adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6086, -0.3763, -0.0193, -0.0284, 0.9986, -0.0154, 0.7879, 0.6033, -0.3836, -0.0265, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0037 right_z=0.1806 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4034, -1.4154, 9.6342, 1.7656, -0.0562, 0.0952, -0.1587, -0.8821, -0.9094, 10.2222, 1.8193, 0.0269, 0.1978, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f2123a638b3a5973fb894c77e9e7d25cd9fcec2d18ceedf94599534dabbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e78b1bf3f948c0cf19e391978925da91659553c9d9c84772718d1b9de61cd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc6d38550da5bb9f1a0e50ba1982e77055b4b8869343d5e54f991b479368a29",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlDiRgL3zfp2_l7hOUyPPoujvLM54ffeYrDD7nkSE2DnqT6ih78OXvSFaenEz_joRYF_wnuDpXzaD-1zH1EYVHzBFI69CSu1RKePCufX4Ve1cMDfQy6gyP-2wX785drPKpT6i06cKTvpJTTqP7SCF2bNU8ZCnCvD6GSZFImxOKSTZJMQFsiA2hezoggl2nDSALF9m14OuPpaP_w81jAF5YpLead-Gjo02BtT71dVYhAhHbB7K89neWzjLwxTk6b_kMH_HBnF-Ypcsp0loz2iQ2Q6a2u4IXRIwNLg0pAD-4QbcJkG65_E4BOG0BYLNTpF_5AXlwcglhOXhPpH5LvyzE_cbvAxkiloRz0Opvb8yDqXhiIa97NQn1-WsrE3-1PeRNXopprmPTu5UvCe_gczQuXp7RLEVIynAD797ys2K1165Ay5YscHsXGK-zSSntzoQO5sIPi5mGCMW-n5YPzN2mXeN5JTocNEVYnSijMxK08polcqKOI8M47w6kjNRZ7wcMT3gdmrkMFW89dfBTmDYLsCH-0pdO_t5fjmy3i05MAZaP-FgISsXCLaJFV21HbHIm45SnepECtlFBKItUKxfTJEAIZI_H3RSPsNyunGecMdqL9kT5X-8uKnY-TCZAiq5R6KitF1zn-nxJ1QyfBhvn5asQhPA3gR2hci25XnN14oEH9jzqW4LWWgZagtKTkSU8uWaIz2eoPCS89YBNwer0zUxtYafKvolJ--A53ugvvEGu4bzOn6JjlJOJW-w04Qgh8tjP5ts3aeR-n1b9ilF2OQiTyQy63qRMpRlRUiiCk55Y9IJifmFI5Q_rVo0Gr_dPerQAKklfnqs6_MkYhKN-nhZdYKlbgDOQFoQ23ffWw3JlZCU6Eqg447C7-cr95K_mWlSc0uHSaa2Rpn1E65X2Nd-uyXswQkSJEtJbr6D1ycR7ssS2i96nItDpTm8NdyNCQvgLqWU7iwy6DCoRjji3VESvggZksKwDcNAkxnTYw3OjYFEMIrxRnlG3lN8PUWwh7PlZwOO-a-iO155oTvCWOclVH9Plh1sPhy99IamYUmME9mA5xKmHuK5CZZa5IyEPE4tpwGd85KKdZWqHqF1o3xuFRHGWTBE_s4LVBIo-zPY4zgJCN_GEmoI_5KFBpknPNwxjBKhxAqd30Xtx6BNgjmtU5SKOi08Y_fZRVNFXiThGD3Xx4_uW7W34WqEgpWvEujVRuJROrzPIkyn-t4ppOWz0TmWQYhvH8y4HBEyy4iwnsjyqFGwv2wqr1RW_l2xQhyVSkw-jttfU48nnDTVnGhJdD4VGSrMxnlgxOE4X1Qy7EmdrNgJKd7qzsv1RBiVLkSW9mTJRN3sfWTRcRhC98Yw1QgvBmGtpgwt77Lh9s6T1VwuQ2CdTaUZU8c6FJzBpX2EsVvRoRiZ2bFD92VZwFb1FR_OWNZZbZboKPSfSSiViRMXrjh11naC2WPVb8aJh4ZMaJDFjjOezve_os3hPCQaTvmZGWyQSYf-uyg9m7FUubWLMD85mA3kbL75a_yYI8L5HY-p0TPE4zQX9-T8ahPTlNXWijkW45OkTFbdjeifIFBtOpCR08gKv1aV7KC1r0CophaXMKZGMHAKEArw7P7GTNqG2BGWbrkXOrscUxLI1nVTSAQ_dgCx6-JymIWJpPqP4Byjf5fK_JBjLK7rSoWKJcSJCLNph8eP1sEOpiigaZBXqoA6cwSMcuYPCNr04LcHH_mjcbrTH29oPWgsNyu7txOTBALssp609C9K1R90T3K54zYUAa5RtwLYs0dSKdKl4u9yzygI1TW5nUfjwr9ibM7uDXNCOhKsGQ0jwJZr01_D-vhLI0TLCGaxbr3OlwsL1AWUcYNfFHf6M5ITI-R6iqDx_R436hFYzOn8fDUt09BZCPNxBqMAsYjbx-oRIiLhST7tUOgyPkPE-8WEBw_g9mEYRy4UdF6ufAqGheCvP933XwS1RWSKTyeTkaEfVAi6iXR9P24ZK6Zmo6GH6s_Q==",
  "id": "rs_0ad5a3f1146b70b1016ab2a93a606487d0964f061c9cd89420",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"All three bottles are lying down, with their caps toward the far edge. I will approach the rightmost bottle's neck so I can lift its top and let its base swing underneath.\"}",
  "call_id": "call_eylWXnIUWqfmTWvVGP9fmXSK",
  "id": "fc_0ad5a3f1146b70b1016ab2a941c2f087d082cdeaf4b32a5a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eylWXnIUWqfmTWvVGP9fmXSK",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6151, -0.3798, -0.0189, -0.0292, 0.9984, 0.5732, 1.6478, 1.0233, -0.0875, 0.4278, 0.2737, 0.9999]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1842 left_yaw=0.0001 left_pitch=-0.0019 left_roll=-0.0008 left_gripper=0.9984 right_x=0.415 right_y=0.1849 right_z=0.13 right_yaw=0.0433 right_pitch=-0.0685 right_roll=-0.0434 right_gripper=0.9999\nstate[joint_eff]: [-0.3487, -1.6205, 6.5436, 1.7607, -0.022, -0.0415, -0.0269, 0.0068, -8.0205, 8.9778, 1.8291, 0.5104, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f052c781936902c01eddfa20cfb7dd4296738bce1987462c2c1a9fedfdb92c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34529c70f9913c9d01a1d7faab87fd721b6a215d9c2cdad196519470fde0a61f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e914654fdd230df0fa40e0ecd33085c2b709dfa6efba4e368fbaf2eec9b89cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6086, -0.3763, -0.0193, -0.0284, 0.9986, -0.0154, 0.7879, 0.6033, -0.3836, -0.0265, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1833 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0037 right_z=0.1806 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4034, -1.4154, 9.6342, 1.7656, -0.0562, 0.0952, -0.1587, -0.8821, -0.9094, 10.2222, 1.8193, 0.0269, 0.1978, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlRKDSWTAcM9IM8dLdmMn_bKA8T3lPqCitXOuhbcGjXN0YPDxfXMqzh-RjYlTo8KurTMz_rUsT1g2lqUeAXIeeZB4sXgCw9Fm6VjGzSkhjvIv2kUfapmAleMJBJdmtAOy_7S7ff-614PlMGoLK7Ls_FuYfA0lDTN81RMZKZ76f0mN47-bT5g2hZ6Dr-OIBZ9h9cFYNKDOtJtB-yax1guFWUlqim1F2njjMZQo835oRha_umEPNMTgAstEzD2vAHu554fnQc4BtwUMaN-Exk8vzKE9GGLaK3CH6jsGnLcanGir0EFmStbMe_jbj7lLMDgYAfJ-Fic7M7U2OnrBdghq3N3ff4qSnKvM0JehTlT0mnjqsUqhwPWf-wteay1IgcKQkKK5uNxXUlVGHgB49uN_GlR8khqwuC53jR9xxLEfY0MnKj5grF2jCFj4Yy2r_Iicc7HY1JEWyayPvNr83azID0a-TjfrErjHIf3dWasqmg_HOZR6h8N8diG7zWbvzzO9UFpVtIQHBJ7C9anuMMG601QFBEn3ZTOXkV4iOhBxBwbMAJQ7qQmV9lSHxoIXpO8CwVZ9DkaaQUXA2zJJhwNG4BDkoGH3PisWAaw9OEpnJO5NA76eUrZ7hdV8PW5LunTTzLtTzTxPdTygtYy3oPQsqAKGo1UzkNt8m9_Jvqjo67Vc7ruZyHBcvUhgTA04z3DqlmkUa0ZdYdrErN4uzxlXRCTPut_gdi4lUSxBJutaxkAj-aqi_iYbaGp-N862Dg_zM4p-Rs8lrSnpIjvfnQ9-gYazVDRcaiDN20x2NV9U3ZYdfQAgqsM7ET6amKq3oaVKb8_E45Eb_nhU7StOLnq4w2Kz0n1vnCqbHyWys_xFcYVlA6K-5AFNnNDB9Sl7_lxtygZT_05ybp7GjiuCcvfueQkHvZRv68mrEos8AJKidGk78ttdYf08jUsEwzPZcdXoL6Eye0lHKL7b0dyj8HEPVPfqwAcn6f3fBqhWQQDc5iuxRel68Q3Q9VTQFMxSP3dwffzRDPs3wpql9rtMU0l0o6sFeGPlSCT4Kq8vkkSouCwTJ4IG_xcUv0IXfB85MA1oCeu5TfS1qecaeLEilyOoWKBKAZSJplUgO8T_5M7Y6_E6TbGQ83lLrsnHtKouA9Xqb7Gq1EJErOjhfcR-WtP6BnmN2dntlB5F8lV9bRPqot7C1a3a_E7Ie24tSY6A9L0rsYkbfmaSU20Tp-iApwJUlHXQdRfwCjCZ9rT5-gzvaRpP3RsgnPDaYrcDH5flXoKsc6t0G-PZ8II3c2xu79_TNCu1dFYeDqNZKZbeghSNKG20yEI47m3o6SVF1VbjFJmCjo-I6bGSp8jh5sc3lNbKxnyZ_rtRHtKb1Inzvwc8_nBAwlF5mUKGrWNHj7grx3TMXtB_p5XfNV7MisBQxxKL_NmSkJVZJkAPcuaz-bFndVkvsKWM8jzT-VBIu3RIgqDuiB_VnmSaKsXin6Jn_hP9RA1G4YBi6Phq76Bdd-G4QyA7fNnVUimymU316wKp98ADhNKst9XrzvprPQxSY7p3InpHFyFsc3szc2FWX-v_PGeClRvM9Pks_mYheyjOFUgGeI",
  "id": "rs_0ad5a3f1146b70b1016ab2a94a55b887d081cea69e552353d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.155,\"right_z\":0.065},\"note\":\"The right bottle's neck is visible to the right of the jaw centreline. I am shifting toward it and lowering the open jaws toward the neck.\"}",
  "call_id": "call_5UkzG5Nd8dmN3kkWkEBSuKLr",
  "id": "fc_0ad5a3f1146b70b1016ab2a94f465887d08ca08ba83ae02406",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5UkzG5Nd8dmN3kkWkEBSuKLr",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3801, -0.0193, -0.0292, 0.9984, 0.429, 1.8683, 0.9295, 0.2348, 0.3332, 0.1928, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1838 left_yaw=0.0004 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4511 right_y=0.1467 right_z=0.0489 right_yaw=0.0193 right_pitch=-0.0902 right_roll=-0.0495 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4427, 6.8991, 1.7265, -0.0366, -0.0415, -0.0171, -0.8547, -8.4034, 7.0769, 1.9951, -0.1538, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e93096057119b0a62ec03c031d4dff4e5e68ebdb4f0005167ce777e59ab184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed805e8b66e39a86fa41cf239eba28a24439618624bcd48656467cacf53b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea4d526f5435800fde8665f65a6a1f0c2200eb5268fc7db418e88aa29bbfb6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6151, -0.3798, -0.0189, -0.0292, 0.9984, 0.5732, 1.6478, 1.0233, -0.0875, 0.4278, 0.2737, 0.9999]\nstate[eef_state]: left_x=0.2964 left_y=0.001 left_z=0.1842 left_yaw=0.0001 left_pitch=-0.0019 left_roll=-0.0008 left_gripper=0.9984 right_x=0.415 right_y=0.1849 right_z=0.13 right_yaw=0.0433 right_pitch=-0.0685 right_roll=-0.0434 right_gripper=0.9999\nstate[joint_eff]: [-0.3487, -1.6205, 6.5436, 1.7607, -0.022, -0.0415, -0.0269, 0.0068, -8.0205, 8.9778, 1.8291, 0.5104, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlY65huWE-D38E2eoRNIorYbRZr5IO-UbqMzyurHytGkR25AYu_eSEgK-vhHQHvAAO2enOTnBfE0n3S_tci5qU_Lr9V6KKAyy9yW_NU-C1d1D2499BY2QcVmNijdKW_ltcWxi5WAUPtoeKG0ku3aNvP1A8Aj8PQkcGWcjFo1qIsBLhx0EDR7k6bp2OzJ-kFEa518Xn71FRVRIIoBuzWB9u4kdvVKtmJzUcqC5ODO8xww_Cw_MClo3Ew9iqhaBagIGGepyyv6SP7l6QuwMt7_PA57wORoZlO_0WjJojar9IvOXgsavSHFT4LoAlTS353UavIt77eGP6W_-FVaX9963dcF9-pqxtxig1k_bA7mOjB9PW_zZX30ViD_ogonqqmyuuYCVMr3-c6auoWWhV_iQRLM-UQB1t11CBMITv3iKWMXHNzvPtLynQehTyvOHImNGawyuhvVnSw_XufvrxNpdb078b8pJJURT_UAoQaKmUPKnzt9LYQEX4bvHoIv2nLLhTlQ5ePZGN_dKrORMEFDlthIV8YLPzBe-2rVJSDSUf9L_LEkBLC3kqrzm-tX-u7oqBjxoOjVKu_8Kb9WYrib9TYFMEyDQ0j_rOORvUZPX05-9xVfpItrc8EAej39T85lsM8P4Ts2G3ljH7zHsn7DL2Hctu0_r8RK1dXYQKCHpeX3VoTlrQGIJpg3649zPYZgWnLRgp2Tm2QOpt3sbg1ogMBFwlqWrgS6mNJeZ9nGbdPtcgniplqLXY-vPNhIit_xnRHtm8-Ly_VvpD4qlZ-DVjA8TNzrr8hVpqppLTPcUydkiXdJs6JoRx2JQBqohhpDM76iAQ7FIyZWGQQjbA5knIhk3jnsmQCMK4ck_sb-8_PjwALl5bmoSakqzaBfrKyOXrzddxsL9L_cZc1YvS6piMJ_LTxsIh-8Xv2t_Zq75_cC8fUoMSqvNqLA_Bele3ZOkTcJ1eqqDeFiab3SukJoy5TeeUyMpBWvdqGVLHwkFaKkkW5f3izWZ4BKGcmTVwdP0VpWxddi_NFnNJjPig_VU6B8zLRN1vWO1tXXXA4-o-kN8frDaym9nB1Q_vx82mXDRmjgymFhvdRtJolkwkahmrLk8GEk0uCiTjAPOwJMfOheL-3HXsDwMJu7521tkIDGGY9ERUVtiz_wxhzbg3Qa1JrT865esE8ZFiiQojON9dRtNeDsxF6UADFFeCLQnxRTI-qGVuUdCNnf5b57RXx-W8OhDTWu1wH1wZt6Jb-PpU22TwVD9Mzfzc-2bmtiEOHjaZ_G0b_GEl6070-fTAt7bkF3fDoQ-Ry1nH_A8wPtFhGlNtyXiTATJVadLixa73w8ROCqblcN469bchqSx5lCIdZu7Zn0oRw5OujqYO_u90J5VFf5Ps_CmetCHedC-sSKI2IiwYu-2bbvpwvBcol5IpTdUKD316M2M88tUlglBSBo9HctIH9P68D3P_-JP7jPFaq",
  "id": "rs_0ad5a3f1146b70b1016ab2a9543e1c87d095a92db5a6a8ef65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.13,\"right_z\":0.025},\"note\":\"The bottle's narrow neck is still ahead and slightly right of the jaw column. I will make a small forward and sideways correction at neck height before closing.\"}",
  "call_id": "call_5t0aehy3ZKOIoTRG81toOQRa",
  "id": "fc_0ad5a3f1146b70b1016ab2a956d0d487d097cf818a8275348e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5t0aehy3ZKOIoTRG81toOQRa",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6151, -0.3794, -0.0189, -0.0292, 0.9984, 0.3546, 1.9911, 0.9405, 0.4671, 0.2668, 0.1444, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1841 left_yaw=0.0001 left_pitch=-0.0023 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4861 right_y=0.1341 right_z=0.0379 right_yaw=0.0276 right_pitch=0.0078 right_roll=-0.0086 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.2923, 6.9265, 1.7705, -0.0562, -0.0366, -0.0122, -1.0051, -5.8462, 6.2291, 1.4774, 0.1343, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a87235b2217fcfad67aaaae2c404ee44b9d5d95d64107ced42cfa2dd4dadbbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c4eb1ca9c9a6f5550a824df8fd101876f7aff10de529e0445d3488a86ac846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b875b7f27cb1bcdffb5cc9da0406c00086850dab607d76ae7912dab10c9ac3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7986, 0.6151, -0.3801, -0.0193, -0.0292, 0.9984, 0.429, 1.8683, 0.9295, 0.2348, 0.3332, 0.1928, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0011 left_z=0.1838 left_yaw=0.0004 left_pitch=-0.0034 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4511 right_y=0.1467 right_z=0.0489 right_yaw=0.0193 right_pitch=-0.0902 right_roll=-0.0495 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4427, 6.8991, 1.7265, -0.0366, -0.0415, -0.0171, -0.8547, -8.4034, 7.0769, 1.9951, -0.1538, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqli49wmdf1ZBFsQ20mQ9GT7nwpGIfiuzVBasuuu8XKJQdqDvBHhAFKNZhcoY4zIM0zj_h9_QSBX0yvxDyGlSvbca8Ktd9s4tQgHq3qEHZvTZRx5PQjO087MtPidyMrhlXq9wyLYbhIchsRowKAPN_bX6VC2iLMRg863tUymD1rRd09cP0DoEIcw_80aikYtvOFMNmejs1cHpwPUYt8AFmyCrUzof4OLcAocNmG-z_Zl2EihKqtyV6dr3vdpJugEWOS77VJ3Y9mFIPJQPqzzn0m2rA9zpiaKFyySCDVn4qWj_RejZuXOTiXkKv96nP8PRNjHXvXqBPjq6vTXxGsjcopHRGI7s4vj-EALNHg-rx8Kl0ziXP0IgD5j5VnzspSChotq7h6pA9myazl1kuKVm4XVepqukv4UuXiUbQikhbaiNzSLWMsgEKFgbplLN3mR1wBoa12ZcOU2Pznc5uCZz2OQpdQuXn9_rQ8rqoMM4rW8VLivCVTvsMzmsX6hwO-_cxx6hy5inAtg8lafA8oGfIEODMugTGf8QYlPQOTYaoshCZ9SiI_4mB5811oUE5q05JwzrF2QMnExEjWvQ_s9dKezQxXh_nAkgQZb2oEiNxL3VUcw-5IdNt_rR7ACTV0tXD---sXJH_a6ivmLFMAr8E0cO_Mg025udvJNG6CZeou_wrzN1OejoYZ3eIAnNw8kDogKLt_Ytj9OvZ9Vby2YfbRP5xNVCjR6BN3sq7wrZFujOkhKOolnzm344icpT9kUZnK11j50AFWknyqLisH7T4pXENW4Rt2fkgYW5oyfaD_OSV4Iyb2KEgEQa1MaLGOrX_1AKZb_MFS0hR70FuZcUKUDMHirXTOeyyEHyo4j8yBWE-m3IvtG_ZoQvlGBHUxU3pJqbBJ12RiXGDmuYHUIktmwZjGADPZqdB3UZGJMhYlIo1SeLQjIYNYTqmS3LNMV17VVafM4E9NfCIbUkwvxTMcnSVx1boLWlyE0a_fZHgkGsfm_bvkZD3YiUzJKd6qzfbxj1Qf0zTqHvLiz_AC8PKWPYciQrAr35mDraeLj_pqaBmhKRO-Orl8HGA3dF0mlf2ikujqvirLw8anCzxLJSmreyUhm3ABs6_oKuOmucT4oiZ0YXzrqAHa81lOlkzPvtFh205-UL9tjGiwq-kDP061hL8rC-8wNzJC7I9ICKhcgnr5FmhNX87u4wulkzSP3nryumZFKy_WNnA5ttsCuXM_UNKyHp_g5JIJ4uEXsPdl0yPoazgvoP4mqJWoPCZtAAr3ZTw_x-q9ckIP1hkXJ41dwqBIlBIrydWic6Sdge6owYhiJGllrLdu6ogGsfi5aoU3WMfoWjG72arOZ6TzlWOp_Zsf1UoiiwtsI-4wBQBx9wbM32xr0Tipcul6PiPWYr_wGkmZyefFvrcf3bYtMzg8vvgIhC63CE3fyrQFPO16efzI4vMWrw5NsSLezjzL9iq_DMs-4ZdRx0HEZ3sYA_8AN9KnDMkhRHxmUsIwcl7BVdYa1eHqUPYaXhlHEZpODGVTj6c7iL0sgkYWWmTUyshyajMoVdsUUu-Z7lMrCH6ym8pxjIhVJKsXb9zSC9ZCWREIxnB6xibk1goAkVPQYa4C3oupTzCKf7WH1lFn4VS1FeAmA4qcZKwUlR3QW-5aJaOfwPhx5yogHXloYC1gGCLTWaPEFh1_SKoaEHnuQtQ-A4Iw9rKLsNWWIYqBPT2wjhCLtd_r4ro5CS5jzWwtrkgsvsYsRhirDBnF0HI5WQG0BTJIjA_sZ9NxF7bp-eM4L6uYv_KaDSrleeZTXA0I8cZ-v4CAuckgwhvfxdVokEL-md0y9t3AwIHmRPg3Bm2KwH_B9gV7V9GQHZJUTCtZGo4HVQA==",
  "id": "rs_0ad5a3f1146b70b1016ab2a95b15d087d09384e9f641a12fb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.13,\"right_z\":0.04},\"note\":\"The neck is now centred laterally, but it remains ahead of the fingertips. I will extend a little farther to place the jaws around the narrow upper section rather than the wide body.\"}",
  "call_id": "call_5Vyh2YIKL4PSx316FASUHaXP",
  "id": "fc_0ad5a3f1146b70b1016ab2a9603aec87d08f292fb977a3a1f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Vyh2YIKL4PSx316FASUHaXP",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3798, -0.0193, -0.0292, 0.9984, 0.3119, 2.0918, 1.1381, 0.3809, 0.2127, 0.1146, 0.9999]\nstate[eef_state]: left_x=0.2965 left_y=0.0011 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9984 right_x=0.5303 right_y=0.1355 right_z=0.0445 right_yaw=0.046 right_pitch=0.0097 right_roll=-0.0024 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.4701, 6.8581, 1.7363, -0.0366, -0.022, -0.0122, -1.0872, -9.0735, 8.1162, 1.5165, 0.1783, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64f801f5b849d836181130a53fc462c5cb862050e99be4a193bbc0a24d5e735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456772b10d25877bab36b31fdc0be68c1ed770060a07dc19fa16e5ed0e685980",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c8902378dbb52b912b5b01c5d7c738c252761608c49acb9089465c34f205b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6151, -0.3794, -0.0189, -0.0292, 0.9984, 0.3546, 1.9911, 0.9405, 0.4671, 0.2668, 0.1444, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.001 left_z=0.1841 left_yaw=0.0001 left_pitch=-0.0023 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4861 right_y=0.1341 right_z=0.0379 right_yaw=0.0276 right_pitch=0.0078 right_roll=-0.0086 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.2923, 6.9265, 1.7705, -0.0562, -0.0366, -0.0122, -1.0051, -5.8462, 6.2291, 1.4774, 0.1343, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlp96GpnxGTC-huibrhx6KFTVTQl3clZ636E56owmOYwelPB7SKv8FdbbI8zOJriRs5uAph9t7JUok1n1DJEtlDD8-4NxysdmGQIfFwoLcJMTVCgqMoXE7d3Jz2CoJsFgT2l4jxbUBB8kNgoj5WStAfyy9u0gRppsTBl-2dfscpbaTHSFNVkNyWTonbJth8HubtoItmkNxgNSVkveNldBy-igz0NTygicoyiRky_hch8sL3zsOJV50o5tvkWSCdpSjlEIdMHgGFfluPm8AGB71PjrSlyd2X_-1JlxWbI8-7miX5gJUpYdr5NbFNl7lDLknK3kEfaXTJUVPXo57TVJTp485yuKlneTL3fNgEh7WTI5L_TUMqWkb0qn3AD7_FAL721hK4Plyiv-uPFy-Gfbxl71AkFUhX3CvmthgTQmXe-jyRxotlGPEP5l9FoXtcLMEgLca44lFXvfQgLQf03Fw6rfbL0s5QRj0wAK2sT7nc3rNRtCuv7FBn8BOj-M5gSGQt9QtnBYZl8o2lWWUX8304M_0GS6K8UugThTUI8U2Nzxk6quOcKSFX1yV5Y1LaCieOd_Le-_MQDRe62Djv0OnscMxTJ76rhRMANwbDV9R405euhu_uAvd_cYSa3iva1AFZpZ5ZyEAhmUFeSeLl8ZUwjaHcWdsHYNcPd3xMqnZEJm72puJNNTp_F4Y7sLHFC_DpqXDGI14aCE52AGH5W-dRFWVTpnBxWSGgq_-EBiJbc5fh6TQxsetHSW6l1ZeTFmv9d_BtTDCFLgKwPaLkyV6wvw6Lv8Uy4hvSHyrZP3gWLxzKikR1pmRPHqQDSpZ7ygdNlL5ndp7BBB0XHzyqNqi2rws5wjOaykHQmeFOGLaAXyw6Q13SKcwRnrGsqC0RIre8_ynXOVcDa2ZykyPOK_zNQUo5xWMfdma9Kk81GGfwpQeH0GUuwme48A75nBVfBFv_qkBUpn7l4XfkF3IJL8Cx0E6KR2DwE1zCuxjr-2n2jy2BeLVXxT_uA4p0EvHMxp_OAtFM07w3zA2UbyaumxCp69q21iLp52PVrYahH7CBGk-_WWkPLtcJbl5pRgSAvn3bgfjEmzad0jdlvAJjUBiftaZKDLV-yxGvz7Ym2EguJ4T698UMXJyldLS-ECkT9Sk57BSu6wkEbsGsgJhDGus_5a31J4uaxOMYD_lO58H8v2xKihF-sQLj5QHkscihwiukrpPA8rI32AMwTsNULwBUmEIn0vEsCbUzn_gujJMslEuZGT0c1LR1C20T5Rp6IUS8Lzwj0kugz1_mIcS7EyjvNO-nxBfdRFeqIRR9bcoYYjs=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9661fc087d080713b134c4e8864",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.24},\"note\":\"The right bottle's neck is aligned between the fingertips. I am closing to a neck-sized opening, avoiding a hard squeeze so the bottle can pivot as it rises.\"}",
  "call_id": "call_VgPYA7SsIHmV9j3pPoO09anl",
  "id": "fc_0ad5a3f1146b70b1016ab2a967716c87d09ce550701e45a902",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VgPYA7SsIHmV9j3pPoO09anl",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3794, -0.0196, -0.0292, 0.9984, 0.3061, 2.1052, 1.1721, 0.3859, 0.2031, 0.1001, 0.2451]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.5401 right_y=0.1371 right_z=0.0518 right_yaw=0.0559 right_pitch=0.0333 right_roll=-0.0034 right_gripper=0.2451\nstate[joint_eff]: [-0.335, -1.5111, 6.735, 1.7607, -0.0464, -0.0513, -0.0122, -0.9915, -9.6752, 7.0906, 1.5067, 0.2173, 0.2369, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffba8615f437111e94debae46ae689686260523d27210d2b3527fedc6083a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c51f2553442d5a7556d31b1f737deb314f7878c3e8815b4cd7506cb9be4d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd24f6089b08b4a341d86cb352706f07d89426062537c207cd3827bfb3b08973",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3798, -0.0193, -0.0292, 0.9984, 0.3119, 2.0918, 1.1381, 0.3809, 0.2127, 0.1146, 0.9999]\nstate[eef_state]: left_x=0.2965 left_y=0.0011 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9984 right_x=0.5303 right_y=0.1355 right_z=0.0445 right_yaw=0.046 right_pitch=0.0097 right_roll=-0.0024 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -1.4701, 6.8581, 1.7363, -0.0366, -0.022, -0.0122, -1.0872, -9.0735, 8.1162, 1.5165, 0.1783, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqlvwoHOC87uK9cZsVmoSvklwPDbqKWYXPdyFGCA93d1GTIQhoCsLNEtMd1F_SadyPZY7tnpuRhdQjoC4tQcvum8L_O_CfpQ4zwj_XVwW74ASF29hcGfseEBD7yX0CwSssq5DlDNSYhOeZLur8--TJKuYYX7PKP05LiqEIZnmu3abUfKEpRe7J0oaXO8dbMh7GyCH6bGQXKnXEWaQ9cxP7BUHvoNnPhCoPPDj0HcOp9vdMBiyEdfT469gGUGtUq30CwsBwSJc7pQlH4SYrhuvxHfQeSXsEHtRRJGf5kfGVCyQ9VIU5X6uKUuafnPqiowifBa1kh4SxiWXyQzJ1XSr4zowcSvtdo8H3XD7OSGxlQuJHnqHfePXUMxEDRxKDG4vWyE9qiMS-40BbIcEpUuOsGvFi3C4sq3HgAWqwWlc-Y-v4039tLoIhzDWUg6QPr9jdvsK2UwbuakXK5ER_1hBI5j_LWBFoEkd11_SFzKYRP2f2Se6-oZHCDTSpvHBDN8_6Oii1XbYmZAzD7NFzb86CIcUOjJ5f1GTul64n3pJuw1qlV_hjOGK_tVN0lyDvBH_qkJelQgODUxbO0Q6eZMdywdtIJef_lEhywnUuRbbdrDzB_IMK-gYOauD6PTKu9Tr5ztbH7jKwQ1JedZZhrUbO4pZ7XrdWRjhon5yYTVIxQKj9Hy8I0Izd7Z1n4zXxMVgLbbfVY1nf-T_i8b6hQnZrSphy0lMb5XeNTa8hMM9Xsku4r2PA1K_xPFlUYLSvw5nXOtyxqH4xhwPaI_5mJYIgMfGo2Y6D_wFA3I9Uf_vthmChuU0ugDWAhJR3NfbUnulFjKbmpIpdzalkD0i1wSmZtNVRCcMvjb3npTe9wAyflaiaUVuzjfekUMldZH6na4WHA0a3xhcjzxwC7WSlbRguDtFYnOVJPpXVamrENYHHM3NJaocLPR7xB_XyqGPimSALM94RHeMCpTc3QYFYsUaGAZVqlEIwOoEsb0-uPTUlnASOS2tZiV_r-AqpggpuJjGIpmG8MAHF23ED80ikRpYl-TiFaa-mGr4UHjo9JDkdXYeNelWfrkg6FiOEKFLukxT35FyB6RNZQ_58WzWCjsVFB_HX2aYg6SEDbkWf7dbpnOQm5IrCgelr8LfNJUCdW6WM1qsRYIX5i3JWZFXUzJbscxLqOZKX2oqc12iTFrrp6jBPDOfQS6cKBv1rU2CP_tyQVS486w9qnIQrZjjQiWAAlaG5oXp_pyKKmBq6cQ4qgduVI=",
  "id": "rs_0ad5a3f1146b70b1016ab2a96cca6887d09bfc74a5d70f7ada",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws have reached the requested opening, but the grasp is not yet confirmed. I will close gently to contact before performing a short test lift.\"}",
  "call_id": "call_CuJTNHc5EReeHvR8RuLEGmXg",
  "id": "fc_0ad5a3f1146b70b1016ab2a96d800c87d08322e8a1763db150",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CuJTNHc5EReeHvR8RuLEGmXg",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3794, -0.0189, -0.0292, 0.9984, 0.3061, 2.1052, 1.174, 0.3927, 0.2043, 0.0998, 0.013]\nstate[eef_state]: left_x=0.2966 left_y=0.001 left_z=0.1837 left_yaw=0.0001 left_pitch=-0.0034 left_roll=-0.0008 left_gripper=0.9984 right_x=0.5414 right_y=0.1373 right_z=0.054 right_yaw=0.0551 right_pitch=0.0419 right_roll=-0.0021 right_gripper=0.013\nstate[joint_eff]: [-0.253, -1.4701, 6.9949, 1.7509, -0.0757, -0.0562, -0.0122, -1.0735, -9.6752, 6.735, 1.4139, 0.0806, 0.149, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d02c097c6cee7b795c0b94041031a225661ae3fc763a11cc9b1ae7164d59a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16fe1d48823feff033b3f51f3c5d61a9e3da6d6257349c5142de2309f2877a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7019a36a4d06e4d15f4e5f86804b1b1f1600fe012762778bcf6cd641652e872",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3794, -0.0196, -0.0292, 0.9984, 0.3061, 2.1052, 1.1721, 0.3859, 0.2031, 0.1001, 0.2451]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.5401 right_y=0.1371 right_z=0.0518 right_yaw=0.0559 right_pitch=0.0333 right_roll=-0.0034 right_gripper=0.2451\nstate[joint_eff]: [-0.335, -1.5111, 6.735, 1.7607, -0.0464, -0.0513, -0.0122, -0.9915, -9.6752, 7.0906, 1.5067, 0.2173, 0.2369, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsql1STBn7EUvmAUPFPUSKNpoV0Ru-fjY0FYKKA291frZG6fEpKihJcmJ_hn9rwrcJY2gBFGNimAvcV-kZDlDkgC82Ljrm0pXphqqpCCUMmfdieJ88W_WtKsU2OMtjJAgHpfP0S2iI_rIWhaluZDnMONTz1jGwp8214DcSrHYtJBHJqSUxQy-i-bgd0vcIrp2jE9ba3ZlU-jzX3xlHYcTLt2GMpqPDRNRegJDhyDkZfpmVjTbN5ttP-BIqBRtN6mLJYJSVorTiO_YRuwV2R0sA-dYYORHR0GW0cdzyoDtCdFp4Vb-_W079LOSsmNLliR1D7wAZCLzm-wqHD6W-lx_bTDDYkGfiZ6grD7beX_1EQXDex4i71-wAurw9oCYlku7xDMFyWqPBaXlXN5C1lLSmxcDhDaZMTC4KhNn4rjSlduOrC6KFiBJNLKbmwkWRUmbYx-FLmbciBhtg7dVjQb3YITcz9p1hiJqTyloCVZ0zKr2zEPZ2ECNJfdam5LW0yzkU7WKzuRzSZtDsfWkYVCK6kOrSi3xerlc5EE-Ik4INOlnmkQNimXwrMoKmhSBjUUnfEA0CuWBJ-A3KZatcBZTNxJfI2QEtFLkWR-94-OLq0ZmMJR3fr4yd_VIm4Fv4exGhVQ5dEZOj6GAYSfxcKxgDgmJA1d0cRnoEwaXx7xuAa23dqdeemFQvpqjfjwiazY6M6fRLODt-cioCgC-6JsXbwHvQWB1PjZ5Elgga6hXtI6VVjlgvMDacnGytFj7ySzWbTIMiUh5L7h1MKhHgPs0-FJUPUdeweCCRBuYuKsF0U_p1lkP0z007hKwFqyXegy7zE_WTF73sE7Zh0NkhN1wNmmFD_dm6Lbb1cwK832c-88LXSUcKYwh7tlQItCRUcryxlhs0iPjBerGSTY3RjigQLAch9sLlL-2Txw5FFoS3R7C_GJ3Dtp8kaLz044qiQpvLE1_SsDjlxFNoelRoGJXu2Ape-QbambC1E6ENZJUG5B-Dr07ZZ0DtCLPYv3SmKQG-9cHLdR6i_YfjrXDdrBhctYcvEG_N2c-WauyeuVEWLYDoR99TH_E0y1tuq4WtXXi7DxJ9lVaglDTedtdntyESES9iPmdik8JAMMEwM97jE6RtDGgRRAclVxsn1IAGbnJo2RUDotuw6NC7M0gZ60Dn8QDZqsiiwT4WHGUBVWldv8wYmWL0wm5WrE2maP_AiFzmRSXa2kMDMxGrO78WxWTmqSIUPA4LiAdvyo4SdjjKY7vxO_BhOFb_HIMNItshIhmcsk4",
  "id": "rs_0ad5a3f1146b70b1016ab2a972c40c87d0817d7da755f6a62e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.65,\"right_x\":0.56,\"right_z\":0.005},\"note\":\"The close was empty; the fingertips are just above the cap and neck. I will reopen and lower them, with a small forward adjustment for a second attempt.\"}",
  "call_id": "call_QoSZ6YbeydM3NIeFA16qpISJ",
  "id": "fc_0ad5a3f1146b70b1016ab2a973952c87d0804765739e287e80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QoSZ6YbeydM3NIeFA16qpISJ",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3794, -0.0189, -0.0292, 0.9984, 0.3061, 2.2105, 1.2602, 0.4648, 0.1787, 0.0731, 0.6459]\nstate[eef_state]: left_x=0.2966 left_y=0.001 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.566 right_y=0.1497 right_z=0.0457 right_yaw=0.0901 right_pitch=0.091 right_roll=-0.0011 right_gripper=0.6459\nstate[joint_eff]: [-0.4171, -1.4154, 6.7624, 1.7656, -0.0366, -0.0757, -0.0122, -1.4427, -7.3915, 6.2291, 1.2137, 0.1001, 0.1978, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d06d13838d26d114588bfa7e3150ee4e2cb6e662fac7ff1ceca3b7cd7f78fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000dfea146cfb6df8b4f45edb42ea26deab2b372cdc32fdd208d08c6cfb3c1b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211a5b21e258a5b278cd8609392a1d57fd83f48b70267acabe3d0887e6f8b90b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6151, -0.3794, -0.0189, -0.0292, 0.9984, 0.3061, 2.1052, 1.174, 0.3927, 0.2043, 0.0998, 0.013]\nstate[eef_state]: left_x=0.2966 left_y=0.001 left_z=0.1837 left_yaw=0.0001 left_pitch=-0.0034 left_roll=-0.0008 left_gripper=0.9984 right_x=0.5414 right_y=0.1373 right_z=0.054 right_yaw=0.0551 right_pitch=0.0419 right_roll=-0.0021 right_gripper=0.013\nstate[joint_eff]: [-0.253, -1.4701, 6.9949, 1.7509, -0.0757, -0.0562, -0.0122, -1.0735, -9.6752, 6.735, 1.4139, 0.0806, 0.149, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsql937DTaIC5v5kVX6fYtGCaiOC-DBlOXinIbuC0MoLOSelYdD4ta5Q-2wSQwQ1xtNgTiYV7b42rhACyQqaJOMcO6HljgLRM7yPqDEswt2Zw22za3XP1p4MylFIEhE4p5x1EN6SCoxvnbl3o16EaHmo_TMdyotxpToF9JMFb8_b86tI8R6UomWW0T0m2AqxTcER-YUDQ3_ayYmRAKcSSuCiW3v3-M4Z097mJvepb_jFzqQRHPJvzlIlWWSWsd0-xTpNH_qyGO51uC-LfjGON1_rwerQOQgpWdDTpFeU_TIdSnGFEyh62crZMRUqsjOKt6x64gyySLPFWiErHFvuBHjygcmKjbtKTwLEFZpYBMN8yrizmVahrrtrXSnBPuzSGjbMDK_tZM6Fp8c8Ce4g-dun6BZLrFbWQZCoFVfrqyYjnfLSnG5NIg1bI4vSs7x_lknDfVvphzFpZ0WAGbu9CiRW8mIDDKLv8TD5EeTwaiVLAA7PJa6fmCGUdT4QBP7ozp0x0i5O15VK3NilrZwMT5RAtOv6d-IgqnlGvDGtqwOFAMPCSkS5WEgfOLiuNpHwuBuYtXQmh-OuO1mqyX3shp1AOU6wvt2_bPRMJ7VXti92Fh8IPLCA-kC48Kd2jKhClP8p6kVIHIa4rhwdLTXslLCdFeavBA6pEdBKJq1Ps2eXT3NhJ1txn9IrIgm7Iv2BwLcu-3g5pWemcGjFfFPPTqOejJQfkv-lS258JhNHF0Rnr5HShpcHOYpZH2GVRP25uLf_Hs9CO9NjH1JPi8ftY4USRg1U4OIvkQD8-mMQxzrFESqTrG-puOCWL21cWrUFk1LbSZDn044xUZR5Xof70czz9AtsP565Jd6mTsAOivCzSseylvnORDqDsO4mWEtoFWp-wB0w2V2JVVKEJOlC81Cpe-kTsEwB3Trunt6dkwULXX_z2ChHyuqU1DnEURFOQHS88Jb_h40YAj4d9xFjN3GUnft9MhKiLwcaexXGYVW70kMU-zDnJlBLwOLxHYp_CAHLIoJGej2WaixeBNFAmA-7TRA8BnppbLS9uaEDt4ahKqv3YSTQnXoX4bVl4HnwN1BGASGG4xxloH2FTI_9QS_O62U9QnREGsulr0IOXom25OtjPrtIpmQHEEvgzi34U9Rn6wl8ylCZK_qkL7-O7WveassV4UP8aW7_f2ENMLM7_f-56Lw6hpb8QdC7Jh7N0hktwkcONZDe7iJiESmTKbh8NwN6xBydXE0O7Mh_1IVXo_xZ31B3uoTKLICwgKvJCio3gjMYDw-2WVQ2whClIDvro94BXkG1rUeG46g4x06OWU55dAkGgVQhw9bsDDvKEpd1ZcXg5VPhbUT43YP0Elz4q9igMlbmuOE1cJKwYs6johxvAMnUauDDcOK0hpfFS4_Jr",
  "id": "rs_0ad5a3f1146b70b1016ab2a979ad6c87d0b4ec03fe9ab99bc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.115,\"right_z\":-0.01},\"note\":\"The arm could not descend fully at that extension. I am drawing back slightly and correcting sideways to reach the bottle's shoulder at a lower, more reachable position.\"}",
  "call_id": "call_OJpdq3FrrQESugm4Jxiw2lto",
  "id": "fc_0ad5a3f1146b70b1016ab2a97c08ec87d08824b2f7f57cd5aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OJpdq3FrrQESugm4Jxiw2lto",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.379, -0.0193, -0.0292, 0.9984, 0.2657, 2.1521, 1.0748, 0.6586, 0.144, 0.0692, 0.6469]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1831 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9984 right_x=0.544 right_y=0.1255 right_z=0.0459 right_yaw=0.0795 right_pitch=0.1534 right_roll=0.0238 right_gripper=0.6469\nstate[joint_eff]: [-0.1436, -1.1692, 6.6667, 1.8242, -0.022, -0.0611, -0.0122, -0.6906, -7.8427, 2.3453, 0.5104, -0.1099, -0.1001, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e34be73eedb577a68659c185f71223962155bb730690dba0a571e0b683721f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84dfb8da6bfb89d3263b5b7aff7281868684fad42f9ad3ba784afdb9b95f30fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11df10053d2e6743d86b6ea38d7c53b4e3a49ae4afbd7f05357048a43472bbad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6147, -0.3794, -0.0189, -0.0292, 0.9984, 0.3061, 2.2105, 1.2602, 0.4648, 0.1787, 0.0731, 0.6459]\nstate[eef_state]: left_x=0.2966 left_y=0.001 left_z=0.1832 left_yaw=0.0001 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.566 right_y=0.1497 right_z=0.0457 right_yaw=0.0901 right_pitch=0.091 right_roll=-0.0011 right_gripper=0.6459\nstate[joint_eff]: [-0.4171, -1.4154, 6.7624, 1.7656, -0.0366, -0.0757, -0.0122, -1.4427, -7.3915, 6.2291, 1.2137, 0.1001, 0.1978, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmCrw069BWjjP2pUoHv5hNpbpSyGIziiyr51e7h_xvurFX98Vu6sAs04Nh9bAhYG-XzmUV7K91402IulPvWqcrCFfcuVubTbRR71bi-bT6NzysjsXfUiI4BpaUtVYRSOOR-WWKWN3tmA1j2HcPBSla3nSArkDHoADTAQIn155rfhvxzQZ4tOmxElJaY-Q2FsF7Z7Qw7cUNyiDnsArYbcNxzHKtTLnSWh7O_Idyp77eTlDnBf-uRcp_6e6bFZVYHGUMQVW6ydeqZ1ael1tY88m4WlteZ_OkSa1Z0xWE0f6aAA1dlTMmm3xinBVFEL7jB_drGMvYgAutRDsFVBPPxRHy5DVzytXcmkbarVA8I9RuCQJ-0fJCuPscEbTeEFDrIuKp-AbmnxmuemqV9k_oPK-eX9bnK4Jpodc4VM54JbnTOgy29NHFx5D50pTNHMSSguGrmX0PKJD2g8uQhcbZLmQWow_2IFW-fyZpHkZggP4dU7PAS453XLx_DCQbnqWFk-PhzT1nVU_hwxt27scahu4BrTJRy998Ln_cLwPNX9xzMSCDBh8MmB8vKvuW25LW4-2caD4P4ACGL5CPz5DKIhYgtGqRRAeoH5xtXprExjdDwN3HmUUvJcdP_xRNypKsQ1P2cEsSaB5lVvIk1Etj7Aznww98WjA4f-mZRvSgXEsq7BPZAmPu7lY34Q37RUZiOAKSb6EFRef8k3GOgkuOOQBzAeO2T8_5xZ1Cx31Nv9E6VYcmpQi8EzEDFCTGs3tohwTe00t3qV7w0LA6qRu7_0QWSvdcBPagJedfVzVs1xo_xsFAm-q5GCv2z_9NLQWwQcTZpoB65SSgxNvFl4JGQSWXVqvADrhs_UkYhNfSJ4YVCjDgbbl6QLMmmwMHsdkE2yMnSoEihs-GM9PvzMzLluVLRF94eHnyM4ePC4rlJCaiyG-KuJJOVvipUjGr1pvzT-yKjHr71Q8XUu5MZMCCw-Dx1dg5-p6KGbWG6SM0nc-2BhWSUp_Q0xza5mpG3eZ9diY-z7hGeyEgrpk8Rg6qWpv7_x-vmcj7Gw5FTTvOW_6Lx9RC-Mk1ZQW5LAe-BxllUgyeWNooKnWCXBR_12aoQAmPniy0fDCIdFgcaP6yskbCulWYcDguxxMwzV5uqtHsxahMu8MmRWXzdvmrUgeso9MWdW1F2IMbfFtuEzYjCDwrkS1x1hxQcNlvWm8SFtTfFhvRBE4zSMaXME7zFG41-p3PmESkvVeGsZGSqRRH-ohqpA74so3pl-0YXILIQT1w9ae79gv4mGiU9msi4nzI66YHxjqHVJiOGkODcHj0vbT84QKA=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9804bf887d08d6f318a5a78dc83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped with the jaws beside the bottle's upper body. I will close here and check whether the bottle is actually captured before lifting.\"}",
  "call_id": "call_66zZJPKNv7SEvAeizjCo2RQt",
  "id": "fc_0ad5a3f1146b70b1016ab2a981c82c87d0a9e001edfb5edaf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_66zZJPKNv7SEvAeizjCo2RQt",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.379, -0.0185, -0.0292, 0.9984, 0.2558, 2.1509, 1.0424, 0.7502, 0.1249, 0.0574, 0.014]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.005 left_roll=-0.001 left_gripper=0.9984 right_x=0.5442 right_y=0.1233 right_z=0.0544 right_yaw=0.0905 right_pitch=0.2118 right_roll=0.0307 right_gripper=0.014\nstate[joint_eff]: [-0.3077, -1.5658, 6.8171, 1.8095, -0.0366, -0.0562, -0.0122, -0.1026, -8.0342, 2.5094, 0.5641, 0.0708, 0.0513, 1.2772]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876d2cbab6c7f4e2d4bc1bcfa3ae6a438185e867c2859fb19241a9cdb085a193",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ee0131400e43be95e11bd21d18af0dd5c87bd439401346279245296d09dff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1df1cdced62f16fcd45e48664dea13a6dde0560b2e899914c5eb8a3a0da4f4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.379, -0.0193, -0.0292, 0.9984, 0.2657, 2.1521, 1.0748, 0.6586, 0.144, 0.0692, 0.6469]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1831 left_yaw=0.0004 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9984 right_x=0.544 right_y=0.1255 right_z=0.0459 right_yaw=0.0795 right_pitch=0.1534 right_roll=0.0238 right_gripper=0.6469\nstate[joint_eff]: [-0.1436, -1.1692, 6.6667, 1.8242, -0.022, -0.0611, -0.0122, -0.6906, -7.8427, 2.3453, 0.5104, -0.1099, -0.1001, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmKy0corw4mHBlZS-pNyeVBrUn4cX50SViuESuXzuwHCQonH0FmiDgkyszCT1i5674jawytX5J-QN7gBwpYoMg_pGsYzSRZJDMu3JmTzo1566eJi_5xYCaNimpKbp_3Vw-T1l8pQc_G4aLmBk-suX5fHjmxSPMeiuJwu7v27pofPhSqyDHFQCka08NYDQnIg7ifoJcp8fvuYhkWo9mfQ3UpMFxDtyTr_mwOktJmJuOTHN3xDCzEo1Iw0IYPhZQP7yCXBbLhhpTYClt674X9CkIzNtwXwph5gJxn0CZ5K6Y0lXGmjpnhoSrKxbjzCyjlCy0ICU4ngsRy_6VzxgkDJnvCKwUapoIo5omg93UO_AX2k54tgk0ZmT3K1sUHj9iyTlwa3au00QIpEsSGZOZ3pdpGSpz2ZHvKXl27KV7aFyJksYCKDLON4xSDyDe6gSNBNiGuIKXmX90ak5h1_FVuAoCEh3EhoKI2wDqzPRPJ2gD8AY9EQoz6TikMscRE4jH6Ui5GlIYiT_bVf_HBr_VDgG6kH6nAoFPZ1PxpgiCYXY699kjRufiVWcKQdiHZ9gx2SozfyI5ExUlp4b8BHfDLWi4O_sYibG0JZ4c52zd7QBO7zfVYt4SW8CEAzdAND5PwgkpmGvkAL_GZCoLadX9P9GYd16pGwdY1S-d1wVN4jhluz4bxyDSjiVUHG-CNe24_zO697VmbjFg2Jw-gPf3nvEdIdxWjXTXU81RA6Ernj-CHyOdSXi7_CqkHeIl72eakya4dtjiL7h8sVKULn1mC8Lslsq7vY2Pepf_Ci1RiQF5u8Mmpq4AIz0p3B-PQQ_l3z8-KLwZY_Ks3S1EneN73z9_-fmelKEp9MDKzD6zkId8S8JyV4u5BqUIfKHcAgICQT_PmyFyRiOXsIlqykv4ErOudJao_OQA8Tke9gwWXEGAloqrVpUC3Q35XHAMkxXQGnSLENQZWOA2U1SdHinQ1yffAjvMIgUkFZ7fpp2JtXBn4KhmkgTjP_JFUKcNK3Qy1u_amiAekbadKDveUzRygStHs6o2sJ95cr7uyMn3bbpnaf9C1VBZuKCuZ-MIx6_TbsA43F2hLMRxv6qhurqaxXYdshPxrL46aRQTt9nEj5-smgz18fKv84inoHDpmGjQ9NCyWrTHn7ESJwpopUUZ3f-kd_5cJEAWTrUMCqd6pRGkYsyL7eZPAjiUHa4E7ftOucEUzUPxZsx2OWiOYqFE7un492TEl0QfpnTSAI-aeTbj4WcGS3ULSFhPrHEHWxc8J1HTOG-zYkBsGQSrKW7zS03gM_E6dwIkCtglUxhQ6EbQVyBqFSyvYd2IJj0VlTFtjhH8HjnDyGcdWjHt7hkWi5OA1mQ==",
  "id": "rs_0ad5a3f1146b70b1016ab2a988136c87d08bd64bf4b638019c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The second close was also empty, so I will not repeat it. I am lifting and retracting to uncover the bottle and re-establish its position.\"}",
  "call_id": "call_SQplOy7grttsIvQKPf1wigul",
  "id": "fc_0ad5a3f1146b70b1016ab2a989468087d09a64e4800785b657",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SQplOy7grttsIvQKPf1wigul",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.3786, -0.0185, -0.0292, 0.9984, 0.3351, 1.5631, 0.9138, 0.0967, 0.1791, 0.0937, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1832 left_yaw=-0.0002 left_pitch=-0.0046 left_roll=-0.001 left_gripper=0.9984 right_x=0.4409 right_y=0.124 right_z=0.1478 right_yaw=0.1086 right_pitch=0.0252 right_roll=0.002 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -1.4564, 6.8718, 1.8828, -0.0317, -0.0464, -0.0122, 0.5128, -9.1829, 7.159, 2.1758, 0.1001, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a9ebb368dff957e6bb185aaf6e6668ee49b3258fac9be8e70847559279e7898",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c412f70b5a52639f91652500377492ee6dfa3df75bed2976616d835b730a48c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2c8651733d82ec22698ddfc5fbf17ebb7c2259a07ac83aaa38fefb86193d4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.379, -0.0185, -0.0292, 0.9984, 0.2558, 2.1509, 1.0424, 0.7502, 0.1249, 0.0574, 0.014]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.005 left_roll=-0.001 left_gripper=0.9984 right_x=0.5442 right_y=0.1233 right_z=0.0544 right_yaw=0.0905 right_pitch=0.2118 right_roll=0.0307 right_gripper=0.014\nstate[joint_eff]: [-0.3077, -1.5658, 6.8171, 1.8095, -0.0366, -0.0562, -0.0122, -0.1026, -8.0342, 2.5094, 0.5641, 0.0708, 0.0513, 1.2772]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmXINLtJhfy8lwtqhpkef807oJs_-PuAhWJloA7Uhr8loeOgxlOoe-W1YQZvxB193IXG156P6hEtbAFnH_8nMdD3QQggi9-wIKjwHhUgL7uwuggGYTVqanbCMbwb9ea5qkGp6eCzuAc7mR2Y-g--S-ZMpaiTq3VOM8ZQ3o0xV_jXvhKjn6B64IOE3CXdnjj1zxxVDXtgSXZFMxQA5_qKYAS4rN9a_G8LCC1QZ6GO6_hizZ3kHNoMX2INR_tykQLFCRd3TUmCk1-T2Y4MaSLhyUt91vU_fw620TxgrHud8HgXLABtgTkrJR0CtjrhD5gHGUhux3O5MzptOo0J9GCNmosPpeBZHS-7tP-3snQjOjMCBaDPxeinoEexFDyI1yszkoPsM9CZXycP7ihoxSq05jJV_fwvGtgNZXP-dbz-FFYdr7rL4GKUCxsJl4NC4kB-XW9LvoQtLP8kwRpbLq3NRQwVjES-yYKzE7VIfQ06KFA4J4nTuse4cBZMbbBt0ozBv_1rguFllreveYs_AEDDT0IZbYRuvH0eU4dF7TGXw-E2RJWLU-POQHVDS8Biazl9oSfhCRiuGThILGLjAkihS2Lij-xkAIDYK14kNomtfkfJJcosfBnQVcaGyO13URd6mLoNktRANtk3H8nSCg4u3AwwP0QmZSTk8wQYIrhhb305DlN068WQHmMGIgsfxdaA55fK5Uobka91QvuJ5mfcYGfOSnSqlboGz-3N2u-FjkwX486MDNbEDLJAGEDQRvNE8MX2OkBTG-av6a5d-k1ccc507qlYTHQtddffo9wCSw_b7VUrmFGK68Y4tEITLG3PbTX7FkK-zRPYGcg4tbqux2KKwKpCdIifWX1btFzFssJA2NFukYMlMDcvEtQKiY5YJg6EbVOG5iFWaRHc6fmSCsHRZcL0_fgpgaTj9VD3BrzOEVCzciQMaDBxTEpa2V31gq2GAWaeAuqn_hV6sTxaqq-OY57paorYVDuePn17P22sO3uZv0fHmSP-hoykIBlQhRJa07d-NvLZRHfPnxKEQ6Ij-Jk47OL_qD4Z3-KbFTuU9opy0xgQzH45Zejvweh7EhFhY3A9Yh1CZipzICytRfNZlajQP9-6fhOPaQLBWuYsokYFXI9tFJxk0f5AtRoeFPCr6fq1WHjaJ9zO0L46j-LoJej3E26lpnQfUfF_yYhbNHrLNWB1OkYWDzrzpXwm7xhy4_C0zFl_N4Zcm6EslYe3qiEXAM1u-YR4hvbpeSC4zLOkmAtow8w0miB0gg2Ei97MTOFDC8FoOl-Dtz1iVHIsKFXP28g_JbxPIYUezsAKE4ZXmMQi_Sw8q8BCff4VGq7zOpMBieEV6mNJ1zkkVFK6cXtaG_5KeUv-0HUo6ZqpHr3mdxepPlnRqghTz7fiuXwAM1Bt4soBiKtQmBLjnPxkqb4tB3_eq_RIIkV0bE5TqYQkl1f08J-Gp-N-nyJ4YZ8Ivh2sixZij-6OinP7Sh2cHkNUkdn0qzHkJI1H6kTibGb4z4y8rOOAld_py1gAAdsTPzVu2jAuGXJDKqa7v0M7q6tj8ZVQoli9E4WoDfH0pcS-v7PebXJ5waeEqPhhIfnLHVU710QKdIZ4YbMR4XSEh4XO-7sg2tEd6mf4IQ_xT_ZLYu9rsG2RyFBnL4GrcJLmiYpXMj552pKScU6YV93eQe16w7YeYfz3dTt5OKfgNjITnNmm7Glzw1WzJ3qjZ_UAjyT1i6YwQRkl077DhWiEcgZbmyOs9PC7r4wDO3lPtB5FafrwuO4v3JtxafCDKS_P7S8tfqBARLEQrpQgbRf2NLirIbmcVYvkOklBT0mNfRdqVJctI9N5DND7XrmvkXuCEFkUI5GbsT32qNt82vFPnOA909HVT8joFBGof2KEckAHFTzyKKgsOpFE5YkIWdT-3b4YjEjl0rxvLimwyBLwA6ctQasl5GbzSPe3B1mIxcx9y4dzp0LVkIfUExbhxRKSALzAgEg-_b2SesaYXwzdjkVOLJuiah3h3nTU4snQ7mHZnyLw1G_4qzlan_VkDsrrdfW-bPyVtIxcxDuAVMvpQ==",
  "id": "rs_0ad5a3f1146b70b1016ab2a98f3cc087d0868b0d415b939e81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.12,\"right_z\":0.035},\"note\":\"The right bottle's cap is now centred in the wrist view, and its body remains flat on the table. I will descend vertically at this shorter reach without another forward correction.\"}",
  "call_id": "call_6JmAjCAlRsR49lHFaaYOtyoO",
  "id": "fc_0ad5a3f1146b70b1016ab2a995c6ac87d0a21fe7fe5517c57b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6JmAjCAlRsR49lHFaaYOtyoO",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3267, 1.8221, 0.7296, 0.4706, 0.1677, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4348 right_y=0.12 right_z=0.0357 right_yaw=0.1082 right_pitch=-0.0439 right_roll=-0.0049 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -1.5658, 6.6667, 1.7656, -0.0269, -0.0562, -0.0122, -0.3624, -7.0769, 4.5197, 1.7802, 0.0659, -0.0855, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ce66a1babe04cdb6b5b9475239d09cc83409dfc3ef6faefd70d88f3fac9a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d7b290a9cfe0e7715e754ed82a6e9e4f9182cf79bda83028f98098826e2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6475a176c3a131ced1aac56993d74748121267d02f01becaa8cd6319a19fa7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8005, 0.6144, -0.3786, -0.0185, -0.0292, 0.9984, 0.3351, 1.5631, 0.9138, 0.0967, 0.1791, 0.0937, 0.9959]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1832 left_yaw=-0.0002 left_pitch=-0.0046 left_roll=-0.001 left_gripper=0.9984 right_x=0.4409 right_y=0.124 right_z=0.1478 right_yaw=0.1086 right_pitch=0.0252 right_roll=0.002 right_gripper=0.9959\nstate[joint_eff]: [-0.4034, -1.4564, 6.8718, 1.8828, -0.0317, -0.0464, -0.0122, 0.5128, -9.1829, 7.159, 2.1758, 0.1001, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmfthtdqH1b6URBRPOx-RElAUp-P7hlgRI7lsbhPCJICA47gM_hFFDL01K8HSr6TcJh2YNa9-DinwA-hyuud9XyfXyPHd4irxa8sU3Fdf6drF1SJO1WPry1RMyMLvGrkRUUwx7ZDFY8rFkqMwAmsQaDL0Y35pMRfArCjFnNtYhcvtqT8wUgAFZKKkS6_nmrfWDbAelWUhuCh9M1fA7zFcmf4TZz-3FmhAWt1dOp8wLvtjMJVKOZ-14lcqmeuUtzbmPkttnpHbzY3nGU6oKe9IwNRWIjni1BIWgRZqSuUmui4sGeh3bk-7G4CQ8i_Sz7_j5g18Cft99TE77xZRALvF1xqt6u1ZlC3bAoaTVcLm0Ekj4xXL3uycGpreQJnNpobB1XnagaA1tKm1DJt6qcN6TXXNAsgvFRDXg9z1_cY4ufy6PTnIg0epT8oIL6aQZZSoPMwvZi8HBI6aX8W3g2Ty4npyo92ktIuouD2HMqttwdh0BBWB-ZKSPuN5Nqq8ySrevuaNsQVJvjz_icZ3cUe7dEy-jxO2Ej50NWQMvx4VrX8wDPENA64mEZr5jYojYdM_b55-keO35ls994Sk-jmlJP-E6VZl964RVeXnptoj8M3TkhSKD2Ro4ukrCGt3DGhIgdT8iLti13bbx4XRJwDbp31dfs-6sQBsFuhbFgSvx4-vBdbje9AH7oW9vIYkpW2JeRx7QnjhDqyC-JsiN02WF6vlt9NtrPD_-Ww_kqz1yUPA8HrRD82535ldpkEE-tyi3eClSEETh7-Z225sGry-zuFXsT7LMxwYJe5p9WLGDUPSKqYnsV_RrlRX7R4T6VRTCCUwDHz-5dz0DT1x-A6XXmHy0sqRDqjNoYmRtZQukR9VDjzMLG_wOIyNmUs7VEp8hJv0kC6C8isZJRyZPteRdbav1gXo1DsYeQBV8jBzieeIojyIK8l7wF2fghcDI-y8jTX3kV1cYMPreLKveZX0tB7HyEQ-WXjVXrEOKw0YhzUJr5PMPSdprCo2dcTpkRVW0G9jlfunGIkbJduGeI0yOlYG2B41gBN1WHy2tnQxlRKG1d2eusnhIt_frpGiyscrw5V3oDHPLVbieGV0rPlHvC9fOVyNIRG6uS56qlYCuN01196yxoaDJkjU-AWe-CY85EGM87R9Q0B4XvTlskV21VXxHl3SKtRG0SLq_QMy-bykIq95J2E1hhy_wtPSydWZRNKI_cGEaWksqoOMZv2BpuR1aSxfR6AekYidaID0ig7qYEnpBbqd_oV5FLssiyYaZyXHqiuP1LHk45zkHuBDUApNUPdTBHXoQ-J9RFGInQ-XUh9Ksauz3StZ1jV3ESvMpk5ayz0Cyj4xkEMoxsz_EGarDauLDHcixqFJ1wdGYA1S5ZOotH43ABRC7P4MGlPLKcUiBxw2VyRHBg9BMwYM2DktBCsqj8WgY6prjkhxH6tNQ=",
  "id": "rs_0ad5a3f1146b70b1016ab2a99b09d487d0810ba190f7c9ed02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.128,\"right_z\":0.025},\"note\":\"At table height the jaws are beside the broad labelled body, with the neck farther forward. I will slide the open jaws about five centimetres toward the neck.\"}",
  "call_id": "call_8dhjyA4Y4dtTPzPsjLFYGP3V",
  "id": "fc_0ad5a3f1146b70b1016ab2a99db7e087d0aaf63a7fc8645137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8dhjyA4Y4dtTPzPsjLFYGP3V",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.614, -0.3786, -0.0185, -0.0292, 0.9984, 0.3119, 1.9736, 0.8635, 0.54, 0.1513, 0.0734, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4756 right_y=0.1291 right_z=0.0302 right_yaw=0.1196 right_pitch=0.0052 right_roll=-0.0044 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6205, 6.694, 1.8144, -0.0366, -0.0122, -0.0122, -0.8957, -7.6786, 6.5846, 1.663, -0.0562, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5e5e8cd14b41137932d96f881e71450c207faa41bfe1da201a15096d3f5421",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f871e3885038426017be1749d78f5376f15016a860d9a32c34caa5b0c8544e75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee9e825c5382d05e77e3ca1c7933ac8804e4653e159bb84a4b75d4cc12f198b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.614, -0.3794, -0.0193, -0.0292, 0.9984, 0.3267, 1.8221, 0.7296, 0.4706, 0.1677, 0.0963, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0011 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4348 right_y=0.12 right_z=0.0357 right_yaw=0.1082 right_pitch=-0.0439 right_roll=-0.0049 right_gripper=0.9956\nstate[joint_eff]: [-0.3897, -1.5658, 6.6667, 1.7656, -0.0269, -0.0562, -0.0122, -0.3624, -7.0769, 4.5197, 1.7802, 0.0659, -0.0855, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmlqJtaTS7kOTvnTIXzWg904UIHlQGJbfuhEucV5nmV2KPHZvK7GJgkcOWndLHXfIyAsZ-sDqS0GgB4gIVsPq8Y6DArLFcuKtrJ7gMukR_JchF8w0-_HZ56wn3ZjNlOWM5KslRO8aMWaX1VfqUIEy822OXEj51ltif3LfYwa74qO197Shzkffht3rXIha-AGmjh3Py3d-6JvOPoChhA588cXbFEvdbsdobzATKGvWYKJkVIo9Hhse043eVp5YiZdqnUkVZ5bPJ9cfcHLaWmbiqa8cT9D6b0S6T2xo0Bzb3ehVqa8EFzcia5vX_qi1AR3msZlOxHeGfydl7mzElBQdMI2vCkkTD8Zz_GsqJtll-QwKNhWUD6Sd6ceZp4Cl4esMThjjypp1Bn_xdt7iRkX9Ekaw2-32FdviMHA6czjhBicZS9ke6kFZ4CVdZVS4S-lMgjLlEu_-n3-WrIA7OclDZvPpIa1LbUFYLEIw6Ip_kOBvvUL0wPWVMmW4mnTgBvtkyunT8V7o71tJxgPSMEmqarixGUXCxcKykYSqN03__2iDlZ5CVv1pG_V5PbSaV_2Ef7_DvSW1GnHbRAxMQmP5_QciXSk5g_hgjvhNo_R4AGgGf_iVLaRNimHpGny6hXRj0_dbmTgSDutr3J1xXgTnzz9_iYFNxNmy97eogWVxMEl6XpQTezjDgbUUNz3qySXmiGmEF162-qKyCIxdKZcwIPnoSFZ8mI4DFIRe7RJUXzDLEE65LZKf4PV2oGRKlIspz6zLmHQ87Kqcun4jtwHQEBNRbKT2-7INGwcYHYwBNoruhWccEyMbi2ordhz4DZGdSz6kB6vOVINGN6USesONaxLoCInswlVygKGa2VPkEKohYYZGWBD-VuG1As_VtNTF5Rkfm6RNIfB8Y7OlqcqAeXOnuEOSSYdd_FOnVwBKWmQmn2owqDf3olfnmE7zgnf7nQe6d8N8R03dmuaDEfvLL9iKNPP3R1pKPMQK6jI9GwYP3HPJJswx2dypFW1NAsbA3_3vSa1AtjCje5GZfOQe5sio8e3RSf6oRV9yBbfc-NKoyFeLggNKzn0haMF7SEOQLP6_89OPBY2-AcAm3o1yhJb9u0pfFhImOx3DHQhqnWwMXFuEY4_-47Qi1f_mfoxf--nNAWpmOMj2YF1Fhbjn2TrODRKhnAyjK6qL1zK-Ij1HMJdSmC0TYQ1WNmyy9cP2UiAJqU-RRuAysWYUZUS-tGLZObpsgcA0SsnJQNovZ7uMUq3hjlc19kxM7PCyaTvepRBbt2UzJEhc2IF_vstcet7ba3qUpV97Gx2yp7lPq-Ee1-GAuSBTJyFC7YGkD4-xhS",
  "id": "rs_0ad5a3f1146b70b1016ab2a9a225c487d097483a1b7fa490c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle's upper shoulder is between the open fingers at a reachable height. I will grasp it here and test whether it lifts with the gripper.\"}",
  "call_id": "call_eGsR9XyhzqqUsnwrvC7V7oam",
  "id": "fc_0ad5a3f1146b70b1016ab2a9a3b02087d0b8d9ab10ca9eb043",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eGsR9XyhzqqUsnwrvC7V7oam",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3775, -0.0189, -0.0292, 0.9984, 0.3138, 1.9736, 0.881, 0.5667, 0.1284, 0.0765, 0.466]\nstate[eef_state]: left_x=0.2969 left_y=0.001 left_z=0.1828 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4832 right_y=0.1368 right_z=0.042 right_yaw=0.1389 right_pitch=0.0465 right_roll=0.018 right_gripper=0.466\nstate[joint_eff]: [-0.3897, -1.7709, 6.6393, 1.8144, -0.0611, -0.0659, -0.0122, -0.4718, -9.7846, 4.1778, 1.4383, 0.1929, -0.0122, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1712b9fa9ffebd1f67c100ae867723a07716dd98948145f72186b2b6a7cae89b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0b21388d33d8477e61e698e373aae0dafebed1418e8ccdd000d8eb655d6e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e19a51a53fbabbf3337fca3802169a1fe9ccf8dbb8658ecdeb587669898d699",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8009, 0.614, -0.3786, -0.0185, -0.0292, 0.9984, 0.3119, 1.9736, 0.8635, 0.54, 0.1513, 0.0734, 0.9956]\nstate[eef_state]: left_x=0.2966 left_y=0.0009 left_z=0.1829 left_yaw=-0.0002 left_pitch=-0.0053 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4756 right_y=0.1291 right_z=0.0302 right_yaw=0.1196 right_pitch=0.0052 right_roll=-0.0044 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -1.6205, 6.694, 1.8144, -0.0366, -0.0122, -0.0122, -0.8957, -7.6786, 6.5846, 1.663, -0.0562, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmqv1aQqgFFaUKz4s4Kj8rK8I4m2iuA5YWL6ajJhuwQg6piiwk91RFiNUXCHhgMAuFt-AS0kJ9fxx3zoAhcC8VzoQPa_VZJYtqDB7usyuFheaUQJI5l1Ekx_Y7daId7eMM4ah5KJ4qj_uV4VWLDE_sIb6MYwMmy0sbj15Anuh2SB-ZqDd11FGWpnUWqTaQw_oc8ClEbT7j7DWeEetzi6d0pNDh0AJRi8uSFfhkvCeIVV2O1Gen0KQOMoBlx-EIs_fDzZ7J9rIJzMNOuLPBO3q_UYtlagvS84K5b8kIszlg84kD3NEc5w2kSqOFxfsGcWFFH3tvuaTuUnRpO_x4bd04JTt7eZA9QnfyuK6lR8XD_dpEPJxDawKR2fH_K8PaHD03hw7dH9dc_c5liGbPz3TnMafKebzWF-5FEfYzBgb283VOk7m5RQdTZBSAA0y6Qbdm4MZAE8W_KZVbFQwBjhabo0d7Na-1EJiemCDXxoZQAEQuetWoiJAl1So76wuOgDZpKZKsQ_KZaRnpudSDwDjZRNnJA6MnwJdn0_lu55uKLrlbDoEEoMLQfIgNKjFhIqH2II6Oy53KNIFAslCbNtWw-Ity0_0DJPkxRv9vEwWW9uyIoyjnkHDm-52llhZ-c4boSpDmvcKcOIdn9pNViO35MtmuxyofHZRdKovUGJjhKJtkpEN4A4ezfRgU06DfnCdqjd39RKO7KngHOvS0s1U1aIzeLw6k9ZczYFQ-CwIXGz41Lr-Wqf1PTNzU7BWoxl-TfIPugwvbDzq83ZYCStYh4Eg3fBHozx8PoPnVyDewnCnWGzGRCUnrPcomCuXSyeJCpbLvs9P28gOcxGbwkWSmDttPjI9eT7Z3gTVRy6rC9mWCBoZXQ2Vm94ubKVh0cNb8r7BbEVSnzN8Crnn7gTua6b1SEOSPNjJhr4Khg89MjLFlV1I1UGUoF7QoMtgFEjCoCER5cgaUlkoOlEwzUI3DxAGBTnxe155k91x8kf5MwT3ZGiHF9En1VanW1TuUYXbDBcF11qZGjtJMV8ewv6TwYinY4hCzS4UYij0aB-e3LLdd3YC05yPb_31GxKQTh3I51E6YA5wFN9qSawbwcJNg93EHkRuOZPa9Bg7c4MY_sosCTi_3Ipj_Ma2140I94sOqjhAgqRTrcrxfOLHXJWI9i8NSiWRJQhXFmaGnmSjTplsNKOxZaNEw9P4B9M_gKmr5plNaZkIFhmdlTZORb_t1rbQ==",
  "id": "rs_0ad5a3f1146b70b1016ab2a9a88d0c87d0ad85f9a3e67c64e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper has stopped at about 4.4 centimetres, confirming contact with the bottle. I will lift its upper section while watching whether the lower end swings downward.\"}",
  "call_id": "call_5oRZhWDesLyuTU3byJXF67OK",
  "id": "fc_0ad5a3f1146b70b1016ab2a9a90c7487d08442b16e5013eff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5oRZhWDesLyuTU3byJXF67OK",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3157, 1.8175, 0.9977, 0.1955, 0.1265, 0.054, 0.4641]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4761 right_y=0.1358 right_z=0.0866 right_yaw=0.1545 right_pitch=-0.0504 right_roll=-0.0163 right_gripper=0.4641\nstate[joint_eff]: [-0.1436, -1.5658, 6.6667, 1.8291, -0.0269, -0.0415, -0.0122, -0.2393, -11.6581, 9.7709, 1.9463, 0.0806, 0.1099, -0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4989ed10c473de5dd39939bd3e5a82223fb9bdd80adb79b02433fdf39e40cbca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57360283a2ea3392a9d508d2b63fa4fb312c502378bf8e11f25fad0c334fb32f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fda26c9696e1b471b1d5b3f73d1ebcb538a7020dc7efd601d485fe96c568d40",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3775, -0.0189, -0.0292, 0.9984, 0.3138, 1.9736, 0.881, 0.5667, 0.1284, 0.0765, 0.466]\nstate[eef_state]: left_x=0.2969 left_y=0.001 left_z=0.1828 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4832 right_y=0.1368 right_z=0.042 right_yaw=0.1389 right_pitch=0.0465 right_roll=0.018 right_gripper=0.466\nstate[joint_eff]: [-0.3897, -1.7709, 6.6393, 1.8144, -0.0611, -0.0659, -0.0122, -0.4718, -9.7846, 4.1778, 1.4383, 0.1929, -0.0122, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqmvybKm4w20QpBRFrNE6NPWK8ruYuN9u2csV1-xQl9zUt-hEFvzZR3jVWO5g8DMbv-kehuCrtd7z8-zfd05ey7VHCpcqFxA6talaSa2NjCRwN1rQGi1xejrAzsAvwIk78ksECsXGVk4k4LS4QNetRh-ZdCMXjtqCEtEDwkgK_HbZNvaXDhr2VHnRPIgJnuC4gUL_d7krlXszFt55jYckO_tALoepYw5S1ruCypTyeXlxW4FpAmwr-CyyThzGiAR8m41vQQLtNZx3v6S2fLnF-filOL7nOuHBQWLr4a-R1kHLvMkivzR9YNGLa1dChAItjT1M7GU4ggKq6QykXrbYbUTqYqeJ5E8tcNfPPGinoE7p9cg687p5cWJA-O__diz6r9wq_34Eopa9EP-X11CyZhoZcRQAG82LiYj-3xRWQqJuE5pVcDxyr6jTgPkyNJOSCgqb9oroJLT9NxcAqQo_3vflvK92FdrvrkNqIIjxm3aPpBG-BhbADkxdylA5_SNCm5duZRyS-xY_Mq9ReYWoA-6UlkeITG8WCXnmnGg892WZ86Y4l96eH5DWrr8AlMaqyCHnUYlnd2o-uL1em8L-mZ6fhs43P3reyR9W5F0xG3kMqLYIK_KsLRrqBZt4v_K87ZUnpGj3MxA4WeDagdGYF5jrkUw2DjNptOykaOE8vPmHM2sDHb-SmSJaV3kL957KfHiTLRdTO1TkMcokmIJYP5lVaASHpbuESh04uraGkKICsEbQet0BXbivRwa7G_5ymMWwiBYID9vl5A-EcOnE-OC6siINL7MWFTS-pbFfIYZN-PnT0ycFvjKc21vVbUMeMfnX-lTZHO_D0RIzh-Q-FFdGl3wCFL4CA4fvUDYUUH-w6Px2DQ68ZvVswcEJmDWOEMWLoqISaQb_z9TkP9HDKcDA9uAyjnFCgKDpxaaZvqRtVFoxyLKuMD5JvCbz82-KV888GEWT4FxIvkmpE19-2a4rgut8bk0fZBIuYLOkZ-jidCVRPSDkULf-yoMzri7Zg4U_CeaoVryRgC1Ap1fwhJbqIdCxH_moKxA82BhfCqurQQkiYeKtk4Y6lTT09YBy-EBhYiSymeTVt3aFBe_mDFii5bY8y43Q4Mk8c0XKlPqH6f33htyiFChV8dR39XQ-buiSkP4durKi2mfM85Ar--0LQxnIWIv3zYikRYzlE1g3-HIwrjYWUl4_p12Zkn1FaRVpEJ6YdWxGIcrRCc2gWAOPwUzXQoquCG6d5bFMPJ8tWxjOzki8W9LfIED_pFG0wJQsCS7mDz76CIwew0BkPsB1kqgDL3mGwWxpq7VAD5oKrE=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9ad002887d0b15dc49dcca428aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_gripper\":0.48},\"note\":\"The bottle has lifted, but it is still angled outward. I will raise it farther and ease the grip slightly so gravity can bring its base underneath.\"}",
  "call_id": "call_fWvjnyqw1qLcya6qSn70s4nh",
  "id": "fc_0ad5a3f1146b70b1016ab2a9ae377887d09b87d958a061cb6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fWvjnyqw1qLcya6qSn70s4nh",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0193, -0.0292, 0.9984, 0.3138, 1.6695, 1.2526, -0.2054, 0.1177, 0.0463, 0.4789]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4751 right_y=0.1361 right_z=0.1874 right_yaw=0.1641 right_pitch=-0.0493 right_roll=-0.0172 right_gripper=0.4789\nstate[joint_eff]: [-0.4034, -1.6889, 6.4479, 1.8828, -0.0073, -0.0269, -0.0122, -0.3761, -10.8376, 9.8803, 1.8339, 0.0122, 0.0708, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63adc564bf34b1f4540a961b80baa438ba78501f8d36bd187c6b6f074ebbca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7417a32fc896eff4e5bf3fab4664b3a743eec1d7a5d916df48661cfb215dfca7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6bbe07f0c0959666d1099bcdcefb37b964f2992db5544f3a4df8eac6ba07fba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3157, 1.8175, 0.9977, 0.1955, 0.1265, 0.054, 0.4641]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4761 right_y=0.1358 right_z=0.0866 right_yaw=0.1545 right_pitch=-0.0504 right_roll=-0.0163 right_gripper=0.4641\nstate[joint_eff]: [-0.1436, -1.5658, 6.6667, 1.8291, -0.0269, -0.0415, -0.0122, -0.2393, -11.6581, 9.7709, 1.9463, 0.0806, 0.1099, -0.2125]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnAkzKD6yJdiOLunv-TfqrHo7bhOqwusfIYS27xMiCFUouJb63ocFIHqDacRc0ORTR5jDaGu-6eOgN8JZss6IpxgxJdsBO25J0qyc4pVIuDWAGz4hPd8TbffvFfl8Crx2lJ7BayDk_jtuqpxLJqgL5W51ufAAa2Y2qzl_1BNZak1d1-GtgSTRV_iz3QgjKq-cP2nu7jQq0OrSsv5Q4RCwnpfC7X2brwY_cl-SEx-_8bxhREJPWB7S9z0M-E0qhzdr57zAw3S44KnXsBQsGO62FOqA0Hn3dDead3RRDJwTYr1Nevjz6NP07B0kDGoCVNl62oP52KRrVe4Sih7Ws3DfF8yHaZhrDGpRMwPIQU2NNPrD9HqtQBGJXWf0EXg62fg4AitXi1jOuMbaKhcSHCEq--X_cHh_di63SYuu1warOT1x9B2IougZ77zFW2QkI0Bj1KCtfHtkGfkpLhDN-j0waOPkbBiDJgAfWmtayv9pO8zeKERPKyRWIkssc97TtrTOyuAhPO5IXQggHpDJxS9xIhYCIy1jTiQ5np1nmpH4Rp6ccuypjY7g7IxxcJF91mL4wJUBniz4I7RwzL-TEloqTQoGvPY8qhs7-EogNWGbKdKelJkkokNTxfjweR65Kxc_iynz8ADbBDCRBAKBZOLXMFR6o7UY3G9icy7voPQU-Cwfc0inR28Em3BvIezy9idxx4jG8BgZNdReEuGWBiLopeyfRdsvWXgv-TsHNlaw6s9kqHil6TVkVwcry-zljPQ25Oegw7eAXoib1Em29rrw0nA6-HSmRCsl_HKIUS9P87JMH2rfdGG_BT6KnqwcTnbdE6ZzlEaZs0S6DeiZljbnWRv0lPj0uswLIKl9fNqq07sW-3Dcuv6lm-HPnY1vrEgu2h2JfMBK6zQyjWv4CPLAwdx7KiDhS8XSuRvs83nr3mqc7ltqmLwGmVDIAsr5qI1kwcoAgYOyCexvMKcGTp2ObOQgbFkg7iO1yJSfqUHt4NPbwsBuylbuUsUQbVX5cglLhkBslrKXvDokyDi-5sFKSf3oMkNclv3U0aLFuoXsn1kv4UC7GxQ7DxGUJhsQK_WJ6hJKy5n25nvm9487NyW69CFISuddTFDSnJgUyjbTRi3qlF-AupxT-bGClDP5GSKY0h0hUi2mlsTwa59lfeKOTxEuk0agy5Iu3_Tjw2BkVGXYtQAJuq3tN_nqiqsmwgb4DRru2d579UONRoEEY-2yrgMJ0yX_iduS7DRIqX1KTB-SQA55OXF7ygPiK67XcQM17rUDuQO20t7mlLFNS0KzxHB5WPl33f-4MAXkgu47pInSJXpop-3guOdUD1orIfxLasnNrSmojrG0x13576jed66d7f3cAZ4G-NybVFpJHHCpGYrxGmhTOk8oxWuwuVtbB5SGunF5h1xrZPYyBm0heMzMDQ_17JZ-pdd_0OHgcLp3ThNvKw9W2yHJeUAJKfP_PLhDKCugaaZyNsUNewTUFI3e9ZhykrOuyTT0f_UIfwRhT90e1Y2tcyWL0YC6NQkXb1RdhD1CF3VUR1RavmmwCN9tOv4i-UFV7_5vnjSjwFrAYwgjNsgi_lq8y-GYd_iD1gWloI6QlQS4t3z_nIuHHQxFzoCmstDyOvpR8dOf63xw1MAfRyb_ku_uv2HOhXVCYRZX624nwFwXwP1VRxzpdeHpOEbzzPQyf5_djrhT4J0Pb7eel9biN4mSTt17LI9eWAE6Ap3fUMXKoU1mDhXt54wk0W3Bu-klkHcEJnjE0PcCVNbHDp_VOAqRAcio73_nm1FscuGol5fEsoDSg7EmdX83gPCxRKpoelUDYjpAM3aoMx2Q433_9putjCAn994lsFKNKosF26RJT_dMcfLxLKjVI3xdpDE0T-kn4dzala9o79jIgIB6E1PQAsCS2emA-Dd3DUnYbWpCryZpHnZ9t_gptci4tlP0WJ7ew_NcVLnWIq_U3o5KXpBOq-gdHzDDhC9JT9jdNbnCetniqHnieH4r9yVwIrRPCL7e3d56CfCt8Bc-wYKZaFaT6oVAlJnXSkWD8t0NktgTimdtTAs5p2O-f0lgRjExXq-PWW891OLAEQ8OyIKwDNTpSMU7tBlOnfpNXrvXPuzaYfsW241M9WeHvhJuzg0gD79t20AXftDpHqxB83Jk6NnPkjLikbQNlHcXK1xhe7ReQQeJaylQxQb2MjhcQfJBwbTPbLqcSrb8DxbVmz1tg3PyjbOgS5UDpSBw6bc0vDuQSfYmmBTz511dX9wiHr1Nap9Y0Sxf3qwUSX2AsaG0rEOg93glhg6Ug_o_AsmW5ONHsmSoVssuTJtQjznXnXs3I2iZeBdXBO0DxHYWVe104aCslTSaM1XSDKq-nFD-TICsTEqSbEj3JqwVXBLpnksAr38EfnSwgGvn5KZBRz0LCI8g3jPWFUaI3UEM18B-Ei2IMbxSuhsMYRZDO5Z39S5_YtxQri48_T9-gB2piPNZ-0jGUqlgyBiY706VLB4Zst8vONrXJaU1wTh7lpTeBhKHs1xWS6QkeJfSoL7HeHKvVsioQL_6dnHEwMPqpA7vZt4zx8OLgrTBbpsexoimQaatt6tq6dYWkIFOzlTByOqZE00OmFcodI8hcUMbCosukpgay9wdpBV3vCldOOctVM_p9YH4KD_x9sTSBeIhql8oF7DwxoMqcm-PkPlYk14hH1G97eGw1o3JeOX0fSnFLpAV7yplyrKJJB3Knh4zVfgLQzr6a-woZ71ZeKJ-ODIceGGoHQ-v4LeCv3n9DFSQOp3Cj3DrM5jaU1J8w=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9b3832887d08cf77aa3195febc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145},\"note\":\"The bottle is hanging below the gripper now, with its base beneath the neck. I will lower it carefully until the base is supported by the table.\"}",
  "call_id": "call_HC0Zdohfx3Jcjm8jafvUHASv",
  "id": "fc_0ad5a3f1146b70b1016ab2a9bee8cc87d0a1e77295846ffeb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HC0Zdohfx3Jcjm8jafvUHASv",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3138, 1.6821, 1.0904, -0.0536, 0.1177, 0.0471, 0.4788]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4642 right_y=0.1326 right_z=0.14 right_yaw=0.1634 right_pitch=-0.0719 right_roll=-0.02 right_gripper=0.4788\nstate[joint_eff]: [-0.1436, -1.3744, 6.5162, 1.8779, -0.0269, -0.0659, -0.0122, -0.3897, -8.2393, 7.8838, 2.3321, -0.0757, 0.0122, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575cce134c3da3fbc2b78842cee91517087ed740138ad39ea090f6843077ee3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de5da4a36d29c72774434df1d9337254a538c4c45b5d015ddac9aa6ffa8b753c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa73f5cd3b7ff0f6e227654eab09c71b5c36416f20534b369a4ea8456a6c84f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3786, -0.0193, -0.0292, 0.9984, 0.3138, 1.6695, 1.2526, -0.2054, 0.1177, 0.0463, 0.4789]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4751 right_y=0.1361 right_z=0.1874 right_yaw=0.1641 right_pitch=-0.0493 right_roll=-0.0172 right_gripper=0.4789\nstate[joint_eff]: [-0.4034, -1.6889, 6.4479, 1.8828, -0.0073, -0.0269, -0.0122, -0.3761, -10.8376, 9.8803, 1.8339, 0.0122, 0.0708, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnFYcE9GealoTqzH3t_ym9XU44tyYoqeeG_B2gxHW9UA1fCibeYOcF3caJ7eP5aNGyK02MgX0GAgE7Z6lfM7d6ivXrXP8MHlSAp850l_3tnUCneOi6vRkKcgP3xIrBgPR6bYRm6PBKTPPw_DjQ_PZ0KagdcXD-nM228lzO-YmVX7qOeTP1OLQTA2xktKKHmDkIIyZSYOWc4um7ZOc13Is6EAInqNrEDZuMytyb6eLkUa-4SzF_TrPEqSNuzikf3JeL2FINRDG9Jy50wYJsEwJcvJRblGW0pGpUmLoCechEtgF5GjVZmyV035VcC7QfXJQlJ0MQ_QAn7bfLc4hPE9AVosocqU-Jy5hdJtaLbepgVDh72DRfI429al8lKMluEnOGUt6CEbo8sljtj4KrnV7kDxXQinEPWVXnc-EICsYNPyGtU27wqh2YZp8sEMueUAIikeYoc_8t1FmKn_Gz8mSWaJo0S0cGdnUuHECioSFmOALJhiRwEmMqwE9f69OU808tG611pD9SuSFmDCk38M88jfEz-ShmXYSuKj-4ovqY8eVatQn-pUmBkadsrXVFKgW_ENTGvKCd6hAuvSHvpowTETD7j9YIuropI_5rTrAWzwbH5i7wyDoyikIM_3cA5EfXrXMDVj7eaBbbn6MRmOgngzwW-F51dxm7ybDoy9D_76LCSVBVZd1uevLF4ZLSJZMGsuXJMBEjOqdDmrlKel2wuyLeqos_HJowG6_IXQjMAoNFM2MpJoKoEnHIHjbi6Com-86yqWEn3--AqeGy9I3fSwVosjXoAkQEBSv7ewYN0t3M7S7CRyRh5AipcEm7qK-xPKOtPqrGzAfR-SghT3zNwbcmOUqjBCN1Cy0koz--SnIoM1yBlLW03HiO2lKa-C2DBRcNSvmllX-fMfvYkoIcPBf8kTzC5_k506N1Oyzz29jJjyB46gBkmhAf9WLmWcmc6w9STxCgEldMez1jgdOxeKM8PFWfv0kTkltWbMU_7wxbR8VrlB9M0jTgrrZEhf5VZxZMwkMt_NUEsMMOxc6ic0p5N8SFIecvlTLrdfqFVt37RHIC_-3bki-Oi2x4jXEIcNhHe_ibKbRlQKSlgvgVvp6_8W3dqDCpxOTVZInA2xbG5v_I7q7wu-JpwzhL1JRnBiyQgKUAxCoFRniiECrJzzT_73MMtObRjZsOfFovf28kozPFSMJwmToeSVdnuD775yfRx6FmLZqYXKYWsqf3B7q7dMq7-QKUrWfvKD0wSfX2qofWo87vZOG_O9xynWmqxQ9KtJxsH2TlAZtZgGh5TWw==",
  "id": "rs_0ad5a3f1146b70b1016ab2a9c3239087d0b52698c4c153650f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.85},\"note\":\"The bottle's base appears to be at the table while its upper end is supported. I will release the jaws and then withdraw to check its balance.\"}",
  "call_id": "call_IWIIBgjMtMS19cnOZlPEj9tU",
  "id": "fc_0ad5a3f1146b70b1016ab2a9c4001087d0ab89fc6846ddd446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IWIIBgjMtMS19cnOZlPEj9tU",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3138, 1.6989, 1.0096, 0.0475, 0.104, 0.0471, 0.8463]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4592 right_y=0.1335 right_z=0.1173 right_yaw=0.175 right_pitch=-0.0697 right_roll=-0.0113 right_gripper=0.8463\nstate[joint_eff]: [-0.3897, -1.4701, 6.4479, 1.8046, -0.0464, -0.0659, -0.0122, -0.4581, -10.8786, 6.6256, 2.0098, 0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ab9dba9e44980e90c6542e946f939cc75b2b5b4c67e36dfe06e278896b09ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6449bf7126aa2d81280512cbc28fe0f6da10d7780ca6aa028ce9e9410570c35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1e054a9bffdc33051e8f580649f0bb8dd2482e31c96aaeadf4bff0725c9b44",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3138, 1.6821, 1.0904, -0.0536, 0.1177, 0.0471, 0.4788]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4642 right_y=0.1326 right_z=0.14 right_yaw=0.1634 right_pitch=-0.0719 right_roll=-0.02 right_gripper=0.4788\nstate[joint_eff]: [-0.1436, -1.3744, 6.5162, 1.8779, -0.0269, -0.0659, -0.0122, -0.3897, -8.2393, 7.8838, 2.3321, -0.0757, 0.0122, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnLm6rgw-nnlDjJ24M9oFzf_EruRXbL8-LQziWxPI8Lwq2drawnwKTV32wkU1X1cQcoBP2SkXKLDbqjdEOdxkgMi5CwwaFzUtElo51v9TWjONIMG6xBmRFcTZV-ayldkKzGd0TEZdmPJXDNSroa16uZXPJDrtyuuRDAzsCGQxi8_j1won2iT76mSw7vb04lKri2ADcN9ju6uA63mmsw7A3x50cc25np44so3gMqeSnHqXC_6Zpx0qHKUx7kJFbS1Qh9C-4gT6Crg3_1kKrMMhYm25hrZgC_YSwamLNBfXD2S0Y40WgZFl1oUl8FwkyICh5eec2hIA9zcisisX1qiSvqPy7Mm6S1txiVXgkn1oYUrQMlS_QUe7NfmZ9CMClCENxlqaYcWd8-fiPOLLVZHY1XoUUTEaigQM04trCZVCDZk6bmgj8KnUE9U19L5jz5fQt7xtrqPJbFp_cEmBZ6c_KVQXj55qyit3QIrJAIU7htiiYN7QUpGqWoyntuYoYiWFICJaXKG5vbLdnp92yoPkzH5w7nDv_NhgUD2D8J7I6FqMjnfkNXaJgASs90xCRcEGfsjaqFyOTyQq8LvjdDGVH7oD86xa4py7x-31etrGiwnLWK4_rnyMxg5OkSnWnReajQseVzu2kDajzig0agzDv-xSWlgHX3pdKh1UcqvgzUIbJDZg6qGc6ODCnm8AmLNcYnUrGwzIlIZ0LL96lq6jLlyFdRlfoU5LqPneGe5mum4Nb3ALjMOWBsfjOewuYR6SNEDhOT0UDRd1Vkl2WGF2URRQVz66e5HBmHRLOaqT-ACP6mnnKq3rlDi5zZ9VcM4PImzf1n4F9yf9CSyAtSLepQmkMN6eHFaApaMxVi9DUgmexjHoxaEh8w2DznD07lVT-GJ1AREoIUNUoUtl36xDlZLKaYeWwK7XAQk4j9DpsJAepNTBd-GTJpUxeDfFvfixe9TO3huHmw6MBdFYCfy74jn40JsDlxn4eBq7272aWklnmvPuT3SL31YjtCbB0Hg4DrBdAzG9hi0ofeX_tmfGCP5ypvRSYjPsW0L_zdYSZxZg88dSqd9d1oitX6jZLPIdc9K_eUUanTyhx31WVPu7hsd0fo91K72KIF9YgHmNdv-_qcupggzqziwS6uio9CiaqcrR6ggswUA7L_oxi3fOlZI1Viss2DOa9DN8dTI53DdiR2M0Bq8NmU7SDFGL68UPupWwmJCRJmTJP225gFtRcHglp6PGGqgmWq0w1piIlrUmJWElagy6D9c6jhAY-NPwii",
  "id": "rs_0ad5a3f1146b70b1016ab2a9c9632c87d0bf1adc9abd26cf8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.005,\"right_z\":0.2},\"note\":\"The jaws are open. I am moving the right arm clear so I can see whether the bottle remains upright without support.\"}",
  "call_id": "call_wouHlz62rP9SpcDwZIKW8g1r",
  "id": "fc_0ad5a3f1146b70b1016ab2a9c9fa6887d0b65345fc150a63df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wouHlz62rP9SpcDwZIKW8g1r",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3782, -0.0193, -0.0292, 0.9984, -0.1474, 0.8795, 0.6907, -0.3782, -0.2379, -0.1791, 0.8464]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.311 right_y=-0.0005 right_z=0.1986 right_yaw=0.1232 right_pitch=0.0189 right_roll=-0.0104 right_gripper=0.8464\nstate[joint_eff]: [-0.3077, -1.3197, 6.4889, 1.9023, -0.022, -0.0464, -0.0122, 0.0615, -1.9214, 8.3077, 1.9267, -0.2173, -0.0415, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8106875c5462f58ed893ad942ceea60082c22264235c5063b217d6aba9ce67ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2cd57ab6181f9205e71dec111489f847885935754462b8a1f50fb0b44d7be5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81f21c065f50f7ce2bc28409dfa331469c80224459c0fdab79fbc7dd278ad1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0185, -0.0292, 0.9984, 0.3138, 1.6989, 1.0096, 0.0475, 0.104, 0.0471, 0.8463]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1824 left_yaw=-0.0002 left_pitch=-0.0073 left_roll=-0.0009 left_gripper=0.9984 right_x=0.4592 right_y=0.1335 right_z=0.1173 right_yaw=0.175 right_pitch=-0.0697 right_roll=-0.0113 right_gripper=0.8463\nstate[joint_eff]: [-0.3897, -1.4701, 6.4479, 1.8046, -0.0464, -0.0659, -0.0122, -0.4581, -10.8786, 6.6256, 2.0098, 0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnWs3BxY4ZKhb8i403UqocQroG7Yqeyyw9owZuPFIFJWpVKBGmuFnYT35WFLx-8BCgSnNegQPSytalyGesYKVvP4tFIC9xxRLhLWsoNDJvoQSz9nsj6WuUOCb038pJs6kbHu55t8MUS85bZf4BTcqAMI4r5CwGAsAhbotGfgmypgIWL8xHoWuqrhBHTP1WueW9w2NZkY8VluJcbr6ZfZQ2Zdz16rITxm_duv8C3x1lwRf0iqMwVVLOA6NhHGgCOc5SvVdOs6VJeaBLqEsKe1sVhEg7mNHUAJe9BuEOzgYhOrqZAqeZISRJpWL1pAdve9BIanZ6WFf0iALGzc7YRDtKwM8U6KGjwLq_i-R-BXxXuS6UWm47aAeng5xmfoS0TXFo299jr0e7UOQmOYTvllR6OfghsqQDP9dS5sfHvwLeviVp4ePeJ-yNzKPzuuMbi2P5hG8bzBlKYutJVqKnDd7Ko_JJlGhSN9QV2Z6tPLUlA8yBSWLD9kQo1POKELAdrjeqowWSa11U5brBXlf2xHeR1fLSLp7cGbpdhfsF-w0Wxx5q8IPRAnuktPcFB9obxJ5LRQHnQDTCD7EkwDhI4lZN4PQY3afV9sCmp_JTHRBuIoFTnq2xSMqzMIDPq5F5hoQ7mUF_uNhitxWEXgFmP_1z_EWaQbKyqV7tv7_rnh4fbe51g-sgyEBPrCac8-qAQpcQvFjAnkggKDku_cHEEICx9Y4g2xbS0TVtV4Aor4Kwp6zoIad3AShygCZVbSsIfHVlOaWYIgpUMI7qL7w-0-0LjJ1Wcw4iLHDHFvbFba5aALvVLuGhzIe_csZ8uNJxqqGr_wBEce-PrIP0KqUm2VzcqxCiz0TjiwsHLiYxnwo-9ekvEasCvQ_pW742EI0jKuNZLlluVmrXs5wvJdDoqp6OkGElfmucCgFEHtnwZ0GUvpjIeKhduea4_piFRKK71fksPi14i0DQbN49D0NngSEevZd9sGmLpvCpncKr-1Hq18QwkcNR_wg1Nr2FCl5h02zdtD3CqBsgqNe0Uru399H36_Xa7Eode4y3Msw_hR27g_ymEk8aXHXId-F8eaX2lUY2cYa_YiQomCxmAW0hzLBvstC5Ir0wu89VSF__91f2vwYdMaA9MclGgKGZefI19RXhQavw1ddRBtMo-RjOIXC9QwFBE4dw1YqhVWGHwQ-gufRI3jqS5Z4juodFz_7h_JdqVXXXzv6Z9xOtlu15LGhpNK3UsqzYrori5yxsPUZ2B---LqpByocCpRixTLMM4DIAupRyj8KEV2Utn6Pk6MqkTz8lWdGpt3QHpPuq51a9nJYU9_7ZzV4j3Rz660lV1nfeKVnS8xsj9E7b2KVwIQ-L4GYu4Od-19kSHPcVbByJrr43g_C23oqvMNduCn963wlrdzO9lWDCiN7jLe4VK4DabwdNzozVn78eIErHkID6-_JccAxTO4VnYK8IgQ3PuPa4WxXb1JKMVzZFnm_13ajYhgPgrEmIJ45qu5AbiarsfbbzRLvEN1LT4Y5Aa2EqSVqL04inWotIGn0uhLqXKS2V45HoOyamJ6qFZ-CRaZAHY99l2z_HW2dGiHGAaoYOqbn85J4La84WUQWGda0nbPR0OTTguCvouWlpO1BDbigqt98LYZk36EvODbVjuG4akOK--_CQ0tN_ClISEaeg9Q-Vas8x98iFfJbHr73cTRBFzr-wPqfRKSN5iyrE_SNoiSWy1Snaq1C9T2AQn7pkiPdG2sgPcV-CxfM87-4b8kLpaNgJ0XsoSd1AWu5TIXB5aMPMSgJ-gqcYfTAOd8uY8bXYFnEqA9R5IGsuANvh-zLK4Opc=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9cebd7487d0afebf907ecef531e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.135,\"right_z\":0.08,\"right_gripper\":0.65},\"note\":\"The bottle settled back onto its side. I need to grip closer to the cap, rather than the shoulder, so that its weight can rotate it downward.\"}",
  "call_id": "call_kOtPuxNgLITdThaQ5yQ3Oizc",
  "id": "fc_0ad5a3f1146b70b1016ab2a9d3cd8487d0bb8efdc785237746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kOtPuxNgLITdThaQ5yQ3Oizc",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3782, -0.0193, -0.0292, 0.9984, 0.2958, 1.8969, 1.0157, 0.2317, 0.1051, 0.0399, 0.6516]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4851 right_y=0.1322 right_z=0.0628 right_yaw=0.16 right_pitch=-0.0771 right_roll=-0.0189 right_gripper=0.6516\nstate[joint_eff]: [-0.4034, -1.6342, 6.5026, 1.7949, -0.0464, -0.0366, -0.0122, 0.2256, -9.7162, 7.9385, 2.0147, 0.1832, 0.2076, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cad6cc01394f983f07355fdf212b1c377fe0c1ecb2b19ea110778f12fa69c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c545c002a2c7dd0e1c6c3e08bd4e9b2977656a9c7b09687196900ab672141e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474edeb54b54fb752caeea291f5d414521f7b533706c8dfe74d4d3bf91e9b734",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3782, -0.0193, -0.0292, 0.9984, -0.1474, 0.8795, 0.6907, -0.3782, -0.2379, -0.1791, 0.8464]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1826 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9984 right_x=0.311 right_y=-0.0005 right_z=0.1986 right_yaw=0.1232 right_pitch=0.0189 right_roll=-0.0104 right_gripper=0.8464\nstate[joint_eff]: [-0.3077, -1.3197, 6.4889, 1.9023, -0.022, -0.0464, -0.0122, 0.0615, -1.9214, 8.3077, 1.9267, -0.2173, -0.0415, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.125,\"right_z\":0.01},\"note\":\"The cap and narrow neck are clearly visible ahead of the jaws. I will move slightly forward and lower around that narrow section.\"}",
  "call_id": "call_0144i2ORSOPOC1qxmFe5aHkY",
  "id": "fc_0ad5a3f1146b70b1016ab2a9dcd17887d0ac2c5ca99d9be92f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0144i2ORSOPOC1qxmFe5aHkY",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0189, -0.0292, 0.9984, 0.2543, 2.0605, 1.0096, 0.5308, 0.0818, 0.0158, 0.6518]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0001 left_pitch=-0.0069 left_roll=-0.0007 left_gripper=0.9984 right_x=0.5173 right_y=0.1232 right_z=0.04 right_yaw=0.1512 right_pitch=0.0499 right_roll=-0.0108 right_gripper=0.6518\nstate[joint_eff]: [-0.4034, -1.6479, 6.5846, 1.79, -0.022, -0.0464, -0.0122, -0.1846, -5.641, 5.7094, 1.116, -0.0464, 0.0562, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702654d2182c5137e166e82edff12386d74ef1331261829932b54e7c8bd2e8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e49891e5efd36ce2be8c36a166987027b899f9187100a1c973004eef28f9747",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8375dd8ba7e85bda35b0c2b7c678283630e1995ef0a79ef412c06ff2893b2153",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3782, -0.0193, -0.0292, 0.9984, 0.2958, 1.8969, 1.0157, 0.2317, 0.1051, 0.0399, 0.6516]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4851 right_y=0.1322 right_z=0.0628 right_yaw=0.16 right_pitch=-0.0771 right_roll=-0.0189 right_gripper=0.6516\nstate[joint_eff]: [-0.4034, -1.6342, 6.5026, 1.7949, -0.0464, -0.0366, -0.0122, 0.2256, -9.7162, 7.9385, 2.0147, 0.1832, 0.2076, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnm5E8fmfArbNk7ICASQtYhc2_U0AlBEvFs0cKUjSElE33xj1w031xik0yh7Dx6rUTwaLvGxAZqNifrCtxkh7PlQUq_JU0bMrFeNmFvcWdcJ4Pd9l8Qw9iW3hSp72OCDt25gHHpLrog_ATfy2-1TUNdhCdl5W0yeoC36WN3i_Aky-eqDzvIFmQy7OJdb4bnGt7LkzR-jARcWf3-B02xM-0HliSvnx97undJYooXQFtDDKdrnHrIRsCM_EW6L6TUmAGSS_FwYPCveImFw3qWTM8mT4oaH47Z3F7NZkUfjVb_emz_cF71nQbXuAkdJFck5qhdoZ52tk1EQ1JUf_qOTWhODoQ1pijEqI4epNH6auCk9TeahA7FLbAouaceFHFDWDPGMhZwCai9oH-IMw48rPwAQ2eknKhOHCSIrBu_b3k26GBEQmlAsrff1uD2zdAutkE2VRWoXAu33qXDpJskJ0WdqxYRJidDhcgRcZqVkGebm5IY0lNBNYA8yZbSWKKynrMovSJGAfKHnyHPvPjFczJXz7W50Z3vODNuUJTZKY-mV0f0OrvH0M-oAsEEbdu3l9Qqq4IiMuvBgaEHRjI60V_zLxrEgE3QqyXog_U_V7qR4VYSvBBbiAuBMZsrcjR_eAmW6ST4jpgPqNS4UIysunl5AONeY_tMP0x2xP7FIYOg-ouNt73UJCfkeCF2OXv1ahmW6TCpDNY5vEFsrMDUpF9NT6ZAMC74py9ZsWup2wcTg02oVE7I49tcsA3gN3xyPPBN06evzxL1fNlnn4XSkhZsr3ddZiqRh8vb7b7Q4WYIqI8xa-d0N4yyNUE6BVAruJitIftWt_yFtChIqeWfArC4YqfLQf0g1FXO4pht6vj-I0giv-0x3jQTGP-QegZDFJauY7Ck8daGdy8CLLjxm6EjmFDTpAY9J5eHmPh60bLBHAp_6wuJ3upPO-Cx2lwL58_mmTT1TJ9lsEUwXhn3uJtwCXIsbJgVYNvp3H7Q_yT_jPUUAycLobpOa4L-8vgXpVn9Ck57N2LZj6NaW6c3Gnbdyb4o7ZdcbvknoT_CwoMfqPJAYxgQETRlW02zA3qAzAww6bjiJ4D4xy0msPftrkNabhbCq9vdY44nxWyx9-ylpw1UaO_IHnrk0uhWsz-rV9mv9faYm8ZuL7kl7VADcIWyeWOP8h0NNeG_0n5AGxn6vHll-jUw8uQ4wjbjztAqr9wLubaFQhU5pnHSDAl4ZMLaiw==",
  "id": "rs_0ad5a3f1146b70b1016ab2a9e3e2d887d0a2de0912492e7444",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The narrow neck is aligned at the fingertips. I will close on it, then use a small release after lifting if the bottle does not pivot freely.\"}",
  "call_id": "call_7ABmrMca6jfGwN08Lo0iETcC",
  "id": "fc_0ad5a3f1146b70b1016ab2a9e4817887d0aeb6ed7c2d0b64c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ABmrMca6jfGwN08Lo0iETcC",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0185, -0.0292, 0.9984, 0.255, 2.0445, 1.0443, 0.5152, 0.0483, 0.0113, 0.0135]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0009 left_gripper=0.9984 right_x=0.5253 right_y=0.1318 right_z=0.0584 right_yaw=0.1826 right_pitch=0.0835 right_roll=0.0044 right_gripper=0.0135\nstate[joint_eff]: [-0.2393, -1.4974, 6.8718, 1.8388, -0.0317, -0.0513, -0.0122, -0.4991, -10.1949, 6.2427, 1.0427, 0.2613, 0.1538, 1.2527]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b576e720df044b4a039cbaf517c70024b3503baf58c318e5674d1bb2f7e031a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33afceaed97799c2211d3d1ba81d88c4a63b58f2dedcb07b752299232042d05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f8f4e445a38a1c4c259ca3571627116b132cc85b309238e00bdbcb112b1c8e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.379, -0.0189, -0.0292, 0.9984, 0.2543, 2.0605, 1.0096, 0.5308, 0.0818, 0.0158, 0.6518]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0001 left_pitch=-0.0069 left_roll=-0.0007 left_gripper=0.9984 right_x=0.5173 right_y=0.1232 right_z=0.04 right_yaw=0.1512 right_pitch=0.0499 right_roll=-0.0108 right_gripper=0.6518\nstate[joint_eff]: [-0.4034, -1.6479, 6.5846, 1.79, -0.022, -0.0464, -0.0122, -0.1846, -5.641, 5.7094, 1.116, -0.0464, 0.0562, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqnwDjpPRRrtQid6KA8vFsMSKBwHlg_vsX8NP5p9uNDaiApYZX-Y64YNN0mk9sv3Pi4v3TQ49qrAMiiynt2nPefnhYpu2UqxHmZpSGjWiDbyDspWxWSWUZHTD-fklQgt4efhDn-aRzdFtblGjuR1kU3ffwY0jRCJ9FKed0ptlZM3HWX1qCvdlfMeCmOhYZVNqcn-z9bItdnriqfzS4SCRACNqZKU_ZWYgY9-zLJj_kPXLcjE3R9AMbZDloXpACEmPMJNbHinfiAicR5ssqAMJkVyz51VT4x7UgtubaNT7LtkA2hEfZyWXAK1KT1YaeezfC1iQM1_hVKj-80v5HVCuL4MkgGbsJjfYIsjBZMb5ZcjUoGMbTrw6n4irocmCz6xtdoypGGPbvnj9LNYadOO-sOZsqxaYEg6Q1R4EbgtnUei30IZJi5ZCvn8KxPhwXU-M6VpJTTtDaLFxFW647GREr5yehHs87Nxov3KLxzHf2snJWrKgJVd6qZIYULSML8yeE-Q_M1tQid6iKQFVgHlxmCNoVX9LuAL53t2NKcPpKima58_iTkqsRfkXuEBA-uhaHRBG7T_DzK7GVWFroKk8j4xBfkwOczB-biNMSiH_KdCpEXrFvbhOyTHgj4WnJttyxvNmB5r52VNajM0AG96DyyzkWES5c9wMNT08YehbNQsB7LMytGDdvvI2Vtbpvn0Jvc0ThAbhFEz5fEU1Ri03JBpa_EAjIiQBWiUCX8UaBQxmBhe-K0DQT2MMp2AFD00pm5Wrdy1rgOTJ-hpott3as2_PcV7cOP0lNSNTPynrEzYJ_hGP9EZ0DDs9hTYmDTrm1d18qN-4C7mQ7dwbqvU-ym-grDExxSeRZKsulHRbJvA4aLOjWOsXX9aQx_1-eXJz1IuJ1Vq0QIGv30n1gR0PD4UbAeGIHZW4Ly1HdnQd-oT5f9I6bgqPf2smlKSQao_ce-IdbIv7i0U9iWfAzFhhqQPmmAWHXvHlQnXKTNrOA1sx3Iq65pAd0QuaRFaLdOu2-Z932KYhtNBFvv12LDeTpuBUIBUaKAEgALbG3jb5kZLIAyffOFgD_S0vk0ibSA2zzuECpsPywpTRgq2e8Bt6pQ3JOGV2PCw2cl2Eq7q3BoBBiexASf-MLhCRLFLdb5UHeS1-dh52wvfpwCM11GRP4LSSDMByqrkjorGrRtXC1pfWRSgZd5ZP_YI30e3vzMqayNUtNthVFA94TkgUxSXSRQlzMrH9WgpcAeSxl1RMqKE22CKHxojnO6m84A2Z3BICF2BfvFKNPhEMajpMyXxUHaWhNcluXpmmMzUPaJtlZiJ1k76piJZfYUygSrwBM2ghzGf0pB0CwLBAox2tE68UzTuSA-5YMnsLu2UfScmkqM3lqDtkY1ZYw91araDh58sT6SsNd33vD715C3856KgetLpxy1hgnO8U8P54CXbSK8NdkbTHDtSzYMoxWJmKjvo7ST58cq2zRCUvMAIYVCcBT-nXnAYpE9LTysUaKG1OEPnNdBXgxsHafMP0Wjus6e6Kxzwmq0khhqoQxB8uFuv5hAgJ71t1WwjFrREOncj279CJ2uDkjMEujZCkiqzb7Q0fkzfQqeXbKjD-2Pskwvacm0CPg==",
  "id": "rs_0ad5a3f1146b70b1016ab2a9ec4c2887d0ae4fe7c074a0809e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_z\":-0.02,\"right_gripper\":0.7},\"note\":\"The neck grasp was empty because the arm stayed too high at the longer reach. I am reopening and drawing back slightly while lowering to reach the shoulder more reliably.\"}",
  "call_id": "call_BHoPoBU1XLM7slRXQTPmIB8Z",
  "id": "fc_0ad5a3f1146b70b1016ab2a9ef10bc87d083975191d4cc74d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BHoPoBU1XLM7slRXQTPmIB8Z",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.9984, 0.2714, 2.109, 0.9703, 0.7517, 0.0601, 0.0032, 0.6947]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9984 right_x=0.5229 right_y=0.1382 right_z=0.0485 right_yaw=0.1923 right_pitch=0.1817 right_roll=-0.0005 right_gripper=0.6947\nstate[joint_eff]: [-0.3624, -1.6752, 6.653, 1.8095, -0.0073, -0.022, -0.0122, 0.253, -4.5744, 2.3316, 0.3297, 0.0073, 0.188, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08141c53ab1bc7d890b823275c55d593394324580c083112ac7030cdb68997c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff76de8fd09d5afd4edc3c8c9889b4cefc3006b1e379c2e24389b1d5c96c1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4388f71cf79d7b9783a51ff8e64321447a6f6cd21b571319f5f63733fbea22",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0185, -0.0292, 0.9984, 0.255, 2.0445, 1.0443, 0.5152, 0.0483, 0.0113, 0.0135]\nstate[eef_state]: left_x=0.2967 left_y=0.0009 left_z=0.1825 left_yaw=-0.0002 left_pitch=-0.0069 left_roll=-0.0009 left_gripper=0.9984 right_x=0.5253 right_y=0.1318 right_z=0.0584 right_yaw=0.1826 right_pitch=0.0835 right_roll=0.0044 right_gripper=0.0135\nstate[joint_eff]: [-0.2393, -1.4974, 6.8718, 1.8388, -0.0317, -0.0513, -0.0122, -0.4991, -10.1949, 6.2427, 1.0427, 0.2613, 0.1538, 1.2527]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqn9jHrx1nPsEP_kcH8HvDj5D2UTXDPqysfPO6gQ0totxoxhobtybwe9AXPnwlM56rMw2r44vhhpzaq-MN5B_VFgNn8qV2uQMH31-6HXdvkO1Yc9gJA93xoY6lov5NqeynHZpxDj-GmDTPQ_l9L0IvkrDzPaXkyS0goNOwdjHpe63xZS2iZcap4AUCbKUbtfjv_A0YQsvKJZynA04hrKo7jvBXi7MAjhikgjbRsjfF3KUI6Dud3yDo7METIvm54Al7V9tdcbyqPgyGnZrUy0J2C7G1f_j0gIws7eYdmYp1PGCAFTiRmDzpb9W6V4HQd44LN-zsos6tF2h5haNWdbgmcPPUq_STigaRmBaE5sYbj1JFtkFAV01rm2cWRCZ21YMTWlSzQLi8wjP83htVHhel6C3wzkYizwSj7RZQFAGpUU7mt4lHeJOeJdfaBLyyLCdLsfM_hH9Au8thsN40yn4kTdbBzQur8CkGf6poHnyuXPT2jpg6NjT42vV-Rav9OeTFGrHgGmnHkxLL-gLjU86MFCyDzxrv2z5Go1-aA5FLtXw9c_Wpom-ExppC0ct8Ql7yI0QQISQWaeXpe4tY9TNktmgvpFyEdezs1fTlHU45noWO2Q3wV6nqUmriJf_L8PUEWSqi_M6_JP4_XfnmzJqPyvvtDHwrsYkute-HitopU5M6FjVHsUfSN-pThjYDoYh3FJBQDEVZIaO7tdr9Wki73DAJPGP9kfv0UO2Fs70oBuNFbVXeQNuEUTVIUAGZdHDdq6R9epZ6haQ7f346T58AoDlrzlEZxoXfsBBvkiCRlnc4tZaiyMPYau2zVfYKpxVcag1QfMTrhyi1AnmSUA_5iAh4wOcJY1Cp5-zCekymXOlVSUoG0UWwoTjcJCARXZ0lAXeGD53hg1vHwY0BMx0I1UL0vtPOMpqNHnYTSlmMfivhvmimWtPhgPRXv3AUhrK43bBQNUbcIp87qCQZDBn2E_PXHwBNu_Ub5uOGOTN7QfQh59L3tsxRkJuWgcFeq2h2GSK3310ioj3Se8R4x9syK3v9dHkaglgab5gncNPE1e-7he0IjsBufpCtfj21EmLPPvzMX8kigRfNeGGkKc0sP1vwDT-pvtyFUl3pmPfk_gAyiPJcN15YS8nFXM1tgfeJ3ZWv8VngviLJJ-v1yiZmYrchEvdWJ5gIzrJ6Q_pMADLuzzVaXR9Q9VcNXBqhMMWze499zRgRd6Oofj_c9V24obCNotD0Aq5waW6wsngLHEg7t2LYZoSAh0BGdaFlvcy8mTWEIZpeRc8IrQLcJ0eM0l_p3E1ZlGljrXN8FiG37NjaHeziTN2h5O27v3TJ6nqKjo3khToTV6BDxXyNtlzP3Hw4fwJ15CDWBFBt8HJ2KCm9nTPR0_4sAatDKvwLu6IhxbcSnS3NGjNC-MLhep0ri6Ib5pidcwwbOcIX1ilCRhpER08QuufvP8eVTQXge6Q262KEg_ii0yizE7pw0O0xQkm4FXwPsnRtCi3GvL1cUYwq-JIXCGwYDZUn6h4c3K7NQY4EUMagHkEiODc1RXP3chgHmYtxgbzcU_34r3qSlRTaq_MrF1tn6qrpZcP9WHcwjM2TW7LnGCYeoy5DenZGWf2z-ig04n-vlIp7MdsYBgGxb-5PmSipd5l3D0pAhAh5iq0Gyaj94O7Rx9SfPK5RoHqx1rqxETbY1HOWH7rJ16j6j0cXgNWcRIRHRpctolpXOXsgivKw_y0AKmjZaZJ4A13Jg_EOAjUcFCzXUwrV9qZYgFYEOnssFKoZnpoQVms6iLGvJL2x2L2Ft1Kchyh3xzGHMq1YtaLfmtveu_r0QzCOZexarzeebbhvSLAMifGKIAY1IeYl7J0gBcnljrYGeer5wgYK2Fshpg82pihYtfqd2qQiMjBGkM_rwFk5E_lQcW2FSAqfbiVZIvNPUI0pxmjtwQ76WV_Ob-O9CPaQMvG1dads6Cq3RmxbxjIepKJ7IjN7tEHvU6b-UlZ_DnSKngHm_qnNUsiibSzSW9Q39klr4=",
  "id": "rs_0ad5a3f1146b70b1016ab2a9f54e9887d09760ecb8afa8a8e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.13,\"right_z\":0.03},\"note\":\"The arm is not tracking the low neck target, so I will avoid pressing farther. I am returning to the reachable shoulder grasp and will allow more clearance for the bottle to rotate.\"}",
  "call_id": "call_LsiASfkIDTJ6H04EZYm2b9v9",
  "id": "fc_0ad5a3f1146b70b1016ab2a9fbc14c87d0b6c3eddbaa34efb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LsiASfkIDTJ6H04EZYm2b9v9",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3779, -0.0193, -0.0292, 0.9984, 0.2794, 1.9755, 0.8684, 0.5865, 0.0525, 0.0113, 0.696]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4833 right_y=0.1328 right_z=0.04 right_yaw=0.2036 right_pitch=0.0483 right_roll=-0.0003 right_gripper=0.696\nstate[joint_eff]: [-0.3897, -1.2923, 6.4615, 1.8584, -0.0415, -0.0757, -0.0122, 0.5675, -9.6068, 4.1231, 1.2869, 0.1392, 0.0904, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5fe2392dedefaa2ed5681bd76131d462d6ba0078f6821a68e68e38d4eb07df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab8d81972f746ad5495208f368371dfed7491ecfa8607906a4448a0d5ebe96f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e952ca76deeb4dacbabf172f967f27cc322c6a87068936641d72d35f4fdf9b22",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.9984, 0.2714, 2.109, 0.9703, 0.7517, 0.0601, 0.0032, 0.6947]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9984 right_x=0.5229 right_y=0.1382 right_z=0.0485 right_yaw=0.1923 right_pitch=0.1817 right_roll=-0.0005 right_gripper=0.6947\nstate[joint_eff]: [-0.3624, -1.6752, 6.653, 1.8095, -0.0073, -0.022, -0.0122, 0.253, -4.5744, 2.3316, 0.3297, 0.0073, 0.188, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The shoulder is again between the fingers. I will secure this grasp before lifting and opening just enough to permit a gravity-assisted pivot.\"}",
  "call_id": "call_cuRGLtJ6QdjZPFkqPBRTXDKe",
  "id": "fc_0ad5a3f1146b70b1016ab2aa01740887d08141a8e052b5fc81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cuRGLtJ6QdjZPFkqPBRTXDKe",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0189, -0.0292, 0.9984, 0.2832, 1.9556, 0.8509, 0.5995, 0.0521, 0.0105, 0.4024]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0001 left_pitch=-0.0069 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4804 right_y=0.134 right_z=0.0456 right_yaw=0.2081 right_pitch=0.0635 right_roll=0.0004 right_gripper=0.4024\nstate[joint_eff]: [-0.4034, -1.6068, 6.5436, 1.7998, -0.0562, -0.0317, -0.0122, 0.1983, -9.5248, 4.0821, 1.3016, 0.0855, 0.0806, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b08a5e0c458641104fb0a212ed0f5b0174e2d6394bfd04219db764b025c7df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a89ae2a32599384f930ec9039b3bde584499ceb08ccb5f0718d99d63d414b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:799b550daeb6330380144c89125f1612c72ce5d0f88fabae015167662de3293c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3779, -0.0193, -0.0292, 0.9984, 0.2794, 1.9755, 0.8684, 0.5865, 0.0525, 0.0113, 0.696]\nstate[eef_state]: left_x=0.2968 left_y=0.001 left_z=0.1827 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4833 right_y=0.1328 right_z=0.04 right_yaw=0.2036 right_pitch=0.0483 right_roll=-0.0003 right_gripper=0.696\nstate[joint_eff]: [-0.3897, -1.2923, 6.4615, 1.8584, -0.0415, -0.0757, -0.0122, 0.5675, -9.6068, 4.1231, 1.2869, 0.1392, 0.0904, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoKq8_-hNqCadZwiHykIu8zfXDNhwl0MKlmGZXnIoitTkzLyWS_orhQ5VcbRYcgB1NrLbX_NOcAVRQumgrgU0twf2w0W4B-NBxCKrjRT4oTYQn5NpY18Habn0_bZvdaJF47M4-BnLCDK1BmPKzhtIj166VEWnPOLMV5oNMYnvXf9cCwAaUz3mvXZsbHV0RGD-XDpqEsxxC9KNv2r30d6Tm_y-hhVDUxAN4-Ao1RmPIDM0R7TAjLZnBMG73c4uBQEoqrjrcmEZ9ofm_PHtlPgz1Xb7ChHZsBrgYcaY3O6nUpSrkrrzTdNaMQ2SdzhD7XwiRxh2aLPT3dmKTP730esGVEwxXwZ4_QsWhffe9TNuQEfyTWlhnHHIH5ZdHBgGguEnvqKe5ridXmiqLPQ8j9Xq0i9Mfd6YT-1bR8gMrcatdkx5-RX1glHWP1cXezVbvpmL_upm5LpzFxzQrfeX-_3XE9cpRkOd4ktTm4fK5DGBGe0p7DvpOAKfFh2Vl-myOEWsmuIw7XFRua_BcY9K8hyuNli93HaPmXuwY6CoQZEuRdJdjqPnScUzvABgne6x1g-N1s4vBmHs-nZDkvgpwfn_huLgfG7fW9pYTYn9YlyQ76Tr1LkE5BM1oesc3jytTBCEbul8W1WKle1xHFLcs17JCqwqplAW5U4CoLCQARf-af2KzF7D992AIVpBmWdQF_zqLeIMMC057Cm_qcRSsGdgYl53ERO1KdS7PTI9cRURgMWxfenb9qK-61NePqTuX9MVspTcshrtLgbSOwA_9EwI_69Iw9N0F3qFdlCVc0KkkPGlgETd5zwUqG7Omk-YsC7w-CDozbqX-MZbLjuDilCc-YvFzwXMhV3R6sgXyUEmnlbmunmxC9xdnnfH9iEnSSwwL2yOP6Xz0tbAjlzKGxX9cGiGQ-IxEN8TZIvMtOmXd0_dJkp8kSMg-v9sLIKWrTbx_akDJYDP3AiP-bteOC2lpQ0Rw5CyUN_lU-qB3Ho4O6qu4qgWe1_J0jT5jcqX27h0017D0i_YsELcPQAYukJyR7U798LJB-RlQlPF11jRUaMPsLoispNkAliYeKqJcH6n0Q-2uoy7Agz-A9NFlK_7uHYhvHBS_V7pMdk0NS5KF_rRtdNondLc84mgX32biu7EeuGHUeJdmv4ol4k-nv4Sx-_ytxljY3JITMJ2UYQ0rETUtPCdGsodO2R4PFT77_f9YnDvbzfS9s7XBvNyQuGDY3CMx2WmtJfVhQj4X6ecqBYI1nHhNwEeRHXiU_fV1vbV-ZOJSARZJHn3I2sb1xk1HCU9bRX-SVb1sxJoMReDD6oTA=",
  "id": "rs_0ad5a3f1146b70b1016ab2aa07549487d09426f0a3b41c87d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.25,\"right_gripper\":0.44},\"note\":\"The shoulder grasp is secure. I will lift high enough for the bottle to hang, easing the opening a few millimetres so it is not held rigidly sideways.\"}",
  "call_id": "call_5CVFjrZBW3SKxm02YdO89yGX",
  "id": "fc_0ad5a3f1146b70b1016ab2aa08453887d0864ebb30edcce4d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5CVFjrZBW3SKxm02YdO89yGX",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0189, -0.0292, 0.9984, 0.2867, 1.6775, 1.3674, -0.3229, 0.0444, -0.0051, 0.439]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1824 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4795 right_y=0.1369 right_z=0.2112 right_yaw=0.2264 right_pitch=-0.0642 right_roll=-0.0173 right_gripper=0.439\nstate[joint_eff]: [-0.4034, -1.4701, 6.4752, 1.8095, -0.0513, -0.0415, -0.0122, -0.5538, -11.3162, 10.3316, 1.8828, 0.0317, 0.1636, -0.1197]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa8f05f38552b1fe642f9ea66e47616c08c92194321c98852616b36f395c40c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a680177b42d9177f0715ad005917777b0ff67baaae7f990f846b54b103b666c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:384a28b4871f6c64cbee1ffeb2b608570a33b78c468062db93e655c800c1aff5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.3786, -0.0189, -0.0292, 0.9984, 0.2832, 1.9556, 0.8509, 0.5995, 0.0521, 0.0105, 0.4024]\nstate[eef_state]: left_x=0.2967 left_y=0.001 left_z=0.1825 left_yaw=0.0001 left_pitch=-0.0069 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4804 right_y=0.134 right_z=0.0456 right_yaw=0.2081 right_pitch=0.0635 right_roll=0.0004 right_gripper=0.4024\nstate[joint_eff]: [-0.4034, -1.6068, 6.5436, 1.7998, -0.0562, -0.0317, -0.0122, 0.1983, -9.5248, 4.0821, 1.3016, 0.0855, 0.0806, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsqoWX7DKw-GGOUKPZCVFaCvbwDFNkfZY4WEp_PUt0rMiSE4_4hC31Nu6Qsknr3bVFnFxYryT_CHDA6yxwmms8hTfVd0wqyg_hUOP13cfQSbpDbnLzSfmezTBxWkoiPUGAB_UtcNhYBcSkg6AJcKtECpqi4qToIOohze_HTmdIleqIoQ9gNyWIS-YUqYLcNwslGq4ZA4PnKkoAeaoTnfALVMhbZm2Fg_hU5iomwhaElUfLgMSLKSJh1ny0irDMhSUM1dkLqDjvXDU46mrHby4H6CCLuh3EgWnBwti4MOEEarQZmIJ8ZDopPTJ5P2WZT68XAUIlP3H7w8Lrogqdu6cQWPckPBg1B5rgaD5qLfNkvK72EBFuKA9B6ynFX1I_xt_QbsoOaLWTwxBOTwKLYrzMW6xoY-K5UzdMs5Jjsj3x97nq2m581R44PUiCHWqUicc6BcBFBa8eUf7xa8MaV_QKQ3T1x7xaVdz-wPSmofog6JnVIYZGJa6XEqHxkecPxShaVhtLTW84mUMXbtVPpMJLQhoYKaj-rWA0zvIB0k1trWKDEGH2wsxMZ0ekgbf-hk2EHaXHyn9INCYiu_424THYbXSMtEtZMNtqbCRFiDD7xAE7rrGcGl1U3XdmRgUr1Ydv4szocixZpmR2qs4U7MJgGMXtsDKBWU_GtEPNWdcOjBlSeRII1pwedccZLvMBoo1gdC1UWHchwzk7ZWARKAmCAT9d1RrYsOxnER6_RMm8gzSjHvahiQGbox9fo_0ZMDtHql4pGyBo0UaUekI4cnm0OwcrDDNCd9B-L5l_CEq44XucAKlJAzN3b-ahHYZECQgfih5jjltwG03JhDCq7QPZROln3023RcvWGnskcNcsWbIFFSzq80LQnvklmtsllTVMLN1tyWoEkQJzob_xq7h6pvHtE4cxuzt0igFSdkD72IYEn98Af0YTBw6JMzauXwlVpUExWlFjyDB9expE_CvEorSldp6d7nq6C0JkJUv_SvELMw2WFKGcEY_Kw_Ux90fuwzYrdXmCpT_EqhJHj3eOKaO2egNGYoGcLcDS44zNNFuBfnGNZsPLQ0G-Nsncx4c5G99koK_1docPpxdNV4njrwo171c1y-AnD2UDyTr91P-oqUYGUwd9CDkAC7sVmJIpxn_62UTchLQJQZnu0G7tGRWt1iZV1nsSbup_taMhLTQMd5Yq5iG-09dTvg1_DvhDK6U4agCO5BqKnSsWHD3kcBAuCOiJhBHXyWVfSr0rh70_Gl1ifRyuK0WS0qRh8_C9X_FMFVXmHLmC43wDaz6kLtyZyAC6NhC54z00UwBLlIriZhzDIpYRw_6PJXFtEbvV08Dc6L1GF1QRsyBw7bZwtDiBIM8Bs34yNZ2uXHWOhjXhzrH38jdcqkj3Pd3NM_CVzIaFHC_UUE3rz4uuXyhKhgrRZ8yt0hWuMnN8qjgA0OAlFa4jxCtRzI5Rk7QGvpwWDtKy8riUMXkpSkgfgyVfKD57Kzxc8E33mcRTWektSrOwjQB5a44IB2p6op0idZUsHfQ_FEa6KgoDfliERNGwWFCb7ScRI0uvLvp_X2pFq--RCGWCOHPSO36z7nmXJ3UqKesnG9kFMyvEbm5bh4RGCjDeZSPEioOZTD50ISl6723TaFrfg4LZ8awyP5NR419J6KgT7OnjOsBGitELYwjv9d5hfQ-1n3a9vMMWJaRiVkH-oMPCIKyn_O2vCcMwuEt1m2sntUUn3v179V-R22ZKzb0VL90DQFJJS8sTLYvLlFHpXTczmKpbbW6Y3_KIqxsTJVXHCJEEdxlbZrDs84skUU6Ubs1obEgbgrTQk8rovtfjAlXI101X1Vw95gkhy5y1VBf9dMC976CZw5Nf2DeCM8Yp7Oe9fUc4Ug9BonQQ9rDC7BRn2tEJ4v19idXJw91tXT672iIBdyz-gOjQK0mj4PwJ2-rwu66iwfSEsR7_6lzYyIwTC_owQYGEBumiB2SxMneVupWVxvVHf3kK4afLniBgIAJDkGjtfBFpoDjHojuw71bmYlS8F6fLGo_RW5OZRbOlhPgfcoxd6lfg6HbzOlpWzKzQuKJnyBtc8Vxqw3dS2za36vNZkVWlQhoZfeJHYhpFYr5wFj1uz6ql60tuN4F-6GjEqzaICpRgNV02VODyzTKHlpnTBFbSOjVuEvZZxhP74Sr1DsOxy4HzJIUpI_KSwv8rGBgVxsLUPRFa2KTblgUTyAgcVZekyEL05igB2i9gnERtzdxOySlQ3ylQDgp4w==",
  "id": "rs_0ad5a3f1146b70b1016ab2aa0d797087d0a09e2de9b6014b11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.005,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0.001,\"left_z\":0.2},\"note\":\"The bottle slipped back onto the table instead of pivoting upright. I am parking both arms clear; the available wrist motion and unreliable neck access have not allowed a controlled upright placement.\"}",
  "call_id": "call_3ShpsHnmg0cl9CmvsctUYNVZ",
  "id": "fc_0ad5a3f1146b70b1016ab2aa14643087d0b3f3b9e18c901c5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3ShpsHnmg0cl9CmvsctUYNVZ",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6399, -0.4442, -0.0193, -0.0296, 0.9984, -0.1928, 0.8967, 0.7258, -0.4217, -0.3168, -0.2375, 0.9976]\nstate[eef_state]: left_x=0.2909 left_y=0.0012 left_z=0.1807 left_yaw=0.0006 left_pitch=-0.0473 left_roll=0.0 left_gripper=0.9984 right_x=0.3099 right_y=-0.0008 right_z=0.203 right_yaw=0.1746 right_pitch=0.0086 right_roll=-0.011 right_gripper=0.9976\nstate[joint_eff]: [-0.0615, -0.8821, 10.4137, 1.8046, -0.0513, -0.0611, -0.0122, 0.0479, -1.9487, 6.7897, 1.8974, -0.188, 0.0464, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcfca2bfa6bf18037a31c26e518f92f40875a62dda83f59966faa9e3e31c6d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9fd18d8dc485dd2ef38c19d4d81faebdf2e5fd9f8da9dd02d86a065b917a3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b52d304cba101baf90a43cea3b005c02bf2362d839d6e89b1d7d94ff75262f",
      "type": "input_image"
    }
  ],
  "role": "user"
}