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]: [-0.0212, 0.8005, 0.6136, -0.3855, -0.0143, -0.0299, 0.9907, -0.0227, 0.7994, 0.6193, -0.3866, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9907 right_x=0.2961 right_y=-0.0001 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.5658, 9.6205, 1.9023, -0.149, 0.105, -0.525, -0.1846, -1.5795, 9.265, 1.9267, -0.0708, 0.0659, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287ede43c54930915d772885ec9a2a0bc62aca3e5def2005148550e69498169f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac28b36a4082b945a4ed9aeae0a1e07143259ad54dc86a6e064402459d2f45a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ad370d64dfcfa7ab78c8c845e9d9c14e29fedc33e8b2d8c6ecbf3e80d2dc3e",
      "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": "gAAAAABqtGOJv_nf-tRvkIzN4jsSZ_Swuz9XvS7T8qf0RwyIZpQTSYmZPzLZSLsgIP7AR3LMJdRI1ZsxtWHP_u69soW7FBnOnf--lvdvaiPNemyCAFlagHm9EIxxRjc8jZZGGoiU5QLDyo-5nn2GZFi1tuCZrgFS4wlvBA-bzDcktB788WRiS96zXUOc85jTH7lmxKNfTVmzZo3hzcEtoKiv_uGauaSUrM6jGcUJR-41_w0lyphEYU8fYBh13ocSX9MH35sVOAQuvmnZEvzkEYP8NMxXMJb1NhXTfapU5S23n3ZEwg2DgK0oTrhkNS_RUZXU4mrKshJxk8bcl1IiSo4VqIIqfwML8Ot4szVzA0s1pwGewBfMwPfS9gxH2L8fC5zuvJGoMfuQt_7mm9ltBkgIY8aQ-qhC2hSQMLaKiWa3OfiPPWP7uo0RLh2iwkXxAr5UuaoEDcKXOriP_7sm4Bm31894vZECeLGt64RxURZqmtyNIMipTd4XtH7ZhGnamFGNTmOa3lgfrYNuh_wdKoSIjpL0IySOH7u_GHcuxF9_j2_q8gu0obRP7XramcNIHGG0o8puuGPbir8N5OTNfgnq9ktYZjD72xumkXkQsdwOQMbsDjPEB7TfiXmtRL9JARQvoigL4I4SrvX-g5wasEnN7tWYvjFg4qZF6RXEyTdrMJJpzkxMYA1LkDhP5XpAAQ-nPjIEFR3fzYbL4L1hDwf4ySzPlv2a2E-QgnToB8nZv8XqEI_BPuQJdw2nVqqhPqeT2IDZKhpdYgFje7ZAt6CoFaIek1yJlAsGKTXxsK9QLVdt9LxOAioBP95NfiJ1FZhC4O9Uas0jUmvBZuFL1AJ3vJ7teD_YVqkkD4eye30d1PEZs77_IK9K8kIjdDQeqUXkn7ykzTB6d8DWE72zvTTFaAn8E7dmcH6khfbHFtg9Q3AzNCdujc6AHdyKk3WaObFK2Uawx9_mrF8keAV32aWLDdSiW6Egs6QBWwJfGYJ07DlSb39RdG7yVc_v9fw74nb2-1X00LPcKD4j2Wjl31zlE5tBjLH2hzxN8NIO3ZfPyfCDwQXye9g-mcujiHA8Vntv4LKg9CdX9oKRbvi-Y_tJMcuTTu2NYjX6pLR2AElkwRFpBQJrzoAH0s5lDGenatutbutkGUKWnXJJEGrzWhJDiM7GCiCQFxzOSyRXvua37OkqV8OrrXGt8SMlP9NwDk6kq6eHR8tCSkhIiVyNw6s-tTk5-q5Jjx6iN497nJJcafGCgL_wFExMilWHHVnCTBTnvmW5miXMjcqiwbrclGCcun4xBAtoZ2nUDH-_D-v93BrCrC7YU3MeUyj0tArekT93W0yFzgdz08ZLAIjKbQ1tezqzskfoV72_rCRvggSphiAn2JxBvRWsSF9Yk4x5xpLiebPUR74mDNWj69Fo66nD2i2zgkLchARLDm_GMwovguuWM7OA4ANKOW4vdZ_Az3INKyJTXbBoKZzrgndlx6FlX3ydiiLN9bKiEQbRvT34q3s_-3h0_UvMkylotanlZ77Gdq-KuHDXmikORO6Ux5Sh93n-UIrEqPBdpUQO1EX7Xjc0yBtTcUUtcPXV7ZW0SDptXjY148CsGQFyztumCL9gIdqJCvAoPFNknxdCXAz7Z7cDbnAB5NvepYvUmGjuLgtbqy1JnCBzdxGWJULpBuoRN6YsOJ-Jx_VlspA87FTSvj1gu-vyRotyadCLlFBL-B5v7CHUxdhdaebfMmjW30Afi_DNH9LXbIeMoiwwACi99UEmxXwmx7OVC4Kb3oKjqfkvEenkL79jRcuesFMIBH9GHmdc1PvxXrUxXauyalrm7EycNotLUqR9nKw72H4nZIPrytAbpZN8zaJYscl4K2fOm4vgG64bLzbZqCHJ2BiGlA-uUYFexOjLiEPDeJ9JGdOo4opzaS6J7S9B0pWYVX3qlfXqlKy4dc0bB2nv1lDiQ3znfOpXXAJ-1FLcScuNxTuvJD3zoMUaLr2J2gzCWatgFOEx9kGW1jwjTHcLvJfjwz7fcRIBDUnMsmqq4J55355MCjHqzBrOXL7qJ2gqMFO_beannLGrafc4AFiwWTte4NzDxP06VYhIYiPBi0B3bQuRo_wI1OrtH4HX5vs0z54Wt-toPpeXE8aSvvEUzTkGGgCfUNl30uT30-eLcnNVmWT3M5IJs3PxZ2ubKnq0lm_5zXAzkWPjAzEOwZobdNdxsWb7EGLFK58Fmthy7Fjzq9T86YQ04GXr",
  "id": "rs_0ad184d13907b37e016ab463844a6887d0b9c19ee14c34b304",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.115,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see two fruits on the table beside the blue bowl, with the large white bowl to the left. I’m bringing the right gripper above the green fruit first.\"}",
  "call_id": "call_NQKeR4UUjupwavpD1kZcUZpA",
  "id": "fc_0ad184d13907b37e016ab463883ab087d0b4157d01c823e23d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NQKeR4UUjupwavpD1kZcUZpA",
  "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]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.99, 0.5537, 1.1679, 0.6243, -0.1612, 0.4408, 0.2813, 0.9992]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0005 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.99 right_x=0.3205 right_y=0.1137 right_z=0.1307 right_yaw=0.0292 right_pitch=-0.0601 right_roll=-0.0413 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4017, 7.1316, 1.8877, -0.0757, -0.0611, -0.0806, -0.3214, -4.1641, 8.8547, 1.8486, 0.315, 0.2027, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9164603a5970ed3b60135149d3e9c47b4cfed3cf167488a447d6c7a55332b2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a2e32f7ac8664a0f6937189ca6e6b5c9b073f68ddc183aefc031a560377479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd83fcdb407647a73bd7550ea64ea101f95d94bb0ea03516332b7b986a6d2800",
      "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]: [-0.0212, 0.8005, 0.6136, -0.3855, -0.0143, -0.0299, 0.9907, -0.0227, 0.7994, 0.6193, -0.3866, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9907 right_x=0.2961 right_y=-0.0001 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.5658, 9.6205, 1.9023, -0.149, 0.105, -0.525, -0.1846, -1.5795, 9.265, 1.9267, -0.0708, 0.0659, -0.0952]",
      "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]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.99, 0.5537, 1.1679, 0.6243, -0.1612, 0.4408, 0.2813, 0.9992]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0005 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.99 right_x=0.3205 right_y=0.1137 right_z=0.1307 right_yaw=0.0292 right_pitch=-0.0601 right_roll=-0.0413 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4017, 7.1316, 1.8877, -0.0757, -0.0611, -0.0806, -0.3214, -4.1641, 8.8547, 1.8486, 0.315, 0.2027, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9164603a5970ed3b60135149d3e9c47b4cfed3cf167488a447d6c7a55332b2cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a2e32f7ac8664a0f6937189ca6e6b5c9b073f68ddc183aefc031a560377479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd83fcdb407647a73bd7550ea64ea101f95d94bb0ea03516332b7b986a6d2800",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGOUsoL-xzaifzpNM4wJhL0BD4qsopffNa-Q510wHE8Tzumod1xmNTB43fSm-fQnEaPdiw_rvmAEku_M765uJ3ZhLZ7_OLvXOXgEPpUPKRNGTg4vy00oQiUSnER54oeLKS_6FhuoCV7FCInYB6R8BkTfGjasa0XE3aLVRFYMXOdN2Vv1Vqsce8InquR9ni2Faig65QEbQbQyYdZC-w65L3aTPC8u_sMjuFiIuHFCe8qa1paKX-oF7L9SzkPYxXrkZo-1kZf25GfSHmiliJdjfZ1VjCv-ArdfJQQoXV4dThaLYO3GpVsZYh7UfCMC0nip-Hd4oAKmcAjqUNznUG61uwdr8VEqoJs0EGaKcKV22UVdVjo6pKP9UTdithJEDOncDStCJNRkyGWAFsLiFns1vCZx-MpjG-_OmRAd7VyuCq1fB-CN1aKTz35yGSnWvNgNYeBe6CXn9UbjCMEmy5tuk1O8wNwtl3Ufk9y1pZ7thuYPf9uGwaXepMbG-kdy4A6vO2NhgHqZTEkWokj9CJgCwupSBW1pB-gc80czQHrnewgHST4B4WDTzbV3kjEokrPzphXGhiKnyOVelic2uCJgy0Eg6wqyeh9tY55NL4drAgzSKvj-og8GowhD0JJ0cIed5qKaXbm3-udk139dUP-kduFAmzkNzpW5vulfiJYqBjgboWDvN5dhuInHRpBzNANnL-4poRDS17mwqgNBmTW1qmYihS0EzRXSAf-mzfgsw4tGvIoD7MwsJQmj4I6h7pAvNeWTYJ8kluLLy4QAWTmSZEZn7XX1JpN7op4BE7vdEx6d6BsRw-aKx_9jYXDIedVEys_fxG5Klu9a8QWTShbJOU6sv1yxgsShE_T_HyV0kP-05idrb0c0nGa5n3jmOnHFxLT8837uFiP7gUGABrgI6luoO_NIVMFuNINkGRpx8HYgtG4lL-ez7gTAesiCVCoytal-c60kSUBr3vlA27rU2RpPeJMbaDbk_EyQUpWbHm7GmZV6N0UqRfELG7SwZc0rPp4qndG6jwL9tsjasggNEqnZtWMm4FZ_0eRpdI0_r3inyMMlFVtErMPOdacbvkL0u3sfGpeDjIF8RN0PZXT3M43NXIHM_vaezdwW3Vt5rx8b-bgZYVCptNZVUnLnS8LKhHWu8vw56lnZ-7dDuiCFRxeyMYljjnUZxoE8vlA652dMnQbGep__Tmw6IiceofUW98G2zj5m8YzgklA_pfKT1IovREPQYtvS4mjVCL6hFDbEGKbL6nsJ7tchHDwVbulWf1ZFT_RbEOQHXPnOq-lWo0zRonHmHeCepu0IyGJ1rmZDs4n33XKeuACorTC9f-ZptZO2YpT2oxUpVth6hDle01WvTlj1QRbq1fVRWJRyyzPCfNBAtjJl3FkaWr6h18EDzyRD3XcQiYvhuUROA1qZx9ij6uUnC7irDApUIOwI10urPD7gEkIWWvRH8RmrCIpfDgBf",
  "id": "rs_0ad184d13907b37e016ab463927cc887d094fd4727687c8bb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.07,\"right_z\":0.055},\"note\":\"The green fruit is slightly to the right of the finger centerline in the wrist view. I’m shifting right and lowering the open jaws to straddle it.\"}",
  "call_id": "call_8oI1DWrbIzSJEq6hTjrj9ZSp",
  "id": "fc_0ad184d13907b37e016ab463939e2087d0b92db99a8d3871b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8oI1DWrbIzSJEq6hTjrj9ZSp",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0139, -0.0338, 0.9899, 0.3382, 1.3239, 0.3557, 0.2733, 0.2783, 0.1375, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0028 left_gripper=0.9899 right_x=0.3245 right_y=0.0665 right_z=0.0467 right_yaw=0.0234 right_pitch=-0.0979 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 6.9949, 1.8388, -0.0562, -0.0513, -0.0317, 0.1709, -4.3829, 6.0103, 2.0, 0.0513, -0.0269, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071ce6db5eceacb77c5ab797a8efaa590d5e1783da91cc7d9cdc4ed0097c24c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615c4fc2912b3a17e3074f2c6d46cf0e39fe6f31e19c37d87a89718536c0d675",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49f246ad08cb2dfc8c028c29f3ec38bd5d408056bad7ea67cd52c8eddacf3df",
      "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]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.99, 0.5537, 1.1679, 0.6243, -0.1612, 0.4408, 0.2813, 0.9992]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0005 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.99 right_x=0.3205 right_y=0.1137 right_z=0.1307 right_yaw=0.0292 right_pitch=-0.0601 right_roll=-0.0413 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4017, 7.1316, 1.8877, -0.0757, -0.0611, -0.0806, -0.3214, -4.1641, 8.8547, 1.8486, 0.315, 0.2027, -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]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0139, -0.0338, 0.9899, 0.3382, 1.3239, 0.3557, 0.2733, 0.2783, 0.1375, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0028 left_gripper=0.9899 right_x=0.3245 right_y=0.0665 right_z=0.0467 right_yaw=0.0234 right_pitch=-0.0979 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 6.9949, 1.8388, -0.0562, -0.0513, -0.0317, 0.1709, -4.3829, 6.0103, 2.0, 0.0513, -0.0269, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071ce6db5eceacb77c5ab797a8efaa590d5e1783da91cc7d9cdc4ed0097c24c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615c4fc2912b3a17e3074f2c6d46cf0e39fe6f31e19c37d87a89718536c0d675",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49f246ad08cb2dfc8c028c29f3ec38bd5d408056bad7ea67cd52c8eddacf3df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGOdBlyE7K8WRae5MfqgqTae3sVxMuKBxJuXzOWOkP_jYrOT_n89sPJ1ce7QYYdv05oP5oubiyuzVwPIL7WkU52YUPLJNPdU8uToD7fT8ySCdMyeOY-flV3UrRLqUqruNxySD_PKtgA4IosRwy1wfp32VIqo--F4ebTQKKeYsEdYWEDo8mUDLhdA4Cz5GmaAdTzlKlen2tkmpp7cdZdhpyRnRL7JRlcCPIjX_XfrbHReR4MBgUU4nxErow1d3tMMhdzOEw_gOChnH40atEumCwiXo7-dxViC-m1D9R3P7NMFBY0mcRhe9pdRUVQsW4QKLP-59E5dvBMHcG9YTUOsJT0yqY5CQRpa9gsyJTZUQaJ4EpY92Vn7lNS1Oeszhng4Ct8TIMVqLjSvbQ41AcFCfqWgw9J6KeYkR-rj_NxTmS9ciYWK2KjzmsPxCBYvO5BOhl2mbzE4qK4OVdu-Gd1nXhwNEhSV-tdoTOInaotCUvZI_KCGO_04Oh33HSJsKnEmlC4ZjP5NRkv6lv7nWHdcWi-p7Qjh8t11vvJ5Ptxl6iFI1FemyetfXlaoFMCjGEG7oxv-G7aVlIF9LZ3tOWibsLHgiWhN9WpH2GP_jpFZ9fUVsJ_IJZGO8kcxu4hCuf8RdhPKe35EHOn0FJi-GHGZIMq-NtD6snpuUPFSa-xRvvRZZFPHCH_CP1jMpvHnAVcrL9qG3dW6K6Wj25fJsLwscSYJ2hcGU7Hd-SCMCXbrf4DRC7Af93l8ag3Jy_Ml3Ksx2Bk2COCzW1YLRs_B0QJiyPcRMvkIb9VHt-9OTGq0G7vo6yN-9FO9ZnWtwO-j7C2hppuxzG-6DWWrcyWz7dSBShylYGsUyPp122OMRMXHTeepMneS376rXDZ87ZYIJsj70PxRC10vlLO-md_Eki8DurjuS_KWxFeUnvHQiTc2BjKCtvrQe0UFy-qX_tnGLjMrwHD5l2CtsKGmT5kbBg4iEf26hBTaBOZ0-jhw81pUKf6M1GEuWExyeT5wjvOuJ7krDWyXfP_xI-PpUQU9ZiBxGcP3CM7lcDRJVC7qp87YEUCE1pjNLtyz4x6UEg2CPUH98qvLe7uqM6mCPRc81JZuSWS-B1JWmi8Ubj5ew040DZTaYg90_x1vMX8gWICSnobF2n2Lc91fM4YWuEUZfOybwBfJPtVJoEs9TTMl_ueniz5qY8M3BNq-xq6peaFJnz4kI-oqyzlj35EYqwS7frbroXmQ8FsLafUZeAA9bEUShzWBxIIrDi3SCEya4_PDqWnHFQch02QIoJHP4br4s4xXXeuineZu2K6Gp-x6psTWHI243MnTObO1enmuITmMXqeWm7u3-_RpykMOF-4Ty-kmIlXT8gCBQSHzov_KdUottspgALzID5LVewlMIR5m3aztk6yjS0PB1Z9eq54bpbtR7pvkTCIFeHk_BE5wfk03pV28ctjNMHDzoBqmr73_Z1Y7BcHtPUJmORQWYhMp1LvOO3gfwscqtLUcgtYhKvGf3pw60wHc2zKzDnMpH92544hYvhc8fCwnXD_Fg3P-1yVRmLJCjgEGA3jGdLTEK2XHUmjysgwZ-Ev7ZdxXtBDz2smSWJ-YhUK5LoRfqyUEBBjIPHX6kQ==",
  "id": "rs_0ad184d13907b37e016ab4639a33e487d0a722359797d334ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.05,\"right_z\":0.018},\"note\":\"The green fruit is now between the open jaws but still a little off-center. I’m making a small final alignment and lowering to grasp its lower half.\"}",
  "call_id": "call_fD1L5cDgFf9c6YEnpQaIBPue",
  "id": "fc_0ad184d13907b37e016ab4639c850887d0ad80cb924418b817",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fD1L5cDgFf9c6YEnpQaIBPue",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.0219, 0.8059, 0.6132, -0.4229, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4747, 0.2035, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0431 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3345 right_y=0.0482 right_z=0.0101 right_yaw=0.0217 right_pitch=-0.1362 right_roll=-0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4564, 7.1179, 1.8681, -0.0562, -0.0415, -0.0122, -0.1436, -5.2991, 4.6017, 1.8974, -0.0024, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033a171b38ca8ff247f497320387bfbefaa7c458ba7877802f3cd88674cc0944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe6e8be30a9d3bee5a6cb7faea67656e83f0ada2129c5c6a9f99ea7dc38c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087f09a9e0c529ed85b94d247d68c87fbdefd31268b77b3751ae847f1f71cb9e",
      "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]: [-0.0212, 0.8005, 0.6136, -0.3855, -0.0143, -0.0299, 0.9907, -0.0227, 0.7994, 0.6193, -0.3866, -0.017, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2956 left_y=-0.0001 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9907 right_x=0.2961 right_y=-0.0001 right_z=0.1842 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.5658, 9.6205, 1.9023, -0.149, 0.105, -0.525, -0.1846, -1.5795, 9.265, 1.9267, -0.0708, 0.0659, -0.0952]",
      "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]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0139, -0.0338, 0.9899, 0.3382, 1.3239, 0.3557, 0.2733, 0.2783, 0.1375, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0028 left_gripper=0.9899 right_x=0.3245 right_y=0.0665 right_z=0.0467 right_yaw=0.0234 right_pitch=-0.0979 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 6.9949, 1.8388, -0.0562, -0.0513, -0.0317, 0.1709, -4.3829, 6.0103, 2.0, 0.0513, -0.0269, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4229, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4747, 0.2035, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0431 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3345 right_y=0.0482 right_z=0.0101 right_yaw=0.0217 right_pitch=-0.1362 right_roll=-0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4564, 7.1179, 1.8681, -0.0562, -0.0415, -0.0122, -0.1436, -5.2991, 4.6017, 1.8974, -0.0024, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033a171b38ca8ff247f497320387bfbefaa7c458ba7877802f3cd88674cc0944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe6e8be30a9d3bee5a6cb7faea67656e83f0ada2129c5c6a9f99ea7dc38c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087f09a9e0c529ed85b94d247d68c87fbdefd31268b77b3751ae847f1f71cb9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are aligned around the green fruit at table level. I’m closing them to secure it before a short test lift.\"}",
  "call_id": "call_XrsMJrmYGvfTvnzM1npeuKod",
  "id": "fc_0ad184d13907b37e016ab463a0b14087d0b876f0209decbb6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XrsMJrmYGvfTvnzM1npeuKod",
  "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]: [-0.0219, 0.8059, 0.6132, -0.424, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4736, 0.2039, 0.0666, 0.7181]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0443 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3343 right_y=0.0481 right_z=0.0099 right_yaw=0.023 right_pitch=-0.1374 right_roll=-0.0717 right_gripper=0.7181\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.7118, -0.0317, -0.0757, -0.0171, -0.2256, -4.7932, 4.6701, 1.5946, -0.0024, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e23525d9938cf58e7c2043e5d36ce6da03a39159ce9589c19df5456845594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189a63f81958877990d8d86549a4d34926972f95b3b925db183aac5790b786d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1432808380bd92d550c4d8f7b35bc8808ffffa0392953ff83de5c22511e7f0",
      "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]: [-0.0219, 0.8021, 0.6132, -0.4007, -0.0139, -0.0311, 0.99, 0.5537, 1.1679, 0.6243, -0.1612, 0.4408, 0.2813, 0.9992]\nstate[eef_state]: left_x=0.2936 left_y=-0.0004 left_z=0.1777 left_yaw=-0.0005 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.99 right_x=0.3205 right_y=0.1137 right_z=0.1307 right_yaw=0.0292 right_pitch=-0.0601 right_roll=-0.0413 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -1.4017, 7.1316, 1.8877, -0.0757, -0.0611, -0.0806, -0.3214, -4.1641, 8.8547, 1.8486, 0.315, 0.2027, -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]: [-0.0219, 0.8059, 0.6132, -0.4229, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4747, 0.2035, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0431 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3345 right_y=0.0482 right_z=0.0101 right_yaw=0.0217 right_pitch=-0.1362 right_roll=-0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4564, 7.1179, 1.8681, -0.0562, -0.0415, -0.0122, -0.1436, -5.2991, 4.6017, 1.8974, -0.0024, 0.0024, -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]: [-0.0219, 0.8059, 0.6132, -0.424, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4736, 0.2039, 0.0666, 0.7181]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0443 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3343 right_y=0.0481 right_z=0.0099 right_yaw=0.023 right_pitch=-0.1374 right_roll=-0.0717 right_gripper=0.7181\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.7118, -0.0317, -0.0757, -0.0171, -0.2256, -4.7932, 4.6701, 1.5946, -0.0024, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e23525d9938cf58e7c2043e5d36ce6da03a39159ce9589c19df5456845594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189a63f81958877990d8d86549a4d34926972f95b3b925db183aac5790b786d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1432808380bd92d550c4d8f7b35bc8808ffffa0392953ff83de5c22511e7f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting the green fruit a few centimeters to confirm the grasp, while keeping the other arm parked.\"}",
  "call_id": "call_EfmrTI6FR2a3euEQmq1kuazS",
  "id": "fc_0ad184d13907b37e016ab463a3c83c87d08f5bec1711c8b615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EfmrTI6FR2a3euEQmq1kuazS",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0216, 0.8387, 0.6422, -0.469, -0.0139, -0.0341, 0.9899, 0.2382, 1.2583, 0.4553, 0.0238, 0.2039, 0.0666, 0.7174]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1672 left_yaw=0.0017 left_pitch=-0.0931 left_roll=-0.0016 left_gripper=0.9899 right_x=0.3236 right_y=0.0455 right_z=0.058 right_yaw=0.0209 right_pitch=-0.1952 right_roll=-0.0845 right_gripper=0.7174\nstate[joint_eff]: [0.1436, -1.6752, 9.4838, 1.8339, -0.0269, -0.0562, -0.0122, -0.1983, -4.9299, 7.9248, 1.7851, 0.022, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8101b711f588be060dadfa77b877db0a460729c46d12f345b90139c0a33c77e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65d5e3812e780300feea97e9f2ab5cc8a101ed52a4e4abec8804b6cac6f3e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c17b266176d1f7188e198635ab26c7f26d1d2d72b710964603766c1c0a80acc",
      "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 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.4084, -0.0139, -0.0338, 0.9899, 0.3382, 1.3239, 0.3557, 0.2733, 0.2783, 0.1375, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=-0.0004 left_z=0.1761 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0028 left_gripper=0.9899 right_x=0.3245 right_y=0.0665 right_z=0.0467 right_yaw=0.0234 right_pitch=-0.0979 right_roll=-0.0566 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.2923, 6.9949, 1.8388, -0.0562, -0.0513, -0.0317, 0.1709, -4.3829, 6.0103, 2.0, 0.0513, -0.0269, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.424, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4736, 0.2039, 0.0666, 0.7181]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0443 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3343 right_y=0.0481 right_z=0.0099 right_yaw=0.023 right_pitch=-0.1374 right_roll=-0.0717 right_gripper=0.7181\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.7118, -0.0317, -0.0757, -0.0171, -0.2256, -4.7932, 4.6701, 1.5946, -0.0024, -0.0073, 1.033]",
      "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]: [-0.0216, 0.8387, 0.6422, -0.469, -0.0139, -0.0341, 0.9899, 0.2382, 1.2583, 0.4553, 0.0238, 0.2039, 0.0666, 0.7174]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1672 left_yaw=0.0017 left_pitch=-0.0931 left_roll=-0.0016 left_gripper=0.9899 right_x=0.3236 right_y=0.0455 right_z=0.058 right_yaw=0.0209 right_pitch=-0.1952 right_roll=-0.0845 right_gripper=0.7174\nstate[joint_eff]: [0.1436, -1.6752, 9.4838, 1.8339, -0.0269, -0.0562, -0.0122, -0.1983, -4.9299, 7.9248, 1.7851, 0.022, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8101b711f588be060dadfa77b877db0a460729c46d12f345b90139c0a33c77e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b65d5e3812e780300feea97e9f2ab5cc8a101ed52a4e4abec8804b6cac6f3e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c17b266176d1f7188e198635ab26c7f26d1d2d72b710964603766c1c0a80acc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGOrC7GbdATOhklgEGFsGv9SEUKVVZ4_TdA8vxZT7UVfdUMDb0KXLHNgQjmnCYoWUuuBVFWG0dvvkOoXME26ykGtmMx3QQEAsqOED0EDUUrZ9IhHIdQjqnLiS5ByHgfMnAn1JjW6skDHv2ViSHMiaZRbpZUrnKhsaX9A8wp_wbA--nPRa4gQrVpzkkJibJ_9wZrp4ajd06_EHllKC0mdhQBc4_BFJGBfT0dl3nm-eFPvxW6EQEDsFaqciwP4P1MHSLmXCj1KcEIPFwXS_Wzh7zPAcN8tal0KWpFFGA45W8g7aGCTpSaRIbvtplmXGgH2lDw7OKLPfJmTFq_1IMVg3kau_Dm9mnVaKxI9UxmcQ-SFywz4z-C-ny9eCx7LqjkOSBsfcWbVfuVv-_g8t-YRKyy1pF_xbZtTyQzl0Dx9Jd0tOvfWYXSaIC_heihgRPd8EPAPE5I1WbhyfYE61kctYMhr_w9IeR_Wqo31zCGWcHRR8zThOEU6B9MhhTVUoqPFzHHtckEMjJZGvnaviyf7EmDuoMCspZL8mG7hMC_kT53eNXmw-f4x4i8gmNk1RTDRShDOMeUmI2tJQ_nKsm9ARdSa4AeWW5pGbSeT75wWSEmwVl7MyZgmOzJjDxnzCp32EBa30niNBItJwShYzEssuVRgK4l6Klrbga3q5oMtUTl83QSjOAG0lvdYRVikQBZAuYWRrVUk-rbq7AP-k8rmY_K2RxtAhfUoZExByxoXPKzvP0pEJORZNfWK7o5CWwl-ZF6YniLPNhhgFtMx6CkLO3OgUHaSSflIap2uwwTHiKN0Q2Phyy9vLojIf0gOD8rrnyWpyeBF6oC-qgRy8QjxqMLZbGs8FYlOQ1w8fqALFvJ2ttF3-DEW8xJrZLAtQLwjHyzI8u4DqldGPuU8zZyR6WTea61x1R8DHwEiFXHl-4fBMNTY7_py5P7ObBzcPrSECiNhWMmkRxLx_067Mkzczp_kPPVUUGvk6Ti8PWK1FULmRMpNeFRutjVJAVazqX_IP--xIasHr4qpxjqM1tCbyrUaN7w6yCqEdhzqFP16ffR6Ix_F8NaRBmCzFjxlQdWO1yK-jj7XYawlUcNqxQVh6FPNB7TFwNek1XMm14W_5Wqwne2I6CFt3UZP118G9EobxySxH8tXWXrPukhK5IWAoIHMgCeZABPBX6PYqf0tVt-w9pNTsLEm23gpStnPIG2E0ju1f83m7fNS47fVh0tqLA4g1Jw1HS6oLixxNLlcwlbFzgLBfqCuzWEOLa6BmUY_WuFWAlXvmj_Gp8SXgFqIT31o8t245TVgFpm5ef5r3VExJ121W24M6ub2uGxvalFgY5Ua0tKkSfjUfSLT_gkNaOYJNFuvingnT4w0jEEobRCPrA2VPhiK8t-OTmOWrnk6yftym0bsnTjMZ0cbMgxMrAzrInygf6CKbxiixI2FKhEnz60ETdtudKNQ88KiFAJ3jo_QD2bgSTpb9pbtuZyxV3BlnfN_kizCtkdWYSCh1M2jMWIxFOW4X-QW_FDGGuinPIGe5YQ_rmZTOQS2Qm5JsVm_nEE3Ry9RSBwU50Yyih_yILfAuBek8tv-h84gK-1nBlwec_XTRdzIALAzey7JpN3aJCYrTbHs-HbPqi1ZeuXfsCAICIYw2oGDp0cLVmHxTfQpKSGpF3dLr-EqkB8DA5G3rlc4_RXgh19RDXAM3p9dCQg=",
  "id": "rs_0ad184d13907b37e016ab463a8b92487d0971236007f9e1148",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.09,\"right_z\":0.22},\"note\":\"The green fruit rose with the gripper. I’m lifting it clear of the blue bowl’s rim before carrying it over the opening.\"}",
  "call_id": "call_QaApjslKP5qsavTgKSfkTa8b",
  "id": "fc_0ad184d13907b37e016ab463aa984087d0a85bb4573346dfed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QaApjslKP5qsavTgKSfkTa8b",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.0212, 0.8413, 0.6415, -0.4763, -0.0139, -0.0338, 0.9899, 0.3603, 1.346, 1.1629, -0.6559, 0.2691, 0.1314, 0.7201]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1647 left_yaw=0.0019 left_pitch=-0.1038 left_roll=-0.001 left_gripper=0.9899 right_x=0.365 right_y=0.0911 right_z=0.205 right_yaw=0.049 right_pitch=-0.2373 right_roll=-0.1001 right_gripper=0.7201\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.6825, -0.0562, -0.0024, -0.0171, 0.1846, -5.2718, 9.1282, 1.4921, 0.2857, 0.232, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef014447bfe2a763c8dace86293c62f3249a0cda9d6a1e08abc39de38fb80d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91689e80ea423d1ab7c38766781f13165f63e2055dd520f8dd7c56d3b91d7b93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed9abfe1bccc110a118bedcd3c3efe0cd351b1798fd2fbf3edd3caf9866cf9f",
      "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 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4229, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4747, 0.2035, 0.0696, 0.9991]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0431 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3345 right_y=0.0482 right_z=0.0101 right_yaw=0.0217 right_pitch=-0.1362 right_roll=-0.0688 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.4564, 7.1179, 1.8681, -0.0562, -0.0415, -0.0122, -0.1436, -5.2991, 4.6017, 1.8974, -0.0024, 0.0024, -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]: [-0.0216, 0.8387, 0.6422, -0.469, -0.0139, -0.0341, 0.9899, 0.2382, 1.2583, 0.4553, 0.0238, 0.2039, 0.0666, 0.7174]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1672 left_yaw=0.0017 left_pitch=-0.0931 left_roll=-0.0016 left_gripper=0.9899 right_x=0.3236 right_y=0.0455 right_z=0.058 right_yaw=0.0209 right_pitch=-0.1952 right_roll=-0.0845 right_gripper=0.7174\nstate[joint_eff]: [0.1436, -1.6752, 9.4838, 1.8339, -0.0269, -0.0562, -0.0122, -0.1983, -4.9299, 7.9248, 1.7851, 0.022, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0212, 0.8413, 0.6415, -0.4763, -0.0139, -0.0338, 0.9899, 0.3603, 1.346, 1.1629, -0.6559, 0.2691, 0.1314, 0.7201]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1647 left_yaw=0.0019 left_pitch=-0.1038 left_roll=-0.001 left_gripper=0.9899 right_x=0.365 right_y=0.0911 right_z=0.205 right_yaw=0.049 right_pitch=-0.2373 right_roll=-0.1001 right_gripper=0.7201\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.6825, -0.0562, -0.0024, -0.0171, 0.1846, -5.2718, 9.1282, 1.4921, 0.2857, 0.232, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef014447bfe2a763c8dace86293c62f3249a0cda9d6a1e08abc39de38fb80d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91689e80ea423d1ab7c38766781f13165f63e2055dd520f8dd7c56d3b91d7b93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed9abfe1bccc110a118bedcd3c3efe0cd351b1798fd2fbf3edd3caf9866cf9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGOwdVMvSIh7OQBgHnb048QETo81Jz1sEre5cs-G5xHCkVRIQXpIt-qNPs6PlfHRNTwBf-JtMU_1krtcY1z3joehrjCVKuWGMHAPZ_l6mpfHptyjZ5RIPMU56XsyYDPuHKqNrSp0diyFA3Cgoao1cNC_K55dwK4SJ4zyWRg1Ianqhpmsl9D1RJJGTOm6SykYAlgBhbCABR2fxZxOgNHHv5952v_2tWz5iwPyuF0c3K1l_UWJaZV-dPLXzjl58_siOXHM4cOTU_n_-qnmtnp4eljQBXnlNjzJCaLJRO4RjvPrm0RB_pmM2WowPrMoOtfaNZc0VF_XbtIXNYJbpE82af-JMfkk-EhSOrKXmC0SkL9S-THMlvIcGVDEVNguEuSnSWkJlK-Z-cyKTRLdmRkG9FODV_xYp0e099AyFT7ADzVifQp4ABoQZqOgCcK4wm1lr7-fohs8_UIBSY9iM5XujoGfJChfGb42_nZ6G4StLPL0LQPETYyMHsBYn67Ld7gPz2NkGrixfDR_RgkByOCzUEjDrFQFq-649yzCIw2ZAYhsw8uZ0_uTxYXz6wtFTYZQgQ5dmffe-FpoDTlhsfqgvCOchKF9UTB8RVVnfCuirR41IWQLrMwMWLKxmx6pTbsSuetJrQdd9ZJwmx1JVYtdCL88qdyWxiQ6V385E-C-4Pc7HxY4HgEJwvGSIGwpz9sFBbp-Au3R23FPLyUHSIzoUTx9REEdUNhaWfTej6rZUFuU04U1zh3q8dn9Dg_Wb4GVacHF4AvLgivS4jmH4nrqFNYq4dIOXr19bGmlDZJT1p80vzSWInM-LymrGuWRM2cB_CPCreWO_t3PnWCJRJIZVIEfvIOkaiSPCTnZJ-sAgnZO0xWY-sUNU3dMtS0oqPnl--h6gAk977INEuw4PTtwjPuIsw0Ds3mgHPbCOZTlBsG2RbS4OHukOakyMvKgpSgx31UrdIaiOIcSfD1KN1DDt4jKG8z0zNW5YtSE5DAzSpqlAKRZzw3BFvJp4cRlFrWOmF2fws0nxle8b60c9Tx2eDRlXwozdp2EdiLQbpOGRqlhudegVL9uBQ6R2_Nm5gThpDe-gFrYPiPyNLCj2J6BMA9OhATR5hO9gIW4sk26phTymdR1pEmZZ5RLoxvrJbqNcoRDaENRQhhArWmSSD7U9oxVybwhg8MKqI7yk5Lwmdiv4isHHN27ItWTJHUILs461yP8",
  "id": "rs_0ad184d13907b37e016ab463af06d887d09f57165d964af88f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.16,\"right_z\":0.19},\"note\":\"The fruit is securely elevated, and the blue bowl is directly ahead and left of it. I’m positioning the fruit over the bowl’s opening.\"}",
  "call_id": "call_YwjINKOH2Ir8bZrfyBlC8xv8",
  "id": "fc_0ad184d13907b37e016ab463af631487d08ddf539821228d58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YwjINKOH2Ir8bZrfyBlC8xv8",
  "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]: [-0.0212, 0.8452, 0.6415, -0.4885, -0.0135, -0.0338, 0.9898, 0.45, 1.7374, 1.4601, -0.6632, 0.3069, 0.1757, 0.7226]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1198 left_roll=-0.0009 left_gripper=0.9898 right_x=0.4326 right_y=0.1537 right_z=0.1705 right_yaw=0.0725 right_pitch=-0.3201 right_roll=-0.1339 right_gripper=0.7226\nstate[joint_eff]: [-0.2256, -1.7846, 6.9265, 1.7314, -0.0317, -0.0269, -0.0171, 0.3897, -9.4701, 8.6632, 1.5409, 0.3932, 0.2222, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0662b9077e4161fbc3bb5331e7ff7728f382a72f6b119905e22fa7e775efc002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c7ec169b8b98bdb38996d1062012f3284e56af3cc292b044334d9fbb81e1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83a8e02bf25db3189e2efc6ca1b80fcc4ff26a456c4c72abc58c281a7cfdb0e",
      "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 24 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]: [-0.0219, 0.8059, 0.6132, -0.424, -0.0139, -0.0338, 0.9899, 0.2382, 1.523, 0.3294, 0.4736, 0.2039, 0.0666, 0.7181]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0443 left_roll=-0.0024 left_gripper=0.9899 right_x=0.3343 right_y=0.0481 right_z=0.0099 right_yaw=0.023 right_pitch=-0.1374 right_roll=-0.0717 right_gripper=0.7181\nstate[joint_eff]: [-0.2256, -1.3197, 7.1863, 1.7118, -0.0317, -0.0757, -0.0171, -0.2256, -4.7932, 4.6701, 1.5946, -0.0024, -0.0073, 1.033]",
      "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]: [-0.0212, 0.8413, 0.6415, -0.4763, -0.0139, -0.0338, 0.9899, 0.3603, 1.346, 1.1629, -0.6559, 0.2691, 0.1314, 0.7201]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1647 left_yaw=0.0019 left_pitch=-0.1038 left_roll=-0.001 left_gripper=0.9899 right_x=0.365 right_y=0.0911 right_z=0.205 right_yaw=0.049 right_pitch=-0.2373 right_roll=-0.1001 right_gripper=0.7201\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.6825, -0.0562, -0.0024, -0.0171, 0.1846, -5.2718, 9.1282, 1.4921, 0.2857, 0.232, 0.7985]\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]: [-0.0212, 0.8452, 0.6415, -0.4885, -0.0135, -0.0338, 0.9898, 0.45, 1.7374, 1.4601, -0.6632, 0.3069, 0.1757, 0.7226]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1198 left_roll=-0.0009 left_gripper=0.9898 right_x=0.4326 right_y=0.1537 right_z=0.1705 right_yaw=0.0725 right_pitch=-0.3201 right_roll=-0.1339 right_gripper=0.7226\nstate[joint_eff]: [-0.2256, -1.7846, 6.9265, 1.7314, -0.0317, -0.0269, -0.0171, 0.3897, -9.4701, 8.6632, 1.5409, 0.3932, 0.2222, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0662b9077e4161fbc3bb5331e7ff7728f382a72f6b119905e22fa7e775efc002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c7ec169b8b98bdb38996d1062012f3284e56af3cc292b044334d9fbb81e1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83a8e02bf25db3189e2efc6ca1b80fcc4ff26a456c4c72abc58c281a7cfdb0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGO4wyYKQxMTdzYGtWlastMhLo5PmQNLISQuQi_3GPz62dCBRxH0M_7fwaa0F9A44IzDTI2BGBwFZ11qm174pe33zoRGsHrlCOJbvrBfqj9zv1WsuRb5zadKE1s4C5Pp1AfyYNer_X4QmPaZFzQUnQte5NSB_ZY_pgXIWC80R03_vdl4DuhuUF9ltKQODrDFOihASj91m9EPLDw7JvRsCgaZwg9z2w88vaBovEXpBye6flgyICmVpDyHNIMNieN5giTd11s95xctPq2RIj43sN49X03KuyxX2HKviZHfobCZL3Cv8_KLIQQSnWVJZ-ZMGtbXF5AqUUJatUEUE8hsCUcGZdZAmPX-wXGSHRZ8UNsVmTr7-En2mo3U5TayHvpIW0D7pFj9rAxmvYamCTfY5iX5KQ79rULBGLQ2Aei-l2Q4kpXiRzgeqCre8cAOliEcOSpaZ0Fdedh_aq0LSHV9cPeYN6GeMJuu5Wys1KVzwzh0mhYLQCt6SsOcXsygU0DK2x-KsTQDz1BIVk0ZNl3VG9uxKBDF9mL4qOk_aBIHAHjugbkBjZ12MVgn3YY1GYsVkj8urQoNbJJXxa7l_uIg8QcVG5384vHoWcD0gXQOla8U3JBTM_fNJU2ffFHNVwEiGhrkHcyJ9Oz0HDafmOk40EBMnUKYPsTojuIPOgdW9upEloCiGy19af4sNA4E6-hS2_5rcHtZcjgsljp8RrsnV-UF8XtugeuvYpi2-9ym2Wjm4vz2nRh2FgJEgn_5CIW6b-osCZka26c9n-8ypmIOGHhqMApm1i5e4lrKUI0u55LgwVvsQgfsC7dps1zN4rcN9fi4-WvdwPLwndCySw-cWtANXT6R_aXsM5_L1jgV1c7B2nMGrZugLkbypUY2pttB-PzdzGpUwB9FtzZVu14dqLpNA_JfvexXyYgPtNhAUUgtvBucawt3dSlRJJ7pPyfuIU_YTCHKEoBj1y8VbwCV4AHWjkU1CdyomDryVEfSzBRcCODDGJwApf9CBH8D_Xor6iwGbLjbMkrctsYHE6J4n0x4ieF9x28klc0d5Q5LQ9eAjQNlI-mH4d0GK2O_7Xq_z9s6dUaSbEgtqFB1GYdWpAh4Ohp5BAU4lGMo9s5zMuyAudarGapYLoWlinlOvuMsW7H-W_HyHNlslvDTIeYDfNmpct5a-WHzBC1CeGiDi22pEmcasxV9e3aXXD9uGAewfkiYpekPe3nce4s6cKfPNqIi3gIehpI_jEGelCKwb2HqjJq3PLcLxo-7bX8FtuKuWoKRPtPJ1RlugH6W0ySmmA-V4ZqlarQu-uhFupm93pxLE2dXPW104zjNrx6ebFHKmUIC6n_7LX__kaM5sNoZauKpOocUFRUJMys2sSU6rXtdffhyD_nomNpsH3U9XoAEJuCj9enigotEdW7J3fvxQF7dtoVVegaTmehGp1CrXZPd6m8lVxRLXQ2I6elNNWZ7q6iBTJgyrGGfpUiVP_waZ-DLne1FUKr8zaQCOvwkoRBTf-D-0ge20DTQpzYafKBaqC2sq8uxiW-1XtNSbViC6sE9LgK5D0jdS4r5T5986IM3pxd3bvHmgzigYRf_kT3stzfcYsUCWX3ECVFsgvxkFAM9eMYYKpSf4GXIOwz5qPpKI3PPBIgSyH49oG4khcUS_90IcseWKGdSSAMhrarimeicU4wcEtvy9Ji67wSWQdtxde7VwswBP9vw-CPzDIucO5cR",
  "id": "rs_0ad184d13907b37e016ab463b63fd487d095fbd9cb09709b00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The gripper is over the blue bowl. I’m lowering the fruit closer to the opening so it can be released with a short drop.\"}",
  "call_id": "call_2FBROw2C4QGqAiyKEHDpAF4N",
  "id": "fc_0ad184d13907b37e016ab463b835d487d0b6e2c780e56d3099",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2FBROw2C4QGqAiyKEHDpAF4N",
  "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]: [-0.0212, 0.8463, 0.6415, -0.4919, -0.0139, -0.0341, 0.9898, 0.4522, 1.7565, 1.3319, -0.5762, 0.3038, 0.1749, 0.7257]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1244 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4222 right_y=0.1504 right_z=0.1244 right_yaw=0.0697 right_pitch=-0.377 right_roll=-0.1557 right_gripper=0.7257\nstate[joint_eff]: [-0.0889, -1.1966, 6.9402, 1.6288, -0.0513, -0.0757, -0.0073, -0.4718, -9.0872, 7.9521, 1.9805, 0.149, -0.0317, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d60a9bf53ba43d672084ad8281099541b0104292bfc1152e14ebef57712f8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a3646fe7d1cb9ed55437bbc7f7699dd54ec4c2c2138a1819e053b8c7625d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3634e39cae83a440bd7d7f187b26fb5259b74081ab4edd60c61e8e79d6ca6753",
      "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 20 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]: [-0.0216, 0.8387, 0.6422, -0.469, -0.0139, -0.0341, 0.9899, 0.2382, 1.2583, 0.4553, 0.0238, 0.2039, 0.0666, 0.7174]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1672 left_yaw=0.0017 left_pitch=-0.0931 left_roll=-0.0016 left_gripper=0.9899 right_x=0.3236 right_y=0.0455 right_z=0.058 right_yaw=0.0209 right_pitch=-0.1952 right_roll=-0.0845 right_gripper=0.7174\nstate[joint_eff]: [0.1436, -1.6752, 9.4838, 1.8339, -0.0269, -0.0562, -0.0122, -0.1983, -4.9299, 7.9248, 1.7851, 0.022, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0212, 0.8452, 0.6415, -0.4885, -0.0135, -0.0338, 0.9898, 0.45, 1.7374, 1.4601, -0.6632, 0.3069, 0.1757, 0.7226]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1198 left_roll=-0.0009 left_gripper=0.9898 right_x=0.4326 right_y=0.1537 right_z=0.1705 right_yaw=0.0725 right_pitch=-0.3201 right_roll=-0.1339 right_gripper=0.7226\nstate[joint_eff]: [-0.2256, -1.7846, 6.9265, 1.7314, -0.0317, -0.0269, -0.0171, 0.3897, -9.4701, 8.6632, 1.5409, 0.3932, 0.2222, 0.8767]",
      "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]: [-0.0212, 0.8463, 0.6415, -0.4919, -0.0139, -0.0341, 0.9898, 0.4522, 1.7565, 1.3319, -0.5762, 0.3038, 0.1749, 0.7257]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1244 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4222 right_y=0.1504 right_z=0.1244 right_yaw=0.0697 right_pitch=-0.377 right_roll=-0.1557 right_gripper=0.7257\nstate[joint_eff]: [-0.0889, -1.1966, 6.9402, 1.6288, -0.0513, -0.0757, -0.0073, -0.4718, -9.0872, 7.9521, 1.9805, 0.149, -0.0317, 0.6081]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d60a9bf53ba43d672084ad8281099541b0104292bfc1152e14ebef57712f8c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a3646fe7d1cb9ed55437bbc7f7699dd54ec4c2c2138a1819e053b8c7625d15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3634e39cae83a440bd7d7f187b26fb5259b74081ab4edd60c61e8e79d6ca6753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGO7hXtXt4GjtAqkOru4E7HCy_A9bjeQZKfGPgp3Y3zTfil-HYIHn2uVyJSpX0T82jP4ZkWSMirBCFSGXz2mTUGuLrcQdbYOVU4WVayky5agzgmDUwlcEeIbDf31HG2_PVJ0ehKzZE1D9pP1yYPV1E8ohqQvG4HG82HBr1XVQKwQEnMDonlwaxE6sxPI_HhMS5FOOYrWRxix5vnsGF00lYfbNH2cdioDU9ZrO49YHdyaBcS6SJEnsMvCgbttmNnYfQ_21trNR7ETixeSuKy6JDMaI2M9Ic6WP_9xjeEC0R6X3qf-0ZXghnrOU5BICW0M91PYiiaZ7vvNeBvxcxgFVz9YLcTMrjNRe3yeb5clXKLsHHawc1JT8TtNT8fy0NZhFXCNpP3JKYPvA9NN1QtU1xV-ktrejQSbSTd3lkcpU6jjTPV2PE-6AMpeKXZyrh4u_Whz4xZ6pV3qbzeEumhlLRVmCm_fkqrdKlq0WLowdhYSgGDFdO7eDPHqhWDc2oSkM0uks3ayNnMyjfYDdvFI4_lzrepCTvbbvRW1IDjqWtPxz4emOegZ1inCatIG3hBzUmMLdbnYINOUcfTIJsOhNh_3Q0hp0MWR2tBr_CwlZj0okTOSuQx8voeSzLFMjOMlIxZN4cLDwS8AcSoKu6R4bmv91AzQfhp6QULLWEByY4vVbTBLXl_MpsDRx7cVEPml_i-dWlZ7jsok8qYCzxUMD6x98q_Z2RBgXDlknjP5p1otXLYT3GloQtyTYTQRpfxlKomhAp4WYBFDm0Vtw70iJ_4av2mvDSzCHOLA_518J43Yzx2VMslw98qIy37nR1Z-TwUX3xLoYPhV7W97Bf2476HbuN_MMQM-Aw3KIzu_8VahytVps8XKs-BuOMBnVl6mEQjVKwvKURDXVKnDrdMj6y5mizkBwSZafquRc5XyRwOECcQaPYoOqxpeinrgF8G3jdcUW3gH6pqHhxJqa_CXpjvjWRmnmZBcgVULsLvft7kyqP9bmNf8ju0v5MmlYn7a2UJm66UAUfqF5dfQeOl4YOt_I_2KUXP2N4_VxRsRfSCMpRX98YT-i9G7AeHTejK3KBIs3y3ebYlo59VgLZo8LSLdfbz1Qrvyw0vDvnBkJNJsf9_3VsOq1KdUxSTYIpjd2LjnTN5HzRKpojSChKQuHRXh2sZHikomG6xMj8R-zchT_h8pqLxrXyc1egZIKKXLzFitfuFD3m6ehx8apc43iFzdcg==",
  "id": "rs_0ad184d13907b37e016ab463ba825c87d0aeb65fa5bfe196b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue rim is visible around the green fruit in the wrist view. I’m opening the gripper to leave the fruit in the blue bowl.\"}",
  "call_id": "call_s3Ify1tnF8PyCJNDQwCMaVEp",
  "id": "fc_0ad184d13907b37e016ab463bacd5087d093bdd0682fadfabd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s3Ify1tnF8PyCJNDQwCMaVEp",
  "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]: [-0.0212, 0.8474, 0.6415, -0.4919, -0.0135, -0.0338, 0.9899, 0.4526, 1.7645, 1.3094, -0.5694, 0.2981, 0.1677, 0.9956]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1601 left_yaw=0.0016 left_pitch=-0.1255 left_roll=-0.0008 left_gripper=0.9899 right_x=0.4181 right_y=0.1496 right_z=0.1132 right_yaw=0.0755 right_pitch=-0.4014 right_roll=-0.1648 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.4154, 7.1316, 1.6337, -0.0269, -0.0513, -0.0073, -0.1299, -9.5658, 8.4581, 1.2234, 0.1294, 0.1148, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063d67d09f5507048f452f1f8d41e0bb0700dd48291dd3624bcaeed8d0ab968f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd621278d479fdd89f42bf90e9cd5693f085fad4b09a02bcdfc36443561ce64b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01759ad009adadfd39f00ec11f7a540ba49313b524380bfb1286af50277b905",
      "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 24 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]: [-0.0212, 0.8413, 0.6415, -0.4763, -0.0139, -0.0338, 0.9899, 0.3603, 1.346, 1.1629, -0.6559, 0.2691, 0.1314, 0.7201]\nstate[eef_state]: left_x=0.2887 left_y=-0.0001 left_z=0.1647 left_yaw=0.0019 left_pitch=-0.1038 left_roll=-0.001 left_gripper=0.9899 right_x=0.365 right_y=0.0911 right_z=0.205 right_yaw=0.049 right_pitch=-0.2373 right_roll=-0.1001 right_gripper=0.7201\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.6825, -0.0562, -0.0024, -0.0171, 0.1846, -5.2718, 9.1282, 1.4921, 0.2857, 0.232, 0.7985]\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]: [-0.0212, 0.8463, 0.6415, -0.4919, -0.0139, -0.0341, 0.9898, 0.4522, 1.7565, 1.3319, -0.5762, 0.3038, 0.1749, 0.7257]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1244 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4222 right_y=0.1504 right_z=0.1244 right_yaw=0.0697 right_pitch=-0.377 right_roll=-0.1557 right_gripper=0.7257\nstate[joint_eff]: [-0.0889, -1.1966, 6.9402, 1.6288, -0.0513, -0.0757, -0.0073, -0.4718, -9.0872, 7.9521, 1.9805, 0.149, -0.0317, 0.6081]\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]: [-0.0212, 0.8474, 0.6415, -0.4919, -0.0135, -0.0338, 0.9899, 0.4526, 1.7645, 1.3094, -0.5694, 0.2981, 0.1677, 0.9956]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1601 left_yaw=0.0016 left_pitch=-0.1255 left_roll=-0.0008 left_gripper=0.9899 right_x=0.4181 right_y=0.1496 right_z=0.1132 right_yaw=0.0755 right_pitch=-0.4014 right_roll=-0.1648 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.4154, 7.1316, 1.6337, -0.0269, -0.0513, -0.0073, -0.1299, -9.5658, 8.4581, 1.2234, 0.1294, 0.1148, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063d67d09f5507048f452f1f8d41e0bb0700dd48291dd3624bcaeed8d0ab968f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd621278d479fdd89f42bf90e9cd5693f085fad4b09a02bcdfc36443561ce64b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01759ad009adadfd39f00ec11f7a540ba49313b524380bfb1286af50277b905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGO_JpLVxrbqWUNgw4yaLcvd_WxU4YxJLA4ZrcF_Wug6ChTBgvM0Qnf7NUfH8ElYVgzjPcAT4T3fIFV5O4R9KSge4Llpb4HDM9j1Po0xods9rDhHHkpdOdasZWTZF-nsue3MT4YD3TF88sY4SRK5232V4Gq2ZRvfpRDNTSHaIou2NZTqIF85YBvQnu8vuygB_l4zjfS0qkq1pCUpSfNwl54oDmT9X5qrhBqyZLJ6E2AqX3esu1gWCzMRrakkPAa5ZFam5NOQAu3BEouydLogzx6ne0BhW8R2K7eIjiI2I_vTcyJwqjJEYKrZphyhxLIHNvWlkYjfvUGmwBAlivwaue596l2tHXT0ydDxMeAGB_ev7telC-9Gi8Me983breZVsulD_AggQvprSTHCa_vls_a-H8yb7tb2aHPJyoBJ-rfQtD2aXYJFcWuh_OzBZ9hu9nlZDN84VwV3hNyfQ7vBCclPWHTbTsboBYCfjGggBoEZyuu29RxzVkmm_YNVmqCm261pshI6faKv3Qk1Iqo81lJVXk6D4rzYlj6WcGbvDvHnMsRiotyAnSAxqtZXqPjLuMldqo3shWjufaHnDsRN_ND6tRJIBZpYNBxTvnP7FkTNs9DVK3IGjiZuHgCaMoOK3RvXTiTtaFkvQTEXqKpOPTVoPv3fLHy3DunUltFV81j7ZkW-G236Qau9Ux2OrExddbM7yZ-yL2medhcKvKo8ruoHVfZf84cV_Wsrhs8uOGYflNRIN-rZDdNCIHVeXUj82Qeb3TlA0d71VO85PcEu1aRN2o6-U0XCZNOSTlguq2zcDCVdqH3rGJW47K5n7NpnZ1wx3k67dRT5xeQmPOotZqt7vLglfc5YNlGZjO0SPanoqTbL65lYHOuCVQLy_yyt7-lCLw8JxwfQS6z_XspZYeWSPZEGHHrtEgP-asfaRupyZjQmrG7ZyVifSRMqwR5MTGQ3aMNKurk-WrHalUkexYffLTtvI4LHwVJHULU5bVpMaBN-PrFnJeIdJMPiBvkJOEJeai9IdvUgmony2JRWiydd_70d_spdYWaDgbJ482dbGlwnU-fUbZwqpCrpHCs-bcChn0_kPmXm9ML7FPhFBvJ7Q04au-IqLQFn5CmBJGpIGIqyXooz0VMIghYyRUuiSYhwerBpVDpCrc17xeDzPPLqreVe53LpMI6NwPwiw8BMGc6EIIAlMVJT_JynzJ3qeOU81gwCEEkNHyNN29dQnLdZ1X_wzASJyPHAuGtfcoqquF1T8ZglUfhOpDHRSNXiUXH7DMA3-uFGJfxgcbtOETCvP8i0ZLBCaGk4T_ymxbI8Koh0PMFMGWx5MPvK0Mmbw0KOmULPZajbSWpSbQsHjJ9tkvmq6_10mINqbJwlaXit-FkRBZnsp0iiuH1kDK2qw9BQQIWZDDNw9xGZixm1Q713Sg==",
  "id": "rs_0ad184d13907b37e016ab463bdd22887d08ba62edfb3b11147",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.23,\"right_z\":0.17},\"note\":\"The green fruit is resting inside the blue bowl. I’m lifting away and moving above the remaining yellow fruit.\"}",
  "call_id": "call_1i0U6habTEKQMKxVjWMd2aPU",
  "id": "fc_0ad184d13907b37e016ab463bf031087d08145c54534c17243",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1i0U6habTEKQMKxVjWMd2aPU",
  "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]: [-0.0212, 0.8471, 0.6415, -0.4934, -0.0139, -0.0341, 0.9898, 0.7975, 1.6924, 1.3972, -0.8684, 0.4351, 0.448, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3266 right_y=0.2332 right_z=0.1488 right_yaw=0.1166 right_pitch=-0.4335 right_roll=-0.1861 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 6.9402, 1.707, -0.0415, -0.0269, -0.0171, 0.1299, -10.5504, 8.6632, 0.8278, 0.4029, 0.1636, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39cecc745fd2bac434cd562e57ccd866fb1da7c2a4591a6a9fd76dd9165e97de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17dcc8e68a716476fb007801013bf7c11ec8cac44e4dd4e16a675352b1dc0524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eb524a13acd0e92e77c85a9bfcd720d6c85b28cc4944bc6b179f78772dd511",
      "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]: [-0.0212, 0.8452, 0.6415, -0.4885, -0.0135, -0.0338, 0.9898, 0.45, 1.7374, 1.4601, -0.6632, 0.3069, 0.1757, 0.7226]\nstate[eef_state]: left_x=0.287 left_y=-0.0001 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1198 left_roll=-0.0009 left_gripper=0.9898 right_x=0.4326 right_y=0.1537 right_z=0.1705 right_yaw=0.0725 right_pitch=-0.3201 right_roll=-0.1339 right_gripper=0.7226\nstate[joint_eff]: [-0.2256, -1.7846, 6.9265, 1.7314, -0.0317, -0.0269, -0.0171, 0.3897, -9.4701, 8.6632, 1.5409, 0.3932, 0.2222, 0.8767]",
      "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]: [-0.0212, 0.8474, 0.6415, -0.4919, -0.0135, -0.0338, 0.9899, 0.4526, 1.7645, 1.3094, -0.5694, 0.2981, 0.1677, 0.9956]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1601 left_yaw=0.0016 left_pitch=-0.1255 left_roll=-0.0008 left_gripper=0.9899 right_x=0.4181 right_y=0.1496 right_z=0.1132 right_yaw=0.0755 right_pitch=-0.4014 right_roll=-0.1648 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.4154, 7.1316, 1.6337, -0.0269, -0.0513, -0.0073, -0.1299, -9.5658, 8.4581, 1.2234, 0.1294, 0.1148, 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]: [-0.0212, 0.8471, 0.6415, -0.4934, -0.0139, -0.0341, 0.9898, 0.7975, 1.6924, 1.3972, -0.8684, 0.4351, 0.448, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3266 right_y=0.2332 right_z=0.1488 right_yaw=0.1166 right_pitch=-0.4335 right_roll=-0.1861 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 6.9402, 1.707, -0.0415, -0.0269, -0.0171, 0.1299, -10.5504, 8.6632, 0.8278, 0.4029, 0.1636, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39cecc745fd2bac434cd562e57ccd866fb1da7c2a4591a6a9fd76dd9165e97de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17dcc8e68a716476fb007801013bf7c11ec8cac44e4dd4e16a675352b1dc0524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eb524a13acd0e92e77c85a9bfcd720d6c85b28cc4944bc6b179f78772dd511",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPEoU2XgvxWfV9y8FCcK5KP46X6WyBAsxO7Ia-Pw0LjV77vW_CyLdxmUpUAxSM_N3xe6S5DUgL-uPLZM-tImoUS2OTn5ObacAdiGAnggeTwUeZY_4XSybKGpw09WLMpFVLmrb621c6vXDuSmTrvQ7LLHo_sQXcobMj3KLpR9IalqijkqX5pkU951y4hJcf0PZeF59QDGWKTHfR4BCKkHx-QubvrADBzS5YexuRHgyjBfCXDc5dAqDFs9Jjj1zyZKBLzwb-hnoxp_hasWedWG9zBr7BzesYvQxZQoNZ_m46BCjpEhnTYTTHcsIE1OPm6rErqciMNo-Muk1Y_gfNzag4YY0afDUbiRcDp2eIylM3BOznngH_NaP4T-KQzU3k3HNBxSk67J3IUF2d3hdmXLYPKBSCENBnQqN-R6bh-sL9J3z0pVzUiY9yfEKWYtj-9uv-NpESWDoWtVVhPF7Iai-vBI8lHz9zxoT0Suj-rLIEfGOxxSLv979lpvhFST9HMsip1wWLEp63mSeSaCVRvfiis1vX7wYtmoDGE9hup13Ld20Bg6zQf_WdLPEPdxSc-1Kjsl_T0kH-3yGf1KQCZu4tv02OyvStWkc2d_NWRSYi8MmGwTxSWCOov73q5u7Adx2WzTD1P1MfkHp7Pr8d62k8PPHbUWYZO82AGldvXii2qgE5cwiS_bb4kO6wkpzPCZ5lxgW3fJcqUmMTX5S8xLI1fks-mP7O9zgiU5eR54H_wP3DE43YCq2CLy7KWcZEL__P8zE8-NsiCgoaWy9-dWMJVEdIectg8hFdtWvgDxGBcjcFneD-IOUc1wjNGmn29qlE8saW4IF-xupzZwORnA3SV2N_Rj9JtDvxdrb1f4Nv5TJMCOI-I6L4k52SwUFQ32X3w5LWBoyV_9NLqtYibLNAJzJHXQwIDv1uUrZsDkiVs9pvuPWF6RE9RCYiKPg1XPAPST1yuYb8L05tTBJYi2BPKo4nK3BRlNbqM3i73cl-rFEVgwjFMeiRHDACZG2wF94yqUMtflGmotlcTfBvLUX0tS7m5HCWgUxT_1gCWbh8MOJ4qMB5ZS54AyFAhvFnQ8yhzIgxfjH2ueIJ7833viopxCu2e5sbNhtjKajshrZxyEkIpvJow4534fU-NWX6gJaQdLgXQV4uEgw7BnxieS5Wy61ibfV14XxEsqlzl8X8bqedIdO7HhzSDsy8rkcei1ZnKuB6PsWuQAPGqU_6kQ924GDOLyGKdUevhUbE1yjL7D6qAli1zI-IBwDunD2ZTioy8IEkPRBhA2Tpz7QAvc3kGYitWk2KsNmfPjG2f8j4_4V1eazldYyAg0lriiDN6_KFYYXV58L2FdUDMSgTjH-WZsJzdxP5YWewbVcWUqSwTPtWJzqBnhLf3X5Co9-O7QXzz-xOdCiGmF5Ec41b6NZV31xcMGWZiHh9UZLbqBhcjURn255TaNkkgMYN29lLtlcPpHURprgRuYccgM_Eh_wDkm7LHoYpNVrWcn0aEcoErNiVjNe1dEgr4SqdTYgX4yROR5PfaG2WwMx5q-M8jxUUaXZMz0Qw0K6TjIqs-WU6BHUZe7KsUjF4CRbRDIgj60EjGsOaLcrjgqpAj0X1aQQ4XcOKqyxyPEHEPwSPEsQCq2jiF8Lu6ItAgAV4vSEY-v-BZ59P9tPhEUZ4ne7wO1cGhUZq341ZeLx19TzyTaCiOZNeJpeh-_8PKNXmiIvXlgqJi3uw7LKY3_lccB4a-GXzuzkBtFaHc0mEFPhuOmPTreR0nLOudn07XGHFI8W2Pr4Vpf4pTlm7LOIa0VIR9W0TDzU77ur43a7FH0abpq31SW4v6aOgIFo3A6WxkHg-mBkQWX1NGhImhLmP7wqob6rd4ExOLVFKzWHA9LL2Oo_Ypwi8=",
  "id": "rs_0ad184d13907b37e016ab463c1d2d487d0897dfc55c91f9256",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.23,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is centered in the wrist view, a little ahead of the fingertips. I’m advancing slightly and lowering with the tool upright to grasp it.\"}",
  "call_id": "call_Sw8xQdaUuFSIWhJNoUrhQj2U",
  "id": "fc_0ad184d13907b37e016ab463c3eb3087d0a3d1394fb93f93a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sw8xQdaUuFSIWhJNoUrhQj2U",
  "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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0139, -0.0341, 0.9899, 0.849, 1.7962, 0.7502, 0.2066, 0.6743, 0.5236, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1596 left_yaw=0.0021 left_pitch=-0.1282 left_roll=-0.0008 left_gripper=0.9899 right_x=0.3396 right_y=0.2243 right_z=0.0326 right_yaw=0.0137 right_pitch=-0.055 right_roll=-0.0557 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 6.9402, 1.6728, -0.0513, -0.0757, -0.0073, 0.335, -6.6393, 4.4786, 1.453, 0.188, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ab6c91e981779f4858591083e7233d278ffe29d265e24fd43f6c0f55e207cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa317a8768b8dc724a1a8436ea5563dccd45f3d0ecd7593b9c668b7de56ac245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31aad5da829b1ea518a7c30865d54b3506442db9855341c77edc736406b0ff4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8463, 0.6415, -0.4919, -0.0139, -0.0341, 0.9898, 0.4522, 1.7565, 1.3319, -0.5762, 0.3038, 0.1749, 0.7257]\nstate[eef_state]: left_x=0.2865 left_y=-0.0 left_z=0.1604 left_yaw=0.0021 left_pitch=-0.1244 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4222 right_y=0.1504 right_z=0.1244 right_yaw=0.0697 right_pitch=-0.377 right_roll=-0.1557 right_gripper=0.7257\nstate[joint_eff]: [-0.0889, -1.1966, 6.9402, 1.6288, -0.0513, -0.0757, -0.0073, -0.4718, -9.0872, 7.9521, 1.9805, 0.149, -0.0317, 0.6081]\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]: [-0.0212, 0.8471, 0.6415, -0.4934, -0.0139, -0.0341, 0.9898, 0.7975, 1.6924, 1.3972, -0.8684, 0.4351, 0.448, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3266 right_y=0.2332 right_z=0.1488 right_yaw=0.1166 right_pitch=-0.4335 right_roll=-0.1861 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 6.9402, 1.707, -0.0415, -0.0269, -0.0171, 0.1299, -10.5504, 8.6632, 0.8278, 0.4029, 0.1636, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0139, -0.0341, 0.9899, 0.849, 1.7962, 0.7502, 0.2066, 0.6743, 0.5236, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1596 left_yaw=0.0021 left_pitch=-0.1282 left_roll=-0.0008 left_gripper=0.9899 right_x=0.3396 right_y=0.2243 right_z=0.0326 right_yaw=0.0137 right_pitch=-0.055 right_roll=-0.0557 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 6.9402, 1.6728, -0.0513, -0.0757, -0.0073, 0.335, -6.6393, 4.4786, 1.453, 0.188, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ab6c91e981779f4858591083e7233d278ffe29d265e24fd43f6c0f55e207cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa317a8768b8dc724a1a8436ea5563dccd45f3d0ecd7593b9c668b7de56ac245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31aad5da829b1ea518a7c30865d54b3506442db9855341c77edc736406b0ff4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPKrX2l3UFdqItLkAJezEHFlhMcOG9Q1MVAHeaQV7ft-8d3uGoGExywzlo_QCBJ1ROi3_PdCwRnH3DrZ0oLX2iN2o3BztoEV-d2h-_5U5kmTGIennBELfggJ_fmM7HOZW14Asxlqx_Kc3FP4vk3CPIZxRiBpnx0irKZG2m96CU3dArbzkr14efNRqIWWsCGUzAzbzqc5rpArVz8_TV4RsRDkfXQhMFWG4_KMZLw6C_aOsMAJoKIv7cspz2qT-9PCwxJdeDC3BFWS0OD1gEXqQgKeBQ9xRQRM5feY0IZf7misLdUm962lh7EtNuzD2HQdz5tifSMyDzJsu0UKGhy-e2GsbANxQvvE-70YvbhqgDg9pQrifgbLKJzMhELP1TDRcLVjCtuEZKGs5ut-bx1gG5fZxoXYC2T_0YhN_jmNGbBH7TRTxE6dl7GlZQ5Mcc7IdEt9IlQUpJ_mz8eVi6s5uTjJcfqE-2c-XbFjA2K5SymijRr1-GptqxNtKDRqcFfOD4dn4ivuVppiwC_iS1xYSwuK9HiTbJ5cufiPP87RCoPJUOLhQRdcJn-OEMtkyMX2PnH2u8gZVdydxW7JUaA1JhPuzBn0-T4PdRJ7ZtjjWpg_uVtJ2o8PdHtldMrF_DUeJow4UprG-s7ycyjTZm-zQ35npSpjWmCM02pIDMTXcr2VVKgzUfCXnBDVeL-MclxDYdZpTyOY0JtjuZCdnME-Ike58GCllO9kxQHfF46NjqZD6r-fwN1C0pgTt2w0fmvpiXZpMtZ6JMlxESpHn4wbF-LhouOoJyMQ3EVA7jx6HTd3rWydJ4pKSnju3h03aasqSVGVbsBxMT81-W7iRvJ5n1boxp6Gt03DIYZ-LP7na9t4IZYvc0OuyYO5q5nLmIamaEFj0z-1KLCkxEwg0MCRv3sTkqE95C3Gg7wAgZvoUOZMZ3nzd-PGdyLCuy8cKd1_GmlDEoFjQdJfAVe1GwVv4j-DyWgZhupN39Vs9JExn3BI5bMiDtW3QAE0ftabTIcv_ZQqY_9c2UmOUISpDkBBETxSrSPn4tMj2a7QxqLV_6_vTWCrJi6xfUsGwdUkSFn4Qp3HPfH3dYQJLfc411qRtHoMEIgb90Fie2F6e3D1q60I_T5CdxwvjH6cPU1nbpRtSQA8MXKMvTNdd7XGG4Pb93yy3GInOtzV5GzUXXw6L0OtCqjgSAyePTGP-m3OSJr-gL1REVr0oo0-BcZUdUU2oVhSwSGVtQcIPaIPTnlCDqDbeAEYLHamKfyf1_IXbW1hFfI_X6REad9Pp5TAySg-u6eh_ev7KTlDqNlBhBeR2Wj3oIrdL6mTj1ujtAUFCNUER_vHb_RtsbSCT3zoeHmEKGDzxCiKkqI6bBe4B_0PO0u-qyAETPPusylIdHjs4UmiGYua0Oo3zpc1HCJb7CUnYYFAP7t7IelR5HsNO2-F87MHVQKbC9lvQo6ZXPsgLiaCjrhXlLcBMD0O-KuaUNk3sss5DhRrZzA0iHqA62S84oBbFP2zKz-EfUKwavBI6K_S7aZ8ukoHA3PnaYIlUsiwGtRAA==",
  "id": "rs_0ad184d13907b37e016ab463c7d6e087d0b513434b80fd4d55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.006,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is centered between the jaws. I’m lowering the fingertips to table level so they grip its sides rather than its top.\"}",
  "call_id": "call_4r8Gl6RYtnEl67tukrEakTvO",
  "id": "fc_0ad184d13907b37e016ab463c93ab087d091d291a00cc1f2b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4r8Gl6RYtnEl67tukrEakTvO",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0341, 0.9899, 0.849, 1.8561, 0.7086, 0.3923, 0.6918, 0.524, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.001 left_gripper=0.9899 right_x=0.3461 right_y=0.228 right_z=0.0255 right_yaw=0.0024 right_pitch=0.0106 right_roll=-0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.4974, 6.9402, 1.6581, -0.0073, -0.0757, -0.0171, 0.3214, -5.9966, 3.412, 1.1697, 0.232, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7130ca1c99909900fb78e1b89dc1f0843736a35f7c16f48f335ecc855b604d1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21eedf1f860d4bb8ffb4bba3815be2c361e8674f2942563474abb33f5e425f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498cbfdb8afa5885c7349f4a0e4ed691674638d58a0e85e1b0647edf7c81af34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4919, -0.0135, -0.0338, 0.9899, 0.4526, 1.7645, 1.3094, -0.5694, 0.2981, 0.1677, 0.9956]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1601 left_yaw=0.0016 left_pitch=-0.1255 left_roll=-0.0008 left_gripper=0.9899 right_x=0.4181 right_y=0.1496 right_z=0.1132 right_yaw=0.0755 right_pitch=-0.4014 right_roll=-0.1648 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.4154, 7.1316, 1.6337, -0.0269, -0.0513, -0.0073, -0.1299, -9.5658, 8.4581, 1.2234, 0.1294, 0.1148, 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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0139, -0.0341, 0.9899, 0.849, 1.7962, 0.7502, 0.2066, 0.6743, 0.5236, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1596 left_yaw=0.0021 left_pitch=-0.1282 left_roll=-0.0008 left_gripper=0.9899 right_x=0.3396 right_y=0.2243 right_z=0.0326 right_yaw=0.0137 right_pitch=-0.055 right_roll=-0.0557 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 6.9402, 1.6728, -0.0513, -0.0757, -0.0073, 0.335, -6.6393, 4.4786, 1.453, 0.188, 0.0806, -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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0341, 0.9899, 0.849, 1.8561, 0.7086, 0.3923, 0.6918, 0.524, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.001 left_gripper=0.9899 right_x=0.3461 right_y=0.228 right_z=0.0255 right_yaw=0.0024 right_pitch=0.0106 right_roll=-0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.4974, 6.9402, 1.6581, -0.0073, -0.0757, -0.0171, 0.3214, -5.9966, 3.412, 1.1697, 0.232, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7130ca1c99909900fb78e1b89dc1f0843736a35f7c16f48f335ecc855b604d1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21eedf1f860d4bb8ffb4bba3815be2c361e8674f2942563474abb33f5e425f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498cbfdb8afa5885c7349f4a0e4ed691674638d58a0e85e1b0647edf7c81af34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPNuYb8LuoQaA7G4cNlWwtKvcbBKeU6byA8HaxRBB1GWzPw5jKxnqgBEkkxK8v1NXMYKdLrVBMTJWFRyKN_cEDhf4lIIr126rpfCZEKWyQoTbVsOzaRKitpnmamfDVFwlyJ0FKDZbou9U0TfZ1Deaneznt25ERCm3FDGEwKgANt_st_iCyC39JSQ5fto1ngeOZmted_GZxpgIQKK7dWqzWMTWj7Q9EeYROQiwtyOMtgErY9rQxU82gviC0E9osgHibXZ915yJ8o1ODK-w8bWWpbV85VIaw8x_NF0wMQiP8BcK0Ft_j4QyMq9ITVEhq7rRLN3wIpz6CDavwjijcomZnvaJIP3HjhyWmgWCjsHcylZ-oMbutmK7IZEbaIbN5sWsRvbc4NtHKvaNGuoE3yyF54r5PhGtykKDoTAE_XknpQc1zkqowNS0GSTO_yNw0a8M2bwIYMBSHixSdOJ8WGTFUzP0Xc-DXpCmbr_Fi8gNCC9Y6GSE40iSP-_6VQpYvnOrgfkAqMn2VMb6XpcVLjrVIzEMOf1SvwXhKgo2gReCblk0sss_oWT-FXxoImFo5mVTdC_hj3CNjYFXSajYltIcG7t7iw29fJp2wjuhNX3XUrdwzd1z-67_6ftIVASRvm4HAcrI5VOOrXs8-u9a5xujWhdruzCILN3r_qLIvNqbtUB--oOEKS-niB6MmM4cWpZ2IrpHxcxw8PgUc3KyicmahYuzfDAx-K7TUkD5qHNMbf2vP-qV9USf-4blef8DSJz4rKcRQtV4m2EWiSKBAOCKQXM-I3WFSGUvX-6xhmg4Ow90Vl6lxFuK-OAa32fdJ4iXQ1p6Tw4ora0WiGjQUvZsQ89KptH0Kv96fzg_CLmp-zGR6yGjZ532EaUKjHDjDBpXtiRx290dk674F2pe-lE63-WaX42x894MfCtP_P1CArDHjrMMnl_V1y9MYW3lENZlV4Q86aM0aJgzqF3Shs2nWhgONffopqXqtxSSZusmwkDN3Z-v2Zg729t4LkEDI1a0DYo34fVHo13uRsUvt5ubO47i3raBW-wPptSXXN2zS52XxHHY7AwpqOvtXcH_SX6uB39TM5yX_Xa-IqACNo5BOAUnE4dCup61zMaz_dlVfW-Ya_s4HWa9JJW7vk8lMMvpiOjSds_voXIKiNDbhJTGLBMDVQWt6wGGjOCxLvwD9WTvZc9Kl__oJ8JBY7t_hq8IaDnEw5Qmq91kpVNC8S2XFvK2zaT6ivQhhSS6jMm_76AgOT4XZytRIDplZJqifZ_rHAgyNl4D2iW6lZEeg7ybeC5A==",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped with the yellow fruit between the jaws. I’m closing the gripper around it.\"}",
  "call_id": "call_k540kGcGZTIZwgFXE5jlZ1ng",
  "id": "fc_0ad184d13907b37e016ab463cca2cc87d09f2598e7f3177b51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k540kGcGZTIZwgFXE5jlZ1ng",
  "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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.8482, 1.8603, 0.6983, 0.3992, 0.7258, 0.4969, 0.4863]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0016 left_pitch=-0.1282 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3459 right_y=0.2204 right_z=0.0245 right_yaw=-0.0081 right_pitch=0.0227 right_roll=-0.0452 right_gripper=0.4863\nstate[joint_eff]: [-0.1299, -1.4974, 7.2274, 1.5897, -0.0269, -0.0708, -0.0171, -0.2667, -8.1709, 5.4906, 1.409, -0.0952, 0.1929, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df537087a675b1e711275914a39e9a41fcfafcaa34d4d2f4a39b4503913ba95a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c4c11c56b18cd594686e2ef5d85f934f5f6188bfb6a41b9d5bd92d6c07d1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a68e72a7506009acc40c77f3591a83f2ca2efca317c78328d963ed9bd2aab51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.4934, -0.0139, -0.0341, 0.9898, 0.7975, 1.6924, 1.3972, -0.8684, 0.4351, 0.448, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1266 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3266 right_y=0.2332 right_z=0.1488 right_yaw=0.1166 right_pitch=-0.4335 right_roll=-0.1861 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.4974, 6.9402, 1.707, -0.0415, -0.0269, -0.0171, 0.1299, -10.5504, 8.6632, 0.8278, 0.4029, 0.1636, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0341, 0.9899, 0.849, 1.8561, 0.7086, 0.3923, 0.6918, 0.524, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.001 left_gripper=0.9899 right_x=0.3461 right_y=0.228 right_z=0.0255 right_yaw=0.0024 right_pitch=0.0106 right_roll=-0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.4974, 6.9402, 1.6581, -0.0073, -0.0757, -0.0171, 0.3214, -5.9966, 3.412, 1.1697, 0.232, 0.1245, -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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.8482, 1.8603, 0.6983, 0.3992, 0.7258, 0.4969, 0.4863]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0016 left_pitch=-0.1282 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3459 right_y=0.2204 right_z=0.0245 right_yaw=-0.0081 right_pitch=0.0227 right_roll=-0.0452 right_gripper=0.4863\nstate[joint_eff]: [-0.1299, -1.4974, 7.2274, 1.5897, -0.0269, -0.0708, -0.0171, -0.2667, -8.1709, 5.4906, 1.409, -0.0952, 0.1929, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df537087a675b1e711275914a39e9a41fcfafcaa34d4d2f4a39b4503913ba95a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c4c11c56b18cd594686e2ef5d85f934f5f6188bfb6a41b9d5bd92d6c07d1c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a68e72a7506009acc40c77f3591a83f2ca2efca317c78328d963ed9bd2aab51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPQcaZcPvkRbv825ixHEHSXkP6s6Ov5f1MypxnYQ0f4_RlnRxyY6Iq1BEmqRbL4Jxnzasy7C_G6r0keFk2_s4UKqc6yt9ZXAUU-3KPyvvJlQ33n_dPO7x90xS2Rdc37zfnCZsf00ppDKvbKMKIA_ipZcFKxfg8zw3bysgzQVoOGhz2rUq7xfFnI5li9yr3-OPqxPU6K5eS_llk451jBo9l_XIHWHNGJsiH8xGCuuFspUXyf5X6JgYhkpfytv5dIdOUAXutDSXZKolkgIUXkLte7h9IBC-tMEFR1QT4kcnwt1a9N2pU2lkE6d6iVZVpOp4RQ0VU347AcM1GMC-Z3F5p0NvVAOiWdj36j_VTHoeRoQ4k-CYv_wO7C5Yq7ioVHksk2PulLGhPLkt_n0CEcW_X-FpqlTKnqWzmgh9zfZv30ni3DTywGUxR2Dw6d29_M7CpdNMYZlbnAbdygcdpVanfXjgNTLstsjXeeD3O5WFTjBNQvRq3vph0-SXD3sgLJwjBkrMGsPgLgvsmaX4wLCPGe7SAnxYBsopoJirS5L1qxxjbEJYgPOwUJUss1qKj5amJZdz-674PTI63UrB2Ns1SJhG3MQgUzmS3-6uT4EnrqkE96UBMb39ANR7Xd-4srSfFlLPWLvHn9Xjuo_h3NKZfzL8fwi9O_2RrjjjqefCbpAcB12OjwJtw0apU44S5BDEBn0sEKF-_Lq_z1O4St11j0fKLYm9AwS3PMlMBPfwhenHXg5s2ota8-9GMT8Sdl3PmnVIonWnLXPKdL16skjANHEZ2a_Pum9tCo1K7xZB4q-mE88p6y1OOdaxCNnYHJuecg5V79-oac-OYgJ2iNeZm0AWujdDQICP-hC-2gCH426qIhNiMV5Ys2V0Rf3uQUp23qRFIXsav8LfmsLt1njCPEBAgZ-170rFlnFrpZa7p8EHGy1AZYWJ_pDVluB0FefXf0asKHyqB0ZWjOkwfv8mj1r_JdMD2xjse2EAq3O_pisYJFAJRGj93z-lMx7IbIjuo02sUfHePh8OI9HgkW_fZDz-VJk_OADMq5rRKNTCsUOKMIgloOEsJd3_Tw4buUkIlAGnItQSnsJpdOc33jAkCtXz-_UdNAmm6ap-IzfyF6U254wVBKc_GtLd8-nFXftzHtREl-All8a6IUkEqqWpwdYO24euVNZkm7g6uKLjtQy7A5ucQZqB1UFnci5rr4dbhhBpB-onOUm3f5KW9yMJ1L7LqWpDbWFRDNXXAzHPOqrDUJNUKTG-JzmiN18w3iXupHxeHXkqF4Nd7c_wbUKpeKwbKoeZF-7Ze9MLP5NhVfRc847EexffKnt89hOIQoBPvb",
  "id": "rs_0ad184d13907b37e016ab463cf5fb487d08a1bfc049580a794",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The gripper opening indicates a solid grasp on the yellow fruit. I’m lifting it slightly to check that it follows the jaws.\"}",
  "call_id": "call_A8TJIIKmyUAvFpNcGGXTtAdB",
  "id": "fc_0ad184d13907b37e016ab463d006cc87d0b98998d01eea0a4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A8TJIIKmyUAvFpNcGGXTtAdB",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4953, -0.0139, -0.0338, 0.9899, 0.8341, 1.6752, 0.7578, 0.1371, 0.6666, 0.5087, 0.4851]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1289 left_roll=-0.0004 left_gripper=0.9899 right_x=0.342 right_y=0.2198 right_z=0.0697 right_yaw=0.0138 right_pitch=-0.0194 right_roll=-0.0207 right_gripper=0.4851\nstate[joint_eff]: [-0.3761, -1.4017, 7.0085, 1.6044, -0.0415, -0.022, -0.0122, -0.4444, -9.0735, 8.1026, 1.536, 0.4029, -0.0122, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1503a1a7acb107f814555c8b30fca247bc26717722c7dd423e9188c148a50d62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9732c84623ce714a85e021118175bdb15fa6a5d4d44d08d950ba73959f9d66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906aca28d83028f22c674f827314dd5b3c6f2091178f3277d8bc9b75e5152022",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0139, -0.0341, 0.9899, 0.849, 1.7962, 0.7502, 0.2066, 0.6743, 0.5236, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1596 left_yaw=0.0021 left_pitch=-0.1282 left_roll=-0.0008 left_gripper=0.9899 right_x=0.3396 right_y=0.2243 right_z=0.0326 right_yaw=0.0137 right_pitch=-0.055 right_roll=-0.0557 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 6.9402, 1.6728, -0.0513, -0.0757, -0.0073, 0.335, -6.6393, 4.4786, 1.453, 0.188, 0.0806, -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]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.8482, 1.8603, 0.6983, 0.3992, 0.7258, 0.4969, 0.4863]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0016 left_pitch=-0.1282 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3459 right_y=0.2204 right_z=0.0245 right_yaw=-0.0081 right_pitch=0.0227 right_roll=-0.0452 right_gripper=0.4863\nstate[joint_eff]: [-0.1299, -1.4974, 7.2274, 1.5897, -0.0269, -0.0708, -0.0171, -0.2667, -8.1709, 5.4906, 1.409, -0.0952, 0.1929, 0.9499]",
      "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]: [-0.0212, 0.8474, 0.6415, -0.4953, -0.0139, -0.0338, 0.9899, 0.8341, 1.6752, 0.7578, 0.1371, 0.6666, 0.5087, 0.4851]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1289 left_roll=-0.0004 left_gripper=0.9899 right_x=0.342 right_y=0.2198 right_z=0.0697 right_yaw=0.0138 right_pitch=-0.0194 right_roll=-0.0207 right_gripper=0.4851\nstate[joint_eff]: [-0.3761, -1.4017, 7.0085, 1.6044, -0.0415, -0.022, -0.0122, -0.4444, -9.0735, 8.1026, 1.536, 0.4029, -0.0122, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1503a1a7acb107f814555c8b30fca247bc26717722c7dd423e9188c148a50d62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9732c84623ce714a85e021118175bdb15fa6a5d4d44d08d950ba73959f9d66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906aca28d83028f22c674f827314dd5b3c6f2091178f3277d8bc9b75e5152022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPXwBVZPyMRr9iKRYf2IXEtWOQYTDxMx-pyy9AvcW4TAfjsMLIxR8Q2fvbFDmP8-SjVqYHyUXfIo9rBrqj1uG3ljb4d6QroTYrbQmvDgrHcP4J1dJhrgjG5gn_fvrfVRLLW0jd5yijlLOHHiZqE6uZXJlhyLecU98Ar9NIFfLpyI5-7D-uT-Br3k6TRsU7LX1Q0BV3o5Mf-xZc2kjKnUW-76hvHRkT8j84bs_OrPW0a1diXqy0_kQsncttYduP7v872jbSdSeItWQrbaEvIx33JVZuG6bjuo1_tTGyZvYEH19B3guBJ__sz-WzKubyDfmdyMEbUhtlNBumIxa0VGIMZHT8ytxPMRs4Ilh_nxARmbq9DBgGH0eiIJ7WdC4aDgqrHCnHEJ085yg95cIOPptBAoT3yojFUFM8yc7WmzxAjV3bI-edHPW5rvYanzUEa2XSrGFFmYj5djKGMySP-frEcFZvDIgY0R-JissGtfVhZ76k-yiOxs9CIncCpRSRR_3dzKtT9m7XiJg0eqSryyph6UVPqysbFfgStOF-Qv6wFYGngRboyRho2Bgh7ozkao3fcvBDmyYo99APswYqKlrpR39lzSctzc7YaLFiwnDGwSKgXVomTXBJVMWOCr9SJ6dS0K_9aeMOSdeTRnz3jhVFSHh8muU-EahgDPbo7ipz-ivxWva5CwDXmnHu8YDzCB44KXGn1oPG52KV7zjKk3BWpghFw4D-wsb9JMCUqCM0L_KrSsHJOjOoIGKV8X_Opy1dnhsgLBSOa7wHuYXgFien2QRP_7iLDDrXy5ogt_kErJ51jqIp_8IMCYuF8DPcUwNj7lfx5VVBNbGssqO-O_dvHGNg9eVLvbtrpEtRj6K-WUxqtAYuOkwZawHbHRWfJEpgfV-LMUvdD5LHAV8QXfOwVC1oJf9H2ZJ5pOtfAT4hcsTDSW_wvbXp2qgWDxsxlLZM3eSuT3_18LOV29oJIccumdWkK_5HPJIy_l14fRV8QIzUOeeuUjgrUCQ7J4Nyrno-7q_pYYPYs8ICq_W6DCGZ8wGlCmSybydDNzOL1_hUkcuSKA1ggYgXxtyFBxlevxN2a5kr_35gEKeecxKSSVHEip6-1OlVc_FlOnArnuF5LEBJq101HhjanknxSJSqmKoiFLOqyQakLAwEjp0TUJBaht1-_D6vAOMGmER32O_te0rECxF9va0Knx2vwEyrGRQUAvy5_aAJaNSKp3NpOLAqTD66n-_XQzwYVcTqOWiPR2Y8GZQz2Ue8_5Ie_5I4AYJn0jbzNZ6lnKNBypTQycu4HrjQ_pewnC-9fA-kxpkSjlgcYh7zNNeOFEwVD6hYRRS4sITTMCovW3ovTFhEPy4gKVWOkatc9tQIIU-zUC29ENMHtIqKC1GYyC53F5kXKEXaJSJx8G_oCGx5wG6ElZTB9E1G9G51ZpoCV8leODeRVhaIevpk_gtpdj4nY7n73hyXjKHCD6W4gETtOxQSyDrfbM0g_6Eg8wQoGp0qi8xXTaLT8JhtfqDKhkFvXnPyh7wNCcWxDJ_FqcloPBdhf4YhNwkv0j801eScwzOGahbhS0O-DbfsWUoBYtshR2BSvMYSKDr-Cbd9Y1dcyYkDpaXnxkjpbCFhG271nBnXNK2s5gTmrF3IVPq5XgISBEKco0U0zjNxlpCFp_w8WmBdIkVjUviYsXTLhtmg3vePbBrHLM6rd9UTHrzRlXz4smqV79F3_",
  "id": "rs_0ad184d13907b37e016ab463d3aec487d09abda0c74234e09e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is held, but the nearby blue bowl appears tilted against the gripper. I’m lifting straight up to clear the bowl before moving over it.\"}",
  "call_id": "call_l83FOlu91LB4eb530JfXOtLh",
  "id": "fc_0ad184d13907b37e016ab463d5faa887d0adb95242e923fdb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l83FOlu91LB4eb530JfXOtLh",
  "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0338, 0.9899, 0.8356, 1.4937, 1.1221, -0.4385, 0.6506, 0.5159, 0.4876]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0004 left_gripper=0.9899 right_x=0.3416 right_y=0.2236 right_z=0.1897 right_yaw=0.0222 right_pitch=-0.048 right_roll=-0.0285 right_gripper=0.4876\nstate[joint_eff]: [-0.1709, -1.4838, 6.9265, 1.6386, -0.0464, -0.0708, -0.0171, -0.1026, -9.3197, 9.347, 1.5995, 0.569, 0.0708, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874d68add646e9657de56dba3f37bb018f53bbdd953dd9260bf31c49bb56493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15f6553efa225d9427814be9d901bc7d847d26ee501c14f333b12977f3714c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c121b0b4dae70965a3fde1a583eadc91924f682d466da62fe8414af635dfa370",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0341, 0.9899, 0.849, 1.8561, 0.7086, 0.3923, 0.6918, 0.524, 0.9963]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0018 left_pitch=-0.1282 left_roll=-0.001 left_gripper=0.9899 right_x=0.3461 right_y=0.228 right_z=0.0255 right_yaw=0.0024 right_pitch=0.0106 right_roll=-0.0009 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.4974, 6.9402, 1.6581, -0.0073, -0.0757, -0.0171, 0.3214, -5.9966, 3.412, 1.1697, 0.232, 0.1245, -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]: [-0.0212, 0.8474, 0.6415, -0.4953, -0.0139, -0.0338, 0.9899, 0.8341, 1.6752, 0.7578, 0.1371, 0.6666, 0.5087, 0.4851]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1289 left_roll=-0.0004 left_gripper=0.9899 right_x=0.342 right_y=0.2198 right_z=0.0697 right_yaw=0.0138 right_pitch=-0.0194 right_roll=-0.0207 right_gripper=0.4851\nstate[joint_eff]: [-0.3761, -1.4017, 7.0085, 1.6044, -0.0415, -0.022, -0.0122, -0.4444, -9.0735, 8.1026, 1.536, 0.4029, -0.0122, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0338, 0.9899, 0.8356, 1.4937, 1.1221, -0.4385, 0.6506, 0.5159, 0.4876]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0004 left_gripper=0.9899 right_x=0.3416 right_y=0.2236 right_z=0.1897 right_yaw=0.0222 right_pitch=-0.048 right_roll=-0.0285 right_gripper=0.4876\nstate[joint_eff]: [-0.1709, -1.4838, 6.9265, 1.6386, -0.0464, -0.0708, -0.0171, -0.1026, -9.3197, 9.347, 1.5995, 0.569, 0.0708, 0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e874d68add646e9657de56dba3f37bb018f53bbdd953dd9260bf31c49bb56493",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15f6553efa225d9427814be9d901bc7d847d26ee501c14f333b12977f3714c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c121b0b4dae70965a3fde1a583eadc91924f682d466da62fe8414af635dfa370",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPf0SPFx_cHn5ufD7h9BjzRkqU81yXq25MXi0-HogMsXSG7bpl3fnwMBQURZJH5pe2SWtI89n-YNFpN3H07BNG0AvpcHoaBTKw2sQ7v15BFGwrhQWkUuS_dtkNf6Ug49Ut_x9Y5MJKuJ2PLCoSYye1jcb5joo5CMB55vAGPOWvFu2E9RA2IxZ4rL3cfdHanYlceJpc5yopgWmergdzOXA6fewb72IJJtw7T286hd0RQRABvyWQxl187jaYsBfPKLEb7PAt0MkMKnIqe0PgomVBv80ikG2MbsOJgnItojgsFtu3zwLsBfwyQSA3dYbB5FxAoYZt3IEqw1EO3lL1dajl3npRFhX3-QTogeIBVPs0betguzjMSJgbI_xNhFsjTBz2Wkq3VZEgIeYezHHCOZOFqL-CypyXqWf86MM77dcPAv4DFEWGuGuY2MAe6LsedRNAJ5P3muXMmLUVF2bVLmfnEHpaPg8RUsiDEgVnXdc24OOLAIHQQet9xgJZNoRN6YRKqnPF8XwlqlysstlAEv4Tk3d05oxqk48PEdZ16ZECfEoGAwZPclMWHCpVItgv6KInA985GSuCxBzecXPOtMG1RZNZmOT0ptF2YSwl_fINEgBTxrmZJPmOU8djMcuDpMj2sRB_BbfMG5gS4ddS1KnC94Lsg7NPg1sXKKUN0saCIyBjsGcH0YaQZnh3mVrhYciEtx9ZzK0yO7uzYw6KJ6Hv0XN82W1ycC6249awN-41U9kTCEQRovsg8lAqPCtHi_wdiSz-byOdtEkm1avQCw7AMDEC99uS9DHn1LPKlTridXPbyKHNyRXOWTsHcPVXZiCFx5pt-KVTl27LrZdiAo2qifz_zromdbPGJ6a3-JrMJwYZWmavpK0qt91C43AfKrOOzDWqUyKqpVwRiCazVFqZc1P8rEZ-MNHB9Zs1jHPLov6-j4Psm9IVS_C0i0CgtMPOuTyJKXT7RArHAAs6cwhD5Mu9yPNtXTc4m_SKhzzbqVW1-NRWFojASN34evDc72UneZgE4Qz4LkbqA6UcS1ZIeo7pki1bVavPSeSQmVv-bhyuqOLuufWRGRGhsuUaY_Sgpuddyb1oTsU124lfDgx6L4nNw3zmFHiXszeS-IHpJhq564IW1VMPlpdSdRGFZ3pCTT1UO9QdMkrN5CHmSzkwxLJYMyIcM-HVtuZzIO_480z_xMMUsdkn8Dkq2A2zq32ey4gr1d5c472001YXIpBbYxLm7gKfe3bMcw06L1LZJF3r_PhKNBsJuDRu-BHPouhuIBWrN7REfFtITFCThCx0JvYlhCkvtdow9ej-nn4i6i-gq3d-783UAPu_YWuh8VgC01YydAj1W2mR-i0fzV4KROZ2Xggln-QonB3yxeB5Ta7SS_z28cK5Y6_iOQXuQRS2GITDzm126eTPvScqpO8UIUhpZgblLn3fg1tqnfspd41MxMgDR5awwezxjX-Fn7ktczWcd6dke0bTL1qXZieOSx7B6T9YCKqTH76QNNR3QZyNgKzYkaXQMbHNBk85uSyPuRrdNyJROJ84IhgjIXC_PsQAqZ89xLEimczpYMgvSkAPkUJFUeTZyfgXR5I7KvplpwAODjTQ9frAtN4etqHjxnfqGklJ6wgV4Nvdp803EzZ_cFnsaIE5xsSrqipmVCgS9_GhGEjtYTziaQjcu295qUbZckGo_R2V5CJuOFwBls3tEKU_uacoL6BncNSXcoFrFg27H4SVnOUcPR3V1fKBb_uhQeoXPHeOFaIRhhQDxiDzPjWhSST7AMQ1kcviNCOrzQUhVNCnNeVVjpGUPx9AaClEdgByIrwjPPLW70p-ThDrcSOYiuNdIgxRXoIn8rsOTCnUoT4pFECl398KJKOrq_M82SjFMo9qnWI9SiO24YjT6wDKkow4IN12M1u9ShReazF0Dzpz8Su3nqRDRxBVEL1hibsNVRphQLExo-B5WgdXLzKMpkm-0qnlFpWCyVvWQg8S2FostWs1VXUk-hkC8PnjlPc7TZRw8UPzPsUBfG1ikYwkQMRc9wzB0qzwbwo6JAaicsOY-08JfAlc4MkluAX8inyW2imyPE8xMm4BO-a630gHTbT3NKtU7uHetSX5Sl6ia2M8Bvz-BI0WU0AwnD4HNpIaAbucYne7sp_Sr5cTaLhbb2u4Xdor7IOUgwP51rzG45ZcRbVVLfMESkV6QB02yM-xOWjYj1Es2O3gUqIhwJTzd5jDG1kjJ-RU332R6ycijQ0s0Z6b59Yj7ElbC-Dv1EGBUVNNCtC6P434AQ3f8342l6ciFX6s1MIvl02mrQ2JuNtvrEy9_ge0B2tSn0O7wwltTqUL_5rrZ2-rIiyfQ6wTvzA9kYJPoxvjZ8C3XoN6yJkLHi77Bh1kmVMK4ogMjk7llJvop8x1GyXTNWzNHVPLm3RdskC72w0gkrDXYBSufKOKrHZEBhOeI8_SkGn71WRX_K8JJLx_9oHE1V7m8ftHE4zrDZ_VfpXhKBcu6Reox72oy7HPaGK4izMzEyrwUIwpIg8L3dak9yWIpdJ6ihAun4B6X4qYyaS1nLeEpPkntH39ynMSO5-dWzI2wlr874HZQxkRCWEC6IYeGrnFndbAKNcoTlNYRKMbVsWupPm83MWbjOICw6Jr6DpdWxKk0n7k2h4JnsfkiVpFD6I1KTj4YkAq7LO_2XeEzT-ZO",
  "id": "rs_0ad184d13907b37e016ab463da183087d08098ba6bf0937f91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The blue bowl is moving with the gripper, so the grasp caught its rim as well as the yellow fruit. I’m setting them back down before separating that grasp.\"}",
  "call_id": "call_S1bBwJbB1xtMx5UjW7iMP5Ce",
  "id": "fc_0ad184d13907b37e016ab463debcb087d09cc62237e502596a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S1bBwJbB1xtMx5UjW7iMP5Ce",
  "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0135, -0.0338, 0.9898, 0.8425, 1.7664, 0.7197, 0.1871, 0.6582, 0.524, 0.4879]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.159 left_yaw=0.0016 left_pitch=-0.1316 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3328 right_y=0.2162 right_z=0.03 right_yaw=0.0171 right_pitch=-0.0775 right_roll=-0.0622 right_gripper=0.4879\nstate[joint_eff]: [-0.3214, -1.5111, 6.9402, 1.58, -0.0464, -0.0269, -0.0171, 0.4171, -7.5282, 4.7521, 1.6142, 0.5006, 0.0611, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5993d78426eeaab9c006dae245f77bb18ff3b05ec3c85cb9c157daa5a08d9b20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29cd2df6e19a709a877fac035b4408f46f6dfcf07fe901f58f900ab9e31a6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb8f53240c99cd47b2e940f7dcaac88dcbb846b5db928a364c30046479de586",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.8482, 1.8603, 0.6983, 0.3992, 0.7258, 0.4969, 0.4863]\nstate[eef_state]: left_x=0.286 left_y=-0.0001 left_z=0.1596 left_yaw=0.0016 left_pitch=-0.1282 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3459 right_y=0.2204 right_z=0.0245 right_yaw=-0.0081 right_pitch=0.0227 right_roll=-0.0452 right_gripper=0.4863\nstate[joint_eff]: [-0.1299, -1.4974, 7.2274, 1.5897, -0.0269, -0.0708, -0.0171, -0.2667, -8.1709, 5.4906, 1.409, -0.0952, 0.1929, 0.9499]",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0338, 0.9899, 0.8356, 1.4937, 1.1221, -0.4385, 0.6506, 0.5159, 0.4876]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0004 left_gripper=0.9899 right_x=0.3416 right_y=0.2236 right_z=0.1897 right_yaw=0.0222 right_pitch=-0.048 right_roll=-0.0285 right_gripper=0.4876\nstate[joint_eff]: [-0.1709, -1.4838, 6.9265, 1.6386, -0.0464, -0.0708, -0.0171, -0.1026, -9.3197, 9.347, 1.5995, 0.569, 0.0708, 0.2515]",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0135, -0.0338, 0.9898, 0.8425, 1.7664, 0.7197, 0.1871, 0.6582, 0.524, 0.4879]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.159 left_yaw=0.0016 left_pitch=-0.1316 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3328 right_y=0.2162 right_z=0.03 right_yaw=0.0171 right_pitch=-0.0775 right_roll=-0.0622 right_gripper=0.4879\nstate[joint_eff]: [-0.3214, -1.5111, 6.9402, 1.58, -0.0464, -0.0269, -0.0171, 0.4171, -7.5282, 4.7521, 1.6142, 0.5006, 0.0611, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5993d78426eeaab9c006dae245f77bb18ff3b05ec3c85cb9c157daa5a08d9b20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b29cd2df6e19a709a877fac035b4408f46f6dfcf07fe901f58f900ab9e31a6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb8f53240c99cd47b2e940f7dcaac88dcbb846b5db928a364c30046479de586",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl and fruit are back at the tabletop. I’m opening the jaws to release the rim and allow the bowl to settle.\"}",
  "call_id": "call_Og0TfgumtpfSTrSyFImLkc5T",
  "id": "fc_0ad184d13907b37e016ab463e1ed0c87d0899cc6c31c6404f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Og0TfgumtpfSTrSyFImLkc5T",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0341, 0.9898, 0.8413, 1.7821, 0.7139, 0.1978, 0.6533, 0.5159, 0.9958]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0022 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3317 right_y=0.2153 right_z=0.0237 right_yaw=0.0231 right_pitch=-0.0879 right_roll=-0.0739 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.5248, 7.1179, 1.6142, -0.0562, -0.0757, -0.0073, 0.0479, -8.6632, 5.4222, 1.2918, 0.232, 0.022, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae415d2fd341d73179adfc58443df51b10ef54602112c38c21d7a2e5cda4a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a51b1e543e5dc087d0b48f9c808f98516ef1a1ed4f04c59aec2e3a55a6cccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01ccf86e077088a613b572fd0b1d189b0cbd956cf21df1e3b0280351640d2ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 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]: [-0.0212, 0.8474, 0.6415, -0.4953, -0.0139, -0.0338, 0.9899, 0.8341, 1.6752, 0.7578, 0.1371, 0.6666, 0.5087, 0.4851]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1595 left_yaw=0.0019 left_pitch=-0.1289 left_roll=-0.0004 left_gripper=0.9899 right_x=0.342 right_y=0.2198 right_z=0.0697 right_yaw=0.0138 right_pitch=-0.0194 right_roll=-0.0207 right_gripper=0.4851\nstate[joint_eff]: [-0.3761, -1.4017, 7.0085, 1.6044, -0.0415, -0.022, -0.0122, -0.4444, -9.0735, 8.1026, 1.536, 0.4029, -0.0122, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0135, -0.0338, 0.9898, 0.8425, 1.7664, 0.7197, 0.1871, 0.6582, 0.524, 0.4879]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.159 left_yaw=0.0016 left_pitch=-0.1316 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3328 right_y=0.2162 right_z=0.03 right_yaw=0.0171 right_pitch=-0.0775 right_roll=-0.0622 right_gripper=0.4879\nstate[joint_eff]: [-0.3214, -1.5111, 6.9402, 1.58, -0.0464, -0.0269, -0.0171, 0.4171, -7.5282, 4.7521, 1.6142, 0.5006, 0.0611, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0341, 0.9898, 0.8413, 1.7821, 0.7139, 0.1978, 0.6533, 0.5159, 0.9958]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0022 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3317 right_y=0.2153 right_z=0.0237 right_yaw=0.0231 right_pitch=-0.0879 right_roll=-0.0739 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.5248, 7.1179, 1.6142, -0.0562, -0.0757, -0.0073, 0.0479, -8.6632, 5.4222, 1.2918, 0.232, 0.022, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae415d2fd341d73179adfc58443df51b10ef54602112c38c21d7a2e5cda4a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a51b1e543e5dc087d0b48f9c808f98516ef1a1ed4f04c59aec2e3a55a6cccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01ccf86e077088a613b572fd0b1d189b0cbd956cf21df1e3b0280351640d2ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPmqwjVZ-zGF0BBX72fYiUumfQWzONt6a5fPzbRtsOdPqaxstYw3KECp68hSoXG67zFmAVHklUDqE4AhykTuyW7m_Z49Tk4L3v3oz4mQv54gztPxIv858-pJgWuORQHAWPbMA3WT6WHxanrn_DBWT_xh8EuIIzAoOdzrtJWq5AULDc9bYfUjLvsrL6-PlzW9NP7OvNqTcrG4NGNVodmmtTqmIOSur7-QwHQthihTud5P7fdAnlGUJkVo-q0EaRyeJVD9B6zEEgtgSKOwGCBXVXn2zfH1hpW2Hi3L9vBmYFYP4UgUvs5KxUz1lIS2jz2HzlIkYLzsNUy6sYmV86lOueFJgG5vXM3oWAWlqUkM2CIY2Uces7xXT347_tXtqk8ho9WzB-W_ckZ2xDdpuwBhyhhT6IKYQ8a7j1Uj5Xb4OEFWKRZS9Wuoe7uV2MxXaH9XyhAnB9ue_paPJ_c4TsTu45PA7_FratDRVacwd_IcvOjVj8oL1OdkC-YeuRVAEhhO9qjRVg1JKRNLoRPdNldomJjahfrsGa6ygXhtdsgVjSUXT4KDV-86FsymnNq08BSbsn28zT5-pzQfgfHhLJ0az4MGlVhy08sCtszSxHsCwq29VU7ItZ4OXp_qAQ_LKhzrBznIwHU_BlWYFmA1GpUC-MukoNFM2jnzvdC82ccnXQJR7ILYF1fUczwap9H8f7MkJpPJpA_X1rPiVKCiErfX24nOwAfMmOmsZRjhujuIIGuL_-Rd855JVWs6N8sa8-k7rqXjawaeHgrrgqkiHCONqx_p1FG2QBdMsxa4mXbzkNJnhpXSH4QoJyoTAhdP5sSAw6QNv_aA8jvh16IjfzF6QTsoVABsqgpZD-Im64pAeHS34QfMEQ_jzG5dxvUOiQTkHO5zEcN86VPJWF0YTvAC9HPFKbicAj3pKzmOJyFMLqZrMkdViBQ3-7WmYLOMO2UxbOlijhtWBiKFi7jaTy3b9fVFNx8DBPnkzauIzVWfAGa6JJ1s1QvSVyL1mxpjC5vO9H00_FTy5SwOVtA4S6fRSzXMJDHSoCOYL80DSlBTYOvT0HXaI70MTaV0Ytf8ezPCXU8qt-ebAxUSvREJXmGiAKj6chtjm5h3C0vmjTHYHVPZRW8_fgxQXLMY8iYvSzYTiEWBf5_fpUfwI3FbhC209kaxR0l2fgVWvI1jyyd8r8yBJePEqDn-r_l-qS1ZLuv7DqLWHZP6xpOep5GlueShFiDcMd_2ajzhei9jKJMJsAM__nDFPsxZHG3vJ069KQN0UYB07TxNQo5wIgxb5Q-Bze0FExfCKk1c_r2oH40oZvVBXnjnGv8lPaLN-iTurALbeue",
  "id": "rs_0ad184d13907b37e016ab463e52b3087d099471776693b37e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.23,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The blue bowl is released and the yellow fruit is still outside it. I’m backing the open gripper away to approach the fruit without catching the bowl again.\"}",
  "call_id": "call_UPdU2yxMt5l6nCCPTpdxWWl8",
  "id": "fc_0ad184d13907b37e016ab463e57fb087d08556e25436bc2aa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UPdU2yxMt5l6nCCPTpdxWWl8",
  "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]: [-0.0212, 0.8509, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9993, 1.4746, 0.8265, -0.226, 0.7586, 0.6495, 0.9968]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1579 left_yaw=0.0016 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9898 right_x=0.2904 right_y=0.2335 right_z=0.1228 right_yaw=0.0386 right_pitch=-0.024 right_roll=-0.019 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.8393, 7.1179, 1.5946, -0.0464, -0.0659, -0.0122, 0.1573, -6.8855, 8.6496, 1.2967, 0.4615, 0.315, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a302c61bf4366a9dbaf87ed39d0c309b5fbbb9890d571ade9b0a12dfe4c54d7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd662e420df493d4bbd4b68397701952fcf58ee892caea999ca1bb4c9d802b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9129d4a4b3aa1c771da30cfff5a430702cb5cd5ec3e3120ed55b5521c7a1bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0338, 0.9899, 0.8356, 1.4937, 1.1221, -0.4385, 0.6506, 0.5159, 0.4876]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1316 left_roll=-0.0004 left_gripper=0.9899 right_x=0.3416 right_y=0.2236 right_z=0.1897 right_yaw=0.0222 right_pitch=-0.048 right_roll=-0.0285 right_gripper=0.4876\nstate[joint_eff]: [-0.1709, -1.4838, 6.9265, 1.6386, -0.0464, -0.0708, -0.0171, -0.1026, -9.3197, 9.347, 1.5995, 0.569, 0.0708, 0.2515]",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0341, 0.9898, 0.8413, 1.7821, 0.7139, 0.1978, 0.6533, 0.5159, 0.9958]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0022 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3317 right_y=0.2153 right_z=0.0237 right_yaw=0.0231 right_pitch=-0.0879 right_roll=-0.0739 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.5248, 7.1179, 1.6142, -0.0562, -0.0757, -0.0073, 0.0479, -8.6632, 5.4222, 1.2918, 0.232, 0.022, -0.2222]\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]: [-0.0212, 0.8509, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9993, 1.4746, 0.8265, -0.226, 0.7586, 0.6495, 0.9968]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1579 left_yaw=0.0016 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9898 right_x=0.2904 right_y=0.2335 right_z=0.1228 right_yaw=0.0386 right_pitch=-0.024 right_roll=-0.019 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.8393, 7.1179, 1.5946, -0.0464, -0.0659, -0.0122, 0.1573, -6.8855, 8.6496, 1.2967, 0.4615, 0.315, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a302c61bf4366a9dbaf87ed39d0c309b5fbbb9890d571ade9b0a12dfe4c54d7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdd662e420df493d4bbd4b68397701952fcf58ee892caea999ca1bb4c9d802b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9129d4a4b3aa1c771da30cfff5a430702cb5cd5ec3e3120ed55b5521c7a1bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPr4oDpsT7thCIsU0QZjSFMxqSMBq4E4Niqxvdrqm-uTb76v2cnws98SGxK4j9gj4WHFROFLBwBwB7wnC5eU-zZTjwVVcSqWBpUBWPfkSC8dA087yz55lu8CM3kMvbDLrq-J0HJua2GdFZ9p2pMXtblcXoFz3c2ZpU1WBY0YD_YYs33IUh8rNyYPWQ_P7Lwpe2SwDw5lGGys-F4pcKPE06QgESXkaGCCZxOxypXiox4uCAsnGk_NvB0egwDvjcfNhgi3UaoiAs2q8Mpa_86ytDwByHf_8pHIqiTvYstDeOtofbwWnMvgQWhCA5ifJ1G8BnXw9A7ML9esXLaxezn0PRJPbUvThjX6QNIC0XopRaagtuvhMzutQPmKxhhnSaA8-qlMgkVJoda02WViQIS6dGmJznDb3RCUse2VoTPF8MrDMYBRCeluxSVO0y1q7IR3XkPg-JSlLfwgo2V4UhSeZ505yT0kCR1iJD5RQjFJLS84nnpgN97uPzXkBPnoNAi9avxp8PJ9P_rwlw8KTr665nddVOfFnulBK4Q4FR6xC6o3f4432hfRqXBnlEqqtt2suNi-D6R056U6dhDMR0Ryec8TaUCG4k_Fmx-au-X19nAlOelF2Mg25b9VSpDXRyQR0h7g11FHAEbSq5KotNhTfEnwL28jm_Hri7EldM403Ou3MBDaXjzkiIZ-rlXOJibik2hr9XEb4DEpXDkAVayhcbS5tYL-mm7icfhiwLwTH6ue-LyhP7O4-wVcVx0i8Cv-k37SNKP3KLLRuCJLwPt0WSWJiVkOsVkUVfLmEF3mxyYAMyHpCVul8fyVFdow3wN-thgAdWQ_E-Kz_izNqDUf1ijhA3-5XZCNNlBHcYbLlu4FkUIN8D0M-_Kfd_l-HYmU0a-j5s9fitMX2DYbwGgeTFzGfzVNAjwS5w1TlN13q6ta0iTs2LxZ2soEZgt4S8oHfxRK--m8cs9uodCm8yasnnT8zI18Puqz1lcgbJOIdVVYEixRgkYSZNBhJBXx1-7fO1NHJpH-Z7QUkVIOsx-IyZ0Eh-njRLcKzJjPONAfnS8VlXGo_alf5c29IGsqSJz58R3JB4PH3e9XqfPk1UrKBvSqWOUmedXK-0AGEU5BIhha-wU310fvre4ZyHcIdOF9GHNZJCdPNDilJ2lsNdGQut3sw0Kl_Am3Z5goqxJJsiB2EQ5y8Y9FR2LfiLyGnAHxszdCs0HTtOxCEC4Y_ClpYiFoAtMF27EISBChkroasSka7uykPaxB78wtOzJusITZ6s0oq7kpEEUMTA9QaVAfZA9luBYPWVUZH0s66feDTTZjhD__tyrr5_m1Fv8oZTtQobhl_UCgrI66UnQIKw4bQE_2bbr1TvHnWvUpQclnWdJDNQHXkkDV088BvvvEagFQyomJrkTZrVyZ38i5St0AB8vqA==",
  "id": "rs_0ad184d13907b37e016ab463e9963c87d08b7502462899bba8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.23,\"right_z\":0.02,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is now centered, with the bowl offset to the right. I’m descending straight down from this nearer position to keep the jaws clear of the rim.\"}",
  "call_id": "call_45c4lE6Z3BB9DviRpt7xXw0H",
  "id": "fc_0ad184d13907b37e016ab463ea4e1887d0b11c724647c48f1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_45c4lE6Z3BB9DviRpt7xXw0H",
  "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]: [-0.0212, 0.8516, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 1.0054, 1.7557, 0.622, 0.1898, 0.7765, 0.6739, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0 left_z=0.1577 left_yaw=0.002 left_pitch=-0.1366 left_roll=-0.0003 left_gripper=0.9898 right_x=0.2845 right_y=0.2241 right_z=0.0162 right_yaw=0.0181 right_pitch=-0.0509 right_roll=-0.0647 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.4291, 6.9402, 1.5849, -0.0415, -0.0317, -0.0073, 0.2667, -7.2821, 4.2735, 1.3553, 0.4957, 0.1245, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbd9f42a00cb044d8bd3bdfd501022d7f7aaf84c5263c87202b624a8f8f0a78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80afefab6ca1f98227649d96bec130e8ddfa297dfbd87ff3bafa2ac911d11d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c229ec893ee759f7b66d6ae98eac1cf4503f811824c4f887d3c53e453861cc44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0135, -0.0338, 0.9898, 0.8425, 1.7664, 0.7197, 0.1871, 0.6582, 0.524, 0.4879]\nstate[eef_state]: left_x=0.2855 left_y=-0.0001 left_z=0.159 left_yaw=0.0016 left_pitch=-0.1316 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3328 right_y=0.2162 right_z=0.03 right_yaw=0.0171 right_pitch=-0.0775 right_roll=-0.0622 right_gripper=0.4879\nstate[joint_eff]: [-0.3214, -1.5111, 6.9402, 1.58, -0.0464, -0.0269, -0.0171, 0.4171, -7.5282, 4.7521, 1.6142, 0.5006, 0.0611, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9993, 1.4746, 0.8265, -0.226, 0.7586, 0.6495, 0.9968]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1579 left_yaw=0.0016 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9898 right_x=0.2904 right_y=0.2335 right_z=0.1228 right_yaw=0.0386 right_pitch=-0.024 right_roll=-0.019 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.8393, 7.1179, 1.5946, -0.0464, -0.0659, -0.0122, 0.1573, -6.8855, 8.6496, 1.2967, 0.4615, 0.315, 0.0952]",
      "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]: [-0.0212, 0.8516, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 1.0054, 1.7557, 0.622, 0.1898, 0.7765, 0.6739, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0 left_z=0.1577 left_yaw=0.002 left_pitch=-0.1366 left_roll=-0.0003 left_gripper=0.9898 right_x=0.2845 right_y=0.2241 right_z=0.0162 right_yaw=0.0181 right_pitch=-0.0509 right_roll=-0.0647 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.4291, 6.9402, 1.5849, -0.0415, -0.0317, -0.0073, 0.2667, -7.2821, 4.2735, 1.3553, 0.4957, 0.1245, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbd9f42a00cb044d8bd3bdfd501022d7f7aaf84c5263c87202b624a8f8f0a78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80afefab6ca1f98227649d96bec130e8ddfa297dfbd87ff3bafa2ac911d11d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c229ec893ee759f7b66d6ae98eac1cf4503f811824c4f887d3c53e453861cc44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPysCpHDpHu0xQhvLzXUT15nzj5OaJGpFHB7jrj1wZoJGBHT6ib6dYui5oQW3-SNMGZWiIjLzNoIqIX7e2eGRKtZywL-tj2MaDzGGVWrsiX469gxuwN2l0Y7gqOpcpoeN0_qC-0_4_lSM9Kh8DRhscVzO34bpPDBwmg4Uo5f0Z6JewEnOOsqrP4XPscKcNUYVfBTBA4SfH7fxhNGa01bppsXx-jI4KrLtObPgPs87-pW1_1XPlHgB4H0dFUON2Kh-y8wl6sVJTIahI-gofjQ2YUsa7UZ7BIF6EDs-btkiNmzIxJOIB2PJq6A-pqoI3oh2FvvVImFCEHH3z2nFsza6UiKww92iKh4adDXrphYUwk9UNvMETMDg2iVnaZdF3lNpbI1R007g63XYljFt6uNDIPfZ46y4DZr31avMr4V_IpD81Qkr5Zg58AzUnq2bKYvfzNyGjPH29801oM7sc6gKtzq0cM8f9K0TATQPb-xsQInSnYhtbW7dOeSv2bIqGMeeY9IZ-HBn8fgS4casPKUdTWFlAzhXc8XzXsseqMMb-HQIZ7jk406J6KbgsvHqsac46HKAc-wKU0vswNfVlKVISNcuBIRf58W5G6QsnZB5TQ4N5hA0CXr_2vJrmLczt1xiDP5IPbU2ef-fGVmJ_1LCzRJNSyWMWjnPqTOVGc9CzfIxBRxpC8D-YvaYyUg9t8svti3bRJG5nbiIgCbpSWnkRL1VrkkaHUQ8-6yZyNtnQtZMthLux2G8SpwRJ93kPCPr9FNf5Ff9zuGYZW6t2y7VJKq9XSVf3urmpNg8HnhOvJBTd5v76jxO_tFVZ9lbsfmVx5Za9f8CfdDl2FmUexxrHDE3So4AtFNx6-3Xm2-7uYeTm4wxfmL7if6ekgfUbUtHZ5ekBJEHVjhxqB6aJIfxgHmuVHeH-IbwW82NQqBu9Q6ITYMHr4_6n6bN6Eg4Eq8M7zicK_jx7uNdLM4rquHwypR32o1RbTZwMF2ck3-ucP8TQ7xJ_tsyqNFMErU50YC_VWYLlIratljX1GN88LQaZRuvfE4hWRl42QR32Kqt1zZVqDWQCnUI_kQQ60soGh3FI3eqqAiW4i1TpDa6iIWA8y1rwxNDGxwd0iM1YsMecVqrdXjl927E5RrO9n8C90Palxmuzkq3OHW-7cZIveKhT6E038-9kArBD64jIdOlGSMEGD4ADSOexffvl-F0kiR5y3SlACYj8PhkaTPTOo2gXz3vnG9-rheFCZMK6x4y5vzRW8UZ-AuS5fAJQ4nic9XjzKbPg6IAdVhX8BeUOcT3q_BN2CHilk_v07v2M4of336XZ82Q9GfxbESC7XY1zhMCqjpj8hbCATAPZL1aDWQkvvzQuR9aJTT9s1ZWCLcrh4uP24PGvhHq2tWhMyEev01G8EDC5YPnaX7p-irQDei3oaCyLcCTrNwEcFF5pA2Ow6uOmlT9grHY9V0es2M5j8vDfL8GVInwJa0WovOYq80395ooVul0gyZKjve0wGPZs2A0NJ6Ac4HTWuzt71ZWWrShXbUh7xmRppkyJdFxjTvD4Bb6tRSavziY6OzNv9CQMoNx_xKOxeJcL-ZIGld5Zp3ytZqI5qyMqwUWpadF4HQYhyVX6_E8Iq06pLt2qtwdQdmPLiJVnOZUH_l-thozAGska3TG_OzvGAaO8E9dKaFYazOqcCk1m3jte_sGv8sDQrT_94OSXIEGd_Zv_vgVsDEZeHtG_B7er0vvirAChvdW5pU9li_Tt-7mU_5pGQWB1AHCOte3Hd5WNP1luqqC4LZbmA2bDRUK_GZwTvC3Xn7pFu99dcaCzciJqqaqV_n_jBenW15j3ry6XfIEoVJbEJhgNqW2JUjXFEPtACcgTMxyd0h1JBFmQpjYChfHjl6u5KZFZMKFMFQB9zWJvdguweebzQ6hrnDGHgd-QoL9q_dttosooyaNR5Krh_725Tmlm-IJoL0y0o-np2_-MXVhj02e4rXlewy7xzTdt_9yrfVGxgXvHmrjJA8uQaRGscRTJjiS2jhodwO9eQGZ7OYFnOUarN5JoI8mlTS137Hoq7mFN-g0QOK_gfWSPCQsqqFI9bHX0=",
  "id": "rs_0ad184d13907b37e016ab463edfe8887d09719100394d96c02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.23,\"right_z\":0.012,\"right_gripper\":0.65,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fruit lies just ahead of the fingertips. I’m advancing only a small amount and narrowing the open jaws so the bowl-side finger stays away from the rim.\"}",
  "call_id": "call_kRm0c8221xDwo9Yqn5vKwUG8",
  "id": "fc_0ad184d13907b37e016ab463f124bc87d0aa7500b2fddaf9ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRm0c8221xDwo9Yqn5vKwUG8",
  "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9386, 1.84, 0.625, 0.3244, 0.746, 0.6273, 0.6542]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1576 left_yaw=0.002 left_pitch=-0.1369 left_roll=-0.0003 left_gripper=0.9898 right_x=0.3051 right_y=0.2197 right_z=0.0025 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.045 right_gripper=0.6542\nstate[joint_eff]: [-0.1709, -1.5248, 7.159, 1.6386, -0.0317, -0.0317, -0.0073, -0.1846, -7.241, 6.3521, 1.5311, 0.3101, 0.022, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc04af78b51787479cbabbbea3843c862d0c7b37035430d85737c0ad7581052",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe30a6852955f86b05d9c0369ce734dc707b842a910a5e737627d9d85293565",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7245c0a14de09cb9658527be0460fa4fe9e555bc312ef473393666eb56fdbe01",
      "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]: [-0.0212, 0.8471, 0.6415, -0.4984, -0.0139, -0.0341, 0.9898, 0.8413, 1.7821, 0.7139, 0.1978, 0.6533, 0.5159, 0.9958]\nstate[eef_state]: left_x=0.2855 left_y=0.0 left_z=0.159 left_yaw=0.0022 left_pitch=-0.1316 left_roll=-0.0007 left_gripper=0.9898 right_x=0.3317 right_y=0.2153 right_z=0.0237 right_yaw=0.0231 right_pitch=-0.0879 right_roll=-0.0739 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.5248, 7.1179, 1.6142, -0.0562, -0.0757, -0.0073, 0.0479, -8.6632, 5.4222, 1.2918, 0.232, 0.022, -0.2222]\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]: [-0.0212, 0.8516, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 1.0054, 1.7557, 0.622, 0.1898, 0.7765, 0.6739, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0 left_z=0.1577 left_yaw=0.002 left_pitch=-0.1366 left_roll=-0.0003 left_gripper=0.9898 right_x=0.2845 right_y=0.2241 right_z=0.0162 right_yaw=0.0181 right_pitch=-0.0509 right_roll=-0.0647 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.4291, 6.9402, 1.5849, -0.0415, -0.0317, -0.0073, 0.2667, -7.2821, 4.2735, 1.3553, 0.4957, 0.1245, 0.0024]\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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9386, 1.84, 0.625, 0.3244, 0.746, 0.6273, 0.6542]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1576 left_yaw=0.002 left_pitch=-0.1369 left_roll=-0.0003 left_gripper=0.9898 right_x=0.3051 right_y=0.2197 right_z=0.0025 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.045 right_gripper=0.6542\nstate[joint_eff]: [-0.1709, -1.5248, 7.159, 1.6386, -0.0317, -0.0317, -0.0073, -0.1846, -7.241, 6.3521, 1.5311, 0.3101, 0.022, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc04af78b51787479cbabbbea3843c862d0c7b37035430d85737c0ad7581052",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe30a6852955f86b05d9c0369ce734dc707b842a910a5e737627d9d85293565",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7245c0a14de09cb9658527be0460fa4fe9e555bc312ef473393666eb56fdbe01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGP14pQKuCuFjhLl0DfKZdx1oPCiygeiiXKiSH2HrMWKqAJlhwH-_aN3A9VkyEgoyXhZRw5EA2QubTQlmijf_VtFvgx_3mPt2r-m3Sa_4nhuG7cs7DHceIiAp4R6Opm2EbGCMX-pvW1-eHmqALUwa-FxH6O6__wq8-2ziq2KfItmVyQHbPhTyCVcrhETELWAop-03wJL_GgHNRvD8qKIul2vJzvOIduryX2TRsY3L-mNzuOva30qgBpuOOizeVJ8isW2grgjTa1_u59vYbkquyaJOu5pwUK5IcJh_KRde2t9In17qgF75gvoHHaq6tihOHSqN1c3QC3R9B2hzRDZIp8CHrbITuUiyFR_MnLWgk8jrnSoxzMO1mP_ziKxUi6U507s09KEf71-5iXZ5szc7ry33xEv8KQX0FkW7OQqosUR2-8Ge9rb2XjZxG2qyPPzN4ztqnb53bhA3rpTWpC0LhlDMmlyI9-w-1JFod4fEBdDCjir762lAoJGVjWX8PH8QqvfQZb-ngQzE9IzNAikcgQL4AKIc-sW6pCL4iMiLw6ugMN9ui6CGLDgquft7FN3y51XxQ1Xz01zb-VNAc08SYy2rzbem09_WJJ1UpL03WUntnJOXpFxCEKMAiiYrKQ1l9v8A926pKD_fSk8bqWAZopm51pkvN52EEVqt3-beYDScNpA_rjmX7W1gy6bcwm-NoFl6unM90jX2-c09r35ta44_DmegLFSmbkJDYcOL9iZx2kIGMWQwHlsKIP8t9xanzWHL-KrsiZJtSmEe5cI8h9RlvWSlX_APDdkyPulW2BsvgQiIJeqfQ8lo7F2ZpilPzYsvVQiGx1ekNthHecpGCSHmcYVwC_F4M79pDf7j7Yrlm0BwK1TAIddXL9xYXflD9z0PzGiP7eH2VQhjaw5XzUG20QG80s9URK1qI-AzlTvEREwZYLqf91y-zRmanMbXvVoZ_ceJs0nkkA9nVjdbj1FWL-ucn9GmpP6w-hIpOdUQGE2tOm759q4Zo7rMwz8fnz255YNiZvuMPylQagApaR89qP18Xuj3SUYy80Q-FfEAMc8CMFDpLk_hu9F51ifVc2usgG4D_Fm89aFmHOiGQk1eXsp62TJcgeduGP6FVB_KZbSTtGNoLZtg2pnEFpQ4svlqNVGpcOB2QP1AT3OW_4zoDB8AeoKxluOl1rOD8RBfR4=",
  "id": "rs_0ad184d13907b37e016ab463f42fa887d08deeb5a12132bfb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is between the narrowed jaws, and the blue rim is outside them. I’m closing on the fruit alone.\"}",
  "call_id": "call_sUcKMjTGNxnhOmq23hRlpB1X",
  "id": "fc_0ad184d13907b37e016ab463f45d9c87d0b3b141cac43667fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sUcKMjTGNxnhOmq23hRlpB1X",
  "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9329, 1.8481, 0.625, 0.3637, 0.7429, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1576 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3092 right_y=0.2225 right_z=0.0046 right_yaw=0.0041 right_pitch=-0.0256 right_roll=-0.0329 right_gripper=0.4244\nstate[joint_eff]: [-0.0479, -1.4154, 6.9402, 1.6239, -0.0366, -0.0171, -0.0122, 0.0068, -7.3368, 5.7504, 1.5604, 0.2662, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476e11206e4be174354783f58093dfeda8e19ea7aebfbb23188e915756f68ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb60fe0a5bf3020571d260c4617c00212657c10c7c82b6eb9c7a98e1ca58946",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7505da801aba557acc7982289681bc547a63d47d4ae04017f3c960729e1474",
      "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]: [-0.0212, 0.8509, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9993, 1.4746, 0.8265, -0.226, 0.7586, 0.6495, 0.9968]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1579 left_yaw=0.0016 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9898 right_x=0.2904 right_y=0.2335 right_z=0.1228 right_yaw=0.0386 right_pitch=-0.024 right_roll=-0.019 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.8393, 7.1179, 1.5946, -0.0464, -0.0659, -0.0122, 0.1573, -6.8855, 8.6496, 1.2967, 0.4615, 0.315, 0.0952]",
      "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9386, 1.84, 0.625, 0.3244, 0.746, 0.6273, 0.6542]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1576 left_yaw=0.002 left_pitch=-0.1369 left_roll=-0.0003 left_gripper=0.9898 right_x=0.3051 right_y=0.2197 right_z=0.0025 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.045 right_gripper=0.6542\nstate[joint_eff]: [-0.1709, -1.5248, 7.159, 1.6386, -0.0317, -0.0317, -0.0073, -0.1846, -7.241, 6.3521, 1.5311, 0.3101, 0.022, 0.1783]",
      "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9329, 1.8481, 0.625, 0.3637, 0.7429, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1576 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3092 right_y=0.2225 right_z=0.0046 right_yaw=0.0041 right_pitch=-0.0256 right_roll=-0.0329 right_gripper=0.4244\nstate[joint_eff]: [-0.0479, -1.4154, 6.9402, 1.6239, -0.0366, -0.0171, -0.0122, 0.0068, -7.3368, 5.7504, 1.5604, 0.2662, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476e11206e4be174354783f58093dfeda8e19ea7aebfbb23188e915756f68ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb60fe0a5bf3020571d260c4617c00212657c10c7c82b6eb9c7a98e1ca58946",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7505da801aba557acc7982289681bc547a63d47d4ae04017f3c960729e1474",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGP5QLRfeGkTBlfLPcVgBzw1j2lltc60F-o4cFb-TU2gzNNctu7qG2Fm5lpMgERDMiuUdn6_bX4XeTG6o3GwF3yvjBO2hHln_ia4WZPy97W6GCN7warj8h2brI4Ap6qO-bZeGW3bs_A-oXTIqKp8-XSlrz32BuaWCKvo6ZVnRU_I2NAmWdEb7sd0RuxQ-qG0fhMn0-2Vzbtv30HojeNjO-rvCBjX1Rv_-0-2yjRhKGZwYXVgD8F9Cl3O66uX7DR37rIpHmdQugrMOXJfQN0cnLyL72Lp6TyPXjURVIdWuR8vUYXIsIAEDy14w2R4I9th6R3sX6h_aVYAuAOHMg10pTO0cuw9TtddN1keW4HmOXzU9-0hN-EEgj9895GFhhUDdoZfwft-5LYZotC9h5KjOqcpbPXiUhdMiSBrrXn-ugxe0X8QABPfzFr57JSMbwTAhphL0OMfYloH16Rqd4KTm95TbTWJMoQ8bR33vv95JTHoZJ403-KpgQW7qeJsjViUmWcPC5r2XhQoeoV0vz7Qd9TE6Es74CxGsN6L0SuO-l-bOwoYz21maiKT6_aMCj93SBbYUFRYT00k7Q16HucOCT74xshEViHyJK1rG1xFrBWBrTKer5MPergGPIy7JHyA4YWBD4Gurazye26xZbrRZJxM6NIo6EbFwrpwCZsQTkubpnDLRDzv9kLX6ek1GS9kxZoO8kuW0_YhojPfwRKI3PV_oUgk4oXSpNAgGjtGH34zEcf1S6gr72Li4ia7MJe7SKYf7ftImzcGB33XRLbJTO7G2akcNYqS4IxOy-y70LGlejVqYpmgd0eT0eAFHnDeD6YA2-_6J99kY6ZaShTDHCA9LdgBwtXBNwwFzzdAokDbQJLbLCuAhphX2X977O5Hv2a66q2uueqlk2f6zkZFkJCIN18fYRcoL-9YOVQPScnUeBwVpDW5mapMb1UjL-hUYTfUZFzGjYepZaUNzwCfq5euRbIVc-P90C6vhWFAx7kZQr51k5SzUyl8Pf9SkOp4f_mUxLWlW1WzSxXPXbWGM_Cx83GI6ZFD_-e2TW3tRFgjPBmFUUeR-ZBCKf-ljMOTIILFejOBIzniYJ-SmkdXSwUi7Y7WpnVj6zWoiulSMsUV9kCF4I__x1EtJsYS6Nbha7_B-Ltq2ioXItWhreIaOLggzHMrSXlQeYQnIJnlNT3sZfJNnTGcD7VP3ddlv-y40WWCI5UzN4m23IV9DXOPrQFsktd45jRQ9pxTUGD156E7GFTqVZMFPyBpjM7iROAKY-zoxCnn8Na3r4tHJLWovbTwmV36Na71mheIXAgr4JEl0bwcT4mojZ_01WOw3WeEOEpiZzoxqltxZOY8UptlNhkNejuczCUdOmY0g_kci-UaHH0IHF2_1dH9XnLMMyErfNIemzp9g2XSu7vel-wkpmVdj-IonIQGXNVpxZaLiVF_twc=",
  "id": "rs_0ad184d13907b37e016ab463f7112087d090a3ab278de283ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The grasp opening now matches the yellow fruit’s width. I’m checking with a short vertical lift that the bowl stays on the table.\"}",
  "call_id": "call_3UFlF05TNOMOKL9t2XNmvUYk",
  "id": "fc_0ad184d13907b37e016ab463f7f6e087d08e4c553b54886245",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3UFlF05TNOMOKL9t2XNmvUYk",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.766, 0.6407, 0.2569, 0.7357, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3072 right_y=0.2214 right_z=0.0224 right_yaw=0.0086 right_pitch=-0.0355 right_roll=-0.037 right_gripper=0.4244\nstate[joint_eff]: [-0.212, -1.1556, 6.9538, 1.6288, -0.0464, -0.022, -0.0073, 0.0615, -10.5094, 8.9504, 2.0293, 0.4127, 0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8810d4cc0c352cf91e9fe27feae53c6cc20f41a5d23c643d34920c780169bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e7af4cc965f935102c44ee3786be018147c9172614bd11462d7a75d04ca341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25a7797063b3690f87378efad81a726d65a1d7421a9cdd25fddcd16688911f1",
      "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]: [-0.0212, 0.8516, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 1.0054, 1.7557, 0.622, 0.1898, 0.7765, 0.6739, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0 left_z=0.1577 left_yaw=0.002 left_pitch=-0.1366 left_roll=-0.0003 left_gripper=0.9898 right_x=0.2845 right_y=0.2241 right_z=0.0162 right_yaw=0.0181 right_pitch=-0.0509 right_roll=-0.0647 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.4291, 6.9402, 1.5849, -0.0415, -0.0317, -0.0073, 0.2667, -7.2821, 4.2735, 1.3553, 0.4957, 0.1245, 0.0024]\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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9329, 1.8481, 0.625, 0.3637, 0.7429, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1576 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3092 right_y=0.2225 right_z=0.0046 right_yaw=0.0041 right_pitch=-0.0256 right_roll=-0.0329 right_gripper=0.4244\nstate[joint_eff]: [-0.0479, -1.4154, 6.9402, 1.6239, -0.0366, -0.0171, -0.0122, 0.0068, -7.3368, 5.7504, 1.5604, 0.2662, 0.0024, 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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.766, 0.6407, 0.2569, 0.7357, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3072 right_y=0.2214 right_z=0.0224 right_yaw=0.0086 right_pitch=-0.0355 right_roll=-0.037 right_gripper=0.4244\nstate[joint_eff]: [-0.212, -1.1556, 6.9538, 1.6288, -0.0464, -0.022, -0.0073, 0.0615, -10.5094, 8.9504, 2.0293, 0.4127, 0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8810d4cc0c352cf91e9fe27feae53c6cc20f41a5d23c643d34920c780169bd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e7af4cc965f935102c44ee3786be018147c9172614bd11462d7a75d04ca341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25a7797063b3690f87378efad81a726d65a1d7421a9cdd25fddcd16688911f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGP84y7gMxu75deQfqH_quOKmMWJjkOptOuS-LJzbPmUtXx5xyp4fqqiP8xHI7A3TaPPHVJCheqIt0jj9rz-OA8cCt7gz0Kq4ZQkPAY0SmKbTgz4_WnQHHCaJJY_AXTM1Raupk9OefYs6jdCbG3DotQxWyNDUxWLkhTRjjjvaCFCHS7pciVdVMb0GAhMsG-TIxtvTe_YdV316fNW0-WvvI688R9vLKKcM8hAnoNvDU1qZ7xOIN_BE-4enUqzD9xdrPBdpIkA0DkjOhGAR4wCGSUrqi3wg8BGjWAmvUe6SUoTP9lMH4LG62leROMDzuVkwniSMoqMWA-UJ84kYmQ8-RxUXL0wHDDSzXganfGJWidVol3uBS3AY57IEjlYnzbSzIQRXFh_HQWG-Fi4PjR9MzCm7oCvtTOxZ3A6aRHEzPNDjSSu2QY2SKwfMqqVb0i9NmdrPqjlxMfETt3dhaZg_gOg2nriW7FY83dz3FAp_0eEH3LKKFrMIqAOKDeipc06zJtMnO0wmUdzmFofSU8Xt-rF_6RyU28IQfZdwRLHdxh8Yhd_DZmr66fj3PT7rMEBMVrDPk5deUbOlg5ZsidLFDrfSSgBll102faElw16lxFn0AjQNhF8MiuxZ3ZO6dhJGH7OmqA42aQkVpFJrPcICNfovgXd9bcYSeApeuyN2DTbbE_UIMFuhQPT0GwuTFSacnk2AEJwiHRnnY8LJ8B7RCc4V_pRtkwjOYyv52JHxCV2yLdGmMglq60t5g024PE_oY83FRWvITcn9mYdktmCNydt8MIkaJvqB1L_GMFu8Amd5p5NaaNGfRmtMFQ5u7stondMtakOIB5Y4WRFGHEaZUnBu_lNfMqK2EumXSkhyFhZYOva5TklmW9af5L019jYWnuoMC_6aICGdhvSfT3hq0KxvRHyuLrQtr_hkX6iUmOPOOG_WBi3x79IgSueeX0Xi1kC42V3nQgD5vTyU6n44c3yD24IXQQWzNvlUAmzgBH5-KrV6LavPmwc7wej0Jbc1Woa6IxSaz-rXUDUNBRRBfb3VGlw_T3RC94Zzwb9ZBRuIxIds9iW70Y_BQM9qbURfdJhdyePN5NZxiquV93VcLk9gwPuvWLWPjF-6b8FsZeohUNxITIPqAOHWwzs_JcN1gxOA_RLnlpUaYzQPD_q1jQFH2oNZSggEcE8sQot9iLHIcglEjZRib8xTlLI70ZV1hEyA8yy0vlYjBZsquTmIkD5Jnp6ktQuUgIZFf8evK7iaVvd_rghByc7SFd232E1Vr1osJcAOoncVm09uciUoLSUmMN9VhdROBJl3dyVIoJ3-5o=",
  "id": "rs_0ad184d13907b37e016ab463fad74087d092be5f6570b9efd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The fruit remains secure and the bowl has stayed in place during the small initial lift. I’m raising the fruit to transport height.\"}",
  "call_id": "call_ZZQ4KBMPXXP60TydGlMHnvic",
  "id": "fc_0ad184d13907b37e016ab463fb6af887d08d4125cf93ce0dc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZZQ4KBMPXXP60TydGlMHnvic",
  "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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.4162, 1.0859, -0.5091, 0.7292, 0.6094, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3093 right_y=0.2256 right_z=0.2001 right_yaw=0.0139 right_pitch=-0.0219 right_roll=-0.0112 right_gripper=0.4244\nstate[joint_eff]: [-0.0615, -1.5385, 7.1726, 1.5751, -0.0366, -0.0611, -0.0073, 0.3624, -7.8427, 8.5538, 1.3553, 0.4567, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8a50bd7c6271eb4ca006a982baefe51762d91313d3d52a24ffc1aeba6b9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34674abdea852cdc2ea7b028c8733ee09d8803a172dd9dc873b8a16431c37d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcbfbff32a030c65e93de0450bf6036176e1a6aa2e062e0dab3a68bda620237",
      "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9386, 1.84, 0.625, 0.3244, 0.746, 0.6273, 0.6542]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1576 left_yaw=0.002 left_pitch=-0.1369 left_roll=-0.0003 left_gripper=0.9898 right_x=0.3051 right_y=0.2197 right_z=0.0025 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.045 right_gripper=0.6542\nstate[joint_eff]: [-0.1709, -1.5248, 7.159, 1.6386, -0.0317, -0.0317, -0.0073, -0.1846, -7.241, 6.3521, 1.5311, 0.3101, 0.022, 0.1783]",
      "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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.766, 0.6407, 0.2569, 0.7357, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3072 right_y=0.2214 right_z=0.0224 right_yaw=0.0086 right_pitch=-0.0355 right_roll=-0.037 right_gripper=0.4244\nstate[joint_eff]: [-0.212, -1.1556, 6.9538, 1.6288, -0.0464, -0.022, -0.0073, 0.0615, -10.5094, 8.9504, 2.0293, 0.4127, 0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.4162, 1.0859, -0.5091, 0.7292, 0.6094, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3093 right_y=0.2256 right_z=0.2001 right_yaw=0.0139 right_pitch=-0.0219 right_roll=-0.0112 right_gripper=0.4244\nstate[joint_eff]: [-0.0615, -1.5385, 7.1726, 1.5751, -0.0366, -0.0611, -0.0073, 0.3624, -7.8427, 8.5538, 1.3553, 0.4567, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8a50bd7c6271eb4ca006a982baefe51762d91313d3d52a24ffc1aeba6b9383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df34674abdea852cdc2ea7b028c8733ee09d8803a172dd9dc873b8a16431c37d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcbfbff32a030c65e93de0450bf6036176e1a6aa2e062e0dab3a68bda620237",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQDkHiTf92Mi49KGZ0lSDJm9WMP8VOObMoypq7vev3PtL-sDn-Wz6qnc9_IzKIpFbG_6yGMo2MrDtKX9Jy62nIvXlYupRyyVfcQx6s2S7bZqtuu-y-Gez-dMsQX-mPcT4F-KdUAxxPJin1vKobC46CpfXROZ53x-n1-Z23Onn5UC7qg_PR5uLt4kNVIZe_AOF63GaVZuzCTgg4wLFUbn_D2IacllCBRnI_BeF9gdD687XXBn32rIF-EfPGgMjzcKk5XhAE84NigOaqUWPhc26px_dZKVJ87jiKpsqEVy15bDZUA1_B6zIsJRnm01zDS5y_kgjxCIu9TH1kEo8cfzUa4-SDoOWo10y0OHNX_3ZIdUATMxPrFcFpBJ_Nts5dtRPx3n7v1Zzd0BIRtE18hsC7mOLFSWjDLnyz30tLqGiQQAIfzqlfhftiLmx_OrJw0V3zOHqIQmlPzxNCrz83MXQl6gJP3838GLnfiFq4aiKAGtgtDMJJZxtF83Ze8742Q6cd9tHnSHSJ7Ez3g841ZSlgIO9l28G1IZsPlfvdbLMsKlDkHyk_bufFsR5kTgteb4XLIVVRBxc8bfAQJ4ikbcfLVEwT6-3wstq_Nab2M0gyr2AivcQxnEOGvGszANGj9o6Lb0_XPR9TdgpzM7eG_r-GnM08N1InlKpRrwChTjWnJ6wDxQEJd2Iby5SB8p7j9b8U-rNUt10dalZX9DEF3enaVXKF9QthtI4oVbUVXscXr1fkp9hV5eAwSsRXIzhq513SCSfejacbtYvBkVvFJKWY9XNeDW3b7ro_7z55gwepWdIMglyVG7dE9vUGdRuoF25PBQI5YG9-BU0X-jy9wQUqPbH68UEpmBI7pAsvP2W66WqeJzEhPQd9O-jDpi8qT-goiE1SASypmWk3PYbl1OTSsEixKOcjheNSsxV4RC4CFqM9Jp-arc-7C10zyeILBSUyEXd34VoQoKkMxoJKEN6KP7HInfI7m1DI5uS-KjdlQ1qXIgekD3mql3R515bY5zXsw1D4Z8fkLSdFJMvfqkaM1RDj0MgAZsIvb5dI37j3HGyqzFztTO5lBVFl4ksbyl1n3lm3sYwj4wRlaMg-LxlN7q0E12nG1WqJeB3CRz8zgm2hETioSInX434XpmD9ABKm7wuogwxTHKrCmyTj400wJHbA7S0unQMC4cnyh7_zSigZWTJegxeJUk5oPyabJXbDh-mhDD6JehgJJqJ7bxFMY5pdOAtMk4QVkMU6KFuGqaSA_OCWOVXKzoFYu1qLVXuaH-OHSKKR9zz4AEVwjs1WU_dDeOE-vmF9HSrp25ZZxNyl2csdPHnVdVEnS_fIyhHUyORS-lCP_J9hvvisAcnKlv5FbxtPSUR9vIYalmMzK9uFkMQthG1BlBBS0wNHPWV-dtx14fVm5tfpZIV9LcmlxoMzXAcYUI4Rzaxy3C56t85Vxu5zcgq0RgigAwDCinKhEbFfX-WWwkzhnKYNV5hSLvF9HIUgLJphspsK95bsA-kktBMf36t2qS9CndLFR0cWInfQq_KYI98kgni-IugjMEk_bqZsDdKwAF0ovIBoGAd7PKdVfglPYFiIYDfDBWmeMCOPeVtbuqEZcVz8Vn1IxzMkd6hTX5IaISWqY-eSdS1XVPQF5EB0cY0F3KhPX8S_yIzpfPevpbUJ8_J0WZ98hKmxe1ZX5_aDJh8IoyUPiX2Hl-cwrUfGPhAm61ixiLdeIi-5DZsFq--NwiyHTWh4lrIgWTnqz3I4xvcC2i6jZ4xJxORbo_Ji1vlly6WbAjn7zwanQ9kufgAvv-uXg5l6sXDhlnTzT4uDz78PKbSglytO9cDCzTMRYPrdoYcKTWMkIjO-UCbz9Ugz2eI49PyDpVdtUxzk8zlnN3HJYhsxi93LTbiuyTg0K3cKmdP-_-y6NWDgThdsk12yxPz3fuJOvsQyDz5WjA2K_nsWslpO7-ZBmdUxjHHsEARK1ha2Hk2Z-fbVp2cCxb-v8HutuvQDvKbYXettWTy4BkukF0S2qQLqnXRpWwOchGKHsNpDviJmUOT9Lvv-lBZ8N9JX1LyeUzBhU_J3eqq2gJOBY1nLI-faNrXzkFg6MDuZF6Ny6DSuJeOjQazhWM_Z6_8ui0ejf5V65fl2421bT_X169zv-diDvZzkfpT-R91IzgYXMokAHOjApU-pgrmkKUD0of6yRLTOD22EwnXEIhMXejkfinj22k3H0vo1k04jHpW0LM691slIVGuqMCo09d88Fp7JBXNlQuUI0mbnDaX78QtraJ-juKceVDwW2j880ziZWEPON",
  "id": "rs_0ad184d13907b37e016ab463fee4f487d09166ac2aaa092994",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.145,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Only the yellow fruit is moving now; the green fruit remains in the blue bowl. I’m carrying the yellow fruit over the bowl’s current position.\"}",
  "call_id": "call_HrT1M6sZFgdgQZtF6ZVJAgUG",
  "id": "fc_0ad184d13907b37e016ab464021c7087d0850e2ddf014f4962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HrT1M6sZFgdgQZtF6ZVJAgUG",
  "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]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.5804, 1.3834, 0.9512, -0.3103, 0.5026, 0.3485, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1571 left_yaw=0.002 left_pitch=-0.1388 left_roll=-0.0002 left_gripper=0.9898 right_x=0.366 right_y=0.1425 right_z=0.1713 right_yaw=-0.03 right_pitch=-0.0683 right_roll=-0.0419 right_gripper=0.4307\nstate[joint_eff]: [-0.1436, -1.6342, 6.9265, 1.6093, -0.0415, -0.0659, -0.0073, -0.1299, -7.8974, 6.5436, 1.9756, 0.2564, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dba1b0a7ac017d87ab953f58d76fd92b5370f35ec8c76b66ce157ae6a954fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb87b75c9caf05dae1e575f50e59031bdaefc493da58996d8761b700e204d83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f849489c49be95806bf151405247ed0ab7e4c5b16f4f17b9635d95c15188e2e2",
      "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]: [-0.0212, 0.852, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.9329, 1.8481, 0.625, 0.3637, 0.7429, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1576 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3092 right_y=0.2225 right_z=0.0046 right_yaw=0.0041 right_pitch=-0.0256 right_roll=-0.0329 right_gripper=0.4244\nstate[joint_eff]: [-0.0479, -1.4154, 6.9402, 1.6239, -0.0366, -0.0171, -0.0122, 0.0068, -7.3368, 5.7504, 1.5604, 0.2662, 0.0024, 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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.4162, 1.0859, -0.5091, 0.7292, 0.6094, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3093 right_y=0.2256 right_z=0.2001 right_yaw=0.0139 right_pitch=-0.0219 right_roll=-0.0112 right_gripper=0.4244\nstate[joint_eff]: [-0.0615, -1.5385, 7.1726, 1.5751, -0.0366, -0.0611, -0.0073, 0.3624, -7.8427, 8.5538, 1.3553, 0.4567, 0.0562, 1.0281]\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]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.5804, 1.3834, 0.9512, -0.3103, 0.5026, 0.3485, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1571 left_yaw=0.002 left_pitch=-0.1388 left_roll=-0.0002 left_gripper=0.9898 right_x=0.366 right_y=0.1425 right_z=0.1713 right_yaw=-0.03 right_pitch=-0.0683 right_roll=-0.0419 right_gripper=0.4307\nstate[joint_eff]: [-0.1436, -1.6342, 6.9265, 1.6093, -0.0415, -0.0659, -0.0073, -0.1299, -7.8974, 6.5436, 1.9756, 0.2564, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dba1b0a7ac017d87ab953f58d76fd92b5370f35ec8c76b66ce157ae6a954fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb87b75c9caf05dae1e575f50e59031bdaefc493da58996d8761b700e204d83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f849489c49be95806bf151405247ed0ab7e4c5b16f4f17b9635d95c15188e2e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQGBhaVMwEa0FC5z8XpvJNZGOv0-myVv6WJ0vaVaUfSh3XV1fJmsGrNHC7S47CYLFbG0_L0wbZqBW7OG0drAhrtnrXBrLCeXySOvSmycegkgwmYx7GnKEk9PjM9xgRedUh2XC_gCTbxks2035yRHJXfcmPhrdVAWBEuF6dAYvY97UKg-t5XvbbaHfg-ASt17-y1yvNE77PBflPbOiVBQZVDACMhN48dMDgH6UJlvszSyA8F_kcy6ijnShww0B4LheSq_BvEURB090xE__905nmr0e1vS5AKX_bG3PIrjwaL8EY3InA6k-N_yYQAx4App2hx1dd5Dk64zUYhfDfs5hxRTwoyQhrFJsyGr8XKrm0-DDws6gu1xbsKCzYx0nRYN91rWr-7oJPzGtrCWiDrr6exf5e1CwCwDzYSdhA2yDvu6Q39sc4ZVhZKWBV5r6QHf-3zU4oIkV4PFpu9bBcfngtxk2kQyTU6x7KclEqhfVQld9MnTktQqOS8KTxolo3Xqrre9jJWTQc6yvFiQKOeKuZLov33cuYQ2gzSN5WvCce6Z3iG4QVsSincBHkhYMHaNC2PzZMmFjhspnsUIjO__nbmco76S44zU9Mvki_Xno1DuzsN1AcG0WKu23KXYxfjlGchQ_ZHbXF0p_m77Gam51VKRP6RzBAHr4dgWQuGCPkY4ZBxyK_GDlp4KVUHQAIhHtSllA-YIIwh-9b8kuMlJYLlBkTwCGrA-zlcqt-IA-MijDrN7qc81i3h0Hx4rcSIMM9kHqVIwHC8ZTvvh45q2SgFYdhzxz9epZakDKMAMg6-ml5tlCevlekBZaeVhNayFZhrS1i2iyiETzD60Oraje65f40UHPE50BZEnrbKxuGKPVIHScUVyojKtwSfZqJ-YNnjkb8u9TcMfphdXX1a9Ahp_5AUfNnA_WvjxoyuHx5_h1hmO3en5RKG5Ew-6-am9mynW4Meae6NTH4FCCToNGEgWZ7I6DvOb7MJjV1cEy0Aj432_xDp48klcsGeFUQ5WUcJV2y0OSYZYzx9jjuxtmXSDq0wEuPWiUJd0jrcBciIMsEd5tLz1JxdUVQLhkjjgolG3cv8Dqoa0F1ik1cujKaxorTHEHKvtCmw40ACu4Wp-aPAUH4PS1PFOHykEu4ma49JoqRGFoNKdeEZrstJi-F3eIBw3M7F-a6w7Glro3GMzHfSd7Ez-hhsmNAqoaLmLLS_8NNdyxfyd5TlGQ8gp8n3skW085mPTZA7tyZn1z_X6YLf-Xf9LNomx6-bFFp8kYtzd2czeLvJI7PZUwn6ofRBuTkWWZrIFbAra74dwAXtcEfFtghek4AUPhLBe1_YIPINmhztLzH3fk539dWypXIagzjNaqfGH0TKOmkP6tm2Zcyf5b7aN5DHg3h93ubTTd2bN9X3UDBuNK-aKenEilG1Bg==",
  "id": "rs_0ad184d13907b37e016ab46405167487d0b2c786e3accfa3c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is above the blue opening. I’m lowering it toward the bowl before releasing it.\"}",
  "call_id": "call_6a8BESu04JbOviabkNNZuy8z",
  "id": "fc_0ad184d13907b37e016ab464062bbc87d09e57d034007fedb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6a8BESu04JbOviabkNNZuy8z",
  "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]: [-0.0212, 0.8539, 0.6415, -0.4992, -0.0139, -0.0338, 0.9898, 0.572, 1.4139, 0.7109, -0.0586, 0.4702, 0.3134, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.157 left_yaw=0.002 left_pitch=-0.1392 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3518 right_y=0.1356 right_z=0.1032 right_yaw=0.0048 right_pitch=-0.0975 right_roll=-0.062 right_gripper=0.4307\nstate[joint_eff]: [-0.2393, -1.3333, 6.9675, 1.5849, -0.0366, -0.0464, -0.0122, -0.294, -5.6274, 7.5556, 2.0049, 0.2076, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506c490292e98bee21fd7d3d29c3370bf7972d170d36e1b4ac88102aef74a873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b3fb61e2bf3c84c9228ec5bb540a3adbb2814a5b3b4fb7a16f0041a28bb9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb65af0c429366c1eb0000ae304ad8590eb22f89b3757216b8d87fa77ef5cfcb",
      "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]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.766, 0.6407, 0.2569, 0.7357, 0.6098, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3072 right_y=0.2214 right_z=0.0224 right_yaw=0.0086 right_pitch=-0.0355 right_roll=-0.037 right_gripper=0.4244\nstate[joint_eff]: [-0.212, -1.1556, 6.9538, 1.6288, -0.0464, -0.022, -0.0073, 0.0615, -10.5094, 8.9504, 2.0293, 0.4127, 0.0415, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.5804, 1.3834, 0.9512, -0.3103, 0.5026, 0.3485, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1571 left_yaw=0.002 left_pitch=-0.1388 left_roll=-0.0002 left_gripper=0.9898 right_x=0.366 right_y=0.1425 right_z=0.1713 right_yaw=-0.03 right_pitch=-0.0683 right_roll=-0.0419 right_gripper=0.4307\nstate[joint_eff]: [-0.1436, -1.6342, 6.9265, 1.6093, -0.0415, -0.0659, -0.0073, -0.1299, -7.8974, 6.5436, 1.9756, 0.2564, -0.0171, 1.033]",
      "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]: [-0.0212, 0.8539, 0.6415, -0.4992, -0.0139, -0.0338, 0.9898, 0.572, 1.4139, 0.7109, -0.0586, 0.4702, 0.3134, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.157 left_yaw=0.002 left_pitch=-0.1392 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3518 right_y=0.1356 right_z=0.1032 right_yaw=0.0048 right_pitch=-0.0975 right_roll=-0.062 right_gripper=0.4307\nstate[joint_eff]: [-0.2393, -1.3333, 6.9675, 1.5849, -0.0366, -0.0464, -0.0122, -0.294, -5.6274, 7.5556, 2.0049, 0.2076, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506c490292e98bee21fd7d3d29c3370bf7972d170d36e1b4ac88102aef74a873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b3fb61e2bf3c84c9228ec5bb540a3adbb2814a5b3b4fb7a16f0041a28bb9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb65af0c429366c1eb0000ae304ad8590eb22f89b3757216b8d87fa77ef5cfcb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue rim is visible beneath the yellow fruit. I’m releasing the fruit into the bowl with the green one.\"}",
  "call_id": "call_dDZkhRZCx2WxTAcm4WiaJ76l",
  "id": "fc_0ad184d13907b37e016ab4640884c887d0a3777771c6406780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dDZkhRZCx2WxTAcm4WiaJ76l",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.572, 1.4197, 0.6971, 0.0456, 0.4694, 0.3096, 0.9958]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1571 left_yaw=0.0016 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3619 right_y=0.1422 right_z=0.1136 right_yaw=0.0103 right_pitch=-0.0263 right_roll=-0.0193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.5385, 6.9265, 1.6337, -0.0317, -0.0513, -0.0122, -0.5949, -5.8462, 6.5983, 1.8339, 0.1636, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e064214f47332f38b937003bf794ddfd55892645bdedc59615ab0d50de9381ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa42a94dfabc6ef2033a02d9ff043a19aa4e9d61c3edce2373114feed8502d91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d3987d1862eee47e3c6c0be3ae1cc04a6b6bcb00a021197d13880622bbd078",
      "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 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.9329, 1.4162, 1.0859, -0.5091, 0.7292, 0.6094, 0.4244]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1574 left_yaw=0.002 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3093 right_y=0.2256 right_z=0.2001 right_yaw=0.0139 right_pitch=-0.0219 right_roll=-0.0112 right_gripper=0.4244\nstate[joint_eff]: [-0.0615, -1.5385, 7.1726, 1.5751, -0.0366, -0.0611, -0.0073, 0.3624, -7.8427, 8.5538, 1.3553, 0.4567, 0.0562, 1.0281]\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]: [-0.0212, 0.8539, 0.6415, -0.4992, -0.0139, -0.0338, 0.9898, 0.572, 1.4139, 0.7109, -0.0586, 0.4702, 0.3134, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.157 left_yaw=0.002 left_pitch=-0.1392 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3518 right_y=0.1356 right_z=0.1032 right_yaw=0.0048 right_pitch=-0.0975 right_roll=-0.062 right_gripper=0.4307\nstate[joint_eff]: [-0.2393, -1.3333, 6.9675, 1.5849, -0.0366, -0.0464, -0.0122, -0.294, -5.6274, 7.5556, 2.0049, 0.2076, -0.0024, 1.0281]\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]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.572, 1.4197, 0.6971, 0.0456, 0.4694, 0.3096, 0.9958]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1571 left_yaw=0.0016 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3619 right_y=0.1422 right_z=0.1136 right_yaw=0.0103 right_pitch=-0.0263 right_roll=-0.0193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.5385, 6.9265, 1.6337, -0.0317, -0.0513, -0.0122, -0.5949, -5.8462, 6.5983, 1.8339, 0.1636, 0.0415, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e064214f47332f38b937003bf794ddfd55892645bdedc59615ab0d50de9381ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa42a94dfabc6ef2033a02d9ff043a19aa4e9d61c3edce2373114feed8502d91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d3987d1862eee47e3c6c0be3ae1cc04a6b6bcb00a021197d13880622bbd078",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQWZCzN2D0-cRrbxr5J4JYHoT6fBbuethTdZLkkAw9ZULKK05qfeFsJWtPQwNsWN6WUF86oboQQezlSOwdzdl5aQag-nGU67NeJqxNw_aBLARSEKuYoxz78S1_3shXzmpaW9F_XC_PXB5Ef3caxX5AQd7UZLonWDiQOdFrzxKBqFNcBbH2FseecaqEyr0thSPHgXkFJ85wEPyPBjzH8QOXceleBrTWGaroIn8FpIuFjlqUCgWaCWiU97S8dLw68r-Ky7TqzEIh_ki5tow3U1CZhZPg5DkCc9tlBtKs43gIrtFudancrz6Z7bUxvMIv2yhL50a8Ut2Le-wgA_j1ENcOHxyQKJFBBpXY3YPY1xUopGwqPrm1-NVbAPaYDoPp8efhEm_r6oxN2FoWJIqt7tuvTJvYhcF4ZBxla7Oot-qyxNTdT6a-TsfSPvzRDcmIir5CC1bMP0Uhu4UiS2aUx7pPOoAAUKQAdQGib4LBslkiCcQKnZonI5pFw_0pOhuiUnOjVS1AcI4WetqO7ySLPvS3eKFeUyQO85s6m8ERtP6utk74fsGuFhX0DoVKAt8pxWQmwGogiwRsGBMo8JegMvfThDBj6LM4Ykt4k7SCbUmZNqoWs7oU0-xsRa_j4FgRc9uPfDlDxG1LNGc0b1QV2kbAhCMjAm2ZbhTkb7SEn3P87QNuBBD5TwpjmpYjl38W6WuCpjwpG_Z94jLA3sQy2kKjW-9IeQmnyMMU1E-R2KDl_bYgGTDRH1qCPGY5K1udw_IDo49-yT8y6mguv1KVKCye68le7wvEtkoFAliYVdOLF66jyvWTT_q0BYI3mCjwLLECA3yw0ZTr9p6U8YHYqXFDsOsOCK0JSBE5AodTeFavF-eHUiuTWHI8giA1PAGUs79mVrKtYJkIxNgY9ddC_yUjqjYvLARxBocC3GEJvIQa-jHWW28YFpsnP-L0dEKI9bFi7HCRW7x8zKUdzYvrDKtVN335kxqwOrESeUK0LPj_qpuF8VRUmvuqTEWjlPqsH1JYo2tNFa3-oWUeafUbjiTWoLaprIv_OxSsClaQggJBB4HtutEDei4VMAevgT_TnBGG0wXdU1P7jdGFhCUP35JvmnuJGLpbsLp9sCUhmcng0lGxhu8zy32tm614KJeqfgBBBJ_dczzVTmOWROZuWGF2Gq_m9_NpiCEjMSmOBtdbOViKCTX09Q1hMSN2vrvtcZuCUZ7JX1kqS6Wn7bmAtqvbhT9-iupu94KLpgSACYyVKmg06ohBd5EO2KQzq_lO3AYIU4upvkkSPCmvgW89f6IHxt7gZdC6nQHF1g1pi9ERDnOeijbelg1e1sm6t2ZaZ1aeXO4WtGX11Z16ecrLCg9vtQ4_yJyGgrh-ro2UidKFgq1klK9J2N4VicZ0lErY3fZ4ACn_E7APn0IioVuszLuXNFfxB3YsjbPyP5zUt9J_-4vygVM5P4Lq8XxoK9OMPDoU1KFcrQTyFAyxr1BQhxpuU3cf3UM4aHEQdU2DYWgsfi9CLuXC1c48T-id0ZEO2MX17b6lFyUtBjuueoBvOgB6B5BZOwoSQ4ra8PvLP0-a-rbMXMQ1NnXZJ3MPbenCBDwW3dNzoCEjNO49PBsxZkdjpa0A6nrHmtBSW_WYmOdf2x5LMdJsFywfXFdsCYI_zE0oxcnimxGusFHRbrqtuxY62bnFx0GMadNy8XDwa7CF7Zk9seyuqVxKFy7tFuxzZEyPGU2BiU9e0XTHOBAt2n87XWc_KNY4uRMAtfjvVgeQ1tPGe3gpYlGW7TxJzhNk7ob1SkTOpJfaQHnfBNavG7FIrB6MS5zgO_HqlNJkekKsDO58SXiNOD4V91EoxjD0wJZRwyVc9HVQ80RCLN6dzeOxWGAQdFLKteaMGKTMYFy1lc6dfy6csQUDMPBtPksakdWA70HgSGo52nIbS3vwSE-9Oun-f7pnpqpDBQ7xkBC624W2B3EZWTzmMEGzp0-rZ01saW9739vtv31l8qeDTw2Usx8U3iRUDql2icARhMIcc-SlLLbtWFXV53sSv50hIQ7mYluRQNmU4AzopRdi_squLqSa27lNLSl5MFX6rfPvTFkccobvIR2zkvDMKdRW-DUOv1gt6FqyoGAweBbHiKWFpwV2a8zA4ABJq2QSi9_64aPTyi9Ajgvk4pWhrreYYTLacPhrBqBhTMMlWdz99ANhdQHo66UwVICD8wLLUYOQtIuyOiCSHvVLsAr_OvMV5qcfkNHu99kU9kUCsFwzelMMg-3-y47-41coWIAJMfpMetshKahjDAd6pULVa9hxDpVffSqEx60XRBXsO-8Sn9hrKhWUG5__iTwglXD9PsfR2L__bfRbTlD74SlTa1X0xjrGmglciiWjluPE-hFalUuXBcUOgrntcxNzAAIRn5awIUiB8PI806lngHQRK6jK3tAhp7F3icrOwD1T8UsnLNLEO4CKjIaaQzRP34kMCpQ1fZcE3ZlGRhJCunHv17opfCOs9Ii4i19KU8gb6S7rtElF4VVQA2ApSk8VAy3RZTmD5d9O6-gakdPzojNgi5lXmNQIvc20JBB8-RfLLpCWiYz1BmNKRn7ydCMIy0BjL1Im3-CCMQPx62zFTHiii2MO6evYvUZsE-Qiw_zc0BxnlZVSLFs-A2ExPErbaGs0ltWiEc05t6nZFtJycSGZLaWKxp4SCugEsGUrmhfrpEOs8fuy5r4O67I3Nrk7MZwFlPtmUUDEQh4-kaNLPcQQ6hxsY2yxsqG0QzV4dlpd23EE-HTwDGXUPJkbz5Z4cGYD1qLQh3InMNFUVzdXL82bgxjgN1fFdxNi3qx_wd2EbXcj1Ea6Sbm7pJy1sTj7LKk7pbFnAZUIGkhFQGaopRRG6WtilEIHaK3NXpxdzxe5G7SOt-o4HyB8KWVRUdUkS9qF9n8_cT0Q0nBRemjozTm9aKEdvmF4o0jeFs0QWLzk1m88qoZ3RAMpGEy50qhNQGyFeCuQToO_5Lu7wfkzznllA_MccKZ1ufV2boJQpIq0_pg88SCIUuG7Kn5tdgjkZetztDAMV8eBH0N8v7Au_gVvdX_27T0n5Bw30-ePig4q2CDB6H3WVlr17Z54f5tKbPzeyWBlBDBJabfnsY73uoB1jpZDHFSurFKF2ttldi3WhDdZ1MH8uoklxvRGS2Ed0As47RmAlqJY4CQIcKXVnUrVnEbITF-H2J7PKoFowLw-m-kz2zsNfAI153GSqXxOzEmu10Jxnqx-glsCySTEjPsNvb5oOijiznEcC6iEV5tfMrvRO6UHqH6c5AnbEMy_sVjG_UJspw49gIUOzciaZwYejzTosgQRb5Kq1VHnhhxsC_HzRlYyayFpi8ZmRntiUzitYvHC-R9QO6KMC26lOxJ5ndO_BnmTMCF860gQF5jtpqeHyjMiB3gxb6c1qWMsqgKuA5LKLR34iyYeOQr8N-nHiAXCzAWYR20q_M08W8W7-FqORk9eqV6dVC2SrDbueCNkhriL6rwXNws9tezBMl8itk4F0wwhx98ZKjEIoAb4-tuf0bUXliauXDQPtbqh0lQi-6uEFPpmbD_bxtyAgsT4B0B7nHAqU",
  "id": "rs_0ad184d13907b37e016ab4640e4c2887d0bc03820c80b05ee8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.20,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both fruits are now inside the blue bowl. I’m moving clear of the opening to approach its right-hand rim for lifting and pouring.\"}",
  "call_id": "call_4SFS0T9BPrRi018TZuVfRwxb",
  "id": "fc_0ad184d13907b37e016ab464157f1087d0ae74ee06de21a3cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4SFS0T9BPrRi018TZuVfRwxb",
  "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]: [-0.0216, 0.8581, 0.6415, -0.5129, -0.0143, -0.0341, 0.9898, 0.2596, 1.0859, 0.7815, -0.2104, 0.2787, 0.1619, 0.9963]\nstate[eef_state]: left_x=0.2836 left_y=0.0 left_z=0.1534 left_yaw=0.0022 left_pitch=-0.1571 left_roll=0.0002 left_gripper=0.9898 right_x=0.3572 right_y=0.0483 right_z=0.2114 right_yaw=-0.0679 right_pitch=0.0734 right_roll=0.0204 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.8667, 6.9949, 1.7607, -0.0464, -0.0366, -0.0073, -0.0205, -1.265, 7.1043, 1.3016, -0.0073, -0.0317, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629d556bc10375f900a8607d912ad029d655fbaa32572099d2166ed945552694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c3d38f99eab1b6bf2afafafe20e702af28e246e7eea14293c71a141cc39dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e931b4db0a3575c6548f3d48014d5d5333956d4ac27ac2555c5fa33859103abb",
      "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 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0139, -0.0338, 0.9898, 0.5804, 1.3834, 0.9512, -0.3103, 0.5026, 0.3485, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1571 left_yaw=0.002 left_pitch=-0.1388 left_roll=-0.0002 left_gripper=0.9898 right_x=0.366 right_y=0.1425 right_z=0.1713 right_yaw=-0.03 right_pitch=-0.0683 right_roll=-0.0419 right_gripper=0.4307\nstate[joint_eff]: [-0.1436, -1.6342, 6.9265, 1.6093, -0.0415, -0.0659, -0.0073, -0.1299, -7.8974, 6.5436, 1.9756, 0.2564, -0.0171, 1.033]",
      "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]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.572, 1.4197, 0.6971, 0.0456, 0.4694, 0.3096, 0.9958]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1571 left_yaw=0.0016 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3619 right_y=0.1422 right_z=0.1136 right_yaw=0.0103 right_pitch=-0.0263 right_roll=-0.0193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.5385, 6.9265, 1.6337, -0.0317, -0.0513, -0.0122, -0.5949, -5.8462, 6.5983, 1.8339, 0.1636, 0.0415, -0.1148]\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]: [-0.0216, 0.8581, 0.6415, -0.5129, -0.0143, -0.0341, 0.9898, 0.2596, 1.0859, 0.7815, -0.2104, 0.2787, 0.1619, 0.9963]\nstate[eef_state]: left_x=0.2836 left_y=0.0 left_z=0.1534 left_yaw=0.0022 left_pitch=-0.1571 left_roll=0.0002 left_gripper=0.9898 right_x=0.3572 right_y=0.0483 right_z=0.2114 right_yaw=-0.0679 right_pitch=0.0734 right_roll=0.0204 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.8667, 6.9949, 1.7607, -0.0464, -0.0366, -0.0073, -0.0205, -1.265, 7.1043, 1.3016, -0.0073, -0.0317, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629d556bc10375f900a8607d912ad029d655fbaa32572099d2166ed945552694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c3d38f99eab1b6bf2afafafe20e702af28e246e7eea14293c71a141cc39dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e931b4db0a3575c6548f3d48014d5d5333956d4ac27ac2555c5fa33859103abb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQcBxY4CF2qtptuDj0QRAHWOxLC0UJyNFu47BIKJwOXK3AAlR_X3c4XEH9oPa1d1n-2UCBkCfXX4upBk8kZimDnyCnDJ3KZ1YZpypvex6_5W5B9e8DC7FNpp-fn-kpH2FughfG2A_5XqkEghHhLs3gXaSexgBHe3J2LoJThbsavsF7vrugIe6zEwXq_xMtQgqzaDvCZAcLA882VMk2MQR1JcC7eHVLn606NtfGKrZk7ftVggy7W_Sb_AYUYT8Di5oKmzh1LmU2Y8oEUkf2VMVX30Bub2ACYUUVViQRPCm1kcSKYHEelESZ_SqOOaT7DaOwusGZv-uY_-QE74nrjfvll7wzDkjS3h4GXvJThiefzF1gEOPRfYFiTy-k6ups9CZElDSBaaARcn-NEGxGeE7aoToNvnlG64gJOiXZXd6G74c9b9lbn3yFOobzeqXklSfWJ4nWRdxhmAnQ1xPl72aruBtkhPUnBP3w1sX_hkGqgkoTkNNiDA-ucLuBiqCZX2nekq1UKyFxIxd0FFERHt5aN0YWWiQbqmM6Z_WELUbJd6-DDqxY_7DCuMUisypHnBIIL6FJVgt3LizEaPgUZgvayfrhlvIhiUBqbeZWv-l6RlLSsSuwKPJJBgDM7QF4uEoM5jsQHJiv4BlUg-gJ9M6i9Lz156bf2FxvAvOM-xrW-qqPigj-j_wWNvFBGCkkUxppJ6JVHhEPLsc5KWSAmzISS-j6gwYGTAfugjY9roNOSPUFm78KkyRPIFGNumhH-nx2x2Uy_U1J4DExLDM5LWWNu3SxAefpdHf55YWkk5gU0walIfUng5UamA68tMDdVu1qmSns59X53pn5PtRzCBgVLJ6xLivs9nemgyG6h27WtZyPwwBMC2G5OzgDEVN_ve5VOKQYx3ogKUKUDU2iFlm1KdmmIMH9XwRj7l54CPoQqlGHN_owDuKWs0CDVX7cB8vktffV0_kJ9s2k82nl-rF8sEMRhpxH1hQaAeNl6PDGnCvO1kccRelrG28yPwkjwLgL-Fex_Cefkf5InRTbreuBBLBeDImWaYbT7vZ0Sqv785MCqpfOZuX4sY1dFmn4YOLL2SVM7QR6g-fALBACto71aQXXbhwVJf7ghnr3oyAdqmHdvz2a688Yglm68awCLGNhfFZWuesh2gNUN7gKY67Bkh-Lp6_4kaaWlgZIHufcZ742e7CnplwHVzXuF1otJ-PivMZOe6SlmjnDlf0YCWyDgtpfOJBtxeEYKe4nWRL3CuFyTxUFDHCOsToNVQRdEY6PVPkXaq53hPISw6eid7C8O5iVApoXYz8K_OsgELAgrzkL1GXHmuieCW3tgu45_f_TEiejQx7fPbkJ4Tj3G9iypPeQKYj78l5UvI0tNR3sc1-uXZqzBRN6lKWx1hD-R8IhlVjlMsy5tj3xgTlhqOGkOv-Y9ReMyfP7cjheyU9sSuYRIFuHr6xqzt_9BpJg6auHbbPbUGznhE4kkQ9oCC3T5WntlT366lcF2GJAijR2tsN1cBThHLH1KVrSxom724k2p22nSaMgg6q4YGZ8_6C4akpp4KbiY2mFVjmO1TKEhGOuiKLUey1v8Yjeg5L3Q5cTw1RJR5xk8Lq6sr4T1K8CVX-jQ_xFvz1JLOJrng6S-SOG14qUFc8jpmigF7nSdkJPejmtld2eNKyKgA0MG1YzD2GubqnhCaUyzILxO0iE1d5ovKmFJlVBoNn9hFm5vZ1uTn92iD33IGBt9XNrtB9I3Mp7Az2Qqv8N9-E-avAUqJ461vxSSaFj5MXP6UhR5at1Ha0qcZwmB3YNNS-A0gh4m8c7PzNc_MWK3TqjklW4yjNNiaBlv6Gzt-iTqa2Xb1kdaWqWkXx0n_mqPoujwEm34s4QA2WoWExUq-HJxY3tXPjw=",
  "id": "rs_0ad184d13907b37e016ab46418a2a487d0ad603a5b8b083de4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.103,\"right_z\":0.055,\"right_gripper\":0.45,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl is upright with both fruits visible. I’m lowering a partly open gripper across its right rim, keeping the inner finger close to the wall and away from the fruits.\"}",
  "call_id": "call_O3nfSt3w2H11p3r4SH8rXrBc",
  "id": "fc_0ad184d13907b37e016ab4641b522887d0880bc08c5052a62a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O3nfSt3w2H11p3r4SH8rXrBc",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.0219, 0.8604, 0.6415, -0.5213, -0.0135, -0.0341, 0.9898, 0.45, 1.4609, 0.4362, 0.3588, 0.379, 0.2287, 0.4529]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1512 left_yaw=0.0012 left_pitch=-0.1678 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3455 right_y=0.0983 right_z=0.0517 right_yaw=0.0044 right_pitch=-0.0451 right_roll=-0.0314 right_gripper=0.4529\nstate[joint_eff]: [-0.3214, -1.6068, 7.2137, 1.6972, -0.0269, -0.0757, -0.0122, 0.5265, -4.9162, 4.6838, 1.746, 0.0757, 0.1392, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cce904704a3f51050c83e361d09f934f6d41734ebc01833f4624460dfda01b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8723b9960d1c03b2b639254b0db697082960a3e24a50d24b943afd5beec320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f879bc77fd75483b021101921336629cb69d044b212d18ad4f1e6113dc3779",
      "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 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4992, -0.0139, -0.0338, 0.9898, 0.572, 1.4139, 0.7109, -0.0586, 0.4702, 0.3134, 0.4307]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.157 left_yaw=0.002 left_pitch=-0.1392 left_roll=-0.0002 left_gripper=0.9898 right_x=0.3518 right_y=0.1356 right_z=0.1032 right_yaw=0.0048 right_pitch=-0.0975 right_roll=-0.062 right_gripper=0.4307\nstate[joint_eff]: [-0.2393, -1.3333, 6.9675, 1.5849, -0.0366, -0.0464, -0.0122, -0.294, -5.6274, 7.5556, 2.0049, 0.2076, -0.0024, 1.0281]\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]: [-0.0216, 0.8581, 0.6415, -0.5129, -0.0143, -0.0341, 0.9898, 0.2596, 1.0859, 0.7815, -0.2104, 0.2787, 0.1619, 0.9963]\nstate[eef_state]: left_x=0.2836 left_y=0.0 left_z=0.1534 left_yaw=0.0022 left_pitch=-0.1571 left_roll=0.0002 left_gripper=0.9898 right_x=0.3572 right_y=0.0483 right_z=0.2114 right_yaw=-0.0679 right_pitch=0.0734 right_roll=0.0204 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.8667, 6.9949, 1.7607, -0.0464, -0.0366, -0.0073, -0.0205, -1.265, 7.1043, 1.3016, -0.0073, -0.0317, 0.0415]\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]: [-0.0219, 0.8604, 0.6415, -0.5213, -0.0135, -0.0341, 0.9898, 0.45, 1.4609, 0.4362, 0.3588, 0.379, 0.2287, 0.4529]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1512 left_yaw=0.0012 left_pitch=-0.1678 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3455 right_y=0.0983 right_z=0.0517 right_yaw=0.0044 right_pitch=-0.0451 right_roll=-0.0314 right_gripper=0.4529\nstate[joint_eff]: [-0.3214, -1.6068, 7.2137, 1.6972, -0.0269, -0.0757, -0.0122, 0.5265, -4.9162, 4.6838, 1.746, 0.0757, 0.1392, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cce904704a3f51050c83e361d09f934f6d41734ebc01833f4624460dfda01b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8723b9960d1c03b2b639254b0db697082960a3e24a50d24b943afd5beec320",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f879bc77fd75483b021101921336629cb69d044b212d18ad4f1e6113dc3779",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQhGNVFf8TywQi5U4cDdZXfCWXSun8UuGx0JJqsGvjjfn9RIkpFU0VmUVT1HRYKFcqIHPk_v2c5Zez1-Evbq9IlYMKVdIwYdnod4AtaQioPJIK5NGY_vV_ODoYXeiI1frfuhL-Hu0MT1MmsYzGufk6QTybEKiCnkGMNDQoRVxqeffMGPZ-XPYI94lWGVkaqNQ7vK-5E0NeVydoeGZSRkz1tjW8Cvkd9Podl1fshc4PDuvw5IZm7LKrupSvSAm3zkCeeMg329w2_9MBe7w0UMHPJOxW6L77tFuPZIVCaMs28t629DxApTo-xUcn6F6yk-iuFLbQEZNIt_IRJCwhavoDet3sDj34xV7NVo7cvDRjLDt0r0X-tScvQIHTyd7r25oADjSfEMKqjxftNPfH2kwDEYySqK7CNwYBV0EC5IPFmcA_Ui8Kp5UGsMBl39J9Md1zNTjyPq_sgh1EgfkkpEyf3VhYCgBzES9ra5nDQGZ_0rNiIm00CCCx7wEb_5G6trfklcCCe6AWcA1VBVl41ZuJLcTRrOAXq9GBgdeysIb15VcEyB6MnSMoSFEU4dG9-DWsGAWiZR9mR_8QE79FXfqQFvNIpleIJjgR3CW4XZosSaoST3jK5HIVLdGq9nuNz2SjvcC_VhS6BHyhpoDm90Pernxdpv7CBr--2bF21VHXUyXmyahZJPtSK5X8Mkn2lzoFx4S-FG-k610zElob9mlOXcfltCNliLeyJJcZWDc94O4QpBz-8G2VeR4kRscJWHMYkSWuF-pqqHNLX2Scg3rCYGGGvLJrOT50j4bPW22bn5112pCvHswckRFVkiTaNS-L0L2Rxbkqn7juddTtZPTQ8wh331R1q5R3RFL3TLwz3CO4eZK45av1Hgp1T23kScLtBaHXbQ7RQgScYzU03dOUli1oPq8-5o6war3LYF741Z6DREsfAVWIIbne_ZiPOgM_NoQt45BITkT4MtRpZxjGnhOYxaJpuDeLSC-7TZVVybZ-tYhO9hb6vXXj11V_kuFBfLUuxJSBECCmEPqo1He2b8UXfxk0xKftfO0azjZ5xLppXN_HPQc0UGAhRXaMmxIj4UDZ-UvKIbV5QeHVsICG0qRweFVQUvb25xxvEG4ZAWjDeLRb210I84WjOxEvByQou_CU6nGvINF0F-YBV3zm6ICynddCHPd6zaadPaS9BiSJlwt4UJvVLMVzgqARv8odzaswUQQZqbuEv7xP2VG0xJR_VZCVE7HQH93hh_VzSHV-Vfm1lYxhl0epZSRH1pIWuXE8lPguxxa3Bhc3CRJHklbRwQhratWP8Jf7SDU-xuJId5Dg8s48EXrWwsLUxrkni0bS79X5--tcPvgxOcqdOVoOu5QsCDng2aK4amgD1du0=",
  "id": "rs_0ad184d13907b37e016ab4642003fc87d09d5c35f85949b20f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl wall is between the fingertips in the wrist view. I’m closing on the rim to secure the bowl for transport.\"}",
  "call_id": "call_ISvzLSmc2B40lOod3jWcP8C3",
  "id": "fc_0ad184d13907b37e016ab46420d82c87d0891913e126fda60f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ISvzLSmc2B40lOod3jWcP8C3",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8604, 0.6415, -0.5205, -0.0139, -0.0341, 0.9898, 0.4488, 1.4769, 0.4271, 0.3687, 0.3737, 0.2249, 0.0147]\nstate[eef_state]: left_x=0.2825 left_y=-0.0001 left_z=0.1514 left_yaw=0.0015 left_pitch=-0.1671 left_roll=0.0002 left_gripper=0.9898 right_x=0.3431 right_y=0.0977 right_z=0.0447 right_yaw=0.0093 right_pitch=-0.0604 right_roll=-0.038 right_gripper=0.0147\nstate[joint_eff]: [-0.1026, -1.5795, 6.9128, 1.5751, -0.0269, -0.0708, -0.0073, -0.1299, -6.2974, 6.6256, 1.5263, 0.2271, 0.0122, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeda920784710e286303f31f51aa0d4a505dd10e01928437186c04b306b8e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6034eea5b5eef82a3a6005442f9236efdd986c6b0c311d8f51c16c79dd6f0601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4008568fcc13971fc52cbfd56e57f2421a561b051b4a779ce7607c8c7e2b6b0f",
      "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 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.572, 1.4197, 0.6971, 0.0456, 0.4694, 0.3096, 0.9958]\nstate[eef_state]: left_x=0.2857 left_y=-0.0001 left_z=0.1571 left_yaw=0.0016 left_pitch=-0.1388 left_roll=-0.0005 left_gripper=0.9898 right_x=0.3619 right_y=0.1422 right_z=0.1136 right_yaw=0.0103 right_pitch=-0.0263 right_roll=-0.0193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.5385, 6.9265, 1.6337, -0.0317, -0.0513, -0.0122, -0.5949, -5.8462, 6.5983, 1.8339, 0.1636, 0.0415, -0.1148]\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]: [-0.0219, 0.8604, 0.6415, -0.5213, -0.0135, -0.0341, 0.9898, 0.45, 1.4609, 0.4362, 0.3588, 0.379, 0.2287, 0.4529]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1512 left_yaw=0.0012 left_pitch=-0.1678 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3455 right_y=0.0983 right_z=0.0517 right_yaw=0.0044 right_pitch=-0.0451 right_roll=-0.0314 right_gripper=0.4529\nstate[joint_eff]: [-0.3214, -1.6068, 7.2137, 1.6972, -0.0269, -0.0757, -0.0122, 0.5265, -4.9162, 4.6838, 1.746, 0.0757, 0.1392, 0.1392]\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]: [-0.0219, 0.8604, 0.6415, -0.5205, -0.0139, -0.0341, 0.9898, 0.4488, 1.4769, 0.4271, 0.3687, 0.3737, 0.2249, 0.0147]\nstate[eef_state]: left_x=0.2825 left_y=-0.0001 left_z=0.1514 left_yaw=0.0015 left_pitch=-0.1671 left_roll=0.0002 left_gripper=0.9898 right_x=0.3431 right_y=0.0977 right_z=0.0447 right_yaw=0.0093 right_pitch=-0.0604 right_roll=-0.038 right_gripper=0.0147\nstate[joint_eff]: [-0.1026, -1.5795, 6.9128, 1.5751, -0.0269, -0.0708, -0.0073, -0.1299, -6.2974, 6.6256, 1.5263, 0.2271, 0.0122, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeda920784710e286303f31f51aa0d4a505dd10e01928437186c04b306b8e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6034eea5b5eef82a3a6005442f9236efdd986c6b0c311d8f51c16c79dd6f0601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4008568fcc13971fc52cbfd56e57f2421a561b051b4a779ce7607c8c7e2b6b0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQmWf1nYzV3othwzsEzktiHU1QkpypmOtJmL5UGJfYY4wJb6M0naLgDqFhb9n2yxrP6o1ODao37C0ogpkk6zpngAEnV_LosBqYjAzwbRhx7NFRYjXGGrOElpLiubofMCYLD-Qvd6ub8BnGVWmsPwK2of3tFB1R3vsUk7lc4QUvHBAgKE2DQhnmTt8m-O3ki6IUsZ2gzp3WTVaoVhjbhXcZUoUHT0dXeVI7S3DLGP9cORnZPTj-oDUd8OiBeJy9BK_qNm2t3FItI_rSkquva0i8bYPtOHzVus8X02ydyhH9K-thuLWNzyjsKzkiZyy1eKhZjmKpR_DRA8600mDbQz2GEcDPfagGB_22HKNXtG5t1YwfrjLVhLU-h4ZPVgaKbxb17Ws0kaYAG4OvhInbENSYJElOzI5g4HJ24M1U2f7GQmu-B6VcAaMAZ2bs4dbcFZvCvM1ahwIx12TonBIdFSsO1Xo9xJRESIb8tsY0yGoBQD5WZocSYPzPF6D5dIyqjab8Q-KC9k7QhNyctpa81yffeyCNchgTM-5XcFunqC5kkss-_uUCmHkKp_Zj1keVKLPGsrf5ytuZbIe5rywh3XhmhSvqWkk0X4XGHS7cIwGze3F1SC5H0yv-4Q4fxWw6sXo3y_ePlGQg9oi2FxVx4ROtfm9jIdcTS1rV82ODlexYEAW399ANQI31XDISe0G05AerhYXl30bWkU66vzPVSoDVgFnfXafF0tepFSSB7nFN0VCt4y_C0-t1aZL1_siD_IviuIuytJHfNwAmkhKCLTlTLfbJDqr8pZbWst_Uf6ZZF4gSRsQvC1lbBhzdnAM3743ARz73CCa4pNdrj2xpW2h9ovvAjMkz8eukFkZ2EgrhmOZfsrTj02uKl-acUOZc6H9Qd4xRkwAGI_bCIkYym2m2-QsriMSSt1AnmifTu8TvKxznDyKA4trAjTlP64nUduOCNySh-1s2flNur1QulJbfg9zXU37nzGqBj2iXyXQ6Przy3hIj7PE4TN_LPaCgnf4B1r2BE9XO_EiLBwj_S0dOn2RiN8-ctGmjMNYij1kmB2I0pp9rM1C2lC6hZT3jZwWaXq70gGzZB5E3t33I6DrncR2O5_GhoUwzvI0TwZOheckpLmai9D7PYCrOQVOGcT0F7OH3YiWpIwcRVKe3yweQxI3xsSy3UvUnrCooWtisqdQ1xYeeH7jksWyUUMsrxWjT1tirPHWdO-ZMDoDT_QKuYv3ega4jsATD-EaS-ZHPHGrVkcie2yEIc_c51O3YlV-3qcgLtnEjwpOTm_a0i8z5XOZNMnOX7TPGxIwlRE1h_Dz81wKr3XQOIaZNG2O7LRKq-LLtkoOPFVGE4j1W7EYOHH7Ei-csyaSjaWeZiK80SiaIyrZbohirot9cTvO2TB906Wo9S22KaYVcZTToB4YOF7ylvOSZhuYlf0Y-y3c2UZCENiApoM-daNiuUabvLCnX9OIgNMLKOm-Wpi4Z327G1ZRYlt05FBjSQfocaPAcfVoXqiWBFgXDnr3ekwyBatziFTSYH38XeL7X7GImiuChVZa6ZgVw79pXFcTCtbdimfnU=",
  "id": "rs_0ad184d13907b37e016ab46423833087d084ecc1ec8b185ed9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.45,\"right_y\":0.128,\"right_z\":0.08,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper closed almost completely, so the rim was not securely captured. I’m reopening and shifting inward slightly for one corrected rim grasp.\"}",
  "call_id": "call_IzNNAanDBUoDjStuaHeun6F7",
  "id": "fc_0ad184d13907b37e016ab46424f45487d08f4c0f69d435f8df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IzNNAanDBUoDjStuaHeun6F7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8612, 0.6411, -0.5209, -0.0135, -0.0341, 0.9898, 0.561, 1.4315, 0.4808, 0.2733, 0.4404, 0.2832, 0.4457]\nstate[eef_state]: left_x=0.2824 left_y=-0.0002 left_z=0.1509 left_yaw=0.0012 left_pitch=-0.1686 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3377 right_y=0.1275 right_z=0.065 right_yaw=0.0364 right_pitch=-0.0364 right_roll=-0.0257 right_gripper=0.4457\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.5897, -0.0366, -0.0562, -0.0122, 0.1709, -6.2154, 7.3915, 1.5702, 0.3394, 0.2662, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51cc50c05a27e7984e6c0097f98be5b744bc04c0482a2a83e4d362047ca8adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed1e66b8d00afaca2cf6ecd472fe4d26d81090e8f1ca259112d931b2bea9116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3daf9383c3f78d21e14f1bb2375e3d2be9f6e0e3ed8c2df2b3a17d04d2c1d540",
      "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 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0216, 0.8581, 0.6415, -0.5129, -0.0143, -0.0341, 0.9898, 0.2596, 1.0859, 0.7815, -0.2104, 0.2787, 0.1619, 0.9963]\nstate[eef_state]: left_x=0.2836 left_y=0.0 left_z=0.1534 left_yaw=0.0022 left_pitch=-0.1571 left_roll=0.0002 left_gripper=0.9898 right_x=0.3572 right_y=0.0483 right_z=0.2114 right_yaw=-0.0679 right_pitch=0.0734 right_roll=0.0204 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -1.8667, 6.9949, 1.7607, -0.0464, -0.0366, -0.0073, -0.0205, -1.265, 7.1043, 1.3016, -0.0073, -0.0317, 0.0415]\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]: [-0.0219, 0.8604, 0.6415, -0.5205, -0.0139, -0.0341, 0.9898, 0.4488, 1.4769, 0.4271, 0.3687, 0.3737, 0.2249, 0.0147]\nstate[eef_state]: left_x=0.2825 left_y=-0.0001 left_z=0.1514 left_yaw=0.0015 left_pitch=-0.1671 left_roll=0.0002 left_gripper=0.9898 right_x=0.3431 right_y=0.0977 right_z=0.0447 right_yaw=0.0093 right_pitch=-0.0604 right_roll=-0.038 right_gripper=0.0147\nstate[joint_eff]: [-0.1026, -1.5795, 6.9128, 1.5751, -0.0269, -0.0708, -0.0073, -0.1299, -6.2974, 6.6256, 1.5263, 0.2271, 0.0122, 0.5201]",
      "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]: [-0.0219, 0.8612, 0.6411, -0.5209, -0.0135, -0.0341, 0.9898, 0.561, 1.4315, 0.4808, 0.2733, 0.4404, 0.2832, 0.4457]\nstate[eef_state]: left_x=0.2824 left_y=-0.0002 left_z=0.1509 left_yaw=0.0012 left_pitch=-0.1686 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3377 right_y=0.1275 right_z=0.065 right_yaw=0.0364 right_pitch=-0.0364 right_roll=-0.0257 right_gripper=0.4457\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.5897, -0.0366, -0.0562, -0.0122, 0.1709, -6.2154, 7.3915, 1.5702, 0.3394, 0.2662, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51cc50c05a27e7984e6c0097f98be5b744bc04c0482a2a83e4d362047ca8adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed1e66b8d00afaca2cf6ecd472fe4d26d81090e8f1ca259112d931b2bea9116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3daf9383c3f78d21e14f1bb2375e3d2be9f6e0e3ed8c2df2b3a17d04d2c1d540",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQps9emj9gYxHByPVA8yUEit-jB4VR23KSG2k5HyK2-SvHF2z4bAwoTbeUPlnT67LVhvorHZJhjQFVnFHai96wY1Ah5eiyO6HCuQuQphLKD-d7bx7u1xC100zPQdCp6WksS_KH96_gi7nKoHU7oIiCSKOMNMFu0Mfy6sC6joFsvqJaseq3iZMCkC9Ev0ZTZWvZbYLqP5GQCjoROqISNeJgyNEw7C-aJs-4R0MAs6XlOHXptXuYuNKRdgYFJ4jpWJ85eIS41wNv4gr2whaEmDnt-ScDEfSGhwNbg7m09ITejDc5O9nNya6A2HnMdLduZhra0dfbVY4ZMXMzFF2dsuk0PtW_0u0fboOTw6yUk447eT178BlPor6erMUMCqk8P7twJNKOmhrwhWI3vuRVNnklvNNDpAGcjBDgM7Cx9owumhrqzf6iaWucCQAMn_RNgWZX6ioVNJenI_tgkNEhxOQCqkfTIcn27hl4SozcEIyRH9WQMXSu9KUQ_YapMmk36mTQPor0Q9-35G2htrgBbMW5VU6305_23mXGmhdGEalvGOmBJQ1Sklz331adHQUi4USPHAcDEEAZ1Xkm9amh1_-DSE-bodl_vV7XiP4KmAiWM1YAHAOVCgLbpD5Pr_3cHNg_7UYt75gtfOjdbDlBuXoU2KoaLWW9WJJhZ4-xU26P7HwIjbm6KjeBVQaORKH3_5Kkr30TBxZCXBfbPKrLJ7sA4OuJbz7_y5K8xiQjEIYKE8Uu55BncvBkSRuK5GdPsTh6v6sM05zxLqXisr9fy0uL2lp-cCaqzWRgwlhNVvGYZswcnHLdpoZwR2IeGLDQTXXpRJ9vNyi-nk2h48M6IU3Tv_ub_PKTfNtswwc4IShkGj62CX-tUoaPLij1qUJEFfEppnJwHSt3cjAbzmGiXrumzfCGPM3IDoTYtbm5F4-4tIW5fCGQjdqN-YWV0H7JBYabZ4g1qFH0Y43j0WQKR6xvSUepdq6Yw8rBbhsyUu4YFB0PLAl-4SDht4JKKd0HT-lmnJm7cxiplcpVB0TxMGaBaeVtpNdbe9BXqP5B2QUAUXr5fUJ2U21X9i3xwz7lAMSLOkiAwvFHw5V5I1Qftd05SS9Vr1WVewMWDS_JZW6eUIsV49wHLDTzuqUGrPM73ssZo2lnp7nLL-I1ThuDLgLT71D0ZH_ZoPkgiFbDisnzx4hdGo9yW_TL4xo8xxhAAtdnIOEqddqku9_iPuSOlTjTmR4QbF9eP9XVCUe8cQJRk84f8zajM_7B_Nf2cA2ZdTP8LxqEIff_YDooj3b1T0PxwRGrq_phQx3I0896H0oiWsC9kOqyLjrZB62C2dZBwz-rqNV6JDIR3UnZr0rfMEwXvgQ==",
  "id": "rs_0ad184d13907b37e016ab46427e0fc87d0a90740306c916106",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.037,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The open fingers now straddle the blue wall. I’m lowering just below the rim so the next close pinches the wall securely.\"}",
  "call_id": "call_EEJ5EbMjpT277eyz8UgopFK4",
  "id": "fc_0ad184d13907b37e016ab464284fa887d0ae4c4c808e0668a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EEJ5EbMjpT277eyz8UgopFK4",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.0219, 0.8635, 0.6415, -0.5217, -0.0139, -0.0338, 0.9898, 0.5755, 1.507, 0.4515, 0.4088, 0.4789, 0.3077, 0.4461]\nstate[eef_state]: left_x=0.2824 left_y=-0.0001 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1713 left_roll=0.0006 left_gripper=0.9898 right_x=0.3421 right_y=0.1291 right_z=0.0553 right_yaw=0.0074 right_pitch=0.0022 right_roll=-0.0097 right_gripper=0.4461\nstate[joint_eff]: [-0.0889, -1.7299, 6.8718, 1.5702, -0.0415, -0.0659, -0.0073, 0.4171, -4.6154, 3.412, 0.5104, -0.4811, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8fa1857be8f224bfd59bf4a348f4303ddea073bea836d6b6ecf9dfc8ac7cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733ec93d96ffc7e5b78ef97a39cf916f37ea1c7e5894477383e05cc0388cac8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc416796eebf6069dada3857a4f1a345174edb36448401b302a4937f2c1d6ae9",
      "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 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8604, 0.6415, -0.5213, -0.0135, -0.0341, 0.9898, 0.45, 1.4609, 0.4362, 0.3588, 0.379, 0.2287, 0.4529]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1512 left_yaw=0.0012 left_pitch=-0.1678 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3455 right_y=0.0983 right_z=0.0517 right_yaw=0.0044 right_pitch=-0.0451 right_roll=-0.0314 right_gripper=0.4529\nstate[joint_eff]: [-0.3214, -1.6068, 7.2137, 1.6972, -0.0269, -0.0757, -0.0122, 0.5265, -4.9162, 4.6838, 1.746, 0.0757, 0.1392, 0.1392]\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]: [-0.0219, 0.8612, 0.6411, -0.5209, -0.0135, -0.0341, 0.9898, 0.561, 1.4315, 0.4808, 0.2733, 0.4404, 0.2832, 0.4457]\nstate[eef_state]: left_x=0.2824 left_y=-0.0002 left_z=0.1509 left_yaw=0.0012 left_pitch=-0.1686 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3377 right_y=0.1275 right_z=0.065 right_yaw=0.0364 right_pitch=-0.0364 right_roll=-0.0257 right_gripper=0.4457\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.5897, -0.0366, -0.0562, -0.0122, 0.1709, -6.2154, 7.3915, 1.5702, 0.3394, 0.2662, -0.1392]\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]: [-0.0219, 0.8635, 0.6415, -0.5217, -0.0139, -0.0338, 0.9898, 0.5755, 1.507, 0.4515, 0.4088, 0.4789, 0.3077, 0.4461]\nstate[eef_state]: left_x=0.2824 left_y=-0.0001 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1713 left_roll=0.0006 left_gripper=0.9898 right_x=0.3421 right_y=0.1291 right_z=0.0553 right_yaw=0.0074 right_pitch=0.0022 right_roll=-0.0097 right_gripper=0.4461\nstate[joint_eff]: [-0.0889, -1.7299, 6.8718, 1.5702, -0.0415, -0.0659, -0.0073, 0.4171, -4.6154, 3.412, 0.5104, -0.4811, 0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8fa1857be8f224bfd59bf4a348f4303ddea073bea836d6b6ecf9dfc8ac7cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733ec93d96ffc7e5b78ef97a39cf916f37ea1c7e5894477383e05cc0388cac8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc416796eebf6069dada3857a4f1a345174edb36448401b302a4937f2c1d6ae9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQsfD7Fv51VaU1cddlrfAkEYWtcXjzgkWvfjUhhip87Pzp2N61jPQ5jzBy8mg-CXVb-FeapKQ177lJGPLuDOQaCiPegZom8q7N4Y3KfMnsvK3iaP1gc2UAaTBuZebiQgQ7-cSGV8sHK-50DJPfknBOPB2BK4MDXAtSesygy62CrenWAGmTdsxgSkrE8lKXUZEvLcq9S00RooKa89g5IwIzuieJsx5NPXTwPMQG-NGnvTvuRuvP9x4VRGgGMc_XwFkk570k7w6v5UM3uTuC10-iTMHPI7UhimMXAD_KFRC1XiYgsaHf5urskWvgF6PWpbU4WzfiDFvdADuOIwDmS7RjyrQT56gkEslUYaICrLOxzU05kgJafUv9Rd5-U-GA2F8kp3L9GQNG8HRbu43v3_1zscaUXA7yuGP83YT98RSsWn0m0S9kiOuZj3isC5aI8cNHlOodm9faUM1hrolfoThNm1MDkxZs5J7Xi7OQFT4vDY7saS6WFR-8OON0dH5QV7y57bnh5bcJtKCL-2ac3oOpEFMxCGFCHSA_qwYr5sq7MN_a-Wc2zdAKwlbal961q8gDTx0VvPDz_d5wUAeyYjuDvb7BqJghOvuLT2hwSDX6MBrIPqoYbsbDum85a0v82abp0fn_swDLxOvmb7yQnvzyk_D78h5VJkxlQ640pxPe670tKrvGnBkztWAyqwgqUz7a5FKRyZhgkJORIDNimF7YJSZWpni4Wzl3jCv9Sr4FeBM_bIVtUthGT5Awz0PvuihALLhqa7T0gYnGHrBtei-whdGZe2PcSqt5cM5JGAx9zTF7p7_hqzt9ZIWtva86alu_bO1Im0ue89WKpgkP5BcefB-e0BWLnak4oaFWVcQY1rNtC9zZmTTlqhGOffSn6lLBH4p3HqloM5MuQ5jnW4tkFmL8213AqLB4zq9x_1Ktb8fEExtWZMwpc7II3l_HB17j4KU34q4f6q6GpnN8f63PbOMeHZaSa_9PATIAy2nSMSER58cdb3Qzi3GPSL4ElyIlewFaqYdkNlpxsRDFjNqy4oEoFqb0GVMfs5Fywtnb0CSthKpDBmVIeEtqr5Xylzy9qw9smyWh1rZPDHw3P6MCT67_pD-LItdG85_mJEECdt2t864pPLCzveCCzaBX8xZ8YFJarzOQxOnWmKzZCe90IPajsFxlHsXLT2B7jkKSI9JubU98Ua-nlGNPUZwm5Gklw",
  "id": "rs_0ad184d13907b37e016ab4642b059c87d0883c3a14cfaad9df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has met the bowl, and the wall remains between the jaws. I’m closing carefully on this corrected position.\"}",
  "call_id": "call_IBddZoZWWRhlWdJkdari9ADZ",
  "id": "fc_0ad184d13907b37e016ab4642b446c87d0ada757208dad079f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IBddZoZWWRhlWdJkdari9ADZ",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8658, 0.6415, -0.5289, -0.0135, -0.0341, 0.9899, 0.58, 1.5723, 0.4046, 0.5327, 0.4744, 0.3229, 0.0389]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1485 left_yaw=0.0012 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9899 right_x=0.339 right_y=0.1299 right_z=0.0396 right_yaw=0.0074 right_pitch=0.0107 right_roll=0.0119 right_gripper=0.0389\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.707, -0.0562, -0.0659, -0.0073, 0.0752, -5.1214, 5.3538, 1.2869, 0.2369, -0.022, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48cfbbcf2a59b64e90bad3359196dc3707b4cb373944b4a8c409251aa7d68db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c590c031a45860df97a9512c97b9893f3cc2470292fdeb65c0c459da9f30bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d4f8b1e241e3003edd2d562db12e70e07a6d3941b0b819c4d7ed77137020d2",
      "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 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8604, 0.6415, -0.5205, -0.0139, -0.0341, 0.9898, 0.4488, 1.4769, 0.4271, 0.3687, 0.3737, 0.2249, 0.0147]\nstate[eef_state]: left_x=0.2825 left_y=-0.0001 left_z=0.1514 left_yaw=0.0015 left_pitch=-0.1671 left_roll=0.0002 left_gripper=0.9898 right_x=0.3431 right_y=0.0977 right_z=0.0447 right_yaw=0.0093 right_pitch=-0.0604 right_roll=-0.038 right_gripper=0.0147\nstate[joint_eff]: [-0.1026, -1.5795, 6.9128, 1.5751, -0.0269, -0.0708, -0.0073, -0.1299, -6.2974, 6.6256, 1.5263, 0.2271, 0.0122, 0.5201]",
      "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]: [-0.0219, 0.8635, 0.6415, -0.5217, -0.0139, -0.0338, 0.9898, 0.5755, 1.507, 0.4515, 0.4088, 0.4789, 0.3077, 0.4461]\nstate[eef_state]: left_x=0.2824 left_y=-0.0001 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1713 left_roll=0.0006 left_gripper=0.9898 right_x=0.3421 right_y=0.1291 right_z=0.0553 right_yaw=0.0074 right_pitch=0.0022 right_roll=-0.0097 right_gripper=0.4461\nstate[joint_eff]: [-0.0889, -1.7299, 6.8718, 1.5702, -0.0415, -0.0659, -0.0073, 0.4171, -4.6154, 3.412, 0.5104, -0.4811, 0.0415, 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]: [-0.0219, 0.8658, 0.6415, -0.5289, -0.0135, -0.0341, 0.9899, 0.58, 1.5723, 0.4046, 0.5327, 0.4744, 0.3229, 0.0389]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1485 left_yaw=0.0012 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9899 right_x=0.339 right_y=0.1299 right_z=0.0396 right_yaw=0.0074 right_pitch=0.0107 right_roll=0.0119 right_gripper=0.0389\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.707, -0.0562, -0.0659, -0.0073, 0.0752, -5.1214, 5.3538, 1.2869, 0.2369, -0.022, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48cfbbcf2a59b64e90bad3359196dc3707b4cb373944b4a8c409251aa7d68db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c590c031a45860df97a9512c97b9893f3cc2470292fdeb65c0c459da9f30bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d4f8b1e241e3003edd2d562db12e70e07a6d3941b0b819c4d7ed77137020d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQvAAt6--uZf5am5c48emCbB3muABZhZYi0L-wxJ3yUYpDAoQvvlUEu1qYrhi5V4_2__MuOFfwRdgRh_SFfo5OhRZSO63hOKca9XMG-VVRP_3Pv5QWjxIVVnLFEkNGoRE0auktGebf95Mq7gghnGEKQ3xH_f2YVSUyIeizTtA9MDYIRfdTf18kzcmWltc5BODL4xHCRVVDz85W9a4OpMj4akHQ24Q07kfZndhCrJA0uzcvlgyn9TzPjD_D3_jGd77jNdED8JFpRzOpyfUNkBJEMulbFn_qpE_bwUTZBZZjubd1WfpQvguDMAOCWqEuMWI8pA_-hFhW9cCvwXmXMHzOUWRVXNn2Hh-FM3XBq-j9w-opLGVWVZeshWCsvs8EZ6V4ui6oDFSvW_ASiNBMIKfnjVQrd-zOVRsfjtfwHbhwP4nvQbcUCLQ9aOnKLRAcyJFwgBAerb17xJ3y3exSzY9WuUBZ0e2QgjLu8mhPo987UukeG8s21nrfn4xFfc14zoel1O7OwbD3kOg9pqmt9IV80IoIvTIHz1zKh4BBF0Qqn6Jhk7T9NZUD4Zz3yDNYUUZk65tmhx8m9-SCdmLV_q_JI4I057CsZ6N0sB8D0M0WuJkdrlViU-vnjdaWlldwWYL5ILlGnbPjOSfjrglEb6AGaXK2dxj_O41VhafracZ4tZLKk5PfzwD_NKruYo22MoN8GOtQtlIhnb-LMF3LhfHF0V-2cj3sD7BoVUL9xtGKqBp9XYZOdS0bk_Dye6qu0NjYLpTvd8SgyDwciFU55_kCgaSs5OvLrNP8dYNfLa-tL5Mzl3i2-gMV9HfuTXHjML__VMu5isVZBaTZ_RYz4OdRZcu2zKYf4Y9uHf2ArYlR-G4FEIosQDfWThCwn0pXnWRjR00llXac6LYD6Ra7wfxPdAicmukpdUBGIlYFXJBcwiL4iI9BJesfgRYwYRNZiTjqBZNEwYT5DbY7CwrV2knJqnND4Jcm5iUbHVDS1fZt4qFk0nlVO7wXT3jPhyvAm1sqdtKGyYRtdAr7CEmRUIYVtFqkelDDuJN_zf4LSnieq2tWS7MJYC6RvU22UbJPSV1uU33wZa504lsQECitPuyD-erVJYvUBbxf0lTDzFT0Bcv-4fc6jG7w3adqyO7m57irtxbEZl_qg2OeiGYwm2dqzUqwCd5ZP3worvAH5Q2koMBxQwfrXqzzkcswyTb3AUiY3lSS1_QmyJDe7ijzPVJiVgAJfgGxzPcwQCfEVkgjqFks=",
  "id": "rs_0ad184d13907b37e016ab4642de78087d09f5a13e71bda92cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws have a thin-wall-sized gap, which could be the bowl rim. I’m making a short test lift to verify that the bowl and both fruits move together.\"}",
  "call_id": "call_8BqQXZsyy8tcQ76A7JuV3cCk",
  "id": "fc_0ad184d13907b37e016ab4642e365c87d092ecf4f85ee70a10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8BqQXZsyy8tcQ76A7JuV3cCk",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8658, 0.6415, -0.5354, -0.0139, -0.0338, 0.9898, 0.5797, 1.5715, 0.4057, 0.5381, 0.4744, 0.3233, 0.0402]\nstate[eef_state]: left_x=0.2801 left_y=-0.0001 left_z=0.1473 left_yaw=0.0014 left_pitch=-0.1873 left_roll=0.0009 left_gripper=0.9898 right_x=0.34 right_y=0.1304 right_z=0.0412 right_yaw=0.0067 right_pitch=0.0168 right_roll=0.0161 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6205, 6.8991, 1.6679, -0.0366, -0.0708, -0.0171, -0.212, -5.3812, 4.9983, 1.3846, 0.1978, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8bc669ae553d69f2c54416d7ea1d79f60ed6bdccc6d4227da04f1430071c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ec40e9c68e9d14be77e567cebab811b4e35d04b21e1f6fbe238d455cb5fbdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6ff2678b7d43409f7d5f5e658b817abf859dc3fcaca7992525ee40aedb5238",
      "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 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8612, 0.6411, -0.5209, -0.0135, -0.0341, 0.9898, 0.561, 1.4315, 0.4808, 0.2733, 0.4404, 0.2832, 0.4457]\nstate[eef_state]: left_x=0.2824 left_y=-0.0002 left_z=0.1509 left_yaw=0.0012 left_pitch=-0.1686 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3377 right_y=0.1275 right_z=0.065 right_yaw=0.0364 right_pitch=-0.0364 right_roll=-0.0257 right_gripper=0.4457\nstate[joint_eff]: [-0.1299, -1.4564, 7.0632, 1.5897, -0.0366, -0.0562, -0.0122, 0.1709, -6.2154, 7.3915, 1.5702, 0.3394, 0.2662, -0.1392]\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]: [-0.0219, 0.8658, 0.6415, -0.5289, -0.0135, -0.0341, 0.9899, 0.58, 1.5723, 0.4046, 0.5327, 0.4744, 0.3229, 0.0389]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1485 left_yaw=0.0012 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9899 right_x=0.339 right_y=0.1299 right_z=0.0396 right_yaw=0.0074 right_pitch=0.0107 right_roll=0.0119 right_gripper=0.0389\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.707, -0.0562, -0.0659, -0.0073, 0.0752, -5.1214, 5.3538, 1.2869, 0.2369, -0.022, 0.9841]",
      "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]: [-0.0219, 0.8658, 0.6415, -0.5354, -0.0139, -0.0338, 0.9898, 0.5797, 1.5715, 0.4057, 0.5381, 0.4744, 0.3233, 0.0402]\nstate[eef_state]: left_x=0.2801 left_y=-0.0001 left_z=0.1473 left_yaw=0.0014 left_pitch=-0.1873 left_roll=0.0009 left_gripper=0.9898 right_x=0.34 right_y=0.1304 right_z=0.0412 right_yaw=0.0067 right_pitch=0.0168 right_roll=0.0161 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6205, 6.8991, 1.6679, -0.0366, -0.0708, -0.0171, -0.212, -5.3812, 4.9983, 1.3846, 0.1978, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8bc669ae553d69f2c54416d7ea1d79f60ed6bdccc6d4227da04f1430071c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ec40e9c68e9d14be77e567cebab811b4e35d04b21e1f6fbe238d455cb5fbdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6ff2678b7d43409f7d5f5e658b817abf859dc3fcaca7992525ee40aedb5238",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ0iBaNE7k42AmTMD2aColKcJCW1CoCtm6ZoMQGl1ZGTSlnA3DctsE-6LU1a1TnjDE8uQWZ5dSMtUluugfZtMG6vWmR8F5xmXqYzsF30FxlFqDlrfWpk7g8IGeiuqVu-rD4yf9Rm5lVFj6nFRbwQDwZ7fjjJFxzASVH6zZpORZ-ix8X0maH70pO9Kn7-mm2kIQNzuYNhK_g7V0KOOEglwnnPIc9hbTv6e0ETAbU-jSLuv9axEEDwKvd2ytyEDm9X-cWX0PDO848-Unh-kbDpSanKait79434fRsFKLmtJu9SvAdm7QGnPHCfwhK0lKDa5KarFBZufeiDah1oPRZP_htfwjfphWbPM5CA7PHuFVTkL-5SZ1K1jhc47_fhLSesIFmYPBwub4jF6hWK7EQFZ5egEvkESnYHa6LqONGmtzGGCF8FvT68JjowUnIJBx-0y25AKfFMUO43N39AB0srDEua39p_19SihAP-rb9XzbDezTWoi7EBnp1fuVWhXldiVeEOrxL973VDNu5EoiOABPsNax0XVOMtUFXImXU-6vvvlNidmwH3LD5dT1V09KG5qbwJYcVdQIGeJvBq_fMfgO3CWuI6FkKJdx-ukmoSpOICdulnzf5GswadyJRZSS0c7IBx9cde5qfD2GXGTceyBY9HIad2SYJVtiH-wa53jTFUbPS5C4IxQiSI__tTD-om4Z88cz2BABUqxe1Y-aR1MGHdRzETfRfXyCJjcX734H8IZkxMRdtH9Rh-6N8W6Emipp5hkLR9N7NFjNBJhtQW9gc4PkxkaEN1ar7BqKa9mhshWHYpAbQW4RvIjQpoVRq2Vm3w5xE_yc-lqcXUF0mr3gHESIqrxKwTf6q59KqJrcsq9aY-ooIyZVBTFIn-TaVH1YKlS7fWhEKoGwMYhKFXbQXMm-gP8CEgYaKbcromLdHKoVmLaASz3uVIL5SstmBHuUCyKf9iwSwhktRm3GORTHPfbsXdDmDEeb420nVwg2wDsRIIpAbEsByGDtTZsqMUJUZOIcIObg_GK9ist0YuJBc-FPOOG77ZgfAKT0zJZGRppLm0Lj_5OdnOS6dtgBuL_ZKidp7Lr6xkrnSyN3uUZBW4IqlSybwi0tf9r-L0DTkWrnp6M_AG8tKCzUuRIan8M2hL5uNtFMO2er7AHyAkPoggeDHOHp1scTRd7QZvi4NKczfSJejkFLcLTdC2HfmBpIg1eBOa6G2FwR9aGFPlhYy1JtyAplRp7c1LIlrj2JmA7gXnISk5osjv8AuAiJloama_Fav6oL_RP84uRK7zT34y5DLUx63x6KNd3AP3wGxu1UeCiamYPrNm60k8ONRAxVPd00K6creH9y9lh4Jo4FgJIMIpOrDASLkaObELsDPqHjffEfZ3zsvfwtJrfHMTC9rBSL-BBNKa-YbB4z46KE5ibh19QCKtGTgN4KEN3t-VnEFPJt-37PGWUMbl6Las33iMO7ET2xoNNdTdJVUeZyM9zETe45ecFoGOgypYXaavenUUH4bmWFvyCqRcmNQENJDzG7j0y4qHQA4DiFvd2CU9PeUj8TRmUceOW1ZmLwCvHY1z__95xZIuVwYDFAS_UNDMdrPAzxVbVi9CWoFS5LIBxsCCxQKqtCQtWMErLX-xjMxVZNCC-4B_9X8I4_Bh6zvp5480VFMbV1OKRUNlAHML_TB8dUXfdw18kwyKYduBcp80yp-w61d_kmgEExp7knOdElP71UScQbxWOeR0UYEK_AKkhGtUqZS_v-QjgbxQnc=",
  "id": "rs_0ad184d13907b37e016ab464313ba487d095d9366ee5484442",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.23,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The short lift did not track, although the rim remains in the jaws. I’m changing to a slightly retracted, higher lift to free the arm from this low pose.\"}",
  "call_id": "call_VbivGhbloWTKKfYYua8dmWon",
  "id": "fc_0ad184d13907b37e016ab46433568c87d0931b690148a0626a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VbivGhbloWTKKfYYua8dmWon",
  "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]: [-0.0219, 0.8696, 0.6411, -0.5392, -0.0139, -0.0338, 0.9898, 0.6331, 1.1625, 0.9104, -0.4629, 0.5026, 0.3336, 0.0438]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1455 left_yaw=0.0014 left_pitch=-0.1953 left_roll=0.0011 left_gripper=0.9898 right_x=0.3202 right_y=0.1338 right_z=0.204 right_yaw=0.0315 right_pitch=-0.0461 right_roll=-0.0383 right_gripper=0.0438\nstate[joint_eff]: [-0.2393, -1.853, 6.9265, 1.5556, -0.0415, -0.0708, -0.0122, 0.2393, -6.0103, 9.1556, 1.8388, 0.3736, 0.2369, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2d305dc104451e2f402997af7852d7820a88ce668d43289accef1c20ac25b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cda9a9ebc4bec854a3a5d9b1f0c5e2b5309471bf46edb8a120a90bf7c8a8866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8243c7e8e5d068ae13fb3444da494a19d92eec8218433fb26ed5c65726746e",
      "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 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8635, 0.6415, -0.5217, -0.0139, -0.0338, 0.9898, 0.5755, 1.507, 0.4515, 0.4088, 0.4789, 0.3077, 0.4461]\nstate[eef_state]: left_x=0.2824 left_y=-0.0001 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1713 left_roll=0.0006 left_gripper=0.9898 right_x=0.3421 right_y=0.1291 right_z=0.0553 right_yaw=0.0074 right_pitch=0.0022 right_roll=-0.0097 right_gripper=0.4461\nstate[joint_eff]: [-0.0889, -1.7299, 6.8718, 1.5702, -0.0415, -0.0659, -0.0073, 0.4171, -4.6154, 3.412, 0.5104, -0.4811, 0.0415, 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]: [-0.0219, 0.8658, 0.6415, -0.5354, -0.0139, -0.0338, 0.9898, 0.5797, 1.5715, 0.4057, 0.5381, 0.4744, 0.3233, 0.0402]\nstate[eef_state]: left_x=0.2801 left_y=-0.0001 left_z=0.1473 left_yaw=0.0014 left_pitch=-0.1873 left_roll=0.0009 left_gripper=0.9898 right_x=0.34 right_y=0.1304 right_z=0.0412 right_yaw=0.0067 right_pitch=0.0168 right_roll=0.0161 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6205, 6.8991, 1.6679, -0.0366, -0.0708, -0.0171, -0.212, -5.3812, 4.9983, 1.3846, 0.1978, -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]: [-0.0219, 0.8696, 0.6411, -0.5392, -0.0139, -0.0338, 0.9898, 0.6331, 1.1625, 0.9104, -0.4629, 0.5026, 0.3336, 0.0438]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1455 left_yaw=0.0014 left_pitch=-0.1953 left_roll=0.0011 left_gripper=0.9898 right_x=0.3202 right_y=0.1338 right_z=0.204 right_yaw=0.0315 right_pitch=-0.0461 right_roll=-0.0383 right_gripper=0.0438\nstate[joint_eff]: [-0.2393, -1.853, 6.9265, 1.5556, -0.0415, -0.0708, -0.0122, 0.2393, -6.0103, 9.1556, 1.8388, 0.3736, 0.2369, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2d305dc104451e2f402997af7852d7820a88ce668d43289accef1c20ac25b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cda9a9ebc4bec854a3a5d9b1f0c5e2b5309471bf46edb8a120a90bf7c8a8866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8243c7e8e5d068ae13fb3444da494a19d92eec8218433fb26ed5c65726746e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ-RUztkduBd_XzbAoMA6kXRfqOaN8wVbdNBDOvpq6OtSXLlqc6EY7apDAn3bHjxreM3vQbFS79bWxSLBeWjRCcMBoNFbchjR8jrsP-AwYDixIEH8xNMwY_Q-bPEeBfRvQwcLOsfO5CwtjTp-TNIQIT3pCHuE_V-YMw0c-6JGZYFxKcbn1ja49e9jPoU9NF1VfdxYColU42U5fvq7QUKCE2oHXs09_ioVuSXKlVsdDGT2AGDJFhss_ICqO7ZP8tvsC0OJkgqynIa2_j2jxwoZ5YWdQ_ctR3Cj0IuflV9vljRDDYG3mdRB4ecU-MPDxGaVLjQ4QVyFD_DfroNc6MQc9FbITnm9ywsbvHR5Hrd_gyAp6aAUFNRwZ17rh15brILdvn518Ud5F0MWKN0L6aL619Dt6CivZXmH-QIiXD43qa0BqhYg3E9_DW9JYKG9X2EvmG7Ly3kvSc4UrzjIu-b3q7ldfWPHgQD-z52fN5IxIj_NEpdgiksa_qrOrLn6eYiQTXX5PBgCk5bVa-rlLcWFs4kXWrhnJsimM-s5d-QVAT-NR1oHe3R99XaoJSDnReLNjQ6GtFERYkxDzOxz_JOTbzVzr6bEL7X6qc7rrwU-uR72vPXkKpgstvlxuiUqZ43OAeTapJhjHzl07LkW3klOqsWXwtsh7xM0Jl3BrDUoV36Zf9ne2yPuII6jmjAJZX9gn3Y9TMs826GKp1SEcW2umad6lTIzY_odNDouylzW45nEWNrIEdwkI_JNiapbbroZbcDTtsKk64qq1zrRFMqqBd8Q71PVJjP5HYHtZO76PoTUNiIWyYWeTBQfnPkQ2qi2vp9kWbGKN-tejx_mVm9_GVrKk4NGb2qRrDSmX7J4JLQlcyzSc3YJfFLnLlbGGQ3dguHjO-7GZ7ZGPzkfJdLQz3XPNJVnu0A43pSBBWhIu-HVov6outhsEvtJ9eyikBEFTF5xa0b3wByIBMfHqV0HSJ2xXojG0lnNprbcnv_pwdnOT5l0psT-tUZjINWDDtHbSDQu0HOF1-bRTgqbv5GvOB4FZZ6DxuUusxwGkdWdVoijFO_loz2sNueZSuGjhnT7rqdFdkfYB5RueZF6WNSs7qEZ7Tg9nYfshGI0K6eqzhWWEIlwWsww3mrmRlVmSv3nasvMIynlRSnAxGq1SDLBuVRsd3PACuNP8dH8-EO_pBBtNStXZHnBsdYh9Z852c0kb8AO-59b9aYbGlmBsx1EmIhTwU4bnb8jRdUngmoL6eSPgT6KOq_bbf7jcKWmwL-DddivsRMq4cFWncSyc1xJ2WxDxg-8RSQKDn1fGDdWuh6Wo5bvXnd1xQzCOZSdMi0mrkXJKilkUrLnYzLSOPNg1IHmWvBUz-YPTNpr21potIriMm-tBNgvjJuSSvxzr8_7ZPG7T7g53uLmYfgvNA48m2T8F7uKyU_6QNCVIycTyBrkJiGf2cYadZSjNhAEt3RwCd1roE7gmbXvIShVb5AQlgJXg4IYcZ-78j4JpOV8REHMLLzCOn8DrUajEOA6O9XTA2kisuQpMnwpm5mbROfXfHmtaJK-c6BFg5BRcAdhLIxkYvOLwoQROgN-4P5SEhEyntP2yCcqAUG_0JxjlxZ4gjzsXDSd_use-Muq4We_qhSHLz43EdJ4si0emBn1MoO5pMT45Y6bUCcO2Hn3mYWbPpI072iulJ_aeGRY7suXMD_L5-FE26b4t9DK9d7q9SEAHxkeSUKH3A2LTMHPJOm4_hWYdc7AH-KM8cMLSzcSKRA_IsLqD6Viv1u8h0-oXVjTa06q9sk_va0eFawShIAroic7LUcwKR6W4XstbKEHCfaSvZAZ9--0uy4k4LZQW2y5x80CVm59kXREl7Udz620GM5AHdnwwoYANEeevsEuaWS50WN3wNGceK9FDN3wZiKQ-WTOSdXJAPh1NH8QcPNhJDUu3uR4xRsd_ZrjLV2yOzrpTkRqTDOPkhoV613CQdB0RSX5DpgOBqxI6MFq2UHmQeeWOnb4mVwio2qfPQz5FK1tW4z9hKt1OqRWk88hxcHDuL3kbkQ72wTKGANp7ONXCYV3eDBstgRevokLZUdudsdnttM4aHBUJ69cG1dACvaR0SE6z6xfUildQmp0iZLWSHgZ6bWQLt9TljqcZYjmIvDNsYLm392vSTqH6d9m_mYNoEYHuIMUPJ3-F3A1NT98R7Gi9TWprXMCz66IPgm2tEpH_QwwbtiuzGra8hOgPA1171ASAI8B750ktEEBF2dYdxE-YKYVViO3fzkUSgXdwOYZauVIwm0YPTbqpRdCCF_sQegjIUAcYgPLtRTo6SyjsVgFYcB0NdVy1jI1QD_XnNm6BeL8p2dCZ50-BAK-fNcTbnD56X9I0XaAvLpdQRFfBLKTDGFEaOeIVneev6zk_EIVwbi9jyt1fY_iiF64wvRbr2qdEdUG3qzTT5TE9OI2j_AaFZ3hQbZ2pJ85WIUH_bReiK_WZh-aUJXBUUzNhHY5anOWG3eob3ybKMiH9nNm6WaF1c85K43geOf2ZeKMaSwEhaX42dpoAaIvpkvQiz6dUf6SkVxATIy0sg4WjvDZuoB_a0d6WUazaCZTai0NhrMhLK7w6MUNhnqmug7KvdFs3gK7KZWbIAIUN-PAAU4AEP7kCAP6YjNpdTClCpSAHlx1s=",
  "id": "rs_0ad184d13907b37e016ab464372b3487d0af2409354e24a3e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.35,\"right_z\":0.30,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The blue bowl and both fruits are now lifted together. I’m carrying the bowl toward the right edge of the large white bowl, high enough to clear its rim.\"}",
  "call_id": "call_rNWpNE1xkNjcDnaLTZmxTKKy",
  "id": "fc_0ad184d13907b37e016ab4643c6f8887d0a380d6aed7bc4c95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rNWpNE1xkNjcDnaLTZmxTKKy",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.0219, 0.8139, 0.6338, -0.437, -0.0135, -0.0338, 0.9898, 0.9039, 2.1639, 2.3325, -1.0302, 0.688, 0.5362, 0.0467]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1765 left_yaw=0.0007 left_pitch=-0.0446 left_roll=-0.0026 left_gripper=0.9898 right_x=0.4154 right_y=0.3521 right_z=0.2746 right_yaw=0.0515 right_pitch=-0.0616 right_roll=-0.0689 right_gripper=0.0467\nstate[joint_eff]: [-0.1436, -1.9214, 6.612, 2.0977, 0.0122, 0.022, -0.0122, -0.1162, -13.2991, 7.9932, 1.453, 0.6129, 0.4518, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393950693db4719dbcee7da874daf5b1358f3dea24570b99d01189670272bdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422e154ca4f34c9eaefe3c8508ea88f746530b66eb0eda9013c6437cca87d3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6041adc4a63663e92548003d5432f1f0399a50192c9676e44f40d669fba14f0",
      "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 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8658, 0.6415, -0.5289, -0.0135, -0.0341, 0.9899, 0.58, 1.5723, 0.4046, 0.5327, 0.4744, 0.3229, 0.0389]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1485 left_yaw=0.0012 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9899 right_x=0.339 right_y=0.1299 right_z=0.0396 right_yaw=0.0074 right_pitch=0.0107 right_roll=0.0119 right_gripper=0.0389\nstate[joint_eff]: [-0.1026, -1.5385, 6.8991, 1.707, -0.0562, -0.0659, -0.0073, 0.0752, -5.1214, 5.3538, 1.2869, 0.2369, -0.022, 0.9841]",
      "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]: [-0.0219, 0.8696, 0.6411, -0.5392, -0.0139, -0.0338, 0.9898, 0.6331, 1.1625, 0.9104, -0.4629, 0.5026, 0.3336, 0.0438]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1455 left_yaw=0.0014 left_pitch=-0.1953 left_roll=0.0011 left_gripper=0.9898 right_x=0.3202 right_y=0.1338 right_z=0.204 right_yaw=0.0315 right_pitch=-0.0461 right_roll=-0.0383 right_gripper=0.0438\nstate[joint_eff]: [-0.2393, -1.853, 6.9265, 1.5556, -0.0415, -0.0708, -0.0122, 0.2393, -6.0103, 9.1556, 1.8388, 0.3736, 0.2369, 1.033]\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]: [-0.0219, 0.8139, 0.6338, -0.437, -0.0135, -0.0338, 0.9898, 0.9039, 2.1639, 2.3325, -1.0302, 0.688, 0.5362, 0.0467]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1765 left_yaw=0.0007 left_pitch=-0.0446 left_roll=-0.0026 left_gripper=0.9898 right_x=0.4154 right_y=0.3521 right_z=0.2746 right_yaw=0.0515 right_pitch=-0.0616 right_roll=-0.0689 right_gripper=0.0467\nstate[joint_eff]: [-0.1436, -1.9214, 6.612, 2.0977, 0.0122, 0.022, -0.0122, -0.1162, -13.2991, 7.9932, 1.453, 0.6129, 0.4518, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393950693db4719dbcee7da874daf5b1358f3dea24570b99d01189670272bdf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422e154ca4f34c9eaefe3c8508ea88f746530b66eb0eda9013c6437cca87d3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6041adc4a63663e92548003d5432f1f0399a50192c9676e44f40d669fba14f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRGNLKFVCWi__MTa8GUjtF85vVy3Ph4r83DLsIQY4F4wfmhNI4S0CNs0BrzjnvP6Hrkw_hBffXHwCAxdcPacGraewbFdQAfQ3V5FKyF5xvV5tiu1ZhuxGXHjv7iCGet88AI-5aIBx0ukpIhbRETq-irij5smCMxveQU-Ym56T-bx2FlVNa5swiCzBYorKXe-2S5fIzaFXu0Plew0tgHzhdSpQBMZ8RYbG9P2dPSZzmSmh6B0I4ysT3sJLEwXUC3lvv_h17yARD_YrZDukyM_weYIo8aq13kax3mutCven-N6uiflzdtwyIYxbKa89B-T8jSllZLfGpyaIO-PvI47Bvq-FTSXWPiQ3NZO7_9TJC4uPGQMNIuMHXgmav_H3rTO0zEfpI775Ng3bMKx3WYOn_BEA9v3xcEWwmwVBmyz_kUuhi4Y1KJK-Y7qEbtn42YC_1fecfz0J8RikulwkFdZalXBd9KuuVBHrDShafyY0wCH2CdOyXH4spbhKTqup9eeAyyFQCexUGslV0JZlRJpIoQrZmzH_RJR8zzRTIzI7ddZL8Bi-aLvKsFQBOhrbhiaLQ4MU0PjZFcvEGUuoUiCyTfdQeFCZxXlv8LIUoh4s0WVsJZjNYvCYO393ycJWqhb13f2Ne9g83YvEMjFHPYhmErfMAB0LRPYLtygM2aBb33cu9H4i3DA5d3K4KnKvBqudvRhdH1YL8ER-ipC3HaEeXfvmxjutqpc06OKcez77cNH5BuypdtSVt2jQh0lzD1zrl9qeMCdwO1DQPS-0HPBz-C7do_sVDky1jY6K3RU5S-1N263ioT_WM6xjlObyGGlZv7WWYeSYa2cb25C--O7QxJEZDjPuSV4f_AYAburi4Z7t9u6jZmz_Cgh9YP0XwYmlt78amZ8In8_9RnhSfZRocg0TS0fw5AiUsVTP9PQLc0ivUC99AkVZdaK3vGWEgs61sQz6vpyFed3IeJPuoIQglvKp4VPL1Ns6Qg9KFm2P_7QqYcuO3IWAoUJIPaD68uLxOn6mp8DUxaooBOLSglbbO24nagzjcdqQDA-2TJqplQb4MOwBgEINrHRuo3xZGKhvo-VVzr6jEQjfCwlvuT_KCAZfVs14qUCHBICtFTrUdl3cp8mcDs50bSfCYoLbSOCWFSQeLE3vkguYSYZLEt9Dp5Y3PaFr92kk_P8q4lZsm7R3bgY1Ud_dqtz9OhQ3YaK8vw2UZUVtVxLf3hdLs8PH3J7aJ1Qph7xwTzWey69QUocieqrJpOpnEU9agAD9m3FWPEmLuqBsrrLqgJFyECQMMyOP4HcHgk-aLd2FNEsTdu5cNPpPb86K-EcXNBkh2a4NQa7GWMUVYZSNHZ7fhCziVdzpF7EddtPJMyIRwhWNHj4TuwlPn8uLsAQAVw2xEMjEahKlGiClj_3uxw1ClaNZfTLceBYKzT4NIbCPLk9-AxOEkbN27DPpIXSucnEaGOJ06Tbm3JjTRKS0jsGjQlyvfLFbGrllobtqItfa3zwvHRAe31tqByswh2II0H_eZsOHD_OLNX4QLJbHXC6P5wxz4sv-byPRb5zcHvku5NvjoH9ONPLFIIUKHGvRaAZkI8fyVAa_nhUeve2Va55BUQt0BvWTsvel8RECFZVq-M0RNNua3sD07d0FBaCe5UFGR3oW4dYXeZwFGCTjJhRjS2yWSN1qq8wmVcSEb0K_zNSZtfj7MGwsRB-NAz9PzG4-yeQP97HF8aHzRetyOzWRtmx3Hx0kwLOPl1n2LeI79xO703uL5lnxvqnkS9ouP1-svl118P8oGSjr6KvZHvN9CbyPde_mjwJuFIQOtDKcCSqUCyr6UkLXUsehgGwXXB2VasNH6Qhu771O_SnYmheou_nvZg8g5paGU_EL8yRpXfpQK1NOrtPSnqlmZYkkYn6TeY0ZyrjyIfL2ZxBm3gDwT4_PedMIoQGy2-2KYMh29xmzO-aYahorkKB32Fr4p1JQalADKofJlgIgoaVJb4ml8aO_Ue77QGhXP-v1LdxfjRJV8FRp3jzMIzv8G644akQFGa-2ozWZ17P5-JX67HSU_ob7Lk9zvGYvWcmZql5Vr5MxTR5PViqqFks0vxpyk5G1U2axE8xCClv9noF8QnJmAfhq8tNDBR5lcPGgjtMyjr84aSFfREM1cZuHPuoOBANqbYgParcxn5wClH6ZkuRkAOaFPiv6eWDBiuLuZch--EdxCaqnVFMJoHevn3DIdXBTLhLs9foZ4-4j7KmAfXBqXICJav89KTEGVa369xKLeVAvYSlPdSDmA3e5QuOoTh08yAo-EUehhAPTeyejEoLfzqza9QH1fGkIWQFrxO7Rmq1ZWGTwK1VRswxcunOmlC-MymGIqu0hnork6IePCqQ68g0Xm7dZjPY3IJ7pMo8WIrOkml6hNxZ8bg4sKQasA7zrjdGOOGNWJRNFHN5iznyMvB2RnQrZzIO-75DQ1Z5akWVu5nvD8HC0QB9rlHWe9nAdswjC1b_VeHDIEKhNqP-mR3_zCncgma2W23vawdXXGyCi6mNy_XSCi47bJA8tVBVdKJpPsOTITPOtYL1iQqVcTjmkTRkw==",
  "id": "rs_0ad184d13907b37e016ab46441702887d083c79c78705f3af9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.39,\"right_z\":0.3,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":-0.6},\"note\":\"The blue bowl is above the near-right side of the white bowl. I’m moving its pouring lip farther over the opening and beginning a gentle tilt toward the white bowl.\"}",
  "call_id": "call_SriluiIRXyVYk8FQCTUSIgER",
  "id": "fc_0ad184d13907b37e016ab46445dc1887d0a7b5ce2ede251c67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SriluiIRXyVYk8FQCTUSIgER",
  "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]: [-0.0219, 0.8169, 0.63, -0.4423, -0.0139, -0.0338, 0.9898, 0.934, 2.566, 2.8796, -1.3827, 0.9432, 0.2939, 0.0498]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0568 left_roll=-0.0021 left_gripper=0.9898 right_x=0.4329 right_y=0.3509 right_z=0.2361 right_yaw=0.0399 right_pitch=-0.0739 right_roll=-0.5594 right_gripper=0.0498\nstate[joint_eff]: [-0.1983, -1.4701, 7.2957, 1.7216, -0.0562, -0.0122, -0.0122, 0.0205, -15.4462, 7.1726, 1.1941, 0.735, 0.0806, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fd5ae4cb3d4801bf82eff14965e951b0ff67c4dce3c2ca02200432df662296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b25fd43edfaa33069f2b686996d9a09d3ae395c1493f639bab451c174deb6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9cf292432aaa93cc168cbadf174092af4a53a3bb6c6bd4bf7e481e561f8490",
      "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 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8658, 0.6415, -0.5354, -0.0139, -0.0338, 0.9898, 0.5797, 1.5715, 0.4057, 0.5381, 0.4744, 0.3233, 0.0402]\nstate[eef_state]: left_x=0.2801 left_y=-0.0001 left_z=0.1473 left_yaw=0.0014 left_pitch=-0.1873 left_roll=0.0009 left_gripper=0.9898 right_x=0.34 right_y=0.1304 right_z=0.0412 right_yaw=0.0067 right_pitch=0.0168 right_roll=0.0161 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6205, 6.8991, 1.6679, -0.0366, -0.0708, -0.0171, -0.212, -5.3812, 4.9983, 1.3846, 0.1978, -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]: [-0.0219, 0.8139, 0.6338, -0.437, -0.0135, -0.0338, 0.9898, 0.9039, 2.1639, 2.3325, -1.0302, 0.688, 0.5362, 0.0467]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1765 left_yaw=0.0007 left_pitch=-0.0446 left_roll=-0.0026 left_gripper=0.9898 right_x=0.4154 right_y=0.3521 right_z=0.2746 right_yaw=0.0515 right_pitch=-0.0616 right_roll=-0.0689 right_gripper=0.0467\nstate[joint_eff]: [-0.1436, -1.9214, 6.612, 2.0977, 0.0122, 0.022, -0.0122, -0.1162, -13.2991, 7.9932, 1.453, 0.6129, 0.4518, 0.9158]",
      "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]: [-0.0219, 0.8169, 0.63, -0.4423, -0.0139, -0.0338, 0.9898, 0.934, 2.566, 2.8796, -1.3827, 0.9432, 0.2939, 0.0498]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0568 left_roll=-0.0021 left_gripper=0.9898 right_x=0.4329 right_y=0.3509 right_z=0.2361 right_yaw=0.0399 right_pitch=-0.0739 right_roll=-0.5594 right_gripper=0.0498\nstate[joint_eff]: [-0.1983, -1.4701, 7.2957, 1.7216, -0.0562, -0.0122, -0.0122, 0.0205, -15.4462, 7.1726, 1.1941, 0.735, 0.0806, 0.8083]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fd5ae4cb3d4801bf82eff14965e951b0ff67c4dce3c2ca02200432df662296",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b25fd43edfaa33069f2b686996d9a09d3ae395c1493f639bab451c174deb6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb9cf292432aaa93cc168cbadf174092af4a53a3bb6c6bd4bf7e481e561f8490",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRLWqijbJ4cThfSAVZbDv4505i2ev_wTt2gZJ7nQ0Qnz9qiWn5AePHZbc1lAg4iSH7KKg94Lw3e_msfZrRMQWbne6fO5o4GWyzam2mDxxG9fRwRRImHBiQiCIJVFG8OrQ3893ITp0guZ8bYG5h8Rg7ZSt43QPDw9YWPb_EdMeGsAZO5eaQbg4CSizVJAav_5zSlP83iytzK6w_zmowigkHfPKtpTz1pfOLcZOqNNE7m9o2kKAaQT_t8jJOqsRWcbTOpNAmUcPiBFAvTHE385xCaq-owDDwQ5d5VCddh_aItxEH3f6OYLmfo3eNa79RNT3RcNt6KB0NrYYuSr4EriDnk8jScrH4NqxHZNNRHf6EDabMqbVg6KSM5fYFUzuM8d1K960nJ1Oj3yvoxH6b4pDCaNahuSexvMUNTxLsGTPPOG7WLKYq8MlSvwbmlzoaPfY1DY_f8qt7iksAo3SFbF3Z6YYz-ENJrKeMaIXQWZeUiDUPI1gQytQDgJnyHtKFaetZVjrcXcIbwo_ZUES9DpGdvAuhJvYQMj56dOr2R1AVyA0Hy7evFQzTbicTlIEct2tw2Q-VJ1WEwo4HOmn2TSQhZsuNnYtChsk9WhHhqJFXdOm-SKeKHgjw1YE4ghC8K_VwzmQFOLTZJEC5RvaDExrW9p63JStnOgEKQ-4zI_vYOtPS9Bbjy-6kOwchhv0P0G47HKFio33xAHM26HMFxw-Xo-B2X5qc5KvaX0Hgov6AbW0gdZlIcI68j-z6O9Izi908d9PVys5awXf51P6Ulr7uSakw3on38hCz9-lyeTLUTj2jiZ-c0Sat1CWGLcNt9HzJAsJos74os20rLx5EtndrZRfB-4Xul3y9ntgKZoZn-ZxPaYurBAMC2wKvHTGGbCtJIuQbdCxx84YAjSfsmPEh8TcMXHKQLLXP09h3Hoa2rPamruJZhGEGRw-mcZ4-EjnvUMuG0VqQIXLIPg1LjUBh-dHinM5Sp-pqsNc3Q55pS1afxoSgmSBPh2XknNr9SrqY-Jmui-9yyyq1y4Paajg8ioG74jt7Ulbe0qftDbf-pzV34VDM0OFXAP8U_2g3L-amvoTQArunzGLEim3SS-Xx-jd_b4KmVpKsIntr-vl7ad0ijpih_k_oKDmaRTNVXGfg86tVUuGGn3Y_gOBtilVFlLcDQZLGDZ_LDx2W_oCegO4r1rV9Fd24utZdxaDxAOGYF8Q5HRx7XlbVtAktqcYB_BdgOvA5ptGDvCA2gfknb4yiuf40N0i9WM9hiAtuXkFJoj2VpMho_pEQq5Yu0D1a0DFeqgi2UNpPgiPeK72o_eSjCw-T4Sfid0E_UtuUK-OWXe5YB3syVp2te8rKhGLkAilP2RQ9NvV_2GQer7-4bD2M=",
  "id": "rs_0ad184d13907b37e016ab46449182487d081cf130ce772bdf4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.35,\"right_z\":0.3,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":-1.3},\"note\":\"The yellow fruit has dropped into the white bowl, while the green fruit is still in the blue bowl. I’m increasing the tilt while keeping the pouring edge over the white opening.\"}",
  "call_id": "call_GoQ29F9WoiK4e8qKKao2ldG5",
  "id": "fc_0ad184d13907b37e016ab46449c50087d0811abd37d045377e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GoQ29F9WoiK4e8qKKao2ldG5",
  "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]: [-0.0219, 0.8188, 0.63, -0.4484, -0.0135, -0.0338, 0.9899, 0.947, 2.6171, 3.0142, -1.5135, 0.9825, 0.2459, 0.0522]\nstate[eef_state]: left_x=0.2901 left_y=-0.0004 left_z=0.1711 left_yaw=0.0007 left_pitch=-0.0649 left_roll=-0.0022 left_gripper=0.9899 right_x=0.423 right_y=0.3424 right_z=0.2434 right_yaw=0.0511 right_pitch=-0.0911 right_roll=-0.6571 right_gripper=0.0522\nstate[joint_eff]: [-0.0342, -1.1009, 7.0085, 1.7656, -0.0464, -0.0366, -0.0073, 0.1162, -13.6957, 7.0769, 1.0037, 0.5934, 0.0952, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf1a599b71511fbcb4ddf6e2f8f1b14c71c33eddcdf458305d12ef99e31637a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf893b3d34d9c56856f8e3cb85fa1123bcfe4a22bf4fcec17fb9086c376e236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f87232537bd41aeee208e69d995ac46d09f37247c0b51aa3d0ef6c08bdcbebb",
      "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 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8696, 0.6411, -0.5392, -0.0139, -0.0338, 0.9898, 0.6331, 1.1625, 0.9104, -0.4629, 0.5026, 0.3336, 0.0438]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1455 left_yaw=0.0014 left_pitch=-0.1953 left_roll=0.0011 left_gripper=0.9898 right_x=0.3202 right_y=0.1338 right_z=0.204 right_yaw=0.0315 right_pitch=-0.0461 right_roll=-0.0383 right_gripper=0.0438\nstate[joint_eff]: [-0.2393, -1.853, 6.9265, 1.5556, -0.0415, -0.0708, -0.0122, 0.2393, -6.0103, 9.1556, 1.8388, 0.3736, 0.2369, 1.033]\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]: [-0.0219, 0.8169, 0.63, -0.4423, -0.0139, -0.0338, 0.9898, 0.934, 2.566, 2.8796, -1.3827, 0.9432, 0.2939, 0.0498]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0568 left_roll=-0.0021 left_gripper=0.9898 right_x=0.4329 right_y=0.3509 right_z=0.2361 right_yaw=0.0399 right_pitch=-0.0739 right_roll=-0.5594 right_gripper=0.0498\nstate[joint_eff]: [-0.1983, -1.4701, 7.2957, 1.7216, -0.0562, -0.0122, -0.0122, 0.0205, -15.4462, 7.1726, 1.1941, 0.735, 0.0806, 0.8083]",
      "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]: [-0.0219, 0.8188, 0.63, -0.4484, -0.0135, -0.0338, 0.9899, 0.947, 2.6171, 3.0142, -1.5135, 0.9825, 0.2459, 0.0522]\nstate[eef_state]: left_x=0.2901 left_y=-0.0004 left_z=0.1711 left_yaw=0.0007 left_pitch=-0.0649 left_roll=-0.0022 left_gripper=0.9899 right_x=0.423 right_y=0.3424 right_z=0.2434 right_yaw=0.0511 right_pitch=-0.0911 right_roll=-0.6571 right_gripper=0.0522\nstate[joint_eff]: [-0.0342, -1.1009, 7.0085, 1.7656, -0.0464, -0.0366, -0.0073, 0.1162, -13.6957, 7.0769, 1.0037, 0.5934, 0.0952, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf1a599b71511fbcb4ddf6e2f8f1b14c71c33eddcdf458305d12ef99e31637a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf893b3d34d9c56856f8e3cb85fa1123bcfe4a22bf4fcec17fb9086c376e236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f87232537bd41aeee208e69d995ac46d09f37247c0b51aa3d0ef6c08bdcbebb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRSKvUOrMhnmrlpBe0_BW_om6FGjRo1oxRJB2scFz6wiiwEwny1kll1Piq081vmyl3UG_4W7RaTOKCsr57CDz9cYmOYQH_ptVTy22wxRoOQowc2KYF236HEJxI1Zs8sKw5DdaTPBrk4JuUuf_dCXmY6mMAGmCx-Df0O5g8hwJgsyrdJsijewKMNKdv8E0IF8WG4uIuhErfAzjchBI22UY3D_loS09FNGCU2kpiMZ32I_i1E2YrR0hgDpqlwKEG0Sw-Y2jSZYg-jZyQyQZctH9aKP0tI5yP2rZmOGtM85s7DmzRyBk1nK6n7XpZDkyq5dtqEf3X3MZe0xbkHSZISKfMixsjLTXr8HD2tsG1cpSZOoULkUOzfi6-uvavIP7ywB6QEpHxpqG5ZX8Fbdt6m5AI_SsqP52YygWOSIrYeWcuzDp-OqlYL6Fm5U4GNQtkhgtx0NqC9Rk2SNQM-UYrrEzgVd4DrYKp4PwZFZY8_7YQGMFz5DMzx1YLz0C9RJrXMNadc71JFSBTkU5wo-zPS81QHcpKwWkhO_9ebU8Q6y6GrLp-zDLoedikeylrjvZheagq9xxhtnA2ZKTm1Hipz-JZvAXNPlIPPZJ-SCDmuXXxhtjOu6bon794H1u0zDvw8XjWNOJdmXN0XUVNcdnA2ykyTZXOTwTI7IpJLCtGb6kRk0H-VWpGfPRNp1pZ1I7aH7blr62dQCMc_hJpUpyXpxZWCd5Nj4Lc_E0oo1wO1gtSa_y1CwOX2K2LH6qhIkrmdmf9wvMcsvDmRTPb3HKJD9BFkpNpT27jVbwqbo9hGUFX5Xhx929sVssILVS46czqpsCm4q9Im09j7RgQ-BzqBzPsG3NFeYoeT8u-klKl5Vkj4gxziIl9tv5glwpeddIqtW85HlGEtTYvADM8JohI3tt1CtSiPkAKE-wXQ6JCJulX5iF7w85lKdT4c9ZjZKCLy7OSXolYvt2Bez-hFjT7pWWZsqEGiT-3QTBQr8lrDvufzb9PRxUKa6wiQTlpjPvPh0Hh3cevffY2hhzhyNeK2IvCDtrc5Uvl8sHiBFQ-ZqwWe7J8qUcHCsOU09PLrI_hQ3leXp2cc0vWvlTuXLt1z7MdutTZjNi4hzJoRfMduZmcNp5eRl9SzA7F3BsvasFski2_5q-HiCYwyvRHuFi39MZUohEGvGFa4KriRus6WMyXHVcAWLUwMn78ayKVQF47Z0XqR4tmSqB3UaetCELfYBrL1lyq7lLVIoIuc67GSHjs6cryfquoPrirxjwxDUSXNxzIc4pIJv6xNJgtjUyXM1IOg5xtdsSPOKsvpvnj6-3hm3BHqyCFrxwDmz12IUxP8VIUxF-v9u0LaHfnXAv4iCMHbwss-nuTKuac1-0m4Vx9-JS0uVK6DOGBZxGlUa41QDBOEqnXHYua1B5BwMU3iJjltEC5_4I89VbA4WL1Y9RGFCMs4gyJmqP55VOwFAACNvzHnHKnNYYmladvCVgaaIkryfHMyD_hYfXAMTN7V87C0CMmWje0mQBbBnfNlIQn1gzF9qiKD4o1-XSharXwQA1PIs1X4b-Tyoi6FpzPOzHyhq14hA3WEMjDRpluM6BHS5_T8HdaWBjQ06VWuYaQmBXT3RO4zYYhqHQ6uhUJtLKrNNteVd4gBC0lqw6onGhEeAROLXFX2tTLrYwKfksNiIlOlszbR0EyKw-PeEtdNUiNVpbLfm_wqvrbsYyS658VyMGeDk2CovwaEkd8L2j6ckoMn5QWQe5s2fZ7OodNtjoy8mZLBi-6BBH5GqEXfqaAhAbIsr6P3BQZYLDgXYlnMcHJEc64RH7BoJMbnFNY7dXEZGv9YrVz1hwXhd4i4_DGy-HE3M2jFWPagP5wf56D1xGA59S-ZKULsZbssZscrTua2QZs5E50l7NYeUGV_wf6iYn5PlgA_3MmF9OUz8F0NNB4rDBUT_gvlWnFfSu3xhiGN2in-WVaZaSvZLiJxPFFLdiyoJQ79FUT1L3BmewIB_b5oydLoNpIEz-jDycN5K_MC0mBjjMMizjXKcYpUq91gn7VPkYJTp0B07UuLpITGxCoqn4u1c1-fqrhayl4zc7SPeVpNkLoDxwYThLBGnEfNP2iP_s-jCMRIoqORuZGMTaLnDS0YWZayvdEeMtbrYEPzMZ8=",
  "id": "rs_0ad184d13907b37e016ab4644da96487d0905ff0333703e924",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.3,\"right_z\":0.27,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":-1.4},\"note\":\"The arm reached a limit before achieving the steeper tilt, and the green fruit remains inside. I’m bringing the grasp slightly closer to the arm to gain rotation room while keeping the bowl’s lip aimed into the white bowl.\"}",
  "call_id": "call_eKWbeVSIyezNMv72ek0G2DWm",
  "id": "fc_0ad184d13907b37e016ab464510fec87d08a2f1c3c57a37876",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eKWbeVSIyezNMv72ek0G2DWm",
  "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]: [-0.0219, 0.8207, 0.63, -0.4492, -0.0135, -0.0338, 0.9899, 1.0153, 2.4317, 2.3791, -1.5574, 1.3861, 0.141, 0.0547]\nstate[eef_state]: left_x=0.2901 left_y=-0.0004 left_z=0.1705 left_yaw=0.0007 left_pitch=-0.0675 left_roll=-0.0021 left_gripper=0.9899 right_x=0.3891 right_y=0.3044 right_z=0.2288 right_yaw=0.0027 right_pitch=-0.096 right_roll=-1.3735 right_gripper=0.0547\nstate[joint_eff]: [-0.1026, -1.0598, 6.9675, 1.746, -0.0317, -0.022, -0.0171, -0.3077, -17.6205, 6.4479, 0.3443, 0.906, -0.0122, 0.6081]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1180228b206c8931a6243df5a16fa93f4189f5e35c602943e156c5ead04e219",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee0fc0b8b1160e3cb68ff5cc8058b2c1854c88b9ba30444f4adc57d9c391d48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:644e8b2fa1a8e111834a6512eec861d13654a0eabe7ad736397eaed2e0cc8bd9",
      "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 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8139, 0.6338, -0.437, -0.0135, -0.0338, 0.9898, 0.9039, 2.1639, 2.3325, -1.0302, 0.688, 0.5362, 0.0467]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1765 left_yaw=0.0007 left_pitch=-0.0446 left_roll=-0.0026 left_gripper=0.9898 right_x=0.4154 right_y=0.3521 right_z=0.2746 right_yaw=0.0515 right_pitch=-0.0616 right_roll=-0.0689 right_gripper=0.0467\nstate[joint_eff]: [-0.1436, -1.9214, 6.612, 2.0977, 0.0122, 0.022, -0.0122, -0.1162, -13.2991, 7.9932, 1.453, 0.6129, 0.4518, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRYErEokEYbCObS2J6VGo5y3q2kkeWa018Dx8URvwET_tKdPOp65jw9RPSL3uFWjwXwlNAwuJAfheCpCBWhWy71U0pP8T-0LzIPU9q45mRFSYAeW0Cnc2WdvKzTaCu9N-TZApJwMFuFUA-4zxVjSIxlEK7SyNODrwRkvwlG9vrsXA3--Oos-G9KtFYIw-0_ga3QZL36TFHbNE9NYBfeuliqlDRYrORGYnkBNPA41i9d3SQHJ2cZzZAiOnOoZMX5Ptr6ONdNu7V57E50qisJ1ieEjZvCjz-XFx4YqyicdL3CEXAI8Jk66cOzKbUhxmSVyoyixT5V79FLK8Tno8G6ceOh2dpIH_3xxTfjjBzDxprvYwQ5mrpWN1zTYK3UXw8RHIdFs70tG1uhjvs_hlQEa77Lh348FXNHJYKXKKGu9ae1zxKgwtXwWHNl2VFWzlu7c-kvLI9xjf88b6c0t2ksbJHLNR_kqGNCB4dVKeledmJZAvRqgwX9CMdPPPeZ10v8CWc9m_mqp0qz-yqZQ57VOsv0wsYYVzBklTJ_XSC1l7JKylKMLlI5F1ERvWQPMH6n_du8iCWb2-Xdfthre7a_fbNkvHEHsVF7ncdOsyHBe_fp5MTmoQHunprgTvfX4bHaT32HMy8VIUdMuZLHjcm7xszKLLNGrR_FmZAPeaRGdXVUanM4ALiN2tUTm3cRb0S3wfKW8j4vaM9RdUeSt3P8oMg1JmccCn4xtBUqwxHacwx-Xz6d7mqmI_-Wdy-twcs6wdPl7pvsMXfw8X0VFdcTtRKZDdln7H5NC4T9VrTfktTRdyCKjL50PV69y4Jo0zNOiwA-Rtk-BAKO6hIl5gZtAZaQblH9YQiTwjjqogI1IIffe2cmz4rphaR4Ga0tBRN5jx3kemPyi7395BqSICv2bD_RVmTpMDeTWH-naD4kyMRny1TY8GOF1PA7pJDqpDLDOGI34Gzu9HujRyo2o_SsVwC-iw_l3fjNGrWAewwhmAsqTVF-wz_JpcF6ENOpc7z1fXdV3DuUe6wZiLEfLSvKN-MbW48Q335L32xQHc9Enjb-wLEYgKXazuaKXC0jRsb29hCd3mIrXd6fQ2W7RXkRH7TOo3qpMGl88kt79_cOJeTdOKOmqmYCRvFpE5s3-PjuX3C4-M0QVwOzbn0z0BgYEEip-qFcF2ogu1HRmynnX0CgJp2IKDYiURAxtrUoDYNEAY4LPMGjU40XbOvgscex6hZ1Aw8IjFjD_0ZLY0AzRlIH1gjo9wsY-aLmTaK7DmfhrAEl-AIVHqehB_BQTUyCV1V_Wxdv6fEtYuFtJ4e3dbvuax1Lz9nQoIk_d5vttpMan5ngnMi7cn7zSumbK0yVF-veVlZXT9Eq3sTWBvNwHXh5ytgBWDceEX-de7J-WZ4ov6_Sp5vBOYiRaEE29BJS6NTMKJTvSwWpgqLOI8oGKhNAWIe4uHpw9qcPDvZNy-gekFXA-LRDgV32Ee1DYZZb2K5AakXjIi1RJ6tv2GJrvFJdF3CsTI-8LeCn_T95uubW8qNErKA7UOZCeYYFH-mX3xjQsoHD-sSG0TLOxCTvGP8kVQwuDBG9fPibsp34pnEZ8TQNkqFcqZWZ3E-XTqf41Revu8MACCrgA-mZhRtse7QX-PizC1dobRhPA6gm8jhuiJlz_HCvAETe27Os6QmhXIwnONq1WCajtsaICzb4as5Yzr7LHnLr8sVEG26dRgDBzbYb",
  "id": "rs_0ad184d13907b37e016ab46454f22087d0adb1e146a69e35f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.3,\"right_z\":0.26,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":-1.571},\"note\":\"The bowl is now nearly sideways and the green fruit has reached the pouring edge. I’m completing the tilt to let it fall into the white bowl.\"}",
  "call_id": "call_MfCgoru6G3gutl1C3k6M3ZOO",
  "id": "fc_0ad184d13907b37e016ab46457662087d0984e7afcfe9b70de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MfCgoru6G3gutl1C3k6M3ZOO",
  "output": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "target for right_roll is outside [-1.5707963267948966, 1.5707963267948966]",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}