adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9936, -0.0227, 0.8005, 0.6186, -0.387, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.296 right_y=-0.0002 right_z=0.1834 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6889, 9.6752, 1.8535, -0.0855, 0.1245, -0.398, -0.1436, -1.6752, 9.1692, 1.8291, -0.0513, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307acfa3491d6188cbd3b978133c6d02681d5a5c40e0f8973c1deb7f718b96da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ae5c518512efd8e3d390e423f6e365e11863d008bd2643c4bb67321adf777e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:debbc6c901d7f6bcdf2758f95c1443162cb3a18b1a67c1e89b64661bc96141d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtHN4j2dunJzm6Jxgxx-Bv_6VSrsInN29zGTZdJN17x3juGN1YyXWuhKMHsRzi3Du-uip2ktnkrnSD6EhiqncznklrIzWL-ryVB2PC0_PSldNX8zYUK9I-atV0AIkso3rsjFBaskA1PoNAXEUDWKc-ztKvNjt4qOMXWKlISXthoHvcXC3_BE69yoYLkew3xx-yEOlHwnMYglRQOxlx5OIw6gLZ1fM9yQJRNBQEEgRlc2wZpcf2jYgZeTNvlL4dQA_QEHiAJ9ff-XkNtigrUVPHhUIdJwWhvOSyXKFiRGl-h8otJkdpvKOW1BMqucG7cjLvk3gMSgRqyTr8Vm7cCdLTT1YdUdSoJRYSmcSMFh8-f1X0vW7H7D7XNmSCFYd9wq1pBx7jK2b5DMWTAWOKrmBcmCOzkd-60uT2Oy9RsnuXi-_NnBJGyu_KtADwahUIgEUZW-Q6YTS8k32nR2Y76eT8iSGDqN3YDd_YD-P-i5j7mKWQ2VAc58gOF6KP8OMe2rAW-4fs38X0HaSkcKUxSazboTlMdrfaph1gmLzdNi0PCjj4fx4PpgBjxB-sMtGfZnrZbed4OZ5SCEp65QQpLlc-MMItZ4OpncutXM1zTlFrnPmW7_bdEFTny3tTiXvcuJkrDtJrCPwR5t1Cmmxqe3PrtabU90iYTunv-7fvfJBhl7_CuynIyuTxlJcRaMNiLACzvJqqgp-B8Tm_8l7yeu88iyHj8Q7IGFjOSAxgc-UX3PjiZw0QtCFf1J7QKDhcvjxt7SUVcGm2is7SaNHy63eyrYFJYEdJ42k9xd4BdqSZw0jYOkwD7rwzh5v0t-ZfTtc2vvLMjNemn4YSbKZiVrrHAy_y-BZ6QVgrDmJNEEW13z95q3iqjWwWdZ1wgMyaRR0KGPDftHCTJxTMIohdFXtql48aNP5S-MvjM6ZH-dmQOTXkkUruRlUmq1n5m57teE0DijpbMTMWf8aNPXQg-jdrHsrKpk0sdOXnaJmyDDe9_Yyxu2RpwMxkU5-21QTXPKUwlLlfsoWHzY5mFPv2uauYKu0Wamw8OxAhe2XctW4AI2LAxoIEDyGwxkrcctkMBkvUd7OwmPq99wQzGKWkdXQidJHH7AuES5kyF0Y_PzvTkRN0Qve354dyvVmUv33IACcUKaCAaek_kWriGNA93LVxlaFJGVq6LlaKL5hVbFvzdUjVFp9T7eBXMo60mHYJDUWK_ENvtR4PyrcqP4ZQP6tQ-5j7PZYhSUycpGkIGWkvp5Leq5MnLlTzzYUfHpQG3S4pVpultWUpoy2esuKkSK7uCXB5nAYcEYqkVoJ12nxsfAfgi2iMNEliJTTXLJvMZ4itmxjnz5g-M1eHPU-gB6bVej7PHEydqwLMYdqwvTasX8hiIuE7jtzsyjXhkv9lvWQVdObt-SJy-7Y26BGsFFLaeYdnQIa4S_9QOaORAHZHp1zNa0cldhPtHEB-fY8cJIiEfg-Ec2nBlt2EHnwvE5218TEHoNcuhVaIY_a5d9_v3WD6hLld2bkqTX9dnWrZ5KDNnRsGdVmTLTonLeAPTP_65ZhE7eXxHJfPhknuKpfU-GeeqDdYUaF-buZigzBRPkvqkeOx33m8Tgv4A9y_7xMfmEEu9hZJ6fUTJZrFtx2vmzcVU03SFHTloa1JkWbjSLcTvtGBrVXM5lEFwDuBNhVXWDq7v7mpRTOIYzA02oFDP_iTyGBc2tSmS9qbm3_8rSyDlSSUVBxsnJeEiRgnqjY0wymfi4Nc9PI9pYKZevyQH4Zde7OXWoxK98UI5ZstlCqLLGOcoI2PXvcjzdBL8Qz4kG2cUKuWFDnhHDPZag4kmOnD14JiTT3ajNxiva5JNtVcCWXo5V8GZ5Hl4eIW_eJV8wsWR3RPHXPX7Jf1z-ytziXWS21NiINh4qqd7cA05hi6eq7R68doBoVKZCjn2O93EJo-bVKURhNvIhzIweZcgy4keGoV23-3FWc5pDTxg3q5ooRR34tK56qJiGjOlXhZqkJSLhqBUOya35uVeDZ62QqxRCOZmrMtAZTHvlmhKgkZr9YPCMQB-iXO5IggFT8yPyIqMN810XySxpgM_aRgZSzRCyIJo9G7m_bYuSguxOpuMQAweWoycqxcHTD3WUuRI6Pm4nGqmeAEcel_wMh5aE6HQ8HlVTz0oGaePc_R6HU06TUhuOcMqWX8SoAFusLWWRmUH4-ZAZTrK2Zwq4trtS_aCsuVdMU7cTXXKDIm13d61Zot5t7M6KEvSnfI3UuqaqoiKNQpeR5YIneDTcIOV6FTpjxPq2qrQ_LAcOoPVVe6_ao2fR5XttykqwlJmov61Oi_2sedIxrRqg2ZGpurolGIJ367kah2bKH7NhWTMfIxxg_g5GAhzy1geLZ525WGYtxvuapzOALMtVlCAC1xLIJsy5-a0BmdFQvT2h8wjBYlkKK63B4q3oqu4sP7iDz44YZA1wwRolXXCpWTi-a3hwXVVaxu3rtRPx5He5NiXHOBXqWoTePBIu6_eEW2-g_YizWKA==",
  "id": "rs_0b0692a857a027de016ab47372a7b087d0ae3d538de4362c35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.095,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits on the table beside the blue bowl: a green fruit, a yellow fruit, and a dark fruit. I’m positioning the right gripper above the green fruit first.\"}",
  "call_id": "call_8UYVE8pHCbPpqh6nENE62vWe",
  "id": "fc_0b0692a857a027de016ab47377a61c87d091cd11903f3da389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8UYVE8pHCbPpqh6nENE62vWe",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9931, 0.4282, 1.2053, 0.6369, -0.1162, 0.3405, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=0.0002 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0176 left_roll=-0.0011 left_gripper=0.9931 right_x=0.3394 right_y=0.094 right_z=0.1278 right_yaw=0.0255 right_pitch=-0.0702 right_roll=-0.0351 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.4291, 7.0906, 1.8779, -0.0806, -0.0562, -0.0708, -0.3077, -4.7385, 8.9778, 1.9121, 0.2662, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284499ee45db0ede7a4d45aaaf99479ea5e6e38165d0d467c1dbf51d2bafc604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b106d200686b18cdc8db410f99c1ae1fb625c718cb22fdd95ff57a20924e9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f270607f3feaab5d16521ba65bf68accea38c92d49690456b64570228f182c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9936, -0.0227, 0.8005, 0.6186, -0.387, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.296 right_y=-0.0002 right_z=0.1834 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6889, 9.6752, 1.8535, -0.0855, 0.1245, -0.398, -0.1436, -1.6752, 9.1692, 1.8291, -0.0513, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9931, 0.4282, 1.2053, 0.6369, -0.1162, 0.3405, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=0.0002 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0176 left_roll=-0.0011 left_gripper=0.9931 right_x=0.3394 right_y=0.094 right_z=0.1278 right_yaw=0.0255 right_pitch=-0.0702 right_roll=-0.0351 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.4291, 7.0906, 1.8779, -0.0806, -0.0562, -0.0708, -0.3077, -4.7385, 8.9778, 1.9121, 0.2662, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:284499ee45db0ede7a4d45aaaf99479ea5e6e38165d0d467c1dbf51d2bafc604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b106d200686b18cdc8db410f99c1ae1fb625c718cb22fdd95ff57a20924e9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f270607f3feaab5d16521ba65bf68accea38c92d49690456b64570228f182c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHODLSHTDo5NYq9b6NwA8vrUq0b6DC-nRzdyEJSxCnvIq6AqarNkeMArTLltcKDrgA_DjT_PviV9lmX8rViGOXA_kf-xWEB0C-Axh4XhTD3eb2uCtGd-525JYc3NAm-H9GR402WhCK6__YekzUMmbPuVV95SdFoBdi5b7v-0_dta7hFmKQXAXaQjduaQs3RNlEw--1vQOXySDpUQ6yTi8z7W10MKWOtWltunnD8HxqgyHUj-SO53Q1-bER3DUUbgNBSoMcrsNoDHA8qD2z2nS3b48Wgh31LJJm25dEMLHnsKtznO9OvEcUOtlYt3J1pKAoaDL2g42VgF9c5FOT9bKpgdnycb6bkgb2yP7gleeD-WyxgVhQyQUvCoF2N6nYIteTS1xU274iYE14ngnkJCp23h3uFYWpQsLZQoUHfJgVcKsXXzzsLOL0KhfFhKVdjR0RXexT-fCHfD92nrMkQJAzKUvo-zlQKkaRxxHAbn52t4L-FYepqncYpk6TwhS5J59mK94INNwZrG0x54s5247_ViKEUZzEND-pt9pDVdVjuBnO9YVjE9YhVT4-N9gjYaC7qrJFNrRffPBYy-GaBR4Ksrb-J1Mf5kYwRMttYFhaBWuYtDihUgbEKX5uoAwuNUxV6vAh-abUeyIrlsW87H-jtWnhC5-LQMw6ZKC9bNvXrcfK_N48jz2EFPGkIHTfgRyH2qo7kIJ_QMkh9-fl5WLooNm3JXGWPmXoh8gqLF564c-hAsyx73jGFjx-vNpY0iwG9LbhnEMhRsj8Y0d4N89zy9tx5aIHAMu3uNIlelPdEBK5U-Cn1yluGsnrnL32KzceKBJ6x4C7kH-O2LDyFPUAua1bdXzmISBMbcrlz8jkwVRms5qMVPPJP-_v9bwDMtM7ejhbdwz5hPefZ-zKuD0mDbM149P83QpnHAQa9IoaNC8RNF7AtUrMn8X5VKMrv86Sl4niS_FHAfuzT4YHjGbQaXY7YfOtKR3VWG7NJq5NLlwBwl0UZV8XBAgTZv-DcdI_oBAqVwRpSs-LcklAgUmR-RUCH4oHQOVbeIVmLwUiFuAxHF1aXYFuI5dny4t8BLPfxjpN2diM0BjlGIt4EwBXw5Fi4qlnjJkgC4bp749_32yqQ56ulAGBFMhvdCQ9ZW5BwzPaCfzXsuGoVzGDgi5RGVO_fCQ7LqsmrwQW-gQ8SvP2OWVFa02bCU0oc2e3csNpWUBqkRjPI62-DslcAJc4E_Z0yMtkptFqgrbL0VUM6PxRNDODB-nqq5126waj1_c5JhNA3BbplVFrg9eLfGNUbD_n1uXqLjb2U_WeCR4IAO0irHbZPsvB3Nnqd86v7WmRaFxXOeffT2NyHIHFgHOLNkJQTp4MrOhV_31ICQUmi_oYw9t-dGORuixfrRYqGX4kyT9XS3DkvOOTGEFQf0lm_6MZILQtWfT3-bmVNB6qViulLUvfQDgZMDaKzXyB2bqB9aB-ycWpcOJazTsUmzkth_FLQu3fchi3DX4FfQAkUMVEHh_TrutMZ4DFWsOOSXj-xd",
  "id": "rs_0b0692a857a027de016ab473813cb887d0b0c8b2d5915e0911",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.072,\"right_z\":0.035},\"note\":\"The green fruit is visible just to the right of the jaw center in the wrist view. I’m shifting slightly right and lowering the open jaws around its body.\"}",
  "call_id": "call_tm4jeIBnzso5t5cxWl4QQhrU",
  "id": "fc_0b0692a857a027de016ab47382d6b887d0bdbbb0a42c5d5296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tm4jeIBnzso5t5cxWl4QQhrU",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4084, -0.0139, -0.0307, 0.993, 0.3099, 1.5242, 0.4126, 0.416, 0.2493, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0301 left_roll=-0.0009 left_gripper=0.993 right_x=0.3507 right_y=0.0703 right_z=0.0282 right_yaw=0.0228 right_pitch=-0.102 right_roll=-0.0442 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.2137, 1.8242, -0.0366, -0.0317, -0.0171, -0.1026, -5.5043, 4.9846, 1.9316, 0.0269, -0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783688249f43ca55dcd0a60c72e8f5dba8d1f0770eebd044a10475032a8b72b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d06f3b0cf2f1a8a8b2bef6bdfa1b9637ccf18b9b6000e884e485c55fa4594bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b4cf965a6f89cee65fc448f172de183efcde5a94943be2fa10bae0116822c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9931, 0.4282, 1.2053, 0.6369, -0.1162, 0.3405, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=0.0002 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0176 left_roll=-0.0011 left_gripper=0.9931 right_x=0.3394 right_y=0.094 right_z=0.1278 right_yaw=0.0255 right_pitch=-0.0702 right_roll=-0.0351 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.4291, 7.0906, 1.8779, -0.0806, -0.0562, -0.0708, -0.3077, -4.7385, 8.9778, 1.9121, 0.2662, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4084, -0.0139, -0.0307, 0.993, 0.3099, 1.5242, 0.4126, 0.416, 0.2493, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0301 left_roll=-0.0009 left_gripper=0.993 right_x=0.3507 right_y=0.0703 right_z=0.0282 right_yaw=0.0228 right_pitch=-0.102 right_roll=-0.0442 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.2137, 1.8242, -0.0366, -0.0317, -0.0171, -0.1026, -5.5043, 4.9846, 1.9316, 0.0269, -0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783688249f43ca55dcd0a60c72e8f5dba8d1f0770eebd044a10475032a8b72b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d06f3b0cf2f1a8a8b2bef6bdfa1b9637ccf18b9b6000e884e485c55fa4594bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b4cf965a6f89cee65fc448f172de183efcde5a94943be2fa10bae0116822c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOLupvR1xs0Q04cFv5Ole3OCOnzWUveL52DUO5xr53UiKudValHVCUAXFp33z5EQA0kDbsp42VyjnfEHYll9Wc_YfqRt85fHR44xLiEwgVQs1luC6ypV2spoeD8jRFeg6mGjdA3toTU1-X81Hds_DzwAZjBcWtUPSeo0lHXG_o-MwSHx4lOJ6EaFdAElq2v5Q0xSFjIHWf33RGhpxchHgpLs528Snddi8lwPl76t5mRzpcLdH0SoMHAU8x2Sxk-Ot0jqAGMZp40qBODn6-vXFYOLAOJU-6-jnvPKe7Wp1haNO3Dl1BfNRA2YrIgpbjk2LtpzvTbViIxrPc99PE1Sz-Zn9uDt5Ci5VxVcKre3O6V6CCRAID0bFwOuRlZ8XeZOGiwCK-dj67QPzaiDRTXhaddHXdwMtcvDbdUOJCtdoLu1pWYS8q3F-eQY_t9K4MZf1-e76YYMJYMFFifULkPGEb8BRGmxhVdlQCSoDREdAfYZ1wqMdqunfpD6DTlDq3u3MkHnvHayIbcOGgFxEYZac237fLoBr0W6su-4RYUpadVPDKqq6wv0lNcO9Jp2Be7G5r4jCoFgoPBLGlX7pJQsoL5ADxN51I9o55z-Vwy_b3vfhv0cvTSPR-SUOigfr9p_FP7VrWEStTQVHaD7s5HgFJw0k0b6WKPZ6couYZpxLL_G4Z-iBWqi0WDXLPDfiqoWwTCrL2Es00324eOudMlmqClWuZRNr5NUR4jebAMZdZtdaLsj7-8TAufYqZ4ELM_5aYuD0xWO7_I1HJcePLlkoxUTalHwRBILo_b0UfarHfbtu6MzzJqKBgEzHa8CYA-148L_hytHjaJ9rVGD3wVUrPypdPa2zp2NCDocbU5To3Xw8VNh2VoHi_ygWnlvywI7s2P41RAPx-EqJ0PUG17tdQjBzlExn3-iLvFpt_WYkdoxQS4Z6dr5DGcJ8HD7zv4uqAu0gBYll0Dwlq2qfp7i4GDTjRE4XIuDuHoKKpfT93VFdR02cTOk_mrPgNpDTBeykitB3tNGxoZxwFlw8GphAnSYdyvPJFxak5SvIKqwyoqw_GXHMvHdOFf39aRNF6mI3lAJ40xi1oBK28xxMFUlEyyXJokNkPxs40rVKeCTLDbu4QydKRb59J3n4YzZzACahMFHwdEbL5fD9zNWMa8ukRijh_myPBsaNswKCiE6hW7KuTIEZwiyAyPPL9CVxsoPOI89JOggnJCJETCeJgBxEKetcoQTcbZNTovLiG_DhfeSoFOFUP1PTCsJxAoc5ANZjnu52EzZdbfnLfl9mEXW7BZEe2vTPiT_gKab_WMq5NvMYeGRwsEppESH1YbAYQlLBBcZiEr0Opq-RBBSjM4d-XKI7Cd4_j5nYgK-ZudfuMHLMWt37T4bNRR5CroiyMBePfdKA3iLGF_wfyUqU_vTSeuOL6W6E6Dp4czFC1BYkzV6tdbtEXaYOQ1O0X2o0pmqrxC4RSsquatDRogFBqC7P2-Q5iPOV5OnHJAlPa-PE053Nl-wV3durWQ-MxNX8GQ6TV684AILDw4AVOInkpmF8-HAfyZ4w5QSiOm3szDnbGQXNQrqFykefwtQbm9WvrndWJv30jRK9emXIC8IJCpJMTPYIqlIp2tI_FAx8AkQD5n2UA70EtHRcy8lgsiF17gXAxL3hChq4BC6T-IG0WElbqyxf2-Mbno-H-C-o1kdz49nnuX1D7JWlhZebWBaWkNfc0VWg3os-hhScpbSmRItSN7XzFoelzRunWtxI6EjiRfLHCIYPWAixnwm9Kxy5pnmsuBZE7u5GUuBA30DG5we52yzw==",
  "id": "rs_0b0692a857a027de016ab47388945087d0b8f37dc7a49fd013",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.054,\"right_gripper\":0.45},\"note\":\"The jaws are at fruit height, with the green fruit still slightly right of center. I’m correcting that small offset and gently closing around it.\"}",
  "call_id": "call_Vymg2Ua9EAk41SLiv7n7xv7r",
  "id": "fc_0b0692a857a027de016ab4738b137887d0a8d57a65dce0d678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vymg2Ua9EAk41SLiv7n7xv7r",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0307, 0.993, 0.2474, 1.5204, 0.4057, 0.4301, 0.2001, 0.1112, 0.6514]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0385 left_roll=-0.0007 left_gripper=0.993 right_x=0.3538 right_y=0.0569 right_z=0.0285 right_yaw=0.0201 right_pitch=-0.1001 right_roll=-0.038 right_gripper=0.6514\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.8242, -0.0806, -0.0269, -0.0171, -0.4855, -6.3658, 4.0684, 1.6386, 0.0073, -0.1734, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abf4665b789127ea0e70db81c1845c7b03c871d4bf7275156f6b247f2aa69e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebfda53198b1e93859cec9387e0c6098a8c84f2717ed23c99b8ff0029824ee8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcef61b1f08eed5fb681b8e39a7e0d85bcc2781da9b0896a2fe785c2de490435",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0292, 0.9936, -0.0227, 0.8005, 0.6186, -0.387, -0.0166, -0.012, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.296 right_y=-0.0002 right_z=0.1834 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -1.6889, 9.6752, 1.8535, -0.0855, 0.1245, -0.398, -0.1436, -1.6752, 9.1692, 1.8291, -0.0513, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4084, -0.0139, -0.0307, 0.993, 0.3099, 1.5242, 0.4126, 0.416, 0.2493, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0301 left_roll=-0.0009 left_gripper=0.993 right_x=0.3507 right_y=0.0703 right_z=0.0282 right_yaw=0.0228 right_pitch=-0.102 right_roll=-0.0442 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.2137, 1.8242, -0.0366, -0.0317, -0.0171, -0.1026, -5.5043, 4.9846, 1.9316, 0.0269, -0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0307, 0.993, 0.2474, 1.5204, 0.4057, 0.4301, 0.2001, 0.1112, 0.6514]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0385 left_roll=-0.0007 left_gripper=0.993 right_x=0.3538 right_y=0.0569 right_z=0.0285 right_yaw=0.0201 right_pitch=-0.1001 right_roll=-0.038 right_gripper=0.6514\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.8242, -0.0806, -0.0269, -0.0171, -0.4855, -6.3658, 4.0684, 1.6386, 0.0073, -0.1734, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abf4665b789127ea0e70db81c1845c7b03c871d4bf7275156f6b247f2aa69e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebfda53198b1e93859cec9387e0c6098a8c84f2717ed23c99b8ff0029824ee8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcef61b1f08eed5fb681b8e39a7e0d85bcc2781da9b0896a2fe785c2de490435",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper stopped at a fruit-sized opening rather than closing empty. I’m lifting a short distance to confirm the green fruit is secure.\"}",
  "call_id": "call_nFrZGaL2plPQ0fFuLzC5xgxr",
  "id": "fc_0b0692a857a027de016ab4738dbe7087d09aaa7474fb6c40b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nFrZGaL2plPQ0fFuLzC5xgxr",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4236, -0.0139, -0.0307, 0.993, 0.2459, 1.2747, 0.5613, -0.0078, 0.1928, 0.104, 0.6538]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0458 left_roll=-0.0006 left_gripper=0.993 right_x=0.3473 right_y=0.0559 right_z=0.089 right_yaw=0.0277 right_pitch=-0.137 right_roll=-0.0471 right_gripper=0.6538\nstate[joint_eff]: [-0.2256, -1.1282, 7.0632, 1.7851, -0.0415, -0.0415, -0.0171, -0.0889, -5.135, 8.9094, 1.5751, 0.1001, 0.0415, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d34596feb2c7f592d233ce00ef562dc166f020cb208c06b563d641256779cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f111a48255149a3df7a5e11a4396bc1f997d280f22aef456ef657fc427cd30d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01463daf259d3e6a23ad3772ee56fa159c22bb79882354dd2fe53c6d65f67c16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3977, -0.0139, -0.0307, 0.9931, 0.4282, 1.2053, 0.6369, -0.1162, 0.3405, 0.2211, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=0.0002 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0176 left_roll=-0.0011 left_gripper=0.9931 right_x=0.3394 right_y=0.094 right_z=0.1278 right_yaw=0.0255 right_pitch=-0.0702 right_roll=-0.0351 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.4291, 7.0906, 1.8779, -0.0806, -0.0562, -0.0708, -0.3077, -4.7385, 8.9778, 1.9121, 0.2662, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0307, 0.993, 0.2474, 1.5204, 0.4057, 0.4301, 0.2001, 0.1112, 0.6514]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0385 left_roll=-0.0007 left_gripper=0.993 right_x=0.3538 right_y=0.0569 right_z=0.0285 right_yaw=0.0201 right_pitch=-0.1001 right_roll=-0.038 right_gripper=0.6514\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.8242, -0.0806, -0.0269, -0.0171, -0.4855, -6.3658, 4.0684, 1.6386, 0.0073, -0.1734, 1.0134]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4236, -0.0139, -0.0307, 0.993, 0.2459, 1.2747, 0.5613, -0.0078, 0.1928, 0.104, 0.6538]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0458 left_roll=-0.0006 left_gripper=0.993 right_x=0.3473 right_y=0.0559 right_z=0.089 right_yaw=0.0277 right_pitch=-0.137 right_roll=-0.0471 right_gripper=0.6538\nstate[joint_eff]: [-0.2256, -1.1282, 7.0632, 1.7851, -0.0415, -0.0415, -0.0171, -0.0889, -5.135, 8.9094, 1.5751, 0.1001, 0.0415, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d34596feb2c7f592d233ce00ef562dc166f020cb208c06b563d641256779cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f111a48255149a3df7a5e11a4396bc1f997d280f22aef456ef657fc427cd30d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01463daf259d3e6a23ad3772ee56fa159c22bb79882354dd2fe53c6d65f67c16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOTXk1MyMVLDU3w2HV-DbO4Sa4ajBA82RGIREQ9z_M4O9wOQNq505t8z8zBY-n57cGqzzVARWneNR_umVF8bGWdtbDKpzr45rPXjZhhCJq_Sg4Q65UqvUk8tHWFM-16ae-NTPjoj0KrzFTFJaNUTK9miyPoN3rrLzRJXWo7YNuWPPV9sEH2iO1CfMHmYyO6hCWo7npDSxL8uyPM5haRUjLHW6ntoRbSltd1DQ-jIr7E62KMj_VeG9q-S6fTZLuSWp0o0i22lp8W0FNLFobqUwdm6haaHJdaJAZ-bdlOUgQTzZsdPBXNfGpSDvgDZaIt5xflnWY5VCoZGVl2ncmR6SzMYquUbmtZG_Vpov05ohMl22oZcAMlkjEDHr8RTWs2MZJ2BDstERkRYdvZtHlDP2fsTfJff6UqCh1h9ZZdWOvQLvt3VKHhbac4KXrQgDC4En6emaMbCjKV_7jgFI2hzbuai7uFVfws3uOx4GJYDg6_iXGvj6ViahKvgdzqyfXKrXJrCsM9cWZu7B4S5wTwuFLtHsdK3uz3eZ_f8IktGa-r_MAxEWx-iR5bqdy7bAZqrwmB0CKHfAsLLUA74cOsu0scxeEtIRPiAobUfD9RKUykBkZZfFGoeM5pydlhVIMmeRIYOSDhZMcGfHrx1P3yr1HWtoPgc6dzw8XcFYhhfSAVRd4pZe3DzDhFn6rRTBkV_fxXaSTa1B2bFQatVmatwOaqIdIhL9tN9cixBHfVI58Xmv2RJl5qAoXUJesp3hOGv8nhX1hi-hUtiV9FSUBbpvkTdHq_FWvLG4StS0T01VJwg8fDP3kzdOpVEwftSKhAvJAeD8hkYaiKLngT6A-1fRJ0j6UPGh-oITidKIdQDAtdc-0PwuROi74-gEROkyqi7JDaBzkDoCZK-S1wM1pYJeHfNsZQZUrHOxdlAmxlWCa2rYvpj-su44ocEtSpgE1oZU0raEPPYQE3LjII-IMb02lNHKCmF5COi-hq2NhwNxETEMvYolzAMeJTbhp2HlR0dm9ndwaTE6DjmBb6KID9EN7Z5zkt3QMNHObevRoJPKScWAxoJYGD95MdTiXje72-DkW-49nxFWTvvWl_c4xR_tlsoCmvMc9pM8l5E__56yAIZgTDNupurqG_1hNcLKnfDpC4z3JpFuNRKaNEsyePLiDEMCc4VxSCxTIefIZmZqBtE43oVNAAtpPDEeUunFH7HoZ16U0FZaLCFKa3uxBG_IIU8iZIy6Z4rsj99myb-ZOdiMkhvJ-UkGpMUnoMdw4kNjNdpyQzGVokecTvW2_XnlZLE_xCQfd4KyxrlJ1Bngt-SEYPGqCLnxBDuEiukpWqtUdQDXRMPgZPdwYo70DWnAOkYM9SZC_Pio3WrXAaoIbtHAEnX9ewNwV5jOXjkNCBpLMmoRw24MjHPN5xUWjMfUkHws1-6ZBLbp_PTiszZSU_UCoebBat1JSlvdzwmMWq5GQoX36gUW8Lv3A7r4GaA9NUBeKljUlpjJjVgvXfhjLysz3208pbxKds3KSzrH-sCSHqYosDAgsG1Lw4Jd09tjRo9MlcZzr7S2OwCcDxwLPo3ByeVZ9aZLgQCkRbOkB-4uCjXznMDyGhcJFa4O-1g1EODA==",
  "id": "rs_0b0692a857a027de016ab4739172ac87d080c64f6689a5eed9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.16,\"right_z\":0.195,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The green fruit has risen with the jaws. I’m carrying it above the blue bowl while restoring the idle arm to its parked height.\"}",
  "call_id": "call_lYQQguaYaTRQkOXc6PUgSkKL",
  "id": "fc_0b0692a857a027de016ab47392d82887d0a5c27e2a964b6b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lYQQguaYaTRQkOXc6PUgSkKL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6418, -0.4686, -0.0139, -0.0338, 0.993, 0.4618, 1.6985, 1.3582, -0.4847, 0.3367, 0.2287, 0.6561]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0927 left_roll=-0.002 left_gripper=0.993 right_x=0.441 right_y=0.1583 right_z=0.1748 right_yaw=0.0505 right_pitch=-0.1999 right_roll=-0.0829 right_gripper=0.6561\nstate[joint_eff]: [-0.1436, -1.4017, 9.3744, 1.8242, -0.0611, -0.0122, -0.0122, -0.1983, -9.2376, 9.2239, 1.7411, 0.2564, 0.2125, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07b46ace6568cd8c3c86626cebf6447ffce2fc3337b0a297bb4eec7db7da5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2167a3762d9f644b4f05d997f21e5cc43e32d6ffb25b2313c65bb7b3c3cdbdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a35e5eca7ab2b34a300564e5851da13a97f6b5070d1690086ef18eb8169c976",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4084, -0.0139, -0.0307, 0.993, 0.3099, 1.5242, 0.4126, 0.416, 0.2493, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1756 left_yaw=0.0005 left_pitch=-0.0301 left_roll=-0.0009 left_gripper=0.993 right_x=0.3507 right_y=0.0703 right_z=0.0282 right_yaw=0.0228 right_pitch=-0.102 right_roll=-0.0442 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4564, 7.2137, 1.8242, -0.0366, -0.0317, -0.0171, -0.1026, -5.5043, 4.9846, 1.9316, 0.0269, -0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4236, -0.0139, -0.0307, 0.993, 0.2459, 1.2747, 0.5613, -0.0078, 0.1928, 0.104, 0.6538]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0458 left_roll=-0.0006 left_gripper=0.993 right_x=0.3473 right_y=0.0559 right_z=0.089 right_yaw=0.0277 right_pitch=-0.137 right_roll=-0.0471 right_gripper=0.6538\nstate[joint_eff]: [-0.2256, -1.1282, 7.0632, 1.7851, -0.0415, -0.0415, -0.0171, -0.0889, -5.135, 8.9094, 1.5751, 0.1001, 0.0415, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6418, -0.4686, -0.0139, -0.0338, 0.993, 0.4618, 1.6985, 1.3582, -0.4847, 0.3367, 0.2287, 0.6561]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0927 left_roll=-0.002 left_gripper=0.993 right_x=0.441 right_y=0.1583 right_z=0.1748 right_yaw=0.0505 right_pitch=-0.1999 right_roll=-0.0829 right_gripper=0.6561\nstate[joint_eff]: [-0.1436, -1.4017, 9.3744, 1.8242, -0.0611, -0.0122, -0.0122, -0.1983, -9.2376, 9.2239, 1.7411, 0.2564, 0.2125, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07b46ace6568cd8c3c86626cebf6447ffce2fc3337b0a297bb4eec7db7da5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2167a3762d9f644b4f05d997f21e5cc43e32d6ffb25b2313c65bb7b3c3cdbdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a35e5eca7ab2b34a300564e5851da13a97f6b5070d1690086ef18eb8169c976",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOdpAUeEEvS-DjJZNnd-U_nGBvN_Viqtt4NgSKnN6mvGNNOxSc2l0W0rZHsIaZzilWyOOhBNAXOIPrGancxe4H2wNDQP80mxpsgy0MjwJ5daRlpjuE2DwX2yOhF7hjwxCh5HIH6czX1TFR20RIpdNdUpWSERbh2jsV_P2faH0Ty9j-zdWbi5AwG692BWNAyvRzw9wETgX1Ik1KtaJDb9tQgYFOmLLMIRwe35rjwG_hSPCmlWjaeXiN82k0T-2OimZk2NVQZr9hxLrkNwjxLMzXO-G3kQvBxCsnY7cQSxTw_vIdqBebPxjGLC_WNEQlN53zw9Y9teuxOisCXowXJYbTmD6h0wDarJzaI8_-kSVyJKxrSkuzy9ZfTQTGIDli92HhguTs7DhcROY2y78qfE2BETGr3LphIQxjB3ux2LTSPqLr5dxlKkrHYBjRj1KFIfNV5GtJPttxLrGVCUAle4Jd_NqXwAY16v-Gs2MWt7n83PqbWiI3EWFwTiAHRqs0TmvHOIWzJiWrGY4f8gUkz2dir7PEe5JMBuP_qp81MtfpIqOFmPCoTERwiGd-gaDE_2hS6BtPvo85JoyMKl9SiXO-WOOk81kq-0jAWePshITBrvtMN7CNtuNnXgAcRgR1BbIRSad5DCN8iXKpghU4jvsldwYjWRgyMagJaiD-Pawd3eGgeYRh-F-2i-FeBYREe0-tmDnbuSCGOjzpgmfQf0P3ni7MlnQAJpNdcu-TP_osvW8OLAB1yEbHfVHJZ4zTZEvw3h_iEBo5oYhG-zpfyMn9wyqk7mqymTE-y1PI8YsOdOGmocyIymxEQyMWsqtASHTAorSVNbDs0xVL7hsQKn0-WSat3kYjK72Z1IHZdYnMkSva1uvuvq1wwNsl94yJWiqFbN7l_3QJxsxUEF-vg09n_I7LZrDeC28bcvBCVrzFk5N0P2znLAcrcCX22YFYrXEKfG7sLdyKmLWcndfrP8fRpy-6UnKN1GBXGw26L5Uhk3hzVyVcBUjiogvoogTGQVo2Lu1xVxQQ4au0NJJo14yaMOPfN8PoV7K4tTcY9fibuIdHi2JgdWKolfk5dvJvPnnCVrspueOy8v_KEWJDz781A2xMT_CRgxVELY6iv8RdygfUPrrL8EKDFPF9hGBNHwrqppT64cdzwFKEQQVsbzEwYUsd0q3zqxkjqhjmw510rUigdaegBWzdkB3bq5Ntgy984D_CljQ5xvjj9CcfyR_bLFDaGBToUfWV4i_UI4QPXFc4OVxvQJjhB32Fd0zQHDF3NhjGJCF9eUdatgY8NKYaf44FpfT8vnPBTWxpPxG73emcuTeAvBD4gHw-Nxi76kgUHU3QfEPpgD3m7oJ5YQvNoz0I8eRHcXMNr-ARmOvmhx3Yd7jc6XzKXqZaa1x7tUW33ha3_wglXGOFIAIN1A72R07KkwHWgdk348Ehbg43sUPDXRbHxkWsah8T0K1rTsVsNcfXejLIAappkTwHkY2MwtcEGchzvDzKpAR1awHEZK9vewK913orNk6IaAK_bDvfYXboM7r4erhcpHs-sev99Wt3TycUxaQ0ZUqyk0IAp3rnQzVVXnBgyWX_vrQX1rwlioQZ1d5rN-POOsOGH-L9JWaBPMLBwtgqTV4TbyjabnzTWtni8-sK4Iw6Sk84QNBFz",
  "id": "rs_0b0692a857a027de016ab473996f9487d08e148b37c862e18c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The held fruit is over the blue bowl. I’m lowering it toward the bowl before releasing it.\"}",
  "call_id": "call_HHvkj1VCzuC7pXCAlHtNxgwh",
  "id": "fc_0b0692a857a027de016ab4739b522c87d0aa2252bf4d936fe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HHvkj1VCzuC7pXCAlHtNxgwh",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4759, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3107, 0.3359, 0.2249, 0.6567]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4342 right_y=0.155 right_z=0.1114 right_yaw=0.049 right_pitch=-0.243 right_roll=-0.1042 right_gripper=0.6567\nstate[joint_eff]: [-0.2393, -1.4291, 7.0085, 1.746, -0.0415, -0.0317, -0.0122, -0.1573, -9.1692, 6.8855, 1.8095, 0.0952, -0.0024, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8219b7b9fd6f8bea7af6e9eb1034a617cf0c5ddde3469f2d410f0a24d9d93b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5fbec81faf7adc41de5bbbcf73ae88fca69dddd511e556bf6e42f168b02708",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1505d6b18eb26289e75ca4596c75825c40c48b90d027de5dd3dd67300c676bc7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0307, 0.993, 0.2474, 1.5204, 0.4057, 0.4301, 0.2001, 0.1112, 0.6514]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0005 left_pitch=-0.0385 left_roll=-0.0007 left_gripper=0.993 right_x=0.3538 right_y=0.0569 right_z=0.0285 right_yaw=0.0201 right_pitch=-0.1001 right_roll=-0.038 right_gripper=0.6514\nstate[joint_eff]: [-0.212, -1.2923, 6.9949, 1.8242, -0.0806, -0.0269, -0.0171, -0.4855, -6.3658, 4.0684, 1.6386, 0.0073, -0.1734, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6418, -0.4686, -0.0139, -0.0338, 0.993, 0.4618, 1.6985, 1.3582, -0.4847, 0.3367, 0.2287, 0.6561]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0927 left_roll=-0.002 left_gripper=0.993 right_x=0.441 right_y=0.1583 right_z=0.1748 right_yaw=0.0505 right_pitch=-0.1999 right_roll=-0.0829 right_gripper=0.6561\nstate[joint_eff]: [-0.1436, -1.4017, 9.3744, 1.8242, -0.0611, -0.0122, -0.0122, -0.1983, -9.2376, 9.2239, 1.7411, 0.2564, 0.2125, 0.9304]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4759, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3107, 0.3359, 0.2249, 0.6567]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4342 right_y=0.155 right_z=0.1114 right_yaw=0.049 right_pitch=-0.243 right_roll=-0.1042 right_gripper=0.6567\nstate[joint_eff]: [-0.2393, -1.4291, 7.0085, 1.746, -0.0415, -0.0317, -0.0122, -0.1573, -9.1692, 6.8855, 1.8095, 0.0952, -0.0024, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8219b7b9fd6f8bea7af6e9eb1034a617cf0c5ddde3469f2d410f0a24d9d93b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5fbec81faf7adc41de5bbbcf73ae88fca69dddd511e556bf6e42f168b02708",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1505d6b18eb26289e75ca4596c75825c40c48b90d027de5dd3dd67300c676bc7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is lowered inside the blue bowl’s rim. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_CBb7RtY90cMjHohasYEYaHg6",
  "id": "fc_0b0692a857a027de016ab473a2e26487d0bd678f3286256b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CBb7RtY90cMjHohasYEYaHg6",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4767, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3183, 0.3363, 0.2188, 0.9958]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1664 left_yaw=0.0023 left_pitch=-0.1011 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4329 right_y=0.1544 right_z=0.1102 right_yaw=0.0513 right_pitch=-0.2502 right_roll=-0.1119 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.1453, 1.6239, -0.0513, -0.0464, -0.0073, -0.0479, -8.8547, 6.5026, 1.409, 0.1099, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18aed5e66b72e0a9a5d49d94b17469de3f18aaaade2a9fa7fcec1467c7b3d327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb31c26af6b5ce5b198b6f863764afff95b734e9ef2358787f6f412bbcc2cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590b0837ee38479336fff0cc24b37a408b9f49182a5fdc22aa4f7e504fea2205",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.4236, -0.0139, -0.0307, 0.993, 0.2459, 1.2747, 0.5613, -0.0078, 0.1928, 0.104, 0.6538]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.1724 left_yaw=0.0005 left_pitch=-0.0458 left_roll=-0.0006 left_gripper=0.993 right_x=0.3473 right_y=0.0559 right_z=0.089 right_yaw=0.0277 right_pitch=-0.137 right_roll=-0.0471 right_gripper=0.6538\nstate[joint_eff]: [-0.2256, -1.1282, 7.0632, 1.7851, -0.0415, -0.0415, -0.0171, -0.0889, -5.135, 8.9094, 1.5751, 0.1001, 0.0415, 0.9353]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4759, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3107, 0.3359, 0.2249, 0.6567]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4342 right_y=0.155 right_z=0.1114 right_yaw=0.049 right_pitch=-0.243 right_roll=-0.1042 right_gripper=0.6567\nstate[joint_eff]: [-0.2393, -1.4291, 7.0085, 1.746, -0.0415, -0.0317, -0.0122, -0.1573, -9.1692, 6.8855, 1.8095, 0.0952, -0.0024, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4767, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3183, 0.3363, 0.2188, 0.9958]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1664 left_yaw=0.0023 left_pitch=-0.1011 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4329 right_y=0.1544 right_z=0.1102 right_yaw=0.0513 right_pitch=-0.2502 right_roll=-0.1119 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.1453, 1.6239, -0.0513, -0.0464, -0.0073, -0.0479, -8.8547, 6.5026, 1.409, 0.1099, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18aed5e66b72e0a9a5d49d94b17469de3f18aaaade2a9fa7fcec1467c7b3d327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb31c26af6b5ce5b198b6f863764afff95b734e9ef2358787f6f412bbcc2cd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590b0837ee38479336fff0cc24b37a408b9f49182a5fdc22aa4f7e504fea2205",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOnJ2cGoetZQcpjRUHsF1I33cqOSPs7bpTc6RtvsRsVv38vZHfp3DQxQXOeBtLctFaMuj-6pDwFzk7gFopPDGQvaTH6B9GYN5q-UpCca_6kybDcCKLhujM1aP0GqnJo3FvICjh7ugGG8JXlZcwbsnmcOE9mhiMoNYqClawgLxoA4FDA3s_966PvXdFjT540vR90goC0rUwIxdxclwnOlcIQgr_u6TjAHOmaPXKZk0xznimdUJwThwxVBbvIMb0BXJp-5roFsxebx86XpL_9aRSwBkZWRoOjjKAE_AutCqdC0Oe8VmCgEL13XUV-HAGMUwKlo0j3HtvlEGcgmUcJUl-cJvDHJXoXxv8GH8Q82lrjGFZ4EdBdkttxQr65GEoNx8maieFeSX1s2GeQ2_LE2mb3EEIvcY0Kgh-IzZtSaI9PONfRfb2iX3Wl6h6T7HS-0UbsquJXBIuXqVnIvtgn_xhjP-NGOftrQ_RVRVeELvgXe_-CMO4uPoGYwALgo-79eHbuV9HL6dBCFfORJdQzk_A0B7BlcLWkaKUj5XwGj4Tp1hPpmzfsdJ0YpM2cUDYSy078Hd63wbnyUfFvPNIvpdC_iOG30D1t32SjxjieQtOiD0rbRxYeEy4tKQwxXvcDO7d0tw1eVsO-EpBo5VdMpSyeiEmwr1ZGths1MIWInH_FcD2hG_FsKb7N713ebwC43Nz22EFEs5Eghds3UMelnpzcLXfYsll3egMxBQyJ9Dq9RGjQabjCF9qQmHwGLoqsMiwTDawcqk_INos3cCTsSOgTqAohnUm46uSNInjRbbi8ptcDEL_GkF2xTmXiCbiw6zXkqs0joCpsbNAumFKnYbcew37rawknOeDnwvUiWafBIj6xMLRGzZlv6koSqO7I-Gn296CzqgWntB2KqHLunFrcmVc4shR2k4in7vgDGbYpR9eK4e9qII1HK__GYjZ94psRXANGzsSQZSynfj7GuKmIzyIYV04w1L8kz4AkEm1yFbPfXnGIyuqzHt8dEv5-EZE_QYeImYNZvVPTeoaJsufB08eHt32-DGwlrHpM_Ar_ZP9EpfIw_4FPlrIwQ5pUL68lvgmhgvVu61-lG8WyiywjgST3p4adNsVMrMNx5a-955RcXevoNO24xFBC1c_cSKzo_TkWQCCPWpwvrtgjQ7PfPMJJsPDvaJWj3l4WPY5NOyJXfbVvBlEXr-8uepQfOEX4q6RqOWuzp-PVCop2ZgPhsIuEH_HD-NieQsOs9ACP-W7jPSuy6O9CNpPnRJsjcoRBr0N_m5AUQ5lM1IInKSm9YsepQ_9AeujVM6s19auoHEN27jbOGe5bVVZC_g7R3441_kBeYcBaTmWQpeY12g80jMdqNx-9GuDCainLU7obzYiFVUYIoUTKDkgOkUiD45vNLBau8f1ZwPBSIPrhOQ4e4SZ3u8f-_0sNsio-QK_5jUN1iy5EG2niID-aelxEfaMVuHaMUw8lB6Q1r_aXFr2zef3YTwLwYWh0kaWTNf6MgTeealblz2mCoTIQC13W2hzEevsfQuBN1eEvZ48NXGVf9QW0eIzGDkFE5PAEO-TFZiU=",
  "id": "rs_0b0692a857a027de016ab473a50f6087d084cfee53633e21eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.205,\"right_z\":0.15,\"left_x\":0.28,\"left_y\":-0.28,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The green fruit is resting in the blue bowl. I’m bringing the right gripper above the yellow fruit and the left gripper above the dark fruit, keeping the arms separated.\"}",
  "call_id": "call_ZvIIz77nSdVewb1rCwKKOm4M",
  "id": "fc_0b0692a857a027de016ab473a68aec87d08c06032f6473456b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZvIIz77nSdVewb1rCwKKOm4M",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.6051, 1.1152, -0.5976, -0.7479, -0.9024, 0.9937, 0.7536, 1.5681, 1.1427, -0.5797, 0.4984, 0.4603, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2708 left_z=0.1369 left_yaw=-0.0094 left_pitch=-0.1377 left_roll=0.0243 left_gripper=0.9937 right_x=0.3382 right_y=0.2065 right_z=0.1396 right_yaw=0.0657 right_pitch=-0.273 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -7.2821, 9.0051, 1.0379, -0.6471, -0.0464, -0.6618, 0.5675, -9.1829, 6.8034, 1.1746, 0.3443, 0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521fd758071bd0fea0891953d4413a00b7155e217de47868ba2a73563342afc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5b413d71b44fabbe0720f878e2d8e6c92ecbd327dd5d954bfede1bfa0f749e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d4b7899ac708a854e95bc54ebab9c0ab8e50cbf4e8fbddc08823b9d29a2719",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6418, -0.4686, -0.0139, -0.0338, 0.993, 0.4618, 1.6985, 1.3582, -0.4847, 0.3367, 0.2287, 0.6561]\nstate[eef_state]: left_x=0.2896 left_y=0.0002 left_z=0.1681 left_yaw=0.0022 left_pitch=-0.0927 left_roll=-0.002 left_gripper=0.993 right_x=0.441 right_y=0.1583 right_z=0.1748 right_yaw=0.0505 right_pitch=-0.1999 right_roll=-0.0829 right_gripper=0.6561\nstate[joint_eff]: [-0.1436, -1.4017, 9.3744, 1.8242, -0.0611, -0.0122, -0.0122, -0.1983, -9.2376, 9.2239, 1.7411, 0.2564, 0.2125, 0.9304]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4767, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3183, 0.3363, 0.2188, 0.9958]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1664 left_yaw=0.0023 left_pitch=-0.1011 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4329 right_y=0.1544 right_z=0.1102 right_yaw=0.0513 right_pitch=-0.2502 right_roll=-0.1119 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.1453, 1.6239, -0.0513, -0.0464, -0.0073, -0.0479, -8.8547, 6.5026, 1.409, 0.1099, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.1019, 1.6051, 1.1152, -0.5976, -0.7479, -0.9024, 0.9937, 0.7536, 1.5681, 1.1427, -0.5797, 0.4984, 0.4603, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2708 left_z=0.1369 left_yaw=-0.0094 left_pitch=-0.1377 left_roll=0.0243 left_gripper=0.9937 right_x=0.3382 right_y=0.2065 right_z=0.1396 right_yaw=0.0657 right_pitch=-0.273 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -7.2821, 9.0051, 1.0379, -0.6471, -0.0464, -0.6618, 0.5675, -9.1829, 6.8034, 1.1746, 0.3443, 0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521fd758071bd0fea0891953d4413a00b7155e217de47868ba2a73563342afc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5b413d71b44fabbe0720f878e2d8e6c92ecbd327dd5d954bfede1bfa0f749e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d4b7899ac708a854e95bc54ebab9c0ab8e50cbf4e8fbddc08823b9d29a2719",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO0bZm15kuaydKeSy1-q_hyL5Mf3MJn4r9WQrON6A9jWUTs5R4bwdKGwbKpgywAg9zN1r5TUAWcV37nJnWpwjwwMcoWExK9asdHoMDwJD5Zli8aZe8F1tNnII-LRvmwTAqvswrVHtwQPPDDmEOsptKgddabS8xIwSJmWmeIEiiy9EMoCJ2UzH6SkLESMGM0O_9lbMaratdP1zJON0MFALRtbo5gHGQwPnr9R91csxShjR7dNpAx0p_1WkSolRy2LIBJPyLhD62yDYsAdQSlCxmzH0BcxI9mE-X8SOz_Evfg9AWwZa9Czvo9ENb5h6qnOYJhFQgOYEDiBTMMQnX4vwaLWgNbmevuY_5MtIjhc_TB-QizSD_u5AdhmjR5d0spZBc_bJJ5yLMzbmNC0jb63nxK4jh2kIxxDIzmo8s8_dFO7ihLRYyOWmSJpb3reJ9shvOit0dB75ZWHDnD_5zBTHutfhoIHxfa4UIpjzYFZaPkQz1gmiRlp92AGNHiJ2GOqw4wDSqabQ_IUh6Bm6LtENre6JwNn7tTsFJQmdX4wcYGhEvpFO7HjOHHlNxY9GpEveBswhrPzsUhF1n6pioWBz0Y7lZ8VRf9MT_UHpoAhbTAsvGAJqzkiRf2EgB3L1EJdDhPAyA3jcTIqEK-og-rSGtobw4bJloFvQsJhz21TjJlsCC8MjLUhgRfK9Mo7oYAgz4imKNGq2-DTxGhtSouu8KcQQvewmicd14UcgpYEiYi5Z2n24jfx3yois8HTuemuZ-1asgRhACk6b0EA69R3jYIymWufW2Za4R1Q1BDhXu7Tn89yBmhuqpyA_KObjVB7x_GCZWTLxmVAdbIRBsStacOr9yrRByAjD8BPgqfGcqrjJmHE8rxQNS_6D8wLF8CPuabDi0D-Er7CMAJ4PFEQzXD4p5lvegOUFVccmL48WAi0ojEYxAwXrenbL3ISq_kQVZnaZS0bl_4-Je9oGVPwUMSeTgTQFfraRqPU6Omec87-tHIIrRmAIFH78VmAGuGTbrGq3FnYcELa6CYo5KIhiRZXl1ePX4f1LNTjjSaWWQDLjhhGrcXfMq4mwWM0JHAOSD09ipTV_ZMaDkiKuvc3zuvJ2lxdqLOW07KzElBQeESXv11fYLD-b2eCpL6htmPkklfqKbJdJ0FN5PY9lz8yB8qGtpnGwQ_C43h4xJmZSIoxYxiyGUo2JMfSKfOHtU5K5xLMI-TJIabxjQSIUZuxHb-gr5PgcImE2dTqMLUp5VQryyRBkm2FPDtWVr_MNsCZ_h16QvlWrPYwFA_T6B7F7lGhH7EDSOXXmdY2RwdnvWfWgaE0RUPQvJD1VxmW5G67Hh6ZRJDxAr4le4Ly-fYPK8QyIdHoF4C3blFKuBfzSANkIsPHPNtALdo6i2bmbtyYeHqoACKmiJQNguTn5Npy3wXiHVyrPwtiWSQLv9tbX4CfP-drSY8jKLwwOopLd8MC8TYC8-4CQIyPz-ldNOO79ySEP_qOTdzg3zwcCQO6s7sWNjNy5do3tRNhMj-sawVXq7E0uGA3Thf9PzOzBKWozvjjM6fO0Zxkkzb3O0bAXyBBsUv8igsrJTo7Sr274hZxglkPoZ3KyVDGBiLlW4QglJIcXtj4H8Zi_c0eMYr-Ir-45K-5o-kBZALMn0pRlJY4CJ6qXlOeUJUQ1Q2Z-DcdlWgSFIZReAz5tOjyWGH3Lm8ciKOiQZFtB_cWYDo_CBNMeVttRsCNiT3GdsekoDBw9bdWJdRzCT0EF09IHKN7kt_JBS_3rUcLJkEwtIrGDh1JAfeuwE8ochfI98HSQvxyB4TgzIuyZt-rEQy0U6rNMXmiP8CnITGcCvbBKPPtfiLxMDkJdsO8BoTlK9YGswI6c1vGw==",
  "id": "rs_0b0692a857a027de016ab473b0c9b887d09d1064006125e3b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.27,\"left_z\":0.035,\"right_x\":0.35,\"right_y\":0.215,\"right_z\":0.035},\"note\":\"Both remaining fruits are visible near their jaw centerlines. I’m moving a little farther forward and lowering the open grippers to surround them.\"}",
  "call_id": "call_3mHAjbceBqBUFTf41W5FQHSI",
  "id": "fc_0b0692a857a027de016ab473b34b4c87d09cfb31fbdaf1a467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3mHAjbceBqBUFTf41W5FQHSI",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0275, 1.8046, 0.9211, -0.2073, -0.7124, -0.8299, 0.9931, 0.7456, 1.7622, 0.9413, -0.2367, 0.4969, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=-0.2612 left_z=0.0369 left_yaw=0.0072 left_pitch=-0.1684 left_roll=0.0669 left_gripper=0.9931 right_x=0.3425 right_y=0.2065 right_z=0.0366 right_yaw=0.0497 right_pitch=-0.3145 right_roll=-0.1623 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -7.6923, 5.3402, 1.2625, -0.2906, 0.1392, -0.0806, -0.0342, -7.706, 5.2444, 1.2772, 0.1978, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5c8bc80e9e2c27fa61be794fb1ede68c5041c1e1c5c9063283589714be9e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bae1911152d4c8bdae11f4962d5377908fa27b11091fd18d5f49d4cc45fd41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3208ad90142a483856b0316c45c62831ee2e5a39c02ac67421c7193851e73ee1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4759, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3107, 0.3359, 0.2249, 0.6567]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1666 left_yaw=0.0023 left_pitch=-0.1003 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4342 right_y=0.155 right_z=0.1114 right_yaw=0.049 right_pitch=-0.243 right_roll=-0.1042 right_gripper=0.6567\nstate[joint_eff]: [-0.2393, -1.4291, 7.0085, 1.746, -0.0415, -0.0317, -0.0122, -0.1573, -9.1692, 6.8855, 1.8095, 0.0952, -0.0024, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.1019, 1.6051, 1.1152, -0.5976, -0.7479, -0.9024, 0.9937, 0.7536, 1.5681, 1.1427, -0.5797, 0.4984, 0.4603, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2708 left_z=0.1369 left_yaw=-0.0094 left_pitch=-0.1377 left_roll=0.0243 left_gripper=0.9937 right_x=0.3382 right_y=0.2065 right_z=0.1396 right_yaw=0.0657 right_pitch=-0.273 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -7.2821, 9.0051, 1.0379, -0.6471, -0.0464, -0.6618, 0.5675, -9.1829, 6.8034, 1.1746, 0.3443, 0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0275, 1.8046, 0.9211, -0.2073, -0.7124, -0.8299, 0.9931, 0.7456, 1.7622, 0.9413, -0.2367, 0.4969, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=-0.2612 left_z=0.0369 left_yaw=0.0072 left_pitch=-0.1684 left_roll=0.0669 left_gripper=0.9931 right_x=0.3425 right_y=0.2065 right_z=0.0366 right_yaw=0.0497 right_pitch=-0.3145 right_roll=-0.1623 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -7.6923, 5.3402, 1.2625, -0.2906, 0.1392, -0.0806, -0.0342, -7.706, 5.2444, 1.2772, 0.1978, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5c8bc80e9e2c27fa61be794fb1ede68c5041c1e1c5c9063283589714be9e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bae1911152d4c8bdae11f4962d5377908fa27b11091fd18d5f49d4cc45fd41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3208ad90142a483856b0316c45c62831ee2e5a39c02ac67421c7193851e73ee1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO4psONBIprKIwTBlZYG1inmARgXYuHABWZTyL0fakyjFYQQR_P61JVpoRcA_DfKNe4Y7Bq-SPJt-DUqai5SCIRiGHjuVy8Dr3Aljv49Tk5Yc_EJvbWkvBWEvd3O5py1oEKaS-tX3VmUgbZB9uGgE40ZgnfBmrbuAzazHcfGhWrcK8jGza_1_3_EjQQS6mIoz3B1NqtZ5EO9a6Fvn1Za-leg6Jo5gUrDZ-qUFtzSKV70WdpJEgpG15l-OK-S80lNPjueDGLwq_Tf17zjUJhE1KLi4pXNDwqMMIAhmtqAPJBTKZRKa4WYW_mhCt0XRR2eIS6V03E_ysfYPrv9-sZi8UkTLhHprLdJmQ4kmKW7F-sjy1H29x4vMKGWP9ziArV8dyaG46MZlKv7QqK5xU0WDrD5ipjio9S2MPxRt5aBrAMBNwGWXCnayLGNYmZ4kFwPyoT_IErnMbeEhNxKlNzhX6Jd07Hp1jeWySqQdRceUoHZXNQdjcHC1qlw_SLbxY7BEeCsRLcB7M0RAf3Xj4MXm_BVyiip_gIEs7TPZ5TJbvD696GwOhm03Hvsp8XNubKN9gupCzXlVWG0gpiF3Wg_i_Vcl3AZgRFLBHKHs-Vtlo9b41mVWWm8_0LU_h5jATcdYToY8r6_A1s1wclmeOWepZ3L0hg6MFtogXyMflOZ9bKRFhYmpFiXr9fvnN-oS3XVqUqDLOtSwEBS444GL-7dVppikh1MdQL_kyrqrSSPlZLQ53dbHHHXsSplBGgpqztxfLqHYpgaonUrAy2vcTmk5f40h6k-vnBb3U6YroaNqYJjeqZb8gRSQHN30GoVn4vTipbh7YG3NRbKwk3mMHM_vqvgCbVNZ7gZO_kK9d77TGbOhryjoEzVSZTFEqeQAAR-OYvvH4M-z7_g3rxYTwWu62QwuAnLVwP-4bbWe2zxTMb2p3g38YAFSkqKJ-nU6u5HtIxC7fakHHaol6S2BPwa9cDdzWpw8nqMKDMwHITpmrHaaTC06jwm8y3ZS5CzI5F1v-J9sQwB2ZvFR2WekdtMpLyaP_FO5lD9qeq0nI8vSUhM_kXqCVlr5AgOsa6s4GoFRwsSE8pVLWPXZByM7-QBanaIomzpFa73UcLVSGyp8kJSNXEqKTouAbLjIHuA2Q7NkojSsJGucrMaxbgUH0fklMeFohIZyPtriVdNWBxovFeHjAzZbVd6EjkH5so0eq-eSBPnD0tNaldvyrpchj1yLCqSbOe7hekZFK3hOSplxJicPSHALPxrWERfzqAYKsoGMFyJFnuDD7gr8gBsVgIlnrknUIjwB3OHU1mrcW50yGN1InoEcF4XfnKcLshMCdMy9noDRkjoFbgxNHll2AwwVSd62tlmYzYggUAuyFQ5p6NMOzG7ho1hg8qdOFgNHCukvPm6N75wCQ3TBgOiuEOpsgMaDTuPUOgJpni5P4kew3TAqtKElLwjogKm-MeqJMOdgZtso5we4utDRXmmqugQt__lRX0AZAivPfhidn93tnC1w9qwcMhR5HPVgoqa_FGziFm",
  "id": "rs_0b0692a857a027de016ab473b648f887d0b3b14ee5b8f857ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.257,\"left_gripper\":0.35,\"right_y\":0.223,\"right_gripper\":0.35},\"note\":\"Both fruits are slightly left of their jaw centers at grasp height. I’m making small lateral corrections and closing gently around each fruit.\"}",
  "call_id": "call_VWi6o5DmxpLAJbVaq5M1njET",
  "id": "fc_0b0692a857a027de016ab473b7e20c87d0b5c9d96ba63fa2d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VWi6o5DmxpLAJbVaq5M1njET",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0214, 1.8271, 0.9073, -0.1951, -0.7097, -0.831, 0.4783, 0.7746, 1.7889, 0.9745, -0.2626, 0.5045, 0.4778, 0.3544]\nstate[eef_state]: left_x=0.296 left_y=-0.2561 left_z=0.0258 left_yaw=0.0161 left_pitch=-0.1827 left_roll=0.0859 left_gripper=0.4783 right_x=0.3398 right_y=0.2181 right_z=0.035 right_yaw=0.0583 right_pitch=-0.3233 right_roll=-0.168 right_gripper=0.3544\nstate[joint_eff]: [-0.253, -11.0974, 5.2308, 0.9499, -0.3736, 0.0513, 1.0134, 0.759, -6.9538, 7.5009, 1.0525, 0.3101, 0.1245, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e46c775e16f5056dba6a5f062063cfe5b9404293af4df3440cd81a9f5bdc7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a314dfd362a43f2e845bf9ca20306fb31e0cc5755cf96ab85e645382bf7a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3406c5999ca405c13a73795b2ebdd569328de331300492c681d8ba5117a1cd2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8349, 0.6415, -0.4767, -0.0139, -0.0338, 0.9929, 0.4618, 1.7454, 1.1847, -0.3183, 0.3363, 0.2188, 0.9958]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1664 left_yaw=0.0023 left_pitch=-0.1011 left_roll=-0.0018 left_gripper=0.9929 right_x=0.4329 right_y=0.1544 right_z=0.1102 right_yaw=0.0513 right_pitch=-0.2502 right_roll=-0.1119 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.4564, 7.1453, 1.6239, -0.0513, -0.0464, -0.0073, -0.0479, -8.8547, 6.5026, 1.409, 0.1099, 0.1245, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0275, 1.8046, 0.9211, -0.2073, -0.7124, -0.8299, 0.9931, 0.7456, 1.7622, 0.9413, -0.2367, 0.4969, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=-0.2612 left_z=0.0369 left_yaw=0.0072 left_pitch=-0.1684 left_roll=0.0669 left_gripper=0.9931 right_x=0.3425 right_y=0.2065 right_z=0.0366 right_yaw=0.0497 right_pitch=-0.3145 right_roll=-0.1623 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -7.6923, 5.3402, 1.2625, -0.2906, 0.1392, -0.0806, -0.0342, -7.706, 5.2444, 1.2772, 0.1978, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0214, 1.8271, 0.9073, -0.1951, -0.7097, -0.831, 0.4783, 0.7746, 1.7889, 0.9745, -0.2626, 0.5045, 0.4778, 0.3544]\nstate[eef_state]: left_x=0.296 left_y=-0.2561 left_z=0.0258 left_yaw=0.0161 left_pitch=-0.1827 left_roll=0.0859 left_gripper=0.4783 right_x=0.3398 right_y=0.2181 right_z=0.035 right_yaw=0.0583 right_pitch=-0.3233 right_roll=-0.168 right_gripper=0.3544\nstate[joint_eff]: [-0.253, -11.0974, 5.2308, 0.9499, -0.3736, 0.0513, 1.0134, 0.759, -6.9538, 7.5009, 1.0525, 0.3101, 0.1245, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e46c775e16f5056dba6a5f062063cfe5b9404293af4df3440cd81a9f5bdc7ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a314dfd362a43f2e845bf9ca20306fb31e0cc5755cf96ab85e645382bf7a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3406c5999ca405c13a73795b2ebdd569328de331300492c681d8ba5117a1cd2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO9s78ALZ6TqdBi6_h0fk_dzcg6ahfSKaGjuAZiawofCZjc8kWQ3f9QHXZePllz458Tfht1vCVVudikXBuH1Au97jn1krtHwtkp9AKvyr06SvSrmhw1Bk6P5xf9qJm7It9FmSaTiFijl46YhTnxNAPdEBVVVSlNs_HfVB8zLPkfNQBhMK17RewGN6bLgATahQGEJWX39w6qrTLBjXKJ7MFD9KLU3S8MgZP2GRUwjMYRZSBYZr71EXV_WsFn7X2mxPB5bjHDn4or_W0gkwT8pJgNKWp_g3i1lnrH_NSZH_q8O2pIP6TjklS1NGGPQxMK0YR9eiw8yPBkwV3CCVBcasYitxY5IwXclDnY1gjT1d9kI5DosTQR6LP98RL6Aq-8zAIO_gzq8pPifR4n8ZTQQ3qoJG0wOrbAVZRjguQ9hd39PoY4MIs0hyVzCHu1jMzGeNIP2H47jNsuvqcpVlfu0n1w-hpLFQUIqon-c-qfdsD4ytfQOGkM1oVcRWMLMUkMyW4Wp0LaH9NXffMZ4T4e72bvWx9x8ptqcaz9MCabQiPRdIAaQpNb-SZoMbhXxxjDYLUeHHsXuJxTBQojm4J7qwi1zsTnxUX8pqjk8SrD5Q0d-sUV1R4lnmiYnvoKuGiS2lQSp_i7WFTJLH9m1j0JkFkepK3G3tu1FlxI1YHgjEz5ob5gfbng15G29c-FY3oolm2ve_4VbOb4tcB6KpCowOo1G_7kcZdbl7xjZIOdoCr_CRSf20kytab9Y8-WKLABMWdAs04w69NtIreUQjci2RiKTozWZ1aEEMalB6hZuimiIMRx3wGZ47QCWzrrDaRBuJbiXwFkIPRWM3_jARkgybcvCkBbCEidPBZ2idxRYhYLgT6_OOjuIg-5hzt0iirbHWIV1H-Sy5IlnBF_6toTnxjAc7Bsc8323iM708HnNEEorLZYxbCcXiBfM3xqkruyZGs3c8cq5dz06knTvqAngwrNJId6J3mdOuaiXPpANW31mKpZw9_yNxFt0bA_hRsRl5c8lTmNlqlNnrekXGw9PmshVX0VRGza6CrsEk1ipeEdjCWHkB8mmu6Jtdw1Necv8k_9UYAJeQb2lJNRaLwMgy-Ve_SB0nqINcBgBnz9NnT3cXSfdHOvUoYnTayJA95wHSo9cFZm4JIyM00jf6GDkIrbJpTQ-YWaRdnB4NmsiHxQNgFhsNVG3mmG_IpK8omO9ubfiIKc46e57yi31lVXIYuHnHD1P2usFFYqPy7A4F1PgQJB-qfMmNM-WDzX7teQKs46U4fAaUwZNsDHjh5fvbKDMIO5Q29xLGqHGTHka5Rg1SX_jX2MdsVxWM15OwR3GYWnlO4ZuNV70xgXyBCyY7RO1_O3ShOs-hfxTJFdNZx0T01cDsaJOv2jwukjXQ1U4TshEoDUaqBni0_dgjDaMaJxbJRZl1pazw7VVHldyc4EY6Ku2bPy1jZY3fYv56W5B_EZeeFVL5OCpNHE1vissVZI-gYVrW8QrmJ3dennPJqi7vVj3xtzVXmoHUMWNsbjHFGymb0NqW04ckyPnmghbs2tX1oGQCoaCR0NFPjBLTdBpTfSnHLT_j4W1BKfqbc9TKHKL8iNPIQHuV0KiVXUa_C-rY5eoBcdHUHDEWLxriToiGUfhPeWIhDy0WxzbQ74n9hO0ILkZvjbe0ByTizxn0XH5YRV-9kwM5lrAnIUCi6tWPDNwBOcgsBPfpZ_ZwtSfddtcn5E7JjFWcnbGuH47Ydmj76ji5Mkuao9285UOXNQCGTIq4iCfY5gP8AzxrIupCdC",
  "id": "rs_0b0692a857a027de016ab473bac8cc87d0a8d63fe5dfcc9ace",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"right_gripper\":0.08},\"note\":\"The dark fruit is held at a clear fruit-sized opening, so I’m test-lifting it. The yellow fruit’s grip is less certain, so I’m tightening that gripper before lifting.\"}",
  "call_id": "call_oovyOeqbJIvy0Muh9pmzIcBT",
  "id": "fc_0b0692a857a027de016ab473bc8c3087d0ab5ca85d11271b13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oovyOeqbJIvy0Muh9pmzIcBT",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.021, 1.7084, 1.0256, -0.5278, -0.6987, -0.8383, 0.4814, 0.7555, 1.795, 0.9768, -0.2665, 0.4965, 0.4717, 0.0824]\nstate[eef_state]: left_x=0.2862 left_y=-0.2427 left_z=0.0734 left_yaw=0.0328 left_pitch=-0.239 left_roll=0.1601 left_gripper=0.4814 right_x=0.3429 right_y=0.2123 right_z=0.0324 right_yaw=0.0465 right_pitch=-0.3342 right_roll=-0.1717 right_gripper=0.0824\nstate[joint_eff]: [-0.0205, -10.7145, 10.9197, 1.5018, -0.4713, 0.0122, 0.8962, 1.306, -8.8821, 5.4769, 1.1502, 0.3101, 0.0415, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e41210ecd6de50525af299b16a2764d5ce32d1e2c16d59d087e41c5557fd59c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a6c64e154e19b8238da33907642d651891e49326659063d84d14cae7662989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a15f254c309b862385772b91252ccd9d0ceb4dd2edaab33f376cda1ae9be141",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1019, 1.6051, 1.1152, -0.5976, -0.7479, -0.9024, 0.9937, 0.7536, 1.5681, 1.1427, -0.5797, 0.4984, 0.4603, 0.9965]\nstate[eef_state]: left_x=0.2759 left_y=-0.2708 left_z=0.1369 left_yaw=-0.0094 left_pitch=-0.1377 left_roll=0.0243 left_gripper=0.9937 right_x=0.3382 right_y=0.2065 right_z=0.1396 right_yaw=0.0657 right_pitch=-0.273 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.5538, -7.2821, 9.0051, 1.0379, -0.6471, -0.0464, -0.6618, 0.5675, -9.1829, 6.8034, 1.1746, 0.3443, 0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0214, 1.8271, 0.9073, -0.1951, -0.7097, -0.831, 0.4783, 0.7746, 1.7889, 0.9745, -0.2626, 0.5045, 0.4778, 0.3544]\nstate[eef_state]: left_x=0.296 left_y=-0.2561 left_z=0.0258 left_yaw=0.0161 left_pitch=-0.1827 left_roll=0.0859 left_gripper=0.4783 right_x=0.3398 right_y=0.2181 right_z=0.035 right_yaw=0.0583 right_pitch=-0.3233 right_roll=-0.168 right_gripper=0.3544\nstate[joint_eff]: [-0.253, -11.0974, 5.2308, 0.9499, -0.3736, 0.0513, 1.0134, 0.759, -6.9538, 7.5009, 1.0525, 0.3101, 0.1245, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.021, 1.7084, 1.0256, -0.5278, -0.6987, -0.8383, 0.4814, 0.7555, 1.795, 0.9768, -0.2665, 0.4965, 0.4717, 0.0824]\nstate[eef_state]: left_x=0.2862 left_y=-0.2427 left_z=0.0734 left_yaw=0.0328 left_pitch=-0.239 left_roll=0.1601 left_gripper=0.4814 right_x=0.3429 right_y=0.2123 right_z=0.0324 right_yaw=0.0465 right_pitch=-0.3342 right_roll=-0.1717 right_gripper=0.0824\nstate[joint_eff]: [-0.0205, -10.7145, 10.9197, 1.5018, -0.4713, 0.0122, 0.8962, 1.306, -8.8821, 5.4769, 1.1502, 0.3101, 0.0415, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e41210ecd6de50525af299b16a2764d5ce32d1e2c16d59d087e41c5557fd59c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a6c64e154e19b8238da33907642d651891e49326659063d84d14cae7662989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a15f254c309b862385772b91252ccd9d0ceb4dd2edaab33f376cda1ae9be141",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPBmWjkTfrgZ_z3i6ikTKsOZyOp81jfzrL9C8XDmPGx6wS_vm0z8Kr9DUkac_7Bc-dXI39kezy-sdsEapGaYanB7k_3x10PXHJrU1dU3uP2BaBTGE9-3zqlN6MjlMI_0ixFtAwzJJtlXBU2GCKi0XrIG9lyEaW7_gOBOR_c7fr2OE_l-F6o6R_XrzQrpz54VMWA0onG0-aCDj83V7BcMtzdxE4jfN0cv4gDc2LKao_WshmaIIpX_zqg12Eafpb7siH_7xlPEinLWSo9ULHClcV6MXMjp90gEmPeqfm_cbqE-BYx4R91k-EywGTJgePjEtEGouFlciXoO0hqqZvHCEREGVe8GoqUanF0_1ZdLeJx8_RfYHe_5ZCpzFFQXgW9rVkb-m_4xUtN6w4C9TTmd_nhey5TqwaujfxtUw_gdt2DJDNyR09pSN22APbTpwvRHDOCl3w7NcZ1aLKC2aVnaDMBxKlSLzPZI04dEJw4yQ4aegjgh3Ce0aA1EZWN1z-KKmk0bXkKhzb1YAQZT2L803nlbsmP819BX9XnzDRzQPuG9fu6jbH11vYSbaL32WqRqYHIrb9C-TTo848yTtdi5Ael53Yi8mpyYDEcgSdhZaoPQ5rfhcUvW5_0qy9PDGZHSiS3aSn4Qz5ebt1S21fHt4ZKpILPHF3ZK143WSO2R9siMNUC0YTFmobblEaUErU7X-kTnasXAOBxFKbnF1Gu-9RqbEB254e79ynSFpDTOfgeOZKaRA7VJGKiY2krKo5zP15iQZ_IHfdnsktYibHCSG_Tbin2dPOBNFNGRJcj6OD7jZSqKLc0agfMlrQxb0s0fAuEvCkBjZhWGBWsgGrsdsQa7a2-IdWqwGVJLtNFuHdIJd3GAeWZdp_PG6jFG1b1V_jx0qyDM0GQtmWzN7ntzBg_U24xAu8rFc2DEf1IuuivhwGZSHi0r3LgaZkeBhLibnUD_PKZm81F_6P8NKLVynY_V4uKfPkobEyetdLuzzFgzrhFNjKrmxW9bL0NtwLIbCS7UXZAqbZyRx0ouSCQJy9_hCR1WyQx_rkm5azJ4SkHJzsR_HnAeFvH2U8iRf93u5m5oKX0yxjHrExObJjySv262zuY7iUM4CSuiAd18tDSOz0xpgMDXfdJ3rMY1YPQYgpjg2h4lEuz2foZecVubG5Ry5EHevloG-lM9tq7P0SsZhPzCJecgKel--X7JbHZ57StYKUtTdmYqlyJwFk5q-DaKr8--jru6Cn1b5g7CnoDcYGH6AB4xkfEefIVFP_CYFH3sUJOE_dhtANfqufmqfq59u3h6HR6-JvGsiT0MZfmQd6XEi8OU3K5NOjYotzMOgRnYpBL2Dc_Z1fJMWiaDVUxPJ8JAD4KBhZCNcsLX7SfdRieVH2JBVHvT1Ri1KgvCFHd1ReDfKuqbJ3jP39sCeQSZQ==",
  "id": "rs_0b0692a857a027de016ab473bf60d487d0a86806eb4f01c347",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.312,\"right_y\":0.215,\"right_z\":0.035,\"left_z\":0.195},\"note\":\"The yellow fruit slipped toward the near side of the right jaws, while the dark fruit is lifting with the left gripper. I’m reopening and backing the right gripper slightly toward the yellow fruit, and raising the dark fruit for transport.\"}",
  "call_id": "call_rapNxX3uc5gbRcQye1946jnm",
  "id": "fc_0b0692a857a027de016ab473c071b487d0a2c700435bb860be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rapNxX3uc5gbRcQye1946jnm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.021, 1.6413, 1.3705, -0.9779, -0.6827, -0.8455, 0.4848, 0.8188, 1.7576, 0.9207, -0.2996, 0.5106, 0.532, 0.9957]\nstate[eef_state]: left_x=0.2842 left_y=-0.2436 left_z=0.1713 left_yaw=0.0381 left_pitch=-0.2703 left_roll=0.1816 left_gripper=0.4848 right_x=0.3145 right_y=0.2151 right_z=0.0264 right_yaw=0.0536 right_pitch=-0.3583 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -9.5248, 8.5538, 0.7643, -0.5739, 0.0513, 0.652, 0.5812, -10.1949, 5.2034, 1.0818, 0.4078, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe8ac79ce2823df1edfebf183fbe674217d6fd31e60c477bd6f7ec949bb9260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a91bb7ec56b4705904f1bc72e53e924acf3a03d5438a11e87b8eb79ee5c2661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed65d18e32fd43f82951a7f8d1d6795d83f7b492b4ed029a41b50037300f548",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0275, 1.8046, 0.9211, -0.2073, -0.7124, -0.8299, 0.9931, 0.7456, 1.7622, 0.9413, -0.2367, 0.4969, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=-0.2612 left_z=0.0369 left_yaw=0.0072 left_pitch=-0.1684 left_roll=0.0669 left_gripper=0.9931 right_x=0.3425 right_y=0.2065 right_z=0.0366 right_yaw=0.0497 right_pitch=-0.3145 right_roll=-0.1623 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -7.6923, 5.3402, 1.2625, -0.2906, 0.1392, -0.0806, -0.0342, -7.706, 5.2444, 1.2772, 0.1978, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.021, 1.7084, 1.0256, -0.5278, -0.6987, -0.8383, 0.4814, 0.7555, 1.795, 0.9768, -0.2665, 0.4965, 0.4717, 0.0824]\nstate[eef_state]: left_x=0.2862 left_y=-0.2427 left_z=0.0734 left_yaw=0.0328 left_pitch=-0.239 left_roll=0.1601 left_gripper=0.4814 right_x=0.3429 right_y=0.2123 right_z=0.0324 right_yaw=0.0465 right_pitch=-0.3342 right_roll=-0.1717 right_gripper=0.0824\nstate[joint_eff]: [-0.0205, -10.7145, 10.9197, 1.5018, -0.4713, 0.0122, 0.8962, 1.306, -8.8821, 5.4769, 1.1502, 0.3101, 0.0415, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.021, 1.6413, 1.3705, -0.9779, -0.6827, -0.8455, 0.4848, 0.8188, 1.7576, 0.9207, -0.2996, 0.5106, 0.532, 0.9957]\nstate[eef_state]: left_x=0.2842 left_y=-0.2436 left_z=0.1713 left_yaw=0.0381 left_pitch=-0.2703 left_roll=0.1816 left_gripper=0.4848 right_x=0.3145 right_y=0.2151 right_z=0.0264 right_yaw=0.0536 right_pitch=-0.3583 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -9.5248, 8.5538, 0.7643, -0.5739, 0.0513, 0.652, 0.5812, -10.1949, 5.2034, 1.0818, 0.4078, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe8ac79ce2823df1edfebf183fbe674217d6fd31e60c477bd6f7ec949bb9260",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a91bb7ec56b4705904f1bc72e53e924acf3a03d5438a11e87b8eb79ee5c2661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed65d18e32fd43f82951a7f8d1d6795d83f7b492b4ed029a41b50037300f548",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPMvxqbWmykffjHNzD_5HRRdk2gdfivUHWdq0PbpJK9pGqxEE0QBYz9gSmBnHQydlBIN4HEGY4TDKkp-iEMOfd03iWC8w5awPuhEHW-y1si72U5gNb_yz17DdMP1OUBFiHVqqVNGvJCglsV1XkbgOEiNyj8xjX2Fv0d41ykPPMZ7OP4KMEY37KdY3Aj6LvOeJCR_9ljlPBp0zFmQ_bv0gn3lOKlA8rptXQbcYTywxoecHwZT7TNewly8D0wZJqsIqDvss1gqw2U7aE1LfFAVG9iUDrkYkw5pZ0_bv_Z5Adtd_SkU90HZHzd2mPk4BDFqvfgmYk8ZzgG9RbR4AD7HNamKJqVhO71Kww7PSJzAxYNB07h3XdB5OEH7W74NmHB_QIegpRpcnT6kIKuQuif2hOlY6BiNTpku7_kcIPN4PMGL_4qJGdnw5-96mLO1AhVks86Xl4b1wY1dJYe9LnrelteY1QBC99hOhEW5V2v34mYlba_di9kfElXyryztcGmshC5GDjc7nCSXtEI3TxpvfyPRp8YI_qy_CGca_6rYYdIzqUSbnNLj--dccjKLWFpk6y6qfUATonCQzpoB096A782VvIfVyH6drpO4mpkS28T24pnT5inGAYpUHToG1JCsL07IfqvQM7gdLfIkbL2Komjrxz8WUUUM8mssdXHxgh2HAYC8CBvfmAvoJPI6Hlo-obERPd6tNwwRlU7-xBMBbM-jPEhZ4ywKubH7Lqxa2Yv8pH2f43GezbcATJWHHuqz0-_ewOdNZdrkeRdMT9PeOQ5m7vsye9ZhFSlp3lPll3u-czDQuQpJhVPOkkHGSAvt2uuRDuBuyphMffetx5ip2xt9x-vCMqnfqZV31xmQrF-Iwuk1ztAorW5fExJk_BU3izUcYSjnUV7NX7T3ssF4rqN9oGGGyND1aMlNrCcoYDR7CffIVRYlcN0wqXL6cwuVfsHnKItNGbZwT3Butj1TrEwMmvhWiX1ziDzrlV-GRgQkuB1eJ2ZHaCsT93_-nFjyv0dCCnoEZ-bgSSHhO02cFzzYzPKApuTdi5ZeXyd6woXHQTZR3DGfTDswGkIbpa71RnnIQ0C0kjE0vLOShPiLpOX8fwtd9umDj2yNZ7V3A21pEZb2UzLUtOSAluHuN_6VhzppWRDn5tYt5RQlCVvQXCXaSBvl9KxVg1-g59bJ8yntR-3J9pqJeZx7ES3fsgtXkii3wUKWH5ZZF2xxM5Y5Lzyt0Ckf3SKqXj39Yf6ZjVEDTmicJGYxyiR1dckqKXm0-vU_5uQC60_VHnlFdvhwKmFC5ZHGfHQX4QxJuYMgy2Hxn23sgAfEO6zoV8L4BkJNQjx-_LxQI-1q-sR258pYUCfmlCey6KpBrhWlNIqLnc9Xh_ldzi1qzYd8WmothvrLvHS4KIYIWsU1HK74GVDkQD-j2kcUcNJrmYH4DGukbxVsWFAYw8z8UWmtXoweTlga6ytDMOLIqFqUUJQoETa8hguFfJvbFUSX-buYwrUkjzzFcrKU0V9vPIKc-2XPp74TMhakNmeeh5kDHVezGkD_PhTUleumjbePOdl_7Wqbzt-8bYuJD5DcrzopHqBEvE5T-F2MQFxYXBfr9J-v2BGuJzFxBXyLY_9geRpPQmoWYqihHN9vS8yUnv1ICG4Xtl2j-_WCObyWtaBxlHccV4cF2ur8QY6szdPkStu15a9mfPzq6Jx1Ea-vkAqDWS3QxXw2VANSUwpu90s1X2WBbW9ZeZjKjYpkpnF2ABbiqeOSmNcbEQ15TCZl99yfi-2nkvhLsaAsiDAh8ImmLapExoPUk-Q4-5CkEWBXeTFvxHrI0KQ3at4XfBVbeA-p0UigLqlTC9lHAv0KIX8y-gW-kkP0LJpUHboKQIGV68PjcICUgPregpT6f4sBADIp6ODPwhbdOg3rrL_uaThrWxdgfr3twleePlFfsurUEe16kWOK7F0IOcmbY9isQBdYMTliR0Tx7GMYzVSSPFHJvGASGoHe2JNF51set3oBcNKqRZ8ArFriAbJ3C_NmuQ6J7NobP7imVjquvUoOTdXEYdQNGf4k9JEEwMBOfztsnQIHNld2m8utH7c-9AIC-PjtBM11MUjYbsQgh7xk_TPXx3EX3mJe3w8HPT5fKjbLizdOPb74sQiG8SZW7Tpff-8DGtHJnxQtEFIO9evvXM29AokKKlf4nw3BEtm66oObSCtXlZIh3qxMOs95x_ouMoX2byYryJEwR_dqF3IZ1EyWNsuPNdhNGlmCvHqm4U1DoH4vLXj0GQLizqFjBhZkKnuV5zj2fEhAjDTEsV8A9GOGjo-O-l3fJrYuMoim3nCs2GUdH1IYoHOlc96Dj2ELalzPY7Ua_nDRmyl5f-oiB4j6CUKnmp8jjk_Q9orX3Iy1jxHQEahUNlN_ZPGNKawwuVw1yXoKJkoQP_mWDvmVQZwHG0yQClJHXAlRFnSNDffqfg4VYxUa9Zjto_D7hnkqsqOD0lHpFhlJYHaUMbtzbOXBBTmZH4moCJo1PFDNl9GJ0Cg7fhjSV7GTRfnbt62n1L4ezcVgT57QE87lV-VENG8wz2H6BQtg4NDde0DskBNYbHqERKlv5V0vKyBpcj0HrETXNw-p_FvCKDguLwW1r2A6o3ClqAYHYs6BtpEjfOhpzCoCJzvw4V0KnManNrgjMMjdjVnr-Ni2daEj0pZuraX80TD7qDdIwGXQj7n1T7lniDKJM0HoXCfsjG6cVol5znCuE5IthDB5PKaed8gzYlzSdgdhaEJRACfIMlVK2SmWb_TM-fQP2hOIcBEtWWYznd1qkp9F7pg1WdcgA2Em2fBy2YPlmVAyxAoOBHPM7Prmbo1X1HJSOOLZta1pczAEB42zE8OjQwN1wD0DyPe5F6-qM1jywSoeNIRg70vTIW5wbJwqinvrx2I9z8tczSztnF7DiM_5MJfvrCCtk5pMHnHujBPrwEMIZ6U-35-ZbJhInu30o7E1ojpfHjEd8E-o3vTJOcwQAyN-N2OrYhxNlBxoBhKAUmYT0gaGSFhsJUKbIBebiwJ7XrrALHHslO8bUcmYZaeeK0cH8StlNgPCDpdVBVyjMDgJI_FZE8SiSoxcNsQKuxJwS_OO_PmhPPuzclupEE49_WSJAd5KgRa595wnaj9Ez8CzrBuqX_nddPU78AF2KFv5i9Dm4Hjnegk5BtqQO3wMWOgoTiiyG5oX-j67DJNuauxtFAIaAAvOuU10GbuqYWP5OiEDuOXOFQP4t4IfandXteZ2yqfhIWyAyjfJ4DF2Rnm9_H8oLcla78bhV6-XZGOks2j_onUM3bEqvRdyDfZiTEtfaeX0M-KHXjKAhnzOUGANc0R1vpg-kw4P2ljIGu07Zg0smhgbtZ89llhsdjH3sB89skGhA04-J0a8qxR37c8KNgRfFJ_K3PNbkbD4WEiTz4WPiw=",
  "id": "rs_0b0692a857a027de016ab473c416b887d081ceb304b341f344",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.226,\"right_z\":0.025,\"left_x\":0.35,\"left_y\":-0.31,\"left_z\":0.21},\"note\":\"The yellow fruit is still nearer the base than the right fingertips, so I’m backing up a little more before retrying. The left arm is holding the dark fruit clear of the table and bowls.\"}",
  "call_id": "call_WOAZMQFZRye2GpaRpun5rqY9",
  "id": "fc_0b0692a857a027de016ab473cb93d487d081e7485701a3c7d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WOAZMQFZRye2GpaRpun5rqY9",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 1.9877, 1.9312, -1.1767, -0.6701, -0.8074, 0.4874, 0.931, 1.7378, 0.8703, -0.3645, 0.5472, 0.6216, 0.9965]\nstate[eef_state]: left_x=0.3452 left_y=-0.3012 left_z=0.2029 left_yaw=0.0613 left_pitch=-0.2764 left_roll=0.1878 left_gripper=0.4874 right_x=0.2747 right_y=0.2212 right_z=0.016 right_yaw=0.0647 right_pitch=-0.3892 right_roll=-0.2221 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -11.0564, 7.3094, 0.4615, -0.398, 0.2076, 0.735, -0.0889, -8.8274, 5.3949, 0.8864, 0.3785, 0.2613, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b575cda869115473bf449e3464b4aa96b960844ccc2e9dd8b069a73d004761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102233516915b7da7a3e2bf46298438681aaf5ab8595615d9e0f7437b67db56c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fbf20b6e155e1444570198d6ef833840a3b9f8a668a50b51d101410556e777",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

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]: [-1.0214, 1.8271, 0.9073, -0.1951, -0.7097, -0.831, 0.4783, 0.7746, 1.7889, 0.9745, -0.2626, 0.5045, 0.4778, 0.3544]\nstate[eef_state]: left_x=0.296 left_y=-0.2561 left_z=0.0258 left_yaw=0.0161 left_pitch=-0.1827 left_roll=0.0859 left_gripper=0.4783 right_x=0.3398 right_y=0.2181 right_z=0.035 right_yaw=0.0583 right_pitch=-0.3233 right_roll=-0.168 right_gripper=0.3544\nstate[joint_eff]: [-0.253, -11.0974, 5.2308, 0.9499, -0.3736, 0.0513, 1.0134, 0.759, -6.9538, 7.5009, 1.0525, 0.3101, 0.1245, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.021, 1.6413, 1.3705, -0.9779, -0.6827, -0.8455, 0.4848, 0.8188, 1.7576, 0.9207, -0.2996, 0.5106, 0.532, 0.9957]\nstate[eef_state]: left_x=0.2842 left_y=-0.2436 left_z=0.1713 left_yaw=0.0381 left_pitch=-0.2703 left_roll=0.1816 left_gripper=0.4848 right_x=0.3145 right_y=0.2151 right_z=0.0264 right_yaw=0.0536 right_pitch=-0.3583 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -9.5248, 8.5538, 0.7643, -0.5739, 0.0513, 0.652, 0.5812, -10.1949, 5.2034, 1.0818, 0.4078, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 1.9877, 1.9312, -1.1767, -0.6701, -0.8074, 0.4874, 0.931, 1.7378, 0.8703, -0.3645, 0.5472, 0.6216, 0.9965]\nstate[eef_state]: left_x=0.3452 left_y=-0.3012 left_z=0.2029 left_yaw=0.0613 left_pitch=-0.2764 left_roll=0.1878 left_gripper=0.4874 right_x=0.2747 right_y=0.2212 right_z=0.016 right_yaw=0.0647 right_pitch=-0.3892 right_roll=-0.2221 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -11.0564, 7.3094, 0.4615, -0.398, 0.2076, 0.735, -0.0889, -8.8274, 5.3949, 0.8864, 0.3785, 0.2613, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38b575cda869115473bf449e3464b4aa96b960844ccc2e9dd8b069a73d004761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102233516915b7da7a3e2bf46298438681aaf5ab8595615d9e0f7437b67db56c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fbf20b6e155e1444570198d6ef833840a3b9f8a668a50b51d101410556e777",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPQE1fwMWStiPqdbXCaqr3v-_UBIVi8C9RnxkhYpdr_6OM9VcooXezKjbVh21_Xi_8v0s0BmAQ6J_S2cXuslf1tUZgM5GD7IX9czwyVzB02FQxqOU58rGFKFyT2AAJQkIY43wPJJPoivOJaPwXL6eJ5aa3RLCi6wQVn3FKjzK9tcKnHEf7WUIJMLyFpJYdiRNugnCq2NaRPrwy66HZqGmh_ap0I6EWTQjRu2LgcCjGxa0OBt3xgdDwfRyBfqouE-KZMFUHVlebto3O_1VjmzLFK322HUM9SvOYm6x2ygPJ9aYJKkRuqljnY1tSFgv31rl3Xda3Hfa0zkvz_id4Xyd0CW6b9FSphv0QS_WVpDTJGfZXsrr43zDZNneDDMTgL0WfNejFTFuSyUsdT6puClheB8Qchjalif9eeCfZB5MWt-MjYPShAfgRqffcm4HV7Msx0Ku0jESeQK-E5aBvv8sUgsHzZDZVvp9RHvK0HbJiDKaHnZIegUzncfC1tWtwDXO-UVa6aDXCT7B7tdg4SLEo2BohGYT13v4JM0NL-S51Bh-eqnQ42Cl674C5wDJBeB2ZGhjurksvTpweDO_Pnl9ce9xWDeu1WgWlI2HO3qcWcUsmu9hLxktgxnR9VxPsrb3_zHGMiutx-9H0MU8b6jgx7BbSR3OxFrmQ9dZlF0Jvp6DBGpx8rGil4PkZqHho-ZpiWeVrntF6Fowo4E6xAVi6JtgrRJ1B2kBJrb1mOLhElQ0V1HeUGm-xTNak5w0TcEtosTTpMHpzAjzFhCi-9Z8qds5XOV_zhPJ4goIt-ZHt2TmALbR8g73oTSADO4cSrPn7yoiWlbLtkV2sSFgbSIJbSJjytIjnxVd95-O4xPjeVz4pXI48SpVRCXHYDjnfoosOnnpIRGMJx2lyh0ohF4BZQg1TSYfvpvtrAeTSz2oWtHqnOxsFv0J0BXqjG4CcLehBTuBHSEZfmFB5lZt541NHXEOcj3DeCSDVuSjgRJSPep0kztB8v3HslOM4lmEiUYPM9Ma9eIRZo6k4Q9rBQI5F3vtkuSGUR9Wxg0fVrf_HiTXfKqvOdzLbXnLhRwl2cXuebHMpijSgRlzKThhaLkO_L6p8q1AHnKpPUczMNcprz7D0yXIDjKGMdt0YcBUarIwNcO7H7tlF7Bh-CRxGwDuePA3iq_qh0VpLU_bKCQjXlmqArfXvs4LL9I9Isy4d8HGKN3_xuJk9fn72H-m5DiUg9O6beWIakeQFPiX_y_-fXYJg=",
  "id": "rs_0b0692a857a027de016ab473cecb4887d0992d9efc1a2c0bd6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_gripper\":0.15},\"note\":\"The yellow fruit is now between the open jaws but near their front edges. I’m making one final small backward correction and closing to capture it.\"}",
  "call_id": "call_OR4ZFOTPYkDQprJOxn470Jww",
  "id": "fc_0b0692a857a027de016ab473cf329c87d08f1fc49efd9833e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OR4ZFOTPYkDQprJOxn470Jww",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9684, 2.0212, 1.9324, -1.1828, -0.6575, -0.8082, 0.4899, 0.9653, 1.7325, 0.8532, -0.3832, 0.5499, 0.6518, 0.1549]\nstate[eef_state]: left_x=0.3447 left_y=-0.3043 left_z=0.1872 left_yaw=0.0647 left_pitch=-0.3064 left_roll=0.2154 left_gripper=0.4899 right_x=0.2618 right_y=0.2223 right_z=0.012 right_yaw=0.0706 right_pitch=-0.403 right_roll=-0.2305 right_gripper=0.1549\nstate[joint_eff]: [0.212, -13.4906, 6.0103, 0.7985, -0.4762, -0.0073, 0.5836, 0.6085, -8.9094, 4.4376, 0.7643, 0.3492, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f438a957d10b58d33021a370971aa5c113c7dbe3a90377fca006dc6ad227abbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9f3ecac92bd0c338061599674d95280ffb7ac14d314314a8fc0b65f24fd8b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcce4f7d8a0a651c589942a156d41f167032d92ceba6d6e887b667ac7f776db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

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]: [-1.021, 1.7084, 1.0256, -0.5278, -0.6987, -0.8383, 0.4814, 0.7555, 1.795, 0.9768, -0.2665, 0.4965, 0.4717, 0.0824]\nstate[eef_state]: left_x=0.2862 left_y=-0.2427 left_z=0.0734 left_yaw=0.0328 left_pitch=-0.239 left_roll=0.1601 left_gripper=0.4814 right_x=0.3429 right_y=0.2123 right_z=0.0324 right_yaw=0.0465 right_pitch=-0.3342 right_roll=-0.1717 right_gripper=0.0824\nstate[joint_eff]: [-0.0205, -10.7145, 10.9197, 1.5018, -0.4713, 0.0122, 0.8962, 1.306, -8.8821, 5.4769, 1.1502, 0.3101, 0.0415, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 1.9877, 1.9312, -1.1767, -0.6701, -0.8074, 0.4874, 0.931, 1.7378, 0.8703, -0.3645, 0.5472, 0.6216, 0.9965]\nstate[eef_state]: left_x=0.3452 left_y=-0.3012 left_z=0.2029 left_yaw=0.0613 left_pitch=-0.2764 left_roll=0.1878 left_gripper=0.4874 right_x=0.2747 right_y=0.2212 right_z=0.016 right_yaw=0.0647 right_pitch=-0.3892 right_roll=-0.2221 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -11.0564, 7.3094, 0.4615, -0.398, 0.2076, 0.735, -0.0889, -8.8274, 5.3949, 0.8864, 0.3785, 0.2613, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9684, 2.0212, 1.9324, -1.1828, -0.6575, -0.8082, 0.4899, 0.9653, 1.7325, 0.8532, -0.3832, 0.5499, 0.6518, 0.1549]\nstate[eef_state]: left_x=0.3447 left_y=-0.3043 left_z=0.1872 left_yaw=0.0647 left_pitch=-0.3064 left_roll=0.2154 left_gripper=0.4899 right_x=0.2618 right_y=0.2223 right_z=0.012 right_yaw=0.0706 right_pitch=-0.403 right_roll=-0.2305 right_gripper=0.1549\nstate[joint_eff]: [0.212, -13.4906, 6.0103, 0.7985, -0.4762, -0.0073, 0.5836, 0.6085, -8.9094, 4.4376, 0.7643, 0.3492, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f438a957d10b58d33021a370971aa5c113c7dbe3a90377fca006dc6ad227abbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9f3ecac92bd0c338061599674d95280ffb7ac14d314314a8fc0b65f24fd8b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcce4f7d8a0a651c589942a156d41f167032d92ceba6d6e887b667ac7f776db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPWTRCuLcX9j4_6L2zgeZT5XuLy3qFNQfny3h85HmdNGecvzPq1UYz_rXgp2sBGua0Zo2e_XIUfBxBE-ggsfyGZZOw41Vk3OdVGIfy6jNAEqPazDmz-psb5sClDvBMIcU8vTB_EIc1QtmLp0oxgtgT-ij7xN_-8FsitCyzs-1bR38OUaFN9pR0Cmtiu_QKrpPqgAwBviVEpUlAUogKYEM5-q7yFIt4ldikESqwDto2XvFVu5l0E50oIz0GnehZTWkd57yYtScgFPxLLbMjwq7XR1mQgWDbnGypYw9RxjSwRbRysT-1OdMlZH2sB5GiRkE0JJVAAbcjhIXRCcgDI88s7WnOfJ5KYKZzvSQj4zYDbzRbKqt6vjhd1xv1BM2cbT1Es5C_BdQj8c6GFMR8gUjHUqm6kNV4oz3tv-o2N_Mn11yACK_F2W5ok7u897ioG6PX7p7IF69E0Kr_5U3rA3IqjwcKpGQq-JETZ1nG7EVaQphGwRwoCPtq8yIm4EHfF9Zkak67f1UHeaR6U9lzf9EQW8WVo7VPoW_p3_uyGcS1BzqGwMKwvf8RILKLvb_tKxDFKtdvak7n2zvQ49nbrr0P_dlDEM0CwlDIoqIiaVdFfvmMccGBYzLhgbkTe-2pefCa-lQXuT7jLPNVgSGeJM-ZWpnBPsdl5xfL0H9pYQyGyF_Myq7eKkibseqrigJjTMJWR9Qm_lxMS4zq3HguDvjCTt6eD6JQoA3UBXkIfHZ-fWI0_C_lRi47YPnq-Il35XDxkMppIOTveE0Q7t5lKW941ukKto6Pfn-DooZ2ca9CcrkCo0BDW1CLI83k5xex_Sr4Y8mFsg1YRxJQ0dBplTqWgfZdLVhLcSPAN75tFhkQ9pSJKAJPVK6JZyet8c1EQtneqXqTNo-fUpx7qG6AT_rYZD9EK_ONjhIT8aRVxcTE-qRg09hIUA0GbDKBHnbees8MorbO2CXLdrPK_HwSGzabOB75EWrlrBt1g3_tWRDAsmeuFf1nQWUd0U1YQBHscGrJMsYkgeiYVgMf3sa-3wWdiqKFFOwunQjn0lfqfjEtqWEuLAoBR5UHuru86234hdl8kYUnLIiD0vPJKiGgiNW8OgDwWoEiiWGDX-uhm5KqmPmSjdX9zAd77IdD5hLVCn0bVJ2709SOj2JckQe5uxU7BtwRDDu6Anny0IuTDDY46QDa76r2i4wbjPayv0ZUDXXwbc3p-mNfiiCg1XVyoJm36Ai-ELEO3tT1iEfPE73VY47NBDYgiUTWTrKSAPO1VOSEcI7k915nQBdHcLldxJspNSLoVPEvs7dh0m0b86gl6JWrqmt2K5_kNFl4_URC9IuImoqaA3GklFw5pnhkUOC1_ECzsUgbF1r-4tFc13pWmLWMFlsDLcMe8Pvcj2XJhMq57kElXZ9Xq5R1B00OA7g68N2NhABLJi6yrqKk56F9Ish3a__TG01aaQvaWU2UWYKSqFY_EM7qCQd21oSvxDa-8SwDyY7rULlD3RCH2VIasI0Z0BgXy8TiuONIMQQq8WGOBj82SguV-elLpbn3rnNDGynNaHElbN4qUkYwSq2hOjKekK-es1TqvQtQ8PT5r1vWabgl9ul84d6SmH_7aQFtu8rJ3XCdh5xc58DfTldx-Hmh2zlMiiD4cyPsTWqUG5bwpIquUCLlwA0z2suyuIX-Co1sIusN9Rg1bdxAQvAQZVI4GggVy5JnoMRLJ8t3dIEv7Di_bZztpROjCX8O-h09_c8Sfa2__LaZ__Ge8podEy1nCxdm-PIKU1hyiKychFu1fezSGEEA12RCQ1ynLmj6-atMl_BvADFh6B9FLYtgqagGp8NTkNe0Hu1hqy4e_oDYrmecsZzg3XsaNIY5mRILjVSZRpcLpeLpyhXvK-pEyaZVZ5SramtgC7nxRkvsXPTrOQ4TnREfPEO3FIWMNSDVIsIIjAodimr17zwXUAiDyiLFVBNyVKmfVrrppPqvponl_Brsh5OU5KZjVZBymTJ5EpYM43rcG5AmRmyboFDk38vIrBCYQmIRhsIww0s2vdFUP3n-IQOsycban_q0g9yFBhB1m5bYUfVb3lnMYJrkhtl4Q_zFpl5DNyMvoFhzyMG2m",
  "id": "rs_0b0692a857a027de016ab473d251c487d08109332e76e6da84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.06,\"right_z\":0.22,\"right_gripper\":1,\"left_z\":0.235},\"note\":\"The right gripper has not developed a firm fruit-sized grip, and the bowl appears to have shifted during the attempt. I’m lifting the empty right gripper clear so I can reassess the yellow fruit and bowl without pushing them further.\"}",
  "call_id": "call_efuYKpj5OeuGVe1zUgU5bJG4",
  "id": "fc_0b0692a857a027de016ab473d5351087d082a903737e79e6c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_efuYKpj5OeuGVe1zUgU5bJG4",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1872, -1.3808, -0.638, -0.8177, 0.491, 0.4938, 1.0481, 1.0985, -1.0969, 0.371, 0.2089, 0.9972]\nstate[eef_state]: left_x=0.343 left_y=-0.3071 left_z=0.2276 left_yaw=0.0602 left_pitch=-0.3201 left_roll=0.1969 left_gripper=0.491 right_x=0.2464 right_y=0.064 right_z=0.2099 right_yaw=0.037 right_pitch=-0.3912 right_roll=-0.2199 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -9.5795, 8.3077, 0.6276, -0.5641, 0.0317, 0.6764, -0.1026, -2.9607, 7.7197, 1.0623, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46698516e56eb2f03180fbddcbe613b8f753eb8825237b92fb52b5bce6f3d618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3526bf3fe16f3e4eca00de3579bbb749c5c4f0cd090c0af043c19c6911f32a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b3104433407973334600c7ea7df2f4dd9a1ba3162d7df7b93816a3ff715de6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.021, 1.6413, 1.3705, -0.9779, -0.6827, -0.8455, 0.4848, 0.8188, 1.7576, 0.9207, -0.2996, 0.5106, 0.532, 0.9957]\nstate[eef_state]: left_x=0.2842 left_y=-0.2436 left_z=0.1713 left_yaw=0.0381 left_pitch=-0.2703 left_roll=0.1816 left_gripper=0.4848 right_x=0.3145 right_y=0.2151 right_z=0.0264 right_yaw=0.0536 right_pitch=-0.3583 right_roll=-0.1794 right_gripper=0.9957\nstate[joint_eff]: [0.0068, -9.5248, 8.5538, 0.7643, -0.5739, 0.0513, 0.652, 0.5812, -10.1949, 5.2034, 1.0818, 0.4078, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9684, 2.0212, 1.9324, -1.1828, -0.6575, -0.8082, 0.4899, 0.9653, 1.7325, 0.8532, -0.3832, 0.5499, 0.6518, 0.1549]\nstate[eef_state]: left_x=0.3447 left_y=-0.3043 left_z=0.1872 left_yaw=0.0647 left_pitch=-0.3064 left_roll=0.2154 left_gripper=0.4899 right_x=0.2618 right_y=0.2223 right_z=0.012 right_yaw=0.0706 right_pitch=-0.403 right_roll=-0.2305 right_gripper=0.1549\nstate[joint_eff]: [0.212, -13.4906, 6.0103, 0.7985, -0.4762, -0.0073, 0.5836, 0.6085, -8.9094, 4.4376, 0.7643, 0.3492, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1872, -1.3808, -0.638, -0.8177, 0.491, 0.4938, 1.0481, 1.0985, -1.0969, 0.371, 0.2089, 0.9972]\nstate[eef_state]: left_x=0.343 left_y=-0.3071 left_z=0.2276 left_yaw=0.0602 left_pitch=-0.3201 left_roll=0.1969 left_gripper=0.491 right_x=0.2464 right_y=0.064 right_z=0.2099 right_yaw=0.037 right_pitch=-0.3912 right_roll=-0.2199 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -9.5795, 8.3077, 0.6276, -0.5641, 0.0317, 0.6764, -0.1026, -2.9607, 7.7197, 1.0623, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46698516e56eb2f03180fbddcbe613b8f753eb8825237b92fb52b5bce6f3d618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3526bf3fe16f3e4eca00de3579bbb749c5c4f0cd090c0af043c19c6911f32a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b3104433407973334600c7ea7df2f4dd9a1ba3162d7df7b93816a3ff715de6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPf3u3JkKstN65aSOWlW-cEZhXVSd1JWwJDVuvhRLSGEx8hvUCBN1YTOptJCRsZsxQ9PIQXDzU_etAyRLOt37UAEs61RfQ0FA2pWl_9sWN85PafCfHtEEMk1o0zi1KxcXuNc5ig8bA-EAiQyiSqzlCHWpaWryiLzFfa0B8OwnVOIdGhhDzoT4hXTbo991WTDUIiECrGM5OGKi-ZKfjmJdXP3bJj69QlbAr6BMJXIAxmwjunc0eeGYzZ3PdLytBO5d2YEi9Zto7mA0Thz4HqazVAkqee6MLiQa2gG0JlFU4M384xsSkfX8R4MZLM87noBlMcOp1CKyo8BzchkErxTNB385f4u4b5ZJu8kPP_rE_O_j6_zK8fulA3Fq9riSmEV8u336NgooNrumgXvJH3o28dq-fhe7FJ7em7cpuPwnC9dCM7HYs4Q5PLWrBETP9GJWtDCYy6qZ8A5U0ynxJVkMNCVDa3wGjsA9FQj9JxqXf5kmUIapIfpZnRuUUbkn4ISQOUaEwCgXKp_RQzu6gnfxi99Wy6d4cIeO3mzE5PqbSOMWLcgE2Oi_FtuGiHnYLcAtN9DHDCQzIHRrWj5GaglF93EzZIWjphhApTw9ZWlcCLUP93X3RQ6rvTv0zOo_ZVQYzz6kMd5QaBuQdZvs2xVd63ZlV3f6DrUwxsBIGK5ANZahrGkcIwtL_rga4tkMJs5VCnranCNK1I67Jn6SnjUskG1Qby5GNfbRJaQX4FLS6-cDJ4PxUFiVZUGES6BxmPlR8vt6ERUL90mA6igywJPl-dVo-HsouSPDK_e7C08HDADEFXuwSGnBxTsN_R6F-XNCKQdvCwWKgMFPkVVWdnFfhMJSBJ_4QqvGHuyhW1-RurA1tFtNWhNqKkHHe84DZaM0sJXOWzM_AwJdId3fBf_XFrIOahnChr7ddpiVR3QUu3GaAOUng2II8eAJ9fAThV4kNtFVTB_Q-mHHW5hIgW3-K168AK_sd1qoG88-SBB8BByW0qBcHSEArHUTv7utnGieZnQu56sj128x6ckMGnQbY104ezDtILmwX3yA6OF7bRldP84IlK9L8z7_UWJ_Cppio5uUEcspAB5_4NL6Lf4NQaSlEjhfVxputHbeRQUTQhfXXgD-yyXz--79pU2Lc4vgmL1w4LFtkvYTpKFnEB6PRjxwuKxyBot4aFPEV1IbUp35iO0QJvBiTUELD73TjZoTLg8xoIkETJOeWYQbNfetPOmK6vwxoPc09sDimUSNUsAVZ2ypw6BSU40h2camOI2sW0wEsBsvDFAQjwP56_ut9kXeOssIZ1KPP_ob9EL4Fj7k2t_q0yA8g-4Egaw_FUQ5NBfa-tw98SBBqJ1btbIR-B6ozKasf0ckZXzCQZGj2DiOI15ppuRFgf-vElW7ZTe_U3RxeS66Khw8d7hhq1B64TbiXl6jaQpt1F9mOm2D6dCgdv5HPga9lCz7Xud19eTSL4i-o9yh2bOuqtBB5RhvdRXuFDlnbis54xl70NBsPyt0xrN7qr2ifhC_AXLAd_AAxG13wueC426OSSza_G494K2rMbcW4NUJkhAWBlc7kNOfOUH3ajIyclBslkyamJPhK3pBGA-cUvWj2_N18YoXk_2jUA-ca0w8n0kRoASh_ox78ULguLzIVSxlvh7PNrCZwaZXzryjN1dv3xU5DiV3pumRc1XzNx1-DElGNvlnvTw3b1DHzZ1FvcW8ye9WylRjFmxdu0yePvWs4BZUHskWpHZ8RhtxPdof2F9AobMWeAOCXuM1lqNqa4l_32C_UOYiIQDg-5pvw2JDhXzyj2MMrhHOXW28xafIKH70MMEsOO8HQb9xEuOto_Ca1KFr1ui03cfXFx5b8zWLCdWNb7PNQ2VsyzhbeHokp4b4G0ed1gd-CKmH79BLJFK-SOxiru3i-dVKQmolBMO4qX9YGufgaB9VTvEFRcruqUMFu7LItV7ZFcANyAN2VyzC7axJi__CUsACnfwiCf5vRxvKIR_yjsBhdtp0U1LWLk0jzFJKd68NVHo9bF6sA9t6sNBkeYzUeV9LDjkRDit5znGtHyU1kr8qVsOFPH8_AQCil22_3WFKyeCq983m8uIo-YWK6LOMIesGP68VJDwp2Y260I4WQP_GPn5magfzCavKpL_q0F9yfX5D3c16jU8UEH3qURKpwNEXXqMUmdKS_83GRmX8VQcceoO_dnG82aeZ1cMyIzXbfYZyHxub7v7X7FSL2bS7JM7eP4mqH0Abr-VB-X4D9Mow8KFfTKT0GRi4Ir3ZhudLuCPm5xC_U2-fi2t2JbXDa-NKKpBAiTG28sbW-ZmxPbL29qoOcHetJQEKg-zbd6oPGlqTTfr95I209eDiPnCXsjJo-5LA0jW4hvl1lsjMJtB0OcZihY6jMNxfoRnqby2EUyfxrRpo8_bpO52rpTmXFXtZ5xKbDZnFYEjvqjDraz7fyboON_YcId8LCdYQEXZt3o6fOxDPyICYq9q6ZTsdLiighPAfUDxi1SY3pMYn4ZBw_-OpWfwOx3A5qYqWnsU44k2Pcb-VP7CwkfjqEviI-Z1BIO-02C3I5lEoe8-JOXumjw5vFLzoe-ECD6ClwFXN6o-cS-ZRbNMf60ph5a6on-qUCVXo92HvGgQt3MS57ZCCng1T5mj-Nvj-3rCAedgmH4QFFFh-kRwtlIL_iW9duo",
  "id": "rs_0b0692a857a027de016ab473d9373487d08ffaa6720c99ccac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.2,\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"With the right arm clear, I can see the yellow fruit on the table in front of the shifted blue bowl. I’m approaching its new position and restoring a vertical gripper orientation.\"}",
  "call_id": "call_EkiHiQDErKulcZQ0GU3OqOQk",
  "id": "fc_0b0692a857a027de016ab473dee45487d0b841feeacb92fe67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EkiHiQDErKulcZQ0GU3OqOQk",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6346, -0.8177, 0.4908, 1.3804, 1.2812, 0.7074, -0.7525, 0.9154, 1.1652, 0.9979]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.061 left_pitch=-0.3273 left_roll=0.2027 left_gripper=0.4908 right_x=0.1767 right_y=0.196 right_z=0.1101 right_yaw=0.0498 right_pitch=-0.0662 right_roll=-0.0801 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -10.906, 5.559, 0.8669, -0.3639, -0.0464, 0.315, 0.1162, -4.465, 5.4222, 0.6862, 0.7302, 0.1197, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7617dc8a4b55a9d0aaffaed6cb3d33038822cef83f50ac8f49411c2353cb226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba803216d4ece77e6b92b4ea4c2dc07137db2de9e3cb4f36972efa1a92f5131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb70757c2706dee236ef7c269a81a3191e8743e00b4892931d555d30e3efc5af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9672, 1.9877, 1.9312, -1.1767, -0.6701, -0.8074, 0.4874, 0.931, 1.7378, 0.8703, -0.3645, 0.5472, 0.6216, 0.9965]\nstate[eef_state]: left_x=0.3452 left_y=-0.3012 left_z=0.2029 left_yaw=0.0613 left_pitch=-0.2764 left_roll=0.1878 left_gripper=0.4874 right_x=0.2747 right_y=0.2212 right_z=0.016 right_yaw=0.0647 right_pitch=-0.3892 right_roll=-0.2221 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -11.0564, 7.3094, 0.4615, -0.398, 0.2076, 0.735, -0.0889, -8.8274, 5.3949, 0.8864, 0.3785, 0.2613, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1872, -1.3808, -0.638, -0.8177, 0.491, 0.4938, 1.0481, 1.0985, -1.0969, 0.371, 0.2089, 0.9972]\nstate[eef_state]: left_x=0.343 left_y=-0.3071 left_z=0.2276 left_yaw=0.0602 left_pitch=-0.3201 left_roll=0.1969 left_gripper=0.491 right_x=0.2464 right_y=0.064 right_z=0.2099 right_yaw=0.037 right_pitch=-0.3912 right_roll=-0.2199 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -9.5795, 8.3077, 0.6276, -0.5641, 0.0317, 0.6764, -0.1026, -2.9607, 7.7197, 1.0623, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6346, -0.8177, 0.4908, 1.3804, 1.2812, 0.7074, -0.7525, 0.9154, 1.1652, 0.9979]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.061 left_pitch=-0.3273 left_roll=0.2027 left_gripper=0.4908 right_x=0.1767 right_y=0.196 right_z=0.1101 right_yaw=0.0498 right_pitch=-0.0662 right_roll=-0.0801 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -10.906, 5.559, 0.8669, -0.3639, -0.0464, 0.315, 0.1162, -4.465, 5.4222, 0.6862, 0.7302, 0.1197, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7617dc8a4b55a9d0aaffaed6cb3d33038822cef83f50ac8f49411c2353cb226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba803216d4ece77e6b92b4ea4c2dc07137db2de9e3cb4f36972efa1a92f5131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb70757c2706dee236ef7c269a81a3191e8743e00b4892931d555d30e3efc5af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPk08LoQTy_FlLBe_SiVTRGoa7E77HBCGQVPpGKipGTH5LfJoJNbAZg3KBgOkU2bJvnCWneQkXgsbKFfxTaysFZG34xQmKXvonKBjIrV6c3UtwljcsfiDBvASh83LwUhM1pT2OmQ1oHLPH6COt4vATZssUSdLMA8kgWX7NS34xCBMaKiuUr471u5rpX0MM1P27zFgOjSTidwv_toV934GAuOTjI5j3tST4fbERDAstGcbdxqzPWmfBIFIa-bB6uJy94YMSbZuvDfLVrwpbYJKX-tO1lHTV0END9hv9-8WY7tcRMMu1-TN38dPuv0EiU_7KArOeRPGgU7EBZdZI64kw6c8MzyIuNcIP4MFXuwxjhugWFAKrqZzukVS8V9zqcp1G7dqGL0VYRQD1aTTU3XMVqXVN5E8Nk_s50ZrdPavh7hqNmEawmtYcDLvnBdQYzAn8U3cyP0ajp8KCJLHzi3a5pzqBhlhaDASepX-GGEWgOfT7rMgJjOw-LlzkTIgDC4KHwEGtpW0rDtazYbilGnWr_JPpEP8jyAvbMfdQqC9JFUW0Me7maeUnvekQtXz0FkwC0ZTgCq6wjo4IJ1yVFiIO7lHT0Gk_c6GwJ3NJiJ6bOC0geAnL6JuDZjKQ7Hwb71JRdDkSoLWKsn2pxv660qkt9jNDVjpWW5-WBxIt2M3zXP4rRRl1QzOMw_zqZ3i9NYURjRPUZIyigapZP9IxP2C0Uf04zihcrBtHw_cCUEl8hOtYIbcZvxeouy9W7CMtTUKJ1g24GCCvKybDZtH0j4AshBQ5P1DltujGAmOxIcVmOgFGIjfmnakEgMMzxBYhF4Ppr_F-AwP98yRrQ-Vl7a05Jg2Vc4prPdxQ0KN45cFy5lldSEmb12Rrkli_C26FHdYe2Hevn2XALAf46ES7HY8-VCJPUkatfXIV-Rmrr3FeuN72C2k7WZD8ZKr6GPSDiz2p7dQj2tlDseghuSscZ8grSFcmsu3X_r3k643veVFjhkejeJsrJJ4vD1lJ3ntEV0XrHNGsPs7kNyGgX08z4Ua5bq7LcexM1ItCjW38w0fR0_0747Y7wgw53u_mhU6FernujYQgxZlO_gWuED9xVKLA1-1zspEnyhEUms1fuNpWxytNPUEQa5Bhlj4cErEiYbwhn7O9bsr2hhjc4lvWLyo0HPw46ceQ8Se7t2o1RBwMTohUS0UvjmW4rs9bkPARMmQNB3fcH9M8iereklnHLb0gSSfyx_zKSZ4wHpeK6M6kxfEoqpCfLRsJsKjQpH2kWVcJOGnw6e-QVeVIpdh61LVgmeO1_f1pDrJvEqvf6hPL1OCHQQiyyIKd-dcTw1bpW18LKdh1vtugzL1lVLR5tpRVSMMwxOAoOcbu2KqRRK5_gAwn5kaURlmC-7OKSWGruAnp3IP6t6KKLkWw6arzse1rSjxt9tneMYVzRs2Q8kJy9ZWg=",
  "id": "rs_0b0692a857a027de016ab473e28cec87d0b5cb0f9bd67660c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.176,\"right_y\":0.2,\"right_z\":0.02,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is now centered in the wrist view, with the blue bowl behind it. I’m descending straight down without advancing, to avoid pushing the fruit again.\"}",
  "call_id": "call_JCEgiZWXeqrN482TxuWWu8p0",
  "id": "fc_0b0692a857a027de016ab473e3cbe887d0b5b6ad5fcbdccaaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JCEgiZWXeqrN482TxuWWu8p0",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3911, -0.6342, -0.8188, 0.4933, 1.412, 1.5612, 0.4892, -0.3454, 0.9535, 1.2644, 0.998]\nstate[eef_state]: left_x=0.3416 left_y=-0.306 left_z=0.2273 left_yaw=0.0613 left_pitch=-0.3273 left_roll=0.2014 left_gripper=0.4933 right_x=0.1725 right_y=0.1887 right_z=0.0194 right_yaw=0.0153 right_pitch=-0.0434 right_roll=-0.0965 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -10.7556, 5.7641, 0.8327, -0.3785, -0.0366, 0.5885, 0.4718, -5.2444, 4.0957, 0.5836, 0.8278, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ee98c7f67fa510a08f6343a7b94cdc5e44e91cb67609aeb4607bada189aa0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f885d413f1012cc4cd2eebfdfab22210bc86fafb9a6d598299ec80e566f8b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ced831cbcd0206764449132aeb11d6dbe9263a82af6bb005117f64ea28f76f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 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]: [-0.9684, 2.0212, 1.9324, -1.1828, -0.6575, -0.8082, 0.4899, 0.9653, 1.7325, 0.8532, -0.3832, 0.5499, 0.6518, 0.1549]\nstate[eef_state]: left_x=0.3447 left_y=-0.3043 left_z=0.1872 left_yaw=0.0647 left_pitch=-0.3064 left_roll=0.2154 left_gripper=0.4899 right_x=0.2618 right_y=0.2223 right_z=0.012 right_yaw=0.0706 right_pitch=-0.403 right_roll=-0.2305 right_gripper=0.1549\nstate[joint_eff]: [0.212, -13.4906, 6.0103, 0.7985, -0.4762, -0.0073, 0.5836, 0.6085, -8.9094, 4.4376, 0.7643, 0.3492, 0.1245, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6346, -0.8177, 0.4908, 1.3804, 1.2812, 0.7074, -0.7525, 0.9154, 1.1652, 0.9979]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.061 left_pitch=-0.3273 left_roll=0.2027 left_gripper=0.4908 right_x=0.1767 right_y=0.196 right_z=0.1101 right_yaw=0.0498 right_pitch=-0.0662 right_roll=-0.0801 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -10.906, 5.559, 0.8669, -0.3639, -0.0464, 0.315, 0.1162, -4.465, 5.4222, 0.6862, 0.7302, 0.1197, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3911, -0.6342, -0.8188, 0.4933, 1.412, 1.5612, 0.4892, -0.3454, 0.9535, 1.2644, 0.998]\nstate[eef_state]: left_x=0.3416 left_y=-0.306 left_z=0.2273 left_yaw=0.0613 left_pitch=-0.3273 left_roll=0.2014 left_gripper=0.4933 right_x=0.1725 right_y=0.1887 right_z=0.0194 right_yaw=0.0153 right_pitch=-0.0434 right_roll=-0.0965 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -10.7556, 5.7641, 0.8327, -0.3785, -0.0366, 0.5885, 0.4718, -5.2444, 4.0957, 0.5836, 0.8278, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ee98c7f67fa510a08f6343a7b94cdc5e44e91cb67609aeb4607bada189aa0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f885d413f1012cc4cd2eebfdfab22210bc86fafb9a6d598299ec80e566f8b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ced831cbcd0206764449132aeb11d6dbe9263a82af6bb005117f64ea28f76f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPoH7HWCHzk6XwH25bb0_pDCPDYgiDGV-2d6bBH5CAozSG3G2ogESZNp5xrOuf6di2Mawq7hazNH6UU1LtZdrsuZNWb6Ry8kRi33OmQugLE-PSaddQnB3BPl9epUceTGB6z3szBvI4Ki0bO0v0rgnzz15bp1dlIDZthtKl-dja3b7DRFK1Ch0HaGXx4gvLgJoQqoMXMQMmkWCuAmPYqpSH5BMuAm3AO6EnrTcsXjwuMAMRVfZEIuvcqVnZm42ThDSKapgS-ijTlqQv6x5Q14PzwGxDTRMLSApH1bP-aMSh3iracgsYVJxQ6Ir1N4dlA0BxEArnmJycJc3qNLGU_Y6AKl_thI4ZE7_DM5PbhE3hKYKXagtUPu1UR0oN9OuKK8aUDgICDf_GbQSZxmtIjm4MqfSkUUL-0rH25rznwMlZ7Ook80nuLpXiTieyKGIC3yoH33d43sJ6eymUzeuS-hSFIlf3TZJLGjGgjZJYFS_aX0HH88CgaKsFD8IgXq0kzAM7Wa54_s0jzXIMi6wJk6SYwTs36qINiH9s8tTGXhk2ZaeJ5YACsaWP5cFxa3eAVCcChPXWq-a7XuMIJgjK9aaUsAAagGqDHdFS81b6V8lCpJFG20VltBi8ShwjYrdzgWGuLoAj_OoC-5ecIzTGG2WjosX_AwnXn-vtvD6iIo-hGxcDVv5V0ZvcLZSIgRsyFr7LBecYGmG-LacF4El5AZTtkQqFfDxdf-a-H133YXALqDGrz9hkxP_hZore_3VaHwZ5gs76znLQ3RoDyD5EluLngJACK-AsY8fDicztIYevyB2mASwliOoMKL4JGfuszh3UwP0f6S77Wqql_lv8JhcC1xUXKnI-X-uY9TfBGly-3nXa6-J8cT4C_eZknPpP3vW-kjN9m5vTUTYRjrz6hEPcNgpyYNzA-ffq6UgoDiICOSOwqtJo9sjjUGTxEE_dsDYEMem5OwZDfCQZB90sq2Gzo4oJxVk1xZ6q8blNqSFTEhbgOcm5w7zn554d7NmoQZJwZJ_oI0N5yTMdy_ejVzUQhyg_OemzQpVubyXHiLFbKCzzyXeMs_24K38biqF1bqGBPHbWK7UphbgkFkwZy4cgeXolklY3FzsR4L0ZDgTbc4ETgPWOrdKZVVOMJkY77F9iDUWbtOI6UwB72WvU3ERTAafydvLtVqQZ72EZs8dQLxRRJNBVfi3UKEwqb4Yb1VCyEN6aYl04DKF5dwUUOpATAHNwUR5zsgG6VjHmha-6m_tGXr-EAADLh2HzSztIDsMZH5SQ3XL5BEhqbup3wHcVFuz-6rY6TC_QvXrIZaIZB_Cc=",
  "id": "rs_0b0692a857a027de016ab473e7132c87d08339d70809a16057",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.15,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is centered between the low, open jaws. I’m closing around its lower body while keeping the gripper upright.\"}",
  "call_id": "call_CRCKFPGE7G53eVgIUAL8AW57",
  "id": "fc_0b0692a857a027de016ab473e7f4c887d0b007c9e502431e0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CRCKFPGE7G53eVgIUAL8AW57",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4957, 1.4185, 1.5471, 0.4267, -0.2356, 0.9718, 1.2736, 0.4335]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4957 right_x=0.1726 right_y=0.1864 right_z=0.0159 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.0315 right_gripper=0.4335\nstate[joint_eff]: [-0.253, -10.7966, 5.7641, 0.7399, -0.3932, -0.0757, 0.2369, 0.3487, -5.5863, 3.7949, 0.6374, 0.569, 0.0708, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1783dd777bf8251d4276756229259ea9d44821aca3dcabb6d1f1d180b7d6d156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2416c85f42cbb621cfc4f975c09ade8ea7428599fea30f97c12c636fffec85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e7ee1feae2088368dc79cd338a28e448aa7160d4680af8afd25f466f03f53a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 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]: [-0.9688, 2.0758, 2.1872, -1.3808, -0.638, -0.8177, 0.491, 0.4938, 1.0481, 1.0985, -1.0969, 0.371, 0.2089, 0.9972]\nstate[eef_state]: left_x=0.343 left_y=-0.3071 left_z=0.2276 left_yaw=0.0602 left_pitch=-0.3201 left_roll=0.1969 left_gripper=0.491 right_x=0.2464 right_y=0.064 right_z=0.2099 right_yaw=0.037 right_pitch=-0.3912 right_roll=-0.2199 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -9.5795, 8.3077, 0.6276, -0.5641, 0.0317, 0.6764, -0.1026, -2.9607, 7.7197, 1.0623, 0.1832, 0.022, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3911, -0.6342, -0.8188, 0.4933, 1.412, 1.5612, 0.4892, -0.3454, 0.9535, 1.2644, 0.998]\nstate[eef_state]: left_x=0.3416 left_y=-0.306 left_z=0.2273 left_yaw=0.0613 left_pitch=-0.3273 left_roll=0.2014 left_gripper=0.4933 right_x=0.1725 right_y=0.1887 right_z=0.0194 right_yaw=0.0153 right_pitch=-0.0434 right_roll=-0.0965 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -10.7556, 5.7641, 0.8327, -0.3785, -0.0366, 0.5885, 0.4718, -5.2444, 4.0957, 0.5836, 0.8278, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4957, 1.4185, 1.5471, 0.4267, -0.2356, 0.9718, 1.2736, 0.4335]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4957 right_x=0.1726 right_y=0.1864 right_z=0.0159 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.0315 right_gripper=0.4335\nstate[joint_eff]: [-0.253, -10.7966, 5.7641, 0.7399, -0.3932, -0.0757, 0.2369, 0.3487, -5.5863, 3.7949, 0.6374, 0.569, 0.0708, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1783dd777bf8251d4276756229259ea9d44821aca3dcabb6d1f1d180b7d6d156",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2416c85f42cbb621cfc4f975c09ade8ea7428599fea30f97c12c636fffec85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e7ee1feae2088368dc79cd338a28e448aa7160d4680af8afd25f466f03f53a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPyK70RgLixw_oc13280UL4-VnuMBgMqYN9Xh7tzXb69KFmwEMovAQvAejVA2mq5yIQfo3CbF7jtXrHOmnq9awWHuFOpNyPUa9htLKpxv3WGbpicYPPkfpAELqQHn2jebt1DekMg-mjF00glbPUK31b3A5SICZDTQSI6H0FAoQnMTRZdZui0HE8qTY2YNjGkMyBZ8YXRVK3l5ByGanTzesYV49CvIYieUyMZHIobs9vEDiWvhgmie-xsf8Vrm1pYewdshlTabh3vTxYVxb7VIsUo4rTF8p9OZTXRffJV98m2G-yNLQ7pCNL3Q6G1x1JzxphSHRjswoab4oopapcCMc1PDgJd544c5flAuj84a_2jo-BFVqukRlySFQd3Pfn-Mq_vlGuffLvYRjO_dEFEiJ8i9qoXSEdE69BBlYAmF9sygkrfIirmPtksMjJ4S9ZxJViNYtGWZMlZLaRwBpm3arKM0tUkow9Ohnf7n49Va2Uzr1QXbPBkRoiLCyfwC__PFHoPy5_AcDrwoQwDxQPpZJPjdxiwdb_NtbI2ZNghrinN-wOaztLparnErLWZd03Jsctk1slzV89RJTMvE-euoyKP7LC3JyO8ciV3WmsfHUx_N1qyh5wew3N4ZKs9Ecwtwd--NdGAAXCSezVC0x8pRqk2cZ7tiPKs_HZ_l7oAtBDqN0oEjSzdonvoTFadX-K3TG5QlGpzf6M0uxlFyy9We3LNT4vzTiUTUB5gbL2M83M_DYkaRv3XBJO3qQ6X6S4stfJHNnkniYWqbLFUcXBFVj6PkdiEr5jlK3PQUDImLJFcAi89ta_JrOZWFI7-aZdC9JRzxEep2-y6De6LUjLrpNoNRftLLVn6q1aywSG9MxrrtQZtijV0OR6NigSaWfP_SAQjVa8GisuUrcJewXeY0odMsdxh7V5aqKQnZAYAGx1frdcb_CKGFSSNljIOxeNRPziTEg2tgaFM1Bn9-oiCG93CeUi9quJaejUKvk90eN3LpFmKeHkrXWd2R7Fvl2m5hdiUR_w2ENaHU9i-Uj0gf8nqBDlh9G5aMuvHnNqgWS3EUn-9HZUvCSdaMRTeNWjRlAkqw4uYNovOo5BalAwnB_Xl6tOjlXyT6tg9cIVEalqfb79m0iev5p6QaWaAglFAyNYP6dZ4zjf0VrRwSFySRa9wx3cH1P7tS3MW_29f9UGt9C9mTq0UBGR0X9eg-Kb89O4cPmqrAdGJ5O8fGsvTR3FCke7lAd9LPUD4gZPkB0dLHYw8N3GkjThbDGZgESrSRGW6tdzWnsBAeDL5boJ7ymBt3hStDk6QZb-iH0DbwAC6tG66K4YGiEBD4AYvbjkP48bw6Vt1amr00TFZsbsLXpfe046xpVSySd4xcLS6_FaGOCBu9PxXUyc9I1AJlQi3zef3WHqBRa41YX9bSNpJ9lenHHe8ufGvOZS99dfZVTpnPjf4U-BuLKSfjp8y4hKv3YPRPNM2FwEDQxJsefTyYOJNd_0t4pINuUVz1xGreooVHeg2SHPbBJKGsNCwkmaBIMt2kaoPhQs9XjuSSRxAvWwZtEQGaRdjr8ngRmITZlQ2w05gRN19krzsaBeDVHJowdPD6qHbAHN97BfytnwCxYRPjnNv8GEBGysju6eIv2Ot9N7Zzu6a1PtAf0s1T1Wcclejywo-teQVtUOaC7semIkzfrB9-baHvcsgYxDmOLbIP6CqQSvTi79SKLV9b2D2hRkuhOmOjrd0pegmBtvZG5SN2SDDcS2n07XODSMCagXxF6WJVmZjKGliB4WaYQtPAPGcw0h3bm_xuyhNje1Ey1I5zRFL5Jx7esGMgLEcQYg9q3NlUHn1zJDFKBCl3RLjdPVV7RMeldYh83msZPX4GcPCyCYuukLpqBcCC54uAUYhuEzHuHjGWJ1ox8BXqeRALtlF3OResRbrL_dGq4UBw6OFjiP2eof3S0Kn-fPWihMenvUR8xGgwk_S38K1ahV-M1VZCC6RqXwqaZC_7FuynpxPCLhJFX5iFi40Xth2upLXAKyrq1M8gBQE6d2JCsHLeomYEf6xHBne1jX02-jzG3SFepuzPIa2i5vC1ukQz1VqpAUpv8f9Z1VyG06TS-eHdaCibCB8eTHh9TeCefkH13lp9qBHSZky46BhqSzj7pPMrkcpVveG3_to3pT4Mksfq6fk511tcBykrAPOQZkLE8Hz5otQhQatNRD9bO1vFgRAyUsjo407ziFLyGwpsnf_btAIWe65VfziNVA6E_vWLiJDFvLKe0l9JhiC_VZd3SQwwN_OQY68gYz7Dgh1NeISFDImlDf-Xp2RqLE2H8VYZ4q086_F8BKKWS_U_1J8lDdG7iWoM81HANWTFPUSh4E9Dl7vTilF9yvw7Pt5K28dMLBK_iHwZqI8Zqnue914CbrUSkQBx3m7r61aDCFbUOU-vuyK-XbS68_psd2-ad7NaJ6xwTZb5TyFWV-8f0cwWDquIOHwpbfG-0bcS1BrlU0MN9r0xCqXrj0lOxOah8Gb7VOcAZx1Zc9x3s6XZbJJw3Gh0ls-wNCi02vlqc--MXKYAkwD-tXIqDjx4jNBntk5FnSrP56F0HcmpBdAMxlFflC6B2zI2_lNT_hUUbEGf5bzejoRKFMGh0gaJqlKdZ2fxBL_XYqRnjllTigSRR5ARznsaj79upxCVFTfHbNiPKg1oz0jyK_vdXkfim3arj7DOCp0zYrP62PMSCSy9vb40n4J476n0Mwr9xSgEPngwNCyVkPxaD03wRHZThRtPwcVoAQoD3jylyOoDS-1zODHG67In4qdKbmS7qFLQzo0fOGXljps77LOIYtvpUHuCQT2sGGgeOX47yU9I2OqRhPAzNKRyIDjD9EMppoaFUfJVvtt7iJM1l1sK6e1X3oA74dx3SZCzKd-yHXIVouwT0t8LLQt_GvzwOqhyz6Y0z6ap9G9qgiK0hZZyG34LEPrQUGcy2x769pnI5JlenZyzfNbYe_K3k=",
  "id": "rs_0b0692a857a027de016ab473eb38c487d0a7595a12609106bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right gripper now holds a fruit-sized opening with sustained contact. I’m test-lifting the yellow fruit before moving it into the bowl.\"}",
  "call_id": "call_nzIuzDxGmXsPQZtSySlmxTvO",
  "id": "fc_0b0692a857a027de016ab473f1a10487d0bc613becd46e7a5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nzIuzDxGmXsPQZtSySlmxTvO",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4986, 1.4185, 1.2743, 0.5743, -0.5957, 0.9653, 1.2728, 0.4333]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4986 right_x=0.1727 right_y=0.1912 right_z=0.0885 right_yaw=0.0179 right_pitch=-0.011 right_roll=0.0284 right_gripper=0.4333\nstate[joint_eff]: [-0.3214, -10.6051, 5.8325, 0.7497, -0.3394, -0.0464, 0.2808, 0.253, -3.7949, 7.4325, 0.6813, 0.6178, 0.0415, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb75067db38f9bc4e61a6f345fc44ade7291481f43abfb0c623f2c7357bbd492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a3467dc35cc3b22a78633fe0e41d6ee03cf8869d3b594de321be3c4301a037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7129da329640b7fb4e52a0dbb16875de3acf27444788f325d07933a16946a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6346, -0.8177, 0.4908, 1.3804, 1.2812, 0.7074, -0.7525, 0.9154, 1.1652, 0.9979]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.061 left_pitch=-0.3273 left_roll=0.2027 left_gripper=0.4908 right_x=0.1767 right_y=0.196 right_z=0.1101 right_yaw=0.0498 right_pitch=-0.0662 right_roll=-0.0801 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -10.906, 5.559, 0.8669, -0.3639, -0.0464, 0.315, 0.1162, -4.465, 5.4222, 0.6862, 0.7302, 0.1197, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4957, 1.4185, 1.5471, 0.4267, -0.2356, 0.9718, 1.2736, 0.4335]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4957 right_x=0.1726 right_y=0.1864 right_z=0.0159 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.0315 right_gripper=0.4335\nstate[joint_eff]: [-0.253, -10.7966, 5.7641, 0.7399, -0.3932, -0.0757, 0.2369, 0.3487, -5.5863, 3.7949, 0.6374, 0.569, 0.0708, 0.8669]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4986, 1.4185, 1.2743, 0.5743, -0.5957, 0.9653, 1.2728, 0.4333]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4986 right_x=0.1727 right_y=0.1912 right_z=0.0885 right_yaw=0.0179 right_pitch=-0.011 right_roll=0.0284 right_gripper=0.4333\nstate[joint_eff]: [-0.3214, -10.6051, 5.8325, 0.7497, -0.3394, -0.0464, 0.2808, 0.253, -3.7949, 7.4325, 0.6813, 0.6178, 0.0415, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb75067db38f9bc4e61a6f345fc44ade7291481f43abfb0c623f2c7357bbd492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a3467dc35cc3b22a78633fe0e41d6ee03cf8869d3b594de321be3c4301a037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7129da329640b7fb4e52a0dbb16875de3acf27444788f325d07933a16946a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHP2nMh9N19AcPL7GZcxt5JgD8MylI8SnGNrm90ChtA11oPQhXKGRSXtWxwjnEdedeN8aMc3G3Tns8dziadzWiUHyZnRLkhbFfkdxwgx8sX1MnT3djyaU4XZpC5FSB89cGwwo9Df9QU9J2N6kiPyyKEkXPrCa0Ldd2XOLz6ICC9qpD9rEEXAQD4TuA0MYeCjTc4SDuRe8MYPBOuM2IgHORNbSoo7jsuX9BPF_SXP4TTfovNX2cIbC_nKALR9be3GJ1eDsEJsyhmTLDeSCbWZbOxYrJJEqjaBBhGMJeWq5LZAgaplT1WrPr5oEhLQ6SIvtf7epZwn00Pkrep6hQAAdN3BDTQpJOQIzMPKMMt3kpQ3K3f5rxDf7fhlo-V_rzFfr6qhgQEBhiHXOc-LVY5xFvFR_O0eUkoekydFkHl2A58wbWStEtHThNCMh9iLgZTLPVKSyuc3y4JCwx4XU4N3SuNL8HRfP2nTIn1bBYYt7KHA6Vq_JgbNkJ4Dw4bvfFxKa_SeBgwIiQXUElx2Pm5mUs09aMd6FNQQjI5XlIxNR2smdnVGYo5pdtchpbNXA7RZSNgCScxpd9Sqzr3bD_-pLEKzLJqXBjFKzGB3Mwzm3ZiGtYC7NMkGgelKrRY30RBHWXn1U98kbvJBQdxlH3k2hOkvPDePjohgEIkWQzy27vqb5OtqqgwXv7MhHI8QtbOc9KHQE6j99WmrgRD3MisjstApjhTrmduAdcPOejGL7SEimHTpOrAob9T4yeMqptgckYVrdap3nbD0Lvk_E8fcGijkLDPfeEUdxUeei6Cn7fbel1Gg9balbwWD2JTLSeKnF_nDNQ6wmtNo_yLI-lXvSDh08W8_QFSOPcwh700SJqsqb-yly0KskciCwHHGn2VvtabEZi0IdhrfIN6Rx8gbkG_TMWXdKZaUktx9UoXrXR8DvMqyvWN4BrZf7znP5no84cs3M-X9yK0F01cdxCSNKpLpswggC-89_btcJ4JaJLsttVg1PnlR_L-FrVUfR8_i3cnkSBJ3FNK8aRBUTVzD5n_CwJL1S3ySZXs7F_OfLszzdVz-WniupWpB_I4FyCrEBVqsItjNeLjkwM-Qt9zuP1At1TfGJMH1uclJnuXHXhWE_odACUZpsARn2HnZccipb7FwFoZww1y3GzfJMeZRFj4hM3B33SBuOTxVMeSPAr22SIOCminWuxhoPtzX4GPN0zK-MOLGdW0lsLNfTlPl8PEyG06vLnG6PIYmx88CcMWFrl0UWB5SI8ZeI2NvLQNNpGwPqA-hFYW1akMFmwXf62l8kPLE7jjfqV_W69xFHfoh3Z74tX3L6zKt-0OrlMRGgWVhzfVkDUBLCWXFJY6HEDiovQ==",
  "id": "rs_0b0692a857a027de016ab473f47ef487d085be2d7e5cf69f57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.145,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit rose with the gripper. I’m carrying it over the blue bowl’s current position, beside the green fruit.\"}",
  "call_id": "call_RFueky2wwTw3BN6RSxpo1a4S",
  "id": "fc_0b0692a857a027de016ab473f5357c87d0bab72f2e7bad60c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RFueky2wwTw3BN6RSxpo1a4S",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6308, -0.8188, 0.5005, 0.815, 1.0687, 0.7418, -0.474, 0.6716, 0.5579, 0.434]\nstate[eef_state]: left_x=0.3412 left_y=-0.3063 left_z=0.2269 left_yaw=0.0599 left_pitch=-0.3303 left_roll=0.1999 left_gripper=0.5005 right_x=0.2758 right_y=0.1376 right_z=0.1721 right_yaw=-0.0278 right_pitch=-0.0281 right_roll=-0.0095 right_gripper=0.434\nstate[joint_eff]: [-0.1709, -10.8923, 5.7231, 0.7741, -0.3785, -0.022, 0.1929, -0.212, -2.5231, 8.8274, 1.663, 0.2613, 0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02bc429b6ccf89ce711262e1243650059031a75e19198549d774c4b2fbbe5c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7592b86edc107a139f0483ee2d8e3796f5780617ddce84777d9ff89a56b3690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0075e8e3f9f7900ee38ec49c5fa119096b5613fc1f1598ef7960404e419940",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9688, 2.0758, 2.1895, -1.3911, -0.6342, -0.8188, 0.4933, 1.412, 1.5612, 0.4892, -0.3454, 0.9535, 1.2644, 0.998]\nstate[eef_state]: left_x=0.3416 left_y=-0.306 left_z=0.2273 left_yaw=0.0613 left_pitch=-0.3273 left_roll=0.2014 left_gripper=0.4933 right_x=0.1725 right_y=0.1887 right_z=0.0194 right_yaw=0.0153 right_pitch=-0.0434 right_roll=-0.0965 right_gripper=0.998\nstate[joint_eff]: [-0.0068, -10.7556, 5.7641, 0.8327, -0.3785, -0.0366, 0.5885, 0.4718, -5.2444, 4.0957, 0.5836, 0.8278, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4986, 1.4185, 1.2743, 0.5743, -0.5957, 0.9653, 1.2728, 0.4333]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4986 right_x=0.1727 right_y=0.1912 right_z=0.0885 right_yaw=0.0179 right_pitch=-0.011 right_roll=0.0284 right_gripper=0.4333\nstate[joint_eff]: [-0.3214, -10.6051, 5.8325, 0.7497, -0.3394, -0.0464, 0.2808, 0.253, -3.7949, 7.4325, 0.6813, 0.6178, 0.0415, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6308, -0.8188, 0.5005, 0.815, 1.0687, 0.7418, -0.474, 0.6716, 0.5579, 0.434]\nstate[eef_state]: left_x=0.3412 left_y=-0.3063 left_z=0.2269 left_yaw=0.0599 left_pitch=-0.3303 left_roll=0.1999 left_gripper=0.5005 right_x=0.2758 right_y=0.1376 right_z=0.1721 right_yaw=-0.0278 right_pitch=-0.0281 right_roll=-0.0095 right_gripper=0.434\nstate[joint_eff]: [-0.1709, -10.8923, 5.7231, 0.7741, -0.3785, -0.022, 0.1929, -0.212, -2.5231, 8.8274, 1.663, 0.2613, 0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02bc429b6ccf89ce711262e1243650059031a75e19198549d774c4b2fbbe5c17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7592b86edc107a139f0483ee2d8e3796f5780617ddce84777d9ff89a56b3690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0075e8e3f9f7900ee38ec49c5fa119096b5613fc1f1598ef7960404e419940",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHP60PD92ejWzp7mdfH-3suCeaxKCZ8Bx7nGkL6FKS41ArWhCNyoZ7AZ8IlOYOJ0qjJfCk5l0Ubm1BKgp3zdh7saWMN8mGp2y_hsguAqApRRqaduU9YjPKtUjvlbHDfSx4dQa9fgvHVeqGWD_YPzvY7Ew25dB6zbkL9q2B0WY5U45_lqgGomIguqyASPmv-FR-4p2TOfNe0P0Dn1kGPxpAtOTuHwcSOQkmmVLgig8-iVlRIUSjAVvYhncO7UVsXnJdMt3ORztqbhGn6LGd0V-T8o1E5KdAYRDRUBvxS_A-gVAMaYr4r-JEK54dM9MpgEp8YPU8ZeEKO-R1vifiIwJEEs0Tfg3uDVGMWd0sRBOx-Ih2y1xP0gCGd0b-W7hUtIigxIB84IsmetEI81SRlyXjMDRdlO4TNbcbBqE2tR0PvgRxg7UWDl3Q6FYeRWVVpOWgQWOeLGTDhyJESzTmPKAdDPAyolJm-9p4_nfZwTCLyRY_5mc6ID6MWwsqHPPQMAwPJwfCsvl9C2FYWuuqZrxaAmk3x1VXri-IH0IClc41N5igyot_ffookuVOe9yiJON85dFpDOcEX-VwPg-H2yGumWKe-s9-ahxx0hDa8OsdQAqTtdKx7WRw0XcGud1fD0TB0dn83mcjF73kxjYBVj6UfGdL-BCm1gVd42yLdN7a-ejOBs43IdSb819ytrcygq2AIL5_MNJkyX8EyAVBuyP1lcpzfUu85mqSb1We940a5hJ5LKcQzFU6YR6QelQJpqGUMfOXyx4-b0eetXMhrk5lcKJnQSZphf3-_44__A81WFm3uPHzP50TZGDrPw4u7OR2gnIfacCxeoW-atx8o6A3hTnOcjV58DiunwHo0qxRszycg8jEcxJKgofwLry62IoWRBIiZYwufMaAE72-3NKaTmsrWtUwROWz1MUzspRS6t0cEW3ZyFaoGNz_u7IRkvWTnNPpMVWFAnv3cQ7uM1hYMydTueIqzX2hioucYns2W9sdQnMjAav9ZUl4zOFSX0Jf4j62OXph085Qm9sO-GH57n1dSbBe1wYNRe4hLg1zXHHIGxev8A4sSlqll1VSGK6i4Zqn13jWgaIvB7YG8_jIa_K0lCwPbEELxXv6cmc7jCTOI9oCz3tuAKsaWR9JxJ0JoPEMCeqW5oWm3sf-nnICo8IuWzPNYLcX2E04EBOEWkjdXUEqYMWrhNMBlBLpeq9uq3B0Pvb7upuOrWDm-ci6DdWlqSlosNl1kqj2UTZxkPz2UKKlsdm7pAaO-EcYJeKP5a",
  "id": "rs_0b0692a857a027de016ab473f8c83887d0aca7bc6e543eae04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is above the blue bowl. I’m lowering it close to the bowl so it can be released without bouncing out.\"}",
  "call_id": "call_UG8jnOhjZUUZZ8jP1RwPl1Qm",
  "id": "fc_0b0692a857a027de016ab473f9414087d0b0bec8b4821f0272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UG8jnOhjZUUZZ8jP1RwPl1Qm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8185, 0.5022, 0.823, 1.111, 0.5331, -0.2634, 0.6792, 0.5316, 0.4332]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0583 left_pitch=-0.3328 left_roll=0.1986 left_gripper=0.5022 right_x=0.2686 right_y=0.1317 right_z=0.1104 right_yaw=-0.0121 right_pitch=-0.0515 right_roll=-0.0649 right_gripper=0.4332\nstate[joint_eff]: [-0.2667, -10.9197, 5.7915, 0.7692, -0.3834, -0.0464, 0.1538, 0.1299, -2.2769, 5.6274, 1.3016, 0.1929, 0.149, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8d575016dddd63525c6ba55c7503ba19685f0487a7f53e535bf61f379becd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5925f1352e0de5b37fa06154a5357412b3f9ab229d1fffef9b45cd5a50532af3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4687e817b177e56fb9d7065783b69520b457f73b57bb045216d177ca722531",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4957, 1.4185, 1.5471, 0.4267, -0.2356, 0.9718, 1.2736, 0.4335]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4957 right_x=0.1726 right_y=0.1864 right_z=0.0159 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.0315 right_gripper=0.4335\nstate[joint_eff]: [-0.253, -10.7966, 5.7641, 0.7399, -0.3932, -0.0757, 0.2369, 0.3487, -5.5863, 3.7949, 0.6374, 0.569, 0.0708, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6308, -0.8188, 0.5005, 0.815, 1.0687, 0.7418, -0.474, 0.6716, 0.5579, 0.434]\nstate[eef_state]: left_x=0.3412 left_y=-0.3063 left_z=0.2269 left_yaw=0.0599 left_pitch=-0.3303 left_roll=0.1999 left_gripper=0.5005 right_x=0.2758 right_y=0.1376 right_z=0.1721 right_yaw=-0.0278 right_pitch=-0.0281 right_roll=-0.0095 right_gripper=0.434\nstate[joint_eff]: [-0.1709, -10.8923, 5.7231, 0.7741, -0.3785, -0.022, 0.1929, -0.212, -2.5231, 8.8274, 1.663, 0.2613, 0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8185, 0.5022, 0.823, 1.111, 0.5331, -0.2634, 0.6792, 0.5316, 0.4332]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0583 left_pitch=-0.3328 left_roll=0.1986 left_gripper=0.5022 right_x=0.2686 right_y=0.1317 right_z=0.1104 right_yaw=-0.0121 right_pitch=-0.0515 right_roll=-0.0649 right_gripper=0.4332\nstate[joint_eff]: [-0.2667, -10.9197, 5.7915, 0.7692, -0.3834, -0.0464, 0.1538, 0.1299, -2.2769, 5.6274, 1.3016, 0.1929, 0.149, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8d575016dddd63525c6ba55c7503ba19685f0487a7f53e535bf61f379becd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5925f1352e0de5b37fa06154a5357412b3f9ab229d1fffef9b45cd5a50532af3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4687e817b177e56fb9d7065783b69520b457f73b57bb045216d177ca722531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is lowered into the blue bowl beside the green fruit. I’m opening the gripper to release it.\"}",
  "call_id": "call_Lj9p8dItoX6l6xyrXB8LxaoT",
  "id": "fc_0b0692a857a027de016ab473fc30e487d0a86cbf560ce123b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lj9p8dItoX6l6xyrXB8LxaoT",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8188, 0.5036, 0.8227, 1.1183, 0.5182, -0.2665, 0.6754, 0.5304, 0.9957]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0585 left_pitch=-0.3328 left_roll=0.1983 left_gripper=0.5036 right_x=0.2656 right_y=0.1291 right_z=0.1023 right_yaw=-0.0104 right_pitch=-0.0706 right_roll=-0.0826 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -10.7829, 5.8462, 0.8034, -0.3834, -0.0659, 0.1392, -0.0479, -3.6444, 7.5966, 1.4042, 0.2906, -0.0171, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a6d0d08ba4ba2de591463092b9b6ea7194cfc3c9e6a38fd626ffed108a6119",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4539675039a9de64f85abc4ed83f3a70afd74206101e0096e12e9bc1e080e3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdd4bfaff96f6061a2fd6deb54db7560f3d6e9eaec7948bb69e40421cc4836d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6342, -0.8188, 0.4986, 1.4185, 1.2743, 0.5743, -0.5957, 0.9653, 1.2728, 0.4333]\nstate[eef_state]: left_x=0.3416 left_y=-0.3059 left_z=0.2273 left_yaw=0.0615 left_pitch=-0.3275 left_roll=0.2017 left_gripper=0.4986 right_x=0.1727 right_y=0.1912 right_z=0.0885 right_yaw=0.0179 right_pitch=-0.011 right_roll=0.0284 right_gripper=0.4333\nstate[joint_eff]: [-0.3214, -10.6051, 5.8325, 0.7497, -0.3394, -0.0464, 0.2808, 0.253, -3.7949, 7.4325, 0.6813, 0.6178, 0.0415, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8185, 0.5022, 0.823, 1.111, 0.5331, -0.2634, 0.6792, 0.5316, 0.4332]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0583 left_pitch=-0.3328 left_roll=0.1986 left_gripper=0.5022 right_x=0.2686 right_y=0.1317 right_z=0.1104 right_yaw=-0.0121 right_pitch=-0.0515 right_roll=-0.0649 right_gripper=0.4332\nstate[joint_eff]: [-0.2667, -10.9197, 5.7915, 0.7692, -0.3834, -0.0464, 0.1538, 0.1299, -2.2769, 5.6274, 1.3016, 0.1929, 0.149, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8188, 0.5036, 0.8227, 1.1183, 0.5182, -0.2665, 0.6754, 0.5304, 0.9957]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0585 left_pitch=-0.3328 left_roll=0.1983 left_gripper=0.5036 right_x=0.2656 right_y=0.1291 right_z=0.1023 right_yaw=-0.0104 right_pitch=-0.0706 right_roll=-0.0826 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -10.7829, 5.8462, 0.8034, -0.3834, -0.0659, 0.1392, -0.0479, -3.6444, 7.5966, 1.4042, 0.2906, -0.0171, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a6d0d08ba4ba2de591463092b9b6ea7194cfc3c9e6a38fd626ffed108a6119",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4539675039a9de64f85abc4ed83f3a70afd74206101e0096e12e9bc1e080e3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdd4bfaff96f6061a2fd6deb54db7560f3d6e9eaec7948bb69e40421cc4836d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQI3rIg8ReL2XAegkPkNWOdEQ7VdscVCzmiviLi79K257PclNQ_GVh-57nAIt1LeOzYETSEbKHxAV5L27lp6kR72nGJFaevC0WiBzNHK78XI7oM7EloU6I-TmLbUwHXr_WpJaJEb_a1aEHgoaOEWEcZupHgcRIRhW4HUQm1YW5h_LFEqyQ6AL9MfWtnynkJfmn_pOBft713wMygF9XXnqLqYIxKsjZBxhMot2Wqcm7an_0Rt4UQnBqgdKbTgmhZYKEI0lm5EIyoOjdiPslEez2lhRaGdRCJZ4Z8_FSgUwC1ca5COi0V4xPOppDFg_EuS0vFd5IVgEGtvsjO07dOVTIMcSNEt4qVxZuqBChjcg_sAKJcdD1L25SGdvG3VG9PajUjFevyrMAwlHZz7YS-F1IbrAtKeKZAkfaW8AYcnr-sQ932t9XieRm8i011bf4fhhoQ-IbjeT5Vn4hL3TnpEa23vN_5hiFjGiB_lEs_sgULG1arrqoFIcHNoSl5OAq7K_B5LBmpdss9htZ4kbO0-suY-jXhCGraHihemymbpoIjJlwyUevY5ndxXXpNE099yb_GIOd1ylrFNSBqmB3snB9nfYJ0FkE_9deUPXWdQFmXcg_MSA_VJSJEMY5YP-43dsjhPH_K5OAPg74UIVJhvT0WiHwZNgcEy8Oa1Kr_BoBYGHm5ZveJJWtja6d2TNh4-5e9c9AvIQdSWNM9AQy6p7QhGPuVlSn-Vb5cjwJUsml4aNM_H4UMfs5WlS5KaTKpxdHwrO33aZspR6N0I_xVKDKtcJi-Kkix-WDOPjULA4pGxChn5qSC9uE7YygRmxMUSAHFjlPEtAMEcu5GjLUKQQRHsWMzhHm4GxleBjl4WT91NLrU3vn7noeYGnEABBrIlUFXXrlC-5T3QW1ymbu_lsd-lQMu6fJ3dSTkHyp9RIolPky8v3uHURnq_R6PpIzAi9UHUjvz7mLeVt_3iAZCg0K-slTu_398SQFOc86MGxSRFxGQBB1-G30hFxTgkZPZs3cbwjImhnZAusjafAIlfABvNjv9z_xl9Qj1M2xBR_7xG5ag_zGZP7vGDhq3loKX4VljOYDZYEn__eFux348qYC_6sqeFqf8a_gYy6FusPCbnzfS07g3t4JMD75nq37nxP8gxGY6IpNXJKfxjBL_llbVEJA907_azvwYNzQDQm7YKoo2HhFKc8gODGNRhXYUXUA0qMrL7eRFukeuumznOhzRVgDAnXm9wX_XJZNe5oxOh6x07uUuTUDgzpdaQeP3O-z_Vrijb_N1ZNNKQ5I0WjEw5IpQ1XNmAL_I2LFpUTIR3XwCMsivtLU6xQ6HKIG7OmZyOzSdjpzGZxYkVyVsnDJYpCIRr2IhkbJ0fWa6nbQW2Vizb3nUX0VJwwXIHh0yE6o5AxiF2TFTZ9ffwynWA0O-L85ukFhGnqULv8rKPKD_aA1v3KtRpyW0TWNH5fk7Y85DosYQgEoLUdAsrezZViY178YUl0ARXvcvLX2hGngH0DnyG92AsWlR1zJ1nIqIJWXloftttNo7llpwPaJ0yXpxkfelN5XVtqX3mAiJA4tFIctaTvEdM3kJ2xTeY5CWEFILV86g8oSIlYd3gjzkJ9Tgs3eWuFuEgKuWWbR2hftD68whBPgxMhYkh3dMui8HLPeyLIzhBr62svyCTTj6cOFANSfP08NrwtNRedJkxLjtDBZ-besNAz-nCM4RF-V_PgUs7HW9x7pxhE2638-NK-qKZ6cAZp_NdysdZ7XXRz_WkZfgc2ozk15rmD-KodcjWygTPhk6FWwj06McyY678vd_w6rUm1tr6qujT3w-_EcSu2c3A-vUNg1h65Qw2gcVpNKjXpcNRMm4U5M42S2a0UWBu2zQ05ObsgYHHhn07VsbP8NbKInwjkOGayEp_tLZ6eZUqvS3FZnnUFD1thcSzJAf9-oqReNlk4f_t-mNUggMKrHOfcJZck-r39Jui5nEXkk1ygITmPjtgcT6L9YFn5-ksvpfMkRzGUZioLncNJmsffuqRCJRmN9997C4uLZav6gHUHb8tHLVyO1MOXGi0frFInsrMy5MReBiKQyXMyijP1-CM0jz594P0Xb_eqwgzXnKTw1PXTh4eN6WneJCe8CS6eyNpR6zzQStP7NwvQYa_2Sp-nL-_5CyhNKOYnoYZsQe4aQCm-O2VebJ813UGOHNs7QnKmlMMviDXQU5ASuENufDehTlIoIl0o-7TruB_0VnJKHWz_XCsCpxkFv1Eu9zEWNDk1IcapLyzI38LJK6596jMEZis8dobsSLHsK4zjPkpZPE3J4owViTheJWkQygILl8Wp6s2zL6KDBDak_WEXzy3bLe0fVymguFVCQQjnWoz7-mkzG-Ns3SZslyOkcEcyy7GcnDGuvqegBiHBycLLAia_ugknM4txsCI9N-Nvzn_Xr_DjlA1kYp0mQdyqIHW2ygDVqVsK261k_dcU1FFjZPVR_ESRb82nRTlGAfBQ0wVDWGJEeKExW0cmoy8MBsc6RInZo1rulkzIy5EH7bo7N0J1letEQ77-C4nuWh4efCokjdDikg08KRY-e76nP11NuAzynV5QTtYP3YiAzka5BeK5dokCYD06HC6wSaBhvK2atkk5lDO1PBMDF3YT3FWbQbpap6E_Va9jndAYebSdYR4x5AqxgJqA-9bzPMOJW2siMtNWbrwcFAhzYcdWdMP-CkPhlBQxgs5Q1CKkEH6Bj0-ZtioIiMpvqo_5JlX4gJQWoQRpy3QU-99O3QRqx-KcG0YdVRomxuAlIlM3RU9HzyhiRZEpnzoopdu9AJTRB-8Z8jdih4ybE9Fs5mlwLj-VjQQOlpYjUdTlACm7izG7LDS9WWri7K0JwNdpRbLAeJkou41L507EL2isgfUAI6iJrMKAGG67AMaEAeyndQknSeTYePPY1lJc1gyOBrZvfvIHix5ZgcEgpRPvY6oXN8IjEAOsS6JUotmaiS98EJi9R9x0kO7UTrjeQfulqmeapKYkkKD_9cHW3J8Wgx7Mb_7uu2oeRfWsw-YnTrGRHGpkCoSpR3d49Gpda7ESUpBVW8hctiuD0GoWi-35LG3pi2VbU4c0Z-Y1kQJnTzcKxDC_svczuUY4lZCYR_72DSm-ZId_NgAHFj6xceklRyeYX42BRKmd9814otjHEvj04JZZpuoTdytZPYtUWx48Z-b1QTQ0wW7A5Nc_cDgNIyUa7wo8kis_TNwTzjki_R7HTvaNQb168gYrAiH6SWEf3LYDQaVqOXSJ9hHi9r5F2Py0_NkDF_jjjyMSwaMP0f2oKKmzrdFfhae4SIw-YDwSLl2Upxh-Erz1Zx9Ji8NDyDlWkWM0G4hYiNbHYP3H9lwC2F7pw0FMyb5Sm76GNWLy7hkgnujVQSVARWBdg4DAjkcf8PFbqK88Se5DgiOFeE4K2TB1pcxC5Oem5IgayII0iJarFwapay6C-G2EO3ztI52DAwYINMhRb3wTLXaRPuN3jJD9Hy0_cRI91SynAe9TUV6ImyVyCevMjfawo41otP_I3IRXIlezcnM0XGytEi84crpXD8no4Vm_E0Vm2zZIdmO4eq",
  "id": "rs_0b0692a857a027de016ab473ff753487d09e13bf142a055893",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.06,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit rolled out when released beside the green fruit. I’m clearing the bowl and lining up with its right rim so I can move it into the left arm’s reach before adding the remaining fruits.\"}",
  "call_id": "call_4zp9ovXaCvH6Ou36Sjb2yC6C",
  "id": "fc_0b0692a857a027de016ab47407d0ac87d09b0bd7326095e413",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4zp9ovXaCvH6Ou36Sjb2yC6C",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 2.0758, 2.1891, -1.3914, -0.6273, -0.8188, 0.5049, 0.5541, 0.654, 0.4652, -0.4446, 0.4957, 0.3515, 0.9965]\nstate[eef_state]: left_x=0.3413 left_y=-0.3061 left_z=0.2265 left_yaw=0.06 left_pitch=-0.3333 left_roll=0.1985 left_gripper=0.5049 right_x=0.25 right_y=0.0601 right_z=0.1523 right_yaw=-0.0433 right_pitch=0.0212 right_roll=0.0141 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -10.7966, 5.7368, 0.7888, -0.3834, -0.0611, 0.1245, -0.0889, -0.1436, 6.9402, 1.917, 0.232, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fdce71dae1524dad286eb81f03045c9c39a5fcabde5545d3f1e8d87d159221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5c9bbbe532e90a22fcb6f2e5177ab38d636124ac1d78a99431b089d56aee8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cda2f6dc85a6a922f917da4ad072d7edd6a49ee8a1ef9ea70b1a13efc1636dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 87 changed as sent

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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6308, -0.8188, 0.5005, 0.815, 1.0687, 0.7418, -0.474, 0.6716, 0.5579, 0.434]\nstate[eef_state]: left_x=0.3412 left_y=-0.3063 left_z=0.2269 left_yaw=0.0599 left_pitch=-0.3303 left_roll=0.1999 left_gripper=0.5005 right_x=0.2758 right_y=0.1376 right_z=0.1721 right_yaw=-0.0278 right_pitch=-0.0281 right_roll=-0.0095 right_gripper=0.434\nstate[joint_eff]: [-0.1709, -10.8923, 5.7231, 0.7741, -0.3785, -0.022, 0.1929, -0.212, -2.5231, 8.8274, 1.663, 0.2613, 0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8188, 0.5036, 0.8227, 1.1183, 0.5182, -0.2665, 0.6754, 0.5304, 0.9957]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0585 left_pitch=-0.3328 left_roll=0.1983 left_gripper=0.5036 right_x=0.2656 right_y=0.1291 right_z=0.1023 right_yaw=-0.0104 right_pitch=-0.0706 right_roll=-0.0826 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -10.7829, 5.8462, 0.8034, -0.3834, -0.0659, 0.1392, -0.0479, -3.6444, 7.5966, 1.4042, 0.2906, -0.0171, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 2.0758, 2.1891, -1.3914, -0.6273, -0.8188, 0.5049, 0.5541, 0.654, 0.4652, -0.4446, 0.4957, 0.3515, 0.9965]\nstate[eef_state]: left_x=0.3413 left_y=-0.3061 left_z=0.2265 left_yaw=0.06 left_pitch=-0.3333 left_roll=0.1985 left_gripper=0.5049 right_x=0.25 right_y=0.0601 right_z=0.1523 right_yaw=-0.0433 right_pitch=0.0212 right_roll=0.0141 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -10.7966, 5.7368, 0.7888, -0.3834, -0.0611, 0.1245, -0.0889, -0.1436, 6.9402, 1.917, 0.232, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fdce71dae1524dad286eb81f03045c9c39a5fcabde5545d3f1e8d87d159221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5c9bbbe532e90a22fcb6f2e5177ab38d636124ac1d78a99431b089d56aee8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cda2f6dc85a6a922f917da4ad072d7edd6a49ee8a1ef9ea70b1a13efc1636dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQPQFTokBJNcya-s2nWQRfsd94-D_bt_KrJ2xw_0u93l9e7aP9FHON326KZZnSU05WzuAy6Z8xRY-e9oqja1tRsWdwNXgaA0NIegkoPk0D7A9hLE865ptOrSTGHa6MnxxZitjrUKbT9RXMIObf6E_VqXRAvzzmlrvDatibIC0XclhWW6CeTn_cN8pVuR78XKyFkkf1JxJmChuDgehNPT2QhSsFX4zgh11aUAplIot6YHwLKAcFHQRtyOTLQkQt7D1UHmzm7JUx2NBALSt1zCJJkxTxqi_tvyEfwSegcTKLW6slTtfZS5LYIP7OKn-NkLBv5ORu2BQ1-n6Xqfa9kjL9BwjPYGpgcerxWdlzqUNU6SgXXSTU-I-S8CZ9KqQ3pqEcgqzH-92YClCbGu6CZi_dHpjIK_hgDt0jXiq6kcvKY6sBRBJ_lYvDMyaq47NIMMMMAYXQQNJc09xruDCWt1cGVihLbYjFQUc1N5Upuut51-oBcT66wlZa-mryTmh_4C47UMEU3IuHUPu29xmxrXrvburCEQ0aZ6qr0u7CKLzTCb73q5ovrVOBtkffF4ZnUz5F7nVBAyA1cQHORNFd-NhwTI1E684fiWxd-Te6V0Taah3Rl0HT9SP_h_Dr-vF1prsrT4idTfEnQl4tJxgFJdaHb2zpnx42zVbiHsPCiDDFTjz_H1BjQJC4bLEaOhAXzeSXMb_3lEjDwj4MCY0dGEi1PVX5IuW9H6MOeCinB9HUQ4eDPURd6CQWfFf4trHH0KeR8yvBTLv4B6PCvag36tMxXm7JsEpjqZxH7OwGC8Yp87rUDeoK23Bs_JfKIZqKEgDRACMlLuTQuPChYh9X1hsGhpH9bFyqGd_n1WMqG6fnTihI8kQwQWj4V49-SM9Y-VjRSwgszGYF9rLGLdlgYzKgPAw0XwMO-s2UpEfjtwvP7ZouZ7AkZtsS5HrRIiQk8L8FQuzzV5gN5ISLcuhst68iPDdzP470lIATdQ3O1HEovpGYPmB9zm1XUbEdwHS-zvj-GXASjZsc6ae9rCJLIGguYA6iwm9OicbwiqcauDeSHJH6eW4O3c2p9i5BCjZCgpJKqTIdCYJzEFwsGBqvnPun7E9G3AeAEqE9f5uv1rVX1Ng2q2I9cfYLJt8WfRO4ilp_NOCgDYHzN5SVWYiJ6i5E-PIT9ObrWCbv1O0EPhGhrnVdOYw1BcHLTlis0jKG_-RUVGQPep2RJRZq957yjDHGOSaQaOYU5Eih5pivGmVrjjgsmpy5zwe5Zk2DDayf5cV3Ffp_jfpk2vGYG757KK7R8e-uU99lMCLPS4hmil427MWP3u3Zz-8iljAQ7xGExcDY4IxZZTB4xhCJ43I_Rv36IsvM8A5RpOvVGFwXBwiVJNtFD3DvIEEe0kLl9QFMiHvM-AqBJZtN6BIcRiGKK6N2eVxFEzIQN5lzxxeOYUCHRY07jba-b7SUK9bMbD7Rsjz3FbZdgT1WaevhUGCfDABTvwOcYmlNLkNJAGVo4kjHxW6okJ1n0THtK3ejY0nx9ORhjT4wmg1NuBmc-CGSY33_kwTH60GcUtwZBDwLb2ya0jc5k4RlKdf-WE6Rt7NqOef_DS6Iw7kpG5fxQgmLTGSJjCd7-YDtjAbb0aDliArUk9z8kOWZPPQJkkgO-lCjDDfRZ6tpTEFAV6tlCtflqYwEULZ_HvvYc9dmGN64bEzRTHbV0WF2P-yXTPToO01dPkmiPCw7X6UseLCe7dRoECTv304vneNCulcKAS3UBYiV5XRhkJEvFCqhZyHaE7_xw1nXAJlwBfceZTQ64Yhzi09R8M3jU2FShGhn-cH0uGwUZvlw=",
  "id": "rs_0b0692a857a027de016ab4740b730487d085473e5ab3297884",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.245,\"right_y\":0.085,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl is visible with the green fruit inside, and its right rim is accessible. I’m lowering the open jaws to straddle that rim.\"}",
  "call_id": "call_jN2Fq5Czb0w3b9XH9CN4z9gJ",
  "id": "fc_0b0692a857a027de016ab4740dfdb487d0837fcd5d6899b1ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jN2Fq5Czb0w3b9XH9CN4z9gJ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1883, -1.3918, -0.6273, -0.8185, 0.5065, 0.7258, 0.9588, 0.1513, -0.0067, 0.6014, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.2262 left_yaw=0.0608 left_pitch=-0.3339 left_roll=0.1998 left_gripper=0.5065 right_x=0.2354 right_y=0.08 right_z=0.0358 right_yaw=-0.0135 right_pitch=-0.0757 right_roll=-0.0644 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -10.9197, 5.8325, 0.7399, -0.3785, -0.0562, 0.1441, 0.1983, -2.1128, 5.7641, 1.4579, 0.3883, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdc037efc61727adf0f10eadf150f055bc15dc7fae37e82948e8e5fe9ca260f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f35fcf0a38dfe2535526ec98d5b6c51ee6763b8a13b751711e9189166883a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ab4efef5553f184984539d9fcbb938faeb857036c7d30f3f52bd731539c725",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 91 changed as sent

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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8185, 0.5022, 0.823, 1.111, 0.5331, -0.2634, 0.6792, 0.5316, 0.4332]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0583 left_pitch=-0.3328 left_roll=0.1986 left_gripper=0.5022 right_x=0.2686 right_y=0.1317 right_z=0.1104 right_yaw=-0.0121 right_pitch=-0.0515 right_roll=-0.0649 right_gripper=0.4332\nstate[joint_eff]: [-0.2667, -10.9197, 5.7915, 0.7692, -0.3834, -0.0464, 0.1538, 0.1299, -2.2769, 5.6274, 1.3016, 0.1929, 0.149, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9672, 2.0758, 2.1891, -1.3914, -0.6273, -0.8188, 0.5049, 0.5541, 0.654, 0.4652, -0.4446, 0.4957, 0.3515, 0.9965]\nstate[eef_state]: left_x=0.3413 left_y=-0.3061 left_z=0.2265 left_yaw=0.06 left_pitch=-0.3333 left_roll=0.1985 left_gripper=0.5049 right_x=0.25 right_y=0.0601 right_z=0.1523 right_yaw=-0.0433 right_pitch=0.0212 right_roll=0.0141 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -10.7966, 5.7368, 0.7888, -0.3834, -0.0611, 0.1245, -0.0889, -0.1436, 6.9402, 1.917, 0.232, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1883, -1.3918, -0.6273, -0.8185, 0.5065, 0.7258, 0.9588, 0.1513, -0.0067, 0.6014, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.2262 left_yaw=0.0608 left_pitch=-0.3339 left_roll=0.1998 left_gripper=0.5065 right_x=0.2354 right_y=0.08 right_z=0.0358 right_yaw=-0.0135 right_pitch=-0.0757 right_roll=-0.0644 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -10.9197, 5.8325, 0.7399, -0.3785, -0.0562, 0.1441, 0.1983, -2.1128, 5.7641, 1.4579, 0.3883, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cdc037efc61727adf0f10eadf150f055bc15dc7fae37e82948e8e5fe9ca260f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74f35fcf0a38dfe2535526ec98d5b6c51ee6763b8a13b751711e9189166883a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ab4efef5553f184984539d9fcbb938faeb857036c7d30f3f52bd731539c725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQSZ95Quf1ksOUq5mDy_KiYX-RQCqckRONPDMTymWrqad1ROS_b2uWmBAMaYHo3812g0CgIFZrOS6-xpieXzspZVHbiPV9Us8sL8FkevHZ2Oui4Ekwrg0LTuJLFCcCSptJHfCwtLRE8ctHdqHu0AcTo3ChH2SNLuK_RPBjtdK2lExMGqXhrTF1CYASN8ZN8cI7BGH8NWHqXTf7nWCQgHrEVpFEHW7eVMmpu3Wz4y8BjYJVLL0jAEJsayr7NjoPGdOsP5ZmW6usuORJMY_AwX5_1vqdc4e8SWn_i6o80pqppZKxeefIRtBoFTFHVCxQ7pNTsJbnCQV52npdfteQGnezlG9wXOHefHtApvzykVeyREnlQvqz4m8eTITaxJCG1lRRgzMyzsVrX_sxKhmx2h6cpXUHwzwBPENNoC-xZIEh8M_ao78WeiEM_C2x2DApDK1AfKmLokdAM5ZLgAtnWHbNuV55pnYBDpS_Zupp04BbftVpZmQXJUxSogJtKyd7ZgtHrdpi-XlocihObOcPXozZge3xjBaDNHWlhTylElR_hn4RlULPGu70tVz6zJm0kuKJ8eCa1Aj_aiXHbiNShSa2vOmxpJD_1D2LFXDlRFxOhz9Ok7vLB4JCAxgu6Ie4uesXGVfsukMFkR0T1euvJAGnd9DsJ11j9-1b5jGzPNrz7Nr_CzV5aCvdbN6KnJ_3gyzX8rTPUBUQ-PtMO4kw0wZm-uzNc8sRk1XZApWbJOFvFrxJyMTOplXg_f57VrZLJluqsnwJ2mDrOEYMDdowd4MRotDDZoLgaz61MwEegVcAOX2Li0cgvk-_-3MxC1VA4h1OJmEYtdB_pjoF-nsK9k8cDbpq4DjREsVbRPg1g6RfJ-1XZd3KJh62wvH67G4o6R7lwG-f5K0Kv0MOY8-2pzTFmzmNot64yx3d6Q7dU7i64o5gZzpVGWnKT-pGnH-ckkCzcYT3iDYvQNfNvxKcCdZRf2_x8GFZlVpl24Rd1sQUBW91POfuLx4x0MnI2hP3Wmt7esblOLmUxLDFY-FDyAibmIpwUUESiS6eRrkD0W_x0Hfg14Hn5kJwzKAFkxfeitOa6IaxOMr8S8mlMjWxqc-W7xi7cSTpYGWJZoOMY_qSf6RJ6img1c4syQ2Tngq3NP86EirWJBjdiZwfUOmCbP3dHEPZDOYnh2p77eDSt8bQgdKDv4tVf4p9eH59Dx2mCn8C3XIZNbnYTHNoHViuOoJzov8nisgwN6XQ2f5JhCJI66qg=",
  "id": "rs_0b0692a857a027de016ab47411229c87d0b286b958c1da1359",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right-side rim lies between the fingertips. I’m closing firmly on the bowl wall so it can be lifted with the green fruit inside.\"}",
  "call_id": "call_jqgXRrZfRAREaM7IBdZLheEF",
  "id": "fc_0b0692a857a027de016ab474119b2487d0bcf8b4dc03f12447",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jqgXRrZfRAREaM7IBdZLheEF",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9661, 2.0758, 2.1883, -1.3914, -0.6273, -0.8188, 0.5077, 0.7296, 0.9234, 0.0837, 0.1329, 0.609, 0.4633, 0.013]\nstate[eef_state]: left_x=0.3416 left_y=-0.3056 left_z=0.2262 left_yaw=0.0613 left_pitch=-0.3337 left_roll=0.1992 left_gripper=0.5077 right_x=0.2384 right_y=0.0824 right_z=0.0408 right_yaw=-0.0155 right_pitch=0.0072 right_roll=0.0086 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -10.9197, 5.7368, 0.7448, -0.3443, -0.0415, 0.1197, 0.0479, -1.0598, 4.6701, 1.4383, 0.2418, -0.0269, 0.4225]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e26efdd22556470272128c26cbf6c840d5670e207742930e3760575fc24560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c48e2b4d00d769804fb91be5e65d7a3867ca36aaf3eb3abe6d3cdddb46818f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce864fe94f005fdc4e7d52c94294cb552ca79b14f323b1ef2507b0e531e979b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

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]: [-0.9688, 2.0758, 2.1895, -1.3914, -0.6277, -0.8188, 0.5036, 0.8227, 1.1183, 0.5182, -0.2665, 0.6754, 0.5304, 0.9957]\nstate[eef_state]: left_x=0.3409 left_y=-0.3066 left_z=0.2266 left_yaw=0.0585 left_pitch=-0.3328 left_roll=0.1983 left_gripper=0.5036 right_x=0.2656 right_y=0.1291 right_z=0.1023 right_yaw=-0.0104 right_pitch=-0.0706 right_roll=-0.0826 right_gripper=0.9957\nstate[joint_eff]: [-0.3761, -10.7829, 5.8462, 0.8034, -0.3834, -0.0659, 0.1392, -0.0479, -3.6444, 7.5966, 1.4042, 0.2906, -0.0171, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1883, -1.3918, -0.6273, -0.8185, 0.5065, 0.7258, 0.9588, 0.1513, -0.0067, 0.6014, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.2262 left_yaw=0.0608 left_pitch=-0.3339 left_roll=0.1998 left_gripper=0.5065 right_x=0.2354 right_y=0.08 right_z=0.0358 right_yaw=-0.0135 right_pitch=-0.0757 right_roll=-0.0644 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -10.9197, 5.8325, 0.7399, -0.3785, -0.0562, 0.1441, 0.1983, -2.1128, 5.7641, 1.4579, 0.3883, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9661, 2.0758, 2.1883, -1.3914, -0.6273, -0.8188, 0.5077, 0.7296, 0.9234, 0.0837, 0.1329, 0.609, 0.4633, 0.013]\nstate[eef_state]: left_x=0.3416 left_y=-0.3056 left_z=0.2262 left_yaw=0.0613 left_pitch=-0.3337 left_roll=0.1992 left_gripper=0.5077 right_x=0.2384 right_y=0.0824 right_z=0.0408 right_yaw=-0.0155 right_pitch=0.0072 right_roll=0.0086 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -10.9197, 5.7368, 0.7448, -0.3443, -0.0415, 0.1197, 0.0479, -1.0598, 4.6701, 1.4383, 0.2418, -0.0269, 0.4225]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e26efdd22556470272128c26cbf6c840d5670e207742930e3760575fc24560",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c48e2b4d00d769804fb91be5e65d7a3867ca36aaf3eb3abe6d3cdddb46818f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce864fe94f005fdc4e7d52c94294cb552ca79b14f323b1ef2507b0e531e979b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQWjbC-6bia4KPB2j_dGr69lF95Q9q5OhIoY8AYT3NRS1yK0gc9CpSnhH_SyI4Tb648MYtHvedbRX6SAPJ5fSh1z-SqSXsrGVECLludjD9O1pcVvZJ9VcpP82keQloJsYGp-prfrekj0GXUNI2kRtYH6q1KilenuJ5TtIgBCF0bw8VW7Zmf22ljvOQ7RUcawb8McGgJRo2h3uqRZd2UZ-E_K39z5gKDUtdgcHBRiRdXz_zc-ivK9wkIYxRPOrfKz48xTcYrUnmOK6wDQBwVaPex_bcTVaCx4quTO6uAwZT7PaqGPbL10iP8b4inWbV-v_gsC8ImYRJU820D4gmeSGv6rq2ZUMzlznk7FdQOzRJrDW4K4OhjKIBm6DzqKt0jTYwc_Svdn0r5dOyQvjOnwxrvuokMpDXG0crkeWfXNY2MdyO47JLCxv2c-U8QWu1vim0Gy3yVXw9FIuzbwGe-Hm1JHpz1FtpuVtZjKoOaE_BfXgCXwT6IS9HVHyWw3JqdN5yeC3WGyU69Tq91sEYTjMCcIW_uzmgvRgQ6GlnT_U59LTDVs63FGEdj8ZsYcfL2uu4xDailFKuvnCGtdmih9_VioqilhfkZHj1Re5xdy8BXcsHlj7a8v6YIgfqIpUheXkMQnJBkPLLqvZ9rIse6LN5_AqzmjdvHieyIxZ9L1kFNpFbvxE44nVpwneSrpVOvgQ_PyhclP6duR1hkSwtItcxMsf6j_R0pZuFfBDy0fN0SbS_DuwY6FIWkxxrD02iXP0Ott-av6CQcqci8xwB3nlEiLihkOHamDoHaMMMYkmMzRThKZbYU0pCKHDJBISi2jqpWQ0_87TJbMTZutxniv18jC3OZIMRCMKQQ5FjInsbYZTSPqkpWNKBVw9VStZ5NOHtt6NZRGOsNMLLhyb-y99jF2wZfXBx7_5Y1mN2Gqou_VR0ZhIrmHaXPvN3_eIYW9EuCToPosMlFEpo6gRaJ70L6NF9WkFx6vynd7jFvur4SMUxph3hz-cE77jeCrqIZF1Xefuszmx-AC1sJ1GRN2YeVWstKD3N2AeYME8AU_VNAaDswnYLoLeZ9J4w-Gsw1BdfNH1C637IHyZ0fqGr7pYq6PlHgPbf5wy79sQYzaGiJKqDYwTwQHq7EKrDJSNZQG-9DZbl1_UoUsYivYlrKwOsEY5KEkm-sjQs8VWD3yaL_4KeKuz_Wg2dYUA2W2XAAYQhi19q6tyqJlIAASC48ykzfjnhYgOBvwemcBsAr2e2kz39dZu4cujjZSEXGHNfz87n5jG4M4_Q1nEPEMuanw9ob5KKbx87Q1BmDkeHmCb_yBCVijXTKIHOlhD4g6Z7JJWe5",
  "id": "rs_0b0692a857a027de016ab4741569e487d08290a961a95d07a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl wall is thin, so the near-closed gripper reading is inconclusive. I’m making a short lift to check whether the bowl follows.\"}",
  "call_id": "call_CjpVRB3jF92YfOr6ne4oKinT",
  "id": "fc_0b0692a857a027de016ab47415eca087d08d1e89493994a117",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CjpVRB3jF92YfOr6ne4oKinT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1876, -1.3914, -0.6273, -0.8185, 0.5086, 0.7311, 0.7231, 0.3141, -0.2722, 0.598, 0.4606, 0.0124]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.226 left_yaw=0.061 left_pitch=-0.3341 left_roll=0.2001 left_gripper=0.5086 right_x=0.2417 right_y=0.088 right_z=0.1084 right_yaw=-0.0044 right_pitch=0.0214 right_roll=0.0287 right_gripper=0.0124\nstate[joint_eff]: [-0.2256, -10.7829, 5.8462, 0.7839, -0.3248, -0.0562, 0.0806, -0.0615, -1.0325, 8.6632, 1.5897, 0.2955, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b02c1f51bd5fcb91e05f0365f144b9f9b70d1871255403ee54fa05dd42caa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1ea5fb669e056cba6bd12f2061dab3c2c40178c7085f4d60f6c6a484b6f45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804313d8fcf914f1b95984a2590e437fbc20062dc22b8266c6c9571016af456",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9672, 2.0758, 2.1891, -1.3914, -0.6273, -0.8188, 0.5049, 0.5541, 0.654, 0.4652, -0.4446, 0.4957, 0.3515, 0.9965]\nstate[eef_state]: left_x=0.3413 left_y=-0.3061 left_z=0.2265 left_yaw=0.06 left_pitch=-0.3333 left_roll=0.1985 left_gripper=0.5049 right_x=0.25 right_y=0.0601 right_z=0.1523 right_yaw=-0.0433 right_pitch=0.0212 right_roll=0.0141 right_gripper=0.9965\nstate[joint_eff]: [-0.4855, -10.7966, 5.7368, 0.7888, -0.3834, -0.0611, 0.1245, -0.0889, -0.1436, 6.9402, 1.917, 0.232, 0.0024, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9661, 2.0758, 2.1883, -1.3914, -0.6273, -0.8188, 0.5077, 0.7296, 0.9234, 0.0837, 0.1329, 0.609, 0.4633, 0.013]\nstate[eef_state]: left_x=0.3416 left_y=-0.3056 left_z=0.2262 left_yaw=0.0613 left_pitch=-0.3337 left_roll=0.1992 left_gripper=0.5077 right_x=0.2384 right_y=0.0824 right_z=0.0408 right_yaw=-0.0155 right_pitch=0.0072 right_roll=0.0086 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -10.9197, 5.7368, 0.7448, -0.3443, -0.0415, 0.1197, 0.0479, -1.0598, 4.6701, 1.4383, 0.2418, -0.0269, 0.4225]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1876, -1.3914, -0.6273, -0.8185, 0.5086, 0.7311, 0.7231, 0.3141, -0.2722, 0.598, 0.4606, 0.0124]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.226 left_yaw=0.061 left_pitch=-0.3341 left_roll=0.2001 left_gripper=0.5086 right_x=0.2417 right_y=0.088 right_z=0.1084 right_yaw=-0.0044 right_pitch=0.0214 right_roll=0.0287 right_gripper=0.0124\nstate[joint_eff]: [-0.2256, -10.7829, 5.8462, 0.7839, -0.3248, -0.0562, 0.0806, -0.0615, -1.0325, 8.6632, 1.5897, 0.2955, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b02c1f51bd5fcb91e05f0365f144b9f9b70d1871255403ee54fa05dd42caa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1ea5fb669e056cba6bd12f2061dab3c2c40178c7085f4d60f6c6a484b6f45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804313d8fcf914f1b95984a2590e437fbc20062dc22b8266c6c9571016af456",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQcae7EFJcjmzA0LJkQSJHiw9p1cDljMq5ZjZmYtMKMlk2ECDzFOFC0539dtVot_iT-B-CnvjWD1R6IXPkX1kqO6_TD_wdVwfN57IGGLWayMoD-qEx73NWlLxT-zR5LmMkycJywHsoNicQ9o1H47wuibG0uY1HmspNCzk48_U_ReQxPT1fRWVZD6LgrFLuOEdO3lYEyqHbB-vmpJagWo8Mm6Zrp6vu-ZzHuVT2YhA2YH7-cOnubAfXnUOBLOs82zSyl7wrTHwpc5feYdJNhhMi4KOJc9CVnn-_aMd8JPkODqTz39WZ1RQQixs5_i17PZ554RTBxOESx0lZ7o-640PKrLDW9f1xu_z5KyoxV9TZBCMVBYnnSzI0o7yLvWRRBbcaDmwZfnOpAn8yg8WgzRvbj1wbzHk3i1XvbkQVgKHVtw9ZmsXnWlwhQZ9-j9I0kZmsRzmneL5Ha3ssFkGdl1MGdCM2zmbDV-Dfk9P9NeFOtx6Tn2AgWfO4Hq5SRDGptwnH888MWrGjUcPvwqCxD8QullYVt16id2L9Ub6WA599sttrA71JAnV0jnP0TLuRJ35m2xMY7RJJ_A9nIssQ0lVxyfcGMdb9gxlhlUzhRNEZYRovh1yWWml4o0jeIz3dZCaG32RnKgI9K7KRXYlyWDC15AxRtc1v5asR2fozDbYUk6TH-6pzaGdMG1xv27EA9s-aDV_miulDhsHKD86vaGwmWOWeWHof_x-K45mhFVoRc7Fy9QDKQE1JEjkPKw4gGAPWfNlHvU1XZR7UOfFELrGWFDJp5y1YZZUDN0ZQwWdTqHwRj92uDXsqbIdDUpuIlt3qotDHMZNBgQSKLOHHvlHH7pP9u0PdzGsQCBsohm5Ph_glIbdaAObjj-gj_zZ3rgOcSN-TaeQWwkP5y9ysiK0USp8oVRzQXOFv1a5X_DrIvquS772ggkWb_AGg3W-TuQOUd7FY728QRTqw6ZQ7pYhZZLg-1w8AVBuiV6mR4VMTTYcib1KYTcKe5xIVW_vp8nmv-bPy1A4_tijhjiFXkuRwWhEtkNRM8rLtEyslZ70D2u6NTYIpJ_FUXIgDV5lpk0bw6m43MuV5WViJOxNQzDHP3Bs7QPwfNilODxhYcpFk8qfJ4pv5xElDqjYMnRdu-7br3vOvtqHw3qmIfYmqR7V-Stf0bRT7WjeEeuWqgwd4nr7bTTui1NnwfnY5cmLfnSfhv_6CC9FcZV_4eSG-cPr9PZkSm9TQpwlE7X6SVlF83LhzsHk9eev0IBfz5DI6pO4w5zE0aQ5N2j0z4Gf4rSYREZyR6-A-LOhkkxcSX635-lbOULv1Rjs8kv1wcq5x0rHpvaH_1nz-v25859JYPOTbNeCLivN6LeCHuH1j9nIuc0SVFAyJ8OQAhqEITlHoE0lqTBNpU6Ab1Ug6ObYA7T0emRez_8KkpwphASqdIefQYky3swBD4pWwpGRT-rr0-Us2Us4QS35hVIc6Qjod2VPkPx7Qb27TjmUz9C19ABnZ5za33a-W90xLdkj6ivSYHWKNlLjxVQRCe7ykFKbtF6czD7R5EOKXKBEpevC-cmAdgkJ16151nyx2SuBWxZ9hz8ew_edbF2G37daMPIBMxqePW40SAHlTr2IdZc90E60QFpcr-6_LP8VxljXLOGoMEl8LvHjssfm21SnCQoQHwtEhglQIKnddAprsQh2lNwVXT_eDO8Fb6KtSZDobRqtRNytBINyYV7S9YxwJJxU2BGmHZDLUkACIvhOZdQThWZPjUzG2ZnpvZaUBjG4eU2nE1fnATKTCk66gVRJ3ecFemVIniEFRIRzuajJ3OECBG8bEdzseVXTYRXnsrQ9XJksj-ZDaYLS6IZR9t-jsCnOZnbjSgKGOVKdj0sxPrh7CDJC97_AEg0Q2twdB1IetNQm7Extgy5H97sm1u93GcTX1DVWWCi5i7wWZQRYIwQ00g2yPBVvYO1OgkOjVyqTkwwdF-QkBSOGlu1YVCu9VjveKaD0LTwl64zeF5v7D1mmodD8W_PzqnkuCgjMEZzmkkZgwRuzVkDk2o3thCPC1Mv4ZlTTUxUmwsvNpGIa7TBgXvHCMR_NGlRqsDITckDQog_aap6c1TP76su5cEBYQoCo92sdgj7Q==",
  "id": "rs_0b0692a857a027de016ab47418ba4c87d089a775b2f030f056",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.29,\"right_z\":0.13,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl appears to have lifted with the gripper. I’m moving it beneath the dark fruit held by the left arm, keeping the two grippers vertically separated.\"}",
  "call_id": "call_ooCKY2PMfaGMr6cQiLVy7YzA",
  "id": "fc_0b0692a857a027de016ab4741b7c2887d09a84294cbe36f8b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ooCKY2PMfaGMr6cQiLVy7YzA",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9184, 2.0758, 2.1876, -1.4559, -0.725, -0.8158, 0.5092, 0.9615, 1.729, 1.0447, -0.2977, 0.7891, 0.749, 0.0148]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.233 left_yaw=0.1654 left_pitch=-0.284 left_roll=0.3096 left_gripper=0.5092 right_x=0.3273 right_y=0.2562 right_z=0.1027 right_yaw=-0.0675 right_pitch=-0.0582 right_roll=-0.0532 right_gripper=0.0148\nstate[joint_eff]: [-3.9863, -10.8239, 5.6547, 1.4383, 0.9255, -0.0464, 0.0513, 2.441, -8.1983, 11.0154, 1.8046, 0.2515, -0.7888, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3292e9303c67819e5c891f58b856930a077c7b4ff9457d29668ce78dc5ab20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a35977e87b412fc0962c20e6315cf97049ab75835f5523121311fe64d7d20ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35510e8a2762573315b4285d63845f6fb624c529343b8e7344d2c3162be57506",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 2.0758, 2.1883, -1.3918, -0.6273, -0.8185, 0.5065, 0.7258, 0.9588, 0.1513, -0.0067, 0.6014, 0.4583, 0.9965]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.2262 left_yaw=0.0608 left_pitch=-0.3339 left_roll=0.1998 left_gripper=0.5065 right_x=0.2354 right_y=0.08 right_z=0.0358 right_yaw=-0.0135 right_pitch=-0.0757 right_roll=-0.0644 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -10.9197, 5.8325, 0.7399, -0.3785, -0.0562, 0.1441, 0.1983, -2.1128, 5.7641, 1.4579, 0.3883, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9665, 2.0758, 2.1876, -1.3914, -0.6273, -0.8185, 0.5086, 0.7311, 0.7231, 0.3141, -0.2722, 0.598, 0.4606, 0.0124]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.226 left_yaw=0.061 left_pitch=-0.3341 left_roll=0.2001 left_gripper=0.5086 right_x=0.2417 right_y=0.088 right_z=0.1084 right_yaw=-0.0044 right_pitch=0.0214 right_roll=0.0287 right_gripper=0.0124\nstate[joint_eff]: [-0.2256, -10.7829, 5.8462, 0.7839, -0.3248, -0.0562, 0.0806, -0.0615, -1.0325, 8.6632, 1.5897, 0.2955, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9184, 2.0758, 2.1876, -1.4559, -0.725, -0.8158, 0.5092, 0.9615, 1.729, 1.0447, -0.2977, 0.7891, 0.749, 0.0148]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.233 left_yaw=0.1654 left_pitch=-0.284 left_roll=0.3096 left_gripper=0.5092 right_x=0.3273 right_y=0.2562 right_z=0.1027 right_yaw=-0.0675 right_pitch=-0.0582 right_roll=-0.0532 right_gripper=0.0148\nstate[joint_eff]: [-3.9863, -10.8239, 5.6547, 1.4383, 0.9255, -0.0464, 0.0513, 2.441, -8.1983, 11.0154, 1.8046, 0.2515, -0.7888, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3292e9303c67819e5c891f58b856930a077c7b4ff9457d29668ce78dc5ab20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a35977e87b412fc0962c20e6315cf97049ab75835f5523121311fe64d7d20ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35510e8a2762573315b4285d63845f6fb624c529343b8e7344d2c3162be57506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQtE0C5PDI0dVCd5jX65yE6TE5n2jYMgD6XKYHgRx-8qKKitDaZRUnm9Zd80_U7wGqogLvHmPRPqE8KivbU0SmgkgKv6kXLZ2MBmJ3AW8YmCMsoMPGhK7E6R68VUNDBgR_PVXxYtR4RZ_W5U4ODeaaVEvPEeyYScyrpdg-rP58m5WsxP1l_TNYP2oJPk5VpacyMtU8B56e8hZ2zWWNR4b-3InoYJHkc4jcDsCSGNyfDJN-yfpSRkJwaJwu2J0cJO-FRKuHa6CI0_o0A_eFxCNev2qWtULjoZc3thng_K7K71Cmqe59t3otlAaoqgzaN8tDXUyeV-Gn8WluwxHpRKNDILiHNObdAe8VDqK7njysnUf75mmxueUyzGe5nBdIqsKobyT-QU57ZLDJzpLpkIZ54_UXeFgkyg9J9yoDW1S2n56C73Uf-SmplURyMMrljU2D0EJ_QAcwNWg_3eQjtRqAhmpcWGTyMQV9S-ftGGqrbVEGWsNgkCpSKmmj3gR3D86i-YJ9JwtXgW8DNa9Xy2dz9WVhMiT-9M0a_8-6ufC6b914GgMwca0rVchSyir7ztcF4E8Qm1P7GnzlU-kassxuk5szz7Ge8oKDHVrgMJ-0c-_uPNOzEUAyTmIgZc98auGIt-ge2-xb5UmMJtchKkLs7WIIRneXbVCsrSazsnyjIGNVTWO6U-rNlr0hKEvossbTIARBUBBQWUINZ8FPSgnfOY4JEs_eXhOtymBlRxjL-_2I2-YYpsefm_QkZm2MeI8eN3ptu8pokNHy9blY1xig24pCxJVyC2jn4zZaf0GN_PLNARfdpIkwxrQnEnIoJpZc5fd8EAaLXRQohlF4QSz31T_jRePrumqxr5jFU9r3R2H7LUllSs7B6QdUOOYUTll61Fj9vQHuReWGDrF779Nwe3nWWI6pBypjlcbvRMrPTDkFOpGWNlUCdRLUW0wy7PfYdKrANwOBe684Rnhq0n0Zm5v3NPhSQ40LJRHNLjEBW9ZPMhevCFq06AVlZ47iMSPJ7mvj6F9NI7EPfMsfPcu8RH7rhW1hRKDtS0v6kQVtJf-PdqnTwuHX3i7YfnjAZqzfDAGRaAHkuuPDmo15gNmEbosWUM77SAwar_cr8qdCdmS-iY76jlNeRgNmrl60MYiwUrnBJmchFMLX0tKQ7dXHE5-QdkdrtaewIhq0fusNxnCtdFJVlialYbKR5vNk9zhqe0EjcsQMBjWNUf2lgisrcXZPNn0KhNIFKTFWfJfz4PgMvO2lW9fZLOjIeZAmt49OpzlM6g0pBXqE56xRXB7x9uOn2JpIUxRF0LzuvYZVSOoWdOWoidRMEhAfFQm7uGTacKs-icRLAmxCH8Va2zwFjAB-qavyyhDFk6pyM8Yi-LgnC8BiJvqbYG3i5NTO67lenOTkyIVQsXKE1xiGRb1YLe4AY_3-3YGmNpNlt--ngCIAcRoQAmBTxSrA7SRaqZjZtKynFNYORTC3tyTr7YzCz_PiNggHrIFNfZ0YRU2S7-unwsWvq9nWgF4HX8bSkx-vqf9x2O64J1zkT0F2buf_Z7yZxjiSmFOn66_FCYVir07VduB051D3-mZhnStmj9q904xAzoa33v0jTH08S0r8T6iavl_WRiYdlnXAq0jMy1IgXPBYrx94Ii9N85PbLfVNNCKr7wLkQj_F-esu9TNfeNcWlePWyh1y-fmRv3Ksg6bp0klWhvkrNhx4TxFQ1o_PDXzZ8zoP4rrllPek2cx37Cyp2-oMLXbYNIY341iDLx3wkWccOR6VkYNjvitj0PbdILRaydLUOtKoFvPGlLzvaxVAs50CS69BPLc0mBD4vzbsTYQVAYyHYZI2XlIu7c0pP7lWCRhGH3hDcgQx7aN95mKEozQAfyQ-1XhLeB8nCk4haYBiwSArjQH_Qspxn3O0rso-nGHwtRL9U5tgP5op1h-CRzjtmnOdGvcQ80-AOCb-MNiFev7_HYxf_ikuglpb4GJVv51fFgyS1tcTivQsLjKMHTjkxLB-jTozrDfMVCqe9kcE6BMWEEdZfvgaKwwz_CqZ3oXlTO1YKzuub73qmOQQa6ATKlXFgYOWPW8PwLsyJEpm9cFlFkgxg8kg4DCn8MpQbq1koxaeTVui2XYNbUrhBcHFBNHzGmb1B7HjgxwDyWlxG0q3rHiob_QbdNELBGZrglAdN_BgC4NDqjOjDCNc-SP1a3tRCgDMBHJmgEeQnZJNY91R96EBisUbClWN1WUz15cf3oXQGL9ER-tc0fcGuDkE-fZaCsKRI0LO6JkIau6FeHq1pUNhWxZIa5hessl29Tu5Vmyk0jD5-mWniJGERPp_jt9m7YG4c55nK_wIv2wVW6wpYBVBVM42FkIqn3bu8LcOsJ_fzW84xLPj9iv278PJ42ZVtuUDZtpuGDOq_ZqMPxtE_5oGs1ZCPw1UBfe_JSro8-j5jXad7tT6iQxApBCpcvC6soHktI1ZBclgeu2eBCs3uqJvJmj0QcpISTnBFMr147apy-PwGxsC9P8mrJI06vpPtPgeWbNLth_GEl8aBuY8iBQwVSeCclT0qOy7TUJj6QJ0WGKVh2Ur5JlUYztdFbY-kyMe8sFwHxKn2vydk6XjQhBc7nqIzkcK4SZhkKmFHli4YaYVhvhwgn3cfPs1vlEASohdwemMd6N4ueotORUclp-BSeCibShOdlc8c5jImI5z4VA2k4sC3gZ4FRr6w9SiWt5UTr0Iy6Ere41247xMCCVKwL1z3hUzsvk9j2l0kBFRPVWByxnJpV7NPR-B09FyuLObG1mb2tHisNx0Vzrrs19CSSGFS9G59XjBEmzYtd07PtOvO6lWfxL6_s6XT4Vdiq0UocEsl_9XNfO3AWQP68gLIe_bEBt7E5e7FsINIhMBy9_hAWJBqGDw4gNl66j592hgU5y5I2Rrcttl4b3r58RWgqaf1CtaEXtS9Z4GdMo0G1uHIN6GXnK09ql9qq5BbS0NTc0TyNM07Uk31dliJmMxyYDABdZPw6J7vEDYJ_U_0A8XHeiMqToZhnsbA510LeqWGjIYa8siTGKfBBYbOJoT1L7TCTcMTy-nCYD54_Lr9u6Wc4agudwr1--fTkqgX1KealyIjtEtFvOOYomo7coAO80z6nFtZcFJMCSFHe2tIXtssFsTyL1rkDcmie0FW71Ujx86tCyjBLd1dYKqeR58JUF_MNxO2rZ1--SvUcsq1mLJ4GOvVKfXx_u9NEc4fcINXbBtDXazEJ7eiVehUKSreuTXYaXfuWqysrTe1SoW-GS9ncyJBbIjyRBNdUc0K2a0tExffPpH0cY86dOBFilbpFMDoLy4C9IgKv6zZ0ZfAFD6rxNZQfwsBhBFcjotleKmmC7l9pEkkYNbNMngCvcXK6ByrCHcXhuLC65rJulQiECS0ln5Y50H9PueLrp6h0VLpT2jA4T958i2yvSSuchw-zJ1yrOaq-1Uu0BsdWvo2Lr5qcdFa4Iaezpwh3xRA06RUq9JTVrg1KYYdQapMMDty8Q3MnQ9O1rDi5MGci9ynMI47Y_0DTbNa5ncCP-Wntv3mKTc9GaImCsltDSFEfS4pMXL7NA2Gj8c7xovqKxU_kwfpx8F-hjsuIGc6lBMU2c2DbcPiLfm0obWet23mytSFEQBzlKYoCp_5ZlbjfLwNk_jNKx8KwzhLAZDTdPgQ_in7PN-ccWdD1i_Z3wrPlf5to76v67wxXF5ZupFhhJQIYAqYZoldGY6oNgcuDkaAJa1bBjjvAUNrtYIeikG--q8z6Vyhn7wDXhFidzh9YLmCoj5hbjoR8DLC2LV8qQF0rmmgpFTvrpEB9E6vkZj2xCmBLLJxeNs_O6qXHLkbIB8FxcH7smyQf_PyimxIu6o7TyojxOdb7ZRMxoZf1XEWzZ88hjswYd0o",
  "id": "rs_0b0692a857a027de016ab4741fbaa487d0bdce38ba34850ab1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.07,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl stayed on the table, so the rim grasp was empty. The arms also came too close during the attempted transfer; I’m withdrawing the right arm to restore clear separation.\"}",
  "call_id": "call_T0dw3LAFfFrKr92t3YgYtEs6",
  "id": "fc_0b0692a857a027de016ab4742c39a887d0b8283c0d5f93fa13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T0dw3LAFfFrKr92t3YgYtEs6",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.9165, 2.0766, 2.1876, -1.4582, -0.7174, -0.8158, 0.5101, 0.5259, 0.8963, 0.6914, -0.4515, 0.5159, 0.3744, 0.0163]\nstate[eef_state]: left_x=0.3565 left_y=-0.2681 left_z=0.2317 left_yaw=0.1653 left_pitch=-0.292 left_roll=0.3088 left_gripper=0.5101 right_x=0.2881 right_y=0.0706 right_z=0.1907 right_yaw=-0.0996 right_pitch=0.0094 right_roll=0.0105 right_gripper=0.0163\nstate[joint_eff]: [-0.3487, -10.7419, 5.6, 0.6764, -0.4811, -0.0122, 0.0708, -0.1026, -1.7299, 6.5573, 1.6288, 0.0708, -0.0122, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba642eac1ba432615c64565b337688a0e5bc4efc9bdb1bd58ec9ad94bbf232c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9b461f84faa1d3efb294f52c05ab77daef8914f3ac77f86a42888639fe33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f693ae442ea42be1f71fedb4495b18376b28f9be734ba2ac8ec4266c820c44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 2.0758, 2.1883, -1.3914, -0.6273, -0.8188, 0.5077, 0.7296, 0.9234, 0.0837, 0.1329, 0.609, 0.4633, 0.013]\nstate[eef_state]: left_x=0.3416 left_y=-0.3056 left_z=0.2262 left_yaw=0.0613 left_pitch=-0.3337 left_roll=0.1992 left_gripper=0.5077 right_x=0.2384 right_y=0.0824 right_z=0.0408 right_yaw=-0.0155 right_pitch=0.0072 right_roll=0.0086 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -10.9197, 5.7368, 0.7448, -0.3443, -0.0415, 0.1197, 0.0479, -1.0598, 4.6701, 1.4383, 0.2418, -0.0269, 0.4225]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9184, 2.0758, 2.1876, -1.4559, -0.725, -0.8158, 0.5092, 0.9615, 1.729, 1.0447, -0.2977, 0.7891, 0.749, 0.0148]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.233 left_yaw=0.1654 left_pitch=-0.284 left_roll=0.3096 left_gripper=0.5092 right_x=0.3273 right_y=0.2562 right_z=0.1027 right_yaw=-0.0675 right_pitch=-0.0582 right_roll=-0.0532 right_gripper=0.0148\nstate[joint_eff]: [-3.9863, -10.8239, 5.6547, 1.4383, 0.9255, -0.0464, 0.0513, 2.441, -8.1983, 11.0154, 1.8046, 0.2515, -0.7888, 0.2369]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9165, 2.0766, 2.1876, -1.4582, -0.7174, -0.8158, 0.5101, 0.5259, 0.8963, 0.6914, -0.4515, 0.5159, 0.3744, 0.0163]\nstate[eef_state]: left_x=0.3565 left_y=-0.2681 left_z=0.2317 left_yaw=0.1653 left_pitch=-0.292 left_roll=0.3088 left_gripper=0.5101 right_x=0.2881 right_y=0.0706 right_z=0.1907 right_yaw=-0.0996 right_pitch=0.0094 right_roll=0.0105 right_gripper=0.0163\nstate[joint_eff]: [-0.3487, -10.7419, 5.6, 0.6764, -0.4811, -0.0122, 0.0708, -0.1026, -1.7299, 6.5573, 1.6288, 0.0708, -0.0122, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba642eac1ba432615c64565b337688a0e5bc4efc9bdb1bd58ec9ad94bbf232c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9b461f84faa1d3efb294f52c05ab77daef8914f3ac77f86a42888639fe33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f693ae442ea42be1f71fedb4495b18376b28f9be734ba2ac8ec4266c820c44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ1tb-rUoFOvH8NUSeB9tVICQiSLMS4yNeUhvGrhh1T7wsxrEhxVFXKF9j4_TM2lcdSXFqCLllijCUHIV96hWeNPtFz0-lhFeJiMFDnKaMgqRYGqa8XgqJ164X92vbeaWFHkKeKK6Lt8nbULsD69N-uN4-_3Ufp8JvvANXAWEBIPHyiZ4KdVqoEtsxp5nSAtgGao_b3BGRf5ysbDNM5nfrs8NYUcMoovo4rpRtGcCDceJI3GjUtLtRFwlhoMCtLgv7EHwA8nW2NT9tnSmhUlx5XLxVTbGIHQip1Q-Tfh_LtdUjDDvGaFKbMxF8TW9-7lxt-UfyYRQVqoUvAQN-X8kjadfdgM1xkgPrLVt-ps3eOumTxgDZxGIEa64LjpF0WNiW6SPy8BZM1NT3FMGViXdbhqUYTcM7HQieN3JlLeVzEFG3eIquy95EYVtPIq63r2ith1iYVDiTtjb9UpWkeKr0rP9OuyjFTNJl3-knMKGzKHC5gOEJ38vnGMbNEGDALbKr2oyCC7CsCXdU2l3lss0T1gmEFdETOWKmaMWvR_EBVsk-EO2JMHj1_dJqv3ZvgQgUKphCqDyNdZ6nh_fWS9_4YW-1mysYHDlCFGpdOMndlAK1M05m_BImQU8JLcKFYKvm6tiTtKBcYIXQGknqOKRqhJeCMDxpsP-igaj5EYAj_Cmm7mrSmof2u-6p3wHKLx2ai0dExpXD3lPk7xCySGIA8e8fWsFoT2jgm1stH11j0ObqsJgWOkJZdpdyyp531n5jHlMmWk8vW9t4kA4AEt48rsoy4dfeV0PgQ4RUDM3ESi42V4MEnkhEQUOgGvHSCq3N_SMahWpkqniu-XMEx5L_bOlp8Euau8bFOjZpoAD52Wi8l24FAJtRQDHD4XdXS6yXLQXkz-ye_lzkuKQHlJhlZQs5ijmGoVNH6LD6OTbhlAChQJgvHRpZmMuQEy-Qulvd5v8lCzoTFKEDBQp6riE79H3RziBLpNznBohfFfZ7vqhQ_DU41z4Of2kE9jOJgv9fDuEHEI3pQXmbpG161TnJXOinvKhFR4XYe7R65uOz_eUIDLNcNXCk6DEhGbGll_gODgeF5UBLl5doTfslAiqfZZtocO3yrNKvVlRgDpSaiwBNHCCsPO6eIOj79fALCc6JkoYCISk4GlBcVwxnTNAXBqUjfgf3whtoZ7AtE1TUB3FeH8WmAOJ2Y60vGnATXaWHgu9KBNAgG5RovrRmKASx5Nxlh3LzcuXDdZIBkNaVuNbBhmgUyFbuE946USVjxaGEhXn9EGBhrVT28E-7WlhALpoKBIVwOGwmdJeWoQPHyEabWD0a1fgR53bi74nUf5Mce90QaUN7Uaug0Qr5mRMWOmM6Ghc1V39OY29axA231lOHrKzZ-8SfuDS49X_XxL8zbsCl4DDMG_qijeCRU17pQZlpaeWJxitbv2Bkwe_y7bblT5w3GOxENq-fDagWSHpVK4sDVlyYRi4oTtnXkrnb6QK9dCQsW7YpoBbEBy0xddkMx2vcA2PARtaPJWPDrjNipLqg9MebXS5okNQLxQpyT5zW-ZSfzh53vqoh5CcIfjCD-dYDm3RkGU_ZHPyR1pMicJqFBgaDvwhPkbtLRvQlGMDxVR56ENOwGaQd27Dw9riLWJwCTCMtwsphyDI9NRJBl2K1pqoyxcezfHCapQlCuhcFtrZF6pvcHkX3FPxTj1cObSsg59zWq5iSI1_yNMHVgUPIVdYOeMy_PDY_bACkLCTEzZeQL9ccbcIYD-nnOQEITiiJCtef5lOxkFl793JXRM4VouMnmRL0vzLyxqTFXkXs8zKfvgQbL0iiunq9lZuEA6a-8cQMGuMKVj9ZSeD-QjcWvYuGSxTnZJvnx0s6zBOGWp2bkAEwKLpwPnZ9Jw0VwZreWVoZ785xUZocEw6NYrAKomWSbQ2zPxXPEwsCXtvLOI4dCzRroFvdcWWOrCe-_kI_8F-3yNGesXohkruy6HQLvK2Ubct6gQM62HGwXr7oxUlRcwNY1PQmOue1HCbOB4nbFORucFSUZ_gbhknBAUHTGrHC_W7IYMN2-serh0ZFsiqMHkIOLa1kG14xioH5-ZDTsP2z_AtuVeQ3IxGFzu0JRXgjsRscO0eHkKdpUccDNJoA-bUSJMN8g98HxCUjqY1a95TNvzJUojDXvQb2L0VQwXTiHFWwGMKp6h_AWl6hzjIljQuC-MlkPHWdQGsklir0noDXhDv3W3NuZykIBKmNIxMUfWsdzccaSOl6nQtwisR74Pc9RR74DHBEMy7zJdKha9rhgXphzpoLjbpH0Ch5CifTWGEde6LvxZMg-u1D-5XwDrWnjL47pZ9bpRQgZHI7YuN55TbB8cTUKIFcgLY_WSl3TizvdYeBqqumEbe5heIyM64qHx3gKsHigCzaG_bXh3owOFoO3VwHOAbKd",
  "id": "rs_0b0692a857a027de016ab47430634887d0b7c774d136b4ec90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.255,\"left_z\":0.055,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"right_gripper\":1},\"note\":\"The right arm is clear, but I haven’t secured the bowl for a controlled pour. I’m returning the held dark fruit to a clear patch of table and parking the right arm rather than risking an uncontrolled transfer.\"}",
  "call_id": "call_ht9xMeQuPcz4IXwfotPFDRYO",
  "id": "fc_0b0692a857a027de016ab474347f1887d0aea6bc21904a3787",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ht9xMeQuPcz4IXwfotPFDRYO",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0531, 1.7317, 0.7921, -0.1268, -0.794, -0.7998, 0.5108, 0.0853, 0.8131, 0.6247, -0.4152, 0.1795, 0.1211, 0.9958]\nstate[eef_state]: left_x=0.2853 left_y=-0.2391 left_z=0.0406 left_yaw=0.0058 left_pitch=-0.0952 left_roll=0.1052 left_gripper=0.5108 right_x=0.2927 right_y=-0.003 right_z=0.1785 right_yaw=-0.129 right_pitch=-0.0238 right_roll=-0.0001 right_gripper=0.9958\nstate[joint_eff]: [-0.4308, -7.2274, 6.2427, 1.5165, -0.6716, 0.1197, 0.0659, -0.1983, -2.1538, 6.694, 2.0586, -0.0513, 0.022, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad66c012cd53f887d953d4c64667efeb5d2fa448f710047dba1af74828bd2a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef636429a9d8bc27e838fc377a1bb1e267d841d8287064ac0b884aeea6e85b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423b7473f83b3a02e41f3bb81ac33a10a95a500317b8086a350e9ca74740ece0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 2.0758, 2.1876, -1.3914, -0.6273, -0.8185, 0.5086, 0.7311, 0.7231, 0.3141, -0.2722, 0.598, 0.4606, 0.0124]\nstate[eef_state]: left_x=0.3415 left_y=-0.3057 left_z=0.226 left_yaw=0.061 left_pitch=-0.3341 left_roll=0.2001 left_gripper=0.5086 right_x=0.2417 right_y=0.088 right_z=0.1084 right_yaw=-0.0044 right_pitch=0.0214 right_roll=0.0287 right_gripper=0.0124\nstate[joint_eff]: [-0.2256, -10.7829, 5.8462, 0.7839, -0.3248, -0.0562, 0.0806, -0.0615, -1.0325, 8.6632, 1.5897, 0.2955, -0.0171, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-0.9165, 2.0766, 2.1876, -1.4582, -0.7174, -0.8158, 0.5101, 0.5259, 0.8963, 0.6914, -0.4515, 0.5159, 0.3744, 0.0163]\nstate[eef_state]: left_x=0.3565 left_y=-0.2681 left_z=0.2317 left_yaw=0.1653 left_pitch=-0.292 left_roll=0.3088 left_gripper=0.5101 right_x=0.2881 right_y=0.0706 right_z=0.1907 right_yaw=-0.0996 right_pitch=0.0094 right_roll=0.0105 right_gripper=0.0163\nstate[joint_eff]: [-0.3487, -10.7419, 5.6, 0.6764, -0.4811, -0.0122, 0.0708, -0.1026, -1.7299, 6.5573, 1.6288, 0.0708, -0.0122, 0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0531, 1.7317, 0.7921, -0.1268, -0.794, -0.7998, 0.5108, 0.0853, 0.8131, 0.6247, -0.4152, 0.1795, 0.1211, 0.9958]\nstate[eef_state]: left_x=0.2853 left_y=-0.2391 left_z=0.0406 left_yaw=0.0058 left_pitch=-0.0952 left_roll=0.1052 left_gripper=0.5108 right_x=0.2927 right_y=-0.003 right_z=0.1785 right_yaw=-0.129 right_pitch=-0.0238 right_roll=-0.0001 right_gripper=0.9958\nstate[joint_eff]: [-0.4308, -7.2274, 6.2427, 1.5165, -0.6716, 0.1197, 0.0659, -0.1983, -2.1538, 6.694, 2.0586, -0.0513, 0.022, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad66c012cd53f887d953d4c64667efeb5d2fa448f710047dba1af74828bd2a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef636429a9d8bc27e838fc377a1bb1e267d841d8287064ac0b884aeea6e85b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423b7473f83b3a02e41f3bb81ac33a10a95a500317b8086a350e9ca74740ece0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ67MTXlJfG7PnZXv2jd5UBbjtTlezqRAMPXFlj5VLVotVGTw6UlaxMNV4qVrAul1jjUQ_uVMdJNF6MUqp8MQbto5_COnQxIlILYEKUx5dICA8_gNcapTN12QdUatjD5V8CFuzWm0bRb_Xn6pGtDAteN3cvQvJdFBYxFiHRC5jZFtESZPypXTXzEBc4psu2iALEOxoGxvBXF6d8hTeNHmJ1u37q7QlAjBCj5HpdCslbus5SS7A0BNnufWQ_PwcwMzJPg6sukE3oFRzA6ONvhFSpOYiLLQZI5Iqr_4lu689h52GwyaU-tuHasznjsdiGW_pWmAlgG0SWh-zNh3WEWxNm4lXPOI2RyXcvGGsOHmlU7Ee5dlNYtI-Gwq_5xN6P8LTQbtAajEepM8y6E0ym3wQGPIVvwVrvEup78r9ynzc9f24Sk6HrzgWN1G9O46Obm0uaGxxU67eeDVb-W2GMD6lX2u09igWrlD6DHhQRZG3vYaBXWs2ByWQ8K8PIQladEg6VYGVEg0j_hBi-j9cJTn7MMS_u_ozAu3n84vgUrs6gprErlqglsqapzkr7u8ZSURogT3Lylrg7OJgX2QExz-s7mIJOu1LJkL4n-LuA8tK4eMOpEo2quzkPrXa-VYCbsPlDM_pNjgoPzZ3lIzlOWywLV-tOKA2LT8u7EM-8yWcTDZkiRiyZWCiPos0ryfCb4IJzzw9wvHxaTGgpSxQGM_2_7MEA0JblaUM2LQsO3S5JaBsam8UUC5Y07mYjBd-1VHjF4aknS-V8QMmSAn5JP1OFS5PooGqQWPHUSBGu8qPOepTInBGlGNZXo7wbUDQKkgrr31aXMoUg5_QmFcJPGWvyEBb2L07YlmsYM47Z41yO8XOmgcGic7mXiHAWXQFs0JCXnrZiXL2b6_33eg4aNUARUdQeN7yMEMkSbU2SfDLNvQhMr2-UAwvVMdQZOQkLX2p7vu7zz6FY3wZj4mGGC06UC09NGCjfep0C5YHWCzy2UdvBeIIZ1j38WhKuLDW22TBfbu8brl8UA0CZkE1hIPIF7PMdSKQopiNcwDcE-vOCZ7f0hzatT67ESPEKWG2X12FYgy92f9auP4LtrwKIOtuXOhCc2OmtTTQhEMws3OSnLM7aE5Pyc2tkQK7_XktPVT2_wRdVh9UE4K_V97oYpcBkW6uvIRTuBD71tEfxK9ZCG8EhwFTJyQ1VX1eCH6REtJa6-u_kmHKmdrM4sr5Unwf4t7L2PGXeDg5LzyTo6OEEXRb6N-Q7xFfmqtBdU5q1lWan9CHWRUYp6_e0eC9CUraWX5FmUumowEMVj-mDI4UtqYHCHURcMoSSnyoKuqto4hi6yM8yX1JIh5xpJ6s8F7oWYDqd2h1a8usTynSlH2GnQV6ZoDa2yRPeUf9jc63BCw2BCC3oOTYppr-CvDNHdxy4u3ja6C8N-Fd5WgURlRVS34kMx1CrLlBwHYZN67OqMfSBt3x8IrrvQ8w-Q2n0QcnGmQ==",
  "id": "rs_0b0692a857a027de016ab47438f9ec87d094ed3264cfe3cbc5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table height over a clear area. I’m releasing it so neither arm is left holding an object.\"}",
  "call_id": "call_A8NQMsJ0qf3mfgBwhnJ1iUJy",
  "id": "fc_0b0692a857a027de016ab4743a086087d0bf0e289620697a9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A8NQMsJ0qf3mfgBwhnJ1iUJy",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0554, 1.7325, 0.7742, -0.1123, -0.7921, -0.8043, 0.9928, 0.0834, 0.8162, 0.6228, -0.4244, 0.1631, 0.1047, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.2369 left_z=0.0364 left_yaw=0.0054 left_pitch=-0.0985 left_roll=0.1044 left_gripper=0.9928 right_x=0.2915 right_y=-0.0008 right_z=0.1747 right_yaw=-0.1084 right_pitch=-0.0396 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.3778, 6.5709, 1.0672, -0.4127, -0.0317, -0.6227, -0.0068, -1.5932, 7.1316, 1.7656, 0.1538, 0.1245, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e81bd5d0dd824bc2cdd44547156d33066bc830db848e315dba0b0e9d8cfac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdacd08ecda8d9f8002bfcf76065e332c2e9022ec1288aca66bffab68f18bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928fdac036ec7a226609462b9cadfa52822fb08180d402328750f8aa92aaccef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9184, 2.0758, 2.1876, -1.4559, -0.725, -0.8158, 0.5092, 0.9615, 1.729, 1.0447, -0.2977, 0.7891, 0.749, 0.0148]\nstate[eef_state]: left_x=0.3569 left_y=-0.2683 left_z=0.233 left_yaw=0.1654 left_pitch=-0.284 left_roll=0.3096 left_gripper=0.5092 right_x=0.3273 right_y=0.2562 right_z=0.1027 right_yaw=-0.0675 right_pitch=-0.0582 right_roll=-0.0532 right_gripper=0.0148\nstate[joint_eff]: [-3.9863, -10.8239, 5.6547, 1.4383, 0.9255, -0.0464, 0.0513, 2.441, -8.1983, 11.0154, 1.8046, 0.2515, -0.7888, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0531, 1.7317, 0.7921, -0.1268, -0.794, -0.7998, 0.5108, 0.0853, 0.8131, 0.6247, -0.4152, 0.1795, 0.1211, 0.9958]\nstate[eef_state]: left_x=0.2853 left_y=-0.2391 left_z=0.0406 left_yaw=0.0058 left_pitch=-0.0952 left_roll=0.1052 left_gripper=0.5108 right_x=0.2927 right_y=-0.003 right_z=0.1785 right_yaw=-0.129 right_pitch=-0.0238 right_roll=-0.0001 right_gripper=0.9958\nstate[joint_eff]: [-0.4308, -7.2274, 6.2427, 1.5165, -0.6716, 0.1197, 0.0659, -0.1983, -2.1538, 6.694, 2.0586, -0.0513, 0.022, -0.2271]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "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]: [-1.0554, 1.7325, 0.7742, -0.1123, -0.7921, -0.8043, 0.9928, 0.0834, 0.8162, 0.6228, -0.4244, 0.1631, 0.1047, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.2369 left_z=0.0364 left_yaw=0.0054 left_pitch=-0.0985 left_roll=0.1044 left_gripper=0.9928 right_x=0.2915 right_y=-0.0008 right_z=0.1747 right_yaw=-0.1084 right_pitch=-0.0396 right_roll=-0.0073 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.3778, 6.5709, 1.0672, -0.4127, -0.0317, -0.6227, -0.0068, -1.5932, 7.1316, 1.7656, 0.1538, 0.1245, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e81bd5d0dd824bc2cdd44547156d33066bc830db848e315dba0b0e9d8cfac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdacd08ecda8d9f8002bfcf76065e332c2e9022ec1288aca66bffab68f18bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:928fdac036ec7a226609462b9cadfa52822fb08180d402328750f8aa92aaccef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is resting on the table, the yellow fruit remains outside the blue bowl, and the green fruit is inside it. I’m parking both empty grippers clear of the objects.\"}",
  "call_id": "call_uZEPzMkotzAtcp0cBbw6EF4J",
  "id": "fc_0b0692a857a027de016ab4743cb2dc87d09fb142bbb8d8541b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uZEPzMkotzAtcp0cBbw6EF4J",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "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]: [-0.0505, 0.8108, 0.5861, -0.3798, -0.1009, -0.0898, 0.9928, -0.0185, 0.8131, 0.6228, -0.4194, -0.0029, -0.0059, 0.9965]\nstate[eef_state]: left_x=0.2935 left_y=0.0066 left_z=0.1677 left_yaw=0.0751 left_pitch=-0.032 left_roll=-0.0002 left_gripper=0.9928 right_x=0.2929 right_y=-0.0013 right_z=0.1752 right_yaw=-0.011 right_pitch=-0.0409 right_roll=-0.0022 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -2.0308, 10.0855, 1.5946, 0.2564, 0.232, -0.0024, -0.5265, -2.0991, 7.241, 2.0049, -0.1148, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593d2c3c439cd6bf4e37541bad38bd4491c74dd801f3504975969e0dd0a33eaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eac54a239563be1b5d6483cd8461e92c57b31595af8a892e6ab3da07c5faa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a81b3e1e0180235b2739ca6ca085acece96da0f7f8d4aebe004b3d759866a57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}