULhbMc1Cjnsiu9EE6P2TjnQ_77bKjLkSQEFNqeMY9Z1cc9tv2L9B7sx-Lq5FNJIULt5WFsYFneON03LHmCIi73wlWynj6b8MkWP8A20GHp0cPVQbo6zQmnWFIBrfyTqoVBHfVQg1CxLScT0sFuE9O0Q69QXC_rmpBGSPgQBLbYP9CHfFIQhQqWBvgMA_cNE5yfDIRz21xj9O6BwKND_9SOkWHzN3aCNM2ASm8rYu25cA86iDNnbTl26YoddetY6OJAUW7EDxUHbhwLQGqbVgKMQEseFPu4tJDxiosxilCeb1xRi7EFQjgZHFngtMbtO9WlcitXa9rUb1L1Bz83IXG-7OEVGILNE7WgK_I-Bmyb-jCmSIqatKwQoQkEz-TJ4nhUIw_E2DlQHdbAYyofEsGBh-6Q5pDnCU0cyt5jRftqsalG0CmYl_7-2I_wXphX1wv7lt8tu5qr_11gO1kbmCX9eRigjD7x-QdPkDhWMpcPdLKhqIscc7M3e7Iscva6sBtw4vnTrq9K64gNXTbh7OFlGy23DwkqDXtCb1iTJRGvGFtSb2HuMfGgbUKsygUrRn5Ww3P7eJWePIBZpGs8DdafRQz61CYB9Ww3Tb0XpLYOeImUGBIjmSgmLD2A==",
  "id": "rs_0876c39eff533ca5016ab2b22d021087d0992637c27387e951",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.29,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0},\"note\":\"All three fruits are now in the blue bowl. I will move above its left rim to grasp the bowl for pouring into the white bowl.\"}",
  "call_id": "call_4ztKo2jZyXRswBVfIDiVPg9X",
  "id": "fc_0876c39eff533ca5016ab2b22f478087d088a09d9ff600b0f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4ztKo2jZyXRswBVfIDiVPg9X",
  "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]: [-0.794, 1.9923, 1.4883, -0.247, -0.6559, -0.5236, 0.9966, -0.2115, 0.8272, 0.5941, -0.3389, -0.3267, -0.247, 0.9986]\nstate[eef_state]: left_x=0.4475 left_y=-0.2965 left_z=0.1439 left_yaw=0.0143 left_pitch=-0.0028 left_roll=0.0121 left_gripper=0.9966 right_x=0.2994 right_y=-0.0026 right_z=0.1798 right_yaw=0.1853 right_pitch=0.0262 right_roll=-0.0233 right_gripper=0.9986\nstate[joint_eff]: [0.294, -13.8872, 6.4889, 1.4481, -0.2418, 0.1099, 0.0952, -0.1436, -1.5385, 7.0085, 1.7021, -0.1636, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6568c45a914634540d60008760c1b84a21d3c82db22800d00d265c9c5764fd6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9781d3d6f8981f595a5f2f71edf688414b39d8afa8b331c08f8faede59571a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0fa95a88522465d6c60b921379fcea3c03de2770ac9baf52f78deebf1aa54f7",
      "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]: [-0.9497, 2.3226, 1.7542, -0.2207, -0.82, -0.5694, 0.9955, -0.2115, 0.8246, 0.5941, -0.3351, -0.3267, -0.2451, 0.9986]\nstate[eef_state]: left_x=0.4416 left_y=-0.3891 left_z=0.0884 left_yaw=-0.0018 left_pitch=0.0617 left_roll=0.075 left_gripper=0.9955 right_x=0.2997 right_y=-0.0027 right_z=0.1813 right_yaw=0.1843 right_pitch=0.0322 right_roll=-0.0241 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -13.4085, 8.253, 1.37, -0.3932, 0.0317, -0.0904, -0.0205, -1.2923, 7.0085, 1.6972, -0.105, -0.0708, -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": "gAAAAABqsrI42UjytJyFMYcZBI176Yhpl7RSyML3vvireUO6hDIVIiF393ZjFLTmV7vquZtQoEH_LUoLNEIgyZHmLV5MfBfMlGFHbH1XWQvS0KczNGxftEUvuQk-QJF3nyH7J8xvHE7RR84L7kd_mffhSUR44PzcyacJMQndWdhBOxaa-hhCDKK_n44gBlRr26TniRQv_qd8Sj3X0qKt1-3ZirP9r9GkGc9ynZl2_jMZ0I4z6JOb9XE8Q7xxuVn8zU3XUGH-l5nmPzVtKRWAxuicH_7sPu8GBET4rKT9z-oMXOr8EKVeekZDHpnQ9X0UPkvbT1Y0AMzE7SNpJQaigtNOmwHUmnbfs_yN8yOvMN_Ke7OU4QyBoM1cPLRzw-vfrGdSovUYtd_zTsXnPzGhDTglNgXWBfqnf_MS_8UFNqUI4VBP9iN1qsn1D2P4jLxOllVtA6ie8KEPnip18_lnlE2Z20-xwOzI17S4q1ho8hqPWOrNDup-MmLzt3tjWI8NHkTxkIuQc0nVGx8AsUkae2ZyrprYKrOs2O_1u20k6TZa-EPzd81Sya7wHV2Vc9Qm0oVWwVy69_1jTHIOqzwICUME6JPaiFx89Ou2grp8K25uXXRkS04P2_kkPOqjMFbDJwBDmfjDGdY6uCiEEJzfLNjBzjcNWPYOhZCSPHYfoIwV-R0efF7I5IyhuO8lVwWROHzBNvj9YhJOonKh9uQ3g_iDQnGJtppiY0OvsJ9yIQrJIFueZLumW7pRwgZvx4D2QP3xrkVTtkTxH1nAlyxCvnKiinabvBZhNUgiQYjD3Lev4daZtlXugi--DWU--Q8ED2CVwxyCbkkt5bZzNRkNyVE1CTsHRHqoNgPj3K-DrM3j_jL5TeRVHVlJc_HZJANQl7qVJ3PPn7AZfp7uK_Omx0nQF63dDB0V_mtNRNzhqtSP5a1o9Y53jVxgW_ovR2Gi27vd0uEIwWGj7PUJt4xDzaGBDCkN-Me8tUuTXC6iM_b9ZovPOs5AkZEysQHgv6Kj7W52SHmnIUrVVVLuMWgSMI1PdXEIMgdThKW_0mBGVwm8Kjf5n-9SvfFHY_GSODosZ8tzQ2UsGKZiLr9SVdyAoA5IUHFKG67zQMxJYjhHUhCoVWJbcLyvuW8WmquSIuJcVwuC_yGCeBUB4OuKgFYw6YriBE9hGO0L2CFQ2TIYeZ3iWSOpsWRKfAjUv3KEyYNx0ymvFYLOXgq4TZX8S4wG4LKuWTQA266zjhX12hkoBZShE2YBcngFKVgcqt1Q_ezaBZFEU8wk2EurTOJ34azvxJMZFr6eZbSDk9GlZsKnwBz6Xa_jyLUHatXyy4MRVGXFxwHffk8GA0TYIWDRhDe-Zj6om2Rn-mNm2L2bVYrQeG38ruPe-i1JX7GYERq7MZvQ4NfUSt6br_F3_EZkR6H6xLBGW2AUbK7k-2e_VPfJZPWLH2Ii8ijJFG1MwMb2MXD1mtQywE1DtJWO",
  "id": "rs_0876c39eff533ca5016ab2b234373487d0a4f8e0f9cc6dacdc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.265,\"left_z\":0.05,\"left_x\":0.46},\"note\":\"The left rim is visible just left of the jaw centerline. I will align the fingers across that rim and lower to its height.\"}",
  "call_id": "call_GIBZRL3b8BbzJ9DnJ9d0AeFm",
  "id": "fc_0876c39eff533ca5016ab2b236bc5887d0973634ef8b10fd3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GIBZRL3b8BbzJ9DnJ9d0AeFm",
  "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]: [-0.7273, 2.0445, 1.2751, 0.1761, -0.6117, -0.5064, 0.9967, -0.2115, 0.8276, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4704 left_y=-0.2781 left_z=0.0997 left_yaw=0.0427 left_pitch=0.0893 left_roll=-0.1044 left_gripper=0.9967 right_x=0.299 right_y=-0.0026 right_z=0.1791 right_yaw=0.1854 right_pitch=0.023 right_roll=-0.0223 right_gripper=0.9986\nstate[joint_eff]: [0.6632, -6.8308, 3.3709, 0.4371, -0.1441, 0.3736, 0.0024, -0.212, -1.4701, 7.1179, 1.7314, -0.1392, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805a23d09c8a7d5902edb917f9f007317e8da26d1781c95af008d5dbcf4fe0d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e73803c4ccd80b36df64272f06edd285de5f5c3adb504e8843e5a6a4639895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c95e13ec563a3f4db5d432c909b7c7ba0d4ae3927bf1dfc3a24fcae9738405",
      "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]: [-0.794, 1.9923, 1.4883, -0.247, -0.6559, -0.5236, 0.9966, -0.2115, 0.8272, 0.5941, -0.3389, -0.3267, -0.247, 0.9986]\nstate[eef_state]: left_x=0.4475 left_y=-0.2965 left_z=0.1439 left_yaw=0.0143 left_pitch=-0.0028 left_roll=0.0121 left_gripper=0.9966 right_x=0.2994 right_y=-0.0026 right_z=0.1798 right_yaw=0.1853 right_pitch=0.0262 right_roll=-0.0233 right_gripper=0.9986\nstate[joint_eff]: [0.294, -13.8872, 6.4889, 1.4481, -0.2418, 0.1099, 0.0952, -0.1436, -1.5385, 7.0085, 1.7021, -0.1636, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJA8FoCNG-sNhY6OYJ3BX4AWLthMI6kDwCy_1ZMzHukZyIO5ZNpZYJTk4kW9DSkH0ZCZmpKD2ZBSVFYi0w04XJq2GPnQMhWxDkFGweXJAOyI0U27jkNmnRaJ7MZaVZoM1P3YY4cBra1RNpu1EqwtVeRiK2A7BkTS9wVy0PJ3n7ny-360nKbWj96Zkffa1Mryue1l7vWeaun4lWk7rkPv2bjGueL8juEie_vHE89MYGg0Gd14s-l3rPMzxodQ9HIde5H4d4NYnAQFyVgdVbI2fGYNk8s4eEHvTUYTyU6iSKECcV-FYhttYg2gZ8W_6PWPDmZ0xAKkM8yuPBr8CFckIGbvvCuOAItgYOgz1QsuXVMlpsCuYb7Q6CkyrfrYF93yXEm-v7JMSSw6UHAS8JGM_XDFuoMZJJ5vY99XzLhbG3vpXEjxuocK9_cG29GFKUGoNbLvQdoSDx2X7uh9uAattiuhRwNR8x8vNR_8-SQAOCEP88OxSmF1DXHqhsiZEYM0Cmg3WMrCaQ32g8AmDdWn-szEvKbUrC_c8Hs0sBUxLDA5AElA93gVddarlFliinmye4n2XH-3phFaU4BusS2z_35bH61ZF2G7Kz1ElfmnkvnI-I68mOIV00GfpmwWEfSD03mwhfDziYWz4jVxmul9YJKd2goj8-2pbRnjrxXxdFb5BP7kCrdebgLSHpQvILKFcJtCQjdUNMHKo_-PT6QxeQFkQ-2kpva-ko_aIwcsUbd7kFmxWEihLJ7Wa0-3K0Yk4y_o4StXNS9N6kl54hNe6I8lRUZIMHljzzBu_bvDeTvSkP78UJhjQcmNfpo1IcHGOyOwLJV5pcsvKpKuqOkR1cWVztiL4afql4Tev_9mJD5IKe25KaYkrk9PMseKrGfKo7H9LF0CXgPVh6xVkA_H1zRq339UIeqm5PVmjN1H1Z-GvdUSLB6atydLsxtzAbsgGTtOhFm6yISI3z3ZcLrnQURctg3s_ZbnZn5ghTcyjNVb2QluLHZ2nLCwhCy1QhZELy4ffjEP08w16xM7X4Fo-GbtwfwqTnlM2V1rKPooUSQ3ui5RbFN1kmKOmhWREq2TF9WvsScp7aSuVopgb6DPyojVEOhItdNx_hg3WTJ4i2BcFhdfLPTMB-cjV_D7NqGxyBF5aOmoidqaXXug1QTAbCDAlSPWSdXb8R4IBKkHrG6Y7Fcytm9AflW0tmXURq0orY_gmBID2YG7dhWi0ckXFsP6wucTqv-haEFq5ib0H6737IEbU50XmNjk552j9NUid3Ks6SQr1L5HJJ5UCJTyX9dVizq-PSKvuyr_qCSBuD8NCpdyTM6Yh_Q6uePfWK3k3bzzdYphQ87skAz_HCVpPlR3_gP_6NYosES9G1GnZhojKI57Y8-sYqPKw7pNXn1DmMc48X8vbzCRrCKPWRPcafg_I4Fz4QGoQbm3F2_aDE_4fN9POTvabR3P9kZDLOAGuOL",
  "id": "rs_0876c39eff533ca5016ab2b23caaa887d09984bcef57adaf45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.22,\"left_z\":0.07,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The descent stopped early, indicating contact near the fruit or rim. I will shift outward toward the bowl's left wall rather than press down on the contents.\"}",
  "call_id": "call_yttclG7Ab0KmCQx68FkSlD2n",
  "id": "fc_0876c39eff533ca5016ab2b23e759c87d0974322472bb7ae0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yttclG7Ab0KmCQx68FkSlD2n",
  "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]: [-0.6449, 2.0209, 1.1904, 0.2329, -0.54, -0.4572, 0.9967, -0.2115, 0.8276, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.2418 left_z=0.0848 left_yaw=0.0414 left_pitch=0.0621 left_roll=-0.0882 left_gripper=0.9967 right_x=0.299 right_y=-0.0026 right_z=0.1791 right_yaw=0.1854 right_pitch=0.023 right_roll=-0.0223 right_gripper=0.9986\nstate[joint_eff]: [1.812, -11.7949, 4.1778, 0.9451, -0.3639, 0.2808, -0.0073, -0.0479, -1.3197, 7.3094, 1.6679, -0.1197, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14bcf29b21508ed415c42ffc1a3557c8e6e72c734328a718f242af20740e927",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91959e51a4aedea083b11e3c646a73a901806d74eec26eccaf1c4c9d7cd6c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e952015df056e37747f1b7d9e008f4aa7c9679b99ceba877634aebc56098bd",
      "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]: [-0.7273, 2.0445, 1.2751, 0.1761, -0.6117, -0.5064, 0.9967, -0.2115, 0.8276, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4704 left_y=-0.2781 left_z=0.0997 left_yaw=0.0427 left_pitch=0.0893 left_roll=-0.1044 left_gripper=0.9967 right_x=0.299 right_y=-0.0026 right_z=0.1791 right_yaw=0.1854 right_pitch=0.023 right_roll=-0.0223 right_gripper=0.9986\nstate[joint_eff]: [0.6632, -6.8308, 3.3709, 0.4371, -0.1441, 0.3736, 0.0024, -0.212, -1.4701, 7.1179, 1.7314, -0.1392, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJLsD3LDE0cqgsB41Llcp5RNWx2hjMaFJ-jvqmOooe-C3u1v0ICwv2th83tanpWM6USabtL7VlBnekJA73IJnZY9xUafbzAUEJyWemRfbpeObZqNDu0spo62qeW8aEYJGek62SG5ys6K_eMlaZMpPd9DPpcE34dx-7KetF2_of6JspDdh93O1W2NO-ZqOwVztPmR7Ti2mpfIzvciFtCHy19AnXOBZAyr65HIBMlB_UlNUwy7WFv_j2_A_RUYQZKT4kxhA73CHSATXo3hgApfvDChyDMRRzhRUym7nZGTazmBainF2d1QZmpXSuXfHNs37OLZlFPT12fZWPyPmRDkU2X8eD00dsfmCOGaqciCMO2zFrth7fQCCXIboV_FDtITUESctxmHGziFX0ayoZ_nczIBO824JMbz2hO6uMnFz9mdVKvCuWP6cTg-tYeC2gc1FKzwI8OHlLWC1ZjvQpKarllXKkEs87fdFdxqxB1RBvKzikiEPcgkCrkBPRR6IJ_0wGp__5AvqcLS7WhoABoOS7oOysPGnZEfEwXrzBYFDD1ekRWv-zH55hJqyexoWZ8z9D7ccWPTnpNWDr-p0gcjz7grNEgb1LNGuGPItf1yOZ5zeUiRTIWYgX9mDmMy_0x5ZuhS0y3jhLE69AuiixMT3PF9EFvFkY_jNC9aiIdL19NnXWvpPjhI2OyMajQnxBd5qEFDF5WKVppD_ID6_dLHm0tQe9YBqxjDX9Z_bwNBGAo0ONpVyvIcFolzIsZxROcNg0SJxcPmqIxNq6La4zkWxShmogXKuvAxlJ3V4nHWLkpsIUt5kQ6rqTobu4i219G3DzeO0frim2aGwRV2LYUrb-ehXX7RhvHHyeN2bVtei2eMPibPgU5Hr206x4_dv3nnEyBhjX59NF0sfcC_C4VpAvJTuKEK3w7avrHVZI9Uss7s-M4rJLOZE-HtEeKI4Qzea4VU_5F_I0spVYKDcvczk9HW6HWlexK3KnHTDsya6LKG9zjmXNxN_GfnhxTYhfbAEOI_D9a8MbgAchSfL4AQKOEWoYN8Bmx6HZ-BP0lqWE2gl_Ars58g-wp8VIMJcjgxlb48U_B0bpiKm7VnbWLMInHRZH776z-b2DZicwrS1c4UQKpwQ4FjqMaoKycyR_idlEyVkntEJJiH2KRHhzA_I7keBhkjDOFFOIPyPc7f3h6GG4H0rXxIWOY8I7CLvavBgnn1FArkavDPiEUw5EjcyvWHJTCBZZhMnJLRIS9GINTi0qpoWyR_FhTnBFnqT8m2kDyxKyO_ZhU1P6Tbc6bhGnrjDgPYh-7NwIYLDsGS_fvwyrvz7qPCclaf-tV2EHvWRMpr-bKu5_GHRHV7E3FvhlL1C-9PRLcQCLUPBKUksJu9cw=",
  "id": "rs_0876c39eff533ca5016ab2b247251487d0993ea8b56247afc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now span the blue bowl's left edge. I will close on the rim and test the hold before moving toward the white bowl.\"}",
  "call_id": "call_BiNbqhNLJwDZEBDRLowPkWE1",
  "id": "fc_0876c39eff533ca5016ab2b24959bc87d0b02a6616b4e027ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BiNbqhNLJwDZEBDRLowPkWE1",
  "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]: [-0.6418, 2.0174, 1.1667, 0.2138, -0.5304, -0.4644, 0.0098, -0.2115, 0.8276, 0.5941, -0.342, -0.3271, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4719 left_y=-0.2367 left_z=0.0734 left_yaw=0.0396 left_pitch=0.0278 left_roll=-0.0739 left_gripper=0.0098 right_x=0.299 right_y=-0.0025 right_z=0.1791 right_yaw=0.1858 right_pitch=0.0231 right_roll=-0.0221 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.4547, 7.9248, 1.8095, -0.3004, 0.0611, 0.7937, -0.1573, -1.4427, 7.0085, 1.6972, -0.1734, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821e289ba42795190a9f5c20027cc68c8b8654c92c58013ec315878c926424aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8570be439255258336cbfc5a306c39712d37d1a7a8c72c239d6f20d80b41794e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ee11ad2f991885c3274ea402757bc2c5c1a341bc9906879e68f928de1b54f1",
      "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]: [-0.6449, 2.0209, 1.1904, 0.2329, -0.54, -0.4572, 0.9967, -0.2115, 0.8276, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.2418 left_z=0.0848 left_yaw=0.0414 left_pitch=0.0621 left_roll=-0.0882 left_gripper=0.9967 right_x=0.299 right_y=-0.0026 right_z=0.1791 right_yaw=0.1854 right_pitch=0.023 right_roll=-0.0223 right_gripper=0.9986\nstate[joint_eff]: [1.812, -11.7949, 4.1778, 0.9451, -0.3639, 0.2808, -0.0073, -0.0479, -1.3197, 7.3094, 1.6679, -0.1197, -0.0269, -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": "gAAAAABqsrJTH8Arf6_sL12ZP8GE6Ss8OLoDNdmRPNSemuqrIWAtIvMGCJjI0QXySWARfCwCdR-kCFk3Fch9ROyIAj8xfQVUpkngm2VQkK0ymWd2gYeVOYJNArTSMrlsQ1e4Yy-A_noNfCtBmHPbWZ4MD4Bykxu2P2raerFaJxIcPwt1grGjd2HxBQpJRgmgU6pPjCWjX13weOGp2JboFIyhKZv2aiYIxR769Kvo-BXByGKYff4D86fSjjrkc-dISC_x-hbCb3GwT3bAmREWhSQQpBbkT88q-8l54MMwhZSuH3ardRo5zCxjpaWuTl6oOPG7DTD85S73y01-D7JfQe_2eYS2Mbt3zcX6YT0IF0JZNkqgJFKMBWG7ooCXHhiSQhKLQSKnOwxsEkWk5nGoHWwMoWHFyZEsmqA9jeYpq42phqHmtwnlWrbIxFYNojYUcCPGeS2E2i5rnnc_4Uy3Oosad_ImJxJYtWd0f4O-dZTUf4trx8rjFGPGPHMlgpWsIsuJukV4T4XiotckCTPBbWxRJn6EnqbfFxO-DDc5i8VjWnaRgEs_F1cqxh3H5abqBSkfR6pvbua3bCVIyYVeHJqTgdnGCURJWxiM3An31CoOXlIhfMS79JuZLXlQUzE2-JFG6V5EpRbZhNeHdssZYWduvFZyaA7oTjpJw1Yqc3iJmbkg7WHoHGz4QB7_5nvlMsx3u7c90xn_jNWkBdFEnHgGSQ2NJIpVgDcUHv0mjTgL_cEzJoIu0Bq7c-C9ZAgtRFkEn1fTFiP0QiYiKWtCQERl9CxCXJWCC8WdYQwYN4Nxn54Qc564Q4mXHnHQaCzRneT_sC-6JtrqxDk2DsR4c6XxdDFWgvd8T1U6RAL1WfWZrfHT2YJAnXOfTh7fJphVeaxJUqcfRr6Ne3UgZq_LV710Q_vdjxm7hC-pZwgKa6D2315GsJG69a2hKrBoyy4s9zxxKgLiec55J56GQrtSLB6b4sBa24VvUOAJPNhuI0GBUchNyphKBc6iHu8sicX6zebEPkF14M8OAUaLKtrZ0o4Eu9H1MlbmKm3ZRH_71WPycF9xZfmbpVBGJCJ2C2A-TBIxeq3X26a-n_Y2PaFHTRFQk0bkNDzipDPEKrTmi6KcOh3ovxsTqqUTrUDmO6uopxjDIBntz0maR3z_7y_NxwaFBmgB1njW7MSTbvUY0IN7fWuhMCwerhidz0hi7sGWeQwLZ6GFYfqO5E2IRc6Moqc_ypTD6QBaeF9zyw8tUZGx3NoSpj8g2s8QocR6vAakjP6LgqZIW5jihuU-i4zFUNsr_Mp-KxhXx5X05epbUTFwFUDAGi3hAhVgLJwOkbc9I8nzdOvUxax_AxeK00s_n8SGFuIsazU22V7sPWEhbbYxZCo22qwCxPXLGcBBcCr4ELrFKjYqH7eaqJlCLpAEUvjpO3nc-dHS480C5sYwGZ6SdVFH8s_-vqamWSeOa1SX-EuGBiTcLaztCJHGaBRxD5uYokNgZZqnvw==",
  "id": "rs_0876c39eff533ca5016ab2b24ea6ac87d0b633ef7817c13984",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.51,\"left_y\":-0.28,\"left_z\":0.075,\"left_pitch\":0.3},\"note\":\"The fingers closed empty; the bowl slid forward and inward. I will reopen and reach to its newly visible left rim, using a forward tilt for clearance.\"}",
  "call_id": "call_UoU4bapeyul2x5hBgMDQzmp7",
  "id": "fc_0876c39eff533ca5016ab2b2510f9887d0b23d5efab731a985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UoU4bapeyul2x5hBgMDQzmp7",
  "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]: [-0.6876, 2.244, 1.2476, 0.5743, -0.6521, -0.3439, 0.9948, -0.2115, 0.8284, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.5033 left_y=-0.27 left_z=0.0593 left_yaw=0.0462 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9948 right_x=0.2991 right_y=-0.0026 right_z=0.1789 right_yaw=0.1854 right_pitch=0.0223 right_roll=-0.022 right_gripper=0.9986\nstate[joint_eff]: [-0.8547, -11.2205, 7.6923, 1.9463, -0.2076, 0.232, 0.0024, -0.1573, -1.4974, 7.1453, 1.6825, -0.1783, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7ca99d22a9e936ca08584166aeac6e8f29cc878168d3165669cd84cc07c61f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ff876f0493e9b26b4e617aaa120108ca4329dd91ab855367a920d9db8a1b80e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1928492be251ef81893152bf028adc5e45947d915b7a4780d78f5e77f5889a",
      "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]: [-0.6418, 2.0174, 1.1667, 0.2138, -0.5304, -0.4644, 0.0098, -0.2115, 0.8276, 0.5941, -0.342, -0.3271, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.4719 left_y=-0.2367 left_z=0.0734 left_yaw=0.0396 left_pitch=0.0278 left_roll=-0.0739 left_gripper=0.0098 right_x=0.299 right_y=-0.0025 right_z=0.1791 right_yaw=0.1858 right_pitch=0.0231 right_roll=-0.0221 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.4547, 7.9248, 1.8095, -0.3004, 0.0611, 0.7937, -0.1573, -1.4427, 7.0085, 1.6972, -0.1734, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrJaolFARctUSSaurphZB1rf70xlgH-ANkpG2KUFsBRBz51LS3SpNjLPP20iiykx1gOesF8YLlYsKbFgPNQ6tRR8b1hR2z7lPYSOPQGcbwupHTVuQpk-eYNWgJ18vPXB8xPM94FeTFZWtgjCanfqln6DtIi_A77k9IZshUFhNf_fp5tHxRtpZk_rX3S4IO302TC1HhOAPRby0Y24jt8BT9KK8satrJN9fuhAQeaEdsmxaX8_tP2R9IizW6Kh2lQKNmqM_bp5fMwEm7ma7rVyYX9IRY8WZtSeVVcuZFyjtoEPr9T7AU4v8yD2Iu_4hMsU6PgPVjUq9xlNuyFoGvDI_-X1DIWo15JlG5TxEMjz7DKosb3keUEAElEgCGhheQi31k5jLnCKLxMyC_axtnj6soudj7l7Y0404Yfo-PtoCbohIq-fckJXM4EsDWM61qdIf0RB02w08Rqua6JdAeXbsN8oEp5z9YqenSODrqiLHp51NXI3ndNM8Q0SqsNnABZhUaZxkDJ_7bUakkS-52biW2edMJpinUHfgA42UAkSK9tC1NngCi6A9fsXH9uuiVyC-5DiqlCohzULgN49lCa6-TfIasjt_oWJRAnFe75pQDQ8pz6ANeZQTVMwymAKc_jrbPziUiOk9q5T6mZSbYQS9ISfOWEg15YP4sfzv5sd1WnINF_Hpt_QRBJZFQSFm8MHP7j-Yn5qKd4xIo6g6gOtoSaklbkiYHwUP1CEEaj66Xuz6DsSen3ECOPq0rktLIncqoFOr0Hbin5weGV7n9LpDyxxCoaDHGM-bcRHoPI0ROf76g77gMdfMpiKlq89eMgSyUAii0W8PpM8JUX9VCNqgUIedZI4GRDVGvwVwo2Q2e8y9Vuj3El9ecgFvPcBPTke59uLDe5GvmgdotHjq4m41cuBZNp8HyS3_NhiJ8l24mJReyUITUmuXnXrDlbakXV8ZKvgb_1mGVfABSvGzPrixPf7WkK-82YmOu6LyOGMkmtbsiYDVYbpePJT5MhOsyIoVuxIfIAsCkz0k-ohY3oZAMSGig22lBYQo2mZgTmnTcnxmPYg56ZdSqwvOhER72ZEbGZKJmNVslKucR42dyE8H-2k14Dq4Y9llkIMOSKAVwU4JoGmizSjMNrHyxmQ4F343vUu2KJ5KX9vd2C1Y4aqNmHLFIRqhNIdt-t_Ouue71W6AKaeoewWGyUryLzEPPZz_C-B2cojXCrnIFVWaIZL4F3h7B14-_aYVOjPd3L-_Q7KoPw0EEMgw2_ruvSoagTE1Jc6dQTqnGBOu1jiYEQaFODmPU1MXjhof2wcXX9jlP49wEMjjU5fk6Y58F5SWBpSvFpeRbCQRXOA5xwoEJ8w4u1dWW_BS7tvFqNITdn0JFRYeOQ=",
  "id": "rs_0876c39eff533ca5016ab2b257371087d0986d17ff378ded62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.325,\"left_gripper\":0},\"note\":\"The bowl wall is still to the right of the jaw center. I will shift inward while closing so the fingers pinch the wall instead of pushing on its outside.\"}",
  "call_id": "call_JjlhX5aEh7oEJzkixcdH9mTd",
  "id": "fc_0876c39eff533ca5016ab2b258adc087d0a55c4203ad57568e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JjlhX5aEh7oEJzkixcdH9mTd",
  "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]: [-0.7681, 2.3322, 1.422, 0.4576, -0.7311, -0.3969, 0.0099, -0.2115, 0.8284, 0.5941, -0.3424, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.5025 left_y=-0.3165 left_z=0.0585 left_yaw=0.0557 left_pitch=0.2356 left_roll=-0.062 left_gripper=0.0099 right_x=0.299 right_y=-0.0026 right_z=0.1788 right_yaw=0.1854 right_pitch=0.022 right_roll=-0.0218 right_gripper=0.9986\nstate[joint_eff]: [-0.8547, -11.9179, 8.3077, 1.5116, -0.149, 0.0171, 0.7546, -0.1846, -1.4291, 7.0906, 1.6874, -0.1685, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6898086f916487c664cdfc39dab20d770ab15486c845993e4f9c89ba19e3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4128572d40679c995b4637a856234b115acce7ed64fb200d1c541052eeede5b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7dfa6fd6f379f06e03c8dea084ca1ab5d4d39b07de9bd9a8be76285fcb1ef45",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 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]: [-0.6876, 2.244, 1.2476, 0.5743, -0.6521, -0.3439, 0.9948, -0.2115, 0.8284, 0.5941, -0.342, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.5033 left_y=-0.27 left_z=0.0593 left_yaw=0.0462 left_pitch=0.2357 left_roll=-0.057 left_gripper=0.9948 right_x=0.2991 right_y=-0.0026 right_z=0.1789 right_yaw=0.1854 right_pitch=0.0223 right_roll=-0.022 right_gripper=0.9986\nstate[joint_eff]: [-0.8547, -11.2205, 7.6923, 1.9463, -0.2076, 0.232, 0.0024, -0.1573, -1.4974, 7.1453, 1.6825, -0.1783, -0.0708, -0.0073]\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": "gAAAAABqsrJfPlMVyjBMH76jEmekw06Fr7vmQPKNx1_iVDIKS_JZSuacTnV-saRe-rINof6LD9i7XrBJsWTq6yzU7IsoioYVV6r-B8h2Q0ex8yUfQb6yjgzT4mEgZgI4WWGVw7b5yvZzJ2LhNR9AuLrOmslCUs4G_C3xE2EoiklZCurs9jkIqsNjqfMAEnARQ3q7LvcBqUBb5pwYA8Z41F8AO_RvqeC5wHrgFViZ4JZo40W4P7t9hEt61CeDRbBweaM6Km_kSqmpay0KXsp0urVxH7lk62wxJumf5srq9IB_-zfU7NPTyjdafjILz_SIv8QUdCbR3QwzvEpj1Cl60eMeiN2os8TueYIRW5OAUqw2TMxn7hK2oACqa5CI0295yC0F36OhUS9XVb-BthHFBBNkHGLX_-ct-R8DiJwrfQnAiZoaCH5Sfj12BEZXkmwNiuf4PUtYrjohMQSzyOjaR2aNwDL3jYR7oSM4TDX8M_kTzhdbOwPm-csWbD0BzxwocZVkQtuqaV8VHYxB8sI1xVYzbUBHyEVy0hh9ME7JaftmQ9-QZqIdIHQz8JACy8DEhdHNwIEZwtESbCVSNVGi_ZyemD-esXxKQFbHmn-Cb8zJii9M6Za97TBIckQ9PAZm6QRqrnyfXenDSFHJM2rqnBXhmbDicMKomfDr-UQWUljl5VWnpAHzAa1FICxzdBQsUeiWImTajQevugVr9jv93vI96CfsxjzyNouIkynL83lmb1r1LFNw0xvOWYVyuzdWwuOCaFj0sbxUjU_QqCFISa0tbgCJBzZ_V9E_dYvjoZZo-aCHSADwzCxh_OKcks1mBkUcCGw9NVHYRNgJ3sA6blQ-qeMIuTw6R1xCrMgb1cJVQaVmGjST3mbnp8Ey8gw-Z2a_vA3-5up4L5-CLvrzzNRU223K8crFb3kw_0j8pw_mUHCwYL20xj9wSeKnjm4x6xAfTJmPnzoQv2V0myjjZUTxh5vm0NuE9tW3kj_oCzx_-AtZo5DukyU5oDFQwObF2oq1M4SIZZ1egCZsh8pUczPan6SWMhucTDTJfrn-KfzzpgJBIqLHxhi8Ep1ON5i4Npgofdc7OHytxxQD-WK-6jdg_3lVPJ2XaXGmnH-B1Uqhg9DOyPbesA3oIpPUkMOWqUfvpoz8j13LLfBrCBRopdd-RLxd3DbbHe3gCPrpb5t4UzJBbABDrwhV4Y1IejsGTl2IWacP8nISDTLSqW9ZkrhbMIFzva9RiLQ6k0ExwpmVoQJ3TCVVZf8=",
  "id": "rs_0876c39eff533ca5016ab2b25d7eb087d099a89dfa0541d656",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.2,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The latest close is also empty, so I cannot safely lift or pour the bowl. I will withdraw the left gripper and leave all three fruits contained in the blue bowl.\"}",
  "call_id": "call_0sVOWGrR5eCP7G0oLFEbVQoR",
  "id": "fc_0876c39eff533ca5016ab2b25e1bac87d0bbc496ca6999bf66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0sVOWGrR5eCP7G0oLFEbVQoR",
  "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]: [-0.6689, 1.3277, 0.9436, -0.2455, -0.5739, -0.4995, 0.9964, -0.2115, 0.8314, 0.5941, -0.3424, -0.3267, -0.2474, 0.9986]\nstate[eef_state]: left_x=0.362 left_y=-0.1593 left_z=0.2036 left_yaw=0.0659 left_pitch=0.0484 left_roll=-0.0894 left_gripper=0.9964 right_x=0.2992 right_y=-0.0026 right_z=0.1779 right_yaw=0.1854 right_pitch=0.0192 right_roll=-0.0206 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -5.8872, 6.8444, 1.6972, -0.0366, 0.0122, 0.022, -0.253, -1.6068, 7.0222, 1.6679, -0.1587, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6688f7ce9d56b410df3fab1a51fb727c04e08d52950ba57e3d60d0d73406d8cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6b7a8f171996bca328d2c9c5f107693e18d583c95df8817dd7378f8ff9eb3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479163ff7636c6a063b811dcc3ee3f7838e5e01f1e0c610b931d9f8bf13e530e",
      "type": "input_image"
    }
  ],
  "role": "user"
}