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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9989, -0.0227, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.5521, 9.6068, 1.7851, -0.1148, 0.1343, -0.1294, -0.3077, -1.7983, 9.0735, 1.873, -0.1001, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2c08b6fe815492c104aa2a44e6dc5f5ed770ce23e83674893ff0a35b6454ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f86f77206ec8b55d07b22058fd95d042f4b4b671e78aaa891d0e47722ba5beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6611e0ad278b42b3d4d049dca2a66ead42f8cf5d5c9459e503335db7ca9b16d",
      "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": "gAAAAABqtCh65w3D3nzFQMm9NsP5YGfQl3rF2wZSXQC6r3ycEaCIpLNip_e5Wh1LTxg3newJtGtHn3TEEI5LYoZAr4syIApX8-fPpvIJ-_rR4gb1ss0WDxroEDu7Hk9xmOKuwPpx_9pDMUrEOxxDUTsli3E5bo0S8lguYQ2rEV1A6Tm9dr94cq7YA29aKZYNq9vkk_XEyqPvp7OelL_FcWz9akpU763XeGTlMQZrGm4UTf23MvmUpzroNI-4Chx5IbXZJBKyVUbaq_IEdgGmjUpQS5gN6RNuliK5OspCciT0h8ylKFp1MYRZDjeFKZT9uXCMX4GIhrydTFd1u0I2XlTEngOH4p4X4hClJj1juM3vv3KKiQJh7n8X9g_MjXAPG0giUP62PNSpY4PMEFR8GJSfVGKQtpMaYj2Gh4WopuXq4rCIhDgNmroe5yGWZixBHoD0rhURT3KLnevN1fOW6om8hnLgfsAALVJy3GdU9ZetXnHW0e7fZEs63sjGoZ_RdcYrZWb_WU9cblPh7stW6Y_3u8UlZZUxYF0k0YYb-E5RfJUSZFouhTj8IKCmuWyftrRiZ9eecSbNOxvaTVhulVAi54tCbSvNk5YtoxmdMamhZ1IXuftmDkCmv8AglVjdk7pZG47IMvrAFYg8gjPVcWA1fvEoudFepw1WTBd2CQu0LIzCLgtaecXAq5mJVm2AOWalZaHX4_RZXEMeKc4mwzW0kjSDJLssrLf4dzJCyVwEXadx-eArLz5pNgzj5vKkz1oyRGP961d3rOeKKMycNa3jQp20wRvOp8sgbie3HTW_Y6VM76HG3wv9TyeYRXboFEyKThaDVgnoodhNjfe3OKnUq7MRbKG2wuZANDj67JPK4Qij0Yir8pQg9DPMczvp4kTWzSoqbFjNVU9fpfj4jhOJ8mo-Jxjn-pbZIAQOy6LM_8SmhnvMC86nF-BjC-2WyAbJoqoBEztPK3wFOIm6BXbQVrLNQqIYdmg9glcD3tNrlq6Iz26hmYjAyMel6dcug1-FjDZCTS3IDBqlnOPEoGqsAfrR1eI_0Q72nC2MZqXWYr9BaXNFAvryBF3-0F2IGCE5fJ0KZuI-M7lLrhXN5XWAtqcoZncc3_BKvC5tr5diEEO6kNKM8BQqJOzoeRzn4V9lN2cOyWgZTBFo5bxXfaxypESPi58-raGNwko6TlKiwqhP8BOHINuYUUHjzrQtSG7LzXKHK4CBn9_7WQgfifl8nlpaWN-uElfmcUE0yrdT5SQu4JVEyvUiMrrSVNEjFHAnPhR4UzFPL-0WJE4oIBrzA_koeABkGajFjw-T-ETJAdtZ0GOBUQorjvDXy5AwEq6J6zW9q6i4xJD65ehM7qiQZP_RpxmYKB8aRJyuhpRqkmu0XBHCqY3RqtUFXZP7twUesOebyq_CjLuSMn9Y7L-f2qjz8M-t2RmvfxHeHlhzIvJmGh-nIAtMLf-mO-XOZ-dU6Dx2EiVkU1vQ6cND5UOFcPbEFFaGGm8EaTn1Ss7lnBhZNMUSITZZAQTme4JcUXTNgKM6ivuATA1ne1Ed8udBWZ6U4yKbif_6HAwDa2xzMvTl_miUXsI8ehM2VMq9JQQZ26kNlxo978mU50_B7AoXK9CY5cMuU7WqBz1JHC2FeW62Zguhw-fmr--f2w1GkSf1YMADQ7zaUg2KFsYp7ZfyLtLqEl8GtUy0FCfpgfcd4z1iC1lBTq6SGsGIBb9k86EuyUacjqnfoPd9lttqmEJvrNC2npujmGgi7wwhsGv-GVbREKUx0pKUcAuzgzDxcAS9ttntZgbPCdYDJjWLafeoWegvTGvKykVM_Vd6eckeA2jf4cvWeFHB2Q4P7oJuidZUoSSTvPupmZlmWd3EuG8230q7t9uj0rwJShkb7PGGyV2x1PbIBlSBNs5XiiNYRHYcPaj_uOdx348KGHcDTXsbH1cipG0Ioanj7y16cKYVS56Ny65iMJmNIpP0iztkZ3kjm8IMt1gNOa1I1fgMG8dhCmMv60AwSQ2DbHruTPLwKZY2hTtSrRxiVbj8F67JmbaXjbrUlt9CLcTzjjonCV_dftm3pXxR69gjHYfppYmjGnxPY_XhaDLPAayD569CzdfxQMoFDXSDzbbSdHfIep2j09_E8eYWcjCcFgyDVNjdfSPkxKMn5T1NoUiDXWEf1BVmdB7y2UKQ1VLA_sG2suWoIsB_GVY7dG4b0HWDNugaV6RpB7EywiaHlLyVrixwJc8qliSnj-ANTtE1epuvUQlZ3jGRB1zVpzXIsN8gkFnTp7hx5KPiIgs=",
  "id": "rs_0ed9881dcf95aa00016ab42875a17487d0b783c4be5e7db732",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.205,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits on the table: a dark purple fruit, a yellow fruit, and a green pear beside the blue bowl. I’m bringing the right gripper above the yellow fruit to begin loading the blue bowl.\"}",
  "call_id": "call_0CNUpXsyw0uv1Zs3QCVtUpZy",
  "id": "fc_0ed9881dcf95aa00016ab42879d78c87d0a9b274ae94709d59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0CNUpXsyw0uv1Zs3QCVtUpZy",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "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, 0.8028, 0.6132, -0.3901, -0.0139, -0.0311, 0.9988, 0.8307, 1.4357, 0.8444, -0.2199, 0.6476, 0.5079, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.1797 left_yaw=0.0003 left_pitch=-0.0114 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3233 right_y=0.2013 right_z=0.134 right_yaw=0.031 right_pitch=-0.0497 right_roll=-0.0462 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.0598, 7.1043, 1.8388, -0.0464, -0.0513, -0.022, 0.3761, -6.4615, 8.3214, 1.6142, 0.5153, 0.2027, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d0094045b84c25e1ca1d8e3f395f0241df5d983c9bccc10041df68b6a83026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79fab96136dd5f4d2e11a9714a927d739b929ef31ff5fafafdcf59d6852c620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f414e1509074e0b3d42a815aebfb0865abc9ccdd4f6d9fd189a069e8296a8021",
      "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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9989, -0.0227, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.5521, 9.6068, 1.7851, -0.1148, 0.1343, -0.1294, -0.3077, -1.7983, 9.0735, 1.873, -0.1001, -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, 0.8028, 0.6132, -0.3901, -0.0139, -0.0311, 0.9988, 0.8307, 1.4357, 0.8444, -0.2199, 0.6476, 0.5079, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.1797 left_yaw=0.0003 left_pitch=-0.0114 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3233 right_y=0.2013 right_z=0.134 right_yaw=0.031 right_pitch=-0.0497 right_roll=-0.0462 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.0598, 7.1043, 1.8388, -0.0464, -0.0513, -0.022, 0.3761, -6.4615, 8.3214, 1.6142, 0.5153, 0.2027, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d0094045b84c25e1ca1d8e3f395f0241df5d983c9bccc10041df68b6a83026",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e79fab96136dd5f4d2e11a9714a927d739b929ef31ff5fafafdcf59d6852c620",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f414e1509074e0b3d42a815aebfb0865abc9ccdd4f6d9fd189a069e8296a8021",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiCg1Z1Fh_YbZoGogEOUTwG21PXXM7tiN1pfNzmpZsklQu2i1jnlk9FjX3OvRZm8Af5SmQRRLGhKPNnUAa0ohmLD5JxrryKXs32SpQp8k92DePTXyT4Whz78dzRawJVpD5SjnNu220DO4SQ96G4uQO3JPHSdd8U_1LuO7Ud4igtJeE61bA9K5Gjc283NGY1Y7sIpnGn3Reu_M5iSNGvejShX5f7QwPpCik0GmlRossAa_4qJVOWrJrq_xpv30hX8VaSYka6AisSw2J3J5Iip3kisMnruTqVxPs9G2HOzKuS0gwO_sXHbUveKPI7-bU9QodB3hcC1rPa1rYUZVFA0IBfiLNfzG_bjs89L_G-K-eRXPAmDFjU8s9tvxeMvoCz_B8L7Tp4HeNOBF2y6Qq0AIgWZPR6kpk5B-zGDMOqWKLgbtxyXBMn8aupZh105kbncxWyMU8CYH0kZxl7pNlF6D0_08PbUbDbwb1EG0HA1OiI7NOznxhLJxmKtcnUxPfSGV6w2UXRSQsQcoNS3AI3Zm1YvcK93ApA73pnpJ_48Nm6DjGivKPVlF6kyHwNvTSKK-1tGdoYphPyklyowYoBMQdRaLa4qfkyRJCjML16hlCdNmhfgvXyMgh0DbiQQo4k4xgh2AXlLwj18XNj_lhRiuOl6UAkrkFp6PMnItyMl_efS2Djv_16vUMDYOA5qcGiqAguFJ9paxU_HebzsM5Jd9AAPbGAgNTLORgFJ5zZCdR9wFzy1JGmk32j53OyWdwEWd9an21virTsX5KHD_lH9Mv4BQhBGQcsgNzCwCvYExwgvlHdD4wIfEWXEzH8yE7shUstVezE0q8ULbJcRY82lRZKz5Uy5laZ_Wlw8D-LQjhWkvriBa2RZ3gsxkFpSF215m1bjj-ezUWbty9Nt5YWgwAPe9Lh81MDdrlgIEG2O7Emwy7gfiQgUdore1Fp6JZzWfTGQ2mTl0vFB-Z0lCbZKTVUP9UaaJm0Zl37WRIZSImZNihym5lGVzp24c8QCu49FIxmFp0myFWwlNSuk0tGiQDIgMZKgNy5gHzv00BHv7tssOBcK6UPVnLjbxBQ6W-ZIZb54Ulc3WB5WlX1gzOo_fl7xBuTNDNOiWC_71v4A1BBxI-ZS1i6DH3F6ikARB1ZEDitRQOJmz9bUFKBt_qwVKJcv6Sspl-kENIai_-zdGqwxOQVftTZNqu9A2p_3CdGBIouWFtjCiL8is1pwB6_y-JlinFVKSrv3WrEXTOCEWDAPSdmxKfbwrB8-Fp0qaisXgW5u0JGd-IZHRDvQ-ELLJ8UUr4gV81zEt6vJECj4NP2hBDtFPtL66eVUOPckDOWfJNC1G3ABr1sCEI_KuBWsnGJ8fPMexjSNKrHomwjly8-tqn__5wsleGS7AqoGCX1sePfolVnsM6F5XutjkN9LtFiqGR8TRhD8FxFdOVji99YUq2eUyPxRmhmlrsRdVnplJXP2aFOoyxkbc8xMgWlic9y9bW5lvb8Otm7pMisxLrMESrwK2Ibg-NImoZhU8-l7N342mT5Z5lKrYKpVMScNG90jn7IkO3tf_vgPezs47NGDIY=",
  "id": "rs_0ed9881dcf95aa00016ab42880976487d0882e8c418ba6cbb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.205,\"right_z\":0.025},\"note\":\"The yellow fruit is aligned with the right gripper’s centerline near the bottom of its camera view. I’m lowering to its sides with a small forward adjustment for a secure grasp.\"}",
  "call_id": "call_23PaGICgABbI73GJc7P5tcDX",
  "id": "fc_0ed9881dcf95aa00016ab42881c9d487d0a96fdc94b052cca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_23PaGICgABbI73GJc7P5tcDX",
  "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, 0.8043, 0.6132, -0.4011, -0.0135, -0.0311, 0.9988, 0.7879, 1.784, 0.6735, 0.2928, 0.6052, 0.4629, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.177 left_yaw=-0.0 left_pitch=-0.024 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3408 right_y=0.2051 right_z=0.0202 right_yaw=0.0427 right_pitch=-0.0773 right_roll=-0.065 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.1282, 7.2274, 1.8584, -0.022, -0.0269, -0.0122, -0.4034, -7.6239, 4.547, 1.7607, 0.3004, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1face54f652b87d1cc1df93f4cecb14bc12d6dd9cd6e65f2d747cc9cb4bb55e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a3fdb6010db02159a0e6a45ddd899628a0a484cd55ac69a7768226e7ebf5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fc8ec9691eec17494ba8f10e3a7ae3836b154e5bc7b5fe437ad8a2c597af76",
      "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, 0.8028, 0.6132, -0.3901, -0.0139, -0.0311, 0.9988, 0.8307, 1.4357, 0.8444, -0.2199, 0.6476, 0.5079, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.1797 left_yaw=0.0003 left_pitch=-0.0114 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3233 right_y=0.2013 right_z=0.134 right_yaw=0.031 right_pitch=-0.0497 right_roll=-0.0462 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.0598, 7.1043, 1.8388, -0.0464, -0.0513, -0.022, 0.3761, -6.4615, 8.3214, 1.6142, 0.5153, 0.2027, -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, 0.8043, 0.6132, -0.4011, -0.0135, -0.0311, 0.9988, 0.7879, 1.784, 0.6735, 0.2928, 0.6052, 0.4629, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.177 left_yaw=-0.0 left_pitch=-0.024 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3408 right_y=0.2051 right_z=0.0202 right_yaw=0.0427 right_pitch=-0.0773 right_roll=-0.065 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.1282, 7.2274, 1.8584, -0.022, -0.0269, -0.0122, -0.4034, -7.6239, 4.547, 1.7607, 0.3004, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1face54f652b87d1cc1df93f4cecb14bc12d6dd9cd6e65f2d747cc9cb4bb55e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9a3fdb6010db02159a0e6a45ddd899628a0a484cd55ac69a7768226e7ebf5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fc8ec9691eec17494ba8f10e3a7ae3836b154e5bc7b5fe437ad8a2c597af76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiJ7LsuPN74LScyZWM-IMLz_2TmJuDivs4Qlt435v1Iaqs6bbIYKg87GoE50dvyUtBlX0F943mhXJvgHnsrkh4iQkE8iaGGsMBw0m-3MBDiJGdcd70HzjTaPcDa88KGy1mHVFVgiJE5oWufvBYsRhayFVWoiEOosmjX-28sUVjfQraQ-ZQ2d4uAhv46MUG6ZrPUSnrDaW43yN4RYzDV49jGsekK9MKWa1EeZwMNJZ2T249NIQqiFIYrpVdkTIK7a0kTvKNI_h94XZgeLfx9JUqKk_2kabMPGlTTiBzQfpBe1USNlHK16HY32VTihOvdA-KiSVjJeFqRENf9PzNM2fR2wPBpB6qqjqAQB6aE1Nm4S6WVM4Hox1-Ll06adkXHKULVnuzV9fUFmetUuDiAMEO68GQ_g6z4srcuqhcSptvnurxUkVm3TxXU7A--crh8SA6aPEbh3bHmpCO8qPPMfPbhE5QgNP8UQokVVezVNxn6NtuVXJdeQDCEBkd71P96zBWLdk22Qv1KDic3AN0EZvkCYnqUYD3BkiHyg8DkSbrfrT_WuWU66vLkq_E0MWpm2GFPSrw-5AmsYrUG2d33_fLd4hmRA7JJQk3LPVPypE_rM25c_-C87oq0B6JruoN4g3iQ-Ibopo7-Jjlm36AaIV0miD6yF1XB0Xrn_Z0Iglp7FY0C2XPfsaUcYvZgX93UngwoPy3V_2DKthkjAxWhXa-TbDV37KSsbtoxTxg0e0izenV2qlU8h96Sbdx6KJ6yYgD0NWKX6DubPA8dfFGUVS2EDdJvKBs8XB6FN7rod5pLbXW8OgjbliuQFqeP0OfFG_d63O5VGfnVpfvllleJKTUFhaBxrZk03tYXaIAHUvc9Cn1CPN10n_UBfO30L5Jy1p24z5KsG-fnNpZqosbw2H5pIjTLKl0bXQ-VrN1JRp4ZYgV6v_DJZpMsxCB1N-rx_GscCkzFVnkjTkRlBMIMy42EvZlXc4138uBGPW3n7Jx-u27--f23uQTb_P386OoT9riLcf1FWMATVoFHLXEF10vgWDwf_Ci3f0ofu6bIlmxO9-puNYjWa0TOP0X5061MCzpWRndgMUOWRsJ9hy42c8HiP3hYC-_lI28tiyj40DWnvZSf9wPyIZAllzFfemvojncWvnQfwZT2aokY6PEwklFa-tS901HOMLYCTo1m70zH8EBKs25bjDUbHK8RlbA3XU6vaJa8cc7Lr6DtmX4dG2f-Vz0IQ2WP0bm3LFzsdpoyr-Wy5jf5yk3t1YGxJgQgiSL7",
  "id": "rs_0ed9881dcf95aa00016ab428884bd487d0a30506bef9911cff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is at the yellow fruit’s side height, and the fruit remains between the open jaws. I’m closing gently around it before checking the lift.\"}",
  "call_id": "call_9hIvzuiGPVVggTLPr5dKNir1",
  "id": "fc_0ed9881dcf95aa00016ab42888de0487d092c668601dee9fec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9hIvzuiGPVVggTLPr5dKNir1",
  "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]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0334, 0.9988, 0.7879, 1.784, 0.6735, 0.2882, 0.6006, 0.4599, 0.389]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9988 right_x=0.34 right_y=0.2053 right_z=0.0192 right_yaw=0.0474 right_pitch=-0.0831 right_roll=-0.0681 right_gripper=0.389\nstate[joint_eff]: [-0.1162, -1.1282, 7.0085, 1.8486, -0.0611, -0.0122, -0.0122, -0.1983, -7.5692, 4.8752, 1.4188, 0.2711, -0.0562, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf244dc7e48ab37112062a090d2b88c2234e3fbaf6eab6330d04b113baf9b11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d066c2e612874921e19c648506e1bce6c74e62d6e1b626d0bd6d346bda493b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91431faed0720e133048c9a66009e795bb10b4bb0e8be7b1e5f27f607e726cd",
      "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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9989, -0.0227, 0.8005, 0.6197, -0.387, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2962 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.5521, 9.6068, 1.7851, -0.1148, 0.1343, -0.1294, -0.3077, -1.7983, 9.0735, 1.873, -0.1001, -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, 0.8043, 0.6132, -0.4011, -0.0135, -0.0311, 0.9988, 0.7879, 1.784, 0.6735, 0.2928, 0.6052, 0.4629, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.177 left_yaw=-0.0 left_pitch=-0.024 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3408 right_y=0.2051 right_z=0.0202 right_yaw=0.0427 right_pitch=-0.0773 right_roll=-0.065 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.1282, 7.2274, 1.8584, -0.022, -0.0269, -0.0122, -0.4034, -7.6239, 4.547, 1.7607, 0.3004, -0.0415, -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]: [-0.02, 0.8043, 0.6132, -0.4084, -0.0139, -0.0334, 0.9988, 0.7879, 1.784, 0.6735, 0.2882, 0.6006, 0.4599, 0.389]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9988 right_x=0.34 right_y=0.2053 right_z=0.0192 right_yaw=0.0474 right_pitch=-0.0831 right_roll=-0.0681 right_gripper=0.389\nstate[joint_eff]: [-0.1162, -1.1282, 7.0085, 1.8486, -0.0611, -0.0122, -0.0122, -0.1983, -7.5692, 4.8752, 1.4188, 0.2711, -0.0562, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf244dc7e48ab37112062a090d2b88c2234e3fbaf6eab6330d04b113baf9b11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d066c2e612874921e19c648506e1bce6c74e62d6e1b626d0bd6d346bda493b9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91431faed0720e133048c9a66009e795bb10b4bb0e8be7b1e5f27f607e726cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The closed jaw spacing indicates the yellow fruit is held. I’m lifting it clear of the table and restoring the idle left arm to its parked height.\"}",
  "call_id": "call_3L7NEQKTChcrvbN2rQz8kHAj",
  "id": "fc_0ed9881dcf95aa00016ab4288c000c87d0816e44741192c2ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3L7NEQKTChcrvbN2rQz8kHAj",
  "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]: [-0.02, 0.8211, 0.6285, -0.4377, -0.0139, -0.0338, 0.9988, 0.7891, 1.4872, 1.0058, -0.3878, 0.5896, 0.4595, 0.3918]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0622 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3369 right_y=0.2051 right_z=0.1493 right_yaw=0.0535 right_pitch=-0.1234 right_roll=-0.094 right_gripper=0.3918\nstate[joint_eff]: [-0.2667, -1.2103, 9.3333, 1.7998, -0.0708, -0.0513, -0.0122, -0.1709, -8.4718, 8.5538, 1.2332, 0.3297, -0.0513, 0.2808]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331f12cc8638b29d7bdd386d69ab94ec1c66ce72a4ddb3c1b613632c4870b194",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e221153ed128803612b53faa8643605e1bbf4289e9b9e90b8d732857dc1a1245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4215ff3c269a17944651bc2f16bff1a48d467984635c074c3aeb880a54ce160",
      "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, 0.8028, 0.6132, -0.3901, -0.0139, -0.0311, 0.9988, 0.8307, 1.4357, 0.8444, -0.2199, 0.6476, 0.5079, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.1797 left_yaw=0.0003 left_pitch=-0.0114 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3233 right_y=0.2013 right_z=0.134 right_yaw=0.031 right_pitch=-0.0497 right_roll=-0.0462 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.0598, 7.1043, 1.8388, -0.0464, -0.0513, -0.022, 0.3761, -6.4615, 8.3214, 1.6142, 0.5153, 0.2027, -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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0334, 0.9988, 0.7879, 1.784, 0.6735, 0.2882, 0.6006, 0.4599, 0.389]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9988 right_x=0.34 right_y=0.2053 right_z=0.0192 right_yaw=0.0474 right_pitch=-0.0831 right_roll=-0.0681 right_gripper=0.389\nstate[joint_eff]: [-0.1162, -1.1282, 7.0085, 1.8486, -0.0611, -0.0122, -0.0122, -0.1983, -7.5692, 4.8752, 1.4188, 0.2711, -0.0562, 0.9011]",
      "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, 0.8211, 0.6285, -0.4377, -0.0139, -0.0338, 0.9988, 0.7891, 1.4872, 1.0058, -0.3878, 0.5896, 0.4595, 0.3918]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0622 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3369 right_y=0.2051 right_z=0.1493 right_yaw=0.0535 right_pitch=-0.1234 right_roll=-0.094 right_gripper=0.3918\nstate[joint_eff]: [-0.2667, -1.2103, 9.3333, 1.7998, -0.0708, -0.0513, -0.0122, -0.1709, -8.4718, 8.5538, 1.2332, 0.3297, -0.0513, 0.2808]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331f12cc8638b29d7bdd386d69ab94ec1c66ce72a4ddb3c1b613632c4870b194",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e221153ed128803612b53faa8643605e1bbf4289e9b9e90b8d732857dc1a1245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4215ff3c269a17944651bc2f16bff1a48d467984635c074c3aeb880a54ce160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiWTA31q998YuMlEKUFZGc6xrUxE33IqK3P_g5KllaFxSBVr3JojTihSGFv1rAZskPm8KAPEK21kLhanLFWIjizfIRbvuW2a1ElkfyjT0_wmMtcb0RYVwzgcSZilnipZtE7r6IBdwR6bohPY9K1d95fhw0xV94avUF4rpEJlwDaHsITX-j_kApXxc2TswaiMYTtKPhkoTVYuMlrNnIefIgTehLaowtC-9ZUV9vN0ZStqtGtEx4-IcmmEA7xpUX5-V9AApvVqcK02prQT1laSXNQnybhixW8NR3RaazL_Nu3YNAkhmwBcpZxQKuxkMhfZ9aKA7f35hOiMb48lZ_c3tderBarYPpgYpHSKA7sHxRVoEokwYwB9R62T38DQSUloo7wYEny-qGSk__QtqF3mRTBvspxF65UqU3acX7WNJc2mZY6FmuMbXJNx6Mf72f77GHCXiFQjx67-jI-sO32bNZT2e94GQXkCMPJYAjH2_1CeiLvEb4qHWpRsqMzIawAYQkoivQcFpq0QhkXCXX_9oY_UMbR7ALGsDXbKbdHftd35E3urzevoEiJDydoMuJx0ElbXaTdn6Dg1ZtKLQ3tjwJVadPyS8bj7XmCF_zxkaxtSQApenYB1AW9N05tKa-dW7RtzUhzjZ3zahrVvB-4IM5XO1vaMi6RiK09I9hnks_w5tjujPusjetbzyYfvpEcmgfzh_-kjTVCIZG3OxOvusbZFxgwUwGq7Mx5yM1sKAbyKnxL5UwbPU6gZA9k_Y4xNtZdjeQvRQfuJGHZ_UR69IecUF5N7ePQK46JdVrkqD8u-2Vh9DOdiVGe00H5g54d3b-Pudy2qq9vErW3K-F39CK2zvMlyYNpUXWl2K8_DLESmaRVTbN_noAi5XbqvST-wg3aaybZDn9Hh3Jbn1r2anlZOdn4B5_R_XHgGakbpY327PuzFf6iRMAyIonni35_4lzG4Wd_ByyrtysfKI1-PzHP8UOjrbSc0MnlJZAwM0JVeVEpRrujYPyebiN3-eBDKAOCOy0dcJjCaXIpn1Wf1ZHsyrfckniiV-OWKWMxCqFgjoXF0n-Rdjepx6ZNsOZYnZUNwwfo6vViKHw7QPDnjvk1iZh2vqXk0v-Ty--iVpEm1cDQ8TDlFc86shDZ8kziEdgSST8VtdGo9K5Q7Q4JGCVD75ndAwSiC1GmnIRc-A_UNrgOlcHbzQBE95B4I48Njh0S905J3eJipEsZA6nQUeTuSMoOCCKuFH7aJ3Ql4FmPs_pqgAI0reqo8-VaHmZFFV-CT9Zs6jr3TrJFO6cawvPqlTQ5cn930dy4l6Mh4GKx3S6fotJ_exsGjn_SMUCG31Dvi7bu3IWIrf6oqrVx0dB5OL8-bqeBIzXYnJJNEdFp8AugXu1rzzMia7vIA50faIiK-LKnQYqA5bS3xIcbD8KbgnyqWZwly15QrVWiwdGZgSDPt46InxFsRM75_0VJBP4G_8dwnfd1N7Y8ejBMFeCm0HUh8iuUpZLlZacgM-68-2YgOxuyELgjXI0_3Mgh9CiFy8fnILMxBI171mOwGovnyUcpfcAu7_CjVVJkMQQEQbgCUAl1CROZv41xENIVdGPbTGyjha1-5unMwzC2DgT_hKQ5QD0nRnx2mPhbwWAWG3pu6D_YHj-rgyjDO4ARM5_tC5dmf9LDYbRh4F5_VyHG2aHaJE07TPSIJ_f7hVVptc1YeyERK9Ec7bN8-yWdOCTLovOfsX1Rg2GxVPGrx_3DDne-OfoeobO-V-xAVk_0UUxKQzNjWIfZe7wN4ARNj32aB0vFthcjkwBHyJCodbKR2VmhZZdKePZx3bExRMFCqblYWrxJVsb9gDTEkWWEYeuLq_fE3NeCJBYOFbEioU_9v_2RaKOdzx-IsckYMNPhmvvRNsbNXrGJBNWQNTyXUP52oHy9wMeRpe_e16_VuhNvS2YH4_IPxGM56IEtcnQsMqAwbufzjgwYHToNXdm0xGXxx6UqalASgPVICYZQ73iELYKufO5wFfxrOJUgvYObbODOSv-12opennGq7VFPkJYO",
  "id": "rs_0ed9881dcf95aa00016ab428923c6887d0881011a437f833a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.125,\"right_z\":0.17},\"note\":\"The yellow fruit has lifted with the gripper, and the blue bowl is ahead and to the right. I’m carrying the fruit over the bowl opening.\"}",
  "call_id": "call_fCDKrXV3i2HeE1NvUPNmMQxa",
  "id": "fc_0ed9881dcf95aa00016ab4289558f087d088b670d0a1fee029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fCDKrXV3i2HeE1NvUPNmMQxa",
  "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, 0.8257, 0.6285, -0.4461, -0.0135, -0.0338, 0.9988, 0.3973, 1.5692, 1.1099, -0.3332, 0.3122, 0.1452, 0.3939]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.169 left_yaw=0.0015 left_pitch=-0.0752 left_roll=-0.002 left_gripper=0.9988 right_x=0.419 right_y=0.1208 right_z=0.1517 right_yaw=0.0533 right_pitch=-0.182 right_roll=-0.1157 right_gripper=0.3939\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7265, -0.022, -0.0806, -0.0122, 0.0615, -7.241, 9.2786, 1.7705, 0.0904, -0.0171, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a343de438af189df430594fa554511666014d1945a0aafee8e6a21304dc4114a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4c8b8eb065234c247fbfc42bc1c2366449df77ccdcc73fb319692a42c1ca25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad108d49750e864c011b58513953877ba477d842d3562488e85adf58bef97a8",
      "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, 0.8043, 0.6132, -0.4011, -0.0135, -0.0311, 0.9988, 0.7879, 1.784, 0.6735, 0.2928, 0.6052, 0.4629, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.177 left_yaw=-0.0 left_pitch=-0.024 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3408 right_y=0.2051 right_z=0.0202 right_yaw=0.0427 right_pitch=-0.0773 right_roll=-0.065 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.1282, 7.2274, 1.8584, -0.022, -0.0269, -0.0122, -0.4034, -7.6239, 4.547, 1.7607, 0.3004, -0.0415, -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]: [-0.02, 0.8211, 0.6285, -0.4377, -0.0139, -0.0338, 0.9988, 0.7891, 1.4872, 1.0058, -0.3878, 0.5896, 0.4595, 0.3918]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0622 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3369 right_y=0.2051 right_z=0.1493 right_yaw=0.0535 right_pitch=-0.1234 right_roll=-0.094 right_gripper=0.3918\nstate[joint_eff]: [-0.2667, -1.2103, 9.3333, 1.7998, -0.0708, -0.0513, -0.0122, -0.1709, -8.4718, 8.5538, 1.2332, 0.3297, -0.0513, 0.2808]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8257, 0.6285, -0.4461, -0.0135, -0.0338, 0.9988, 0.3973, 1.5692, 1.1099, -0.3332, 0.3122, 0.1452, 0.3939]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.169 left_yaw=0.0015 left_pitch=-0.0752 left_roll=-0.002 left_gripper=0.9988 right_x=0.419 right_y=0.1208 right_z=0.1517 right_yaw=0.0533 right_pitch=-0.182 right_roll=-0.1157 right_gripper=0.3939\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7265, -0.022, -0.0806, -0.0122, 0.0615, -7.241, 9.2786, 1.7705, 0.0904, -0.0171, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a343de438af189df430594fa554511666014d1945a0aafee8e6a21304dc4114a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4c8b8eb065234c247fbfc42bc1c2366449df77ccdcc73fb319692a42c1ca25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad108d49750e864c011b58513953877ba477d842d3562488e85adf58bef97a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCif0DVmWoPLIBpT-KdwJG4gy84BprrbJqIlIEYq5qyPDmWG66aZ2qjhkAeBdw-da5pzhG8kkDVPnFLsNz1zV4bGM_yq4Gysc5DLb6pknSxQt1TD93Zhl3S5oqFi7RjQEDH7dOk7MMJLXKNbp14mX31fJJFd2PFng2LOYE4-bDjRrqC6UQRt2pFTaGgFAOfFXIixZpIDcgMsrGTWxqXPPzX1ickSQ6ZQ7oi4OcL26HmeN1IKHgV4TOELRLuEGfLDMhmJszrEDOVKpCElfoY-zrZSUdNNj82VLD3XXiCK5ynLcq-qm4-k7VD7if4IbbW_N-QXCd1mo7Yclklyk0ndjwyf3_wg1TQedjcnB8auU5I7iahJleGTeMyznCmUNif_3aoi4VzcSN4PVZgNtfW9XS6GnJDxYdoM8RbjBKhBunwqtf8hafA3HCz-CpF4lYGydl7JuBqSyOaYv-yBY2L_QzfmUEnrXG2O6COf4V8vu0gXvDxjlNhTdy64ghEF8A5etp_nFAcowqjIJlxouG53Dbsgm7vVQQM_SJaRZhv2d2jdU7fGWzJ3e9s0W1cO5Q7sR_TZjlV0vrsdQ2UKqC0HnkW9LisZRYJn-2nPaVXognMx3uhe-x5W_AagCPMF8i10s8ybg4FEIHBjjhcs8u3-97oPMRmwbkb89YVE1sjcaXw7j7JNbagSyYdk6ew4ZDHWDFI8VWcWm0Wo_YcBdGxgFkohtmnknR8LQfU7aVNvO76IaKkKezxcFIOU2fWd7x6NRxCUHr8agH97kOV-YIkLhYpc4HoCHSL4Gv5SZtTmXkcqwRwJsCVqlB2bWrOZpGsFasqgjY1cwHGhii21ytDuDrEdldigO1uX1mIrUd1YOt3aRoBDqH262tonpWD38NrVeUjBhN5cSVACHNkhDA0aQOZ7C6xsLNeqDfGbeD_q5Vie33-xVIZLzIo0M7T7e9g6mOWWyro26OtunLDHxkBWghTA9PZOFVA2Cqi6jP63pa6JWhPaljWHdJGXa9YL4ZlHdKoY5MIdrjaQNi1FPvJ42WbISrkc6faCcz5mQu9VkCy0U9BikoTBSo25bWBKMWAnud6hrJc0ZnncJy6sdpj-0C6nqX-XA1Mx4PolydDiTWSZoPijGc6JLSuInpJStel6z0V6JZ8FjPGLje1RdLLn5DADLd5Arn-lLM5DSiUpOo9aKuNQAJijU87VKP5GGJoRWYbDcb-A7GANxFU95Mi0zw2UtOurEfSx52pkl3JOI2Ig13wGY5Mf6bh3hraYZA1QmQ56qXiuumObHbt69xOXPHESKqbXvQSB4F9ZQ9ELghmh5ERVEJg_-PfAeMqsFzyWHY0BRfFduVJL3lVj5hdZrMrygRr1Q8NaSijjeF_ukSHaMerzPyPZV7WVo_bdrcWVJgyMCTYtqiIgY4iLQpK4Y5SDiBvSMJFBr8UlDgkXKQZRUhFz7dfkKL8cOAg57wCXXcSb3VhXK5p0jlg6QOwu_GNLqgSWXQwq7xxtjK0likbdgY0qG37OM7iyRiYMTlDjBFB0dTq3_bnwobP5ML0KHkkXhQFXPsDohkECxykPg9Wn1A3rvVRb4-iwhFNmlCc8r_U9NYJtEhpZnKMTuLzMW9VXplmFoEd9gKcs3_1249c-4HW0yvzEKHGk_osg_JGjrSMSxL02aMYIo9psRx2eSv4rSqe9jd8QiN_BT6zkJ_R97vAgw0S1lFFNR4T92yLtvYHTa2EKhf6zHxnxfIcfFpapL8WWdtMCe84ARTPEwBz2FM7NyTaQSZNLR6XNnmixhF0AINZ2VBn7D2Lg-jY6_WhJHLO2BEkFf_TY9zz59uhUAlcW71Tm2-6148ytq-M_F9qo",
  "id": "rs_0ed9881dcf95aa00016ab4289c0cb887d099efa669544760db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.13,\"right_z\":0.125},\"note\":\"The blue bowl is centered under the gripper but slightly forward of the fruit. I’m moving a little farther over its opening and lowering before release.\"}",
  "call_id": "call_QrYJLuVnzVyfAZ72wFhU176Y",
  "id": "fc_0ed9881dcf95aa00016ab4289e45bc87d0b7ede6b93188881a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QrYJLuVnzVyfAZ72wFhU176Y",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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, 0.8276, 0.6281, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2722, 0.2966, 0.1295, 0.3953]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1676 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4421 right_y=0.1274 right_z=0.1076 right_yaw=0.0582 right_pitch=-0.2456 right_roll=-0.137 right_gripper=0.3953\nstate[joint_eff]: [-0.212, -1.4291, 7.1453, 1.7216, -0.0806, -0.0513, -0.0171, -0.3214, -8.6906, 8.5402, 1.7851, 0.1001, -0.0269, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda2f91143aa54bab5d5a33959cc3d35334dd32eb59ecbac30db4188f424f9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deccdb60c7bb3f357c94fd115d29825660796e3e02f959ad5c3309c36adf0e5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32369c039c8390bd2593176fc3e8a69048274c7db13abb5d083ece2d59308340",
      "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, 0.8043, 0.6132, -0.4084, -0.0139, -0.0334, 0.9988, 0.7879, 1.784, 0.6735, 0.2882, 0.6006, 0.4599, 0.389]\nstate[eef_state]: left_x=0.2927 left_y=0.0002 left_z=0.1755 left_yaw=0.0015 left_pitch=-0.0313 left_roll=-0.0024 left_gripper=0.9988 right_x=0.34 right_y=0.2053 right_z=0.0192 right_yaw=0.0474 right_pitch=-0.0831 right_roll=-0.0681 right_gripper=0.389\nstate[joint_eff]: [-0.1162, -1.1282, 7.0085, 1.8486, -0.0611, -0.0122, -0.0122, -0.1983, -7.5692, 4.8752, 1.4188, 0.2711, -0.0562, 0.9011]",
      "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, 0.8257, 0.6285, -0.4461, -0.0135, -0.0338, 0.9988, 0.3973, 1.5692, 1.1099, -0.3332, 0.3122, 0.1452, 0.3939]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.169 left_yaw=0.0015 left_pitch=-0.0752 left_roll=-0.002 left_gripper=0.9988 right_x=0.419 right_y=0.1208 right_z=0.1517 right_yaw=0.0533 right_pitch=-0.182 right_roll=-0.1157 right_gripper=0.3939\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7265, -0.022, -0.0806, -0.0122, 0.0615, -7.241, 9.2786, 1.7705, 0.0904, -0.0171, 0.2076]",
      "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, 0.8276, 0.6281, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2722, 0.2966, 0.1295, 0.3953]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1676 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4421 right_y=0.1274 right_z=0.1076 right_yaw=0.0582 right_pitch=-0.2456 right_roll=-0.137 right_gripper=0.3953\nstate[joint_eff]: [-0.212, -1.4291, 7.1453, 1.7216, -0.0806, -0.0513, -0.0171, -0.3214, -8.6906, 8.5402, 1.7851, 0.1001, -0.0269, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda2f91143aa54bab5d5a33959cc3d35334dd32eb59ecbac30db4188f424f9e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deccdb60c7bb3f357c94fd115d29825660796e3e02f959ad5c3309c36adf0e5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32369c039c8390bd2593176fc3e8a69048274c7db13abb5d083ece2d59308340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is directly above the blue bowl’s interior. I’m opening the gripper to place it into the bowl.\"}",
  "call_id": "call_sHwd45q6HGeGUZqQ64tFc3q8",
  "id": "fc_0ed9881dcf95aa00016ab428a33f3087d0a4a04c4160a5fad3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sHwd45q6HGeGUZqQ64tFc3q8",
  "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]: [-0.02, 0.828, 0.6285, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2607, 0.2935, 0.1215, 0.996]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1677 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4439 right_y=0.1286 right_z=0.1093 right_yaw=0.066 right_pitch=-0.236 right_roll=-0.1367 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7167, -0.0757, -0.0757, -0.0122, -0.6359, -8.5949, 8.5538, 1.707, 0.1832, 0.1001, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fa0c2a19557849dfd6885433f08290e1c4c46986ef64ae03fe10b0a0a0bbd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc1a644c5869425854c96125f9b3d1517b8516031ccaaffac395c832a0cae44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a635a64bbd59534d568df478c63145e030dad6136035f83e94530def46a94a8",
      "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, 0.8211, 0.6285, -0.4377, -0.0139, -0.0338, 0.9988, 0.7891, 1.4872, 1.0058, -0.3878, 0.5896, 0.4595, 0.3918]\nstate[eef_state]: left_x=0.2916 left_y=0.0002 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0622 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3369 right_y=0.2051 right_z=0.1493 right_yaw=0.0535 right_pitch=-0.1234 right_roll=-0.094 right_gripper=0.3918\nstate[joint_eff]: [-0.2667, -1.2103, 9.3333, 1.7998, -0.0708, -0.0513, -0.0122, -0.1709, -8.4718, 8.5538, 1.2332, 0.3297, -0.0513, 0.2808]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8276, 0.6281, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2722, 0.2966, 0.1295, 0.3953]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1676 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4421 right_y=0.1274 right_z=0.1076 right_yaw=0.0582 right_pitch=-0.2456 right_roll=-0.137 right_gripper=0.3953\nstate[joint_eff]: [-0.212, -1.4291, 7.1453, 1.7216, -0.0806, -0.0513, -0.0171, -0.3214, -8.6906, 8.5402, 1.7851, 0.1001, -0.0269, 0.1343]",
      "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, 0.828, 0.6285, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2607, 0.2935, 0.1215, 0.996]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1677 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4439 right_y=0.1286 right_z=0.1093 right_yaw=0.066 right_pitch=-0.236 right_roll=-0.1367 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7167, -0.0757, -0.0757, -0.0122, -0.6359, -8.5949, 8.5538, 1.707, 0.1832, 0.1001, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57fa0c2a19557849dfd6885433f08290e1c4c46986ef64ae03fe10b0a0a0bbd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc1a644c5869425854c96125f9b3d1517b8516031ccaaffac395c832a0cae44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a635a64bbd59534d568df478c63145e030dad6136035f83e94530def46a94a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCitdWuyva5TV6Hm7tC_rHReAxGaBBkfcGUgAljpuXGhoS-r1WqSHQ_EInddcVXQUUKH3kfoX-C1zErUOf6QW8w1jM5iknlq_32uv9jYWZbekens-TJwh6YO0BJilQpm0wu7eS8pC9AjzT-K4U6K70eAzEYmoo94rZ7iFBNZkvS7cBwaw-ZTWPy_uHxxpc8xy05zQb3SFgAKC4M8ZLsPCunvbhF3foE8dSO-LcR2VMZKM5G4SUlo2g3skCdV79mTz3boQaL3GON2NsBukRNGuWuGdVO5jjj2kvt_NigDQlZ9wVIp4Z2yggKPU8HeBxUFSDcnPuCQ0bpfqPly9xndVtrRAoLay3QvzKYTm7dvv7SFgRvw8lFlxaO-Tp-hNf7g07klTOeyQ_tOU3f-JYavMQgWpm71dVcIaDwX7uNRccEYhBffg4rh1MTVOSPsfGmv5elwKbRB1pKKzUA9fbejdHSF3Q7hbQernE9IPENvM1oOxDTvhtHDXG8R-JDNPfMnZzwte0PkxzsZUvfPiMjGtnVIF5TyciH7Zf6xbMIz77y7kbGu3_RhqSuoPTNlhqZfUL5tE1fL4TVqvP8VUqf8a2Rh-0Stspcelp9f_cFMmrmOSsxBKaRaCGQqtcE6BcA3H7XHHAWDdsLhlrDNTJGkyxVLH07Qot-sMai7_qwK_lkKawUW396V5MF361c1YJfKDKdR3r6mRhDpwOqhCebpd6pbPZENlIbnSHNAJLInP1Gxmk6pfEle8jnjJm_xn_U3_bgdbFYefgVPCLgTAGp4Z8w6Pws_s9BVRL4KrSkmjpTwuEM-hLOiRRIksRoLwL9mXXiNxbDOUAzLx2lEOPMxEW_GcTpFxNFl7Z6DGVL4aozIA_eQgFHKv8YwjykOiVIYIsBSv7MN_CrjAws1pzOuD3GkrmwS3X8ocJfByJ8m74CBNshxHJ9O6xEFnhh1DwjPe7re1-wpz4TsZtQQtWakArKQwR9bJbvQrHmb7F0MHvM1_ymmpwepPyd59LeZFRaKMkF1feQSOWIaDg5E1YlaTo6SWULNyceDkWTHU_Whadjzp7za9jmoaksOe5seEq9NSZI1EO1PAljMjyoV3iOg7wVeNWZW2mY1V8thZeaVs5_mY8tMPTyofc51TJcRHMVToqaQ6DGkowu_49UhD4c9vd3hKczeHz9V1iANWLa-xZ-KOhlN-nwmyi9OruJ0OeZumntAP8ly5Oc1K9x1E649-lY_LdpCujJdR41j6PgXUsvIk8Tymb1uvNh14vJhksrOPNMsIs9hDBzn0a1bNIRZVSjUAvRWuGXALdaHxGwGiwsxOLccVsI7XtQDTjgA2wRedJ4llJGIl_9y-moMX3av83nJZhMjFYzpVjTXf2XJ7fZFOa5hLYGgcLQndEXBDBZlFBkBeyrATHHAd7zIrVz_AzrPnpXeTPp7AWbgS9N0owzMsPEmIfQAoaxHX4ApyZi9KMJdnrcvK4cPOohltuNdHZcfUNRygAIE7B6HkpgRckTc-sBQcMVB6b50MaAR1TpPNP7G",
  "id": "rs_0ed9881dcf95aa00016ab428aad2e487d09a486f0f7abc2677",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.05,\"right_z\":0.17},\"note\":\"The yellow fruit is now visible inside the blue bowl. I’m lifting away and positioning over the green pear to collect the next fruit.\"}",
  "call_id": "call_lJCnSwV5UykIPEroD5rpR1t7",
  "id": "fc_0ed9881dcf95aa00016ab428ac5d2887d0bb4ad1acc36e79a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lJCnSwV5UykIPEroD5rpR1t7",
  "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, 0.8337, 0.6281, -0.4618, -0.0139, -0.0338, 0.9988, 0.2321, 1.2346, 0.9367, -0.4957, 0.2028, 0.0158, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1636 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3531 right_y=0.0506 right_z=0.1735 right_yaw=0.0503 right_pitch=-0.2123 right_roll=-0.1345 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.8803, 7.1726, 1.7802, -0.0611, -0.022, -0.0122, 0.0889, -4.7385, 6.3932, 1.6679, -0.1538, -0.1001, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd80d30ac92cec840dda799429acdf459a81bb322f21ce79178848d6c654905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5ecabdb62bdccaa0fc2a71319cad19fa780f5e5a8584ed06774c8d802000f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a951f5779b08f611231d9d3793ddcb4fbab92866bc84d493f1e891d7f2084873",
      "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, 0.8257, 0.6285, -0.4461, -0.0135, -0.0338, 0.9988, 0.3973, 1.5692, 1.1099, -0.3332, 0.3122, 0.1452, 0.3939]\nstate[eef_state]: left_x=0.2906 left_y=0.0002 left_z=0.169 left_yaw=0.0015 left_pitch=-0.0752 left_roll=-0.002 left_gripper=0.9988 right_x=0.419 right_y=0.1208 right_z=0.1517 right_yaw=0.0533 right_pitch=-0.182 right_roll=-0.1157 right_gripper=0.3939\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7265, -0.022, -0.0806, -0.0122, 0.0615, -7.241, 9.2786, 1.7705, 0.0904, -0.0171, 0.2076]",
      "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, 0.828, 0.6285, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2607, 0.2935, 0.1215, 0.996]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1677 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4439 right_y=0.1286 right_z=0.1093 right_yaw=0.066 right_pitch=-0.236 right_roll=-0.1367 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7167, -0.0757, -0.0757, -0.0122, -0.6359, -8.5949, 8.5538, 1.707, 0.1832, 0.1001, -0.2418]\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, 0.8337, 0.6281, -0.4618, -0.0139, -0.0338, 0.9988, 0.2321, 1.2346, 0.9367, -0.4957, 0.2028, 0.0158, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1636 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3531 right_y=0.0506 right_z=0.1735 right_yaw=0.0503 right_pitch=-0.2123 right_roll=-0.1345 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.8803, 7.1726, 1.7802, -0.0611, -0.022, -0.0122, 0.0889, -4.7385, 6.3932, 1.6679, -0.1538, -0.1001, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd80d30ac92cec840dda799429acdf459a81bb322f21ce79178848d6c654905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5ecabdb62bdccaa0fc2a71319cad19fa780f5e5a8584ed06774c8d802000f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a951f5779b08f611231d9d3793ddcb4fbab92866bc84d493f1e891d7f2084873",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiyXvSxvF2xMJkFleYdws137AyYFuV7mLWSmkYVuR5lfjam0vlBtFIoBtN6WnHRCAY-PjzZzQtAr4P5WJLe9qEsvAQAqi_hjhqAMj0fWYmyR1UnqfG_f8btaA6RWMjyDboIMv-AkvZuFSz0GVk90LEM0UqUsZMgeCe4pTT2NNvAZxVIfnrx2zBIJ8WlP3CtiyoWPUOakEvaYmRLIKdybggzZLhgGs4nmyKxEK9yqlwzNEzABD2CWXaVnzlVDRSRsv-V0GocyT9RwV9CXQR9TIENPDW61XnF1akaKAv2mT8ePygLMp2tQW5RcgQ8SviC56V4Ym4DXMuMVrOGLGpwrPbUe4-1WpwFyxlY9pX01NyX2WGtzoMl_k745JgYvSp5BtvH6E_I4cTwBz5GL9ND-TpXrmVtsCdMTNZLI-NE4So5d5OxK8PrNY7SX3UqKmu3U_Fa58RNXvhQzutiZrDyhrEA3IVJC7KHdZTkL4bX8Q5q5OED3i-tEXbrO3QDYIutalAy_UefhqTwcdISO4A8Lgrluh_RopYjO4DKOTkRpjaWWQjsruIzZ_2uIFMWAIS_JyJDKkQoQdSD12ncnm4NvUgHaKxfFHcK2IVYs4WAYr8m904h5u45gXP-Hqivff1Ocl-fRwGmQDAh9t1Ssc7zlCRpNHFgRFn-KhWbPNaFji5ScTtKkxVKxWQ3bqWCu74V2QNIyokJcNQZKZnY9X2eMXALSr_qdjPtyus59dA5RzFiK4yKuglK2JGCSkhD5hEuOYohW8HTMN5nJ6jTMTzvhg8Ph3DIGXhvWvzgV34HR2T4fi69ERMbRYMxmR_O4MBbfTJtCP4dy4duyjOo2kzvw-t6_DfWRqCWl61xFTCAb0q6rzGLen1vZ_lxyHV4nsJEXFXaoa-XL8PA2Bvqs30lJnH55NHVmbGAtmlrE6YajdgjXP5eWRNm6h674TWPXIs1rXasVTqeZyqrn_98hH6Dl4-DEi5E1t8dzmHXMMzT3chfrmCku2l2mfm9IeZp5VsjDucveGn3CW5NOUYBOh-UXnadI8tuHa3yRLUt0KCsV_fZ6AxKkZHxM-_et7AZc9m7ANXwx6SZcrgtYAdUGnejmemrvC-Y_bYMi0aycFSPQnCW9cdI86irTPOb7sZr6sPGuzndY1Qgjbs49S_ew8Ym3KB3qjQDWkA39ZawOAJ0I79SUjfg-ryll_Q1rCwREBCm0NRT7jvubXGr-vzwOhm6kgsY2_X1DwosPDFl-MFNtgKlDRHzOOEC_rc_0uCX2PshC1qjUSptqQG4dZ7mwqG6tTpEqC0IIwE8gnmqfaK3EyVssYGqSziHoDxHUTh6gqMlh2C1gVLejWaYl3UwoROntunjFDrJWw3p8INhmJDruDWmJKhSc7oXBs3r6YTJYUHjjQQ5092cd8YFQ3mxobIwr9tGkJblrT3Hp64UvkI30zEGRPq5sR4xTSepQFUpr6eVyznh5yteiy53nRgiWhRJHDNOQzhve5cl-wtLmvYswXJk9qORhgdzB2JIxfgmzA4XvfLOSU0Ir03cm1uyLb8kVessAg==",
  "id": "rs_0ed9881dcf95aa00016ab428afac5487d080c24ba4ce4f063c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.033,\"right_z\":0.035,\"right_pitch\":0.05,\"right_roll\":0},\"note\":\"The pear is just right of the gripper’s centerline. I’m correcting sideways and lowering around its wider body while keeping clear of the bowl.\"}",
  "call_id": "call_huOr2gRAds8vmldH5iYKwiXa",
  "id": "fc_0ed9881dcf95aa00016ab428b1640887d0bc5c009c366f9657",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_huOr2gRAds8vmldH5iYKwiXa",
  "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, 0.8368, 0.6281, -0.4686, -0.0139, -0.0338, 0.9988, 0.1101, 1.541, 0.2478, 0.7425, 0.054, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3457 right_y=0.0322 right_z=0.0279 right_yaw=0.0564 right_pitch=0.0179 right_roll=-0.012 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7026, 6.9402, 1.7558, -0.0464, -0.0415, -0.0122, -0.0615, -4.8752, 4.6974, 2.0342, -0.0366, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd5daa40e38ecb40010f2b191ff6437e2427d4a5211598c4a17644f34a2f65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6940c4beb2ae3fc1da2ff1e15012bd20cebd7fbc397789c436397027b50c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3af62968f80fc6fdb4042e688a05a0c037133836f75634148d9d48f43f158a8",
      "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, 0.8276, 0.6281, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2722, 0.2966, 0.1295, 0.3953]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1676 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4421 right_y=0.1274 right_z=0.1076 right_yaw=0.0582 right_pitch=-0.2456 right_roll=-0.137 right_gripper=0.3953\nstate[joint_eff]: [-0.212, -1.4291, 7.1453, 1.7216, -0.0806, -0.0513, -0.0171, -0.3214, -8.6906, 8.5402, 1.7851, 0.1001, -0.0269, 0.1343]",
      "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, 0.8337, 0.6281, -0.4618, -0.0139, -0.0338, 0.9988, 0.2321, 1.2346, 0.9367, -0.4957, 0.2028, 0.0158, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1636 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3531 right_y=0.0506 right_z=0.1735 right_yaw=0.0503 right_pitch=-0.2123 right_roll=-0.1345 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.8803, 7.1726, 1.7802, -0.0611, -0.022, -0.0122, 0.0889, -4.7385, 6.3932, 1.6679, -0.1538, -0.1001, 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]: [-0.02, 0.8368, 0.6281, -0.4686, -0.0139, -0.0338, 0.9988, 0.1101, 1.541, 0.2478, 0.7425, 0.054, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3457 right_y=0.0322 right_z=0.0279 right_yaw=0.0564 right_pitch=0.0179 right_roll=-0.012 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7026, 6.9402, 1.7558, -0.0464, -0.0415, -0.0122, -0.0615, -4.8752, 4.6974, 2.0342, -0.0366, 0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd5daa40e38ecb40010f2b191ff6437e2427d4a5211598c4a17644f34a2f65f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6940c4beb2ae3fc1da2ff1e15012bd20cebd7fbc397789c436397027b50c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3af62968f80fc6fdb4042e688a05a0c037133836f75634148d9d48f43f158a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCi7Rkev6XbK6KgwXY6CKmLGAQPDqlPg8xB0HzkPc_Ofzlemt_987IKHniV2lYamoTHecBpoWUzls3or2PD8E8BuXlt9td6gWUFD3hIiTcp4lFl7U1kZbtI-1O-O1mL2Zi82KoFymKbhXizkyssuMdmYgBbtkKyp76J19JvKm1uRx9s0UABoSdeAUH6MCwdrluZxeRuqhs5b-1NM6z2K76VejFaKF0Fp6VhtLwY-yHk_-JXL6aF_31-RxUf7iJ-sIkMqqwwIceBI1psJREFeoXxedYu3W9Ww2DY5koxATokkPdLT-VUxKohItel93_DpwgAq6KeDQp8HXH8a_tPEfTFFBtXc-t9obkZEnqitjHKVuddTlywgoj7p2yB6jKA-CRmlDxs0EnF5L7a5ItKNcLgCxGjpHqQKZwADrrkaBrXFAzTbOYJBvc9KVgcGaqw5UaLS2K8LBcBcu1zCEIvilEbqVl_NwnoBM1rwCXgxEi7ArXj_3LreQcM3_VrnuamI0ga_nwGzoJk5BEqvqTE0dGXGbu3sTeUAnS6CjBfWwTQw8lRkDfbnoWOebxQYWkOXbXKWtEm9ueiH5KIXgrXWawIOJYC3W1niyyX_tUkOMbl-1pDYHSDj7oPXyM9gnkHfihZYX7x_R5YizCS_gs6TkrMFK4jjwT4U9aOS2qMkLksAZOuW5eCK1oyfQ1Y-ypKu0kvQU93g-JphhqZzN0Y1GOdjSHzsb2zTn22gYvFyXL8aasc1OpwlAF63pOVCI0KeONyQ92ivttGOvgF1UwZyJIGW_PzMarpoRhTBNqWq3J8P2HFZHrcKVjpvtmLfANJTVOSlVGvloOYx2k8OEZbvx87GSoHJKM_WywWM4rIMVcZFz9aqPX1drf4UG6VkoZk_sYRa2JaFF_Tztu11t6edJwLzB5ww1FVBzrwC8AihU6NS76A7NFqotqnyUCmZIevSYQdS31RsEfCWRcmoLlJB-ljSbGQzuEox8nTse4fx7JQjrqlo-RVkVdy333nRX8Z2KLCYVouNdACkINTok1KX4HwC6Av8VlzNyEPA_GSThuzvgk60wnS-lVnWAXIoRspvf-a9hXtbUD1_m2ugIe19u4edF9YnUYAuFDgTXbLhLxsfReVwHrSkHQsMyqVfS4MQiOKSoPac7FvgVqQLOEzaFuNZqJnsCRG-PS-NFkIv7HvEHfKgjKSvLprGjklYt7I6YySHrO9X4CyKv_1G95pTDqrPXgB2lSTa9mjDkrh6VsSuSS3k4AUDibL_afxHE-VydcEahO6TO_NcU0IJAnDDzqTlq2u9Pc050VOqE93S_XiC9s4bSbtXvjkY9feABGdKH3UHTrKHLzFIOXKlXYuSe11-7g==",
  "id": "rs_0ed9881dcf95aa00016ab428b9c09c87d09d794e61b6ef256f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now centered between the jaws at table level. I’m closing around its body to pick it up.\"}",
  "call_id": "call_z0TpMYpi5DjWPDD6QgV1pB8l",
  "id": "fc_0ed9881dcf95aa00016ab428ba82d887d0b59685342d7554bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z0TpMYpi5DjWPDD6QgV1pB8l",
  "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]: [-0.02, 0.8368, 0.6281, -0.4725, -0.0139, -0.0338, 0.9988, 0.1093, 1.5391, 0.2493, 0.7639, 0.0544, 0.0097, 0.6213]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1608 left_yaw=0.0019 left_pitch=-0.1129 left_roll=-0.001 left_gripper=0.9988 right_x=0.3491 right_y=0.0323 right_z=0.0336 right_yaw=0.0596 right_pitch=0.0426 right_roll=-0.0178 right_gripper=0.6213\nstate[joint_eff]: [-0.1299, -1.4427, 6.9265, 1.7314, -0.0513, -0.0562, -0.0171, -0.0068, -4.4786, 4.2462, 1.5653, -0.0611, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a66419fa922e5b5be99ccb6e3345dfee8ebbca7f04541251baf6783ad558d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805b8382d43701ca36310289ef87df4c4e3d459446a2ab13d6ad735ee577dbbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5922771065f516e9f3d1d5a8a8901c1fd239aa490e492546b84ffe90764eb55c",
      "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, 0.828, 0.6285, -0.45, -0.0139, -0.0338, 0.9988, 0.3851, 1.7344, 1.1519, -0.2607, 0.2935, 0.1215, 0.996]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1677 left_yaw=0.0018 left_pitch=-0.0813 left_roll=-0.0016 left_gripper=0.9988 right_x=0.4439 right_y=0.1286 right_z=0.1093 right_yaw=0.066 right_pitch=-0.236 right_roll=-0.1367 right_gripper=0.996\nstate[joint_eff]: [-0.1573, -1.4291, 6.9949, 1.7167, -0.0757, -0.0757, -0.0122, -0.6359, -8.5949, 8.5538, 1.707, 0.1832, 0.1001, -0.2418]\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, 0.8368, 0.6281, -0.4686, -0.0139, -0.0338, 0.9988, 0.1101, 1.541, 0.2478, 0.7425, 0.054, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3457 right_y=0.0322 right_z=0.0279 right_yaw=0.0564 right_pitch=0.0179 right_roll=-0.012 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7026, 6.9402, 1.7558, -0.0464, -0.0415, -0.0122, -0.0615, -4.8752, 4.6974, 2.0342, -0.0366, 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]: [-0.02, 0.8368, 0.6281, -0.4725, -0.0139, -0.0338, 0.9988, 0.1093, 1.5391, 0.2493, 0.7639, 0.0544, 0.0097, 0.6213]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1608 left_yaw=0.0019 left_pitch=-0.1129 left_roll=-0.001 left_gripper=0.9988 right_x=0.3491 right_y=0.0323 right_z=0.0336 right_yaw=0.0596 right_pitch=0.0426 right_roll=-0.0178 right_gripper=0.6213\nstate[joint_eff]: [-0.1299, -1.4427, 6.9265, 1.7314, -0.0513, -0.0562, -0.0171, -0.0068, -4.4786, 4.2462, 1.5653, -0.0611, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73a66419fa922e5b5be99ccb6e3345dfee8ebbca7f04541251baf6783ad558d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:805b8382d43701ca36310289ef87df4c4e3d459446a2ab13d6ad735ee577dbbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5922771065f516e9f3d1d5a8a8901c1fd239aa490e492546b84ffe90764eb55c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The gripper has closed to the pear’s width rather than closing empty. I’m lifting straight up to verify that the pear follows and to clear the blue bowl’s rim.\"}",
  "call_id": "call_hKKVb0691Q3AsHzp7u1bFIWK",
  "id": "fc_0ed9881dcf95aa00016ab428bd983887d083222e5cd708be84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hKKVb0691Q3AsHzp7u1bFIWK",
  "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]: [-0.02, 0.8398, 0.6281, -0.4759, -0.0139, -0.0338, 0.9988, 0.1093, 1.0626, 0.63, -0.1444, 0.0502, 0.0063, 0.6246]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1593 left_yaw=0.0019 left_pitch=-0.1194 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3444 right_y=0.0325 right_z=0.1601 right_yaw=0.065 right_pitch=-0.0086 right_roll=-0.0209 right_gripper=0.6246\nstate[joint_eff]: [-0.1846, -1.7026, 6.9265, 1.6435, -0.0464, -0.0073, -0.0122, -0.212, -4.2188, 9.306, 1.8828, 0.0269, -0.0073, 0.8376]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b022dfd0b1942ca705cca643a8e7ba424b23147186d14260ca817da2f76a566c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d86c47dbc159745518187fc21617f54ce33cac481dcd6e4f002cbb32d081a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6017b818820ed95d356ee778d2da41d23964b308e0031f3515045edae1dcc5d",
      "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 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8337, 0.6281, -0.4618, -0.0139, -0.0338, 0.9988, 0.2321, 1.2346, 0.9367, -0.4957, 0.2028, 0.0158, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1636 left_yaw=0.0018 left_pitch=-0.0992 left_roll=-0.0013 left_gripper=0.9988 right_x=0.3531 right_y=0.0506 right_z=0.1735 right_yaw=0.0503 right_pitch=-0.2123 right_roll=-0.1345 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.8803, 7.1726, 1.7802, -0.0611, -0.022, -0.0122, 0.0889, -4.7385, 6.3932, 1.6679, -0.1538, -0.1001, 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]: [-0.02, 0.8368, 0.6281, -0.4725, -0.0139, -0.0338, 0.9988, 0.1093, 1.5391, 0.2493, 0.7639, 0.0544, 0.0097, 0.6213]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1608 left_yaw=0.0019 left_pitch=-0.1129 left_roll=-0.001 left_gripper=0.9988 right_x=0.3491 right_y=0.0323 right_z=0.0336 right_yaw=0.0596 right_pitch=0.0426 right_roll=-0.0178 right_gripper=0.6213\nstate[joint_eff]: [-0.1299, -1.4427, 6.9265, 1.7314, -0.0513, -0.0562, -0.0171, -0.0068, -4.4786, 4.2462, 1.5653, -0.0611, 0.0366, 1.0281]",
      "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, 0.8398, 0.6281, -0.4759, -0.0139, -0.0338, 0.9988, 0.1093, 1.0626, 0.63, -0.1444, 0.0502, 0.0063, 0.6246]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1593 left_yaw=0.0019 left_pitch=-0.1194 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3444 right_y=0.0325 right_z=0.1601 right_yaw=0.065 right_pitch=-0.0086 right_roll=-0.0209 right_gripper=0.6246\nstate[joint_eff]: [-0.1846, -1.7026, 6.9265, 1.6435, -0.0464, -0.0073, -0.0122, -0.212, -4.2188, 9.306, 1.8828, 0.0269, -0.0073, 0.8376]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b022dfd0b1942ca705cca643a8e7ba424b23147186d14260ca817da2f76a566c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d86c47dbc159745518187fc21617f54ce33cac481dcd6e4f002cbb32d081a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6017b818820ed95d356ee778d2da41d23964b308e0031f3515045edae1dcc5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjE0VA_ogp-gWes9T1mA_7WEZnPhumbdGm9bb8Z6MA3iWxZLa4nlapvmlKHUJSaxNuZrLPU7WOl91kO3AIFg35bvjtNPsk7Bpg-vHm7Z15R2qLPSVn4UE4vvV6YacUHwwS-_u31ZSIpfNYljTMwuc3ErUpwgR51bMfEFcqMLXZa8S_G6qZ4CGNkdMTZHPgD5Xg5-oFhs0cjQqA-AvcZ8jBLn-gX5ZuU70VlNY4Q637G5zb4uwBJdcRAZDib1B8gMEJ6t-qfhpR-gKIYghJNR4wFjFgSSKvo-ryp218R1zYP8jZWNkcSNE1p23AAOrjOFZ7E7tUN-dBGEJuP5TI7Dl-D5U9Zbj0uKDM1-moWg-ooqp3tD5uFiYit2z1mZ-3DRgLYyg6vnXVK0rSpJBJwB3pm3VNHsaGcv1eRy5sBTq1YxUTeNWqR-tutyO7F0fCwj-xZ-jCFr3Yk_Swgaqkb_DLei8jsiKu9_TdDaZAwK9nxjXv4AHhT49zD5Zg7nE43va2gLKVjALdlloCynWMOzDqwnz29k5PvidXZe3QfgUBLjfmAlg0iOqYzfarO6FXR_QCtj5zExXrTVQ8b5PmIW7RHDR9oGiaDB-8XsAKT2NVD1a33jZJJNKspD2So2pv7_o1EohnL3HJ_Svat06ogn3ITVnh49Eby0dKc03wCaIRA1vjjYcCS5Uu-ZULGZbVkHES-ve1EKkHFbOHVlxG5Y_oJZa-4swwCggnu7KZExXLc0AklzUI1qmG0OjNoQ8qeLaQiwVpf1hUzLfg8s6VAPAYF4gSLLsV8XqFJt2Ia6HECWiAtxmZKyegeZ4byFedolyb4RGiz2IEC3jOlpkHQFzxMEO1qCQiEtCL7FItGCd7Id3HxxowMqUxffHzNB4EeQ2eK7ZF1DdFxAgj5MUdV13hFXxCvGse7vcCLC-vki3vYHYoM1AM9vQuBaT7WTp5UEfsOxYTBynjygi53x1z4h5CMRUpWo0cQxUwj2Esw52odAYPgolOPcgaLK31__X_LLMpVlkumEibaVG0_yVhb1G87yC_KzCEwiTi4wrVvc-xTIzZFJRFvQ5Yf_ef_Y7PBMtKv5wDYYzW0BbJqOSSzdf0aChZ0CgGdMVrceC94Hv_ZUGcBIHet2jrCEatvacSMJcsPe8l15blXTxHYvqpw0uA3VrZjInf25-kBX10nr_eGGdI_YUVE4bBscmPkrlTjsjrvCs7C7GRvalP1uwEVh95hYjf2ur72pb5dDPVLX0L2_1QdxHZpNeoZEwe0FoMfe4suQ6OCLtj4EAjOTucbhxu1IYIZPV7uAF_WTgqVTKbyqyvE3TeEZlrF9kyWt1MdmhucHVWNclBdVijJVwJ3R3k4NI3EMbYV7MGV596H9Wtjv1fVYdcIpWMOporhvuovUGSZI0yUGfUKbYkNyAgoexEe2epIhTXuqKTkFsW2J1SZVMrLZtOERIaZAVHOq0-ZlqH6",
  "id": "rs_0ed9881dcf95aa00016ab428c23fbc87d0b41a1d1c55b1fb9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":0.18},\"note\":\"The pear has lifted off the table, and the yellow fruit remains in the blue bowl. I’m carrying the pear over the bowl’s current position.\"}",
  "call_id": "call_XU8K6MoVxWEQb0a0fwghjpug",
  "id": "fc_0ed9881dcf95aa00016ab428c3445487d0b8557bc2eeca588f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XU8K6MoVxWEQb0a0fwghjpug",
  "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]: [-0.02, 0.8444, 0.6281, -0.4763, -0.0139, -0.0338, 0.9988, 0.458, 1.5234, 1.0069, -0.1696, 0.3031, 0.1699, 0.6272]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.158 left_yaw=0.0019 left_pitch=-0.1243 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4119 right_y=0.1482 right_z=0.1558 right_yaw=0.1129 right_pitch=-0.0827 right_roll=-0.0545 right_gripper=0.6272\nstate[joint_eff]: [-0.2803, -1.7573, 6.9265, 1.5995, -0.0757, -0.0366, -0.0171, -0.0615, -7.8974, 9.0325, 1.8632, 0.3346, 0.2906, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c90da4f5daf835507234a7dbffebe142d72e2d3349e6bdb41ccf0f75945279d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ccd1af1cb8842696fb230596e79300d529d63cd1b0491583a4c0af52a08db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1258a874298a1801cbc102fb59e195bb96cfe842b1789c0de2d8d944565f15fd",
      "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 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6281, -0.4686, -0.0139, -0.0338, 0.9988, 0.1101, 1.541, 0.2478, 0.7425, 0.054, 0.0177, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1091 left_roll=-0.001 left_gripper=0.9988 right_x=0.3457 right_y=0.0322 right_z=0.0279 right_yaw=0.0564 right_pitch=0.0179 right_roll=-0.012 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.7026, 6.9402, 1.7558, -0.0464, -0.0415, -0.0122, -0.0615, -4.8752, 4.6974, 2.0342, -0.0366, 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]: [-0.02, 0.8398, 0.6281, -0.4759, -0.0139, -0.0338, 0.9988, 0.1093, 1.0626, 0.63, -0.1444, 0.0502, 0.0063, 0.6246]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1593 left_yaw=0.0019 left_pitch=-0.1194 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3444 right_y=0.0325 right_z=0.1601 right_yaw=0.065 right_pitch=-0.0086 right_roll=-0.0209 right_gripper=0.6246\nstate[joint_eff]: [-0.1846, -1.7026, 6.9265, 1.6435, -0.0464, -0.0073, -0.0122, -0.212, -4.2188, 9.306, 1.8828, 0.0269, -0.0073, 0.8376]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8444, 0.6281, -0.4763, -0.0139, -0.0338, 0.9988, 0.458, 1.5234, 1.0069, -0.1696, 0.3031, 0.1699, 0.6272]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.158 left_yaw=0.0019 left_pitch=-0.1243 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4119 right_y=0.1482 right_z=0.1558 right_yaw=0.1129 right_pitch=-0.0827 right_roll=-0.0545 right_gripper=0.6272\nstate[joint_eff]: [-0.2803, -1.7573, 6.9265, 1.5995, -0.0757, -0.0366, -0.0171, -0.0615, -7.8974, 9.0325, 1.8632, 0.3346, 0.2906, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c90da4f5daf835507234a7dbffebe142d72e2d3349e6bdb41ccf0f75945279d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ccd1af1cb8842696fb230596e79300d529d63cd1b0491583a4c0af52a08db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1258a874298a1801cbc102fb59e195bb96cfe842b1789c0de2d8d944565f15fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjKtb_-PRR-tllLGYfcmvaliRYQkfrMlJiTAs_X8nWBmAsmdX4RDchFx6r-ejUDEW46E3l0oxzsC5ApBpQ6-6TUCKefMUsKeAU4h9cUx-En16dNe_BZ304sC1d_ovmzBRSbVpzgphsC4eVdsTPQtExDdsIUeux1Ud78U7Y3g7lmbmUT5dymP0l-N0qilwCmKj7cXuQ6hNkMoWsNJvD5_tDCG0Qzqv6kV16AbSCUHMfd3WeG8Ws7kD-hY5YS5hpmeAU7LZhsWKrPzXmKMRJd5OcdeLZvLvNriB6FJOL8MAR0g4pyjGydm4AUkibXszOGKvvsBv9dx_1BxG-s881p_WO2F6UGA2TaEBKmZWxgULpl0ZM8zvICFyfYMEnC0o49-T0ZR0i7stmEEJudKCN_S7JETyUqowv5qc7_ehQvhObwlyQJ6ILzuvdKF-VvV8oVrzwGlV0AnV59OjdQJijcduc3RT6zPE65J_Nkh3D1EveQaTBUiKku33AOKXqYtf6r7oOe21GCHjuKXk6hN2xbAYXboIPxa1ESo4_yC4ph_WV9jbkAYXDCcyvsMxU4Fqnd48Xr7mowe--cG5xLYxDn0sqaaIS1CVB06vzl_7HJSSIFshg6KjdWO-m8vu_sCKljCRN9kuw0cSRwikn90lAiS8FbnrUIvd-wAaOoUB2AEQIR9bcHJYAGDzcyCO6iiH3KW0gWELEsE2CErwqLjv6trDh_zgGTrmurAClc5Qe4_3JSGjTJaJpmteTqeNSelQxhjciL0Ox4M8KzDkLwMt_Vff7XUFBn9ODIA5FD8N9K-cV0OOTt1JvQTk5m1MTPITGPXiIgAhsI8UpQKcmAj7uaTmTKzxMswcMQOyK8Q6Zi9_lZ9sr-P2vya_ut7R6cCJ2lwSPCLUcGNvCvC7I86jUVWJRe9o8pOJYHOYcsCshy4QtXYDNh5rieqimr-rv2EWHfaBRYelCXBhXTKLGEqHT9hKI3yWaLZ8yrzTOdoxiTvKek93M32c62UQ-xejtN3UevaVmd_pWfFkDDw_G3OJO1csSzVcwPX09BLUsYfm8iNFuyi_VigVoSYLRzcQn1Ufp_-uFVcWuJtxhth1HKHpt6rcLsheWf1HA8voaiThuSz6nOnZttmxbC0HqFW8qGJs2pur-fF-mPStwRwC178lCBAOSFugZarwMM5ezQa9MuTCw_jHUthJr_i_GXx54AgvXMPCuaX0cHzCtnths6pCwLI_mXElC60yNG1DAG9KhQyPjEL4cYDtb4w8j3-b_uybA_IhMWHXjjdRkf6H7zD4vfvn4GwVSEmpHYy5Oro7KuHYevNJLT3nTnXth7c1IQiIYpL6u-EpSCmh8wAsnOJYPt9I3-CHA5Wd8UR_tHBj70fMMZPnde0Afo4yQ6fpQrKGPUxSMHoPNCruPeSfF6slytgScY2XeQF68NZW08FtWKsfTrKGE=",
  "id": "rs_0ed9881dcf95aa00016ab428c85f0c87d0b54922c47a17e3d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.335,\"left_y\":-0.245,\"left_z\":0.17,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The pear is over the blue bowl opening, so I’m releasing it. The left arm is also moving into a separate area above the remaining dark purple fruit.\"}",
  "call_id": "call_JNQFnFaMyuEOUprBzR81eHP8",
  "id": "fc_0ed9881dcf95aa00016ab428c93d0c87d0ba9132102f243ccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JNQFnFaMyuEOUprBzR81eHP8",
  "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]: [-0.9207, 1.5414, 1.0325, -0.3527, -0.7078, -0.6373, 0.9989, 0.4599, 1.5379, 1.0153, -0.1848, 0.2985, 0.1719, 0.9986]\nstate[eef_state]: left_x=0.3294 left_y=-0.2376 left_z=0.154 left_yaw=-0.0145 left_pitch=-0.0465 left_roll=0.0262 left_gripper=0.9989 right_x=0.4115 right_y=0.1498 right_z=0.1504 right_yaw=0.1168 right_pitch=-0.1037 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.2957, 8.7179, 1.3211, -0.5495, -0.0415, -0.1294, -0.2667, -8.3487, 6.0923, 1.7558, 0.0904, -0.0708, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289f5787c2e9bb64f278d01c4016808c726f77fb621a248e04ed8733b2facad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3337e4fcd3c4e8ee01878bb870807cb99c1165e98071c238640dfe91a0b4b2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36bb15991fa24f38162d61614c424a41e34fd021f8c5f33626a97c9a7f272b0",
      "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 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6281, -0.4725, -0.0139, -0.0338, 0.9988, 0.1093, 1.5391, 0.2493, 0.7639, 0.0544, 0.0097, 0.6213]\nstate[eef_state]: left_x=0.2871 left_y=0.0003 left_z=0.1608 left_yaw=0.0019 left_pitch=-0.1129 left_roll=-0.001 left_gripper=0.9988 right_x=0.3491 right_y=0.0323 right_z=0.0336 right_yaw=0.0596 right_pitch=0.0426 right_roll=-0.0178 right_gripper=0.6213\nstate[joint_eff]: [-0.1299, -1.4427, 6.9265, 1.7314, -0.0513, -0.0562, -0.0171, -0.0068, -4.4786, 4.2462, 1.5653, -0.0611, 0.0366, 1.0281]",
      "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, 0.8444, 0.6281, -0.4763, -0.0139, -0.0338, 0.9988, 0.458, 1.5234, 1.0069, -0.1696, 0.3031, 0.1699, 0.6272]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.158 left_yaw=0.0019 left_pitch=-0.1243 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4119 right_y=0.1482 right_z=0.1558 right_yaw=0.1129 right_pitch=-0.0827 right_roll=-0.0545 right_gripper=0.6272\nstate[joint_eff]: [-0.2803, -1.7573, 6.9265, 1.5995, -0.0757, -0.0366, -0.0171, -0.0615, -7.8974, 9.0325, 1.8632, 0.3346, 0.2906, 0.5543]",
      "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]: [-0.9207, 1.5414, 1.0325, -0.3527, -0.7078, -0.6373, 0.9989, 0.4599, 1.5379, 1.0153, -0.1848, 0.2985, 0.1719, 0.9986]\nstate[eef_state]: left_x=0.3294 left_y=-0.2376 left_z=0.154 left_yaw=-0.0145 left_pitch=-0.0465 left_roll=0.0262 left_gripper=0.9989 right_x=0.4115 right_y=0.1498 right_z=0.1504 right_yaw=0.1168 right_pitch=-0.1037 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.2957, 8.7179, 1.3211, -0.5495, -0.0415, -0.1294, -0.2667, -8.3487, 6.0923, 1.7558, 0.0904, -0.0708, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289f5787c2e9bb64f278d01c4016808c726f77fb621a248e04ed8733b2facad3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3337e4fcd3c4e8ee01878bb870807cb99c1165e98071c238640dfe91a0b4b2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36bb15991fa24f38162d61614c424a41e34fd021f8c5f33626a97c9a7f272b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjQ2JpV0JpGcBX-2FbfO9P4t9nmbclPoMnFj2-SXNyDBTC3cHDefc6EzrgHnm_flGCgX9dPgggSPP4IRgjm2oS6xuVoDfcjE_1i2A72G9_HLuX-BakYiaU0uCuFX9H9efcR0AfHJz-SfnIrGiZpjyBNf2Oe81DeWRaGNYH7EadU5kH_AZyILr_UaiIpGUFI-wAXxXjGgTvepfsa-lNdbAVzebX5fn0nXa6kT2lrY5-iXjjSfChy72Sx-jib8DHD8wGX9XPKA_BdrCEkC496OTpaPhwozrEnZnClbtQBFqsBVlQeY80yUrFCpcxWjiossyqexvpJ1EzvBZzb6jketLxTj1zmZbIF7qVgxHrzlNdZ-b-4dBnb45npvoObE8UrCGFCkC1lOMkrwasf2RCnHWn5tLusbR74GT4LRr_qLeuk6yJRFgBiR67fkl_C7JyMxVHS9elRRcvkj7lgF49sGkh3SjqKBvF3XDWcMTQ_badSCak98QYwiY4ssHFvxnIMZGWYSbqWjof62FZIhaMN8Tid6OXRM4OlvkUqOYCUSllNPYjQevw-_TmNImCrKK4TdQFKU1mgJ8K5ouV4DljVoJuaJCW_CwhntCk3VdVYR0sO_BaexIsz9WUSpcAzqhRqwehK0Ugcpqxn9gygdqszMBy0RGVHhSH05CD-YNVgWtH6ZtV-mLnFn7Y5Q_BagEhRds-OHF_rL2NiT2isKhRgOHJfzyM7cAJrEAsVUgMXtvTaPvlpt12NQgS9BgweSxT8zn8gV2QbzC28vL0aq2MlHjn3NlwmZ1ZrzbbElk5Y9jC5Fbk4EWkR1I4uByxudiD8Gu7rSZ77M2azrSKI70Ikf9zO0Ctj4cAVy_V7-9_mZmaL99btf2UMYGTlxO6x4OFzvyWCuFrGbS04kU07N5e-vO1_qreLkBBiR32jtRMOhiuxc7MJe_B09KBT6OQ0c3O5mNp-kQb-cD1bqj2jNayLZ0sE6YW96aGagv3WGm0ZXV0ggsnsPxWEpegiyC8kLvQ17J3xyeefQvcMMgg6WCQ1Roer56XOEFgAW_fsjz3o9w891TzPM52thQ1j_0zxqWqM2j1kPlwjgEAPM66-6fjQhNK3esw7sdxSUW6l9axR4Gwjd4KI6NiV37XpR0S2cUkJayRo7j9VYaOlJEosM5Jg2BayQWNEKMeOeftF1CVM_c3pzQOlZNvf1UZJd7lnHXPkeHXCbQWQ0JoYW151XafcylKOnkZ-0UBIy6HncFWHFqd7yzGELxYRrfXzRA2P_ux3mRCtrhrLkMi02jePBghMGkW0849P92VMGHBhNfAK3kCOOfd05fhbx3i4Rf7AsoIKkUM_WaqUIIHSm4rMqVmqEq8HagerXkyg0i5Pjz-ADxkRrh7jUde1U_Ar7zaGoT8lzTrlVx3aPmfb7ZSi7Q8e2fU-d0SehZrSM9CLIGIhqfp-877aapjb1gNf6gIXGsCrtdCWV50OR6F3a4qh5VtSEHXyaVvNTimYPpeqB6F4C1KjuyrkXKJkvJYfStg8wOSDTjv3",
  "id": "rs_0ed9881dcf95aa00016ab428ce46d887d0b087e840be206554",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.215,\"left_z\":0.022,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both the pear and yellow fruit are visible in the blue bowl. The dark fruit is slightly left of the left gripper’s centerline, so I’m aligning and lowering while parking the right arm out of the way.\"}",
  "call_id": "call_liprOeVbwPWMIZ7OfnXnOJeU",
  "id": "fc_0ed9881dcf95aa00016ab428cfdbf887d0bb59c4cfd311d8c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_liprOeVbwPWMIZ7OfnXnOJeU",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.8486, 1.7691, 0.7155, 0.2638, -0.704, -0.5606, 0.9988, -0.1116, 0.8349, 0.659, -0.3912, -0.1356, -0.0994, 0.9986]\nstate[eef_state]: left_x=0.346 left_y=-0.2143 left_z=0.0423 left_yaw=0.0122 left_pitch=-0.0042 left_roll=0.0326 left_gripper=0.9988 right_x=0.3026 right_y=-0.0063 right_z=0.1924 right_yaw=0.0575 right_pitch=0.0064 right_roll=-0.0103 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.135, 3.1932, 1.0037, 0.3443, -0.188, -0.022, -0.0479, -1.347, 6.5983, 1.8681, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05aac1fde9922febb2a0587cb2efcfabd3d03391f0523d8319006cb284460141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79216e4ce0f33397b32a136089eaf3eb4905e339b1203e6893c15f8235a6a72e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f90e40548b8656a28d19b3b2aca89df89911156d4809e7400cdeb2d5945f3",
      "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 43 changed as sent

message 51 changed as sent

message 55 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, 0.8398, 0.6281, -0.4759, -0.0139, -0.0338, 0.9988, 0.1093, 1.0626, 0.63, -0.1444, 0.0502, 0.0063, 0.6246]\nstate[eef_state]: left_x=0.2867 left_y=0.0003 left_z=0.1593 left_yaw=0.0019 left_pitch=-0.1194 left_roll=-0.0008 left_gripper=0.9988 right_x=0.3444 right_y=0.0325 right_z=0.1601 right_yaw=0.065 right_pitch=-0.0086 right_roll=-0.0209 right_gripper=0.6246\nstate[joint_eff]: [-0.1846, -1.7026, 6.9265, 1.6435, -0.0464, -0.0073, -0.0122, -0.212, -4.2188, 9.306, 1.8828, 0.0269, -0.0073, 0.8376]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.9207, 1.5414, 1.0325, -0.3527, -0.7078, -0.6373, 0.9989, 0.4599, 1.5379, 1.0153, -0.1848, 0.2985, 0.1719, 0.9986]\nstate[eef_state]: left_x=0.3294 left_y=-0.2376 left_z=0.154 left_yaw=-0.0145 left_pitch=-0.0465 left_roll=0.0262 left_gripper=0.9989 right_x=0.4115 right_y=0.1498 right_z=0.1504 right_yaw=0.1168 right_pitch=-0.1037 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.2957, 8.7179, 1.3211, -0.5495, -0.0415, -0.1294, -0.2667, -8.3487, 6.0923, 1.7558, 0.0904, -0.0708, -0.1197]\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]: [-0.8486, 1.7691, 0.7155, 0.2638, -0.704, -0.5606, 0.9988, -0.1116, 0.8349, 0.659, -0.3912, -0.1356, -0.0994, 0.9986]\nstate[eef_state]: left_x=0.346 left_y=-0.2143 left_z=0.0423 left_yaw=0.0122 left_pitch=-0.0042 left_roll=0.0326 left_gripper=0.9988 right_x=0.3026 right_y=-0.0063 right_z=0.1924 right_yaw=0.0575 right_pitch=0.0064 right_roll=-0.0103 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.135, 3.1932, 1.0037, 0.3443, -0.188, -0.022, -0.0479, -1.347, 6.5983, 1.8681, -0.1343, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05aac1fde9922febb2a0587cb2efcfabd3d03391f0523d8319006cb284460141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79216e4ce0f33397b32a136089eaf3eb4905e339b1203e6893c15f8235a6a72e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f90e40548b8656a28d19b3b2aca89df89911156d4809e7400cdeb2d5945f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0ed9881dcf95aa00016ab428d3860c87d0a0aa85637642bb70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.175,\"left_z\":0.07},\"note\":\"The dark fruit is still left of the jaws, and the descent stopped early, suggesting a fingertip touched it. I’m lifting slightly and shifting left before trying the grasp.\"}",
  "call_id": "call_0HmNSRrg49T2NmCOnsoc8nad",
  "id": "fc_0ed9881dcf95aa00016ab428d5f20487d0a487fd1b426ff049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0HmNSRrg49T2NmCOnsoc8nad",
  "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]: [-0.8017, 1.5688, 0.6121, 0.218, -0.68, -0.5331, 0.9988, -0.1108, 0.8413, 0.6567, -0.4164, -0.1505, -0.1204, 0.9986]\nstate[eef_state]: left_x=0.335 left_y=-0.1812 left_z=0.0708 left_yaw=0.0273 left_pitch=0.0171 left_roll=0.0066 left_gripper=0.9988 right_x=0.2994 right_y=-0.0031 right_z=0.1846 right_yaw=0.082 right_pitch=-0.0256 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [0.212, -6.2017, 5.3538, 1.3797, -0.0904, 0.1294, -0.0122, -0.2393, -1.6889, 7.241, 1.9951, 0.0659, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c497b055d671787aa10675a367ccbe013939631ef3a65d757cf696183a3714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f8b03e0f2ab9858018e45c54334ad456d5cb1bf48961e1ccdbf55a3a9b1672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db398ffdc3541aa543f2f62b26e884d072f03096c7ac6d67584e051ed1a164f8",
      "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 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8444, 0.6281, -0.4763, -0.0139, -0.0338, 0.9988, 0.458, 1.5234, 1.0069, -0.1696, 0.3031, 0.1699, 0.6272]\nstate[eef_state]: left_x=0.2869 left_y=0.0003 left_z=0.158 left_yaw=0.0019 left_pitch=-0.1243 left_roll=-0.0007 left_gripper=0.9988 right_x=0.4119 right_y=0.1482 right_z=0.1558 right_yaw=0.1129 right_pitch=-0.0827 right_roll=-0.0545 right_gripper=0.6272\nstate[joint_eff]: [-0.2803, -1.7573, 6.9265, 1.5995, -0.0757, -0.0366, -0.0171, -0.0615, -7.8974, 9.0325, 1.8632, 0.3346, 0.2906, 0.5543]",
      "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]: [-0.8486, 1.7691, 0.7155, 0.2638, -0.704, -0.5606, 0.9988, -0.1116, 0.8349, 0.659, -0.3912, -0.1356, -0.0994, 0.9986]\nstate[eef_state]: left_x=0.346 left_y=-0.2143 left_z=0.0423 left_yaw=0.0122 left_pitch=-0.0042 left_roll=0.0326 left_gripper=0.9988 right_x=0.3026 right_y=-0.0063 right_z=0.1924 right_yaw=0.0575 right_pitch=0.0064 right_roll=-0.0103 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.135, 3.1932, 1.0037, 0.3443, -0.188, -0.022, -0.0479, -1.347, 6.5983, 1.8681, -0.1343, -0.0171, -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]: [-0.8017, 1.5688, 0.6121, 0.218, -0.68, -0.5331, 0.9988, -0.1108, 0.8413, 0.6567, -0.4164, -0.1505, -0.1204, 0.9986]\nstate[eef_state]: left_x=0.335 left_y=-0.1812 left_z=0.0708 left_yaw=0.0273 left_pitch=0.0171 left_roll=0.0066 left_gripper=0.9988 right_x=0.2994 right_y=-0.0031 right_z=0.1846 right_yaw=0.082 right_pitch=-0.0256 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [0.212, -6.2017, 5.3538, 1.3797, -0.0904, 0.1294, -0.0122, -0.2393, -1.6889, 7.241, 1.9951, 0.0659, 0.2173, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c497b055d671787aa10675a367ccbe013939631ef3a65d757cf696183a3714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f8b03e0f2ab9858018e45c54334ad456d5cb1bf48961e1ccdbf55a3a9b1672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db398ffdc3541aa543f2f62b26e884d072f03096c7ac6d67584e051ed1a164f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjc6C8kl0mleFI3PMuFkSdmGnXPk1Rv0XyBCo-xGN0rC9FfyDwY1J2PSQ9UEq5PNDwu5kWiQ2ZMmKNkFsiuml0tHhBAMBc2oQqTDoEA6B4MH3P-qEfXH0o-fQEk1OVCg-r-ST7qnI9sjwheYN58vsZjMrUmr5nUPPmAfaHfk4BngenGYZ0qXjQ6HaE8aYjoAyiskJb7UqvCS5mrHFTY6J4Z_LRwGPiZBC2A7vTEADKYkkQnD7lxpJns3GUEVoLm42HNYqhV-Z21hmQnsih52FBA0LrAadtWMlvb7F-IKitmuzWVE4tvlM21y4t_2mP6WASujfbBTMVdttyvshwpwmsyVJNV0ul6-WWXxDKIVWjG8ILR_NVnk8YVm_-m-A8S_Hy09TQxuIXOfIw3nef7Q7TuFYjfdxK7JRkzY7-GYWGlVV3J8b1HRnYdrwTJYcRlGAgNrVQ0IRMOrsIYIF3ZfLQm8LkHn2qTVwhUVBfDiggAzX79sbPHBLkPxsIigaWamlIhDisS24igXV2dIzIz77tfKlph4z43ijKXkdAz5aKmIM1RiMRqww9wUr1AMSq_RH7qcycXvE7zk1R7IfchlhM8VhGJF3M-OxiEeaDHz2GkZkeMqqkTVbHPXh57g6UgyNMxgYcLqWuPnPLOpT4BIy01yVWrCZEFpvm07_ktUJnJ5V9igk_4H7wvC7KOQj3A3j8eci0acxeE0CcKTV7E5p2N70YTIq8DXaFO3r3VAdv4KHyYo852Z3ApuRwuOJ1b2rUHxqbfl89hM2GYVoWs1JlSU1lhGHPl2v84pm3O3tuHtUVMyn7MDti_tCGAd-19597CVWkwlmTK_bJJ73_2oQ07XB-TySL3zc__DvCrCROeoqVl9ktXgonFIktWHfFitVgF26OlooAzFP8qa--17kBkzatrNKvTso1l0GfL72uy_a_H3tquxe1TKwvj2aoYvNXFVjiWFloOerxWa--6xsbjvOWH_o0IEPIDfRrVhlsjj-E6NzKCTek9EIubxgPcqKGpcfcw2vUj0O4WDScINfmCwdg7HmZcwK958L3VP3KMdacZIGaJNPz-cdMDKLKpsIoAqwnNIcldRKhazDE38CGGREV94_slRqzCmqQmkouD-eeUYjhs0hp2Rh1yYTFgkOsPOg4vRypLZYD4zvUs-tL1R8tjP-1b8nVQW_412wztmynhFxZTEqKVbVxrTs9TNbEReCgasy4jg_CErQuknxpQSYSjTYP3oVYfsImCg0ReV0o=",
  "id": "rs_0ed9881dcf95aa00016ab428db423487d0984608d0f7800a37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.165,\"left_z\":0.02},\"note\":\"The dark fruit is now nearly centered between the jaws. I’m making a small final sideways correction and lowering to grasp its sides.\"}",
  "call_id": "call_Nin9dxual90lkwPh16vLx3HK",
  "id": "fc_0ed9881dcf95aa00016ab428dbad3c87d0942cbd3feaeaecc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nin9dxual90lkwPh16vLx3HK",
  "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]: [-0.7952, 1.6024, 0.5747, 0.255, -0.6727, -0.5243, 0.9988, -0.1104, 0.8417, 0.6567, -0.4206, -0.1509, -0.1211, 0.9986]\nstate[eef_state]: left_x=0.3301 left_y=-0.1743 left_z=0.0519 left_yaw=0.0237 left_pitch=-0.0097 left_roll=0.0355 left_gripper=0.9988 right_x=0.2988 right_y=-0.0028 right_z=0.1836 right_yaw=0.0832 right_pitch=-0.0301 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.3658, 5.1214, 1.7314, -0.3248, -0.0513, -0.0122, -0.0752, -1.3607, 7.2821, 1.7558, -0.0904, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5729b4dac73dae1eaa862a9ce53545a067b43affcc73cb45189fa07085e2a09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ea3666f78c598750d9e703bb853b024cc3ffff6613a79c53d43acc10c5e0af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04dec8995c14644b4c16e679efafde566061952e3007ded1c17cf8c8c68d578",
      "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 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9207, 1.5414, 1.0325, -0.3527, -0.7078, -0.6373, 0.9989, 0.4599, 1.5379, 1.0153, -0.1848, 0.2985, 0.1719, 0.9986]\nstate[eef_state]: left_x=0.3294 left_y=-0.2376 left_z=0.154 left_yaw=-0.0145 left_pitch=-0.0465 left_roll=0.0262 left_gripper=0.9989 right_x=0.4115 right_y=0.1498 right_z=0.1504 right_yaw=0.1168 right_pitch=-0.1037 right_roll=-0.0574 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -7.2957, 8.7179, 1.3211, -0.5495, -0.0415, -0.1294, -0.2667, -8.3487, 6.0923, 1.7558, 0.0904, -0.0708, -0.1197]\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]: [-0.8017, 1.5688, 0.6121, 0.218, -0.68, -0.5331, 0.9988, -0.1108, 0.8413, 0.6567, -0.4164, -0.1505, -0.1204, 0.9986]\nstate[eef_state]: left_x=0.335 left_y=-0.1812 left_z=0.0708 left_yaw=0.0273 left_pitch=0.0171 left_roll=0.0066 left_gripper=0.9988 right_x=0.2994 right_y=-0.0031 right_z=0.1846 right_yaw=0.082 right_pitch=-0.0256 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [0.212, -6.2017, 5.3538, 1.3797, -0.0904, 0.1294, -0.0122, -0.2393, -1.6889, 7.241, 1.9951, 0.0659, 0.2173, -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]: [-0.7952, 1.6024, 0.5747, 0.255, -0.6727, -0.5243, 0.9988, -0.1104, 0.8417, 0.6567, -0.4206, -0.1509, -0.1211, 0.9986]\nstate[eef_state]: left_x=0.3301 left_y=-0.1743 left_z=0.0519 left_yaw=0.0237 left_pitch=-0.0097 left_roll=0.0355 left_gripper=0.9988 right_x=0.2988 right_y=-0.0028 right_z=0.1836 right_yaw=0.0832 right_pitch=-0.0301 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.3658, 5.1214, 1.7314, -0.3248, -0.0513, -0.0122, -0.0752, -1.3607, 7.2821, 1.7558, -0.0904, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5729b4dac73dae1eaa862a9ce53545a067b43affcc73cb45189fa07085e2a09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ea3666f78c598750d9e703bb853b024cc3ffff6613a79c53d43acc10c5e0af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04dec8995c14644b4c16e679efafde566061952e3007ded1c17cf8c8c68d578",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjgbDJQ6bZGVvy8nduIFTBKcqz9FhzndHxQ8o513Bfrkyf1afB-NYPOM_pcO61-j7anbICM_tui0ceji02PwdAZL3K_u9F8YeTdUx98KCwvk-yC23Mo_GR-occXxzuYYIyv1R_EcoYsOmvu43nAWuBZO4IGc-tFot8sN-lq8XvRLpQPInwlNND57DNtSIA_GrgO2JXR8UgBbssZNZkD0RzxytJscc0RX51Hm5ofXScAXCeewdHnfdkcEEkmHi6F3ukgMt_UT3c9WtKdurUvCV1HPykpopzDHiZ7IjjzGmn_TooJ9Y6JuVaGKZ3YnPXDRViUWV9EcnXAbk9w0r5cUHHMYvr8G8q-fRi4F2pBoohQjvLrQViqEinpkLMonrAbh19ENfQkFBii6ckDgFxqdbdqQGLwZ-_Iud_1HtWFm8tg8cWUCQkJF9AAa8jIEOEHkXQwLNtk-Rsl_EOW3_3sN4kXv3kYJWFQDemTh5zqLieBbFhic0N4Tj47XlJPjId7IMzF1rBmIzOQ1z5wuNy6XSJEpEJ5N9zvruf9MxX4bM2O35WzH5JL-5qhLrCMAwEfO5M6u1gm-6k3TG22OYbAHWQxYkAoj1xFxUw5Lv5GV2-dLahTvyC3XPs_JKBMDT4QtYICVCTdUtYZ6NGNmW5NyUdECUCBtZbAYANGjykw6dgvXWTkIaEA8ky4MKHQyhTrHatJcCsDx-ve52lVWmf62vNZaME5CN_7wMi0kybzfejQA2YBUL963N3DzNGVcKlbzbNPqE1LD1YCdBlBkWvzJSK5C9u-YdRvJB9Gx2ClrI-hgdv8-AhoLSomUAM2dDoPyzf771yTDCznC6VrUmvVYC-eKha094i3gg6XtoTDgsGqWeIiys6UCwr-VV7O3PcvNzG80Iv-rFVAEJ6ISEk3KMuOpDdPy-6-sk5RH9Quv24017x3oFo1JcMgzF-8yuLNTSpM-0GipeNcWFT44bP4b8arSpyigr2CpDe_7c0c1lugBMrvM6qkTxg1WHm_T-42ztXIzHox4VR79aATelTvWe0qzi1GeyB-Vo8WcmkCg2gDNDeRoPegTS3ICLvTuRlLwmRIDhuFMzj2vGzWNGKxotQiSOO1fuqrwVcDOyNEJbtrB2iSki7R8mk7a2atUVoRp7FXUEetfM5dxl5tHuJ9bwWAbYQ94O8gzp25n1YjJaH_Ek-NDxBKaykuQYmMoiLIV9iWQ1q92QDN8Nnn1-lRezxYHtk1ApIAt8iIdbxXb1BPZPqpSB7F4FrvZvikEbfFF99eoEeki0dypgDcD6sSJjJPwMl3sf7p2L-OxcWmEG_yU2R7Q-izXngvi7Znl4qex4bL5bW3gchAPKz-qMrDcYbuYixhmn5F2uBKli_YOivOdF7cN1y_7sqRfp1XEa8dlkCmq9GDjcLS30SIZxuV62iNEh1NL3EXL9EbEjYxFxt7dawfIVqoae85p2wj6uGw1ewVjMEHW7WxvrYuBvuclyBztvrehLVnp8K__3kIkZULFylin1nMdru-XDeen4uEbJew",
  "id": "rs_0ed9881dcf95aa00016ab428de598087d082b26f796ba1f1fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.165,\"left_z\":0.005},\"note\":\"The fruit is centered, but the fingertips are still high and just short of its widest section. I’m advancing two centimeters and lowering slightly to seat the jaws around it.\"}",
  "call_id": "call_Xv0dEn6F85q0W1XjFFOzx3tJ",
  "id": "fc_0ed9881dcf95aa00016ab428dfb41087d0b6cb8f7c1303d69e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xv0dEn6F85q0W1XjFFOzx3tJ",
  "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]: [-0.7952, 1.6024, 0.5747, 0.2733, -0.6731, -0.5247, 0.9988, -0.1104, 0.8417, 0.6567, -0.421, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1761 left_z=0.0547 left_yaw=0.0242 left_pitch=0.003 left_roll=0.022 left_gripper=0.9988 right_x=0.2988 right_y=-0.0027 right_z=0.1836 right_yaw=0.0837 right_pitch=-0.0304 right_roll=-0.0133 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.5573, 5.1624, 1.5995, -0.3394, -0.0659, -0.0122, -0.0752, -1.5385, 7.1863, 1.6874, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769fa7fce87a47d52e6cf2f49885927b3ea93c70981dcad15cce4dfcbb1a8987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32c08d2e0545a23014b35a1d9973b8fb06e1184241a4e4283bffdbc3ec564ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993658e941a531aeda93376e0736361b6ffe927d778e46c7e7acbd786a9ad736",
      "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 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8486, 1.7691, 0.7155, 0.2638, -0.704, -0.5606, 0.9988, -0.1116, 0.8349, 0.659, -0.3912, -0.1356, -0.0994, 0.9986]\nstate[eef_state]: left_x=0.346 left_y=-0.2143 left_z=0.0423 left_yaw=0.0122 left_pitch=-0.0042 left_roll=0.0326 left_gripper=0.9988 right_x=0.3026 right_y=-0.0063 right_z=0.1924 right_yaw=0.0575 right_pitch=0.0064 right_roll=-0.0103 right_gripper=0.9986\nstate[joint_eff]: [0.2256, -5.135, 3.1932, 1.0037, 0.3443, -0.188, -0.022, -0.0479, -1.347, 6.5983, 1.8681, -0.1343, -0.0171, -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]: [-0.7952, 1.6024, 0.5747, 0.255, -0.6727, -0.5243, 0.9988, -0.1104, 0.8417, 0.6567, -0.4206, -0.1509, -0.1211, 0.9986]\nstate[eef_state]: left_x=0.3301 left_y=-0.1743 left_z=0.0519 left_yaw=0.0237 left_pitch=-0.0097 left_roll=0.0355 left_gripper=0.9988 right_x=0.2988 right_y=-0.0028 right_z=0.1836 right_yaw=0.0832 right_pitch=-0.0301 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.3658, 5.1214, 1.7314, -0.3248, -0.0513, -0.0122, -0.0752, -1.3607, 7.2821, 1.7558, -0.0904, 0.0073, -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]: [-0.7952, 1.6024, 0.5747, 0.2733, -0.6731, -0.5247, 0.9988, -0.1104, 0.8417, 0.6567, -0.421, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1761 left_z=0.0547 left_yaw=0.0242 left_pitch=0.003 left_roll=0.022 left_gripper=0.9988 right_x=0.2988 right_y=-0.0027 right_z=0.1836 right_yaw=0.0837 right_pitch=-0.0304 right_roll=-0.0133 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.5573, 5.1624, 1.5995, -0.3394, -0.0659, -0.0122, -0.0752, -1.5385, 7.1863, 1.6874, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769fa7fce87a47d52e6cf2f49885927b3ea93c70981dcad15cce4dfcbb1a8987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32c08d2e0545a23014b35a1d9973b8fb06e1184241a4e4283bffdbc3ec564ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993658e941a531aeda93376e0736361b6ffe927d778e46c7e7acbd786a9ad736",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjk3UsR_26Cri4ATffaPV1CINtB-02xvLhMLjrMOhZRiqbkWJY7X7Q5QdgLmdC9j6CH509F963CFElqeUNsVbNf5dkEqj6Ha6h00JpLIXl6TNew4v50Sjtee9d2fp7-xWQM-xrdZBdgclIQwhWGv_AnrmZKTdSna2rXp4VxgevFD_bfc2ftP-lK1aNR41hLfMWKIpMj6dFjsvordcH9TLsqfGcvtmavg6kQl_AQ3CdFwC3FqMVYdNkbN7hSzsYCgV_I8hoNzzw7MlEHDv9j7qC368wuC5KO9ZVHo6H8588VcB7gqSv9Lv-Jr-1AQ9GJAf37HMXch1a9DqvwVX2KXugUkrHGBKTKPM5UggnoxYvFsUE7FjO9RXCImi9QBrkMUPchsx98Ou6IT5Fz2W58jE4dSuEQJ17Aq-tz-8eLjohaKK-l7lqGoU6Bnju7SBg7f7Oletm4IPXTRp27JX9KBNVo0rmPo2nSjg6yH-t21fiX1VBKx6Ije-vQgb3VY35ABh3RJ348A7vYlgli2xMccWkqZSnXVMSLL3WR-gnDevRNwOhJT9caxEv_PCGauNn_00NZi7pBXHh8o0O-Bd68y4gZ6V70WhXiWqCSMVyP1OrJZULW4jFsxNXb2kuMHbltKWthFrmidIRXR_01xzrKqG9014R9wOrzpf0OEJeEQWgZt0TNzkMi-hxvPGIBI2ww8QDzX_k4E-03y2hhlYKmZZDQTLRqbaLH6LNxxlHUDANfQeOM5MUQRzhKshgE2oxG8S57Yy0arA-WRPWcaDWST8Py_6O62KNq0v4m_4GqJSMRlsOb34fYAl9ZkVozEniVF6FvKBNxMzhJYvXy77k3dUICc0Sa3J7siAMVfLCLgaA3LqTFXVEIKcMK2gjh0aRI2TuFQqtS1MNLnPJXlWSsrBd8e_-c3TLvCHH2J8iQ-iOXuKBTRacK6Uox4Wf5N2BGz_fzstp7n_UjO41aoTP6J1_n_oeZxu6x3nzkSqY20yopaY10UhI3wtEBeramCLIQGSkl8VyfGZsBveLIQ7wR3N1yzIpr7XHPxblb9RLQvpj-aI_QEQdlDKaYzMwFKDLiZ60fhxErDw0u8kygWjO_rO7BK2eabA40Anw8kLBV9FwF1X4pIetLRLFZpsZmTSmnS4Brzp76_mdDOLHDimvEGixD66I5ozjjyfQmRoJqDz9A7Cu-lyiaLRrJo0z81VAeJfjxf1mS5Jno0tJ4ge0tN-5-KXOYY-nQH9bVOeUG40Bz8ErVPtaVidtrqo8I2ZkvDoyNqynxcJNjwMVsyhPE4BtffsBPZXqej4AdwwDWEf2N9k43O9-ca0uWBiOlVEaAASKr4EL4rnlYzLeoBlsFmAWF0PtR8iY3hGcXf1B3NaHArj_KIj2r5hQLmqo4H9UzlnSJjqmvZPWUZQoy0CqvcI0Kt_ArC9-TdluKcqP8-zp7dHT7cGEIqhVFAJOsdCjrRfSp",
  "id": "rs_0ed9881dcf95aa00016ab428e25dc487d09caa8deac5b6fbd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm is holding above the requested depth, but the dark fruit is visibly between the fingertips. I’m closing here to test whether the upper part of the fruit can be grasped without forcing the arm downward.\"}",
  "call_id": "call_HrMH1faRtunwciwyhrqDLzRl",
  "id": "fc_0ed9881dcf95aa00016ab428e3a12487d0b3d5bfc1877c290c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HrMH1faRtunwciwyhrqDLzRl",
  "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]: [-0.7948, 1.6028, 0.5747, 0.2726, -0.6727, -0.5282, 0.0085, -0.1104, 0.8417, 0.6567, -0.4213, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1759 left_z=0.0544 left_yaw=0.0261 left_pitch=0.0021 left_roll=0.0198 left_gripper=0.0085 right_x=0.2987 right_y=-0.0027 right_z=0.1835 right_yaw=0.0837 right_pitch=-0.0308 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -6.2974, 5.2581, 1.4481, -0.2222, 0.0171, 0.6716, -0.0342, -1.3607, 6.9812, 1.7265, -0.1001, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11aa8c17fc41ef7042b757ce4285442d9eec736b1fbbf892e50fed1efd60677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b17a3d68c43c65d3a5054822607817ff0beba8144d34843d6a5207164470f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4273e0af06d529049db03c0eee98de6fc19f88209df323829c1122018a19487f",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8017, 1.5688, 0.6121, 0.218, -0.68, -0.5331, 0.9988, -0.1108, 0.8413, 0.6567, -0.4164, -0.1505, -0.1204, 0.9986]\nstate[eef_state]: left_x=0.335 left_y=-0.1812 left_z=0.0708 left_yaw=0.0273 left_pitch=0.0171 left_roll=0.0066 left_gripper=0.9988 right_x=0.2994 right_y=-0.0031 right_z=0.1846 right_yaw=0.082 right_pitch=-0.0256 right_roll=-0.0137 right_gripper=0.9986\nstate[joint_eff]: [0.212, -6.2017, 5.3538, 1.3797, -0.0904, 0.1294, -0.0122, -0.2393, -1.6889, 7.241, 1.9951, 0.0659, 0.2173, -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]: [-0.7952, 1.6024, 0.5747, 0.2733, -0.6731, -0.5247, 0.9988, -0.1104, 0.8417, 0.6567, -0.421, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1761 left_z=0.0547 left_yaw=0.0242 left_pitch=0.003 left_roll=0.022 left_gripper=0.9988 right_x=0.2988 right_y=-0.0027 right_z=0.1836 right_yaw=0.0837 right_pitch=-0.0304 right_roll=-0.0133 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.5573, 5.1624, 1.5995, -0.3394, -0.0659, -0.0122, -0.0752, -1.5385, 7.1863, 1.6874, -0.0708, -0.0464, -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]: [-0.7948, 1.6028, 0.5747, 0.2726, -0.6727, -0.5282, 0.0085, -0.1104, 0.8417, 0.6567, -0.4213, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1759 left_z=0.0544 left_yaw=0.0261 left_pitch=0.0021 left_roll=0.0198 left_gripper=0.0085 right_x=0.2987 right_y=-0.0027 right_z=0.1835 right_yaw=0.0837 right_pitch=-0.0308 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -6.2974, 5.2581, 1.4481, -0.2222, 0.0171, 0.6716, -0.0342, -1.3607, 6.9812, 1.7265, -0.1001, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11aa8c17fc41ef7042b757ce4285442d9eec736b1fbbf892e50fed1efd60677",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b17a3d68c43c65d3a5054822607817ff0beba8144d34843d6a5207164470f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4273e0af06d529049db03c0eee98de6fc19f88209df323829c1122018a19487f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjrLNlI0E4wa1I2gvrOHBeKJmO2SO4UG3i37nZ-vCl2a6Tf3keZRxpGOtXfXPX7jZ1_OH23u0SfdQAQGh5tw4-CSUmjFGgS4NBA_iVpaU9xnenzli17lyjV2rl46dbyrZ6EcEDmBDgBQkyoBzrdfwOr1h6v4A7XhxI9nlbfATr1lexsw8sFTP6QB8TZzLQC7o_U37lNBz1LhpdSygvscoaRG4yVEgaO6pswRCmBwaWAZOCO07vTp8OLT8EogxV6MeBBGJUsksajDleKgfPD9dlrY6IHZjUfp8f1XvpCw7WnYV9MTbsL52K5Y6EKHi_wGeJ0Wma3F44mNIC-GrgC54BrSyLHp72_Gv18ElmxR6AkdXacQgwYMUDQRnWzzxhTGu37GJWKq4hyr3yWbzbK9LeLTCodK_cGBbvgJYoNGsi0uUZOE_F-nJNWPIyq0hIwt_MFLgcgO2CWH1aKutms7Rv0FbCv9sXU109t-QU2915oqmlBx69igstPQSNwPdKEen5JOYYJhhGmkwYrFm7vp6IQdcSQcMvgbD6DlJ2BhyUeAw83r0lQOc0Jdv9nkGhd3YjDl8-BvdkBr5p3K78OhyceaDbopzvx3H8k_kI65X9Uw759cRciIWD5iPqSzzgoISvgCuWKHyBvBxsZOrsUbXaN-8XSA5qmqU5emQGtYG8UyYJJSmVGIEcHEYy2x_n-aO-xXdsUHcvf3Bx03p9xFixyFpFU1_pwKKXMr40dJuvZs27tJgX6bKUxWn8Tr4sYAyDN8cJVq_gunkhlqaRGkXnka8PHE0vYmzLQlaAui9r1wvBOQgD2dU729tpEH86xePxcbRz-07OG4_xOesQB4H__TlA1gm09NVYBVHHo2nDRHlbeuMp5D6hFZXvVGlUnAUdzJEJ72fCT9KNL04t3odJEGJf8_73TZuT52SI7hxEjAwApc5u7sgZvDjeozPEw1IHPqH4ce_tKNkkeo3pbTf0gaN1JNHvDsaYkxWZNrMAe54BrUtgx2HRDxWgaNVErA4D2vE4wlofvsfZxk6-qI5BIWc0WTSrBEupp7UkYzF8vJQwfrK_1oiTpMpUiO__k3JMf5mD2QFdDJJlUF5sPiFJHAQS7z-VYuopUPzOrqRv-01_wlS7P3JEod3oxQqqXa-1LVC4TejQ4vUUqD655RuZCOZ7arkin63G1ZaQlmUI0AwdrzTRHv2_XBU2_KkVXBcj5X4IZuNBQeLEv_zNltP2RzBAKIQ8WrESCQ4kNPNXJUYxGAET4H4qilmJ8BwA0lxGEovGeguU40XbWIMgh-SLxILJ8Gt19xKIjAcuMvyOGoJjMEzKuZoSbZgGCpdqlgSK5Di-m4C_oaxg-BmFj1M2frGNv2gQ_jLXyx463b7g01meuF73hqsgI18KYp-igMK7dU76Q20WpR7_7LUaudBdONP2-TZMf3lbU4VETK6M_ojWrOs4ltPE5dEA9sQ271LqEL8EXXkW9VsNZccqYJyhuqSF2W5Q-bQjGmXH-qLC6xdxa378RSQWvQhs4pH-oNg5OyJ2WNtlibV6sgLXRXqIRIrV5aQEXLO0flhXItUQIxl2QhwcevsDL21Txfiwyq-xV0e205__BYCUQx7OTaF-hedCjU3kmBHOdA8ZfWLcaDQNknKqZY93wBJwGVN1eKs0sNiSKqk4LNBpkpn0da5XXGtBjPMfY225VntexUkl76muFO1MRIniM11nR-yNI8_CieyBjzkvUGZZdtfDTuBhNgUglxfwbk0atHS4i-c-zoQsUP9FOOtspaR4_eCf8Az0s1fCtNR174zevQZ7CWEx5NHvKMNJn1LUp9MuY74d7RcZU8JzyMc4ERuN-_26fAHZ4Jp2iQH7s-5k68x5qMTQJ4M2AWcICXO0D2yp09cWthX5WH6iVZpCgLJjksBQbQaROVsemyEXsdzaV2gp6_1zjJ0YcSvQpoJIS8NMy3wf70K7EBfaDxMBF9yQhU77FCIrpsZ1v8g-CBJz5ZZ8Qj9qyP3NMk8uC0MJuf28I5FXxVbQJAke47puaCd94Ty6OK6sjV1ifiyy7YB6gPsCQrZLuT0TX2KL9nRCcxU4hnYhIlsw3e6QDRiARRPLVnW0tFSIs3trT_bCJY6hQ5ZfO6s2XJ9s26KcsmlmL59cUqT5s9yDThqhrA-UibNuOAFKWeys1h5pwffKR_u8QqC5Gny9vfEg3DONCKaVNeFqE8sPs7Afd1c927DwNWooByHA8vY4WG9soQXpJKaTaYkP1ZHCfVqYM0XBmJqTZ4p6K5xQjuVeQ5btUa4RK9GbwGXoDbY0T",
  "id": "rs_0ed9881dcf95aa00016ab428e6e4d087d0b3147cebc9a36a72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.165,\"left_z\":0.14,\"left_pitch\":0.1,\"left_gripper\":1},\"note\":\"The jaws closed empty, so the dark fruit was below or beyond the fingertips. I’m opening and lifting to reset the approach rather than pressing against the stalled low pose.\"}",
  "call_id": "call_zxt9fOkbrneQwwBPE0F4uZle",
  "id": "fc_0ed9881dcf95aa00016ab428ea586c87d0bea70dc9546f51de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zxt9fOkbrneQwwBPE0F4uZle",
  "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]: [-0.7444, 1.4193, 0.6613, 0.0994, -0.6731, -0.4431, 0.9949, -0.1104, 0.8417, 0.6567, -0.4252, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3448 left_y=-0.1631 left_z=0.1209 left_yaw=0.0334 left_pitch=0.0691 left_roll=0.0238 left_gripper=0.9949 right_x=0.2982 right_y=-0.0027 right_z=0.1827 right_yaw=0.0834 right_pitch=-0.0346 right_roll=-0.0127 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -6.9949, 8.9504, 1.5263, -0.2955, 0.1636, -0.0317, 0.0479, -1.5248, 7.1043, 1.707, -0.0806, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e20130bfc986a21b0d6c0f3940ca14108268e12989f600cb2dba5d3cb85025",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85155ce43f433f2cac36abd974da89102ff34bdf492fc023e8a81dc53a75ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72680383e51e79ea3b1866d8b44e50908fc0ed72d6a3131ba0ec39cf43112eb",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7952, 1.6024, 0.5747, 0.255, -0.6727, -0.5243, 0.9988, -0.1104, 0.8417, 0.6567, -0.4206, -0.1509, -0.1211, 0.9986]\nstate[eef_state]: left_x=0.3301 left_y=-0.1743 left_z=0.0519 left_yaw=0.0237 left_pitch=-0.0097 left_roll=0.0355 left_gripper=0.9988 right_x=0.2988 right_y=-0.0028 right_z=0.1836 right_yaw=0.0832 right_pitch=-0.0301 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.3658, 5.1214, 1.7314, -0.3248, -0.0513, -0.0122, -0.0752, -1.3607, 7.2821, 1.7558, -0.0904, 0.0073, -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]: [-0.7948, 1.6028, 0.5747, 0.2726, -0.6727, -0.5282, 0.0085, -0.1104, 0.8417, 0.6567, -0.4213, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1759 left_z=0.0544 left_yaw=0.0261 left_pitch=0.0021 left_roll=0.0198 left_gripper=0.0085 right_x=0.2987 right_y=-0.0027 right_z=0.1835 right_yaw=0.0837 right_pitch=-0.0308 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -6.2974, 5.2581, 1.4481, -0.2222, 0.0171, 0.6716, -0.0342, -1.3607, 6.9812, 1.7265, -0.1001, -0.0708, -0.0122]\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]: [-0.7444, 1.4193, 0.6613, 0.0994, -0.6731, -0.4431, 0.9949, -0.1104, 0.8417, 0.6567, -0.4252, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3448 left_y=-0.1631 left_z=0.1209 left_yaw=0.0334 left_pitch=0.0691 left_roll=0.0238 left_gripper=0.9949 right_x=0.2982 right_y=-0.0027 right_z=0.1827 right_yaw=0.0834 right_pitch=-0.0346 right_roll=-0.0127 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -6.9949, 8.9504, 1.5263, -0.2955, 0.1636, -0.0317, 0.0479, -1.5248, 7.1043, 1.707, -0.0806, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e20130bfc986a21b0d6c0f3940ca14108268e12989f600cb2dba5d3cb85025",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b85155ce43f433f2cac36abd974da89102ff34bdf492fc023e8a81dc53a75ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c72680383e51e79ea3b1866d8b44e50908fc0ed72d6a3131ba0ec39cf43112eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjwhXaNcomZaFDPPC8rhTxkxwdDA38DjipnjNTWtO5LYkAI74cw069x4QR22jugcfrMfTU1VHtVdXQnfw-Z5CDScjYantjRXcDsMtn8s6DiAJyikWMuTv2rlyWkpa6g7QZ2C8b55Ld3ayjbAEJkDOJ26Z1cyQggvQ-C4Zz7Ed4FE0B_AQA3WKMDinTWyUPbIBl5Uw8cYYc0rf_ditQPJBBmVall8_tApOQ4fyNByJkDagrEnd1BOgM9Dw01x9oK-CKiZJzoFg5aas0sLfFLXBw8EbItJfG36CgRqZ35nQ7fxfL3xIgl5iLMqygVfaja3g6aXGmSfpAx6iZ69tl0QIbgidqwZ5_v88kgCYow1bMUzu4fP-hBt5r-FXlsUW32njW65IgX1FLC0r_u-rlMPYTnXpOmQUzWEazrZYkBC0PaT9WPwdUQRrpwoAu7R9NEw0ORWzMS_5bwne89buxpwOkfNJ5EtJ-MRzK3PWcSMysQ5MjnFkkc2dZdU9V6YGatSF6-GyT_tD233ViQzO9o_erQDa06Zo46VYT3CWWyDxO3GwFfY6CHeuWxmPWVYvI5GCpacc8I8Xb0X-rSjYcKc1cXDGX4HJRCkZnbi8sMDJ6pwnyHPqJ74CSGgruZxXiyBAx7lDWSzddwFRZetMqHi-bYPdOaXYxGfkhO6vCeJhyHfVWtI9BHkRlb3eIf7cejMJtXwuP_02J4MG8aYMuEWec4LlhWK2V2DhDsf6UJ7L5BU5WHkOwRVRzNLqC1Usy5OTZ2d4rnrLxW4r1r1KP5WjxDT33mbg14uLMojBuSqcm82xayE75_df5A0nqrRIqOrDZjqXmZnWQVxuK8IriiFVqJbIki1JxIiGG4pafBSHQTK5tFgoyqeSh-uYLrmV33DroU31fB0FVAC1kAU6MzSq6iBq2AzHDTQzj3kd71BWOfhrtsKY30yRaxDUYf_1-U7trOegvmIFKpv4Cg9fislbUe8Z2Z-rUoKz8cCe3JqpJywGXh7WW4RhRSTG5_ij6rdb1ksjeAfU1D7K9yTgDkBnbwahxwbNMuiYesiZO_QS1m7bSpR0yY_1nxTB4UTFxLT683eKa5BfQ7qfA7MPeKIxfIOrwRAG3pfKYJ5f0bzYg1n3L5H5rGLAGFFyds3zD5HpUsIjYbP8h_jv2AgIx6tXTvRx7TqqiWK_JIAELP7gT0tJC2x7fCwnU9MxkfitZ0p8KwLTatwqAIhDLwPxa1hvMjK4Xx6555T3Bo8sdRHoUUjLfIa52BgplY0HFZE43tlrtM4CblszFA2JhHmmSyu1cO4VnzgXtOwjmYhCsL4Ibra82G2124STdReIcTZZb2YZqQuVPPzMzxb9NaocC-5pLLn_4LYuUs9eOs67_pPy0lzgI3zszlU0R_cbUVuDHlJixH8dz8Y8zq0SBcdXoiHu8C2UO-iflfM4-25oI1Ff2aMWvZX6eE_q3dhhhHpPsOP3hJs8MBXnezrSHxoQH8DK-kxpnCNwj-7htdH8V6TEdSkS4=",
  "id": "rs_0ed9881dcf95aa00016ab428edbcf887d0a0afb61cc1521f5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.165,\"left_z\":0.012,\"left_pitch\":0.1},\"note\":\"The dark fruit is centered at the bottom of the wrist view after the reset. I’m approaching two centimeters farther forward with a slight tool tilt to reach its sides.\"}",
  "call_id": "call_mVVds6OIisU6Q8ZmRj97c0to",
  "id": "fc_0ed9881dcf95aa00016ab428ef3e5087d088932472c1813133",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mVVds6OIisU6Q8ZmRj97c0to",
  "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]: [-0.6998, 1.8923, 0.5446, 0.6678, -0.6529, -0.4026, 0.9952, -0.1104, 0.8452, 0.6567, -0.432, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.362 left_y=-0.1598 left_z=0.0047 left_yaw=0.0401 left_pitch=0.0441 left_roll=0.0647 left_gripper=0.9952 right_x=0.2975 right_y=-0.0027 right_z=0.1804 right_yaw=0.0835 right_pitch=-0.0447 right_roll=-0.0107 right_gripper=0.9986\nstate[joint_eff]: [0.4171, -7.8154, 3.8085, 1.5897, -0.1099, 0.2759, 0.0171, -0.1709, -1.6889, 7.159, 1.7607, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18902bae0c3f4007278344ed81ca90bca8a23dca2c6d23c173e106927a1836d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccc9151f16272c04c8ce7a12c36562ac08e4957699bb7032adb54611ff58435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8f74563da6452a626a2fa584817329a69a8a18ee0e1be7836b210cd491e294",
      "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 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7952, 1.6024, 0.5747, 0.2733, -0.6731, -0.5247, 0.9988, -0.1104, 0.8417, 0.6567, -0.421, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1761 left_z=0.0547 left_yaw=0.0242 left_pitch=0.003 left_roll=0.022 left_gripper=0.9988 right_x=0.2988 right_y=-0.0027 right_z=0.1836 right_yaw=0.0837 right_pitch=-0.0304 right_roll=-0.0133 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.5573, 5.1624, 1.5995, -0.3394, -0.0659, -0.0122, -0.0752, -1.5385, 7.1863, 1.6874, -0.0708, -0.0464, -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]: [-0.7444, 1.4193, 0.6613, 0.0994, -0.6731, -0.4431, 0.9949, -0.1104, 0.8417, 0.6567, -0.4252, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3448 left_y=-0.1631 left_z=0.1209 left_yaw=0.0334 left_pitch=0.0691 left_roll=0.0238 left_gripper=0.9949 right_x=0.2982 right_y=-0.0027 right_z=0.1827 right_yaw=0.0834 right_pitch=-0.0346 right_roll=-0.0127 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -6.9949, 8.9504, 1.5263, -0.2955, 0.1636, -0.0317, 0.0479, -1.5248, 7.1043, 1.707, -0.0806, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6998, 1.8923, 0.5446, 0.6678, -0.6529, -0.4026, 0.9952, -0.1104, 0.8452, 0.6567, -0.432, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.362 left_y=-0.1598 left_z=0.0047 left_yaw=0.0401 left_pitch=0.0441 left_roll=0.0647 left_gripper=0.9952 right_x=0.2975 right_y=-0.0027 right_z=0.1804 right_yaw=0.0835 right_pitch=-0.0447 right_roll=-0.0107 right_gripper=0.9986\nstate[joint_eff]: [0.4171, -7.8154, 3.8085, 1.5897, -0.1099, 0.2759, 0.0171, -0.1709, -1.6889, 7.159, 1.7607, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18902bae0c3f4007278344ed81ca90bca8a23dca2c6d23c173e106927a1836d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccc9151f16272c04c8ce7a12c36562ac08e4957699bb7032adb54611ff58435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8f74563da6452a626a2fa584817329a69a8a18ee0e1be7836b210cd491e294",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCj1-G7HYeJQphUt_P6NeWf2QmEOTDMZ3t_Mpm4kxDbvmxfT-nGsCAM0VrlbUKJP9J9Q3KUcIhKDTKlwbdJkvLgE6dQ1yVrVhIfvsXZkzZGn1nxsEe_7GKF49rBUAeKjbv_HKwxpiy6pxH_PHKfLdvg7BvQyA9SlD2irekz8BEIxdnwTZf8tJ-v4Zc2gcJ6iBOLgMZ98Y3HhCo2H2AxxaW3dqiit_TYQSrMDV1KFqmD8_bGybner3KjzUKYInpggVAfSrB25NBj1l982ycvkQkzPPa-EscVmUP8c--kHm4yskDp3Mh4WHpD_5qusUOahLjmq9EgzATeYmrFSawXU73bIR_YFfBpQ5VieRy_fXIgSQJjMvupHxuRUJVxZ5qsMvHmm32UqsdStHZrhKITDzRytmcREITPDXKbzaes8Ntrz0YC_9rBcGGc3YP52T_wuS5WkolqaBO015GDZMqIkLuMTrME9sS5m8HcSJ3yVC-ImSBoXtkAd-ZWNEPX22DVw7paTB41pNYIB3NdfV6sTh1DfumENPWHHSWjyUmN2QQd8imbE-NNB0VEExYsCCq__hDnSegIzVOSzNjdKJ2qnrkoVhAv0VFb6tNgVLupbk3YU_yUqJdtzTfSoDZInUmwroxCjCZVqosYrLq38JkBineJWiNEzEp3ydnPSrKbcJvAZoG5avgIukqaSA-0zm-d8QI_ZERMJpvKgEy4Q0cl0zpOffq4inZ5xH5tNwaF1UxEJGpZt8PY56fXERgm7YXbtaNDNhDmKpVnoBicF4AktW5vovrWA79-T4YYwXgh2Hdpz0Xv1zIWFCFGR1AD3mp0PnPgEdhwx8nsfOdjbvzwF3-A_CEWsNUu91nuhL2eJd6vD9jOM3XjfIXGmiYWDhGx42263AIgEfF-Ph_VICarU6Iy3eKrx-oqcSCu6u8cSGEqABA-HcRVS33JJJkmwVTIWEIeomn0qqyvLKpVwrdt8Vx4V_Dg94vLGwXwM6GMT5x0ut-MbB_Vii2uregVw24vSDdQrsmzPtEi6BWRqZThO4yEdwr4Ogi2tvK010cT9FKDGNP4SmJQ_zQ_P_zqX2SINf2B3C_lBC_rBYAYc6PKlze0sFD_buTqgcQ6dAsabmbuzc7peFtJw6r5ezqwRce__xQyiId6CiRmhQJaWiKco8Oww89Pu5kYj0LGIzxUmQ4c3FDTqqWYVwBLzQ96Q0BMmebGb8Sq9OFyC3Uw7baMvDqF-bnLTx9zBrUNA_DHOiWoBBzA=",
  "id": "rs_0ed9881dcf95aa00016ab428f4b37087d0b6eee547980288c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The reset allowed the gripper to reach table level, with the dark fruit centered between the jaws. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_9jq6ixHopkclvOMyMg8LZUVt",
  "id": "fc_0ed9881dcf95aa00016ab428f4f18487d093958c57359642f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9jq6ixHopkclvOMyMg8LZUVt",
  "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]: [-0.7006, 1.911, 0.5411, 0.6987, -0.6579, -0.4118, 0.394, -0.1104, 0.8455, 0.6567, -0.4389, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3626 left_y=-0.1598 left_z=0.0024 left_yaw=0.0483 left_pitch=0.0529 left_roll=0.0531 left_gripper=0.394 right_x=0.2965 right_y=-0.0025 right_z=0.1789 right_yaw=0.0841 right_pitch=-0.0518 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -8.9641, 4.0137, 1.2088, -0.1978, 0.0415, 1.1502, -0.0752, -1.5385, 6.9812, 1.7558, -0.1245, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69277d80e6b393c6c7f357feb308756c9781ae13ad8949948deb3e07b51b632f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38083a166dc8e0e070b178257e40c9fc65e5707760a2aa6d3929498829fee5b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae53f4e05e3f29e8fbce5a3e3041a7f804a948395d3ac9d33f9bee903b63ec7",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7948, 1.6028, 0.5747, 0.2726, -0.6727, -0.5282, 0.0085, -0.1104, 0.8417, 0.6567, -0.4213, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3319 left_y=-0.1759 left_z=0.0544 left_yaw=0.0261 left_pitch=0.0021 left_roll=0.0198 left_gripper=0.0085 right_x=0.2987 right_y=-0.0027 right_z=0.1835 right_yaw=0.0837 right_pitch=-0.0308 right_roll=-0.0132 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -6.2974, 5.2581, 1.4481, -0.2222, 0.0171, 0.6716, -0.0342, -1.3607, 6.9812, 1.7265, -0.1001, -0.0708, -0.0122]\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]: [-0.6998, 1.8923, 0.5446, 0.6678, -0.6529, -0.4026, 0.9952, -0.1104, 0.8452, 0.6567, -0.432, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.362 left_y=-0.1598 left_z=0.0047 left_yaw=0.0401 left_pitch=0.0441 left_roll=0.0647 left_gripper=0.9952 right_x=0.2975 right_y=-0.0027 right_z=0.1804 right_yaw=0.0835 right_pitch=-0.0447 right_roll=-0.0107 right_gripper=0.9986\nstate[joint_eff]: [0.4171, -7.8154, 3.8085, 1.5897, -0.1099, 0.2759, 0.0171, -0.1709, -1.6889, 7.159, 1.7607, -0.0757, -0.0562, -0.0171]\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]: [-0.7006, 1.911, 0.5411, 0.6987, -0.6579, -0.4118, 0.394, -0.1104, 0.8455, 0.6567, -0.4389, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3626 left_y=-0.1598 left_z=0.0024 left_yaw=0.0483 left_pitch=0.0529 left_roll=0.0531 left_gripper=0.394 right_x=0.2965 right_y=-0.0025 right_z=0.1789 right_yaw=0.0841 right_pitch=-0.0518 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -8.9641, 4.0137, 1.2088, -0.1978, 0.0415, 1.1502, -0.0752, -1.5385, 6.9812, 1.7558, -0.1245, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69277d80e6b393c6c7f357feb308756c9781ae13ad8949948deb3e07b51b632f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38083a166dc8e0e070b178257e40c9fc65e5707760a2aa6d3929498829fee5b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae53f4e05e3f29e8fbce5a3e3041a7f804a948395d3ac9d33f9bee903b63ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkCUbd_XSPU2xDztVFNdv67XjPVSlvWSqso_A5i1uOpd290FDAwy3Rnh6sobndWjpA3I-ZjRDH3gfIFmGoHut1MX_ZNtK1ZD9jR6WRkyTC83XSV_h29yiRdVxYlcuvAoaqoYCKSJ2MaQ7HVAeyjrjI_N_BsoxrLKlWiLxaNiNVgmN_Z54FR_RUrdC6XcaY-QEEMX1e9OQ-4t2mDFV521mFaenNTOAPoMu6q0sY8oDf_e-KRz1gmckWIMJpl1Zd3Iq1ThQcN0yOgiXhxHyZNB-TJi1T0BinkvZR51Bsm1YpUT8dD2UchMbmE76osOscFRCEwjv0ZHutOz2GJqo8lGVXoNOMr5WNAYpMHPAgY0jmcJkqoOPbPON-Eoyvxvl-0nHyPHHYTOpq58Y223hDjUhwI1x-Ibt0TlrgX8BAPQfagzigK_sehaHaWNhyXi8HbVAdPXTTgc5duI-NysX2sYjn3J13zJYwPVoEJe6lmVdkZPtu671p-s0hccKICTmU774UA8uvOd3KHHP1Myn15RtwZXo65nDrxSiWElArlaAOWTxs5rRWi649AZtJcYUx5jvrBzqNNUkQqjLwXj40_d-gpfct3EihRoJnnXUqNUAOR14qlBxYJLuXJ1Gkq7f8pJjqtn8EO_xLIHqF_jRcPITBkZbIZIP3DxMNRnHNzeoWMza25F-5HSPHDMRBR4zlVyWDtJNwuRhHmXmn4sLqWVs8hyNTDDEB3S3taDdh1tRt5zw4iV7nLd2HXhEJB3E4jNTItanV6RrgpVjzBn_glZPjUyvgvIyRVDNcZsAooguHrQziW1EKsPK97ap5Lzz8pZjIR7Vjvu_ihHrjU7uMQUfqIwQ9A9YM1G5eIiRC0YeHYIeKll0UJNwXaitmam51gUfaE-F5ZwiXWs5zydld7TsJC1z4QJfAU8ThTCwZFbwMqLWofgT7_cv56IgsWho4OBtTEu0JkKevszx229VoxBnZ0My54EKkeIYf0XFSHOHlVsHf2bidHjvABkGDmj8bZ1C8Y8llOuRoXZyDdJqCWQsWwe11fUglg4imCkKp1ful9zwICuuPjj-VxEbs1wSldmumCjv4XiiC_0KifPWvuH8kaXBdIqLYZ60q9B05xEgVYVI8FxOiICwYh3xpgDB2hPCxTw8pVtq_LiRJ5m-1YPRJmYTDCsjBY1eJoMR2vx25_Bcu83YJOerO5a7Z3psQtMatQPC-9xhOUkWW3InKad82hOc_LzVwNmGHPttojt9AC7dzgXfdkWFt3_gKXLtTpQrhgD93VmXe_aWJFSbuTWxbDbcOlfieQ7pt4k0rsZZ0ytyQetai4lCyhm4QQqYrJgl92wKfcbHkr7TWgplsD4UwNQh1oQp5OyZS6vILeMQ_AytgHotz2v1SiPP9oTfV8ACyiHpkTCCjOsqXaeaiPpnyavpXPy2ffG0b1Bm-YbvCsOVizQQsrmn7xJmfWvimTfpxM84JoZqFL7zcNTyYhRAnDWMWXtKqyBAVzrrspshZnK3mL_qZW_gB6C8hJK9myMeTEGFOdnVvgHLvdra-2yLubCS64GeCWzGQxILGkHaqDhJetKqFVE5LuO-4hf6GLlm-LuHeIh5Yh2xPmL2HdfJt-RzI2Wt8Z4KTLZ0POrfLBkxoiJ8TN0xsvl_gzc7O-4Ukn8eGjzMLw-DBMbF3783mrTbcubOONUPhQciRj6vP7_JBXnaKM_snBTUZenOdQk0_GtRiTiQX5gJWx4lHOkDjmeVY5jrQDlgIR5KPGOGx6403mwKnQ6OChwR6yRt5g2vqmXK0fe4Wu-c-JvicLiipTgKDaPYSc1p_40YGv2CWwW5aaO4NhneEliIjCSD7eCb036tROU2NltZ4UAjtNLlHtEIzum4MovORVwCBwqKzZCcV7IpwlzRepOtVxV6Jsmq3RdPeAAHxOEogeBDFh_IVgGL4O2dhbgjIiSPOrzA9Pt3H6uc7GCI6HRX441SY2a7qhP-W8FXwukqUtaAmE7mCEQvFRbCU6CFSQ2r_A_cDG6Gq6r1umd8u-Y_SvbCR4yip2HBBR6ayO4_C75Crec8K9F8ZNtld0xTm-43tXGDk5Bn83W2xDQfSIQa8842ylo65GQoqEFnJdLbD1t0YUI-SXMp2R52NwOoj_ITS-N7iVERGrhRZDjjC_aLGSOMoHyPny4dy-tNHjFDRKbbqZC0mcHcQqYH4ctBBg38vZthbFOEp-WCmFIV_mbN44fkt6bSOu4dK5-knTeUG13goHydrdmdvWZ1jYbNckLluhl2QL2rrfWdM8MQjyw3hp_Ls8U7XM9VkpSs1sQgcdjcVAq0oTSMo5lfnXGDW9PNgUcxRemdHTR7paen6ZkhwPrjMT2yXnneAzOnO5rwZWASAsb_4x4L_DS-m1jMwGENaT5_8Bg9DEkWJHRZAfHqdgrrXWJ7BZv6tU-Juz-hRHa6Ni7qDMb7uqedeSTvN3EZVpcUB6WE_XP0ZXtQffsM-0f_qQ6aMKocP-QKB6C8n3VDEGfWy_kYTGjhG3et2hWGFXzpYDXISVAQFheJQ0SiM6RUZK2UzFIVZYZHB54WKlCKGp4_9U034Hu6KEs833fdpCWNw804UOlrTAhPcAHp0AzxyWR9yDPGSDmpWFaT6zT71NlCxkHYiTNucbG2WH88j4af0tSJjq4LiY4ABwY6qdGIfGKzdW9IdUjyOewwacmZlURrmBAQDzPBgCq6GNaVjKbHSC8reecyEMRl2Lg8Bh9iqdgkuYQnIRTfJi96fB1-2dlwuC6zIpPq9rDSkIG1u4YiJhb5ykp_yZrVJgQ2HPrJwVDzwedft5BrBWTAd_stKzQ1aDW3vYqHqIeiHuYG0y4ZuRM5TDyjQNvMn2bMswqWeaoWQznLABvqocgm2Ve4LA3xu1jVKVZkcBk7KWnAPZrF2dmZsN4-1KAWt532hLqMTB1yV0N6Z3bpL78cQkGJAO0QnYtDz3bSJ5-ByUNNg2H_FR02qCRzayiY_Oh-FCf79qWRrW7JXg3KeYSY0MEtou5b4baAyPct1pqNhKzLIvkxNiIeHs1kYSMwO40wnb93Tct1_FyCB1KFiyQIQOSeVsSNJBTA5ptdvH3KFTB-6cKqT0E-q_Z8RVphZJRAztkvowIOCGjzhJ4FEPXIZFoq9NDqPGji1Uxu0l0VzX1hMOVLVX8fBusOkrLWARqyI0Dz7gQYk4XDJIBQPZxqUF9tC9_FWQsYvGy5nZ8-7JmhfZRv5ePrna0mJsfb65_8F32KhgnO_UNXTk_6I7e2y0B6-0DGUvW4tUiy1vzmGMhf5vPc-TFFs5WEBCfsAez_912eRpOJom0ILFjONaasltUcVGfM4JinA9FJTT4InovL8d5BE0Od6omVuhgwofO0nZgyKRNZW4KCuvv8o3IgZSohiOw17pWkuREOFW85rWf3lP4RhZpCsZ5rZI67rLLkbHULg5bBNE5gyd6igFTmYNVm6ICYDPxKiU8KgoP1ztMWiJT5mw2rPyLydN2aNZdZ8gGPJwUJIP6kubsBoJp0K5beU9-7AYGjKA_914XdUZ49YrAjdA_wVmuoqomNXWdzqfpUreg_HjVvPXCoSbsGPKdFOfyq14OJ9Pxb3O9BVtPIX30206ae0IgG3-17M4qKr-utPuIgMCnfRNVycj2_-QMKCSeJyJklHW7xwfPcS8AlaS2WKpVoB9Md71UkP3h_O9ThmSgDIz-grYhpoEDYtBTah1TSqBIw7P0CBv2TCyE5epKb4QsSMx_TFXf7HH98UvWnBDZxyMP4IVEGKC7XBMIYHmWjOJImqco49s85epL5Rr-eO8R8BbXq6VGLR4Y5sGABiznlx67T2w7Yd8uiBGA8ANSRz4CgkBsO8sei4qtgi0KRHCdcTxh06kyPMk7TDB0vFK_OHiIoZB3bxaslKgUrt29_IUleyjbJQnJkbJjCEXjWlHLWk=",
  "id": "rs_0ed9881dcf95aa00016ab428f8b0c887d09e61eebf4cd00e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left gripper now holds the dark fruit at a substantial jaw spacing. I’m lifting it straight up to confirm the grasp before carrying it to the blue bowl.\"}",
  "call_id": "call_ogPElt3LI2hY4xqz1LwPlKg8",
  "id": "fc_0ed9881dcf95aa00016ab42902240487d0a6eb45bf6836b0ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ogPElt3LI2hY4xqz1LwPlKg8",
  "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]: [-0.7006, 1.4143, 0.8543, -0.1146, -0.6575, -0.4187, 0.3961, -0.1104, 0.8471, 0.6567, -0.44, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3642 left_y=-0.1612 left_z=0.1625 left_yaw=0.0516 left_pitch=0.0504 left_roll=0.0493 left_gripper=0.3961 right_x=0.2964 right_y=-0.0025 right_z=0.1783 right_yaw=0.0839 right_pitch=-0.0544 right_roll=-0.0086 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -7.6513, 8.8684, 1.5507, -0.2906, 0.0366, 1.0232, -0.0752, -1.6205, 6.9675, 1.7265, -0.1245, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b45aba5908f45bd4e238d67cfe9c195406041a176c0eb31d4b5fb6606217905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefc63ac0212638c34b285b54efa2020f934c8d9cd0ebcf98ae9271d6100121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b96faa86912e1cbd9692321927239badc18a05868e05f95c1ae1a76b98e523",
      "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 75 changed as sent

message 83 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]: [-0.7444, 1.4193, 0.6613, 0.0994, -0.6731, -0.4431, 0.9949, -0.1104, 0.8417, 0.6567, -0.4252, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3448 left_y=-0.1631 left_z=0.1209 left_yaw=0.0334 left_pitch=0.0691 left_roll=0.0238 left_gripper=0.9949 right_x=0.2982 right_y=-0.0027 right_z=0.1827 right_yaw=0.0834 right_pitch=-0.0346 right_roll=-0.0127 right_gripper=0.9986\nstate[joint_eff]: [0.4034, -6.9949, 8.9504, 1.5263, -0.2955, 0.1636, -0.0317, 0.0479, -1.5248, 7.1043, 1.707, -0.0806, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7006, 1.911, 0.5411, 0.6987, -0.6579, -0.4118, 0.394, -0.1104, 0.8455, 0.6567, -0.4389, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3626 left_y=-0.1598 left_z=0.0024 left_yaw=0.0483 left_pitch=0.0529 left_roll=0.0531 left_gripper=0.394 right_x=0.2965 right_y=-0.0025 right_z=0.1789 right_yaw=0.0841 right_pitch=-0.0518 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -8.9641, 4.0137, 1.2088, -0.1978, 0.0415, 1.1502, -0.0752, -1.5385, 6.9812, 1.7558, -0.1245, -0.0611, -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]: [-0.7006, 1.4143, 0.8543, -0.1146, -0.6575, -0.4187, 0.3961, -0.1104, 0.8471, 0.6567, -0.44, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3642 left_y=-0.1612 left_z=0.1625 left_yaw=0.0516 left_pitch=0.0504 left_roll=0.0493 left_gripper=0.3961 right_x=0.2964 right_y=-0.0025 right_z=0.1783 right_yaw=0.0839 right_pitch=-0.0544 right_roll=-0.0086 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -7.6513, 8.8684, 1.5507, -0.2906, 0.0366, 1.0232, -0.0752, -1.6205, 6.9675, 1.7265, -0.1245, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b45aba5908f45bd4e238d67cfe9c195406041a176c0eb31d4b5fb6606217905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefc63ac0212638c34b285b54efa2020f934c8d9cd0ebcf98ae9271d6100121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b96faa86912e1cbd9692321927239badc18a05868e05f95c1ae1a76b98e523",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkHozQCPQUvFqQ3fZr9nYUiQik1Tf_C4EqTc6FNMdmn3y8d02uoe2duNpbYsVmT6fes3_rcnE1DeUV4mK7p6QFrcctBdhhR3gqWcWmVBzjJ79dHGiahbFVfkw-VTcQjZG5Z7v57vgtbMSeSCxnn7clkC3fFl8hlYNptD71RgulWFRmV5CCgB_C1KkAnOWOL-fsVfUNv6ouJGWqjA68XoKEEOf5Alfg-Zp5Zs8FlQiPaRMhzWSLLLlkTfpJcH0Eux9lzVZaZHiETri__RLhsFEAT0uPw0xzmIG4V7YJDRWLYk6W6UsgaWRYFb7LOelTox-Ey5CYhPl_xOxf_iE5FCFyVbZSZQFfPMz6naEVr3irUamf4zVGnuuJjLfzmhiq69xNSLd54MSGRHcq637zda1AnurmtA5T14gAW7yJ_d3hZIT9Dv2ubx73VmIEBaME58FY3U4sYyjrlhBpFbKw3TJQwgWNcTQ3IO1S6cbX2NapBTMvNSzkQj46NQFdzPXObJ197AJV_4UJrj6toumEBTIiEKOE6r_ClOY6CGZtonE0v6Sr6Y7USaBvYSeK7fbnVxkUfaKgDpGwKk3jjIM80krPoYrMAWR-qI8bNnWJx2q-rIaNT9rHOckhnhVjewRAqdySwG5kQFiu993qR7U23ch-1-XXfR5DNN5aB6TigezpWN4wWnI5AnYz9-ASwbl21f81FgzYA-UlZiJrfp7uSfhG1zEKRYyYil7KxvbcUxvt-4gD0As7YR3tIclJmkROeSZDryE3Z1OWvJkgmB07vI48SWqRwg7kiiDXKaJpYbbawOS9Ym0BQ6yUl1Rxqf23bJGC4YHTd3K5bTRDPvlJwtGUCZtl7J5BUQZliZ68hdQS7zz659Un1X8nVRP3nvFLK7xxiyYnVUai8Std7Ocp0mkRjKyfzlXORgQBqfc9DuPnQ4zRMwCM3bj-yA0fYC_t59UX33SRwM9A_HiAWQn7bY9u-136XG0zKgnH4cwY4J-MS2Q4u24x_klQSh-YRGqvawFDUTIZ7MQ8XIJanE99jJrNOOJhZj3rXVRBtyyO7Ojg7eO1Yg3L8liUqRgI44XppLlnfmmAe5QZ80RKkhTVig2CsZJCoCIaIyr5oaUw-0OqlsmSdlau7CEeg_X2wYLL_aMco88LeJzZlsLFFgfT_FMa2VB4Mffh694w53dqtFuSA-9E78c-4GQDpaxzD7aK5NStNtxrnxsRVTcjHzZcT6JwUo24FTXPtJyi2zK6-CTKdErs=",
  "id": "rs_0ed9881dcf95aa00016ab4290657b487d0bd634015a0734a4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.4,\"left_z\":0.19},\"note\":\"The dark fruit has lifted with the left gripper. I’m carrying it toward the near side of the blue bowl, staying within the left arm’s allowed reach.\"}",
  "call_id": "call_6rCjjKYIZOMgPZdchTTVZjh1",
  "id": "fc_0ed9881dcf95aa00016ab42906c6d887d085cc6ddc26094578",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6rCjjKYIZOMgPZdchTTVZjh1",
  "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]: [-1.0008, 2.2711, 2.0605, -0.6758, -0.8574, -0.7238, 0.4009, -0.1104, 0.8482, 0.6567, -0.4469, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.4175 left_y=-0.3972 left_z=0.1776 left_yaw=0.0485 left_pitch=0.0361 left_roll=0.0381 left_gripper=0.4009 right_x=0.2955 right_y=-0.0024 right_z=0.1766 right_yaw=0.0842 right_pitch=-0.0623 right_roll=-0.0073 right_gripper=0.9986\nstate[joint_eff]: [-0.8274, -13.9556, 8.294, 0.8864, -0.6325, 0.0659, 1.0281, -0.1983, -1.4701, 6.9675, 1.7265, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978fe6e42a1e56c8c700622f8dac1bafdbc694988591237874936ea02ee8cc9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a36393e42106704b15cea5b11e939fa1645d56d49191158b6ba7a5da8e06036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1102d9d5334e81b0190d19bc51247f6d9fd161c6b9820a7a8922dc8e703cfaa8",
      "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 79 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]: [-0.6998, 1.8923, 0.5446, 0.6678, -0.6529, -0.4026, 0.9952, -0.1104, 0.8452, 0.6567, -0.432, -0.1509, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.362 left_y=-0.1598 left_z=0.0047 left_yaw=0.0401 left_pitch=0.0441 left_roll=0.0647 left_gripper=0.9952 right_x=0.2975 right_y=-0.0027 right_z=0.1804 right_yaw=0.0835 right_pitch=-0.0447 right_roll=-0.0107 right_gripper=0.9986\nstate[joint_eff]: [0.4171, -7.8154, 3.8085, 1.5897, -0.1099, 0.2759, 0.0171, -0.1709, -1.6889, 7.159, 1.7607, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7006, 1.4143, 0.8543, -0.1146, -0.6575, -0.4187, 0.3961, -0.1104, 0.8471, 0.6567, -0.44, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3642 left_y=-0.1612 left_z=0.1625 left_yaw=0.0516 left_pitch=0.0504 left_roll=0.0493 left_gripper=0.3961 right_x=0.2964 right_y=-0.0025 right_z=0.1783 right_yaw=0.0839 right_pitch=-0.0544 right_roll=-0.0086 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -7.6513, 8.8684, 1.5507, -0.2906, 0.0366, 1.0232, -0.0752, -1.6205, 6.9675, 1.7265, -0.1245, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.0008, 2.2711, 2.0605, -0.6758, -0.8574, -0.7238, 0.4009, -0.1104, 0.8482, 0.6567, -0.4469, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.4175 left_y=-0.3972 left_z=0.1776 left_yaw=0.0485 left_pitch=0.0361 left_roll=0.0381 left_gripper=0.4009 right_x=0.2955 right_y=-0.0024 right_z=0.1766 right_yaw=0.0842 right_pitch=-0.0623 right_roll=-0.0073 right_gripper=0.9986\nstate[joint_eff]: [-0.8274, -13.9556, 8.294, 0.8864, -0.6325, 0.0659, 1.0281, -0.1983, -1.4701, 6.9675, 1.7265, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978fe6e42a1e56c8c700622f8dac1bafdbc694988591237874936ea02ee8cc9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a36393e42106704b15cea5b11e939fa1645d56d49191158b6ba7a5da8e06036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1102d9d5334e81b0190d19bc51247f6d9fd161c6b9820a7a8922dc8e703cfaa8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkT4e71Lnbk7m-daFVWRXjQR-sOUtayOvfPy8534RvF3eBpQ0640D-1EY83XVhKDVNiI83RVFb-bukqPQ_Kkkqhc75VMuTLdbDGLjAtBY0eE7dA83F7qnRq0ppJ5FVJUnd6vf-bVXiHHZ9rq52oB_-SJ4jLPRvp_yMwtKv4dEWLT89aoy_yTtXto2rX30oXUiaF8UKquaH2MV2ew5IsVmRWVFvhPi-V4tzO8jnIcvXI9FrvI8jRWMBJSzdG1_6KKFqRsLB53xHUCzxSwvggFxvlcdK9iHh5qpQyCvmQ8PXdPmZT9XLMpo7hdgGwcXH--eEpKboF4AN-OMbf3tyr8KjvB-f0cmrcPhPwU1RhxZ6NLJ91XZXyiJR1ZQac36jOnXMZN-ZmDb46-XX6npmKgmn4FClpkjovDUezdD5No4Z6U52TNeIxIx08lGI9NvApdLehXNcSALJ_zKvu1XTKYe3cCIyzuBrsBZ8-Pokpm6Wba4owAc5H0nIyWL_VMxlGslxNa8Q7dpZtXxgKOT7rtTsi3FGt4I4IxxqwRNMnxNkJt_aUpS9eBolgHs97diDz8t-5G0BZVeuTa92DGunL2VU1f4he1Gg2p2iZhrXPj2aKoiPSUumm9q6jYGoUozPWP_jdyM1-02nAkZi1_87kcOtUwaoNA2KkbxbpCe0-0amZqLfsx52bWN5ekGes_Ptpfkg8ISgJYWEeRX4Y15v9cbOOCE-t_4WgYW0F2Q60c5PtryhlY5JQwI4WlprcHzKeaSQE_N3I01Mp3Yu6lbYokkUHNxX2S2SkokEhorK_YvRoKtbJTZvbTKmH2dnL_Eq3MoRbw-H52XV96agJ0LD3nl250SNN6TzatrI-9QePyZKIxdYgoC_1wkTxoYl75GSdy-zQSPl8dSbYsTJdmA7PwaVFIBUySjzP3fe9Ezud2A8pAPZuWeeCWOdgnDaULXMQRUMazfXy8RUD9BemQ0T5CvUEXhPGBmiXw0lKlLZ_faA8x5_DbEQz6f4Db5ka05kzOmz7w1AcE_vR9CO0wrySckbpgRs8E4ArYNx9wCHo1iNP14gAX43i8mMHC26417UPkwEy5LOUEVjOBykM2LrgF1eZconhY2Jcn59Hj0tYU4f3f1x5bc_nt1haz3kz68nJnfSp6hjOVy1wdAs6JahtCr_8o92KX35QwhkYkDGhEI6yh80PKzqSVkmxUX1RQoqqBCBJZJ0d5qUxBQe6gsrK8DT0QpRubhuHnOCOcacnbmIICbbH907YgKeCmjo48iatJd879rPbsTCDqBO8lsowz5J7m7EiOq-MHNGAmnzQjOsYOA2vwOTGPkOVn7tEZ2lB4cUrFZj6RVQENxm6hC0t1EkmaXRt-uTJO8ml_6zYQyinP6Q4Xk1Cn_2dPzmqw-bZ4XO9ECn5U6N_3a-tKA1dI3ujxZDXWTAl_OsJsq6A4FMhwwFH0QFHglZSsk-Z7UQc95nu7tAqRFTjNRcjufOuuJxErCckelJnwUVRmujd3V8lZVRikmrGfaG7ZphMMLlATRs3GHsZj5U2oSWxCbYJqnfP5_MILRW3r6KwRn3_3RunrbF_GV5Ahi5u6vtkx2Qv7M1p_iANDdrKvGlFz6f5sbIYBk1KuwZGyTTthWchZ0Anvq4UnJgUM4TNERE8IHs-4YzOyVM13fS2X78rDrEoHdoH0wJ6I7NNugVUKJqqkc6M1k4z6IMFehGtLGXncE805nIKGxRh50Eg_NU9SGh4NR2CnrnQ645QqzZ-wfYEm6zLPjdNlf7w1MpRm0-FY7vjhVeODzW8nZHswdoJMEK87q14z_8_W8ZAoeF-Gp-mAkAFpQExJtcHXKnJ_8WC_YCA3BTPVsqct4TOaI0DeK8ykdFJ9eHID51HAyMaJuqKNTkXKmp9kNiNiR4v9zWUeabjoitoS8desC9jUfr6hIch5AaSPbxvbUETLVTZOvAG6uPsT9G4RH7QpAPx6nP5PK1LukiHCwGXV6eIYtc8CyHfkbGq-dbMxSkojO-Dd5c6g4hWk91bS5lCURGuEt4Yb5dH9d1ehOCufRK-OcGmJrsG4i32D8lmtcf2yECXNmbHkUapTdpT2G5voZHjln6NWyX0bsRLTYiL_KvarK0rLAfFApq3bPW0GMKRw1opKZb3qoKmldA-m1q5tk2e649Pqw5Wqebj7TLiZppXeJPDfcXPyqkOFzOWiARqCvCyRswOIpH89Sebammv8dEo8OxefauazaT9MSfkR6pT_dGBjrNTdoOJqgJutHXtjgg3R9rzU8kpnl4=",
  "id": "rs_0ed9881dcf95aa00016ab4290cff4c87d082cfcad5cc6265fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.3,\"left_z\":0.25,\"right_x\":0.405,\"right_y\":0.145,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl is just beyond the left arm’s sideways limit. I’m holding the dark fruit clear while bringing the right hand toward the bowl’s right rim so I can move the bowl within reach.\"}",
  "call_id": "call_IbcCLkPXykcH7VXRGgkjNj3y",
  "id": "fc_0ed9881dcf95aa00016ab4291049c887d09b7eab319067a0a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IbcCLkPXykcH7VXRGgkjNj3y",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-1.0752, 1.7782, 1.6005, -0.7925, -0.8791, -0.8135, 0.4009, 0.4572, 1.4368, 0.8909, -0.1329, 0.2798, 0.1749, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3113 left_z=0.2354 left_yaw=0.0334 left_pitch=0.0135 left_roll=0.0435 left_gripper=0.4009 right_x=0.3897 right_y=0.1413 right_z=0.1473 right_yaw=0.1288 right_pitch=-0.0806 right_roll=-0.0342 right_gripper=0.9986\nstate[joint_eff]: [-0.7863, -11.1932, 6.3248, 1.1013, -0.6276, -0.1685, 1.033, 0.212, -6.4752, 9.0872, 1.8584, 0.2906, 0.2271, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fd1f6c08cc568dfc10f64533bc39ae916b902f284960443b67332f185a12c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ef1f68e623d50eb19680acf4b214a5d5610e7c35d94e291c12fa61ac657ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ffc22fc8310f33b7f788dbb929e0fdd76599c9ae814e1ccab9fc74c38055fe",
      "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 83 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]: [-0.7006, 1.911, 0.5411, 0.6987, -0.6579, -0.4118, 0.394, -0.1104, 0.8455, 0.6567, -0.4389, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.3626 left_y=-0.1598 left_z=0.0024 left_yaw=0.0483 left_pitch=0.0529 left_roll=0.0531 left_gripper=0.394 right_x=0.2965 right_y=-0.0025 right_z=0.1789 right_yaw=0.0841 right_pitch=-0.0518 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -8.9641, 4.0137, 1.2088, -0.1978, 0.0415, 1.1502, -0.0752, -1.5385, 6.9812, 1.7558, -0.1245, -0.0611, -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]: [-1.0008, 2.2711, 2.0605, -0.6758, -0.8574, -0.7238, 0.4009, -0.1104, 0.8482, 0.6567, -0.4469, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.4175 left_y=-0.3972 left_z=0.1776 left_yaw=0.0485 left_pitch=0.0361 left_roll=0.0381 left_gripper=0.4009 right_x=0.2955 right_y=-0.0024 right_z=0.1766 right_yaw=0.0842 right_pitch=-0.0623 right_roll=-0.0073 right_gripper=0.9986\nstate[joint_eff]: [-0.8274, -13.9556, 8.294, 0.8864, -0.6325, 0.0659, 1.0281, -0.1983, -1.4701, 6.9675, 1.7265, -0.1245, -0.0708, -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]: [-1.0752, 1.7782, 1.6005, -0.7925, -0.8791, -0.8135, 0.4009, 0.4572, 1.4368, 0.8909, -0.1329, 0.2798, 0.1749, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3113 left_z=0.2354 left_yaw=0.0334 left_pitch=0.0135 left_roll=0.0435 left_gripper=0.4009 right_x=0.3897 right_y=0.1413 right_z=0.1473 right_yaw=0.1288 right_pitch=-0.0806 right_roll=-0.0342 right_gripper=0.9986\nstate[joint_eff]: [-0.7863, -11.1932, 6.3248, 1.1013, -0.6276, -0.1685, 1.033, 0.212, -6.4752, 9.0872, 1.8584, 0.2906, 0.2271, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fd1f6c08cc568dfc10f64533bc39ae916b902f284960443b67332f185a12c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23ef1f68e623d50eb19680acf4b214a5d5610e7c35d94e291c12fa61ac657ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ffc22fc8310f33b7f788dbb929e0fdd76599c9ae814e1ccab9fc74c38055fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkadf4POuuzqE7Nla2FeB0esTuoGgA4V641JPuJ6ZsGa_5LgU29WoVf_v6MzSNBzc8hT0xu7j3KWCyC5pSEuBr6belLIsX6HT9n8iPZUFn1hRBv4MY_uaeFTAx6FVIV2sqMdLSXGZPKgqjfY7FD7gcQrFb-Lhk_JpPtPmjKvYfnTwmpEqSMsGjmI-IBIyxJQ3BRWW9UroJML6LzG7YupZz2tq6mPKEmtac2hR9RvkHvCNP_e08zGb_cTcX2gI5RiXcgNYdhlfnxoEe9ZLgyz3Qaq_EO1Y8xG7tTGTCNjrlqcGAXSndCFvYj6eEX-VWkMAzOGaZxBUbiKsAjX-QcZAiIXeppXFZ0QOpzr5uFrZw69c9JoEReJ8Llrceu0CAMgKCABNwQPnJWVO07_Iif0oH7S-gMA4OzAgtrWM7vG67_j_SxvHalr4kTw2yJptDJvcXef3xXrq3XbZbvftK1T7mKverIIXG3ARjlLIjHfvVEzH9wemuWzypY9B5SQx_zHSsU0xhg8pHsgUOAfWg-gjOz9nfAy7FzmOrxGEszU257JjJrKya3smCH1--OwzPmfRpD7-XqCjhSYDbvJHl5lRBsGUyyVLrz-TiguC0R4yfj1n8BUrAN7gZaFt-Biql452dDKjkzji3wrDXel__XKUw_u2iEDe1KxOwbSX2YY8maSNLgbVNYSdYgyKXm0rXuy_3xnHqQvGaJSyrK15jiOoq6VB0nbYL8m0bKxqy5ZFqkQ9g90fYgFnaz7ppdGT0ARYvArWqAzl4WEbklDp4DdBRVt16bTMeSzDFba1e3T8rWiE70_Tb81mu2eGaUXXKaGdBEH8fKFObMXFXh7gTQ0QswIVk34XGp4HWbc9j5GCOD9ON-mjfmag8nOCcHQ36ZoyxmVUGFcEBcil3tlobKHv7jRjrQ07-RlBqCE-7Cfc4ru2ArUTotgLyYjA8sIQu7rcdzbE9yLLb4FP5uioayFYL0zX88n1sRqJVHpKA2Vk_aDGqSKoCStUThFDZ-bZsl7Y_oWr-6LVOQHj_NEVWJooSRgdu-9iYnvsUSnSd4XwTlWTylkjiGfayzBxrVatXGuW5jKwWRlRmDRDoO2oQ3hYB0wTCA1IFurJ-fgW67IhyAA4Tgh6t-d5ZR9zcZzL_5C5_-C1JltIFUxE_PHRLj6IxrL33ZuSKqynF9Nv-c01HEb4u4Jdy-uf2m5s7qEVMg5ajlKoGesSLq6KaOFJqWNY8vrpzTFT_oD10RtQ2xX02YS99t8Vsg6zmZ-d9bhUtFy6fP9SYbkIc5wG6p6Fz29DdXVx4gvqj13tC7fggLTTwQlJPbrp1Pxl8BJRK31ogFEgB5xbAUa80WdkOMk6zOOGSJRDaJSb2_XOf9JPjSYU6gtBdLgDI7g6H3XdcOnwuKUYipNzPY4pVDCbbGCsksHAlLDcbGR8lbzS2Wbu2t6ewB5H63Ah63HHc6wYusVjWyzJu-n7F03yjd7oQAvojuywY3FjRpn-eZ7NFTGQUIs4d8pLP_syKuiSS5oqvbHhCeMPAW8dvZcXurUhDQOr2vKvZjeb9WhBTClihZGKLhmJ08m7FT9gS0vbdjUtaKJnwG19vfCeZmqn9WDG2akBOfY_dsNzlcV1AmNRy76rCVmjZ_SNXv7nvYAthDhekXq8sIFZlNyEAMRVDbWDcBHgQQ5rW_rQ==",
  "id": "rs_0ed9881dcf95aa00016ab42915ead087d098233cf96fcc6ad9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.125,\"right_z\":0.065},\"note\":\"The right edge of the blue bowl is visible beside the pear. I’m lowering the open jaws to straddle that rim, with one fingertip inside and one outside.\"}",
  "call_id": "call_mPbeT5Z2CFPDDpmCKG2ON3kr",
  "id": "fc_0ed9881dcf95aa00016ab4291801a887d0abcd90d12f6c0bbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mPbeT5Z2CFPDDpmCKG2ON3kr",
  "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]: [-1.0794, 1.7782, 1.5948, -0.804, -0.8745, -0.8192, 0.4009, 0.3748, 1.6684, 0.7753, 0.1772, 0.2096, 0.1272, 0.9986]\nstate[eef_state]: left_x=0.3242 left_y=-0.311 left_z=0.2317 left_yaw=0.0296 left_pitch=0.0026 left_roll=0.0524 left_gripper=0.4009 right_x=0.4118 right_y=0.1263 right_z=0.0623 right_yaw=0.1295 right_pitch=-0.1298 right_roll=-0.0388 right_gripper=0.9986\nstate[joint_eff]: [0.4855, -9.1419, 6.9265, 1.2723, -0.442, 0.0171, 1.033, -0.7453, -7.1179, 5.4359, 1.5409, 0.2857, -0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc42f49b98493cc3a2d4a10793965d1262914a64b7bdb2f419dc213f2a441191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0379d8ee6ee9589286e1434a5543f304a43f88e3d49f917ad4bf3e5e66d13426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d05357010640f5d2e2205e93fa56515acc355abbf386b4d4bcdc2fb3907742e",
      "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]: [-0.7006, 1.4143, 0.8543, -0.1146, -0.6575, -0.4187, 0.3961, -0.1104, 0.8471, 0.6567, -0.44, -0.1513, -0.1215, 0.9986]\nstate[eef_state]: left_x=0.3642 left_y=-0.1612 left_z=0.1625 left_yaw=0.0516 left_pitch=0.0504 left_roll=0.0493 left_gripper=0.3961 right_x=0.2964 right_y=-0.0025 right_z=0.1783 right_yaw=0.0839 right_pitch=-0.0544 right_roll=-0.0086 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -7.6513, 8.8684, 1.5507, -0.2906, 0.0366, 1.0232, -0.0752, -1.6205, 6.9675, 1.7265, -0.1245, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.0752, 1.7782, 1.6005, -0.7925, -0.8791, -0.8135, 0.4009, 0.4572, 1.4368, 0.8909, -0.1329, 0.2798, 0.1749, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3113 left_z=0.2354 left_yaw=0.0334 left_pitch=0.0135 left_roll=0.0435 left_gripper=0.4009 right_x=0.3897 right_y=0.1413 right_z=0.1473 right_yaw=0.1288 right_pitch=-0.0806 right_roll=-0.0342 right_gripper=0.9986\nstate[joint_eff]: [-0.7863, -11.1932, 6.3248, 1.1013, -0.6276, -0.1685, 1.033, 0.212, -6.4752, 9.0872, 1.8584, 0.2906, 0.2271, -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]: [-1.0794, 1.7782, 1.5948, -0.804, -0.8745, -0.8192, 0.4009, 0.3748, 1.6684, 0.7753, 0.1772, 0.2096, 0.1272, 0.9986]\nstate[eef_state]: left_x=0.3242 left_y=-0.311 left_z=0.2317 left_yaw=0.0296 left_pitch=0.0026 left_roll=0.0524 left_gripper=0.4009 right_x=0.4118 right_y=0.1263 right_z=0.0623 right_yaw=0.1295 right_pitch=-0.1298 right_roll=-0.0388 right_gripper=0.9986\nstate[joint_eff]: [0.4855, -9.1419, 6.9265, 1.2723, -0.442, 0.0171, 1.033, -0.7453, -7.1179, 5.4359, 1.5409, 0.2857, -0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc42f49b98493cc3a2d4a10793965d1262914a64b7bdb2f419dc213f2a441191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0379d8ee6ee9589286e1434a5543f304a43f88e3d49f917ad4bf3e5e66d13426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d05357010640f5d2e2205e93fa56515acc355abbf386b4d4bcdc2fb3907742e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkeqLJNttdhdnsxE9-h3clu7v2uTGnN4XwBd8fP2gh0K1cO1EKVE4QRyZV7Clrgz15yOO5Mqb0SFdjDFW_9YelAK0aHlimHVXVKH70d5MxjvpwBBp94C-9P54NcLjgJaGv9a1H0aPRlfmNdCP7cFWe2vqUNzgN8NOzIfuYJyKXl7H8Wig-GSo6EFHkzJlb8LzwOj_RAO6zuUhfdsTkwDX2EqXpkwyIN42UCk5kxLG9bdSJ92kOVMCSMFF0kb7X5GNRsotxu5tnujqS37PBTnunxInIUNJulOTsSQfWDmfb2FjYv4CXlzab_evS9qAuk4ixlHWYLpZtcAEGKsWyW_LH3cDyLus65niadkP4HrTvl0oICwVc3awLw2aiN4em3mI0jM5ms9t3pUDSGAA2h-4KGBIDAcuUK2pZBKQlfmMjl-VSmAwEK1WU50Q7qfLgJEBZuUjNpXZynghCA4nDzrcfdMLI5yqw4mGyWzAjq2x13bzIn49yPcvTqRNnDpGHE8Md1aKxJrMQeAmZvizYR0MFYpiV_gKEbGXTVP3hWemn1nhe35YCCSxcN_ne01cg7zIkReNktKaCVF1Iv0l3C-KoYzmzttf0hLEkC2M4nSuzj2KUG3XnQszu0ot6ZpmLZ2f9iV-FofXSEngNZo1h5x4KAqUM8kDlPNC76KKf19KCMHoSjs2dULVFO58BslGGWIeiBVI2y8DwEU8WR4LvdOl86XAE87FpNOWxZfQzaVBA-Nu907yjjqrPyOt1gRWZpknM6xLuSQ-P6cDSQPBN6a3SgF5Lpl0G6ZKN7gmzz-9jO9Z7Lx8b6gowonY-g3rEiy3h5SDFeWPa9NCRF9Yh9mEGltxpSBV28YB9OPl62uty3S3Mh7n4Rb9LZzf0yLYFpVc_96mDAbAIQcX2RpDmx9Hn5O0rErtvhfpQR0XtB1ZFkOVI6Eo_J6LXYSK1TBFOLSphMqNv5h_Za2HK_CMVAX1cpABv2mSMbw8frIegRyoWO7mO6r3Ou4uq3KkUVbVuc27_2IeBuMD45KKDIpxBF6qyb-ncI7GMB3hPvQubbRhaTil2rj7Fl3U4x6UlLs2hp5PT_8OBIPsVZJsp86PO1aDRe8KEawTP-7av5UOpm_Zoxc5BUgvX2xorL3iFZiBRjp3tm9VeeXCKfqc4GTSYJv1PlslgOJVx89dQzk3WEY6dgxxXIecVv7F9h9tr1-UpHuFpU",
  "id": "rs_0ed9881dcf95aa00016ab4291d79c487d08ba2a8804fa13ce3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are positioned across the bowl’s side wall, while the left hand keeps the last fruit elevated. I’m closing on the blue rim to secure the bowl.\"}",
  "call_id": "call_FvWSJYNdMKZSFmkxOyxwJBkC",
  "id": "fc_0ed9881dcf95aa00016ab4291db70887d0b35e7f5b0c7f82cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FvWSJYNdMKZSFmkxOyxwJBkC",
  "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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8711, -0.8192, 0.4009, 0.3721, 1.6775, 0.7681, 0.1928, 0.2047, 0.1196, 0.326]\nstate[eef_state]: left_x=0.3244 left_y=-0.3108 left_z=0.2312 left_yaw=0.0292 left_pitch=-0.0005 left_roll=0.0521 left_gripper=0.4009 right_x=0.4117 right_y=0.126 right_z=0.0585 right_yaw=0.1351 right_pitch=-0.1315 right_roll=-0.0417 right_gripper=0.326\nstate[joint_eff]: [-0.1573, -9.0735, 6.4615, 1.1404, -0.4371, -0.0171, 1.0379, 0.0068, -8.1436, 6.3932, 1.4481, 0.0855, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf948e4379ee3c9d1abbe658db9b3be45623b2e1fa259193a9cf696a928d3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb4e4058ee1c5e164a6f48a97aabb2d6bb340a59e21524bc45fb008a396fa35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53260ecf23c0af2a65e1df1ef14c218227acac0c30730acdf56813c848498ca1",
      "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]: [-1.0008, 2.2711, 2.0605, -0.6758, -0.8574, -0.7238, 0.4009, -0.1104, 0.8482, 0.6567, -0.4469, -0.1513, -0.1219, 0.9986]\nstate[eef_state]: left_x=0.4175 left_y=-0.3972 left_z=0.1776 left_yaw=0.0485 left_pitch=0.0361 left_roll=0.0381 left_gripper=0.4009 right_x=0.2955 right_y=-0.0024 right_z=0.1766 right_yaw=0.0842 right_pitch=-0.0623 right_roll=-0.0073 right_gripper=0.9986\nstate[joint_eff]: [-0.8274, -13.9556, 8.294, 0.8864, -0.6325, 0.0659, 1.0281, -0.1983, -1.4701, 6.9675, 1.7265, -0.1245, -0.0708, -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]: [-1.0794, 1.7782, 1.5948, -0.804, -0.8745, -0.8192, 0.4009, 0.3748, 1.6684, 0.7753, 0.1772, 0.2096, 0.1272, 0.9986]\nstate[eef_state]: left_x=0.3242 left_y=-0.311 left_z=0.2317 left_yaw=0.0296 left_pitch=0.0026 left_roll=0.0524 left_gripper=0.4009 right_x=0.4118 right_y=0.1263 right_z=0.0623 right_yaw=0.1295 right_pitch=-0.1298 right_roll=-0.0388 right_gripper=0.9986\nstate[joint_eff]: [0.4855, -9.1419, 6.9265, 1.2723, -0.442, 0.0171, 1.033, -0.7453, -7.1179, 5.4359, 1.5409, 0.2857, -0.1392, -0.0122]\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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8711, -0.8192, 0.4009, 0.3721, 1.6775, 0.7681, 0.1928, 0.2047, 0.1196, 0.326]\nstate[eef_state]: left_x=0.3244 left_y=-0.3108 left_z=0.2312 left_yaw=0.0292 left_pitch=-0.0005 left_roll=0.0521 left_gripper=0.4009 right_x=0.4117 right_y=0.126 right_z=0.0585 right_yaw=0.1351 right_pitch=-0.1315 right_roll=-0.0417 right_gripper=0.326\nstate[joint_eff]: [-0.1573, -9.0735, 6.4615, 1.1404, -0.4371, -0.0171, 1.0379, 0.0068, -8.1436, 6.3932, 1.4481, 0.0855, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf948e4379ee3c9d1abbe658db9b3be45623b2e1fa259193a9cf696a928d3c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb4e4058ee1c5e164a6f48a97aabb2d6bb340a59e21524bc45fb008a396fa35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53260ecf23c0af2a65e1df1ef14c218227acac0c30730acdf56813c848498ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkjYUQq49XLCD-_5Y4cvVUKAEJGMhvFPg3OPyRX62ES3CwkLm0p_d4pkfHtOmcb62ym6k4ClZQwRRDy6SFtMu2qnKz6QcSpluLuu6NASGAyufyxfOgKwT4CXmPNC6JGVI5nky197LqpU9eLlZhREOsupyw2EMG5Vwce4LtBo_v0GcP8OlZzjFVJ1WWyS-e1WaH1A648zJsyrc02ivijYCXvD4NzGSDXIkdNkOBKyw4mc5fhJC4iLtzd1tn2gC-V6trRpH2b67kdpzpN5Kc8N9bHZ_zCHgV6nN9CulKNxTTN_Q2a1QxADQtX4PTrsmsKCOyXzGhTskqWzBvOjPmk0MqYcV3ztQ0OZN-R8_eyuqGfjnIO3Wk5bvxTzygf3cgT9XNAdq1veoOxLELfiaxTOaLLjo3CruDlqH3smveEJ-kbJNDEvuOADtM2IfZTVc_A4U1sduaA73DWw53jQ7wgZtf-gzAwTGK8rSyN1N38TQ4k7OJSyjVnn4Xzm3i9pxYn5C7JtH4Fx7I5bQ06VK750WV2cXgcyoJq6SJHdzfM0bLBl0qGMzn6pSWXajsoDivnluMRnxrZqzvL8HrjBtdy4O6kPonoJl9ggB4rLf1bvCD3Ddw5j75aIgugqi5IfOhHHbuaxCEcK7J5jT9EOcI_6OCOJ8eHDasEfd0dxCmhJm-fXdRpVKHN3t9EAMkVJTCsmoMBXFMU9iboA7AqQ7Y8HY688lAZKgASzYz82uodMA4RHi8Axh2k_1vK9RB854YaiMPYYyT-NRVi1ievS4jnLpaCSnj41dKcQJ_teCLreVExBZtJwtns9RF7x4Yh4Or7MwPB3Benxt4jBlLNDUVUPxOQgyLIJp0v9ddRlz4m35dQME-cuFgOyLH93mOFTQnuRY0ZsBaAmNRqku_D0xTWhO4AMhopVCCm3GUBUOCct9T0h5QaV2bIC-EAXfUcu6q5FZD2axF6wJ8QCoe2cGbKU5TKWx9o69svftIbMDuOSFW_-U2kDtebL3Bm5hZCAW6eiD17-8dLc2HK1qPt2ZOuaQ4Y2g7u-KfsTQ1kI2KaXjIDs6822RfSv93j6Y0ZzI0q02TZgYcY7_Ls6HLP_A-dfRugRQWPjZE63tWv6c9XupM-bFcn_Da9IPb6ICci21hbqbxKca8h69KYReurbl-1d_3ANgpFigJVa4mGE7vBnw4Z4NW6J0U7FDJ2DTC0JOYjTG9lAElnNe_NKUfaIlzxG8FITcu3hVHcdx4JpmsmLawU22ycmwdlt7kER63f215CBDpr8labBJPULHbJCm0IXbZiTNeLwcqdbwW43CETM_tLMW0o4_j1VSd-x-V-uf1hlBQVlGpoQrDpJwxoIVglxsYA7ANtKQZh_wpuTdRzT5eD7JjLKi7CkVrfQ3O8ElJNcA2W",
  "id": "rs_0ed9881dcf95aa00016ab4292137c487d0b362cb0a4d5ca395",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The right gripper has closed around material at the bowl rim. I’m lifting a short distance to verify that the bowl, not just a fruit, moves with it.\"}",
  "call_id": "call_0fIIdaRiBBtdMB5nv7MWt8Yb",
  "id": "fc_0ed9881dcf95aa00016ab4292229c487d0a2cc4e81b5d845d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0fIIdaRiBBtdMB5nv7MWt8Yb",
  "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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8703, -0.8192, 0.4009, 0.3717, 1.5387, 0.9585, -0.1604, 0.2008, 0.112, 0.3296]\nstate[eef_state]: left_x=0.3244 left_y=-0.3109 left_z=0.2311 left_yaw=0.0288 left_pitch=-0.0011 left_roll=0.0518 left_gripper=0.4009 right_x=0.4111 right_y=0.1263 right_z=0.1278 right_yaw=0.1412 right_pitch=-0.1557 right_roll=-0.0506 right_gripper=0.3296\nstate[joint_eff]: [-0.0342, -9.0872, 6.5026, 1.16, -0.4127, -0.022, 1.0379, -0.1846, -9.1282, 9.0325, 1.619, 0.1148, 0.0122, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e256bd970960014efe45457db7cba53039769bdb2beb512ead882b289652406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e11110c550a6bef98e62f7fa24bf729bd43aa078d7224aa8ca4209ddc94a60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1dca624c652eb2367ec44fc75602cd5dca82cfe28c76e5fff56c69374d9234",
      "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]: [-1.0752, 1.7782, 1.6005, -0.7925, -0.8791, -0.8135, 0.4009, 0.4572, 1.4368, 0.8909, -0.1329, 0.2798, 0.1749, 0.9986]\nstate[eef_state]: left_x=0.327 left_y=-0.3113 left_z=0.2354 left_yaw=0.0334 left_pitch=0.0135 left_roll=0.0435 left_gripper=0.4009 right_x=0.3897 right_y=0.1413 right_z=0.1473 right_yaw=0.1288 right_pitch=-0.0806 right_roll=-0.0342 right_gripper=0.9986\nstate[joint_eff]: [-0.7863, -11.1932, 6.3248, 1.1013, -0.6276, -0.1685, 1.033, 0.212, -6.4752, 9.0872, 1.8584, 0.2906, 0.2271, -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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8711, -0.8192, 0.4009, 0.3721, 1.6775, 0.7681, 0.1928, 0.2047, 0.1196, 0.326]\nstate[eef_state]: left_x=0.3244 left_y=-0.3108 left_z=0.2312 left_yaw=0.0292 left_pitch=-0.0005 left_roll=0.0521 left_gripper=0.4009 right_x=0.4117 right_y=0.126 right_z=0.0585 right_yaw=0.1351 right_pitch=-0.1315 right_roll=-0.0417 right_gripper=0.326\nstate[joint_eff]: [-0.1573, -9.0735, 6.4615, 1.1404, -0.4371, -0.0171, 1.0379, 0.0068, -8.1436, 6.3932, 1.4481, 0.0855, 0.0171, 1.0281]",
      "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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8703, -0.8192, 0.4009, 0.3717, 1.5387, 0.9585, -0.1604, 0.2008, 0.112, 0.3296]\nstate[eef_state]: left_x=0.3244 left_y=-0.3109 left_z=0.2311 left_yaw=0.0288 left_pitch=-0.0011 left_roll=0.0518 left_gripper=0.4009 right_x=0.4111 right_y=0.1263 right_z=0.1278 right_yaw=0.1412 right_pitch=-0.1557 right_roll=-0.0506 right_gripper=0.3296\nstate[joint_eff]: [-0.0342, -9.0872, 6.5026, 1.16, -0.4127, -0.022, 1.0379, -0.1846, -9.1282, 9.0325, 1.619, 0.1148, 0.0122, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e256bd970960014efe45457db7cba53039769bdb2beb512ead882b289652406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9e11110c550a6bef98e62f7fa24bf729bd43aa078d7224aa8ca4209ddc94a60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1dca624c652eb2367ec44fc75602cd5dca82cfe28c76e5fff56c69374d9234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkp4cIuU8mXdIwNohovlymQcrQGkap2_BnMhOIHwvGg4_xxC-96O4qONXE-Ypdpu9qoQ7uOpngmKT2aL4-rBvUNQrd0_R4aWuhMulOUGe9dVcaX99zlchrYwi4KstxLZHHyAwqONF8leM2HUq_x9IQt_-OmZPimGgNUMS9ZzfINqOlu5ap6aOIk2yoDDVuM7evaTwF-3akor3eszhg96x6u7583ByF0LfBunWjNljM65FrCUM-xzhf8BpH11-VwedaJIfS6DC5PM3dT3syJtkCQPb9JyTY56y12nMyxu1cFb-bOFnL09uugt9HKmfUeECI-P88j7Ui3OrgGLC5Y77VeCTYD82sR7_xhfscU4kvC70iZrJ0CXR5WfI6JHzYcmzvNicImsJ-sS5EJrhBmjoCAp4Yn00M71c4dTAua8nS8n4gszUx693SoDGCL7fDqtNNSmcwViVIoHv9Lf4lnJUwDdTPgPQwRmLRrfLDxMRE6Pio1TeoMk6S0pMCqvz5bCUY8HOaRQ4KtQsaMHzniw4jcXLwPThZSjHC4TZNCtENGM3zOJeeKHOuE0CPELCQWDYte1aP3YCbyGGfdiCLAyD84igmXT39hlABTDdH-rtMtgjDLkUrv4q2T2zHuAR-Djb6_56iFHShJgLEz14zYGa3n0mGJJL0VCmpDl2Vap3zQ-hnBcyR_6lxT8SXil9tWJwe4vwQYIdLjLl1LwWwwGEZkGfZMpdB9m8CTKZcKcLEZygFLt77wEyPl-42zQ78-hLJ6KOFeKlfkOOTlutnk5xhWx_rAQG7Qq71-_856C5nxxp90cAVXKZ4sD5I-lhVjtPFk8uiR4UM7PpDOuqu27q30xsBZHWcc2t2u1qxER2R-nYoUp_vVtLFdvM_Jc_lZyFZyAzaLIKinDPMnCZYwzVEzGTfMR-nxstBYta7tZFewuedUZGk0Zi8pBBeMkuNnabb0AYVSDeCCZ_klzuOmntQGuEFYJf2u-GHG3cvnCmT5yh1KYqyt_Rgf-FoatdF_-2EHhIJqp9eK30-qUUg8R13iB984i6FpyVwl-TLmTqQDswPFsHy2OOItvQ9psKbXAHnelgYjxGNTbTZgloj6xOZxRAsCRcHw1Kl1cx7vNXTgn1KY46QQb_ZGnHmxG0o_9VsXWDORNjBIJlt97M90aeI3an_55k0rdHBC9wUFYhn9ZTAFWKqhUdqym94mZuG4zKf4dSjRkeex1EEzscQAzcgGawerSROakKtqIMXXPTzUO0MRwojZ-cBisUzCRcVpqjErexQwEafZlnnrbDSz5RmGiYXX19Wr9j5CrJsDopBtEUW028onN_U6gACOm6q4v3W80gOPsGjOIk_g41O33o5NXHkoNz-GL0PMlN47KTv3A5Nu0A-4RZwD6VD7bpqF2ODjXJ7zJHQuXQyMdpp9aTFOfo2ZbDjX3qRgvUx3pW9Z56YCU_xzSdzOFP-zCUwr90J96xbzpI2gANXlE0Q30FEggfZIrYOvoWk2Oxb-WZkGpXYAuOP2_JsPNNaYTZPpUiDAdPJ609emGIkkF13KedAcAC01gaWWYQQcl3S9ISjzB11LqCTBItWY4uYcF5agiwu2VY4_dbqGgZ1R4HxLTGTeo7m8mb2Gcatidd6RpCxDAsRokqLgJSDHeiLVaP1OnNotkD0cMkmN2gqf5TVb6UJBsMQ7R8KxoEDrUcNkBQwSq4FtAHYC8kM9zWZ9embi7HPOdkb5Lq4gLT1X_4x7-aUpL1SHZWpe8z-hkOt_ySrIi7ELA0CT_SwJnGU3gZwwf7zGFZu9ULypwPKRO1Y4lJRLWjavJ_dMY1B-4bqg_FBG5pO4r2L5fg6k-z4pAOudEneURimO3hDjn7Iz6QB5yhaEA-JsSmyOupzeupKS3f3SaGGAj9c7Tg3RwVsONXTXAAFarzARNtT8RNay_YJSB-PQUdQIiDZA1lMOqk6eExOH9MnR3cteRLrybrDbaOtaGZrZg6O-6zgrCa4njeCDK5CqNMjtKI9P7qqoX7rUOB7YVmsl-KVvymIzQhgN8jqhuUgniPd8cuscylsZlW87r3ZxXx0W1E2e1jQ2fzh8ciaiViUfG5jxU4AwXaCog3Xsa1rHpsXDndPOLSQKqf24VBY3Mw==",
  "id": "rs_0ed9881dcf95aa00016ab4292512d087d0b5fe2b86e9d7b028",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.30,\"right_z\":0.16,\"left_z\":0.32},\"note\":\"The bowl’s rim is visible beside the lifted right gripper. I’m shifting the bowl toward the middle of the table and raising the held dark fruit to keep the hands separated.\"}",
  "call_id": "call_WwLIDTv8JwCVvMiwWexSKNvD",
  "id": "fc_0ed9881dcf95aa00016ab42928ac8887d0ba627272049e407c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WwLIDTv8JwCVvMiwWexSKNvD",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-1.0561, 1.8359, 2.0468, -1.277, -0.9169, -0.8307, 0.4023, 0.7044, 1.9102, 1.4971, -0.469, 0.4458, 0.374, 0.3308]\nstate[eef_state]: left_x=0.323 left_y=-0.2791 left_z=0.3215 left_yaw=0.0808 left_pitch=0.0017 left_roll=0.1292 left_gripper=0.4023 right_x=0.4297 right_y=0.2699 right_z=0.1405 right_yaw=0.1206 right_pitch=-0.2054 right_roll=-0.078 right_gripper=0.3308\nstate[joint_eff]: [-2.0444, -5.2444, 7.4462, 2.2344, 0.2369, -0.0269, 0.9548, 5.2308, -10.7692, 9.9897, 1.3455, 0.5446, 0.1783, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2cdd2062f06c9c51cdb6a8598b8e9fdceb0617809d65d927841b70ec6ef707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:396b38eea7ed2d4c1e64bf478aa0fe5fd6715263db09b6ea17492443c3ecfc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97859f3c1f551139ce350c6e1b841f737d97c0a20cfc39f20e1de2ab0ef937a",
      "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]: [-1.0794, 1.7782, 1.5948, -0.804, -0.8745, -0.8192, 0.4009, 0.3748, 1.6684, 0.7753, 0.1772, 0.2096, 0.1272, 0.9986]\nstate[eef_state]: left_x=0.3242 left_y=-0.311 left_z=0.2317 left_yaw=0.0296 left_pitch=0.0026 left_roll=0.0524 left_gripper=0.4009 right_x=0.4118 right_y=0.1263 right_z=0.0623 right_yaw=0.1295 right_pitch=-0.1298 right_roll=-0.0388 right_gripper=0.9986\nstate[joint_eff]: [0.4855, -9.1419, 6.9265, 1.2723, -0.442, 0.0171, 1.033, -0.7453, -7.1179, 5.4359, 1.5409, 0.2857, -0.1392, -0.0122]\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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8703, -0.8192, 0.4009, 0.3717, 1.5387, 0.9585, -0.1604, 0.2008, 0.112, 0.3296]\nstate[eef_state]: left_x=0.3244 left_y=-0.3109 left_z=0.2311 left_yaw=0.0288 left_pitch=-0.0011 left_roll=0.0518 left_gripper=0.4009 right_x=0.4111 right_y=0.1263 right_z=0.1278 right_yaw=0.1412 right_pitch=-0.1557 right_roll=-0.0506 right_gripper=0.3296\nstate[joint_eff]: [-0.0342, -9.0872, 6.5026, 1.16, -0.4127, -0.022, 1.0379, -0.1846, -9.1282, 9.0325, 1.619, 0.1148, 0.0122, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.0561, 1.8359, 2.0468, -1.277, -0.9169, -0.8307, 0.4023, 0.7044, 1.9102, 1.4971, -0.469, 0.4458, 0.374, 0.3308]\nstate[eef_state]: left_x=0.323 left_y=-0.2791 left_z=0.3215 left_yaw=0.0808 left_pitch=0.0017 left_roll=0.1292 left_gripper=0.4023 right_x=0.4297 right_y=0.2699 right_z=0.1405 right_yaw=0.1206 right_pitch=-0.2054 right_roll=-0.078 right_gripper=0.3308\nstate[joint_eff]: [-2.0444, -5.2444, 7.4462, 2.2344, 0.2369, -0.0269, 0.9548, 5.2308, -10.7692, 9.9897, 1.3455, 0.5446, 0.1783, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d2cdd2062f06c9c51cdb6a8598b8e9fdceb0617809d65d927841b70ec6ef707",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:396b38eea7ed2d4c1e64bf478aa0fe5fd6715263db09b6ea17492443c3ecfc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a97859f3c1f551139ce350c6e1b841f737d97c0a20cfc39f20e1de2ab0ef937a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCk0MjmBGPfR2rWDIEa3PtFxFAFddkz53QSEWc31InorCyXHY0goOZqbfUqP3xuJLG0v67-mdaKXi9hDiHl_TUUV4RWvPxWPqwMQNZA-ypqNtbFxmkpeFaOuDf_vv1YXS8fPBFPG-Q5_eFDmyTHNAp3cDmGqjKOCbBCAH8CnL9jYSnSSjvXJw7pdXfE6kvVWlmbnMfRqCiKdQ5btF8aYJqgZfo2VUzCASzKOtJyC_QQTBsb204PB6fFg2b_sKmG0wGeMe8LFLWqkYf5Aw6ORnYlRw0Cl2fEH1sdiCYcl3RssHxpRDa0dMxDEl0pXYG_uZeCnlUV2mrbSIEKnIFI0B4Nb8K2a8lnxHhwSeyhs7lZZCcCG_-c9XeG0w2kC3DGL5g7dIMheA1PU-5sN6LXw8mk_WRtDDjFEEUv9tSfECH5Z8fnNgV3JCc-wgj4hztw6L7JLAtN7eRVA6y7lF6I96injit5Hn57Wj9zyzux-EFFOneqnUjJXrsJ5z7PbCjRnIx9EiMAGpjrrl1lOi9y1b0OHCFRLkNc-bJNUe2RyfFq_PBEfej1YCRG5nm_zZ7hA-QSV5ziZG2WG-mTAoJ1hnzmbQiYJr9G-4nT2pavLhvP8I4jx8w7m7jvtgq9udYwFydh2dpc1uDrEpeyLvhki8bZnFxsAdUjEFM4GEzF_Y1drSkDVtmHCdE7bo10yXQ62tkzBl2GiHOkRw1C64bnZcZeBziHvcm-Ltl8NxY1-N4XmgQYh7etq2AsocloO6LtO0vKMm7B6ULWNysWPCsL3AdgGrywH4MOlhpkN10YJ2hRs_z3qX_5CFgBsxtWqc1juj5Q5ux3zDe5SlfNl4jkT4YJCRPDkMHYtDOSn0D_p6j-FQUXMFoHoWg2vr4hFe281OAzCeKX4dD1jHHu1d3vURzmMebTeseLXrvVCWXAPrxeFHjAKgE4txAiZYBP9_zgSlAnnCJNTXM7QS9TIryL2qxNSfYtOmjz9eF928bpYMSOEiYdN99OPhCGqCKC6F5tXNCD4y7LoKzX5KOsWhUPtlArs8YBCtCwZUCt4qhh3a8KiR5LG_yIFecVmoITNz3GXdQQLHDspciaIkXmj3sfgk4SXw09vvrFo17XbTN18tL9JMPL74BXHcfvrfQ4tdEEIoQhv3drlvD8icRRO15Ner8cxUYxl8aotrEJ_DVotI7R2kYFuoS_o3__IG5mGVaTEVEyyi7Z40Iem_FeqncCW9vk4WfS54fr8ioGZtu2SkiCmXbsNfyMLoAR_Hgf0WSwzyiGuEpmk-68MwciFZINVoQHDxE_UmVP5avIODcHFK4aQIWs64wvwDgD7dm4e4sn_1FBLUgpSDNTDCHjCeTbsG6JKEmi8tIah-P8xH2aPElG3KHDQOsGYz8rdxP4BHljlNCdnVsc5HYgL8SModGSMsq13Ap_CAz23arIDTVGKep5__cq_0RYmMDXAKR_SBeOoAXDqRI7xP1K-2F3PW-cb9kvqb7rdOtp8tv-V4vNqB885h1fZWKQUdGBpelCUWKiW7oXIscYVxjZsvQnlYIwt475pFLmKq0_BLI2r0lldfcX1mVE7ZWAV-66kYXbzKbN9zMeVK00PUNk-mUzju1kwUf9qgc8x7TX4zoiT_GjML7lkkKlUNcPCw2amutVpKz1SEstuH-SeyDBPx1E1SHmgUwv81jwfhMSDmjF4Gvw9E3H9btjNUPeo8g03P-PxpoQICRN48KqSdYQJoh5LepSNoAD_6viByE9x93fSJEH0ZU-A7b4BMSP93B9SP-8JKAVdvOAozbuawYsSd2y_Rp5hHj1v84yKWOUjoU5GoCtVUsnywhcwu0Q1K-rccK7T4PwG5u8obUFaQcgFQYVZFruR3seDA0n3OkuSXzhZC2Y19KM7EPRtEYgRMWn6on_35qLytVG_f5BaQhQhPEJwSMlZLF4Cc92Kb22fOzafFsLbHbR6WeIAzbn3b3D3-LxXtECmQ1ad58iZXfVRYv1wowaL45i52ibuHMPVJyqzaJkq2m87GyNuXbHA-4Y-bibcX4FLThfv4Ron_7wWdMKS7-OrYbTAkSpAH1-qQ94nE0QcjisAo4PWJI6ikgrFcPDqU6yVKbA7OYAlSSXkqT2NgxBzxi6bgJVG8Enz43HOVwv3QUxjHpnY3IL6n7E-q0zP3U5PbcC_ovAg98fGBmDSlZjEsht8tOH2g66a3d8DyF6QFTYtAZtQ2pY5w4VQSLrFPc07U2C20IxUIhz9o-mMhG0qx80ORlKdPT6DYVZaG_9U19y0gzO3TGehbz3rlGN9X6-3KXDFRKqR4jo0xj3x054GIe4_KNef58xEiWRtPt_8WrJ4KasotWAhJfzu7FbrM-DLqldFINJTjNzc7hoj3PtLWD9lU67YILkYVMq7vpOCNgntkSKnMQ99Ic1_mI5pST7S3yg_GjRBlSfrO4B62tM31KAPmVsCxRiMrNkIwC29DXZpzZNqdPsJV-X6fY49Nu4Hnlu0JQEWiAIbuU6RkwmgS6ZxeBSxlvSMzvmZKOAMJt3G4XQ6tAXh3EJOFP1j3xV2kCLlbA-FNsuVOM8axDq9OqxV8Skyw-9siaYRuVIunYz-UEtzBpk0TFXXDyAGtuV1nv9a-ZIW_VkTR-gNqFzcDj44Ck4k49SdzZ2Q9bjGkI5eN1H3kWwjvjyT1CSHIhg9TeMVAePHAt8rayS_q8pxNNajeTDVrbT9cm1xfL1mmao9ZITcFSEJOmxmyNE4Htuv5MbZ9hmgJZSgnZf13FNjKxkPtwXCmRWA35lmAoJ7KuKF4ia63LqZyoWyz389uW3r4A8-1fBnHZnW74HSIUnU6zWGL0JAjHsjk8xZ7CpRNTbMRhfqU71-xa2OdkBRtAzHpEWT7o94SaLDyhg526hgEJPNxUdNSuVxbLuv1SQV9BgvjWJ0v0r3LquYViJaudBQybSA92KffaBI6_BL3Ky2KrIrF8SN6SfpzDPFDvY3QUqHK6X5xdkkiKpF1Xia-hx1y4EQQ0OOd8txYDNCJ1CL71DGeD2Vrol_Yz0WA6QSVPsLEsDGog_12Isddh9USAoqBDo24UXYCgEdEYMMRXBaC37B5r1jdIDk6zP8iYwko3-opXBxE1ei97tGzn2Mh8AsrcAXDxjdu4F3pJ3vRGaKa9pahlYj-l7wLt5w7BC7dSJ0IO0tHIO5WsVM3zGD0yvJO0btuJBTFeGJcUtCJeCAqhBIW4e3NTUlU0NxBi6og3KC7QCzCX6fTz4EYtieOT34_QSMyI9bV91vCUkEGAXRPcYDmYOFx35obpBAvjQaiDULuIPMqpzNfs6WBjF6Sxz_6Ol73GeyUx27XO1oPa_29Gtibd6lqnq9LM-G6i6guNpZLCR8eFIUbShV12UW9pIF8IanJCf_0xKcKhx1lVpEzwl-Tf9ibkzzQeaf25-UnDFhPZLkYdQIgbFlFcbGJU0sX4Viw5bxghc2Boz930z8SLJvZA==",
  "id": "rs_0ed9881dcf95aa00016ab4292ced2087d09250fa45c950082e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.15,\"right_z\":0.16,\"left_x\":0.32,\"left_y\":-0.17,\"left_z\":0.25},\"note\":\"The blue bowl stayed on the table during the sideways move, so the right grasp appears to have caught the pear instead of the rim. I’m returning that grasp over the bowl and separating the arms before correcting the bowl pickup.\"}",
  "call_id": "call_JkXY9vC6QshDQ2n9cX9nOeHz",
  "id": "fc_0ed9881dcf95aa00016ab4293346d087d0b4cecf9cb477bdc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JkXY9vC6QshDQ2n9cX9nOeHz",
  "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]: [-0.87, 1.393, 1.2469, -0.8162, -0.8135, -0.6231, 0.4023, 0.551, 1.43, 1.0122, -0.4545, 0.3508, 0.2634, 0.3308]\nstate[eef_state]: left_x=0.3162 left_y=-0.1701 left_z=0.2386 left_yaw=0.099 left_pitch=-0.0394 left_roll=0.1685 left_gripper=0.4023 right_x=0.3562 right_y=0.1519 right_z=0.1483 right_yaw=0.1042 right_pitch=-0.238 right_roll=-0.0878 right_gripper=0.3308\nstate[joint_eff]: [0.2393, -7.0496, 7.4325, 1.7216, -0.359, 0.2662, 1.033, -0.3214, -7.2, 7.2684, 1.7118, 0.2027, -0.0122, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f09828d14f0eec9ef7ec58d0ac89e49e6f49dfd678c8971bde33094c4c43fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d918ea369a16951a4234a32343e21bfb5aaed43a49dfe85118430a1ac4544e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e43a4be7b0168adde44ab34000f1414f40422db16aec3a334e8e9f1de80dc048",
      "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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8711, -0.8192, 0.4009, 0.3721, 1.6775, 0.7681, 0.1928, 0.2047, 0.1196, 0.326]\nstate[eef_state]: left_x=0.3244 left_y=-0.3108 left_z=0.2312 left_yaw=0.0292 left_pitch=-0.0005 left_roll=0.0521 left_gripper=0.4009 right_x=0.4117 right_y=0.126 right_z=0.0585 right_yaw=0.1351 right_pitch=-0.1315 right_roll=-0.0417 right_gripper=0.326\nstate[joint_eff]: [-0.1573, -9.0735, 6.4615, 1.1404, -0.4371, -0.0171, 1.0379, 0.0068, -8.1436, 6.3932, 1.4481, 0.0855, 0.0171, 1.0281]",
      "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]: [-1.0561, 1.8359, 2.0468, -1.277, -0.9169, -0.8307, 0.4023, 0.7044, 1.9102, 1.4971, -0.469, 0.4458, 0.374, 0.3308]\nstate[eef_state]: left_x=0.323 left_y=-0.2791 left_z=0.3215 left_yaw=0.0808 left_pitch=0.0017 left_roll=0.1292 left_gripper=0.4023 right_x=0.4297 right_y=0.2699 right_z=0.1405 right_yaw=0.1206 right_pitch=-0.2054 right_roll=-0.078 right_gripper=0.3308\nstate[joint_eff]: [-2.0444, -5.2444, 7.4462, 2.2344, 0.2369, -0.0269, 0.9548, 5.2308, -10.7692, 9.9897, 1.3455, 0.5446, 0.1783, 0.6618]",
      "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]: [-0.87, 1.393, 1.2469, -0.8162, -0.8135, -0.6231, 0.4023, 0.551, 1.43, 1.0122, -0.4545, 0.3508, 0.2634, 0.3308]\nstate[eef_state]: left_x=0.3162 left_y=-0.1701 left_z=0.2386 left_yaw=0.099 left_pitch=-0.0394 left_roll=0.1685 left_gripper=0.4023 right_x=0.3562 right_y=0.1519 right_z=0.1483 right_yaw=0.1042 right_pitch=-0.238 right_roll=-0.0878 right_gripper=0.3308\nstate[joint_eff]: [0.2393, -7.0496, 7.4325, 1.7216, -0.359, 0.2662, 1.033, -0.3214, -7.2, 7.2684, 1.7118, 0.2027, -0.0122, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f09828d14f0eec9ef7ec58d0ac89e49e6f49dfd678c8971bde33094c4c43fd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d918ea369a16951a4234a32343e21bfb5aaed43a49dfe85118430a1ac4544e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e43a4be7b0168adde44ab34000f1414f40422db16aec3a334e8e9f1de80dc048",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCk53Nbt9s2CO0V4nj1o2TNOcsCu-qr7ODVgQoNhiAOlsDujgXHBalQfHlLhd1qNXywZeZirU2xXYBRZPoIQeLgKS2NvkvblveLLWlM8osJLGBDSchFPReydz2SErOgs6weeEk9XY9wBn4DDNxwkf19e48ce8q-VCHw2t7Cm1xOrzDckVqIusezyER5BxBSjVEWX0ZPMq8OYWhXZg_7d25aVSmcZBZRsuUgGIKREkcvT18Nb9qTFmTs2rwEb4JCs5ZWqlM103r504-i6uRUk91Zxed4HsO23HCi536jOBlpYUY8vB78blHVwoaGEyifUsRGUeLB6CxU9XIhaSxarOWEJNF6deCQe-35LJwcz_7Vt43J92376JeeKGjZ3MaMkBJwF9-BEVAt6IWBcErUaUwiya3uhE_-ZxFstIh6DUYe38XM7SeG1mB_X8oACryQ1FRhPaRU2D-pXKcqslaN-C3jEMFWp0m-KwdufYVZPYStXXGj_xzxOLtD_hQo3qff3PLVxI_heVTl3-ghRFnmx1RyiiUYabXXJdj7KsJxeHd8c1nvC5cfk9cqNQbK1XGnqq-FFh4ccjtUWtJ499jcbp9qhS30Ecm1uwvXTwAIlDP6Rru0y1Ikyqx0YukxQN_zTuPi3tR0y_bZ7ey5L964t8mWbHiBCi3Ky5bKy6mybqYvfSciQJZUO3o45A32MF-VjhR2VIRXIxQ4CHDTm7RjAqgLEwcVddrkfJZ72aV2KRJZNnDk7f3WXcE9swQARg2SttHyXXuAAzBJvGHc3giTVIAMLzrobPvFPrswVeK8EDnVlqdqgx_dM6Mnb9w9VY7As8ERiam-obejBroQeBDe5B4mZeXr4kMXyI44KjsWccr0y8MtaDcMYCWWfWumnKPacdzZZt8-iqEmLiv_fb-iKz6gaxPbxXQS9ginCqu7jJi0sJTBIOTSOMbZlo31i7PYRbnR1TSZZPKNpYEhE8ILshNgKdRpVRURFsOSVL-x0QdXu6ljk4tITZeotJ-5f3_Je6IiWA__ngN02gtC350RLQEvycqKdidbj66a0c5ESHwwfnPTIafQxQWnBkQ9G_hB1kRiqDltby67NqQhS0_ErdT_Vkmc0BJ8QbRfQsMDS8LoSFxhvkgXvdf6BK50LIbQs480xbZ-VeEBj8OcHHGWEJRLBiObgahlmdsCoHcA8NYFaNplVy4eNKuWpK6CrcED5Os7hgyrVg-99M0EEGWJTOt-goUXSzw2mt8evebgq4xT1VZMXGZVsS34Pt0OTdfYoGdM5HwQQetqO1kxyIavh26S0gn8bNDKlfJ8Ylb2O2HxHowURUh364-5lH-pfv1GBr6xTHQjOYnaYHNKK-09H0TQ20tN55RbaYVnPOqpFn7Yzi0Obk5pQeUaoMdD1A-hWUbjhWCpigzOXvD8c_gonaj-CTxLKZyoGcHrof-qOEgaxqPK2jVDxoycg_lzDRBt0M3xRuV0wM1S5xCXhnjWcjeH7ZRFOwYZAvPgASVDBtTtTAQuNHGJc0Pi6onaMfmgCp5HzlwgS8F-XyKiwxaWWrvIl1ENE8j17YlJZbrlwtxp-cqXy-rD5OMM1dExy8e3EHjDktAJcO2BVXn3Pu4yyrTQ7PDws7np9UkXqsf7jGg8Ox_wbq1BdCH0fYB2wRG_0BKQvWVQvAJ18X8ToY1zsb4DZXKRlc9IYv-beU7Wru-L3rMvgd8abJQqXheyyQv40Pw2ddC308TTqYiwxSrFxtunW30gIP_vtkJwwP4hVD74QHcaE-eAV51leMpWe8ZYgzoLOQH4uT7skEIgtuAWob70JOg==",
  "id": "rs_0ed9881dcf95aa00016ab42936fa2487d089b946b0617f6700",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right hand is back above the blue bowl. I’m releasing the pear into it before retrying the pickup on an exposed section of rim.\"}",
  "call_id": "call_RuPahj8SLmXkdsMBKeyQNuhH",
  "id": "fc_0ed9881dcf95aa00016ab42938be4887d08f26a524f2d7c122",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RuPahj8SLmXkdsMBKeyQNuhH",
  "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]: [-0.8673, 1.3952, 1.2247, -0.8124, -0.8032, -0.6212, 0.4023, 0.548, 1.4326, 1.0027, -0.469, 0.3397, 0.2531, 0.9957]\nstate[eef_state]: left_x=0.3147 left_y=-0.169 left_z=0.2292 left_yaw=0.0955 left_pitch=-0.0583 left_roll=0.1822 left_gripper=0.4023 right_x=0.352 right_y=0.1501 right_z=0.1408 right_yaw=0.1129 right_pitch=-0.2663 right_roll=-0.0988 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -5.4769, 8.3077, 1.1551, -0.4762, -0.0269, 1.0281, 0.0342, -6.3248, 7.4325, 1.4676, 0.2418, 0.0611, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80906be6f73e65f4bae70bed58406779265417f73b437bb17dd1ccf41e037a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c89618b64f85a37c119f914ccd37533ec9452b7d790f811b003fde61ccb345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bc70447ed15320e86528829c2a0feb68044f16b8787c69d6eecbddbec41e2f",
      "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]: [-1.0779, 1.7782, 1.5948, -0.8051, -0.8703, -0.8192, 0.4009, 0.3717, 1.5387, 0.9585, -0.1604, 0.2008, 0.112, 0.3296]\nstate[eef_state]: left_x=0.3244 left_y=-0.3109 left_z=0.2311 left_yaw=0.0288 left_pitch=-0.0011 left_roll=0.0518 left_gripper=0.4009 right_x=0.4111 right_y=0.1263 right_z=0.1278 right_yaw=0.1412 right_pitch=-0.1557 right_roll=-0.0506 right_gripper=0.3296\nstate[joint_eff]: [-0.0342, -9.0872, 6.5026, 1.16, -0.4127, -0.022, 1.0379, -0.1846, -9.1282, 9.0325, 1.619, 0.1148, 0.0122, 0.6813]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.87, 1.393, 1.2469, -0.8162, -0.8135, -0.6231, 0.4023, 0.551, 1.43, 1.0122, -0.4545, 0.3508, 0.2634, 0.3308]\nstate[eef_state]: left_x=0.3162 left_y=-0.1701 left_z=0.2386 left_yaw=0.099 left_pitch=-0.0394 left_roll=0.1685 left_gripper=0.4023 right_x=0.3562 right_y=0.1519 right_z=0.1483 right_yaw=0.1042 right_pitch=-0.238 right_roll=-0.0878 right_gripper=0.3308\nstate[joint_eff]: [0.2393, -7.0496, 7.4325, 1.7216, -0.359, 0.2662, 1.033, -0.3214, -7.2, 7.2684, 1.7118, 0.2027, -0.0122, 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]: [-0.8673, 1.3952, 1.2247, -0.8124, -0.8032, -0.6212, 0.4023, 0.548, 1.4326, 1.0027, -0.469, 0.3397, 0.2531, 0.9957]\nstate[eef_state]: left_x=0.3147 left_y=-0.169 left_z=0.2292 left_yaw=0.0955 left_pitch=-0.0583 left_roll=0.1822 left_gripper=0.4023 right_x=0.352 right_y=0.1501 right_z=0.1408 right_yaw=0.1129 right_pitch=-0.2663 right_roll=-0.0988 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -5.4769, 8.3077, 1.1551, -0.4762, -0.0269, 1.0281, 0.0342, -6.3248, 7.4325, 1.4676, 0.2418, 0.0611, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80906be6f73e65f4bae70bed58406779265417f73b437bb17dd1ccf41e037a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c89618b64f85a37c119f914ccd37533ec9452b7d790f811b003fde61ccb345",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bc70447ed15320e86528829c2a0feb68044f16b8787c69d6eecbddbec41e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtClIbh1-YoSMJZkyMMzp8jaOlc49_IxWIQfYTDHoCmdYSyr4he1gFOGwfV3EctSOlsozOxTx6tVV-MVqfSU76Fr98fqexsRyuAXiBm_UdXFf6tiYPEF5K_cbKWBFHzmdBu-rvLjaoK42FEQFX8jFXo5QQI0ENMxGGLqpVewp9fyLBbZ2uLGSOkaUDFPzuydgBplHBe4nbWZspkkfuvkRauTk3o7irj9QAc67hfOtHx0qgmd0Nz4lbQLtnP369O5-wb-LOZ6EgusmFIlt40FonAt9Lvlmh3yZ-Lx4d8MTwCbKbnbClC4VZeYYcoJZvaSYc8tRHwrJfn2sXaoaXHgWMPyfX41b9zEM0TzIOmbKgTnIdPqSi-StVrTmGg1g14R_LiuWUX1U1tamWc4HhQYOzaslm2ESOagbhnPWZI-0bBu0UJbQUOl8HQkUnbkAA8aG9zkkXa8yfwh7nvSOE5lw7aZJe5hsLwaRkPHIXtRpqVDDBPjeipYPEF2aToFW7sfeHlYlnkjC3ivv50FKpHRA117_QZ_HAYQSEUL0Icns9UG6u9Lpl2dpHymc-RPrpBKUuTS12oGrwEUqcjPEhKRmCNu9v25__dDaIt6-leetiPc53sfjWxyrhBQJYkzZRwSDSBw4LX_91OxmS0cHPI3jKP2Ei_EVEHyJBUZiddNCiehEA4UCvGOz8a4cf90tA_JLg5fzwT2k8ECp7hSypc6z_uoSeZFWX9YbRohML242TLBzEJnYdr6E5e62mVJEEYqtu74YVo5FDc5T5rZ9ysALf-RtVYfta9GiGuv_7Eb1rtNk4e_3mpC1AfPgx9S_41yAO9QiPzGxYbtGbAYn3ZKipbAIE14NhI6rLTm9AdYBP8HUXhy9YDyeZuJHnUJE2tj4dfRJNnCXmCMgnE-uiWXk7oWoAnqrYtFAg4InUg5DbjdQ1wV_rGR3fHRJ_QNM-l0Yhg8MLQ7G40N7Ghiheq7yLnrRJyEyspa4UgRhXV6GtHN6lActGZuxBygi8c_hEdhF1Vwr5wj3o3yd4phqi7EIxQbjN9FADt6VSA4Q6BkzebxQKYeChxvTgtcZvLMOMdx1OmJAP3vgTS074DjaIXFdSpEZTg3H0TcOHECIMyVQS04sT7lhszQVrvRwmEn7bIhmmfOyWEt1QLgLAMshdzbMKJAgHFVApWai4uRTjV70gO5PoE5tu1ByZ28uVFy7iHycVpVd2PdZmfeVbheHUSWq1omZI0yeag9TJjom-_pz13MZEYBx0wMkdQ3WEWc2CEEzmqMcbztxWNd541CAY8I7V3QKelJX7QguBLq07NPqE3WkKsWq8fb_E3APx7Gw99jGQGLvZwwyp01XHNzGvhD_Ak0sNXK3RxQwavS869ZAnt6UiXJNoTVEuwNa0Kvxgj_Jaee4RiRATbTQ3nNMGV1QiGy86C8EZ2XvF4XE5iQw7xfqS82Bj71jBY2eFNizfjJ--gJlPaExweOtU-7c7tA0-JsPnjNMxRGjtKP4MCZtjAfxkw3uW2Q2X5kl8P054IdRuI1KvvamD8-6P2BQmlG0VbbMD_crDoJnLClxn_W5TQl0EX3zJmyNCkyocn7r4QwkcVLLyXij6JK2KL3S-debjbNVVItAyNR5jkPl9uLGIP7NBUvw6Z8eiliOe7Fh49uhWIPlG00KfLKtqaD5yvs2wy-hTGM34868cYlPUeyBj2ujtb-aVnpBtSaQjdoOAyD6NE4qHeOWfjsqsvGbpuFoZ1cWqKkENXlSLjvLDfBAqf2wWzK8Dq-Vbx2Z-aauQ-2h692qAah2V9a3vuc92hWY-QLizEw0THWUMTIW6E31q5MRymLHyjJ8vvtaQWdKFoWvb0phsdO68iUVw8nFGHLPafmEjWAzwulX5p3YyTyUf5jSHD-9v19R9C0Dbof2N1cv7S_xul3Ozbhh52N7-vLyw4d7fW4fJofigwamq45gye97K7fNXD-k6NPqPr8vUOMShzZK8_15_ZyGBDCu8-Cn4TGOzbe9ydT1OiBVZcNaq6oTjac3-O03S7Yjv98rcKZlHT_I-UyhkZ4yjEdIejjNHk-nyu2aaM8LicIfRURzTKXvw7eMifmpJSZKDWDP3F1WevQSgBjQ_cRs94JLIr0fxijvOtdOXkg_2fNtv7WwmWErqguCpXAI7zquMsCcgfr7HqAHHgGY8Be9TdFYXPBGo23a3aL__1D3PLYU7gCJkytsKCOLPGyCkwXjVArlFBFLH4h4RIJm3Z3Rltn1t3hMkVFSQo0oCgA1bZrJSC-Ee2MzAzLJ4SlkT9lyNBk4K-IlWWcZWwRu1D9SNn_2IkyMu2OsQ3CGXpAbAA4cihn_DWawYhq4K1XNDyJA3gA_LLsYpNBI9ODiL_PnfUNv676UBDGjiHYNCgJJINEqb6j9D3MDAbDezCy1HJRM1KGSQwg7fJmvgOGf0RJmZTHK98Mcu82QwE5SMAnB81zoTO_aAJ3dWJNhjgwALNOFW4LTaUox-8ouH_98snCpToiHjaKInXh56209Wq1uR-iJ3dfqfUcr1QYjzODnk5rVRdDWaxyb-mSm0ZSGPpA7zBGZnr296C9Uy8UhTSMF__gcl5GS95HNtAuDNgoXTkqPzK9Rm6f7z_dFaBehSWu9pbNXbaWy5eY-Y7hZYbfZNC6_6WPCNMyrk3it_Dm_J9IxSmXNpZTxOzA_8IZ_LZqhLSKdGNZS4kDO5laXDtFzEJArooeKgoLglTK_mWMqAAYFIOpWBNaugN1VRidsdHliZXZnR2JrVMXz6yCv91fisQ3MqW6Zmum_VJMO-PgMYa9HgAlIqPAieNVyy5urz29w0r-iQXOE-raY2TWwGrl52w3InZJPKzV2VRSf4NZ671EThnt6-jYYXO7nLoXWKIWITmyt_hg5ZwQ5mwRwfVxYvxZoDt2QwTUiiAQT2ezF1DhCe9Ja-LtlHo7DIDC7qHAWEJWaEfs3Cgd-dwGtrajQz5i2zUFXHlxURQna4y083wiV6PnfX92rQJeTvsZ37JA2MN-2wY3hO9VS-92-Lp_W-kJLrH5i9_MdbBJQD4j8wxL5iGbnSWBikT2SRSAwwvzA0XulxVLrbLlEdsyFQmqZ4X6DXDc4iD4-M_bOpvqahz5DIVndgxQDUQeZrD83WaUtnyM73GO9K0plKbvykTu3hz0h1myhXQ3kJ7Cr5wQSIdiGZSv_bwo9bOOHNHJ5IgYkpH8HHn5ebI7zYA8glXrBPbSgYs5xe92HyVD43FvVyrYGitFyNN2WJ0S0tsmCv_lgZ35HHbVO7DqGmiGC2c8t9PUOHY_LKfIof1wKBApJkhM7xVBOefVPQM5hkS2UOWosZV31Ux27HAkM2O4T11fbxSFHWLRHFvSomytS-KmbBQ2BD-uDBnj1HI_m9UbnJ5CnF5jca-QOhoyp1ycOE9dsucDiuBj2CDYtSvDM_O0feD2NEXOetbD1GMrZAmoaeIfuF1BBWvxedpMDcEy_mDuWh8MkJeurFBGjvunAX_PXNOpzu66BiJqaMA1Ixzv87w68WnJ0-I_4TRM11Vu_D04MwGsptd9FwV9Oq0d_Cx8fEMghR0TTkSK_icIaH3sQM4_nKaSNbX53ELVMt1EM0piD4zQICT17yGf55wMliS_8h2x7b6JueY_MX-6aAKnKR8k68u_DV3Qjh-sW70BZ4PNjzdRlMug21Gni3Mdtd4DRwPBvPFN1AKkXvFdRPzG6bMvuWeWW6xFYC_wQ9zcXunZXU8aIiWkEZ1Snxwv5pm2cQhy7dKYRZFoUbXFupMJXeILmrrSjrMP40zEMF6nYWSzenu4aa2UAzMSWi_jq2gUz2wuwKY2BMM41gzX40JNAzPYwqi2jDj45poOEVDAY2eYP4d9LnPttMqmawRx-CW4nDSUKtp98WFam9yQDPSSU_8odZyypblOueAjOw0bZKw3BXkJd9Rfu9pkriz9G8hjc7x8sBaD2CoJ6xNd2WPlyV0dbtrYBqo7z8SJqdMfxbNfG_S9qesNgip1FAxQnIXSuj1nCXZ0vDKDwGn3-IP0nMPGRsb_RXqFQ4BSdmvtQKPzXHHb4gLUitIVuGbu00ZAhM4kRiQWZjA_ZmQ8bD-9QTEoeeAn4LtbtZsHeJsJEGjMVmKJBTO1t0qPef-4UPer74Bq0Ad29Y_OJ-OGG6IVzUVX3ZA2oCCuZVOOqo7_Vb_jxP25z-K6EEsXvK-8uD-HB0JXWIsNtjdPwjyBhr18iPDEEyLzdevn8YWlqVhr8rb8UdjY1Enm1QzjRcjg=",
  "id": "rs_0ed9881dcf95aa00016ab4293e1dfc87d08b1853cf321e7452",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.185,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":1.4},\"note\":\"The release revealed that the right hand had lifted the bowl, but its grip let the bowl tip and a fruit spill beside it. I’m approaching the exposed rim with the jaws turned to try to right the bowl.\"}",
  "call_id": "call_mvNmKvth5x3wWhY2AGh6twe4",
  "id": "fc_0ed9881dcf95aa00016ab4294723dc87d0ad3da04f4134ef86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mvNmKvth5x3wWhY2AGh6twe4",
  "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]: [-0.8661, 1.3972, 1.2232, -0.8158, -0.7952, -0.6212, 0.4023, 0.1268, 1.6657, 0.8188, -0.2199, -0.7685, -0.836, 0.9965]\nstate[eef_state]: left_x=0.3142 left_y=-0.1692 left_z=0.2269 left_yaw=0.0923 left_pitch=-0.0677 left_roll=0.184 left_gripper=0.4023 right_x=0.3286 right_y=0.1693 right_z=0.0586 right_yaw=1.2011 right_pitch=-0.1141 right_roll=0.0513 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.6684, 6.612, 1.1941, -0.3883, -0.0317, 1.033, -0.2393, -8.6085, 6.5026, 0.8034, -0.7399, -0.105, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b41aeb1cc2cc0f341b230df012ad34827711e1a06da8e65d8afbf76232554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad984924fe1db835287b351304c37cb580de534b119289fca68cfebdd762131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39ccf0edb492e1b70aaaaea07964c19811f197ed1868b17cb3f7883649103ef",
      "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 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0561, 1.8359, 2.0468, -1.277, -0.9169, -0.8307, 0.4023, 0.7044, 1.9102, 1.4971, -0.469, 0.4458, 0.374, 0.3308]\nstate[eef_state]: left_x=0.323 left_y=-0.2791 left_z=0.3215 left_yaw=0.0808 left_pitch=0.0017 left_roll=0.1292 left_gripper=0.4023 right_x=0.4297 right_y=0.2699 right_z=0.1405 right_yaw=0.1206 right_pitch=-0.2054 right_roll=-0.078 right_gripper=0.3308\nstate[joint_eff]: [-2.0444, -5.2444, 7.4462, 2.2344, 0.2369, -0.0269, 0.9548, 5.2308, -10.7692, 9.9897, 1.3455, 0.5446, 0.1783, 0.6618]",
      "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]: [-0.8673, 1.3952, 1.2247, -0.8124, -0.8032, -0.6212, 0.4023, 0.548, 1.4326, 1.0027, -0.469, 0.3397, 0.2531, 0.9957]\nstate[eef_state]: left_x=0.3147 left_y=-0.169 left_z=0.2292 left_yaw=0.0955 left_pitch=-0.0583 left_roll=0.1822 left_gripper=0.4023 right_x=0.352 right_y=0.1501 right_z=0.1408 right_yaw=0.1129 right_pitch=-0.2663 right_roll=-0.0988 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -5.4769, 8.3077, 1.1551, -0.4762, -0.0269, 1.0281, 0.0342, -6.3248, 7.4325, 1.4676, 0.2418, 0.0611, -0.1001]",
      "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]: [-0.8661, 1.3972, 1.2232, -0.8158, -0.7952, -0.6212, 0.4023, 0.1268, 1.6657, 0.8188, -0.2199, -0.7685, -0.836, 0.9965]\nstate[eef_state]: left_x=0.3142 left_y=-0.1692 left_z=0.2269 left_yaw=0.0923 left_pitch=-0.0677 left_roll=0.184 left_gripper=0.4023 right_x=0.3286 right_y=0.1693 right_z=0.0586 right_yaw=1.2011 right_pitch=-0.1141 right_roll=0.0513 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.6684, 6.612, 1.1941, -0.3883, -0.0317, 1.033, -0.2393, -8.6085, 6.5026, 0.8034, -0.7399, -0.105, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5b41aeb1cc2cc0f341b230df012ad34827711e1a06da8e65d8afbf76232554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad984924fe1db835287b351304c37cb580de534b119289fca68cfebdd762131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f39ccf0edb492e1b70aaaaea07964c19811f197ed1868b17cb3f7883649103ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtClPNTZqazuoEWuO8Ib71LwtWbbvWBV2amL9eri8Kgq8n7gU7yVvw4QTBX4Moj8JC9cEHvunr3DIeKDEi8AHAxH5UGr3iSyDMXC1sPpvMG9D9jUIegG7vZtGq03B7zDUUFRP5iRosT_Oz4Myv2W053g_6k9sFrmzeGp-RIBT5_7DfU_ZZJmX5y6Uo93HMmpYPO5evylL1DBB6ZoTg1-u8QzmNUfw79Q0R77MLUw5bEJ81zlxvj1FehK-vh0hHHRZfI-5u-SkzCUXnhpDdRIUyZuO0L-1UJtoV82KQuzGH7wi0SM6z1Jt_K-qVkgz8_7piyDA8BTdS1AGM1EuzMLtchQfSgVpO1NvcBRNCGolMKG_9qLHJ_5MIT0qnklcAX2sSrBWUbLI81pel6DqVTzzm5lUm-zBIAp7O6BGtlZhEZ6c1QB8rQCCh385XUc0X7Bn5tGJcTURC_vYzKVtLuad06r5lAJ4R04mrUhxwOEFq9UQySoBozGJT_tpbuhaFR-HJmQ6aDWyBwBMwZYtvUcHr0lL02ab9HAhdKjwNwbAq1xi-Bv_bjacehkPf5Ltb-CnAgFt8X3CelQr6j4bYnfNCZMtNf2m1vtzbZObE8a4smzDLYy56Mz_Y9UMEAQvttb6IzjjDd_LkVftYyqnTgpKwcm4-TAl1m1R5bvjq0gFWtHaZa8b40YAG_G9x7qyh1DrzHt7fg-m9Egq9s7QmycBbZC-5_jveuyceZUKzrm-Dzu2dHQvgjfCcISpg3FimXcbknqYhG3U57PfAf8uzAnpm2ral_99HF55iRJrdlD2amQUWesjLrcjeLhMll1w4y_CNDp-w9jXDUB-IW0n2uY0TWOmrIR-V_R3JhvFHkjTjojHk-R5PbHbEoIR5vzIVMKCgMfhmISg-sr0crYk06fzTQtxQOM3KF4s4GmK5L9Y4JAbhhSGi_zjQLTQmnKsmAc_hSBB8erxF88XsanFBr29zoBf_-UGAWP0hqnD_33PsXhwIbE6-oGYSTq9etbHvvy6oJQ1nbbqMV5s7DI7UXAGilbqZwdL3sWAFvvSyXZ0Xmc2k4YXjhquYitScY_cNEaXfHBTkEN9dBxlRBd2xg8QIne5n2FCnPhpgeCKNtV5a55HBUKIerhT9qz5mI0Y5vauGmFfgjHRmBnkChIftrplhaKWZikcoNzm3GKT4UUz2sO7fKANOD7DfCxFPeLrK3qVz0GK3tAoQr2SNqDOQt4vWPZsbH8HlkLMLgRIEnOTkQVRsxUdo3vihuBdojr1i0jZ3qB5VzBnAkk_fudp8vAz5OUnIdly0Jtb16LQHJkswyJFoxndLBe0f88qEnyXJturFsckjqBPNF-9nXi8GzWQNCXYqnNg7-WCmC7WzPbPie2Q_Gg-fki8qgQeDLKHT2aGOQQWX-l77UrUpdKpQl0Sqjzpmfp113y9kPjtIoBXMnlOBnpBNQO_KgECJIoXl0ntGu1TH8-W1P72KC3oo4gzBm2unUFC3qIXgnDuQS5eJdbs6z3QHRE2hyTNexE9xBhQCD9hLmyNCy1OJpmxsP1iiCaNcs0t19a9LIM8yjZn923n4wZwc5yoNLNUePU9XtqSwvOBZviVMUD3Z8pBXhsaolsvvIoZlXqgv4mE3NI9a7lFuV9a6j_iiKIeTPKadZiKZnIggcJrDQe0-wkxoykKOHXixB7omy6A72SQy7C3G6hymSoTx45lzsG2eZxQm3Ms4lLg6i1qSE51CBG1JbIkioIBZOFnHtQ-bZkIGltJS-vMchlImjKfovzXj4_4MP63Ofm1AG17f5MNkVqvVH-w42f42IDEKu81WDqHleQoSPSJ-S87xf9zbShDtpEAcjhTa5tgW_m-bqk6XXHGW0oQ9zhxiFaHm8tM9HoiC_Wuanj2n9CVZ4LY0-KkJr3ubxTBsaH8sgRVAnd5WtpQxqPVN-uztEEt6tEWbTTAqHpSQVEjIhF9G9W-UO1EBSra-CWERzDTm7EOTcMFwwk9XM3o6r81EJfB5zUAmGl_sgYyjO6utErjxV7hmFe_ueuDAgU0tFpB5QrMivilst2OVH48b3tg4spGPYaG_zcNDBwo4LLuLM7pLeBi-YCMoDZ-jRWNfSs2g_Ll4X1M4QFhFGdtnrop-a3Dlo9YFUOsbBQBoYDp71qmD_00c3oTB0ziAaY076TI9Gcm1ps_ruSnvJMsDmH2-TTzIG6-9-deOmf4wztlQcdMCAxgSDND_8PoOZ-m7naQNuxqbj1ze3DQAmsPXdVtQ1eJPS13bblU4q59DtJnDIFR3u7Cwhe91X6TL3QHTctoEgomV2jYieU8Qo2KVMDJYW1pFBwK_GSzRcxnKMRcRnjXtuwdxHUWKPeVINv-NF8b-RKX0RcE6yd4syO2sQy3u4GUfSwMYQCzEvifvlmD1w2O46nncduhEwnk4U29w11ktrBWhKHkLZDyP6fY7syJDDJzOBLkzRymURrlVeFv0q3VgWovfzWLKAY72z2DsOxRadm4IyczQie8Lu1GELnhC5_HmtyPgyK1Y_o-bIuXEPI=",
  "id": "rs_0ed9881dcf95aa00016ab4294ad11087d08a6f2abe124ef2c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue bowl is upright again, with the yellow fruit inside and the pear beside it. I’m closing on the exposed rim so I can bring the bowl closer to the left hand.\"}",
  "call_id": "call_YmGYsHSBVRhqTEbsFiyNF5Ec",
  "id": "fc_0ed9881dcf95aa00016ab4294ec56487d090af2fe7757fd31b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YmGYsHSBVRhqTEbsFiyNF5Ec",
  "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]: [-0.8661, 1.3972, 1.2228, -0.815, -0.7914, -0.6209, 0.4023, 0.1081, 1.692, 0.7841, -0.1539, -0.8158, -0.8623, 0.0101]\nstate[eef_state]: left_x=0.314 left_y=-0.1698 left_z=0.2264 left_yaw=0.0899 left_pitch=-0.0701 left_roll=0.1821 left_gripper=0.4023 right_x=0.3268 right_y=0.1685 right_z=0.0511 right_yaw=1.2209 right_pitch=-0.0744 right_roll=0.0452 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -5.6, 6.6667, 1.1795, -0.4176, -0.022, 1.033, -0.0889, -8.841, 5.1761, 1.1697, -0.3736, 0.0513, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bd5a51c9e0fce2183acd84b636f9b53841e136f8652187eff66974d34e6dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c6493c5d813d1e1428204cd3ee984c4f407569b47d94d3cd09179ead03224c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237c95e73ef88a576319841e1baf01ffec59d40c1396fdb0b187ecfbab19d666",
      "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 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.87, 1.393, 1.2469, -0.8162, -0.8135, -0.6231, 0.4023, 0.551, 1.43, 1.0122, -0.4545, 0.3508, 0.2634, 0.3308]\nstate[eef_state]: left_x=0.3162 left_y=-0.1701 left_z=0.2386 left_yaw=0.099 left_pitch=-0.0394 left_roll=0.1685 left_gripper=0.4023 right_x=0.3562 right_y=0.1519 right_z=0.1483 right_yaw=0.1042 right_pitch=-0.238 right_roll=-0.0878 right_gripper=0.3308\nstate[joint_eff]: [0.2393, -7.0496, 7.4325, 1.7216, -0.359, 0.2662, 1.033, -0.3214, -7.2, 7.2684, 1.7118, 0.2027, -0.0122, 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]: [-0.8661, 1.3972, 1.2232, -0.8158, -0.7952, -0.6212, 0.4023, 0.1268, 1.6657, 0.8188, -0.2199, -0.7685, -0.836, 0.9965]\nstate[eef_state]: left_x=0.3142 left_y=-0.1692 left_z=0.2269 left_yaw=0.0923 left_pitch=-0.0677 left_roll=0.184 left_gripper=0.4023 right_x=0.3286 right_y=0.1693 right_z=0.0586 right_yaw=1.2011 right_pitch=-0.1141 right_roll=0.0513 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.6684, 6.612, 1.1941, -0.3883, -0.0317, 1.033, -0.2393, -8.6085, 6.5026, 0.8034, -0.7399, -0.105, 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]: [-0.8661, 1.3972, 1.2228, -0.815, -0.7914, -0.6209, 0.4023, 0.1081, 1.692, 0.7841, -0.1539, -0.8158, -0.8623, 0.0101]\nstate[eef_state]: left_x=0.314 left_y=-0.1698 left_z=0.2264 left_yaw=0.0899 left_pitch=-0.0701 left_roll=0.1821 left_gripper=0.4023 right_x=0.3268 right_y=0.1685 right_z=0.0511 right_yaw=1.2209 right_pitch=-0.0744 right_roll=0.0452 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -5.6, 6.6667, 1.1795, -0.4176, -0.022, 1.033, -0.0889, -8.841, 5.1761, 1.1697, -0.3736, 0.0513, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bd5a51c9e0fce2183acd84b636f9b53841e136f8652187eff66974d34e6dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c6493c5d813d1e1428204cd3ee984c4f407569b47d94d3cd09179ead03224c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237c95e73ef88a576319841e1baf01ffec59d40c1396fdb0b187ecfbab19d666",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCla3_QE171_-dArgrxSTudgrWEUrFAdGwKlIPYKOBTI6AtluXEJPD8MsvsTNWZH-g1VJn4mCZi7VTanvXk6Uoa02fAm6CwnrMtxmYXHR1tIkB82MGb-amksjp8bfaRVnQBd1_7nBEwcLZpQzw3WngXeateL0eTLHvIlaO4u-j_AkEuNyMB4Gf_aJafA3pfxCRTyU_lXMVSc5gJ2W4osC-HC8qgFIK_w6oTUmEcefTMGiV3wy892yKhrzObRqhGHMyfks6bbK0MQ5JVCC_yoCB0_vgZG399Ls2JGBwcJlEkpf24PmpXnu_033hFKIdZaNfskIMgWvEBZugRLChhyqV8eHOTcQTUEV6g6CtCZ6okgbF45v4AhOGBDzgnU7gbYQK-1xr4Enp33_mqS8O1ZYiWra1uHOJamqHBjT-tzIaJ5W3cGU6E9xX86UlAH79SIHeDmHftZ5ZGjhtRax355ubDl-nQQ52vTacKXOL9htZK4QNnWQgzLbc-Fr1I616fRxlj7YwqGBaq3m5t3L79ya41gGkgc_sFbSpHr81Q7tG1bM6lV6NP67j-89Tn5LeKg61kQqgBqFwqAD1TwFxbk6-ZNR0pRWIKkNrFSnHAmeIMNCOuDsD5rKQviUDZgfg8cFVM2phLfTzlVgbHgcwvu6HJkRHL_9qvGZ7zJ8lGzagC5v7tNGTDC4Uc6ciHXJI_0kyYtzTjWgN5EIzXYJJnY9apaT4kH-ASKpvDtNKx2cwxAtoAEBn4hxO7ISEX-FzMLdJWyeAWtGViyfr_5BB-Vust1HqXE5urX8KcEyi_2WdHcMlksPw-3fuMgdLvDY-HNUR9Q766sC3fZ3dzbXoqefD6H8T3bB9949JWaiQYOlTAvieRowmJaE6xzmTJZA4QGGzAOIVMQK8lVqOimSIj5mn4qMD-lrwhqTS_zZ-EAwAiXLMexnqVJXmTzWK7IVFUnd6iUZs5jYcjMZwJDwDGBYxNWfjX57VBZOwqDLevH32yDEQtaz45sEIHDVVEI9JhFFEF2f0Roz00vacH41pFenPoukttjJmsAwbntNhvUK9_fp5IaXqfQPReUjSkUdU0zEtpKD6Ja4tHLXNornCcY0pWqvbO28BfmgJd9R6t2zbH2pKJMzh2PW5ydbX8GGjbnOJmOMnQT2W6UQ__StlekXiUPNq9fuVawhsDO2lM0KGLY-KDjWg95tpUBaTz9myGQqnV7pOGN4FMSsV_D5JcZTvADr-a70aouiCdS4Aamd6Jzxf4cew7WdZbP4qqY7gijhrtg9PirPkDM0yElw3_gIm8GiG7LQcmCAZMm4mm0aYTYTONgnvMkYE6QNGPFa0LfbD62gYhTJPwkbJ4zCuLrG-yMGfBSFvEueroXXzwQv387H_gVfOgeCur4DknEDMymOszWXlhPfd8dWS07iLR8meRBBonT0EUB940GUfv6GnLn4i3UZ056GmkK7VeJdEYFGNQAvIHts7OBP0R8rFot4mKl2BrICj7NyltvTdgM4fSRTCbBv1PQhU8iXh4pY7n5z2AF2D5bGLcUeHiXvi7HpP6dPVnmz_pSSv49DaWGkaxlRdbZmZof--H7W9VnyiRjp4FFsVX3P3Rdp8xGQfZuTBm2K4LeVlmeySvHCAfIq-Hz4d2AoPXZWB4hW2nCIv23H2RdpSzLtqBIfHfqaaMcV5WMqGKAsHpxi9Gvcp_aG_59JjqAY_RYYppNN6teXtYO9fdO6R2EsBS2ytXBd6ZSEsyQNqdOfa_g9OjR2YbP4LYjY7Df-QUK-juuO6FaxyHxX5tLD0TUg_V_TsQzcbJ7m69D9CHCjE97Kvh0iJ-OaoyEQmHtFkAsNL0oIw5O5TYKVEUgYocZSFxIxE88BME53Nv2uo6LsRTxOGwU97mOfDUJdRrKKhGOTxG1Gio2yBIrY2Z5LfYBIEI22jBQltFE7pwzaLkrhjXv6UcPw7160g50JSJoKknSigyI8HrLrjCy4QhsghboiiQ_Ql5uGYwj7qacCI1rno8sQ030M-jrRlZS4PyQfHdkQmY8Zsur6lVTVxXXPHHqOckKVKvaS9R_HdtqOvg_aB1xdChMCxUpxs62AeQbodo9MbNLbprYmMH8AkEaH_SmwJV3bvTbVEBUA8fc-__WZXsbvthVS9yaLPQkr5XqFqF4AEw_K9vcHmJV7LWBiEzrfO_bm3s_tQlAAdevKzNiQMxfYBgOQFq0agci6ihX0mcjeLelA_9L-MB10F-wf3LbYgA2fvUI-mfcUDiKcXgFvPoxN0PzS8_nCxbc18xN4M8ukgQAYyuRMciahdE-NRy3ukp_B3vrMzkpKr2NwU71AsEZBWE-BVlCAfIyB7GlOLHwcR3LbIeL_pKkI6k8Y_IX4IR8CMb5nRDWai9l11a60a0YpVnQhwlJLd8CUlOpvzohVMYDcpPydv4TDWqsLGOU1KCGjUqqMmd3-dfLRQ3hualil8JD8eVyjY_DcdqjvLsXUXSZi3a9BN7OMFZ6lFfeooqBZTHJRtnuaRdTL0iyxJt7Q2glFn-7s-X2_2i82iq5r10IB42RLJSooARl-j1_Lymh4gO2EjKDYiK7sFtQkevJWQx09PWGq5RxgUPAtZXmONt_AzAhIYWFfZj3FVHkIjE3id5gmVGYsC-u79nC1wvKVSjkI7H_CAu1cuRaMzO7ngbI6orJQJ8A8fXa",
  "id": "rs_0ed9881dcf95aa00016ab42953abf487d0a91ee0686fc2acca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.165,\"right_z\":0.035,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"That closure was empty. I’m turning the jaws across the bowl’s left side wall and lowering slightly so the next closure can capture the rim rather than pass above it.\"}",
  "call_id": "call_THseeA54jj8K2woWD9RdxUc0",
  "id": "fc_0ed9881dcf95aa00016ab42959a6e087d0a23b4b2ccbee9752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_THseeA54jj8K2woWD9RdxUc0",
  "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]: [-0.8661, 1.4006, 1.2228, -0.823, -0.7876, -0.6212, 0.4023, 0.6994, 1.56, 0.4656, 0.334, 0.3508, 0.3325, 0.9957]\nstate[eef_state]: left_x=0.3132 left_y=-0.1696 left_z=0.2241 left_yaw=0.0886 left_pitch=-0.0793 left_roll=0.1893 left_gripper=0.4023 right_x=0.3076 right_y=0.1841 right_z=0.0233 right_yaw=0.2242 right_pitch=-0.1363 right_roll=0.014 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -5.6821, 6.5299, 1.1941, -0.442, -0.0317, 1.033, 0.1026, -6.0513, 6.4205, 1.5946, 0.2662, 0.2027, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f00e129728541e2c66e4c0ce3f1905d6eccc94e033e6bab3a87c95a2c7e4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf5e7909ce9e11abcfec68a0aa828b8347c0e67d760442c6ed754af77a4984f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a216d8fe80f4c7365f3cc79ea587dbe9fdb45479e037680670ca709340a234f",
      "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 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8673, 1.3952, 1.2247, -0.8124, -0.8032, -0.6212, 0.4023, 0.548, 1.4326, 1.0027, -0.469, 0.3397, 0.2531, 0.9957]\nstate[eef_state]: left_x=0.3147 left_y=-0.169 left_z=0.2292 left_yaw=0.0955 left_pitch=-0.0583 left_roll=0.1822 left_gripper=0.4023 right_x=0.352 right_y=0.1501 right_z=0.1408 right_yaw=0.1129 right_pitch=-0.2663 right_roll=-0.0988 right_gripper=0.9957\nstate[joint_eff]: [-0.4581, -5.4769, 8.3077, 1.1551, -0.4762, -0.0269, 1.0281, 0.0342, -6.3248, 7.4325, 1.4676, 0.2418, 0.0611, -0.1001]",
      "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]: [-0.8661, 1.3972, 1.2228, -0.815, -0.7914, -0.6209, 0.4023, 0.1081, 1.692, 0.7841, -0.1539, -0.8158, -0.8623, 0.0101]\nstate[eef_state]: left_x=0.314 left_y=-0.1698 left_z=0.2264 left_yaw=0.0899 left_pitch=-0.0701 left_roll=0.1821 left_gripper=0.4023 right_x=0.3268 right_y=0.1685 right_z=0.0511 right_yaw=1.2209 right_pitch=-0.0744 right_roll=0.0452 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -5.6, 6.6667, 1.1795, -0.4176, -0.022, 1.033, -0.0889, -8.841, 5.1761, 1.1697, -0.3736, 0.0513, 0.8864]\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]: [-0.8661, 1.4006, 1.2228, -0.823, -0.7876, -0.6212, 0.4023, 0.6994, 1.56, 0.4656, 0.334, 0.3508, 0.3325, 0.9957]\nstate[eef_state]: left_x=0.3132 left_y=-0.1696 left_z=0.2241 left_yaw=0.0886 left_pitch=-0.0793 left_roll=0.1893 left_gripper=0.4023 right_x=0.3076 right_y=0.1841 right_z=0.0233 right_yaw=0.2242 right_pitch=-0.1363 right_roll=0.014 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -5.6821, 6.5299, 1.1941, -0.442, -0.0317, 1.033, 0.1026, -6.0513, 6.4205, 1.5946, 0.2662, 0.2027, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f00e129728541e2c66e4c0ce3f1905d6eccc94e033e6bab3a87c95a2c7e4e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf5e7909ce9e11abcfec68a0aa828b8347c0e67d760442c6ed754af77a4984f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a216d8fe80f4c7365f3cc79ea587dbe9fdb45479e037680670ca709340a234f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtClmg32l_OpgHj-ty9qXw0JzXMklFxIXjsBwbq6L5cpAuctWyCal9NJmp-mCM1efJ1ICudb4Q-szBf4uvGkMhCBMT4n_ibSgKSYW-MWWKw7kT_XPI8lxUw2US7I7fBE1YRC3X0oaryXEhFFFV3vDyFek4iFeZGJJUuPub9tdY_UzwtIn6kY0aKV-33nLWU2dtMZ0Q5xekZVoFqBVrr16jT0ToBvG7vH9O1wCfvE5Ugu5gPT8vL2i7z3lX0qvIaA4LbyTQusIzXB2M_kG4g_jp_SFwwHgBZNW_5VBQ3KZeIxoQ0hD1OvzyRWYvPvdf2bbZA9GzH-DrIvgm8-39TWXfLxU9iIDdJdgri6aaGC9eunJ4nD7dsUVHJmP5UIGayWHJ-OwAf656475xsEM6_83uhgAA_tPnrBN-9mGCeATxCAQtmGLA1ALMsXfpjWdbjhSHQTVy7lPUuHDbaLSe3iDmNz-ZttrRmA2a6M_DlBgsn6shShJBdt1CxdOO-KtVVTVLM2HN5xlxWgJMASAcighcq2mk2BrUliE_05Iy9tvebLS7ABMNdIgiqu0IadJk1vt9d-Un1FW-XZSidzYO5Qxjy2GAtj9-KzgSXpOXsVdzELdf8SrQjcF0ohipXE_5ml9KVySTyEOCAVmZcX7sqrNZLixB-1xa1aQ-RyxcPhJp6-qtk_7kU83-yqiKf5xcTTuBTMHctiThm7KUXgn5DKB7RJRkRHcXejKaMamL9EExSzIMxoZ4uq0N_15iyvZwg-3mTKebFEK8YwX8ZIYXZIFgOyM5q6jHe0rOFN703GEpIsZL9hn44iw-msXCcgHIDtr_wgfrIvO8pljGjKcSqOpgJAKpuDM-LJ7xxWaZcmvwdkA3vaPFJkHqBNQ29JaBouBB8A5Jrpt4hqG0LmLxFSwNcPQo87eQWAjoZiC9baca92uKN5YtwglT9WBvOZi3n7NJgqVw5I39C2nwJLMERDkWl_TDpLch6PYpUFREg_5BQ2FQTCU9Mzvnxa3UsTSLaIMu6x-AnM2gS074aA0V6o-YXfFsUWaj9K2AKS4RPKbHUfjG0QZblmaMxR5rzCfLKMwyMgKdSUgdZ1PUMAlJguCv2OZqJcUmBQGPdtAvnJBJJtySnZV8IVONfreafBv8Kw-oeuKARCYZNldbS-C9VOHac5EQvHdWVmX4HhJpXgJ0u5z3bsFwBp-uqEx9-A0d0cXWaGBT-FAiDO91bRVYAibipj1A0Bd-WgAFhterOoGo0uOIjL9fPR6ot9EZLasBKYWDPwQNQMKv3z10BkK-ZCtuQZ9seR-u9XcjvxsGwQ3uGSNMcSKovXa1z1WUBIcQHhkimAv3yUftyT9aNxhqNpxXomhAugyp6q-XGBVBNLPxOZidJ56fEo5ok5PFQRhaTuSVVGOyzBFu9tPhOyHYW50p8aSQFmwaYNYE1NNuHMP-6_k33rhfB4rWaWOpCZzfNfOtvmvEDojYGVQLG_k10wgBSu-lqlWtE-sWOw7PhtYoiJ7KWDBa-kobqD7QXQmfvU8kSz3ALU0-ZwiaNtBBmtonr-dk74RITUCGnZauYl1VSuna7gFRTqfHYbh1VNB3C4LICd7GBc1G-0n8f2ajvjxu4ANP7r0S8gInK8q63Xm-3CMGDLA6R8DwU7DVsGdbxzm99Vvtenoje4Rr8gruiBSfLNki-OX8fAyl1ud3dYm9KC2BkZrvj3VzAx_U0VBFmF9Z1LZ_yfyrdQtAd0qM52RMkQLj_y8C-Cp6CfBh2gco5O91GJd4A7Uf-D2uUIw01Y3n06kebkGQwS2PJgM8YuUEimhoghokLPtkZEpQfBfnAyFOAEsq3m2jqducD5tZ52a-OXLeBp6uuv7Jhy59_RZl-a5nUkSvzSumQFo0mbY0X-6QPi0Noo9ecMXORW2IERGUrprjBM6z5XWuwO168VNU_3LNT6bUnEK2kjBo7hYLGCsioW2U6HP_D58tJn7OHPDGaiYYAq9QwS0RvE26u8lzxNdYhhdNxeBaJcirahh3BzJG7C-YwuJMbVno10xZ1srQOMumW_IglxnScgnG3xuY_hngBC17pMiVTOyo__-bM1UaiRokcmlgago20uzM__NgGSmfeHnoMygKZ0D0MrjpJKG5DKCDZMuStnag9G5VEP1Lk7_Gbk2NjxZSUe4lJxOTKKFvIKWJgLfEs2Ic-_NAgb5p0oJ_7IG3iVwJXZtR8UrR3YqVFvUSTdscrzlBc2vnggcmO0C2u1mWZahqJJ8rrKYSBpS8JmVH7vd1T4DXZi22Bhm9Yt82Rt92ewZNXGcdLWBg0DBB4lL25jLJQKVjzz7R-qftMkUjQEQCuxHWJyBNGz5SCkFGDXc-G9_W6MV_zKPndiQKA20BNE7cznWbMyDJIp2n6HtVBbi3bYGFU73i6Cx5-fkqstRnR-ELex_B9TPukAoPhhQMDZZFhN-7gXBmEURO6Hq1VqjgB0WRZ6dXqSEQDb_LYQE9zg2Bbx46jIMRNEj557nUdRBZt8N4XILy4NaAkLsDIJDFy3AwlzK56GyKRQjSjSin_U2GGh_YkBP-Nx4XHrmjPHL9cYBtBBV3uHaZzw5t-ni_TGROgKftw8uZ0Xfay5ORzfyNlyGJWeVfpbYorsDlTbuMUP-waRmKPCly32wcPR2E8FINg3-Y1jzhGXNU9CjWHDcxChFwF_aR_idhoB6YYdvc4SYLXU2OFCb3ypgLUR5VLkK1warWgUSEwnhCSV39kabs1_kWfwBKWr2q4hWV1nU7synRlxELuXYqx6OqEoQCJG_EPO6weG9iu5nOH2ysfpSDbSOnbABCjrYjOYTnmbQpr_eD91TLkffo0ZHgGoAYu9xsFq7sibjxCQSz8Tb6R1vxZrSQWqk",
  "id": "rs_0ed9881dcf95aa00016ab42960d30887d0b1ff17316a7c57ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.09,\"right_z\":0.07,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The bowl slid farther right during the rim approach, and the pear is now outside it. I’m re-aligning from the overhead view with the bowl’s current left rim instead of repeating the missed grasp.\"}",
  "call_id": "call_2lWNnYE9Zlu1tE23TWEOcpLB",
  "id": "fc_0ed9881dcf95aa00016ab42965862087d09c11f37dccb240d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2lWNnYE9Zlu1tE23TWEOcpLB",
  "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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7868, -0.6212, 0.4023, 0.3977, 1.4544, 0.4458, 0.3405, 0.3161, 0.2371, 0.9965]\nstate[eef_state]: left_x=0.3129 left_y=-0.1693 left_z=0.2237 left_yaw=0.0883 left_pitch=-0.0816 left_roll=0.1915 left_gripper=0.4023 right_x=0.3496 right_y=0.0912 right_z=0.0516 right_yaw=0.0062 right_pitch=-0.0619 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.641, 6.6393, 1.1355, -0.3883, -0.0757, 1.0232, -0.1573, -6.4205, 6.5299, 1.9707, 0.0513, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27907e373d27cfb1aa39ab69aab55c0b239f23c5759061b406a5926e15c92df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc510d159216d1dda14ecdeebf8f06cd6fb447fb934d7c98842493ba4cc6d23d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa508cb23c6386a597887eacf082e060e8cb1f9bb24d245781cbde211233e2d",
      "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 123 changed as sent

message 131 changed as sent

message 135 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]: [-0.8661, 1.3972, 1.2232, -0.8158, -0.7952, -0.6212, 0.4023, 0.1268, 1.6657, 0.8188, -0.2199, -0.7685, -0.836, 0.9965]\nstate[eef_state]: left_x=0.3142 left_y=-0.1692 left_z=0.2269 left_yaw=0.0923 left_pitch=-0.0677 left_roll=0.184 left_gripper=0.4023 right_x=0.3286 right_y=0.1693 right_z=0.0586 right_yaw=1.2011 right_pitch=-0.1141 right_roll=0.0513 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.6684, 6.612, 1.1941, -0.3883, -0.0317, 1.033, -0.2393, -8.6085, 6.5026, 0.8034, -0.7399, -0.105, 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]: [-0.8661, 1.4006, 1.2228, -0.823, -0.7876, -0.6212, 0.4023, 0.6994, 1.56, 0.4656, 0.334, 0.3508, 0.3325, 0.9957]\nstate[eef_state]: left_x=0.3132 left_y=-0.1696 left_z=0.2241 left_yaw=0.0886 left_pitch=-0.0793 left_roll=0.1893 left_gripper=0.4023 right_x=0.3076 right_y=0.1841 right_z=0.0233 right_yaw=0.2242 right_pitch=-0.1363 right_roll=0.014 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -5.6821, 6.5299, 1.1941, -0.442, -0.0317, 1.033, 0.1026, -6.0513, 6.4205, 1.5946, 0.2662, 0.2027, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7868, -0.6212, 0.4023, 0.3977, 1.4544, 0.4458, 0.3405, 0.3161, 0.2371, 0.9965]\nstate[eef_state]: left_x=0.3129 left_y=-0.1693 left_z=0.2237 left_yaw=0.0883 left_pitch=-0.0816 left_roll=0.1915 left_gripper=0.4023 right_x=0.3496 right_y=0.0912 right_z=0.0516 right_yaw=0.0062 right_pitch=-0.0619 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.641, 6.6393, 1.1355, -0.3883, -0.0757, 1.0232, -0.1573, -6.4205, 6.5299, 1.9707, 0.0513, 0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27907e373d27cfb1aa39ab69aab55c0b239f23c5759061b406a5926e15c92df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc510d159216d1dda14ecdeebf8f06cd6fb447fb934d7c98842493ba4cc6d23d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa508cb23c6386a597887eacf082e060e8cb1f9bb24d245781cbde211233e2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtClymKzqNTXaFTLg-uS5Oukf9yMRi7IiSJfhWepqCdmqhZnOae7fnDHHrJn68UC4EYJva2nf-ymHX0uiys3xR7KED1xha1Jx6VSavAJ8iBf5aWN0KYv77jgFizaIXJGVyRF7d0y3ZrqNT3EFhjCdpDK6YeQ45yoGC2xvlvtYpEz1am91kFDdSSGPMFozsHHKOp3CWX6TuMywMrZ1VVdfudPP3In_b2mvxv4Vq0_mgRHfuhuk5Z3TABQ3um-UBp7MjA5MsBNLtTPw7ymRmTTbVa36_sXwsH9s8oTpEhn0vJ4i7MnoUtduZWNQHSsjlgsdhKtlXPtJasuBU5UKOlGutf55uFYMG63MFzEOCV4jWWcPSSHq0RPZLq_-JgLQ3QHJCS2bBWRECCuTE7ho9aDYqBq5_K_jqC_ZzG7Gjpp69PepjvE2Cdlu6dAD_2b_QuBXyZFc4OEcQm2yZeGxH0Gu7rZv1zEnLMkLcb6h-x22ZSAjRWSZcNIdODgz9SgMt9ReMuOa42UpBlKRvngFmbDXEOLkcpGcfWzY8Xw1gjb43FzG_tKPFSULqph85WPh-qssOl54IoOtBysubuDK4kTaMGt75GoNgeOczqUAPjaLJn-B0ou7MbMTpy9eaoJ4HFf_bdob87BX079v2agS5BWkNqhvQ11rexiQiuxjS0QTrAH-bSxUpLI_cPJz-hUeJT5JvxB573_sKRb3mr_NrO8MdTMy4wvKjfFlc-fzQ-JPiX3nR-09j6UJcearYkpGuszECGY_ruf0ay8T7ICAqlYQHUj_Bz0cvsGM_gq5yIrTLV_8QykyC-SPvQk46H7jTtQr0nn3vBAruBvINfVEXKf5oGT0OXT12gZ4u-MNTgHEWJwJo1dG9H7W-kxWRCNf82ljz_JwKxHxv37jskb3HeNtlzGQw2pqgGOtPivZFjcjwJiy3ioqCcI-zPrbsPivMwAhSgivqhYOaBap0pbkeG6pHeR925i-mNa1ZiDUpKoY-FGrmr2S72PzyDsUvLssrv-ac2ZMJdhvnAbzSgYA3M13ca9bQIJ327WAFTV_EgVnj1gh-U7t9hkSG0Ch7NptBSSd4GO2kw4hTtefY9ePFuaGpESAbSqeJsYV1dJCCTZVYF_qCSyEvsH3sG_xrL_W6idOztIi3yxl1m0t1ji2AvPEb_3BNryVlpIISJegrZ0l56bjYxOTQbG2BwQWkLKG1_YfxXqEcet-pQJ0wwnGZYToLT0RALzfyCB7urzJAcxnoauOpBwZqoNgeRNLfpO7g74qVa2P338XuDGGbJ3LaW3UmrGORnRSV7J7YfP-Q1XX-M17lLBSA7Cf0oujVzBk4Nc8xEiEDy-IVFA7M-oUHljCzfzkjVnRwcDXEI_VSmXu97_wPr2x2QyncDmTA8WKJT3-E4GCEkhJOkeLBcwc8UJdNm6eFg==",
  "id": "rs_0ed9881dcf95aa00016ab429701ccc87d0a4dde409df86ca08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper now straddles the blue bowl’s left edge in the overhead view. I’m closing on that edge to secure the bowl for a controlled reposition.\"}",
  "call_id": "call_U9XVcfdtaxMqnUAXkabvbg8a",
  "id": "fc_0ed9881dcf95aa00016ab42970db8c87d0a6afecdf7eea0f04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U9XVcfdtaxMqnUAXkabvbg8a",
  "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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7845, -0.6212, 0.4023, 0.3973, 1.4509, 0.4454, 0.3321, 0.3122, 0.2272, 0.0107]\nstate[eef_state]: left_x=0.3127 left_y=-0.1696 left_z=0.2235 left_yaw=0.087 left_pitch=-0.0831 left_roll=0.1903 left_gripper=0.4023 right_x=0.3484 right_y=0.0913 right_z=0.0509 right_yaw=0.0142 right_pitch=-0.0678 right_roll=-0.0094 right_gripper=0.0107\nstate[joint_eff]: [-0.212, -5.5179, 6.6667, 1.1648, -0.4518, -0.0415, 1.0281, -0.0752, -4.6974, 5.5179, 1.79, 0.1245, 0.0806, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ddc8122f8f659824aba027a3d420a47943c13c3a7d22ab7aafa957bb861be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44da2e725c42a1f470f4b2a20e9baf90f107cced32ab6d7624ad8bd72911f3cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e54aca721443d44d8a6c463a6aa81b7649af640d865d306ec70a73cd272a6d",
      "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 127 changed as sent

message 135 changed as sent

message 139 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]: [-0.8661, 1.3972, 1.2228, -0.815, -0.7914, -0.6209, 0.4023, 0.1081, 1.692, 0.7841, -0.1539, -0.8158, -0.8623, 0.0101]\nstate[eef_state]: left_x=0.314 left_y=-0.1698 left_z=0.2264 left_yaw=0.0899 left_pitch=-0.0701 left_roll=0.1821 left_gripper=0.4023 right_x=0.3268 right_y=0.1685 right_z=0.0511 right_yaw=1.2209 right_pitch=-0.0744 right_roll=0.0452 right_gripper=0.0101\nstate[joint_eff]: [-0.1162, -5.6, 6.6667, 1.1795, -0.4176, -0.022, 1.033, -0.0889, -8.841, 5.1761, 1.1697, -0.3736, 0.0513, 0.8864]\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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7868, -0.6212, 0.4023, 0.3977, 1.4544, 0.4458, 0.3405, 0.3161, 0.2371, 0.9965]\nstate[eef_state]: left_x=0.3129 left_y=-0.1693 left_z=0.2237 left_yaw=0.0883 left_pitch=-0.0816 left_roll=0.1915 left_gripper=0.4023 right_x=0.3496 right_y=0.0912 right_z=0.0516 right_yaw=0.0062 right_pitch=-0.0619 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.641, 6.6393, 1.1355, -0.3883, -0.0757, 1.0232, -0.1573, -6.4205, 6.5299, 1.9707, 0.0513, 0.0122, 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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7845, -0.6212, 0.4023, 0.3973, 1.4509, 0.4454, 0.3321, 0.3122, 0.2272, 0.0107]\nstate[eef_state]: left_x=0.3127 left_y=-0.1696 left_z=0.2235 left_yaw=0.087 left_pitch=-0.0831 left_roll=0.1903 left_gripper=0.4023 right_x=0.3484 right_y=0.0913 right_z=0.0509 right_yaw=0.0142 right_pitch=-0.0678 right_roll=-0.0094 right_gripper=0.0107\nstate[joint_eff]: [-0.212, -5.5179, 6.6667, 1.1648, -0.4518, -0.0415, 1.0281, -0.0752, -4.6974, 5.5179, 1.79, 0.1245, 0.0806, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ddc8122f8f659824aba027a3d420a47943c13c3a7d22ab7aafa957bb861be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44da2e725c42a1f470f4b2a20e9baf90f107cced32ab6d7624ad8bd72911f3cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e54aca721443d44d8a6c463a6aa81b7649af640d865d306ec70a73cd272a6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCl85Q8W0I8Z2Wjrv28uVnkTqud_3svprY6oJbUHciU0fSVuYR--8OPvQ92PsI4zjNx1aZzjRFgp2vhsurZsnwpIesfe_SiJp-ZyRCFyb6cKzrxaW6kHuMG_NeOXHRiQT4tJ_E8jXovQ9SDsXlG0TsBurfzl73t_7tQ3XJkjF5YNNsgZ0VQtEq2kMI1aMviZDhTQwckb4JCY3Bx90gGkcBtp7dUZEzIC4Dhjc9F66jxlkb53K5ACzaptr9lPEnBSctnlfQbflQ3i0SEkX2fXVPQk9qs-1_vZhUeHKwBcyApDZApN5BG_hnz1UpVqW-EzFLnJ73UJNLPD2mcUDytCx0SXCo2mPcmYKZYcBbx5Sf10iLba6HD_MVhy5EUjP03b2_J4xbij6VR3xDX0XM7lMFhIPrVOKF3Zi6jhGDLWOkPMfEvxBHppkLymjWC986cpxT6qz_n4ClIfFmk43I5faAfKO4HMP4TiFW5fk1sy85GEvPKVR7D1mLgRQDg2SsezyXs5e_WYdPUuU4gQUjCSBut73avYyz8UKK_vSjwcP691CZB58nNkadpN-r5Ng8MYprsATPk1hM3FK1uxml86x5buZcRLLU1NppJWUGBL_eXqrmEa2YvPaGU0etQWZMNtYlv_1Ah4DWKmjhLoMl4BcLLo0AqH1DzGH_vPoBvynxpABvSQvNPQlmTvbcJM3UK1PSpADUYn7pSpoWEC35GcPEEEnNnR7ulzdHteJa4jvc_6g5Guhn9Hin6QRUN5ysoF4Ix0Eu4EGUww6pL1foaU2D7NZY5UBLsvEtsXyJi_kUqNeuDa_aFyv_-oX_J9UbXjx61g2DnnckO6nx6FIxUMPMkvgU_Y2pfj_sXB_6T36wbAofGjjHtj1HGh2mqV4Mkwn_leRzwDih1CQMTQocDyvFdOEpDhZAhNlqnT4JvkhzmTCVyAy6stiVU4ZTv47s7wpe8h-6xYnnfESpjRZmFDTbUMBwrijePBf7g4jU4yPUZixWRg2_XLAfdY46FTjP2dpevepVdd5NC3gwrUR4SpexWGjnB7lrcHFCYcWrxSBf-ZtqkiVTDizk4d9_Qtyl686xjF54qYBrorjGuv57y3NxWGAbvH1NjzImDw5CRUmtltQdEiDUWeZ_ZhcCo2-3eoVffKIInbMfGt2b2x9E4xFPepsLCKeUEJvtyc9cyRw9gapfk6y0GSPHL3pgA2hFy-9Jf4f4VzH1V6o-iw9BNvJkVqiXs2iYh_Z-cNVcxeMS5CO9mi7QInEfngCyhE6to8seuu3bqQFWsgvKTUPPtBWiQ8Xzs6EzdzVqho2YyNP7cBOrLhnbOeOjBNxcqF9fUpoUAuAs4jqO7SWYAlQ9HDBJtfQ0yQHS7Tv_vaBBcNkkwXBJ7MuBQYD1r-93XkD8KI520Ng3lSov59ulzAJ819aPOsevaEIsM-E3KXhDdz1d8eU4pWGminVnGumw9m7E71bkyB8gy6HmFpdX1MhzF04P0GTpbnwKCtMu3IIITPyivW4jVj8_l5v_JvBLvNiDSrpZ3YhLt4dKx3qn480mRMUShuMeUmnxfMRuXOnVkMNZCWmu5kzlyirPMmgjKhaSTLxXGVsIeA8g9gwRm70mWuk-ID5zVIDI9RvnJwVQ-PiBaJohjFjpifFGaJIC6bLxMgjSbSNjaXD3yYaVVJQjS_KYv6-vnoRXjGxzJAcCzGatGajVdadGyEqV328d3zmWQmA5zdeorr5PAJ9YccI9b1rsA1_yNi08xmsSfV2vwroQ7H-LaB9qdsOPdDVC2DGSMcuMhP9c3mnlwcl_V9Kp2RmLzdXm_DvJQmiXTdfFb0Ht_FTY_feFrmCOQWgapf0NFuy3L4EwpT5Lo0YntlZlWI7Ca1yNG8cQAOpmdhygWdsCEZiSs3H-ox3NcxXkvqa7OjjrJHEhV_NLkVoEBqnhzds0Vgj9FRZ2HjslxVpqGoOnzTX08YVXGDgMdtZ6ukXZ79aXJKrIGopez0uQAA3UFAhfFfl3PDbZXSn13m6f57OHJVCzvvj8Vi4S-OJhdOJ4ugMVrJ_ioN8Cz-YGgJvkp8NSi0yGmHzeSzuCSmt_wGwFzJPiGycHhdT_-I5BUgPhJYiPT5U280vvbiZsy5dRSRZRfCrLKkqJQBKqAxG-YMYxBKyoMSJr4sTD_HYEUFDbVznOCjyqcfZQJ_APCU2AXBk_Shuox6OnyjOJmNptkL6Xuuzc4fyEwiZ3E8wvPfjRM3_Dhl8ueWBtDf6HsbtbIAPZcMc5u3F5xUaJUFmEcLrZlW2wntgOE3DLWvA_50Ev-WNRrdOS1Hea8gyowe3GjPK8HEMnRD2PK1u-nnnO8kWbdewp4homQitqowIyryxYRTxGOT67z0SqAB2S-kNsnCWuOlpImYA2RF-n6ESYJOjZnfULNzx5QmtlurPvndBEDgH0S1KAUzVTv5ON5v9PP1IvHY-CkV4ehbAcIu6N2f6ejoOnbL08_7FjYdn3kVU5CsRFiSjHwReZL8toryoHnqvFVZEjmWp43oAMZhPq0BhQdlwB3fjefIfkCsU9Y3AUrKf6dOw4Ll8h-Ayfh81J0NSDKRAw3hfPvXhmhJ6XRwRyQbbW5M7R-vLJPLM6Dj41Mw_wOOLLfujMj01HtxEt732gDQAjIlE-F95YYYyeeNMiGlDu4zHFKvRFFDFY_tHSg0UE3rCXq6zsDEA4JZCbo2o2jd8eg2cfHOjcD24_y5VTwEo_55utwjhMonPF2DbFU4SKOaouL8rutFTqV8pT0Pg0vnxTREAhSokXOa4Uk-jVNS_zh13t0mxX0h_fZlaXAmkuYsc77TDN_Ufl_eLFHwMc_nX6cT_AX_Wf2SKzejnRygWFd7aAQkUiD16V3U6u-IvW9rNAJsjR2JBeAlvQQ8I_wfmF7C6Ty002YSY0SixDZhvSlGC0l8DOsjV90qyEb9omYmEamhPai39hYkYC3QrKnnX0hG3m5L2ONsZNGaFLmrMId1qDOSunCn-e2JE2zqN9dpM9xs1EESrkUgQ_pB0b86hv80zGw5mAULPj1xzQKH_idwK2yiIntHJdbZXrwdY8I_CqPiZlRUEsCURYeBI6P9obA7yo4QKR93EXVm3MCDpm2DUd462OuJsDieijR899GdSEnKNKnK_d0Evngarh651jTbZyZw8XmnlqdAuOf8tSnNB5ma5gRxlGets5_-pjFpWbTU-hKRtyw8l5TFKcrPq6x-hz7Sxgrp3TlbdrDujMF_v7FT9XydNPXvn24iOu5Y8cBzzyXMN9Z-wJJnbwdbvmP55kuYGc_0eWYx6nMfMZoJgSeEPQ_HShxGKTEfkQKj",
  "id": "rs_0ed9881dcf95aa00016ab42974f09c87d08220558a8206a389",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.3,\"left_z\":0.03,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_gripper\":1},\"note\":\"The rim grasp was empty again, so I don’t have a secure way to lift and pour the bowl. I’m setting the held dark fruit back on a clear part of the table and parking the right arm before stopping.\"}",
  "call_id": "call_lFNwxsW7TOtceST2NqfQ7Z4t",
  "id": "fc_0ed9881dcf95aa00016ab4297b063c87d0bce49a7a0570d68d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lFNwxsW7TOtceST2NqfQ7Z4t",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-1.0222, 2.0624, 1.2144, -0.3691, -0.8391, -0.8204, 0.4023, -0.012, 0.868, 0.6758, -0.4461, 0.0113, -0.0109, 0.996]\nstate[eef_state]: left_x=0.3325 left_y=-0.2852 left_z=0.0244 left_yaw=0.0834 left_pitch=-0.1288 left_roll=0.2429 left_gripper=0.4023 right_x=0.2996 right_y=-0.002 right_z=0.1787 right_yaw=-0.0143 right_pitch=-0.0707 right_roll=-0.0143 right_gripper=0.996\nstate[joint_eff]: [-0.7179, -10.6188, 7.1726, 0.9353, -0.7057, -0.149, 1.0281, -0.253, -2.2085, 9.2103, 1.7802, -0.0611, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6638e4a225df1ac3325977c4868f07952f5c1326714ef10321d1e2c78e3afabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe598db39f44559e445f9964569a1b7f271b6b1a92e9b1df8cb6bee089c802f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aaca9a17c1b2194617fa50bc2e9624585685054b84a24fc722effa3cbcbb56",
      "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 131 changed as sent

message 139 changed as sent

message 143 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]: [-0.8661, 1.4006, 1.2228, -0.823, -0.7876, -0.6212, 0.4023, 0.6994, 1.56, 0.4656, 0.334, 0.3508, 0.3325, 0.9957]\nstate[eef_state]: left_x=0.3132 left_y=-0.1696 left_z=0.2241 left_yaw=0.0886 left_pitch=-0.0793 left_roll=0.1893 left_gripper=0.4023 right_x=0.3076 right_y=0.1841 right_z=0.0233 right_yaw=0.2242 right_pitch=-0.1363 right_roll=0.014 right_gripper=0.9957\nstate[joint_eff]: [0.0615, -5.6821, 6.5299, 1.1941, -0.442, -0.0317, 1.033, 0.1026, -6.0513, 6.4205, 1.5946, 0.2662, 0.2027, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7845, -0.6212, 0.4023, 0.3973, 1.4509, 0.4454, 0.3321, 0.3122, 0.2272, 0.0107]\nstate[eef_state]: left_x=0.3127 left_y=-0.1696 left_z=0.2235 left_yaw=0.087 left_pitch=-0.0831 left_roll=0.1903 left_gripper=0.4023 right_x=0.3484 right_y=0.0913 right_z=0.0509 right_yaw=0.0142 right_pitch=-0.0678 right_roll=-0.0094 right_gripper=0.0107\nstate[joint_eff]: [-0.212, -5.5179, 6.6667, 1.1648, -0.4518, -0.0415, 1.0281, -0.0752, -4.6974, 5.5179, 1.79, 0.1245, 0.0806, 0.9158]\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]: [-1.0222, 2.0624, 1.2144, -0.3691, -0.8391, -0.8204, 0.4023, -0.012, 0.868, 0.6758, -0.4461, 0.0113, -0.0109, 0.996]\nstate[eef_state]: left_x=0.3325 left_y=-0.2852 left_z=0.0244 left_yaw=0.0834 left_pitch=-0.1288 left_roll=0.2429 left_gripper=0.4023 right_x=0.2996 right_y=-0.002 right_z=0.1787 right_yaw=-0.0143 right_pitch=-0.0707 right_roll=-0.0143 right_gripper=0.996\nstate[joint_eff]: [-0.7179, -10.6188, 7.1726, 0.9353, -0.7057, -0.149, 1.0281, -0.253, -2.2085, 9.2103, 1.7802, -0.0611, 0.0904, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6638e4a225df1ac3325977c4868f07952f5c1326714ef10321d1e2c78e3afabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe598db39f44559e445f9964569a1b7f271b6b1a92e9b1df8cb6bee089c802f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aaca9a17c1b2194617fa50bc2e9624585685054b84a24fc722effa3cbcbb56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCmA_zMRcsEWK1NdT5kdmZG9h9-0R1wPNcl-rYXg8Gu0n8K8CmxB_Xs3HuLZxNT5QYovxGYWFcznOHL54ossD7CTNpy1mvsoFQskpwB1IO7VkPEub2Y_FO4fuhc3EBbpPF9bTJqcOeOexrpCa7Eh2h45KwoHUPW68NzniZyCxmqIJjO7lxrCCyMyLzvKAlLPMMnbDD__5Km2AyMBnkAjIg67tl04s4s8ehda1X5ebhQimMe1pDcnPci37w5iqTLgU7cZKUuJ19NJNbfAdhOJ_69a8BNQPZN7c277JilequA4vLqNYAZ2PbjOluPZ5Er4XdPxdaVfdOqooOJzA9Gblkt1KOY6hYJR5caTc2MaXPxa0qZEShBxxV6EHLCV15W1D0lz1wIqCcex-NSUhVVfbTpBH-ewXarpZNm_mn85pq6w4yvqtLZqCb5mCnkGbq2d_TTDOyKafX9BRdCWMQnzhHseIA8t-GTIqyq7SUIqEF7F8OmpW6rxCo5T-p24-yy2CIfv9hbyzX9a0l5R3ZMJ5tKu83Itv6LhHZwdgHYV0YaGaLsbcuftHiFBerFm-qdUtVkySRE4UTl1FtLs_o__z4FP2Oh6ZH6OTQbgACBx_hPHYU6nwwoa4A-7CmRGToYktG4FnXISpO2sP2GozwyCj7oajdv9w8VvQDl26rwx6CGqbQGBayYE7mD4RouPP4I7xmn7t-LTsVZmgPYPv4pXKSURyo5F2LVASRgPPKhpq9M8GzZOXCtiw5CpVXTcY6MpLhoQLkp1B035DYwQrJgl-FIRCzTlriuvFVok_GVidiSsjSNHWnw4Wporw0PXY69N-cDjMH3y-9WWrDldm8wFjs3Uyf-DWLsFlfQx8599-p5HNlTWgAcwywAdQvof3Y9M6VPDOx0iwNJk2-7fB04SjjSTKOBnLxseIy6A4BaEmGTRGQcxuCAD6c_P1ba8Y8Nx2kz0kQJvALORi3XUKDflL6uAfBpy0IceIyERyv0WhLluqd2MVAMA5Hp1FhMcgAhRoD9vnRzfNjZ73SCo3i5UpWIY-rQTmsYu8F6KZMD2ovLOTUBKaF_eHxsDOnp0aBqtSV6QI--nU0xQWT_Wx9G6zHg4MZI24GB0jcUaYP-PHKPNOuT__q0FQrAAWM-8_eAOB33gHlxA1PQXJFLWoJRNmJWs2nTGlwAPx9o8oc4bgww_dyuZ7i0ViyUw0B77ICp95HA0ow93KbpiNO2FNVHYIGKUbv54Imgfj3KQc_U6V6XDsk-GnyHuxMkY66e-9gKAnb5kVg2EyCB3gFZPbuKclMAZHtvZKhYsGn1bCp4sl7iai540yp73lMuGKNSsJ8wXxO7rI9GI5-sp1xhrMMXSvWnfe2MO5ogqKZPnWYbtKoMWcmgXqO4ajprl9r2HTo5oozEnun0IIeDxaUtB_WLcwhLG5lp9LYS1BKEo5oZ4nPYj8Lw=",
  "id": "rs_0ed9881dcf95aa00016ab4297ef27487d0af60549b20052c04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table height in a clear spot. I’m opening the left gripper to leave it safely on the surface.\"}",
  "call_id": "call_n5VIyzVygJFaMuSs3ZdpGOZu",
  "id": "fc_0ed9881dcf95aa00016ab4297fd72087d08c77f20bf57becef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n5VIyzVygJFaMuSs3ZdpGOZu",
  "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]: [-1.0233, 2.0945, 1.2198, -0.3603, -0.8452, -0.8349, 0.9951, -0.0132, 0.8722, 0.6792, -0.4755, -0.001, -0.0265, 0.997]\nstate[eef_state]: left_x=0.3328 left_y=-0.2852 left_z=0.0144 left_yaw=0.0944 left_pitch=-0.1297 left_roll=0.2504 left_gripper=0.9951 right_x=0.2959 right_y=-0.0001 right_z=0.1733 right_yaw=0.0034 right_pitch=-0.101 right_roll=-0.0191 right_gripper=0.997\nstate[joint_eff]: [0.0752, -13.1624, 4.9573, 0.7497, -0.3687, 0.1392, -0.1685, -0.1436, -1.894, 6.9128, 1.9414, 0.0562, 0.105, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ecd157d8bd5759709a88d4c4cb73d24e9611c14808896a2d1d597631a9ad884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac064b1fb2a13a33a82ce80718dc449a2eeb21f8a705b1db991d3f76af6255",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728bc716113b75374f5ac1d321791cd44d09463d754f37c7978b0a9f0aa01540",
      "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 135 changed as sent

message 143 changed as sent

message 147 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]: [-0.8661, 1.4006, 1.2228, -0.8261, -0.7868, -0.6212, 0.4023, 0.3977, 1.4544, 0.4458, 0.3405, 0.3161, 0.2371, 0.9965]\nstate[eef_state]: left_x=0.3129 left_y=-0.1693 left_z=0.2237 left_yaw=0.0883 left_pitch=-0.0816 left_roll=0.1915 left_gripper=0.4023 right_x=0.3496 right_y=0.0912 right_z=0.0516 right_yaw=0.0062 right_pitch=-0.0619 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [-0.2803, -5.641, 6.6393, 1.1355, -0.3883, -0.0757, 1.0232, -0.1573, -6.4205, 6.5299, 1.9707, 0.0513, 0.0122, 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]: [-1.0222, 2.0624, 1.2144, -0.3691, -0.8391, -0.8204, 0.4023, -0.012, 0.868, 0.6758, -0.4461, 0.0113, -0.0109, 0.996]\nstate[eef_state]: left_x=0.3325 left_y=-0.2852 left_z=0.0244 left_yaw=0.0834 left_pitch=-0.1288 left_roll=0.2429 left_gripper=0.4023 right_x=0.2996 right_y=-0.002 right_z=0.1787 right_yaw=-0.0143 right_pitch=-0.0707 right_roll=-0.0143 right_gripper=0.996\nstate[joint_eff]: [-0.7179, -10.6188, 7.1726, 0.9353, -0.7057, -0.149, 1.0281, -0.253, -2.2085, 9.2103, 1.7802, -0.0611, 0.0904, -0.1294]",
      "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]: [-1.0233, 2.0945, 1.2198, -0.3603, -0.8452, -0.8349, 0.9951, -0.0132, 0.8722, 0.6792, -0.4755, -0.001, -0.0265, 0.997]\nstate[eef_state]: left_x=0.3328 left_y=-0.2852 left_z=0.0144 left_yaw=0.0944 left_pitch=-0.1297 left_roll=0.2504 left_gripper=0.9951 right_x=0.2959 right_y=-0.0001 right_z=0.1733 right_yaw=0.0034 right_pitch=-0.101 right_roll=-0.0191 right_gripper=0.997\nstate[joint_eff]: [0.0752, -13.1624, 4.9573, 0.7497, -0.3687, 0.1392, -0.1685, -0.1436, -1.894, 6.9128, 1.9414, 0.0562, 0.105, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ecd157d8bd5759709a88d4c4cb73d24e9611c14808896a2d1d597631a9ad884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac064b1fb2a13a33a82ce80718dc449a2eeb21f8a705b1db991d3f76af6255",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728bc716113b75374f5ac1d321791cd44d09463d754f37c7978b0a9f0aa01540",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit has been released onto the table. I’m retracting both arms to their parked positions so the remaining fruits and bowls are unobstructed.\"}",
  "call_id": "call_V89jvxcYgvSxZ1lQCgkPWch2",
  "id": "fc_0ed9881dcf95aa00016ab429849b4087d0b9af7582600c1218",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V89jvxcYgvSxZ1lQCgkPWch2",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.1509, 0.8272, 0.6098, -0.3988, -0.2577, -0.1902, 0.9959, -0.0227, 0.8165, 0.6548, -0.4496, -0.0181, -0.0273, 0.9966]\nstate[eef_state]: left_x=0.2942 left_y=0.0044 left_z=0.173 left_yaw=0.1596 left_pitch=-0.0249 left_roll=0.0077 left_gripper=0.9959 right_x=0.2929 right_y=0.0001 right_z=0.1827 right_yaw=0.0087 right_pitch=-0.0435 right_roll=-0.0108 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -2.0308, 10.4, 1.7705, 0.0611, 0.1392, 0.0659, -0.3761, -2.3863, 6.3111, 2.1368, -0.0855, 0.0562, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f39d5382b816040b0e488e83a667956bb6757e91177141a8c5874837d4739d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05b77154824540976fab226feda7677cacb7a30eaf2225088f11fa77589b563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0857b75263ad49d6d3f3022492a364d90128d8f9219da4d215205264b7f3a5b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}