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, 0.7933, 0.6083, -0.3763, -0.0227, -0.0284, 0.9986, -0.0154, 0.7887, 0.6037, -0.384, -0.0292, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0042 right_z=0.1805 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4701, 9.7162, 1.7411, -0.0317, 0.1148, -0.1538, -1.0462, -1.1419, 10.4547, 1.7998, 0.0317, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82801f8804ccbeb8a45fd286b7c37deab761e638537cc66169575783a9e6948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73a72f1ba992597e06dbd818c499fb04b51950c1fbcbcd15b6a6e71e813c6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3c9b414156f6972a6c3586e18898bf4949dbd82a88bd95976ab89ab54a1bdf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0fc5e5c73895ddd8016ab2c395f64c87d097bd3a368820d456",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"All three bottles are lying down with their caps toward the far side. I’m positioning the left gripper above the left bottle’s neck so I can lift that end and let its base swing downward.\"}",
  "call_id": "call_6pmlCXFBjhTPNrkKfoYrUUpw",
  "id": "fc_0fc5e5c73895ddd8016ab2c39f394087d08f94e5b24ec65833",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6pmlCXFBjhTPNrkKfoYrUUpw",
  "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]: [-0.5243, 1.6089, 0.9356, -0.0162, -0.4286, -0.3191, 0.9988, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.417 left_y=-0.1522 left_z=0.1233 left_yaw=-0.0099 left_pitch=-0.0565 left_roll=0.0202 left_gripper=0.9988 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -7.5419, 8.9641, 1.707, -0.2955, 0.0073, -0.1294, 0.212, -1.6068, 7.1043, 1.8926, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0a0d02ce765f60d6913d710df0b0ef7dcf2b830304bffd25f31a617d92939e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b03b014bed5592c8cde6aefeb59a6713c53de46df2de777fe478e1561f4447ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4955fc82a4a596451c02e438b89abc36d9b2eeae9aaae5970c527caeff8899",
      "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, 0.7933, 0.6083, -0.3763, -0.0227, -0.0284, 0.9986, -0.0154, 0.7887, 0.6037, -0.384, -0.0292, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0042 right_z=0.1805 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4701, 9.7162, 1.7411, -0.0317, 0.1148, -0.1538, -1.0462, -1.1419, 10.4547, 1.7998, 0.0317, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOsJzB9kNxbpwmbV3kZf1SuSVCqTLIk5lYHtKwlW_pX-b7f72qPtNFUPclooMfe70CQxt_Cd3LCYGMJ2C6RulMstI8SvR9qDemN8jHMdIykir1qhlb1JN3Q7t9-lDlLj_iqccLTQiQWatNI-un7zXQ6Ml8ccM372k4uOsPBSherFFxhkTkkisudYK8JXVmQjriSSw7G_k6pq292nLzxGnQyq6xQEaiVTPTx73xjCg2rxuvCDqQ-13AgQdKYKC29CEavJv0zwwHMsXZU3bkH3cJYPFY7X09llsY7I65iWfn_weVVM6wWngVJfiEbt3bV253EoHGdyGK7kzrPwTkQpO0weEWMnj6Od2ibqHtkPpNQz4I5IcxXVgaStw4gNGIgsV63U5rWHBLvcLZMd-Jg7UGrmETBWiw9qrEsZWB0xg0FhU9cf_lxFgfQi9imyfJ0uetx43FJX4yUg8BJ45Hy2Bma9t66aFzSzQvGOv3tjIuZ2aRmnWb9ttST8leGjcOyMQzgTYgyb5z4qVQQ2xbz5r4Iypdmxv9FWj-G7KqemEwas3CTTReX4o0yc8tXXafaXiUBY3qPdCqxl-oMDFOCenXtoIstEKOF8AhSq0aiOkNoaiOdxHerBlbD9X-E68hRnarJize_n_QPuEmnUwX5ttDjs-h7VkhsZR2Npbypb_xfyaoS-D4QlUikCRkJWjcJaiGkXd6PZH-fLYfr-hqWkqgiW_bF4J2k1_4zWYnvTgsF2NNDjIR342nPRc7roq7oJPX2kU4hrblAjCKpXpC0EfWJOQWju-j4X0HMCgxvVM5MBbo4fbWTUg46N97CAruxotlkoSabFXAXa8DfsfS8yyBqqTl8SHIdbEpcnQkYgW0ETzaD7QG3bDtc50J07lUMM60n4x5qQ-PRPa3p1XDHBj6fgZHIR-FehXPFwbmJxwhDKv5quG6kS3Dp8jovU8kWo9cQgvWO_AfQV6Z26rhw_67VJP_jv63ct-SoyxoB5Mvd43i8JV3_X3oYwJU7-paQl2foPxaqc4NE6KFz_NyVfl9_QDUXbqLkx5eSO1ohvCUMFjzJJuCjajkRXWKyRTSxsYJAFGGDk8QoLDYrVyTXGJlyuQtgTLdc4eB4bqdv4S23Mj1c2aF3ZvkbzLEiTvhCBCCUdBNi2Y_f5YoJt9il8FKwF9-4Rqln672g6U6gHcT_LTjSiQnT8vV6qH0RdiAkU7mqoPlnsxvstO4A7pufsX7o4LPBGE4Z0PVYWvJ-faF0PdSmsiOnWjOpMSLi6JHIQulkEpGRKAyMAf9o6dgIaq7qLBiBvkWOWkN-9xQhCMqILLHtp4xyJH-C_QBAqFyjWYT61GqY_zm64L9VTK-pRX7ngRJpXI9i-yEAM7oB5B2eSLdDrqIGdRA4640a87e6RPAY4wbENkYnVfFd9DyKOPhtMyILlgbBU5q3akd-01ko848XIsLTYMSCT9uImD5KUA2TCMSvbU7zsBEIse_5-XYQ1PU90lOz2QhGrSeYnAnROtr0czXY_NMowGcO385SIJFPP71lFXQ0G6-ktNuqB6YEEyBJflWucLFNO8J1siPHyxHRygHCj0IPRAQ69nDF5wox11_omYCVLQTvW0XuLnDhBg==",
  "id": "rs_0fc5e5c73895ddd8016ab2c3a5bee087d0b778d12bab8f5e66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.12,\"left_z\":0.045},\"note\":\"The left bottle’s neck is left of the gripper center in the wrist view. I’m shifting toward the cap and lowering to grasp the narrow neck rather than squeezing the rounded body.\"}",
  "call_id": "call_8tp8A97nVEAY1SpQDMoQ3EmN",
  "id": "fc_0fc5e5c73895ddd8016ab2c3aaab1c87d0a331e09b7bbfaa58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8tp8A97nVEAY1SpQDMoQ3EmN",
  "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]: [-0.4038, 1.8191, 0.8017, 0.4324, -0.3744, -0.2466, 0.9985, -0.0193, 0.7837, 0.58, -0.3965, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4501 left_y=-0.1182 left_z=0.0617 left_yaw=0.0271 left_pitch=0.021 left_roll=0.0046 left_gripper=0.9985 right_x=0.2889 right_y=0.0032 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.4479, 4.4513, 1.1209, 0.3199, -0.1685, -0.0562, -0.2803, -1.812, 6.8444, 2.0098, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2f7ff48cd4578ef7481bfadbcb8ed7d6ecb1e33c564e2bf807c15e9cf032d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7c991df54537fd22101dbb065936758c1d6ac46710b278494bb5f8998c5cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fad2bdffa35ba78c98c9a1be7bc1b45496edc81afbd08bed07d371d0fbbb69e",
      "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]: [-0.5243, 1.6089, 0.9356, -0.0162, -0.4286, -0.3191, 0.9988, -0.0189, 0.7937, 0.6033, -0.4038, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.417 left_y=-0.1522 left_z=0.1233 left_yaw=-0.0099 left_pitch=-0.0565 left_roll=0.0202 left_gripper=0.9988 right_x=0.2914 right_y=0.0032 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0255 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -7.5419, 8.9641, 1.707, -0.2955, 0.0073, -0.1294, 0.212, -1.6068, 7.1043, 1.8926, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssO2jrTbxZiWAX-JvMQNjGN1CHv3oKgp5Qw2l1Zc2132JLBtW0CQ2jqV2lsoDiSaMsL8ZKTEVHaoGQNXRLr6Hel8nmCbVivgePfTDocWg7_mUwcKdygxS3upYzua8D1BaCsnVcFOymP2tV4Mp9InMFZiqj9SsQx7sW9mDvs37mid8dMYR0xdRDR4hZKoAOCFeoFKAmWzdhFhwtpqernPp0T7pWIBVv4KCpG6OnjMxa01NLM4e2pHXemV0X7aNsgXDb9jhv_luuoMEfoNzWkGmyhtE5jatjYY9oAhNVCI9mw0L3cmgfEMNLX5gz6a1kZGvrAjSP7xw6Mcf9fDz-bgl5_fA6k2-_Z5anzrABtMXF8-y4_M2gLjYPRJ8A_juBoNoE00nLajmapmT_ZKo1zZF36ZGnRAnlnUM9UzUpaWbKaraiKIVtEnKYLH_7eJ7dEAc-A2TMVugEWiztWuM4BGLxW3S8-zKCooscya-ULUdVdECAFAPs6uOuOQnmdcfhaKeh6zqIXpJpon73_qgmmbLaqGRJquQ6UuEfpZqdq3KPUulKG3TWADb3XPVQwJJ0dz-2F1FshVNVr-1kfVfHg649qFAgy8K9Gby8hDNSztgd0_rDb65D72tGgo3uYLFw_T_Yz2ybQ0yT7wfoaE6Ih-wPm0u2GtXSsilGFvFu-rFL61cGS4QfUf6JNmupOB72r-JaEwSdl6omW3M75azxySrfgn6rjNmNHflk9G3JtHsh5jlN3PKysdjrMhgWtifCVbo-c_CZ-wyV-SkEL8HYkmh-TfeBcS9FuLJqGb8EMTsPC_SrIknAoZ7uJYYX1EJqXGCUqqq9pRUry_P8sxE-hS5qWCfzuflM525zySi5WoRfWwpL2Fny9i1MowmVHloFaow9cpJvXahQurxnV6PeoLR73itPQN4sqp6DL8BV3egClHncMon0_dT88tXYAsRxyH78zkEtZW9JldhGQWLlBc_FYmnprl03SzXUhRkqYd5A9rHlRbl_eIJFGPP4V37UL7TUxXFf49qep7S7mGM-5EpBcdm1U_zb3ADEED_M2rfHe0Ctrc_boR-fz2QDfLTLAYq-uqubWNYuaRbc5SZmbRRzTz22Hqst9byNOOyi2xYsQ3zJc-Sz1DFqfgmZOc1HhBnSWj7OaCN3dA1gz6SklimrBUUdZIo0J-RWawwnn8NB0VdOxUu_1CZRbo7W2dfv2Qj2k6VG_JT-ZIZNL2kwX_tTG_ZHJwEkw8t8LbBdQaE9OmT7zUVIvQFN3kuXbtioZ0oZBogs1l_3rnS4IKf5T7uj7XBCosyTjblc6a37z85dU7E-1YrgC8Ze_9Axge7XgyjqTdJ-rsf0XeuoCrnq4MtddF-dE9U7IrE949OOf2J4XLoJnhrPkLxnVdrSoIJmGEner5VRealaihdjJEQETiTx6zaYVrEdsROBMSyHoukBSQoSOy7hwEuDbp49RZcWSfAKzhn8MnepKkRPc7m7eLyYNxRA7rPZ5k69eMfqj0duGFt_aYlLfdOluQYwPZLA1F2HQDuK4Q3hiYQVnSnut-FUMefjn2EKIcHZgpxC2lZ-4nusCvtDLa0EeSTg_4IFlA_66GhyY6PHZQlXqcLTa1uChZIQ==",
  "id": "rs_0fc5e5c73895ddd8016ab2c3af932887d0ba2be00f51945922",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.075,\"left_z\":0.03},\"note\":\"The cap is still left of the jaw column, and the fingers are above the neck. I’m making one more small alignment toward the cap before closing.\"}",
  "call_id": "call_yObqC8x3UZ6X037jufReiR1C",
  "id": "fc_0fc5e5c73895ddd8016ab2c3b4412c87d0822dba3c53a602a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yObqC8x3UZ6X037jufReiR1C",
  "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]: [-0.2523, 1.9457, 0.841, 0.5259, -0.2806, -0.2096, 0.9983, -0.0193, 0.77, 0.5507, -0.3851, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0693 left_z=0.0347 left_yaw=0.0812 left_pitch=0.0073 left_roll=-0.0139 left_gripper=0.9983 right_x=0.2859 right_y=0.0033 right_z=0.161 right_yaw=-0.0029 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.0632, 6.9812, 1.1502, -0.1099, 0.359, -0.0269, -0.4171, -1.853, 6.9675, 1.9756, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40453d24b86c80beacb01fd746ba27a29534cb3fbfa26be5f598a3c4ec6aa44b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e1f20d4978129522d46f75b904c389072547d2d5b0481cdd474744dcafbf2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b87de4fe04bc400c428b1ee5643302be104b0c5f32e9a374a1cb613aab51e54",
      "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]: [-0.4038, 1.8191, 0.8017, 0.4324, -0.3744, -0.2466, 0.9985, -0.0193, 0.7837, 0.58, -0.3965, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4501 left_y=-0.1182 left_z=0.0617 left_yaw=0.0271 left_pitch=0.021 left_roll=0.0046 left_gripper=0.9985 right_x=0.2889 right_y=0.0032 right_z=0.1684 right_yaw=-0.0032 right_pitch=-0.0316 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.4479, 4.4513, 1.1209, 0.3199, -0.1685, -0.0562, -0.2803, -1.812, 6.8444, 2.0098, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPBBs0rUkmFeXBSSQOzqoFbeXi2EaD-_M_mpagpBlAJQYGgUDVR7JplDBCKJLGzUxhGhf7RBUv5MT_p-cToBx-UFoyE7T_4oglQZ_C7IFte4C0SpeSsgoR2lbUJl-WJGNibhrg3fnT6s5MOE7v_8_uzxloPan9UX1nuvL7daywPcxiS_giYDCMEI9MEb_ctAnqOtWI64Q_DZu9gA5mGlDG3rWnhFCGULQUT1KyeQ_gbJqxz-0x97va4n_Zf96wIwKOjJgtQMhKVOKX4hKgiCH-wPlrJ0z2ZYPvf1woSq0SbylbyGuTA6neA30uE-GZFKCHU1JmwA-IszOhqxr0IFHQ_YrPJq-7vz8UO-VnItB9Qcazndb_bx99bcikE2whhSG1EqE4d48vvEC2Wex2H2rAVtTxOD1OuQNO9f5zdRuHrX9YNPfOrn-GhNzMbDNn5Cbh3X4vGZrKTBGzd9jRtNphKLAFUnXcLegkif_L5y7mjUTIKsGlvAoIO2AqFQUU8lFoMwoIkLOuJcDpVEUmM27BeqRV2SlKF_szy5Nid55ctlWxvGX9aCJsSHBezFODvYs2a7mn8hxjJUVKjrIwVRiTqdJd8KLRzpFh516hOoysvlYL8r1AAQflBvmdHkItVZ-bcMI5bqB6D12D5QrMJPh9yPLvwzCezT83GiR6T-rGw2Ruri7orO-S65dBJJx7EN34REL32lU7OvTGZSzv-XFR2MzURhklB9rP1GmPUo0ieVUYrJSxz1AsHiMZKoFhUOW7zZJNBnQAZNsnn5ENrKgUuqMMith2HklTWQIOEeSRBNzqJlxcXb1RBT_isyYtHqaOgzrOE8B567LOMyqloG_rbjKgO-Cez6qeacbYs-M7T3it1WLm3XgtiReEHgcnKRj2zyOv1x94YQLWmJVb396hlEtOKZ7eTvhAu9lCFdwXj87DGzWGC2qYvYV7Hi0qR3GyI6UZ1vanXjkUfWR4Lsx2fBRxOQGSEan782I-dJHhYM_g3qjqP2PuHgVEntR1g1S1LNDcGbXWZzsuBsyQEomTHLZCBVHR1YU9RhL9gh20XVPVXhP863n_TAq7qvpLFVPGEWMQLRiM-8evzrjFIWIXDna9L0wSFgU6CarQ3KBZCker9A1VJ5tubTY4p4_zp18qgPyS6AvSzOPkdg_4PkdyjpeF-OWLkHzjoNfZgTjwzZB_nDyGA8KFrMKSe3MpLUjDvBi8-pzcPq-MAj2eEDwF1zDBi0MJSvcvztiIFwgrZ2QJ_6yjqOd6Bv6XwBJHc20q7Z-OQKIkkEpPOG6KqyF8TIrZLBq89CCMyGJYHRN8lMcz6QJFUWS_5TGtaScN3r0TnZyBUQIA7Lg6K_GQleiIK1Diuvt3lyWgl7e1T0WbHsI3bIaEyfqyAdb-fijgpm5-fXZVFKSO-a46osQdlsCwLmK2DX4pHJ0ET-PvxHRbmIFGVIqLYMJqoOwMcTBOESHEFiJYff0uUCUWmf65eqTt6gP8Sl0dNyxjGlNxSOJD2WZ5sq4w4A2cPjIs4g-kpQlh67p_cTqShUvUZUNDXnnk8AoqnsF3GfEvYXw_OtjEqLEL81Aa6QNnfy-nHNILjJTwfv2GiFxj2PoC9tDF2Vqr_uWcmvVU_vUWPMxNiafLGyUxGuVrePQLsdg2P-tAzSGPc483hDatUNR_2DQGP_aF36mYpLItqwfxCpP951xlDEV06aYvLXhpj4PSX78lrLNdsFmXMYpI4Y3U2QpG1eQgnKifPuV7D6MJkKdjiE4vx1M_tuK6NxMh68CgD7iFnjXMlLkeOp1ZMkzi9j4uDGKBFMNI0tmJB1dblGL3ni3x51CERBCsOhxJ5RDf_nRO0YT8yncvIkSzaB2deknLNvQydgHkFKGZ2ZqvAvjHT94J1VQDUqB0BDY8Ajj9k0nSoVC1i6oIuo9_2zQ6FaOhonz6Zk2uzxtoO2jD4VjuG75JjVV8=",
  "id": "rs_0fc5e5c73895ddd8016ab2c3b8b84087d0b4087e5101a81338",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle is now centered between the jaws, but its cap is beyond the low-height reach. I’ll grasp the upper body first and draw it closer so the neck can be handled safely.\"}",
  "call_id": "call_EEWZcYm7Si3nfx2j7KK69GkS",
  "id": "fc_0fc5e5c73895ddd8016ab2c3bf665487d0b3ea034dd4b525a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EEWZcYm7Si3nfx2j7KK69GkS",
  "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]: [-0.2436, 1.9533, 0.8577, 0.5835, -0.2432, -0.1989, 0.4572, -0.0193, 0.7517, 0.5179, -0.3664, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4912 left_y=-0.0745 left_z=0.0483 left_yaw=0.0537 left_pitch=0.0648 left_roll=-0.0438 left_gripper=0.4572 right_x=0.2832 right_y=0.0034 right_z=0.1547 right_yaw=-0.0029 right_pitch=-0.0316 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.8291, 5.9282, 1.2869, -0.0464, 0.2759, 0.735, -0.4171, -1.6752, 6.8308, 2.0147, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebfb4a7647578eb8f99aa6b8c75b89c4f4803cdd2fc98d12e069b636bd5919f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d292e620aa6bfc6b7032b626ec48c6825f01c1e770dd6e753011e04516f70f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912075ea0e30a2e15e1dddbff09d565cc6ab66ffe32d18db806331359064c883",
      "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]: [-0.2523, 1.9457, 0.841, 0.5259, -0.2806, -0.2096, 0.9983, -0.0193, 0.77, 0.5507, -0.3851, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0693 left_z=0.0347 left_yaw=0.0812 left_pitch=0.0073 left_roll=-0.0139 left_gripper=0.9983 right_x=0.2859 right_y=0.0033 right_z=0.161 right_yaw=-0.0029 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.0632, 6.9812, 1.1502, -0.1099, 0.359, -0.0269, -0.4171, -1.853, 6.9675, 1.9756, -0.0708, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_z\":0.115,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The gripper has closed onto a substantial bottle width. I’m lifting slightly and drawing the bottle toward the base, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_mQVU1ezYY2WFfGznZfScvUOg",
  "id": "fc_0fc5e5c73895ddd8016ab2c3c5142887d0b9d80abe34e98a82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mQVU1ezYY2WFfGznZfScvUOg",
  "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]: [-0.342, 1.454, 0.664, 0.2138, -0.3229, -0.2279, 0.4573, -0.0189, 0.7902, 0.6003, -0.4271, -0.0292, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4003 left_y=-0.0792 left_z=0.1131 left_yaw=0.0365 left_pitch=0.0178 left_roll=-0.0088 left_gripper=0.4573 right_x=0.2876 right_y=0.0033 right_z=0.1697 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.4479, 6.3248, 1.7607, -0.2466, 0.0757, 0.0024, 0.1983, -0.759, 10.441, 1.79, 0.0415, -0.0122, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d70d8f80c6c3c6e8ad0f92c4b59ec4c33cb540ba6e8123fa56946db6bcf3523",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c412ae70b168215db28d14bf026f55cab0a07f9f04eaeff3b4a23c9d6cb5344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4b27f6a3272ea9a19dbc019028587eafac4743b73151f264049975c4b1dcc9",
      "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]: [-0.2436, 1.9533, 0.8577, 0.5835, -0.2432, -0.1989, 0.4572, -0.0193, 0.7517, 0.5179, -0.3664, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4912 left_y=-0.0745 left_z=0.0483 left_yaw=0.0537 left_pitch=0.0648 left_roll=-0.0438 left_gripper=0.4572 right_x=0.2832 right_y=0.0034 right_z=0.1547 right_yaw=-0.0029 right_pitch=-0.0316 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.8291, 5.9282, 1.2869, -0.0464, 0.2759, 0.735, -0.4171, -1.6752, 6.8308, 2.0147, -0.0855, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPZKlQ3oXn4p2QC5GxtkkyAWMJtDaBcUJpMuyAXx6NAS-n5a7Bw4rFYi7dt5CsT3v7eI1FQ1CVGsQnBEhKLPxKzGjNWbHqW9luYwRqwhl-dxPoyCB3eVNFlVp8HcBnH49w6KUi_HBmcAdtRT_rX_5elqSJhy9VHfv7mx2fkU5fhbpRMU2q2XP9TLPIpT4FOQRSqfFGtneVUJRveaivTzJw3k5SPZ16cZ0kkcOSGbiY9e8_bmneyh378-AuiYju2tpw6d8T7i2o2krJmrERA1ygkQefdfdyTYTci2EQ6YNSQZyoF1-qic4J9UGbOmlE-cn1Z5d1KxWzpi_q1v2OtwpKWw7jBP394MMtVYZJYvr_65C3IGL9TS3muybg8mDODepZKO24q-Bcu5RjuOE9MnJAxM_twrt9OT_VasnKYCOgRze8O8YbdCUBwEEkgjxk882JiWfDYsZxirD5-PG_sodc6LiVQ924UsHQQ5SbB_m0BgORuXBq5BPw7B-sOLUEPFY8fuo3mbsYSn0_sUyyAYWpnMPvnsTOH54QUjurPEzC3FPiF23oioty0Zes7q3bqMr07uQvyvw6GPEYJ4cQhuOvEPQVA6K_pEqLW8Dk8_unqiQW2E4LSgu-b_WTZyPMtS0FDgdokIaD3ZtSjmBAqkbBzwmzQRqkzo_hUnvCbUDTcUqhZuYt5iom1k8N4h1CSkvGPy2Kz31l2ElSKraUrO2PLfc1wHZ0MS3ETN1ZTykth-eNOCyly89on7Y1o19IVXzz20t6DNCj5JVhobWPjGw6WntzN1XFulbVz0TPhrAb83WCAoSCuK6PLOLGMe_ykzioUSyP_dsXO8Md-5gs33_YHd3qWzZKGWn20idtrBR4xo8ZpJL4dfjQtR01iW_ZXlKnQoYWApOnmCOdd3oQ3SdVewQEvUTFOF0lL0u7N2YqmujUo4pnJ1V9p37axuMA3S4k2NPNwVi-RWyqGMhRVUGTnwXNv3GJ0r019_ySoRu-p97cHm8IkSuq2guxeVfEn16ReFAFm3i3xCqsZ9GrzqJH3pWHQZvJ2zjOkSYmMv7AQAhxh9Pp6Or7wv1GkM2ZlzxdWunVkHtIAGvvyVNv0Pgwa07JLZyTl8UGsSGr_wuRqrVzzd8Ed_Z_g6coEBhtx25m-Jsq-Gnrx0jQ9Pda2sEjz6uG3tsHEBIlKJ6PZ1u0KwcCGvbLooSV7nGbO8ZKSXUsYKF9dgNDPjUCeuO1PhYlNO6GpJeg4FONmB_0qRcPbRPYu-WnRsC1kh2q_TGPk4vIPE6lzUcNJmyjo5GTo54TVpfhmaP81LDgviy7p0YjGJYyw_C9s2IdOMwkjfHzFDtHmdpzbqhiiTFstkboKORBXs2Wosz0h-KCC0TJzB387J2neJ4yFlaEKK07xyLMnjb3UnnfZHlldxWubRHLnEFYB92C2CUV2KYRsycjl-bBKUki4p0hPX7JX1zYIuuWKEgQbn29fa7RSNmqB7vjPQtdlFg3kRi4FWFaWkeHH_NFG6a6W5vc-4ddY2hNOl0CXFpDeP4znB01J-kopX9PeKAeM-tq5lIDvSyLJuNfjBEXlEEtu4qeiYx5hYo20p5aMcdYpD1BPkdXK40KkRMtLKjnE_vHQaUbXCjtLNUpCPpdzY2LgmGVJK4C91c-WDP3ElRojPK2yqeVh_CcB0psxhprXcwhSFf_3M6VxLfw5RA4EoawnDVGYiq84hBeP0q7DchRcXwt6MAtMAf7p-ITcYJlDCjZZds9YL47PqzHrhyqpRDZIFdBBr_aaV3N-vFAO680aEKmrDZpqJlXbvmnEYiQOJzGOxhMaasZfg6dIKXxgvZfI6Jn-JU6bwE-CRsRuDfMxF3LDg6eFdl_Ua354NxvDFgjRzFIn9ZscyljzyvtHHgGI6WqA-U01taaTQK1HfTGDL-dkZQvBX90cfY9DbMeHr48WXHbxDEW0a1l2a9p65lzyBDLUQeMTupZcslqvFccnKMYCZaoXJXscHqK5nsGXOme5itGetTJQFD8mK7uticoVm2Z-T2-YYj32U01Jo2DnGMikO1_QIrzvyrbYw55fpGhDpn2g-aElfdafsJX5Y-_YIPg4UfxQDVV5wN9bBVzz6TB0QTL8X3MwaoP5azbeQYpYLdNi7WXpVy_lM515iQ1-mH_xzVlewFP-IUSqCwtPmrDuH5e-oOPBqb4kqgf8bZkaOmitXIMxMmKqLMKig_jXESBn_a3RvlAF9DLmuPKH5RW-pHd_QKIatmJv_WOBlw==",
  "id": "rs_0fc5e5c73895ddd8016ab2c3cd28a087d0bae24a9219c41084",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.075,\"left_z\":0.005,\"left_gripper\":0.8},\"note\":\"The bottle stayed on the table during the test lift, so the first grip did not hold. I’m opening and lowering around the body for a firmer, lower grasp.\"}",
  "call_id": "call_4hU4rYREUWmQYdm1axayVZy0",
  "id": "fc_0fc5e5c73895ddd8016ab2c3d6e29087d0870a186f609a14cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4hU4rYREUWmQYdm1axayVZy0",
  "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]: [-0.2668, 1.9697, 0.8185, 0.6308, -0.2737, -0.2062, 0.7973, -0.0193, 0.7589, 0.5518, -0.4004, -0.0292, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.0785 left_z=0.0367 left_yaw=0.0598 left_pitch=0.0614 left_roll=-0.0333 left_gripper=0.7973 right_x=0.2833 right_y=0.0033 right_z=0.1614 right_yaw=-0.0028 right_pitch=-0.0389 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -5.3265, 4.465, 0.9451, 0.105, 0.2613, -0.0855, -0.4034, -1.4291, 7.0222, 2.0098, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2da00611f94a7de89cccb73e53776bc6257000ccbd51e1700f3b70860035721",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a9a67700919a265b3d90d6edd507f137a22cd252bbf41411a5ef1a40c2518e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3050f1db729009725d40abced09b0f686e8768428dfef8cdc05245870d11e323",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.342, 1.454, 0.664, 0.2138, -0.3229, -0.2279, 0.4573, -0.0189, 0.7902, 0.6003, -0.4271, -0.0292, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4003 left_y=-0.0792 left_z=0.1131 left_yaw=0.0365 left_pitch=0.0178 left_roll=-0.0088 left_gripper=0.4573 right_x=0.2876 right_y=0.0033 right_z=0.1697 right_yaw=-0.0024 right_pitch=-0.0484 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.4479, 6.3248, 1.7607, -0.2466, 0.0757, 0.0024, 0.1983, -0.759, 10.441, 1.79, 0.0415, -0.0122, -0.0073]\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": "gAAAAABqssPl7QU2vnfZc6CrO3wHDX0RB4_UhfcuOamzfjmW13W9TjPgE7oBwSbP8de_CgjRpJe-UyaxN6swroCbv66cx9nNGvTdVkqmbbwvlY4Ui773GrpV9nWi4qmf5nNWypsAZFGHUIpUowTdjiDhBcm_Vm8DMjYONGvzdOPGl36hgx8VHa4v-iQefdb5ou4NUByBtZMGw1syf14QY4WxvRa4Vd5NQ9nczvCHIOLOq_1VIhWTaAzboVUq0-kNNH00OP0n4zXqZYOed7j61OWpHHWA9sbOsQOsg_JiX09OnG7AWv6vLnzHIX9thAZPxbIkDr0ZuTL1e_pJJP4oVw7Z28Pf_YE-94fKe5xV4wEo3cOqpvESMgJWl0dmGCIbu2UwDlw50v1i06nbpyT4tPULjon7yOz-5RiRftV4NxdCfrvdflgcBxeocyWdm7WuxA-AglR-aud36DbYlJ_6DglDYK5ac2WqjtUyHzAoaSBvIkFEDtXdRMDFs9D1DmIYKmfWhekLpJpsHfV229FCpVAUcW9e4wGGmu2jEwj5CPxMjjVTD7uqsV1RiQGPUDg6eeuL1m6TRwXvo2czM_cMBt8jAdrD9NdgixAN8CQymOu5U1NSu7BQuJc1KM-TiqPxlTle67LWQS2pUPpjzMdJyyPHjvAO6NoshkRqI0wMGeqZuDqdq64ZyK8w78xmKgafxwX5Rh3fC05jsAVFSLDHkxXuITYfXkWvQLOnh6sxW3QySlah7pBTMj44ZwPPcYpehJaQ5SJek4fYr5BIaB7SJUwQEQsYY9UaFP5QV1brlljepE6AdZo66vGE8wBdGo3BjjCjKTepQTUNYPke9WYQVBw0aEyvmLbWkW20_DeQV4cKklx4WQoFyR95pO-GT8XMIzwwzSb1YFU_VHBfEqAQeADh-evRsu-qbS20fIjU47_eawW5FrkDWlyiphED4cpbdNAh0lgyibrf8406t62NRDkl2gPnSaJclIzjMpjyWiCUHcknqThzeJ9wknvTMt6zTa_pnDa3R93EheMfYDQCBpnpI6JFruoq9svK3Oa6XEHwkKqufRBu1QqZBSAg_Cde5nI-gFBIT7qic9HsFdKKRA_ZkHoPb8wGkEXBjsbkw7bgdK3Qp9x8zI9v5PcbWSFYonIxKnF8vMkRU0S-eK0ag0ldtijaVkFIiAU6dYxeLMBsesv18Bx9Z-xEShvD--qB460OW01ESU2jeVjNZTjClh4NzFpSr3cH02StTYeDhGGgA_qnzjAwWWeSGFbFCi7PGYShiWQN5u1Y9Bx3gj9yDadQiRhiBUR3TGcCYhONuxbQq3VuhMi0ypDsI74HBaW0ZjrGC8JXrV9daopP1RrOFR_c7lHIp4IMoAC5ae9m8GvbQSBlOGGeUXIR5oiYPwy0Yfzpkxa99E1rmmTLOACXwTavgvmOYvQzO6A7rngFhS9ZkC4NDKWvCvsBnnNsG9KE-FFyGFVdkHgGEkNgQwXE2bJzEJ_kTwlvkxHv9u2Fmjurmff0y-CiWLC2lXtJP12Y8x6rl7QaB8cH5FVPukylnIhjA08fDX3w7F38x6rPXvm4twjJljclE9ZSZ9RWH1xNkdhejkAuNcwhJ-g9L1bu1JCq6QxRZ6gS2ynOiYJ6W9nO3-tHoubedBRt8GuI-X9ORPWP5oZdjBqgQxq_MPXh_Yisb-cd2rg0fH4i9Yhbwa6_c_mv1DRliXg1UF6Zl86M9BPUJOiaPA4LhamgLjZMzg7vLseCGNoHD3e5yK0k2h7MyFg7WV3-vxR6Hvikit9riO99epXGzoGTI3o1exgJm6JnS5VWWSKOZVw-131DoMVVyutEGW0Y5mzhp8IU14ladSDeFL3dmFug4CU6kAgSw73n9IXfSOBAFAkMXLDs9Sa6s6-MYpnhFGruq0E0djZ4n3WE6HhTunxyPs7BwzUuYM0ygVjamBULSIHw9JokRc4EmHnRb6bUuUTUO5eMOuJxQl6ZRFqUSLqR_diDyoQVDS5it_quNYfnAygxwAyo_pfkHeHaAmhkOCQ=",
  "id": "rs_0fc5e5c73895ddd8016ab2c3dc44a087d0bee192bacffcdec3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0,\"left_gripper\":0},\"note\":\"The low descent stopped above the table, with the bottle body between the fingers. I’m shortening the reach slightly and closing to secure the nearer end without pushing farther forward.\"}",
  "call_id": "call_NTkoiDAzEIdGmDJ9yfJ1l18r",
  "id": "fc_0fc5e5c73895ddd8016ab2c3e2f68487d093ca17e55c5e74fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NTkoiDAzEIdGmDJ9yfJ1l18r",
  "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]: [-0.2905, 1.9499, 0.7345, 0.8341, -0.3248, -0.2127, 0.0133, -0.0189, 0.7383, 0.5167, -0.3801, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.08 left_z=0.0603 left_yaw=0.0893 left_pitch=0.1996 left_roll=-0.0667 left_gripper=0.0133 right_x=0.2805 right_y=0.0035 right_z=0.1549 right_yaw=-0.0021 right_pitch=-0.0332 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -5.5726, 1.9897, 0.1538, 0.0806, -0.0904, 1.1795, -0.0068, -1.347, 6.7624, 2.0098, -0.0806, -0.0757, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca3c078f16ba94d002fb31f64a95fe50630b6637b8db0ba37a6540d08ed227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd690111bb08ef5c7d60a56c1fd6469e1c93d3838c3b3148f421295d533d41cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d54baf9c64ae2cce94e2e3aa6f34f869f5265206804ee7122730094a794bc7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2668, 1.9697, 0.8185, 0.6308, -0.2737, -0.2062, 0.7973, -0.0193, 0.7589, 0.5518, -0.4004, -0.0292, -0.036, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.0785 left_z=0.0367 left_yaw=0.0598 left_pitch=0.0614 left_roll=-0.0333 left_gripper=0.7973 right_x=0.2833 right_y=0.0033 right_z=0.1614 right_yaw=-0.0028 right_pitch=-0.0389 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -5.3265, 4.465, 0.9451, 0.105, 0.2613, -0.0855, -0.4034, -1.4291, 7.0222, 2.0098, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPxYiATKqeECIl_oGxvJ9r64qT9G3PfplpdW8yrN-4wTb7bDUNAZKaYXDZOXibfssk5IlmEaN9eiS-SC7lfAxgN0t2DKhVbEMtaLfe5cLaTVAKdLn81raYsG7ft-KsH2K3S9kZ6SS06tmbj--ZJXXfmxf66p8gOm5eG4SxGOUOeBSO0Ys17IfZyV_ksc3JiRW0sdqIJdXL25b7PqKMiDvzZh9CDM1buS0lxnUpVpqwDynC_SlD0CAr97Y7jSVGCtvTsRhR2zpAIcC3XjRnuhkzw1AUKwTEEOQ9yLY-9-OjYJfKw5tb4lvHIjJdlaM_2yYRSoqJPTdHgG43Czn--YS4lBxOuFBdBQA9tYZUqc3n5lrxb2c6WJpQN-_QkEqwKV2AdwRlXW34ZMMUm7AWy-FSN0qSRmcHS6m_JUw-KdUdyVQDDYOvo8MgUHdjx0KFjWERcKda1UTmOISvTxbWHw7j-3jbz7Ijm4u22EJiQ4cuK9G9CIL0U-iERszr7kXjh2SxtpAH67KyWz274iR3Ws8mkN3ngOc6VBR9_MupdiZCmfQxU0Y3xdUFqRtOdAtNSDsvORcVld3QmTxInj95PB3IDoHK25ARRLlvCiVuJpa1SI42bbmncdiobePTGQuZHftJ7GY8QI5JDNAGSHpOAIyavx_8e0QIPuTuKef10_TrgUee-0im8Y17Y4ENluLDShTx48axivb_PDVqU4fHJNh4Lnal9h4CKL9shMyUbRK6HgakNB1rfx4src9z1lojTrLgpB396kZIAppijOCZYgaBA7YhwVy-LGikCf5lcBXWuwF7hu8tyu7EThCjxQauKbHass2VhZIsNF_KEHh0fXxP3AS7QBPZZhYncRGqcFi0NIyiJfaBr3XacEz_LXU5wrWNSoIo0UEqPXfjhswUMD5kJj-8_Iq4QQLvXsCn7oW8ylUo-YNKGv7V_vYjLCaVCY8EwVoujHfa5oUhy2IhqZ6_KiyNcaGWsxL1DJTivW2hGJ3jeqLbhdB9WDVzsFv6wZPdY9Vkt6FiOHuC1eL-923sHP3yl1YW0FoYm4Q0ZKuF_o77VBz2hIPUSsL9_AlP2KiJjKvoGl_sqddqrs2hWnYPNZBLG9Va_R9PAlAj34kDHgJG0sDpnTnUFBI41MVarHhER56jIyJ79gZWAmcR2DKtK-QFlbDRI5Q1-2MXUBhQhSU0jUSaQxuMHhbMnQKmH-5fJbqv-lwk3ECGu0EdexzdWb3kYn2LXZp_Ap0xC_qjASBZQutaGhPLmTAQJNHst_EljNqqESXW4LyhdvF2aNWvtig7gklTuDbry4za2JH3qKoFkFDrM0-46vBGcNUqikhqZFD9n-3GbH4XqLEEd283PkMqGGLHKjmeGnOeS0alrPbtHDD3HXjXPmeQ7CFmZVxqtCKjNVEVR-OvEM0tp-8ZsQIMwyVyGx65veW4RlQMof6RD8xshDKkt93ETL5VAlzrz5y0lRwj7h39n5v_joEs1ze-n6ZWpFLtTtBgprKaVM299r3Pf6RjyBlTRNsVfsFCgyWHFa4MpfgOWgfByaqoWjZpz5OuK3LGYmiwAQZTBzO6Kk20G_JtntStSnpSXkoVoL4qeAGZiMRou7SIHdJXOGSj23vEpk8Fw94CrUJKq-tC3xovCD1SlJ9-JIgZ8TRnDwkVBXTOuqIapn1RFJx2Rld0VAbXygcbxu99eq1V_CRiZ_7P5iINq9OD55M-uVOPUyJMM4S4e2UmprudBjafEi4diKNiLIr99ldBxCqWriZoIao6uZXArUVJTvz32YmItTcB4Uq_YO3wjDhNRz50QWUvGj1m2nTxFy0DpzAFBcd3kjbhss9D8RyJpcM-07JeoJrIJUGVSSUalXNySY5eN0z0E98PhSlrLu7Jnvk1n7QIn3-P-ElSxY8vAV4bwhemXYooDrojKFjWrRtCa5wC_PmX9Pt1HvtCS4Gt0gyhLERK14UUJ3s_chAwyY0_47wdK7QFWfE5Q6S7RXAfJ2OnHYDtlaD3MEdgCkyrPdeTezB7Cv_9pDkGQTeVx52WlUp3Z",
  "id": "rs_0fc5e5c73895ddd8016ab2c3e8fe9c87d0a53424debbd242d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.075,\"left_z\":0.065,\"left_gripper\":0.85},\"note\":\"The last close was empty; the bottle remains ahead of the fingertips. I’m moving the open jaws farther forward at a slightly higher height to get around its upper body.\"}",
  "call_id": "call_FtU9HoZROhff6PXFyeINYupY",
  "id": "fc_0fc5e5c73895ddd8016ab2c3ef43a487d083a2c52bef2ab733",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FtU9HoZROhff6PXFyeINYupY",
  "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]: [-0.2413, 1.9976, 1.0843, 0.3202, -0.305, -0.2131, 0.8454, -0.0193, 0.7235, 0.485, -0.366, -0.0292, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5228 left_y=-0.0703 left_z=0.0619 left_yaw=0.1143 left_pitch=-0.0014 left_roll=0.0006 left_gripper=0.8454 right_x=0.2776 right_y=0.0034 right_z=0.1472 right_yaw=-0.0015 right_pitch=-0.0358 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.3333, 8.3487, 1.6923, -0.0024, 0.105, -0.1783, -0.335, -1.6752, 6.9949, 1.9609, -0.0757, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447155a24b241783c7963fb0c48bce428cec1dd9a6b1f41a88220c3e2c2742d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37681688247c21f3865d4f4dd3f5e57bd8e6b990c188c1e2e948ea13f6c0213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1d68c6be4e784d1cd4dd7fc7ef216faa3a6ba5ef811b2ec75fb6e332b7363a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2905, 1.9499, 0.7345, 0.8341, -0.3248, -0.2127, 0.0133, -0.0189, 0.7383, 0.5167, -0.3801, -0.0296, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.08 left_z=0.0603 left_yaw=0.0893 left_pitch=0.1996 left_roll=-0.0667 left_gripper=0.0133 right_x=0.2805 right_y=0.0035 right_z=0.1549 right_yaw=-0.0021 right_pitch=-0.0332 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -5.5726, 1.9897, 0.1538, 0.0806, -0.0904, 1.1795, -0.0068, -1.347, 6.7624, 2.0098, -0.0806, -0.0757, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssP58g-05yQeYfWiITD9geRV4MXFxh2SSxMtELhRqglqhePJLldfcvZyG1xfaiTtMruJG2OZTTKKJxJ1_upiHGyBFC4V8ZoAH4tCGA6i2sgSOJBHGl7YgXEIDrOh0sFWng74l99kDMalRanrRpdsIX2_KyNhujg7zPSOdSj5VLpABGgtC7E9AJcXc90nfpX4BcgW9NH0WLsI_iLgujJb9Ty5joRHMzsUs49IsNy6sJ9KlvuNIIgNEnJpq0HfGarogKqalHG2maPORGsH43APH-2UCmFmi3U_EH44BApr46y9mTY_0Yuw4nbW7thq3TmLWsC_lJ2zTEpJd4jwfdrfXyaJSVlv9zQ1JqHtDNP2E9xX2bLTKQk-n8WQvU_6cJaFVNxiBDu5sJfNbbs1uDympD17vM40zESm0Eum8Wws7hpEpohK-utNB4CG9Qs4YuNQ40oQY77rE77ITNBhPFADKViJDPpLE9q7k19AHpL8xrUD5B92snTAfFLX5s0xLMk5HDkPitBvL6UPSBifSRnk92wYhr9U7DA_uHGtgT4hAWXStm1bUQIo2I2Ykic6n4MCKvpJkaOqNHVmIQ8a-zUzStLzSjoyYKmVIJFkvx4uK9bHsTwgMh9qWpM7mTXDJXO4Uhi0FoJ6zFSZH7XY7Amk_Reb3QFQ_KIPn1owFek0dCXzOpwPueXTbdgOHdE7XvyiPQrjxS637GDSbz96SXaOQe3ccsul_cW_6bSAolMmiS-2wkgRwbsHyFGWw2ygc_9Tsxb5LfMkNXE-wq66pVV-NmK364Quxzb8bxMBGSeDAyqsV6x9mWHu3cvW3PwMT3L2Ij50yO1JJ4mUH5swiRUwiJjP69Z4THN6AYKNDN-xPSy-wtvlPn3x2Yj4nbUxOHF18yhucQpHiNNHStx9yhJwOhmNA5vvdnVISTcdtEYOPBFUgJcvme_-YB4W_DS1fAI9E06-BkpEbCxkmofK6sVRYJ5phQde05w0AuEr1KXtibjewzWLyyZHKf0LS_3jEbg8fWztFm7j2CN4yKzOmEA3Ja4Hc1AJcASp1STjfbv011OV37BGAequMS8D-m6AZHgwmhoK4Ru4W6SDuT5rzB-McqiPm_aCJIbNEkjaSvSBE9wgp8kiQVJG7y4ZcKMRu68UBVAI0WTxXCsjIJazkgmUSr80kNHb7c4ixptgztvNPeHkZS3l8xwc16-UMOASknKGcw2a6dVwEjgqGeO2CyqflwBJToDMPeJHkroqhAYLi2BRsxDKeLWqQgGtPNePujWqwfBevhz33hiP5TfEIdpTiNc8y5ZEF52Ox5Bzq_oLJZzXAievD5lKeHAN4JNsTxi9UinsN1-FfbIk2DGaIEdlMrLi-cdVWF3s3UqsCGJ0-vdXL5F30785KrvHIszRiilXi8_ajJ3LspIr6z1-7w15HGLKfWJgVg68KI04FwT-Lk9LgVdbBgQo8hx1XwPDXDg2gUM0",
  "id": "rs_0fc5e5c73895ddd8016ab2c3f4897c87d0a1988db97d096366",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_y\":-0.11,\"left_z\":0.045},\"note\":\"The bottle shifted to the right of the jaws during the approach. I’m recentering on its neck and advancing the open fingers toward the cap.\"}",
  "call_id": "call_Mkc61KwebZyLFiMMGckyVBIY",
  "id": "fc_0fc5e5c73895ddd8016ab2c3f7769c87d098eb896ec085d371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mkc61KwebZyLFiMMGckyVBIY",
  "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]: [-0.289, 2.1757, 1.3121, 0.281, -0.3534, -0.2546, 0.8464, -0.0193, 0.7036, 0.4522, -0.3508, -0.0292, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5667 left_y=-0.1009 left_z=0.0523 left_yaw=0.1289 left_pitch=0.0183 left_roll=-0.0138 left_gripper=0.8464 right_x=0.2745 right_y=0.0035 right_z=0.1404 right_yaw=-0.0015 right_pitch=-0.0335 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.8786, 6.9675, 1.4139, -0.2076, 0.2613, 0.0952, -0.5402, -1.2376, 6.8581, 1.9463, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2ecb6580d952c4735cfdb6b038483e55283418e8a0effe74d609adea888a6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ffa24a1a118d4c3631884ad4932b9db8b0ec07ff1debd0714c88649ac2f73f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dccd3f64aa64c0e3b67aa2993b3182919d13d874e39ade75755bf7889d67c55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2413, 1.9976, 1.0843, 0.3202, -0.305, -0.2131, 0.8454, -0.0193, 0.7235, 0.485, -0.366, -0.0292, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5228 left_y=-0.0703 left_z=0.0619 left_yaw=0.1143 left_pitch=-0.0014 left_roll=0.0006 left_gripper=0.8454 right_x=0.2776 right_y=0.0034 right_z=0.1472 right_yaw=-0.0015 right_pitch=-0.0358 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.3333, 8.3487, 1.6923, -0.0024, 0.105, -0.1783, -0.335, -1.6752, 6.9949, 1.9609, -0.0757, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQCsC_GbWnZGljVCzs_xFDe2K61KkmoJGvcSK_n3HpahIxuGwhbJXIe2LlktgEzkBL-zQ2TeJnoF7qwodS79UvJTqVOYP8dkSGikIe5aZ1IVodxP4axp6QwpbZS8yZghvIGewgYG8_yaZAJN8JpCfZxR7R_JhL0jJLKlvJ8tZgqvjw_iEBQxAnZyHWM8OxjiSgzqJBK830IMstFCkIgx7wB_y70AGYBpdcbHtU7COsChS1vnX0Ho0A29xnzFJ7jkbOwi2T0C_lLqc2HcTekCTcEGCW4m7e5-SQJf1FmxImBwpRz6Yr4xIGYyIneTjL7C_i7SutbaW3z5L0C9UubeOXnwNklYqwZBUXyRjvV90rDbk5AHubGNRU0fLV_sBuk-pfAxg4PNLCn3hNiAO0odbDDTVd5Gh5_fZYHOaxjcOzXhSXk61X0J5z-c0Z6DL037H9IRqmco2TWcDc74os6DkAy62naG5fHUo6ly0XbHRseEnrZCcx97yORG837lqdFLeg6B9IkRHN_rzpTTZN3uvNgfPHNxojGnmDgdrquEoac5BNEjm4qh42X41c_dN94kTCmIVB8Jk8_N9MNWlF2EdgrWeznKQELnJYJiP639_A4MTns8o7ld1UU5LcH4at5VyVYmlNdvPxzQ7prj343Cx_3aow1L5jXfgW5HwjQ25xSZHDw4AKZIa8R-UOHwjETNwYtkCF7jwjDdiaejzlZXsbFtkPlojz-pNlaqH8iskkNq7QXEDgh2mZHVuHiPyYz82J_HsfxbPBf9WRyEtehY3tbYbd8eKeq_q0eIeJH6G6WrsooiXoUxGjDPO9-GwFhPv8Z0yeOKCXteKlOf1ntp-IxJma1fgJol-g2Eo6YZFXDsHlwQn9z8t1p78GQw7hFdOU1BYXNvFxRN-8hTUGjQ76nDQoX0QrxlG8hLyu6WdteOufdeeOi1oEFF0xvNuiZyse6LMIl6tw_CJUqh3ubsSTMGYQ5q6wKxoexrfCpzlwcUIn6HTYcrnkDs9pZ0vKHq6p0FYUThVWcsKf_OCSNeMPcKiykyF38yZKDpzrkO_qLFujf-FRG03zI5WXesb6YBk6ybGdP29Z70DBcUrft5YRFHmQmK6qx1Bt34BlavLFJI-YJt95f6Mk5mzXMQtxsuHnQ-bQGyqliT7cXy-sS5ACiI5hr8SuIYLIKcqeYNAnrtpSXQQmrwWzx16nqiKT0eWSoO1o232PbPpimtNC5vePJKjnPzFsW8nzgvWQDORp-E7wVs9aec_YEb652ZBKnD_kYvhpGXE7v3Xf8dXxCADwU50lX9Gpd4TBLYLz2CP56F0OJH98BYSrbyFWRDf06flKW0x8dcWVMWtelpieJ-_xYrOw3zsXN7ifn14aS4Kq20ju4srVjDVLi963V3_tBoz3yBtlmEhsqURv0r6_hG77XkLuIN-Conu-C5XCtL9agqomlHYm8F6w2Lq-HCwkXCWE2B1ENV5OXc_1tj3T6BONhRA==",
  "id": "rs_0fc5e5c73895ddd8016ab2c3fdb6f487d0a5611027be666a53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115,\"left_y\":-0.17,\"left_x\":0.57},\"note\":\"The outer finger is nudging the bottle sideways instead of surrounding it. I’m lifting clear and shifting farther right so the next descent can come straight down around the neck.\"}",
  "call_id": "call_JKuyUjFlSEeK4yiVQ4wg0gOI",
  "id": "fc_0fc5e5c73895ddd8016ab2c3ffc7dc87d0b031313d953cd330",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JKuyUjFlSEeK4yiVQ4wg0gOI",
  "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]: [-0.424, 2.1986, 1.5494, -0.0288, -0.4541, -0.3416, 0.8466, -0.0196, 0.6849, 0.4217, -0.3389, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5664 left_y=-0.1667 left_z=0.0819 left_yaw=0.1226 left_pitch=-0.0382 left_roll=0.0098 left_gripper=0.8466 right_x=0.2712 right_y=0.0035 right_z=0.1337 right_yaw=-0.0016 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -15.5966, 9.5521, 1.5946, -0.2564, 0.1538, 0.0024, -0.5402, -1.0872, 6.9402, 1.9756, -0.0659, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15931bc939a566027f08278468b404166b424954559ea6b93a3605c328e7827",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f797286437ea41890dbda33a865d1e97b092a81f980cc26756a21a2d3e79f250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353ab35693b52849e692c13dbf0e008b0fe644d1db57ea3b2c5f0d2f1fa6d96a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.289, 2.1757, 1.3121, 0.281, -0.3534, -0.2546, 0.8464, -0.0193, 0.7036, 0.4522, -0.3508, -0.0292, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5667 left_y=-0.1009 left_z=0.0523 left_yaw=0.1289 left_pitch=0.0183 left_roll=-0.0138 left_gripper=0.8464 right_x=0.2745 right_y=0.0035 right_z=0.1404 right_yaw=-0.0015 right_pitch=-0.0335 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.8786, 6.9675, 1.4139, -0.2076, 0.2613, 0.0952, -0.5402, -1.2376, 6.8581, 1.9463, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQLjRFOE8zTnp3__TJrX3k9mlHmvMr6WcjadswlPVkf75Alt15a5tkprWOQgOgC9GmFMWkr-4sdHAsVMsF7mogePjbC4r8pJcWArTERJMXl5iuOeSQqXk8D5paL-qRgnnqg4CZRRCP0fzcIRwtCncNvk8OVHoB8-Z5ona6wfbTgfuHa11RWURlzkt7BL4DPwmlXBDAuwv43zT5l1Bg6WJObrbR2CWFp7twaUrTZgkKwdpTyL2UBHTZOo_dAjzPTlexRskr-OdI9A_ssInXbAgALTlUGCCNGoP3L6LLisBf5LSdcnxBKxvE_kYPNWj8VnAbE9ttlSGNJm-nnujqrki6SIkJBuXwcY_jWRBkDS9uDqpX6SX9q8dyL222zodHBCSdOm1ym234_w1OBRTKcd-L_kE4e-jxSSS7zSeNwWEi6atJjkxRrXnh9jsE4Bup9ypvf0wwK_kjNRdOiq-CXL8KRLIOhJtbpIAhKRi8305JWSy61bFJ-pxwwTJ4J6txbA4EDe-_7jMfhkyIJYDfMG4Dohp5rSJVPbPpcN0STUJQ3eGyT6lSYW4rGfbnXZMFuRPFocWo8XkKsJaRG6sBr7Y-j1eCTjJJZ1IzO3yaQ8LxMLPIqWEmaONWQAx2-JavCcCOcd3ulsm8MdA-W8vnV5uIhsv0CTLESH29CBTahMjrImLVJz8Q8zeoh-ilH0QE97HnGIZHr696_ei0_-g_Y6dNdxwrrey8K6RLO0xYAQ_JMMwBWkqA20Cz4jaYEpHYffY9r0NSEmoo1DWmeaSD_K3uTp5jFL7cUZdBZVXh_EGIoiQI7S9VkiphKJpcoQtWv20-6CGoa010wNRVnQpr6D-wXWirOaVqWzmVWW6VVcIex2mgHpw8oGXFC1I8mego5SP8-uIsGLhuLqOw6HiZDZ1mdIbZ9INUNseFCiB4Eh5_r1K8E0pZFzijeenk3OHbs-0vaRdFCL_ws-iJbazXfLaHza1wbJ-vRcDSamXoNnihZNPyjg5Xe1R2WJlijc5RL35E0c_2YxeV0NJKrMzExPyMw2nM9nnpmd7aRFqO8GzBXAn-3HK1A-571B-uMoPmJp7jOpj5-PCKjw14rz12rf4AzKykLc-Hh8VgdLHeHJC0SHeVLmbBw0QKwPFjZ2bTIjbQkHjWwQ9WnP3_jhWMg7kn_Ca7tJW60uwOsn2jizTXJu-vRlcVgIJkcA5bzkn984CNFO9ogpJv7eOgFWW2s4_XoXP03gijeHd8jTNalvxbYUyJTuXJSE9zQUDG2XGF1xfppRNNyAm6CoFsOShr7ButsKChzlUWqkt6286TCmTIcbIzRC4ansdDtInUaNKyXZgX1sgRIabhzo7T1-3OJBL0sqg==",
  "id": "rs_0fc5e5c73895ddd8016ab2c406692087d080d23dceb09a26cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.215,\"left_z\":0.055},\"note\":\"The cap is visible just to the right of the finger opening. I’m making a final sideways correction and approaching the neck at the edge of the arm’s forward workspace.\"}",
  "call_id": "call_Z3At3x5iu2pbHq15u3EEuQmh",
  "id": "fc_0fc5e5c73895ddd8016ab2c40900e087d081e1bfb1ab81022f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z3At3x5iu2pbHq15u3EEuQmh",
  "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]: [-0.4797, 2.3745, 1.7374, 0.0017, -0.5163, -0.3862, 0.8466, -0.02, 0.6651, 0.3916, -0.3252, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5945 left_y=-0.2069 left_z=0.0651 left_yaw=0.14 left_pitch=0.0185 left_roll=-0.0196 left_gripper=0.8466 right_x=0.2684 right_y=0.0034 right_z=0.1277 right_yaw=-0.0018 right_pitch=-0.0301 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -12.3419, 7.9521, 1.3993, -0.1685, 0.1783, -0.0073, -0.5265, -1.0462, 6.8855, 1.9463, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f1f4cc6e3d2ea63bde5558d696f08c5a2a1c25b5796142c4f51b8a2cd7ee89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d45a985286f2777aed4b4fa804800ff44cd9d9223879b407ded2cab0002c469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8cd54524406c1fe1e9fbd86c496d4a72e2f214b47d09a2a369802ed1db35ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.424, 2.1986, 1.5494, -0.0288, -0.4541, -0.3416, 0.8466, -0.0196, 0.6849, 0.4217, -0.3389, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5664 left_y=-0.1667 left_z=0.0819 left_yaw=0.1226 left_pitch=-0.0382 left_roll=0.0098 left_gripper=0.8466 right_x=0.2712 right_y=0.0035 right_z=0.1337 right_yaw=-0.0016 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -15.5966, 9.5521, 1.5946, -0.2564, 0.1538, 0.0024, -0.5402, -1.0872, 6.9402, 1.9756, -0.0659, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQQkKoK2QE1F6oaXSWCYMB0FgH-81Rt0R7UK4c1nBRvDgEbgC7j7dExGlmTQhTaMwOyJeygl8xVruvDUgSQoAC-rjNzSYu0aA8BSRYtfZVsz2ahUQxziRsjDZlE8AedZoctM09W4ZjHGNBf3Exvj3wSway0YSEhDfEre1IBMmHj6tWqjKmh0dpWedC0JXOGWuOrFkun11t1xTCG6HT2HZbtafxmlte5aaqaiKO-d1a-pF8jEMa6caef91MCF2i9SSLAa4nAD8evPJxbqSeLiV2WEud7e7TmpYh2Ep0_2OxXQXMJ-AGKQ2IDNhojLO_AJScBOLHuUEgcjrq4IkrbweLBjqEAwl47mdnDEg4lK2rdV1vYLey4Wwk5Lr0-1Gp2uWWL_8JH9zXGyYNElv5mpnoMW8V5NrWXMq9PWoekqM4x-WJHYqHuHPGLEmDGS-WMLrrzn1AmToKd8F0BpscaEZIXlPS5vc1l4OTbyPPTJjrSmbBdSOr1q9Hk82HeUu6VqAQHxBUGFYRmWIciGZWIqq1eLlHUNeWvBQUW6ZEzmbRJ7OEEKi9vJdhg_uGVyHEkObl7kccomVAPvk608JDl7s3CJXRt8-RNcfdU4WQogF61MosrlA9KOCvq6-_QE4QmU57jx9Cc_amF9RiRsyVIGZol-bbeDf8QzalWlhtBUwh9itkne0WvsHyjSW9msdMlMdmyHZc4ygB1xEAevt5B_aiSMGM2yq3ylaezljKcquN1bhgmFyuOZV6D43w7-t9XJAZbOLKz42_8HuZ_c3p3p5L57H2oS8hmBS4pOcg3I8MkvzRRtRLIcVlJUqqY14w7CcKoBBI48_CkMl6HrlOQEJbTU5IaaEOy_oFktoan3e3WpzucQ4nXwUE4d_k8fHz1w0799JoVUT43evEll6uOKfzublkUMDftkeD9bkF_3owK18Ng-Z67hM7EKvg6kNEwq9QwZafKaBwwZNU4SFMCGrodPk4btlaEZlHCpL_mSjoK-quD-BOFacLkcDA8RvuHrVRoCaBLZ-WgjWEA4VjeiB7rSOcoIWQ8fv9maz2F618Zgyo44BEz5lA8pWcU93GnRSxgnJqz-Aq6L7f9GWHRPiPZ7fsXLrQQADOOLuHOA0vFLQpzoaaKqhQHgWL9yWtHO1ICKCaBPkyeKrM5fl-xX9EOp0RBfgu2SIbve0SKIECsWqVMYWql3SPSMx-NpiaKhb8X9kJgb_iBkKCnwxtzmIyaCA==",
  "id": "rs_0fc5e5c73895ddd8016ab2c40e3d7087d0a125447e5e03ffbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.24,\"left_z\":0.035},\"note\":\"The neck is almost within the finger opening. I’m shifting a little farther right and lowering to catch beneath the cap.\"}",
  "call_id": "call_20kjN7kB6wit8HSy8KNy9KkT",
  "id": "fc_0fc5e5c73895ddd8016ab2c40f192087d0b6ea8212b5c12943",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_20kjN7kB6wit8HSy8KNy9KkT",
  "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]: [-0.5182, 2.4573, 1.8275, -0.0216, -0.5598, -0.421, 0.8466, -0.02, 0.6472, 0.3668, -0.3157, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5979 left_y=-0.2288 left_z=0.05 left_yaw=0.1542 left_pitch=0.0213 left_roll=-0.0188 left_gripper=0.8466 right_x=0.2658 right_y=0.0035 right_z=0.1227 right_yaw=-0.002 right_pitch=-0.0274 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-1.1009, -12.0, 8.294, 1.3651, -0.1148, -0.022, -0.0171, -0.4308, -0.9368, 6.8034, 1.9316, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f41a3ac59802c8f2a796540b6e7b97aad54b3401a133bc074953c0e82240ada",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ae715d86dabcf642718778a8e0423ed56b5ce78f1959897aaa828741e43b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:242ccae59cc93e6233d6a000c2dec133bbf52bcabf25223c487fa44af6946c2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4797, 2.3745, 1.7374, 0.0017, -0.5163, -0.3862, 0.8466, -0.02, 0.6651, 0.3916, -0.3252, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5945 left_y=-0.2069 left_z=0.0651 left_yaw=0.14 left_pitch=0.0185 left_roll=-0.0196 left_gripper=0.8466 right_x=0.2684 right_y=0.0034 right_z=0.1277 right_yaw=-0.0018 right_pitch=-0.0301 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -12.3419, 7.9521, 1.3993, -0.1685, 0.1783, -0.0073, -0.5265, -1.0462, 6.8855, 1.9463, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The narrow neck now sits between the fingers. I’m closing gently to approximately the neck width, leaving enough freedom for the bottle to pivot as it lifts.\"}",
  "call_id": "call_xJaz3nhcYlIxvjL2EwZ2nef0",
  "id": "fc_0fc5e5c73895ddd8016ab2c41438a887d0918bb334a037b271",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xJaz3nhcYlIxvjL2EwZ2nef0",
  "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]: [-0.5163, 2.4676, 1.858, -0.0162, -0.5922, -0.4271, 0.2261, -0.02, 0.6327, 0.3412, -0.308, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.6046 left_y=-0.2257 left_z=0.059 left_yaw=0.1854 left_pitch=0.0533 left_roll=-0.0254 left_gripper=0.2261 right_x=0.2629 right_y=0.0035 right_z=0.1162 right_yaw=-0.002 right_pitch=-0.0308 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -14.6803, 6.9949, 0.9548, 0.0855, 0.0464, 0.1929, -0.4308, -0.7726, 7.0085, 2.0098, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70ac5b8e2453d4eb7bdae67db618a376beb07a8d6c0c0785217a30671f647df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ec706a94e42cd45e2009e9719d42532e25e2726b41dd318f8a356369c65e09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e99338ebcab7ac33467d0755723ed61a7e7f034ed5be6b190f8a4f27781da6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5182, 2.4573, 1.8275, -0.0216, -0.5598, -0.421, 0.8466, -0.02, 0.6472, 0.3668, -0.3157, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.5979 left_y=-0.2288 left_z=0.05 left_yaw=0.1542 left_pitch=0.0213 left_roll=-0.0188 left_gripper=0.8466 right_x=0.2658 right_y=0.0035 right_z=0.1227 right_yaw=-0.002 right_pitch=-0.0274 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-1.1009, -12.0, 8.294, 1.3651, -0.1148, -0.022, -0.0171, -0.4308, -0.9368, 6.8034, 1.9316, -0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQdcR_NRswlzUj5Tf7dMxs4kWkMoPT7Y-ljA29qVge11_pswFlzoAElZueRuO0xYb7aWapABaQP2TvdN0Hrr-NRa4MyjcPie10HWFh_4eAOor7tk4yuqi-mNCqkCM0Vb0zOsFA4b75ydDUir4ijMfVDXUatyLGYwfdpN2TYIzq3FmS_imQEmSJqDRWIl_ID00DCQjUkVO_kzGZb0a7mB_39t6uHYuEDvYlmHnezwelafRNc2ntNK5Xhkqjk3LCT47VNAjTcwlFKjlxPe5COrkeh7XG6JCseiED9Y4Ol7Vey-ZQsImKxmJGDNO59_BhJfJHjLuK6zIz5d5_du2J6O4u4JGKaeiYdxe-fh2sgaBfk83gDRa0SPXu3Nc3Xz7p4bL2WxQxgJzB0m28h0ThCmYiS39rsdNcYTwrrT1UFv-YNVSZjTIGPio8M5tyXnoDMoWkxsjFlSuV1Hm8YoL1CUT_T7UOM6nib9L4ro43V_bBTv77TTK4luVxLyT3G2DbG5qa-51MAU0xU2jcvMcW-_f-d_6emocGJLPRV_LCtmK2a9hWlui8GgdIAHqfcoH3uHpJO2dBfA9dHPZPFfRhB6hcCP5kax0_IF13Zs5Fx4RZT-WNbto2s-DvSYL2vIZkNW_Z_QhYw6Wc3PqSolectIzE_yr0f1dlAr-xk1P0nGcHV7H1HCzFhkuul8LP2Dwt9zDZvFQIzCfXZt4Hvu-ACZENWwFTqNTJVvucf7_vWpgOdpQaaHNHTpUxOk8am2JnHpkHRMLm9ISjpImNAGqayfum6c0AALnr2bdmn04Rnzd2cQoSH-i4fqlXKAcmHJy3pfm05O3W5QCJ9F900qJYiYtPRHX4Fp-RdmucUF13HmrNeevu1wF-qakw_kvujm7PFvObftUzFU4URpP8YUUnyritAPcaPPU0JD_gwFOVVnIB2TYYMuAtlfA-WA6nZQeiObwDO4H4eAr-NzfV_GCcLlTSdQEbazG9okWbDFENNWOL8HTEfuD8G3MW1g8weYiA2xC2OEqzmv2oDC_pDj3Jm3-1DHu9ZnDPGHEzVoDUn37S3jRxsAM8MyvcdtG3aBZxzGhcyFo0dGBZyCTQbkFVcVb30kHBz1yU0YQ_eniXKfhQpgpdPfDsIwfKmwqAF_lBiSxgemNi4J65eoqm5TttfP9ySog8TXcxTb6hRyk15gBNRuzPVZiv_UJyun82vWr9kOJz649Lln1HRXYgcQMtBr_0vAW7r-Mob8qf-RSeXwJ_xt_42EyPfuvADGjywIrQ08lU1",
  "id": "rs_0fc5e5c73895ddd8016ab2c419ddf887d0b3bb89186905cfa5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_z\":0.16,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The fingers are closed beneath the cap. I’m lifting the neck and drawing it slightly back, allowing the bottle’s heavier body to swing down toward an upright position.\"}",
  "call_id": "call_oXzuqovVyuQImJ4jTChn3O9M",
  "id": "fc_0fc5e5c73895ddd8016ab2c41b274c87d0bd31392d0e69858b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oXzuqovVyuQImJ4jTChn3O9M",
  "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]: [-0.5579, 2.2684, 1.8729, -0.3241, -0.6037, -0.4736, 0.2248, -0.0189, 0.7853, 0.5911, -0.4145, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5648 left_y=-0.23 left_z=0.1334 left_yaw=0.1762 left_pitch=-0.0128 left_roll=0.0018 left_gripper=0.2248 right_x=0.2879 right_y=0.0033 right_z=0.1694 right_yaw=-0.0007 right_pitch=-0.04 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -16.6359, 6.4205, 1.5409, -0.3394, -0.0855, -0.1441, -0.0068, -1.0872, 9.7162, 1.7705, 0.0073, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5caa0f503d8762922ca375382c60c263a1346c5307fcf6e3f8f6a80f2d4c62c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b374a0fa3c1a25ded6b8f83b914592ab436b44aa860a6503fbaedbcd2227e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3926fc2d5e17b3c7b33c99bdf03e23be484dc098e30feefb81d55a1eee601a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 2.4676, 1.858, -0.0162, -0.5922, -0.4271, 0.2261, -0.02, 0.6327, 0.3412, -0.308, -0.0296, -0.0383, 0.9998]\nstate[eef_state]: left_x=0.6046 left_y=-0.2257 left_z=0.059 left_yaw=0.1854 left_pitch=0.0533 left_roll=-0.0254 left_gripper=0.2261 right_x=0.2629 right_y=0.0035 right_z=0.1162 right_yaw=-0.002 right_pitch=-0.0308 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -14.6803, 6.9949, 0.9548, 0.0855, 0.0464, 0.1929, -0.4308, -0.7726, 7.0085, 2.0098, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQv20E_mLAYTaLl3rlLdKyRfvUU4Og_j-aB-mtMgDc3xk1F5yRgHv4xt0aBJ6lauDaCd94MUtMDVTg_L9S53eh0ePquh3fBDsmv9GlI5RrAfHApTvJsvYMZ1AYE817wSbkZ9bQqZa0AKUo7ibwY_A2VcI_GS5g2vZNih_27pXe208BT97B6w-JGCTndtVn4ZgaU7ZVee3c-XaX5QtsCiDhf_cq72A-Hi4nbbN9YnxTGo4HNuuGxHsNlGzxeRrfxkoAlLB2NJOT1DK52WeDv8XEn1YefaiRmu4eL7UUVZnP6DxGuYvfUBb2m-3Fmf2mPJ02fcc1trCohNb8t6BW_Hv1Y2_XrGLEhfQf3uwhl6Gj5fhMhNOoh3AD6JYCIjGXxHJ91eG67zJmSiszjxI_kiQ3UDTkrvKshRenRs3f54IxsnQy-JXaEqFhn7WD34AlTSJ1abUUTEX83pyr2ny8zzXsFq2I8yhkwIl4RhBCu3ExF0a0iSHfmNlbD6JuKMiszk7viexb57cmo0vziUs0mbLPSR_TsNiE2WvTLHmn6b6gNmayR_EP8S0fb-ONv7LWdzXi6n5zGwsmDIE1POORZ5_AxssS772bZffuTmQlweTePpvOw8y0fPUYDNM7fQwDd0HUAabc7fW65l_bromfyhJQOMv-B0SHIYd4A1QXpkopQLkfuW6YOtKhyU5EY0ZyRyn53D6wtoPMKZjRikJw5jvMe7uotz7gH5VSubHXmJD_LMTSzB1K9cf12KRquWUUKAGCg_c-hXXxq-pNWSYkdvOJToTj4DEFQvLtpsMKDiWQZK_vcUhYcwdkWgPZWAKckiw8m70AkwxQQEqN6bEeppxkSty-J8eXIRcdW1qF59cXlQDtWiuwGl7dl6BkRYbsTwfyGzHcl2ZJ2mGZ1xTzAWmkWHXrsf4wSWYlazHzJ-_aKG92A_6uDnCBWm3khlDCq2maQFNbT3xhwQDtYpbn2S_Q4kGMhUfSxmIsO_IYEA5XdgCzRYfGXmcYR6-xxx0gn79AoB71qewcCRxyyFoxcgE7s06Qo6JSQ78G1GhlWJlnjdMWeZrcFZKXQKhwsiU3YBefZnobqh1jG7FuquA-2p4WvTZHfzNa2AIRgXlVpMfi5gLDquugRFbBUbpMYleZE01WWt532aclEBmQXayFsnykdj1ywdqEkuirRsdNMzwDA1TOm7pkbJASJbRFTsOAbw_M1VAl6kyptgkpshhf6DOqM0yMvqnkQoc2w-VVXigp33TQ58Cz82wZOJFWhHxGaotE-RJTgSapzHvv1zC28VPnUztE7byZIK_-gm4EUXeoj2L9S1h0OvWmVVqpLl9OGk4Oi-ptFYcT5aHglICD9FIjlE3TVa98B0PEXHXs4q_9QoEM4kZF5qEe8Y98hAywASdIB45yRiRtpImnY7YlNXLrmzw_i9gk1sAMf2wOKZAbOldEwuzG6pQoKZO5rjcEszNUTcgFSlCDEWcgh9LqjpBEbyQW2mnVb1DFrrcBbBUjEql6_9fNM4-NPDlG8itrAA9O9hEoPQJB-FR-bbwBJwW7WXGl0M9PO_KXbXzsThoHkQtPDAivaXmOQAd077KdCjWuIQupFbM_n-93VXQfgJfIwumLIvrWXwDdlqNENqhkYVmdVWfDIgWN711SauhlzyvmeanibN3u3zqCu1b8etklhT-yFWOSTN-Emi3Rm8alKGiQSZ0ti_oE4GSs5S_79noPrpakZ_5trndPfT2KC5ctflPkioIU8sPewOt3aIz4xOc8iQAEAL9ssVAIKrhOfK4wvENoGkYy9cce6vY-L1JlZQBxOfWMM1S-3_1aJjEBP0zV3JJvv5I3eOB4mYilzlDyTLmj5TnXmOz_gVLD2UDC9QW-Fk3egIcAScMtGno1hCNWsFanbGa8lQGYfFIQh3XONhmhZkgqrhDSINjwDTg19X3uXLwt9ENgzEmwnuEVM0bCNtySW8QhSNYClTGCeqy06jUvOc_Sjm3cStDRhzEZMb3yBLMy2wDfnp5s4BAV0FEzNGoitCszvKVXTWC7fDIryaKEd0vW3i-KniB91zJgVzbpXCIA-15NfvHrEPsdlFIEfxUS_XIr7Zj6L3kXGucumi3RR81KvYOVSMRP3sRi0Ts1sQ0VgkVj06isUZKRG-m_mUnZv8ipcQDvKeg_JjjokZ7bafhyxTjD2MAxkG3UKv5mR26z7SkMvzGNtvHxehpG0NdS3Wnx-Kri1VnlBzFPTMm9Wm34vz4pXDWOkMse50VzLPbO7AoeZRstuuvrKtnnkPFJpR80KWPNo-AEKWFodE4Sy38N8bXYYb8ee-6ZTBXuWdBKdW9lLrkBMKWqyz7dP_tgtPzQjLD7P_TriRrEWsbYyPDzzA5cVb7rjHRE6koQCy4Ib-k1NhC1mWcuH8oiQsqEfpwpDKaAAAiu8O-Dmg67p2NCLRZmwl9zp-QYgvE6bK42eXCNyFU5enj9h938_r-VggWZ44CVB6-a-z1AbOCjfzd5-rgBx8Cw9NzU3qSeDJ4mLsnJwG-9LSYUI0RFYLqzDTRP0aYBnmKyO9mds",
  "id": "rs_0fc5e5c73895ddd8016ab2c42271c887d08f9dfe705bbeada3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.595,\"left_y\":-0.24,\"left_z\":-0.01,\"left_gripper\":0.6},\"note\":\"The bottle did not rise with the fingers; the grip was too high on the neck. I’m reopening and descending lower for one carefully aligned retry.\"}",
  "call_id": "call_Wrx81iBXwiplKZskq9boeTFM",
  "id": "fc_0fc5e5c73895ddd8016ab2c42dc07087d09d5f82759a517d37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wrx81iBXwiplKZskq9boeTFM",
  "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]: [-0.5396, 2.5111, 1.8683, 0.0532, -0.6647, -0.4641, 0.598, -0.0193, 0.7635, 0.5507, -0.4, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.6063 left_y=-0.2319 left_z=0.0527 left_yaw=0.2409 left_pitch=0.1074 left_roll=-0.0522 left_gripper=0.598 right_x=0.2834 right_y=0.0034 right_z=0.1597 right_yaw=-0.0008 right_pitch=-0.0442 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -8.5675, 5.5043, 0.9109, 0.4322, 0.022, -0.0611, -0.4034, -1.7026, 7.1179, 2.0537, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d2243af6a58b55407cbe7af7e8dbb702a9c730ea28cf094af24b9d2a931f85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0400446e7df75b612a694e1aff5288046cb7e443654e479274970dc9f2842e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6338729d8a39c177e99e07b3ca6feb78b5b28dcd51ec1e62b3f3f94399144147",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5579, 2.2684, 1.8729, -0.3241, -0.6037, -0.4736, 0.2248, -0.0189, 0.7853, 0.5911, -0.4145, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5648 left_y=-0.23 left_z=0.1334 left_yaw=0.1762 left_pitch=-0.0128 left_roll=0.0018 left_gripper=0.2248 right_x=0.2879 right_y=0.0033 right_z=0.1694 right_yaw=-0.0007 right_pitch=-0.04 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -16.6359, 6.4205, 1.5409, -0.3394, -0.0855, -0.1441, -0.0068, -1.0872, 9.7162, 1.7705, 0.0073, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQ8WTJQ9k3w6ZWyE3WRXvqKw2-at5bmdyoOmnBxxRfqZWd1biHHgQ6tzKz9rWJvnXsMHCKpiq9O9rklWFJ7gUVyUr80uJGs4RMYFVu-L49wV0bnmvMHqf-PbSY6JsWyVa0Rhweph2thZXpNyxfwAJn7tNK_WJ4D6arRpj93-HjZj5B_KNYiFmVmkx8GBpnx0kT4wYET9jyqvcJKXlmNS-3_wzKXhuKo7OblCyN6PPxnu712wcl2iWlWZo9Afegv63gbMHaAG0r5v1kFNNh_ajLjofySrNoiJUTvlgossJBWf6dTeN-rFu7UwmxzRi7gpNZ6I-mzCDBc65hB7yrxI8GLwId8vPREgk6nQ3_ztD7Oq623qKCLnRg6JVubkCwQlE5K_a_zl3BxJLBXH2aKbFKixmPlfM_L3ZBFraXzsZI9hzGAExh0WIAoewX4FE717bksCCxcdWPMl_qQrRAi83xjXY80cXImBpzmARuaGZs2gB2XtXR1MyumtnvUYmTkCwZPVFAySoiXV5qPM-vIwKysLTlSz03sh4VOEPFufwIA_TnF2p1AwQVonV5-0oU5_EI4sPwf_Wo-4GBhhAOJjcWveNCPZuZaMQRhxGxD5sf0R5Yb4zDl2A37nvp04rf2KUELiQ_bMVwxgoOcjuBZnkm68uuKaLwFOg62TdlpSEK6q18Pfezy9L7GXZyZaO4xTuy7rCJMZJZdLM-HptjOTW8hdBtp2ruBt-5up5BVCXeXceYGuIvtkMc2V2aZF63nTTJjL_9zZe5F_jgeWtY-FYwTcurRTDdYrm3eEB5394LvxVNxjn53SW7vc38gqP40hegPgM6z7tG71v9lZBqIM4EZsGPTH_u8k89ABa9HRofOricm-mBR5gqqAMMZNY2xqtqsM6jIX_dK3_vY9yWYXeBHMmXFDHpB0qCsaQRqOiihWrAZRd2jID-dW6LU2F9udgITQTXf4DKowN3dSpivqEGAk4KtufFHAiaiR_XzZLw9y6j-oUfBw3icsS7TA2VuXDkTnSbtTDY0ReSLuFDRTQML8w1m2pKu2Vpf39lE3FAnzBamW7EmHVytrbJER13s8ItOAXw8kIlXPYaHJ4gaBPbfvztoMm6LcJTpj2Zgc6HYTzsmrAriN2bfV9XZMmTKpywgC9-EyKb1YmOoJZz34tsmkix_Zye-4bhAJjoiiQiQze4u3__pbG_wNqz7U_qZneweY_-VUXy05V1sOqbPtJSfWTu4_QemGsAbT6Yvtk8VFkpaxqrrl3eodVsSARuh61Tla60qAG83uLigu2ElqMnBtx2Lp-kBxeh10GwFTAKTjeEBMUeC7dc0v4DTj0vradopMdggg4QE0-RnmsGaaK62O7jgcPucnKzceIk66zSuB4I97gGRSHAtniUSAlSZCmT_jRO-tU0FyN5Cas3EBeeZ89eVyscdqpq1wiICVp_HYQAkqzGLX5n57KMsm1k976N4KKzJdWcgmuZ6p-J5p_hUiFvWB408ZN2tTabFhqp1q4chjVDwvgpWTtjnkgARKZQbBlRiyrTg-0HptJawF6WHo-GSPRthgfu-AFSjVp5NyALpT384ZdzfqiPctpUBMx0YUAirCiTWYDsPDdLr2_i0p7w1RmwLPkTX_lCCGZkncCpnlpPWPM69FsO8j8UiW7Q35xsWrh8kMnzzmNt_sgWoaksdJZ0fMZzGn7eHwpfufJmiNs_rDBPcwvEEtb36eu0Et5-4k--fDVQTVqCukm7qU8Uy-kLz5ibSRftqnPideABQgmvBjSAd2ykKpOtJptodeEL2EhT6gVjsxQnlYAeoNZFYBorkKzMpfNrulSyev4GmEEaMc19q9G2LQtFjUbxRowCV6ecjLPgJQRj7mPn9DNjdzMufUBtQJhujT-zR58B5xJFNzTVK4zsFea6uOgDhDID4J2a16naa9ormMtG6WcjhWU3S4V1g4YCOtpK1a7WWoHaUNVpMZOANGfWEeWZB7qtrZHA2iMyQsYjveSbflH8YkZUMAWkbFgi1ej_VlmY=",
  "id": "rs_0fc5e5c73895ddd8016ab2c433581c87d0a673f5617ceff712",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_y\":-0.255,\"left_z\":0.015,\"left_gripper\":0.8},\"note\":\"The arm cannot descend enough at that long reach. I’m backing off to the bottle’s wider shoulder, where the jaws can grasp at the height the arm can actually reach.\"}",
  "call_id": "call_oDkn303AugwW8E5mPia45acp",
  "id": "fc_0fc5e5c73895ddd8016ab2c43a128087d0a2fd2123dae39fbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDkn303AugwW8E5mPia45acp",
  "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]: [-0.6025, 2.4805, 1.8191, 0.0147, -0.7162, -0.5339, 0.7975, -0.02, 0.7391, 0.5056, -0.3771, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5794 left_y=-0.2534 left_z=0.0486 left_yaw=0.2511 left_pitch=0.0884 left_roll=-0.0525 left_gripper=0.7975 right_x=0.2795 right_y=0.0032 right_z=0.1503 right_yaw=-0.0018 right_pitch=-0.0419 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -13.5453, 3.9726, 0.906, 0.3053, -0.5299, -0.022, -0.4991, -1.6615, 7.1043, 2.0391, -0.1148, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2268add03ed2fb453037a8ef1219997060c67f27fb171eff93103a54c3850c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f3182408f402fb314190eca8664723d5467f3218d8006cbcdece7e20dce050",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2613aa7753b5af1aae78ab18acd55ce68aae417e1e666f82856b104c4102ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5396, 2.5111, 1.8683, 0.0532, -0.6647, -0.4641, 0.598, -0.0193, 0.7635, 0.5507, -0.4, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.6063 left_y=-0.2319 left_z=0.0527 left_yaw=0.2409 left_pitch=0.1074 left_roll=-0.0522 left_gripper=0.598 right_x=0.2834 right_y=0.0034 right_z=0.1597 right_yaw=-0.0008 right_pitch=-0.0442 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -8.5675, 5.5043, 0.9109, 0.4322, 0.022, -0.0611, -0.4034, -1.7026, 7.1179, 2.0537, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRCu_rvn6b-YiOmo539M3mx0XWzPnkVdBPayeUT9EmkY2Rfcss6IiLA4oCIIwOPHUyx9XOQP9iE5YQ7FfsfhAK9_abg0Zohr8zx1bHZlwncogvf_m7am4_54tjq5d4FtOvHyRYVqObLiFznVXMIKPyZdZs4V0SRHWSNyvEvslFsHkNfWYbQ9GoDHjUcosRdbVNPjYDn8A0qtEsWEalOQ7VBHm8wKvnfxV5o_yVs2HQOYIXpO7_E8paq5P10a6Pqgrd3FWI5F7xKuROWqxjyWk2QvjNctYV062XH0O_cZsIjuVQL_8INoOISsalWLq0v-r7g-r2z6vrkEaDOs6d-tP8PGe767mkiL_vTnf1gGT_dQ_5q36fCXN7ATH1MIkfDOOcgyvpcl38EdFhATqjKAyfdbj1i51kw-cx2JBvLgodPswssFoQ9xa65XkIMijBHIOzrYzIyJTHFJcol_4-FcG4zNOxgr3i7uMGCAsgKrvaEErdyMJ-GhHI6w805AfYw_NBySHHsK4k3qmbdQrX9knC82sc-vO7xL9HmRcrltzcVRjpYtCpfggVjwXUmcT0dQZdvKiQVknK5JZDR-qgWVFG8gTuFetWidij2fvMHHcrEFy0D10coJT146d-7Qay-IPne2NCPeIyoD7HOFF9AHXQRqspvJ87x8gZksHjNmiumje6kzAYJLWDEL-BxUT1MxCL4kptkgXdcLG5-8lr1XRk-it_GnW2K0pPBZnlKc9OGT6cSnCYV-KoOqkZ7nJTIPKBnydWxptZ7v2qHFzYC5dEB8WEiyun_pYjAAavl_rRKd9vsPvsu8VavMoWZLJA9eJKAQzklAkcIBKJvd0QYM5U--pqLfvO67Rju81ahDPBUiOTxeg2Ay82Fra0bse1s91gMK8r2C1obkKPR3cNZ1CJkSde-xzYbIpvwm14_O2H3PLg5wUNuDMiIMwKbfxuIG1ocWEarJW5jGaV1MLWtadRzWXu8lVrZC3SUDGWSjFu3kC9nAHKHsPpkWNXH-31Vpf41ZDW__DFu_3V42Jx_J2kPJQu_dsTziTtINJ2BLpaEaLQG7uNFfrzh53Wb591J7RJLNF_-g12iuemTiivGNaCMA5eGggKe1UBbE8ZO6giZYAEVkzGi8HAS8_yxkYVzaLXG_SPZDZ49LmDwnOgw5IcvfKOlAPBpSrRQFMlWQtUE5Kjk8CjwAhvNXcCLJd68W6W7RiIjX7iX-VFUhEDb9eViwPBf7xj9UZeCHX3dCvCgf-Q=",
  "id": "rs_0fc5e5c73895ddd8016ab2c440247887d0a46e03d112b7c014",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The wider shoulder is now between the fingers. I’m closing fully so I can test a secure body grip before attempting to raise the bottle.\"}",
  "call_id": "call_cnKTnzOmasncnB44wavlbanz",
  "id": "fc_0fc5e5c73895ddd8016ab2c440fdc087d09a829815875cb6e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cnKTnzOmasncnB44wavlbanz",
  "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]: [-0.6212, 2.4584, 1.7996, 0.0483, -0.7616, -0.58, 0.0132, -0.02, 0.7147, 0.4644, -0.358, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5752 left_y=-0.2574 left_z=0.0628 left_yaw=0.295 left_pitch=0.1304 left_roll=-0.1055 left_gripper=0.0132 right_x=0.2755 right_y=0.0033 right_z=0.1417 right_yaw=-0.0018 right_pitch=-0.0396 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.4239, 3.8769, 0.5348, 0.2955, 0.0171, 0.862, -0.3214, -1.3197, 7.0085, 2.0586, -0.0708, -0.022, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5720c683c9c1c839387f759b2423f7197c7f66bc4c3529c4c3fa3d512eab8c88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c30fc78a2c70e56597803f4f631b2b7696d93ce57746f26da971b457432976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f471604360983774832a887df44259d92553159aac0fb2a50a6d8832490215ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 2.4805, 1.8191, 0.0147, -0.7162, -0.5339, 0.7975, -0.02, 0.7391, 0.5056, -0.3771, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5794 left_y=-0.2534 left_z=0.0486 left_yaw=0.2511 left_pitch=0.0884 left_roll=-0.0525 left_gripper=0.7975 right_x=0.2795 right_y=0.0032 right_z=0.1503 right_yaw=-0.0018 right_pitch=-0.0419 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -13.5453, 3.9726, 0.906, 0.3053, -0.5299, -0.022, -0.4991, -1.6615, 7.1043, 2.0391, -0.1148, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRP6Xlg9RWtzyWNjqRUdMzjvrV7zVqrPvxM_EZOOXDrwTsFIqA6OolXq317_nFfMhQKYyqWj1P1G1ApPyaLfy0wOSGia-7cvWh59deQOO-5D5yD9QpXwJFNViTwx1-ZA-Mlct6JaB1bnriBJcoBHDWbKsHqWMi3DHgRf-NVdhphYSjHP32x3b7oFjOWsw7oQF-AYJd4Qa62HJjP9HvqqQV9fKfiJm8Yf8r-3ARPbB2F_cCsE_gIWTprgE5Utn-m7RgViiTHOsG3h0HgRe5fq1ra48vdz1Tc6d34bM8YfJl1RGMmOF9n-CupCHvVM4fWkI5GV3G5p32_IY6SzbqxtkGuYBd0ryD1mWDxnCyBwP4mr2GaogsMytDy-eKUZxEx7o8A87cT-sY_pOa1PbHg5R5u5Q28WEPkWL-2fUwXQVTZ7MCfjRUFWtiBQDYNen2rqF9nH1oSHexte7oCDro9fzndayTheE7SReLJiEp0RHapmH5tlMjSV_enzJHGuisQnqNYpswsHXfhEj_Ifb3rHd09SfI4ho-aeZahom-V_y7ZZWnc7Q1NwM2WyAlmXz6l_OgeigduT-ieNYswBu4TzXHbxZeObzUzIIQlrILpRz8BK2oGnv3ycThNdNmK5o6whkt3V_6Q824nktrSrUoIQmj1o-106-NHNj9mkKgsk83QN7vsA9INOdXCWooNb8jZO7tE9iI1nF1w3OlVxSWeGF_fVPX_4lYtfRYfc6k7JMTpwjV931iCHyyCkpNABWFwKeiJSWQe_7xXMGOO6SZyQIt1wJBk_udR3JpZyBE0GKUMyjkweR_5W7aTczcGXGsYYJsxqCdaFpR0IIiVdyfyR64oObCbDpNixvzoa4fH0v2IoEWJW6Uh0_Wte0akM7V2-jdpr2RvRfWXT9CZ6Y3YdHMB8P0HcsZoq05IswMRks9VjD9luX2ortv4MXzu2c80AlSYrOCdgyrzp0R9Pzp1UOCV1aWURhNtwURJF_ZZGTIwVCbnEXWMrUcxPE85Ijl1sWeSw6hn6a8p2-1ZLUqUyoMdNdR_q38CCVOeLJjEcV5kBdazFQbPKKb9nLDjiQEd1ovsqDpsNXCPNwP2H4xq6ejiivLYftINNpmT1QWi5Y4Zlq466es3ggBTta7diTUK0qBBwxkJNUwyFeyE73DmksNjv4GGD-lAe0LIDkmLm8o_hWiXXyEqVVDtXaanFid05x08DL6qkLPBLfACLiOFIJ2o7u5ND2dA8PqXukumDbeshjRA_bNZY7hEvlcGr81KEl-jCMBSVXsj5xMA7vuay5m215tvmNBI8RJp_-OyYukDtlrzgVTNuFD2bBMc0Es4oF4MUsjHhcIbsTZgU77_JDEE-vjq-Vg-w3Idw-F9N5jHpJekpnex0Gcll-a8PGqwpsmcj1cqbnZ-EF5D0sVu6oQ9aqal5SQZPezk0jOOOJEPEHac2KWvhk2QntM0LSXY9yjJc_--vyohyUqAT0sg7GQQjBkQLllbBXSlNmbbo29MWTN6ZhaXneosOT2RuCbzsnJinZ8YSHhs6FKxHDF2iJh_gXudFJAf9X9xyjhFLjWdqzw0-derF0_8mtaoz_ya2mVSbEBqKkKR9GknpHx3Sx9erQ7vlw9NxdDuCpTnACwfqKsUivw7hyxZ5xF1Ah5Ba9EOb9i8U3i1SFREs5EFqyP4yoti56aBlw-vjYR4xp080ADz_I_efQ0N8v8kJIH1vDEEg73ww-SFieG7xQC9OyQGzDrqaw9VyQCfWBTVuUhznexUqtXQpNMjQ3TWchIo8U32zuYwefxDWA_MjBb62TigQriYP2UdgiyUI6yDn7lwJ_hbTn5RsT8fJ6pIbkMKzT0iGM6Mss5_n83TTsU3zK6Qi0qzISgIrGmnAX88L15HEB6nogW3yAmra9rugtCZjvLiepyJUX5KOBJmZc2QZuG0HjOplxm0QjrQFTi939pxUP4vSw22BFdVZlRoYoXZagCaz11H_M7Bx8i-UmOTIyclTJnijZrSNA-YegE8rRfAPN6aD2EkZDDbt2hC009-Rk91JLcQGt8YcO43R4AiRB2iiX9yUZmNlzqMRR2nUThKqXBI34oHIJxS0tK0ZQlo8JODA2V31VshPmF3Xu4K-_kFaw==",
  "id": "rs_0fc5e5c73895ddd8016ab2c4462e8c87d09a442eccf4c6013c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.20,\"left_gripper\":1},\"note\":\"The left bottle has moved too far forward for a reliable low grasp, and the last close was empty. I’m withdrawing the left arm clear before trying the undisturbed right-hand bottle.\"}",
  "call_id": "call_ZHlMxHusUPzNCoVaFJGJfW2W",
  "id": "fc_0fc5e5c73895ddd8016ab2c44d13c087d080eff975f57313a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZHlMxHusUPzNCoVaFJGJfW2W",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.313, 0.9367, 0.7387, -0.4183, -0.532, -0.4084, 0.9975, -0.02, 0.6888, 0.4252, -0.3351, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.3114 left_y=-0.0028 left_z=0.207 left_yaw=0.3313 left_pitch=0.0391 left_roll=-0.0425 left_gripper=0.9975 right_x=0.2724 right_y=0.0034 right_z=0.135 right_yaw=-0.0018 right_pitch=-0.0301 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.0034, 6.3248, 1.6484, -0.1538, 0.2662, -0.0464, -0.4034, -0.8274, 7.1043, 1.9853, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bda9590ef104a842a3ed64afed173e3c6e9891c694cb91e1d879ef56f76ae8ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1401abc5c98df9b17ad2fcdc2b819a469d1202537be7ddcd0e31d742c5a536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff8e806d66b5b8778a47a2ab2cee6ece29835d7bf00a42b01a92d1c0254f085",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6212, 2.4584, 1.7996, 0.0483, -0.7616, -0.58, 0.0132, -0.02, 0.7147, 0.4644, -0.358, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5752 left_y=-0.2574 left_z=0.0628 left_yaw=0.295 left_pitch=0.1304 left_roll=-0.1055 left_gripper=0.0132 right_x=0.2755 right_y=0.0033 right_z=0.1417 right_yaw=-0.0018 right_pitch=-0.0396 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.4239, 3.8769, 0.5348, 0.2955, 0.0171, 0.862, -0.3214, -1.3197, 7.0085, 2.0586, -0.0708, -0.022, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.12,\"right_gripper\":0.85},\"note\":\"The right bottle is still lying undisturbed with its cap pointing away. I’m bringing the right gripper over its shoulder, keeping enough height to avoid pushing it during alignment.\"}",
  "call_id": "call_ycsG1oqsxTGqD5veO4hcYggU",
  "id": "fc_0fc5e5c73895ddd8016ab2c453ffa887d0a89b65eae58e723c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ycsG1oqsxTGqD5veO4hcYggU",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9794, 0.7605, -0.4908, -0.5316, -0.3965, 0.9976, 0.4686, 1.8515, 1.1355, 0.0467, 0.3447, 0.2108, 0.8519]\nstate[eef_state]: left_x=0.3082 left_y=-0.0041 left_z=0.1918 left_yaw=0.3174 left_pitch=-0.036 left_roll=0.0232 left_gripper=0.9976 right_x=0.4739 right_y=0.1771 right_z=0.1036 right_yaw=0.039 right_pitch=-0.055 right_roll=-0.0295 right_gripper=0.8519\nstate[joint_eff]: [0.0752, -2.906, 9.3197, 1.5458, -0.3541, -0.1001, -0.0073, 0.0205, -9.4017, 8.7863, 1.8242, 0.4127, 0.2955, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aafe0426bc7024687adecab6d273f5c8960b99cdb0c7441e32279598543919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a88df1202a1da4b8d821da5c0669f48c4f4806f6321e70e982cfc756598e4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7df553be34e707d957ed2f0217cb4e57f22d649f8219370f2bdb332b3051efe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.313, 0.9367, 0.7387, -0.4183, -0.532, -0.4084, 0.9975, -0.02, 0.6888, 0.4252, -0.3351, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.3114 left_y=-0.0028 left_z=0.207 left_yaw=0.3313 left_pitch=0.0391 left_roll=-0.0425 left_gripper=0.9975 right_x=0.2724 right_y=0.0034 right_z=0.135 right_yaw=-0.0018 right_pitch=-0.0301 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.0034, 6.3248, 1.6484, -0.1538, 0.2662, -0.0464, -0.4034, -0.8274, 7.1043, 1.9853, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRe8kORw9cVV9H6h69zVBI9EjpfQcNGfLQdDXiRvI-78FMLxGmkK9Eeh3iQpCKabPX6t820tRjdgyh3miYcRJI2nnSAIfD9Xtmq6_ZFBhFiR-SIjOT5jtCJT0yW4clsfPtVYa1UgvbNcoX9K4qN6RGZ1IQjmB-BsQxgjysnOQAq6MWI3BRNp9X9VEfRR7XiyKc1mTeOegtMBtROeUsGdUxZrO9OG4VsuZCOJekTGKzgIQkuS98xB1RPy0PTUWX-92_MVWGLSlQxUPXqAHr6eOoBJMDRcl8zAdCB8z4wEAuwSqaCkTWRVzxFBwfri1rnIZr9wwM8kK-GQJ_gE6oTwk_FtYQhcnzjpV8C4uGhWXzXuykU0Io9VMhULiwNnT-ad6eoKHorX6px_SIAK8dq9ybhuezYf9GKnIcdFYmJ0fm14GYZgFvNWKFMuOPx0nds5hJaH-Rew9yKQZv63-gGxF8dr0U9Rnr57KbwLoDja1wUSX549_u_4khHAQ9RKHAezHBA-DfzpgHt3r0ly5LxwDUMFhYFFQi7J_sJofsZ8LcjROqbYvll9zGMjE_pxI0A0Ds7PC2pIPxo1zwBlsdgUmrA1Hau0LYLJ1FM21uSsuQRuM1G0b57CQpZZL3Sou3A7npNULmZzfTVRlsvzk0L1IlZhaJrSzC6arx9JoxyQDi9UCFUvHWCWIPtaIUdhJ0rCWGpodKqt7hQl4jD3cSH3CNDOXejtNZiI1qJRiSSWF_qhUfheXyh0mef8S_hLE_37fLHjww52PDGX2uV46emjE7qBYfUNWyJsKCjLzNVd2BOMRb-7SnWToGnWk272hhCcWOXtfRilK-4ICmkadCByIuiu_m2axJCOzWbTJXuVbOVlIm83n9ng-2KdofTKFhBGv5S1dXnrB-645tMJWZWv8KuaFhtMYx-7H8_BO6ZJY_hG3waCs12epnYIHDDpgh7p64C6XTgx4nVIV1Uu0PHnGGtdetXFbMJcXmHIk6Qrm8VNIyBKPUtPoNrDcuVfj3tYwV8jmV7kEJNkACX3W3x5YJDgpO5j5dzkeADYt5DVNPfadWxakfWHrmwkVZJVEeVMAYyVXTXWc-cLpPBpN41z06XpQX5QdgI4AzMARZLl7hEHOe9RyuToxjWRMF29LJGrPFNW-oghcTeXD5gV1fgH1-rvQmAx-5ukYLEXBvXgv5kPWhFJRPVX7tly5iYTJn0dDuGRo8z9jNfWNWSs3HbInSgSdoZa5k7Dhb_fI3bX1XCoQOJa7whnZF-yYl7nF1wucsIP75Gx-UCLrUYiUF4XKfmTBLchwsJLEdr2wxGSL71wc0VKIb0bLaZtYqvoWAfo7Xs1IdCOvWOxoBYeaHtiY4qIV2iqOk-drcb3fKzIRVCYzWRb_I7wasCv-e4RrWS2UVNF4U_kkDvAsljvQ4yOW781g==",
  "id": "rs_0fc5e5c73895ddd8016ab2c45a999887d086901d8c97400b46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.155,\"right_z\":0.03},\"note\":\"The cap is slightly right of the jaw center. I’m correcting that offset and lowering the open fingers toward the neck.\"}",
  "call_id": "call_A9Rr2wZXHTMawDTcpemmMJg4",
  "id": "fc_0fc5e5c73895ddd8016ab2c45cd4c487d09a4de8804013b6a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A9Rr2wZXHTMawDTcpemmMJg4",
  "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]: [-0.3202, 0.9627, 0.728, -0.45, -0.5312, -0.3962, 0.9976, 0.3771, 2.0644, 1.0821, 0.3428, 0.2893, 0.1547, 0.8522]\nstate[eef_state]: left_x=0.3082 left_y=-0.0041 left_z=0.1896 left_yaw=0.3165 left_pitch=-0.0159 left_roll=0.0083 left_gripper=0.9976 right_x=0.5037 right_y=0.1491 right_z=0.0313 right_yaw=0.0236 right_pitch=-0.0404 right_roll=-0.0327 right_gripper=0.8522\nstate[joint_eff]: [-0.2256, -3.2068, 6.2017, 1.7216, -0.3004, -0.0513, -0.0122, -0.7316, -7.6103, 7.3231, 1.663, -0.0806, 0.1636, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c6561cea8ba4444caa8833939f821f2c5d7800e21e7c55989ef7166ced49e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb08ac5cb9c5f4bcc25ad86b7693b2458fca2b536e603b098f36fe3daca5c127",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96b208f8304e804e9511a9354e7a6d6d7d69003709ef7eabf3c1b720a2e0c7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9794, 0.7605, -0.4908, -0.5316, -0.3965, 0.9976, 0.4686, 1.8515, 1.1355, 0.0467, 0.3447, 0.2108, 0.8519]\nstate[eef_state]: left_x=0.3082 left_y=-0.0041 left_z=0.1918 left_yaw=0.3174 left_pitch=-0.036 left_roll=0.0232 left_gripper=0.9976 right_x=0.4739 right_y=0.1771 right_z=0.1036 right_yaw=0.039 right_pitch=-0.055 right_roll=-0.0295 right_gripper=0.8519\nstate[joint_eff]: [0.0752, -2.906, 9.3197, 1.5458, -0.3541, -0.1001, -0.0073, 0.0205, -9.4017, 8.7863, 1.8242, 0.4127, 0.2955, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRn4zgYROT5qm5_iK3HQUmP_cCTBgxDZYddsKV-Z-lJvh4jgGbtyGTKT0fglsOe4FW6ffwQY0JPGhnKOVvmprT6mCznUIsxFWhcXLmGd_m1AQ-Bzwpsl-s6d8i_rBtJtSmMa6Wj1j5nN4E5Tzbn65AkpcDy4B4w4O_gFZUCX10rFO89LyaXSrBHyUPS_VCbPqagp4zBc3hvqtX6lXf0FuQEMVTTkHq9qtsNxjzR8vHE-W_SkRQNQmqlLs6p5ySYiUSF0gdhjWL6GfREOXHz22kCmaa6EPQ0lLT5OUN1Wl8YACQyp8Bn_bIdW1vFYEuIZNGGVphptSpUwOT08Zb5JUtoCfdDCQvJI8TIwz6QcCX5VqhEERjCXS6Jcq9uMCMfRHVqtL0viDs5ISGpoZ6XeCJUp1YL2FghtI1sziERwaLm7OhWO4tl-YsKePsUoZ_60Y3P1Pk4c7VTqM2RDR7SQPZ48kXPnqUiZ5Hbcps8FGBJ59Qw-RBE61KdILnpb75X_kSf0yRBlg58ODN8vtycSrhaUGNZRDErgyFusskk26JSYnJEsucwqfoEKWOcb4R7DEyeuGlqfG0P7uQDyRu-0fsRsoUBTvgRDKa2y6qhdrjv3O-z9fVVTamoByMU8kxqV905dRiKFWqKsNzvuUtThBtwss0qWLIHxMMmyh4LPGujNNH5ITRy0ySLd_EMZ44v5dx-7xire3P2242hc7yki96WCvts2rYiG1piHJrL8rN2jOkgkAHbRZpJ9q01-U2UK9SIg0U4qzUu7YNY99oRQCZmrLUu-vyE2z71WUDCXRVPMS-YJabLmkdwc_ukvlhcCklVC3DSdj5o3ZRM3X017GmFk-r8GgODsjpQI_4abNHxwA7YIVVkl2DnQBhLSs-hOgjoK3WvHbCS2Ya7wR8br6abBUyqF5c_Lp7JtRtcy-CwTjB7Xff6zDtgRxyfdDfWN0MNuGE9uj4qUEOOW-gqxtCC46haiLtTJPiABGX2AdiuoGoarta94qCI-vmP0DwATEU1_TUnnJAia7ejothtdTIej9BtBNT9Pk5oo8ShFggp0S7WKNcyHuwut6IbaArhsMIohF1gFVmsUJsvlR0FkV9vOfGBmDhgKauI5yPMYkYJfGfqx4XRr6Vrd7BZooEBTHslzwOJNwbjBy3z-PiDxMgDgdBDjE8w3CZ1d_nFRf5fIS65h7k_pWCx7kuK6eJoJekEwSnHgxalMC0Ri15Zzg6mkgZz6TsunUodSXaKFLKGhX-0fzqCrgzRRiEBo_Y4M9mZdHtXqhRu6IddjxnQIz8ClMgc96VrHh6ZufPIKCqmdZ6B6vrB9ESV_e-cta4WZIPq",
  "id": "rs_0fc5e5c73895ddd8016ab2c4647a0087d0a49981d011564a83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.155,\"right_z\":0.03},\"note\":\"The neck is centered, but still ahead of the fingertips in the wrist view. I’m advancing straight along the bottle without closing on its rounded body.\"}",
  "call_id": "call_YGfJncTpQ6bVvbzGrNxhuKn9",
  "id": "fc_0fc5e5c73895ddd8016ab2c465c46087d0bb9c4eb07b090251",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YGfJncTpQ6bVvbzGrNxhuKn9",
  "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]: [-0.3202, 0.9607, 0.7269, -0.445, -0.5312, -0.3962, 0.9976, 0.3515, 2.1994, 1.2995, 0.3431, 0.2462, 0.1284, 0.8522]\nstate[eef_state]: left_x=0.3085 left_y=-0.0043 left_z=0.1905 left_yaw=0.3164 left_pitch=-0.0113 left_roll=0.0049 left_gripper=0.9976 right_x=0.5578 right_y=0.1625 right_z=0.0435 right_yaw=0.0481 right_pitch=0.0303 right_roll=-0.0052 right_gripper=0.8522\nstate[joint_eff]: [-0.1709, -3.0701, 5.7094, 1.7314, -0.2857, -0.0708, -0.0171, -1.5111, -9.4701, 7.4325, 1.4872, 0.0611, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2021d440cba31381a047fe11ba71be50f0c099b66fa045bf9729134c4b636b04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0023657865f78da0e5ab10fcf671026a7cae06009ee3d9f78a1e514a17c999a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715382bec3274e175f072477489681ecaf78162105b146c568404a8054c90e14",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9627, 0.728, -0.45, -0.5312, -0.3962, 0.9976, 0.3771, 2.0644, 1.0821, 0.3428, 0.2893, 0.1547, 0.8522]\nstate[eef_state]: left_x=0.3082 left_y=-0.0041 left_z=0.1896 left_yaw=0.3165 left_pitch=-0.0159 left_roll=0.0083 left_gripper=0.9976 right_x=0.5037 right_y=0.1491 right_z=0.0313 right_yaw=0.0236 right_pitch=-0.0404 right_roll=-0.0327 right_gripper=0.8522\nstate[joint_eff]: [-0.2256, -3.2068, 6.2017, 1.7216, -0.3004, -0.0513, -0.0122, -0.7316, -7.6103, 7.3231, 1.663, -0.0806, 0.1636, 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": "gAAAAABqssR02HyLcBlND1yeAK27Al-Ut2Evu_n-pLyeamrauJzvdcy47nzG3I5XCqkyDMwN-cFT31ctNtErXs6PSEpcLw3R4rZrGZJ5brbS2Kmay87xP4XxOkIARKGlmbuy7Yod0UOijEc-lohUJpFSn7xlHNt0rortbY4L2osGVMmyEAXaVlHqODg9NTvfLspT652uc0qNNmWbd1HNYqVEZMg4ePVM4N9e5Q-LEgpUpCzqEoDQhKdOlS81vayiFZF4q7hx_oPtZISac4LgqBKQlWErW5oRy5w_py0haQPPYJ_gB7f-e9jTVspgorwH7DxWrvnLSMK0F98HSUEpQg32SBQi1swZiv7BZtln3Aw-gHvhgd-BgH8zDZs5xbiANW8im5NamWRyCTFp-G6wHxH7O0pSjurMuWvezXXtuqgtoYGu0yA5L5FvRtRUjg2McDBaIvKvU5qpwVRRpWmZeDsvWDqxbaI3PmCke6RWmlxgK94jR3pmkKBjXdps2PY4LFe1I8xp6h4KafbDxI09L82qw2OF6qyhC6e4ER7sUL_X1oP1VBFr4tfDOPw1iSZXztq8cFfT3ucM6jPzj6rc9TDR7QrhK_nP_zDrQ4xXp6GiR5vTlSnHvYZeRC3wdqrnB4Ef7pBI1LCpttI6bDgkR0Yvk65c6fhgSAonfnNVhUE71aOVRDaJF5yclv8BdS56siQDKTOAjA9HwsO8KG6sA73qcZqWzIUnVsBGRHzRKT10poLOcD6aP2LmGMrxrj3OMJenaycljhMosG5Pl75cXUxxUSxaLQWYM-5SEQJHxQ-L0HS3eptTRpQzinDZnR14p81B995uuFoeP1MUJBNLcpEMUg-gHtQe_E8Fcj--mcKTj2HpJGtyf_NBb9N1bqacE6PzFu4WhCkFWamqtnN9_0PWSjDHk7kzvJDFpAmOGaeNgg15RaVWaRhyhjxAx1dp0ZgBpjoZhin4p_KLli2Ju33OZGmQu_sLrmiDmL3SP9s9XqYNARYjtvAZL0q-Gg7KsrEcjOFkk7HonH7cbSW055QlFJ5ZDJzH8jvOfpgsci6MwXf35pEPS1POU_1z8-AntIeaq5M4RqY9YWgIkkr0UZ6WgCnUpxqAslgX7DA_FIqqHA9FGK6yhO-XAOHhN972OYnt7Ch5GIyC-EngLTBO63MzSF54fgaNX90oWeDWa1d4-rquDoNw0DLhGic7x4_3PRO_FDrABExgFO87_xDh9cy3XhL93twYEmHMa755eP5Tt2iihQ3iXsZtSggIFSW__Ole3bjxjbIsiWTiIDF0fSflt065KdJul2BfHUMS9uDQDhkCBZzcKkma1yTiiVmZPqEI3_5b2SlebHPHigPwJZ6ktu53swNfnZRCMbdZDOh4H7M7y-7ipM8g1icUI0PTaBmy038B2v-W0QOsDs2K4GC6kdhWXDEAkANXaSBbNMODZIbIrRfOmEekRe-ef-w1vA3jMAEyx10Ce8r6vYtktDRNa3oFOVYlnvF-KJLdQFk9agqab553--DYK0Xjx0BmVsV4dPjiINx2MI40X9z5mg6SlJyRVV7Eb9Lhn8xsnHPnImV0-I_hk6B_BuAN7rMxbqwfgU2bmkqeqXrFG1qiAGZ2lG6Z38ZaOrliMbcvhbXIgc9zV1C0BMCyV43HpsIubpl6JFGTAi83Qq5qtw0raijafc7-EFtNUE82ripnHh3Gb-IQBvFRfkoDXo50AsNrGSdeHfP5tqQEb8Bt51zYwUgJU5HclvRVBuiezM6CYgrxewSoaMq3m6vuvFSJrBouXbMhf203sjFRfrE0pKmBDT98j5K5-R_PSNt6J2lWwxGkObyZb47I-GNBpftwLwkMSDytFUmmxBa29l--c4Flz4_vsWxzbrXjRr6rwAiXuLUUoJM4-IFyATYZ_sxCQCMIGc_zDnQZOhoJY4nGn5MyFJ_GB-rAIUbCxCOl7kMm_pcaK8Tc58Q8_bLJoeqr_VmJDoPHUYojAP3Jkj4OKLTmCsBqOiqghOH9NTPGIWUdGf38bGXpdGo72R8=",
  "id": "rs_0fc5e5c73895ddd8016ab2c46ba93487d09c496b3949201bb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The right bottle is sliding forward as the low fingers advance. I’m withdrawing rather than pushing it farther; the remaining centered bottle will need a strictly top-down approach.\"}",
  "call_id": "call_ZbW4opCTUtk0Zwj6i49Yi4yR",
  "id": "fc_0fc5e5c73895ddd8016ab2c4720f0087d08d74526747a22b1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZbW4opCTUtk0Zwj6i49Yi4yR",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9592, 0.7166, -0.4313, -0.5312, -0.3958, 0.9976, -0.0673, 0.8608, 0.672, -0.358, -0.0776, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.3089 left_y=-0.0044 left_z=0.1889 left_yaw=0.3162 left_pitch=-0.0073 left_roll=0.0023 left_gripper=0.9976 right_x=0.3107 right_y=-0.0036 right_z=0.1973 right_yaw=0.0087 right_pitch=0.0234 right_roll=-0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5094, 6.7487, 1.6972, -0.2906, -0.0122, -0.0122, -0.1026, -1.7026, 8.8957, 1.9072, -0.149, -0.0513, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fea28ae1fed643aebec676123d8e9baa90ac77500a052fad5079dfb3f9c13db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9342a4f5596ff361a1d7aacc8b0fe972a30dbf09a62fa023729ab5cc2c74c80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722dd2db986a03a69b24673e07c0a6b791afdfedc1ee22ccf5383af4babcc747",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9607, 0.7269, -0.445, -0.5312, -0.3962, 0.9976, 0.3515, 2.1994, 1.2995, 0.3431, 0.2462, 0.1284, 0.8522]\nstate[eef_state]: left_x=0.3085 left_y=-0.0043 left_z=0.1905 left_yaw=0.3164 left_pitch=-0.0113 left_roll=0.0049 left_gripper=0.9976 right_x=0.5578 right_y=0.1625 right_z=0.0435 right_yaw=0.0481 right_pitch=0.0303 right_roll=-0.0052 right_gripper=0.8522\nstate[joint_eff]: [-0.1709, -3.0701, 5.7094, 1.7314, -0.2857, -0.0708, -0.0171, -1.5111, -9.4701, 7.4325, 1.4872, 0.0611, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssR8uGsv1OAZpjNj7qcUuOMDfF71_Jl8yKp3ExvE3MFHNA0zyS-pvHoFBGuOvLnenbX3Jf-cwAu5nulbHr1bCZWXJOyuKHqR1Cs0l7z8bYgq--hZQzXBaYrZG5fpedY5gziiU1RHWpQvVNUyfr7_CM2Xbek1n-UPuzdxtLTO6wKOsNRPAdCp0v_TNfux7hC3Uuan4SR9kbuk94RDXHxtKmGw_OXfgZOIVsi2elY__mvd1CxKoOxVLm7W3ten0sR3pTbAby4mXVPH6mDs-F1zo851ouapswoVQ94TRBm5w_9HG3h86CMOp8CiVQ9Jcc7zpO5nY5VhyPKx_V6ABLsO5ORq5tV_zHisJ-c0NrX7P8FNPdsZ0_i-EyE4pQ1MObQ_dOfnng9iUEiRaAqK8aOo5-nQDgrZ3OUqiicqJlxPq__118m5p2RSAJ33UARHXNlOPQDCuSsbGhG5iQ7xexZO8te0HM5cWdo6It9WblTDJvd4TP7U7Oa1RFhVhTyW_mLsA0i00N4GA-o_VXXx1LoFB9g9ad-OWBOtXbjRLAtUnr32xXnWlZ5Ql9Gv7OFnZ7PBdUhpLDhWj0NXWC08HdM53uModAZ1f7msc1DRpJ1kkeVb68ZEJje6msdn33m3dD9FJgyjf_foCzVMmXBZTsYuSXNG2ZtdfWT1tG1ECf5PtVn8n4MbZP6yShV6ugBmJmzujzCZIM-hzGv5T07rLKzb1ip-JPPZPkvUqpFSqbIyCiM_uVU873dycukhGg24J9HN6l9GUv2a8c09x-7riAVTFOmN6OimwiRi_lEeGOf-kziShS2iBZ0kVbL8EC1qA5QseXdyAACCRfTYkeYRXieTVBN7cagk_eBxOt8sJNBiQOA6rBkdMbX87zz_y6iDCAdgyi_HqraMdYsYBjxisIUnEw27vlyc8EZOL6Mbm5wU383RI8sgFWkxB5ledDIpy0XIQQmcf6GVQuS0pjCBTHQtJTiobVpUpEP5Fw9ga2K27p4eSJfA44SSwvnyKRctXGbOedMOLCaUh8wWHRiYM6ymeQnX0J5-Yn31K78Hw4Tz1Gx_KuZwQWBWXMOM-GNJ9cCNwMg3BFNsNpGyCe6SxD-h-rE05eqmvY-6cQTSie9TPrpO9yw3ktN10VsEISnGWKwljPcUe-Atw-KdnwGBYmBEvrRK-Oyri17jOoCO8qdUB1rKNSHKkE08-umAB89sDwg8LrumS8W6IZO9tlsmB8HICmkMx396lLQbgZnU0J9fCdGVs4n8LPoagX0cyiG2D8LAd24Uow-siEGXBzBqMceHaZ3DAQ==",
  "id": "rs_0fc5e5c73895ddd8016ab2c478cb3487d0896f8dae85b68741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.33,\"right_z\":0.15,\"right_gripper\":0.85},\"note\":\"The middle bottle has not shifted. I’m moving above its neck with open jaws, keeping clear of the table so it won’t be pushed during the approach.\"}",
  "call_id": "call_I9jY5cEnfmtcj7YSEMQo9s6c",
  "id": "fc_0fc5e5c73895ddd8016ab2c47a17e487d0bf5cefa7c25a9f1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9jY5cEnfmtcj7YSEMQo9s6c",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9592, 0.7155, -0.4248, -0.5312, -0.3962, 0.9976, 0.68, 2.3413, 2.0289, -0.4114, 0.4973, 0.3328, 0.8515]\nstate[eef_state]: left_x=0.3096 left_y=-0.0046 left_z=0.1896 left_yaw=0.3164 left_pitch=-0.003 left_roll=-0.0012 left_gripper=0.9976 right_x=0.5362 right_y=0.3299 right_z=0.1341 right_yaw=0.0612 right_pitch=-0.0527 right_roll=-0.0423 right_gripper=0.8515\nstate[joint_eff]: [-0.4444, -2.6462, 6.5709, 1.5946, -0.2222, -0.0464, -0.0122, -0.4034, -13.8051, 9.4427, 1.5311, 0.5153, 0.3443, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5016eab23730d1019948a0a074bea37c1e2283be6d554995ce9e99aece1fd817",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c1fce3c81e2b71b96f5a19bd05e152f9dcf8df1ff9e81c299a1fc088de374fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edbd443cce90c86ca9e480547e737186a4868a6b27535ca4f5f8b4d3fb1bd04c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9592, 0.7166, -0.4313, -0.5312, -0.3958, 0.9976, -0.0673, 0.8608, 0.672, -0.358, -0.0776, -0.0708, 0.9996]\nstate[eef_state]: left_x=0.3089 left_y=-0.0044 left_z=0.1889 left_yaw=0.3162 left_pitch=-0.0073 left_roll=0.0023 left_gripper=0.9976 right_x=0.3107 right_y=-0.0036 right_z=0.1973 right_yaw=0.0087 right_pitch=0.0234 right_roll=-0.0065 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -2.5094, 6.7487, 1.6972, -0.2906, -0.0122, -0.0122, -0.1026, -1.7026, 8.8957, 1.9072, -0.149, -0.0513, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSJRIYCJ9SxEfIYbZoV-8_ep8hWDIeY5OTEgQGKZUOG4bdaUylFPaczgSSxwL3X0ufIvVmfOcDjV-jxzThei8kmrW96OXKlWleefzG7wyEViNzZu6RD9H9-hpW42nK0Gyrl7VGHv9WEFJve7LBmRmkZlBSJi3gy01E_MMlGB7u2ZOf0f4wwLlVD15CuXqaewTyJriKJ3btQ-Jwgq9N8Ws83-yuwJoySbSIiZFkvp-KVpyEVCVMRPNr3FgN-C7XBBvgacpyem9NWYF1rUaT-AbbUWNIrReeOgqadmy8TDUgC8Dvh4Q2O6EuPimRFbjU5DzeUTno-_n-NjSytKnTd64T1uL6Bj8VZMJBsO2GwD1eXl1b4aCXD6tmL2h55JjCvT15OGqxmFsj6x6WaCCKYiul28D-rk3hgOX4JSUYjoExLQi9gVZc6887lUe2Fgv6YR8oz3Cj_NIZpseiDP7Xkk7sForb04PwQgo0s8vkfpteknff5qGx-w1PuJvcHnL2JA3_qtKL6yifAi7ocxfv0zCNfwZAwMqf5wGCpGIzOnZM-P_lNNQZpirDdZCfQYtIKZzvYR19IyjC7TdqIFgPmyby-3uEDYKHUoh0tw0qNO_8skizKb3mAMZmlo-NKC7EcOwc8qdU40EW_91HU3s4FjFS3CDWrJZwvLgdb0J5DYM1TqbYySA1_gw6-jsppULJpSyA7FXkwsXhSpAZ6sBG8rjuxwBJe7g3WJllReCRRWX89bHyGXdNUBSZw3vWjRDUMf2cHSSJAY9EzSbhKSmzRvTfeShjrbAgutSqusDLGld-dfHFzLYPbXIwYsLwvHVMuERy-oy5Kwwmu3ZR9rJnMWILwt0PPq2VbU-XmE7bd76TecHcWXzFRdUZxwfKnrtwu9kmxZ1WFebepSHF1ktJ4ZWjd_hdTNy71YGnREJzXQlS1Jfooo9qL1Rfs5ct5Dn_zu6i6cFao4sqMjMnuXwx2z2Bg2J3gvebGS5gCrLe3fINjddG95rwAPw7xZADZSLXtW2so8qN5UpywqVW2Ft7F4n7lEiqw5xZKCS1bdG16sY5Og_pthOiln3LJHTU_2d-Nqb5CMaJUa9ObWafD8bjYFb_q8yibOq5vX6YgR9IMppJX5FOio78nIo1VWMm-I9Q-xkluPEqLOXJ0fuLM9M0AkKKNsXZ03YHZZ2U_KZNLQmpHV8CWvxU-NrDa-beyQCq33ha9jTdwtvly8oIrqKC1pGwS534aJtLTTb0w4Bje1gq0HQ9UoXZDsP85pFvrZvOBUSsaDQY0oNaMyZ09zOgYf4XPwCmuq87-_bKY7orauGrcdzv233YupcA6u70GnUGzHezvGqJqRti0zANrKBKueMwfkqYa5Jux5BeQZ3Fq71SO0KIgXk0aLBxK-1TvhuqwhhhNwrXP35w2zUEUKjYa2q0S78vZSfqS1BacwgnWNN0pgusPkVCE6VSBk0YTgC88z4lfMzM8ldqdJ4BOL4lvjc_kCWs9GGidZJzO3cMAJ2EZjF-8cAc8bD-2dzAFNcZsaq07MKdTH9Zh62Le0-1Gu9QNsXZCKEb3RMb66RZkOE2azfFFZSp8FMDLWiX9aXgH76SNLOAadumanqroEewkJu61twp-0A2PcUrxuvpSyRBqsM8aa0IN0uN2SlDymDGzDbAd8n8QvF0Q_Mwf35Lmjc9ghUEDNTqgfvfVtroEYBNycNAB2c4QRE6hbKie1KCCvx6GsFUUNiwlO7-DC76NVbWnBB_Yt_4grxiMsRjKsKvaGkLVBm7eIlq5WOSgn4Ofm_KsHfKfzv5twQZmVZKK3mH9Py-MsDUDlBDbcsyTbtbV3i4Ao3NJf36pqqr3v8TTwSVv_6qTnAAepc3OOgXXa-yP13SDyVN4K_jtkrf5uvamjaHmndi_PBEfiHbcAC3eMS8J25puyyJKPnhnJTjAEBvQ5x-_EtPplw3RA3SDkqrNGIEJLYUgyAJ_GnM5y8hvubSq6xJWAtvxsSKVX6HShQTIQq4QOxsDliUZVFPROxzHQobXtRPflyp4fEeycFcW6faZdVS_cSiGN7Gqok5TDdIlSHzOKxTzC9vgPiFCbC4q3Y7n2KMJnb8cQrUY8kQ39dJK2EVx20ZXDSUqIjQozMTUDddKaQ-pMkKTOTY5q_Qo20YdW88f6W4IHDwOSug2gnQR",
  "id": "rs_0fc5e5c73895ddd8016ab2c480f68087d0a77dcdfbac65318d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.33,\"right_z\":0.005},\"note\":\"The middle bottle’s cap is farther forward than a low neck grasp can reach. I’m descending around its wider body first, so I can bring the bottle closer before standing it.\"}",
  "call_id": "call_jgXCit4fhfwYaHfrxNMJK3fa",
  "id": "fc_0fc5e5c73895ddd8016ab2c487dc7887d0982030ae12197ed8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgXCit4fhfwYaHfrxNMJK3fa",
  "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]: [-0.3202, 0.9611, 0.7151, -0.4244, -0.5312, -0.3962, 0.9976, 0.7376, 2.3043, 1.5131, 0.2371, 0.5541, 0.3843, 0.8521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0047 left_z=0.1889 left_yaw=0.3164 left_pitch=-0.0046 left_roll=-0.0001 left_gripper=0.9976 right_x=0.5035 right_y=0.3368 right_z=0.0603 right_yaw=0.0433 right_pitch=0.1012 right_roll=0.0784 right_gripper=0.8521\nstate[joint_eff]: [-0.335, -2.5504, 6.735, 1.6337, -0.2613, -0.022, -0.0122, 0.841, -8.294, 3.9316, 0.7302, -0.1294, -0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf03598516329711111e01667461201a55bfb77e812d6f6e35b3a1790282fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc45e137d91ac47f2216836d681f45da2d1cae0537594595286f1312d38bcc3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f84a01b25f3d7c140010d7638828e9b3c7df05cc21e03634844a63391b4e983",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9592, 0.7155, -0.4248, -0.5312, -0.3962, 0.9976, 0.68, 2.3413, 2.0289, -0.4114, 0.4973, 0.3328, 0.8515]\nstate[eef_state]: left_x=0.3096 left_y=-0.0046 left_z=0.1896 left_yaw=0.3164 left_pitch=-0.003 left_roll=-0.0012 left_gripper=0.9976 right_x=0.5362 right_y=0.3299 right_z=0.1341 right_yaw=0.0612 right_pitch=-0.0527 right_roll=-0.0423 right_gripper=0.8515\nstate[joint_eff]: [-0.4444, -2.6462, 6.5709, 1.5946, -0.2222, -0.0464, -0.0122, -0.4034, -13.8051, 9.4427, 1.5311, 0.5153, 0.3443, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSSQfVcnOiBBb3NI5hENHZz-1cxosvWBtJsKk-kz8b2MEDFMtieEoo44occTksNESd9FR9J0zJbm0CQAyj-dQ9eqjBDxGKYLuhNA7jEErbe2beCHVoQjgB-9EU6aghIkwmYOEC_DfT_VOsVf0ch4RCLLOCL0QdnKC_YFV9GZM9w4rJE0ZmUMNWeVOzL1lR78FLsW0D4RzJWs2Tx02NzKcdbuq729LkfJ0-xjj0PtZqllylScrQ9NOwhP4W5-B0YTuYTmTRybgV6s9MGz3rALyVMa_m99I_73ZrubpMfaH0kr9nZxLlA-McyzuSUUxKh4JELYstQ7GLAzkPxuVh5d97_H1uVVTTPF_DmKL2tzn-Pxs2LMm_H3iL28hc-ah9qxWPK5s2D2SAFvIsefLqHUnS9aVNvvAuudDzazL8mjPfkY1WPJQzHxBsFGCUGMJTiW7JrG9Nx_iFGl5PazJPQPtsHnYls5VXkGvh6sNk5AU7ZddMCc16_7HRNuW0u21rOa9WZ1uzkuWDUBIq_TxpaQAppX5DLK80eePkKowmJfP6fJt6JXWZVEDdvI2qfwyHLGzNDZB-H-tOAcqcBOpbzD562DkA_vmDaxT4Kbwlxk4du_yXdZW2Nv1_9XsFG6nXjC0hNY8m36NQltI9aMqkkd7Io_9uJxzue-CxFfzdLAM4eAMBheu_rWWvhaXhds-eeLAJJUTOKhKOZE_ofWY0U0nH7egulJVwHtj_jmXxJeQ-Xe55BJDrFhHCJIqZy6U06V92o5eb22wDnGHxTI_L7qYIRkc-YIAIyu1Sw4yoPvw7RX2uLICHBSsZN0bM9yQVSQIlcY3vHJ23Ld48DT7LSG9DhT_gevZAQd8vR0-ie_MIB4Y85IbYaBYR2R6XLJPqlvcPu37BodDDiCuOk__zTLRuEUmprRMBKBMkc15IlI7BmS2XRsG0981V8mfiT7ldb5kr84-fUauFrzPVKdtNysdt0NO2HkJmYVaOo5TpWuepBSo8mmgsT6kWYdnqjosUsljA3FlKCbmdacd79cFXJIaBRNPzHBvNahpjAq7tvgyg4HMqIxRjW05CkbTEEg75d0Y8EpZdyPH2ZEj4S52TmeRKyWIakcya3nchj6_98MaqN7MyWNoYz74wGIQ97bCqOHnBVV5Fx3j5WnbxD4WhVyI7oxBNZjMQ868sEMsTRuzDNG0JyZtkvyknfZ-YkU88AeJu3N76Lq4n7o7BV5WbnhQd51lmWr-bmWcbMuQImAeD5hJFB6FArThX7Uv2XVVhF5gnfPmx3lfJmoG0zkP0scUcP9ZxGX_JMcDwcYxx2taKUvr4cRB53siD2EkuI50Z9HXvrw8AysR2lTsEPR_e_3WtczwEEYlijYgbb81rdE1cgI96eGW4A1ctKCp37qtN_NaRCmwBMcJMCzUaUDO88RamihS_ItUN1fSgPBWkRrbKoGhjSvWjTo04hCb893oFcp3wlxyizVz5FPerGMzMgi9vSiWBeMbAiXmSi7WizsUiEi3I=",
  "id": "rs_0fc5e5c73895ddd8016ab2c48c92c087d09b862056c72aa2d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.36,\"right_z\":0.015},\"note\":\"The bottle’s body angles left of its cap, so a finger is landing on top rather than beside it. I’m shifting left to center the wider body between the open jaws.\"}",
  "call_id": "call_4YtFMxEEn9HnXMkwp1HQi9UK",
  "id": "fc_0fc5e5c73895ddd8016ab2c490135487d09184bbfaf7a374d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4YtFMxEEn9HnXMkwp1HQi9UK",
  "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]: [-0.3202, 0.963, 0.7151, -0.4244, -0.5312, -0.3962, 0.9976, 0.7609, 2.402, 1.689, 0.1337, 0.5709, 0.3901, 0.8522]\nstate[eef_state]: left_x=0.3099 left_y=-0.0047 left_z=0.1884 left_yaw=0.3164 left_pitch=-0.0061 left_roll=0.0011 left_gripper=0.9976 right_x=0.5144 right_y=0.3629 right_z=0.0555 right_yaw=0.0516 right_pitch=0.0875 right_roll=0.0603 right_gripper=0.8522\nstate[joint_eff]: [-0.4034, -2.6598, 6.694, 1.619, -0.232, -0.0073, -0.0122, 0.5265, -10.8103, 6.9675, 1.0818, 0.0659, 0.3883, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3df4829d37f2aff3e5df6dd2411e7dc7ff055c85e1127e9d1e598970543c9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d658122c781b78f6195ec2431a67cec153142433accd5b011a0b60e7beb8f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf83b653556cef2bd45adf43593f2d334e9da32d07d471548511c9d16a0a748",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9611, 0.7151, -0.4244, -0.5312, -0.3962, 0.9976, 0.7376, 2.3043, 1.5131, 0.2371, 0.5541, 0.3843, 0.8521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0047 left_z=0.1889 left_yaw=0.3164 left_pitch=-0.0046 left_roll=-0.0001 left_gripper=0.9976 right_x=0.5035 right_y=0.3368 right_z=0.0603 right_yaw=0.0433 right_pitch=0.1012 right_roll=0.0784 right_gripper=0.8521\nstate[joint_eff]: [-0.335, -2.5504, 6.735, 1.6337, -0.2613, -0.022, -0.0122, 0.841, -8.294, 3.9316, 0.7302, -0.1294, -0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSXLAeN1MshHfF-JdMGPOrABHELBs1Qzn6FlUfu95dxk4KB8yp-T1XnrW1FWrY4GZIUncENFKEjUqztIJFx3ju33fbct04gVDFVh6fHuAewutoRwATphduXUjRtOo_vvs9DJQ6wHrDUiqAMAyt1V3ZpqbQvH7OPQfdnouwgBo4GXRBI0x6a2baXbELOovDIuixYMoGq4KPdRyJdDvadbdgMIpkSzVW2sjAOCFp59_ZSipoRN0Ww8J8vq9Jp9o7oSBSfAqGvZl_NNjgoJ7SU8aOoXEORdMh9uorBERRi5fZEw4qILm4IxSf6Uy1FK92XjIU7tUe8b764QKR_wjdjYD-D0uW2_LhSyuQU1QWVZW0Dmipm0UO9rsHC-YZFASRmg-Q8DPijsieSX2NJ9mxHRqzLjx02F7GXYKEqviTRjGB96jYpkTDCDp-W6rJZE4XwnAuok2ADqSeLudbhaaArahjm5QbN53qvFVnkVZtvz9iyx0XdC8_jxlaoxHeEYC1s5woM5MPFALzKbP5wVzMWWSQl-67JhYkF3KsOZMFW66ZJX0k929EeGp4H-ouDRchlCBKLnrpfBa2GkYjPGPJxZ-s_Vv5SxXeedvHfUkz-sBichnU4WVXpjTNmZ9YhUrG_J7yMAEHHryv1am6mUNhXPgrtRv8nepWnKAF9F4qCFa4l2-otQKqGvlP9tpTyckJyxez6JCQKEKF9iLSNofMh1qVFPfHZDTdRus67HdjalXEZAr1OxulpNd_Onar9EHt54ykUrngxoDALMc-9KV2eRbPb44UQ2kp9QL7VK2bmZ7_aqaw3wHRem55yUta_3ZMyPIFqONofmPx05aWyPx58gVIEcxB6YaBrH2U3UCpmE8-63IJR18r6XOWos3MZsJ9abD9x7KF1YEwBid1nTbmLTHu0TFt-GLtqYLg8XMnAEqcyhwXsiY_FOVKg7aiStqeCn82WUuYPhdvIz4yXlK5a_Vn9eXznBXbTIBfeyUZNvgWAtcas17Ko2v5vOXGcM4NJXVhC82XWfW8S5udSUhWYi-sfTBsM_DBRzmNFfRUYYUyRpuVLLYt6suFXqTdamAELp7ndtaxK1jLN2Bj4grbuUjai3IonarHQVY1F5Yx3Mc6ZHAcwT9r1l1Cvqa_u514HBD1a-_4PHuJ2b1NjWlOAcbCoBCtT8b7i-QrdYTA4dOsq317hz85_fuSP96iqPMLVUa8y",
  "id": "rs_0fc5e5c73895ddd8016ab2c495c3fc87d08b49682e84f02afc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body is centered in the jaw opening now. I’m closing fully and will check the grip before transporting it.\"}",
  "call_id": "call_UssPYyAJaxTMWYNBtfFELPEr",
  "id": "fc_0fc5e5c73895ddd8016ab2c496321887d095c609b92ddba73e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UssPYyAJaxTMWYNBtfFELPEr",
  "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]: [-0.3202, 0.963, 0.7151, -0.4232, -0.5312, -0.3958, 0.9976, 0.7776, 2.4191, 1.7184, 0.1471, 0.6025, 0.411, 0.0182]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1886 left_yaw=0.3162 left_pitch=-0.0052 left_roll=0.0007 left_gripper=0.9976 right_x=0.5149 right_y=0.3715 right_z=0.0612 right_yaw=0.0299 right_pitch=0.1167 right_roll=0.0835 right_gripper=0.0182\nstate[joint_eff]: [-0.3077, -2.5094, 6.4342, 1.6923, -0.2759, -0.0073, -0.0122, -0.5675, -10.8376, 5.8462, 0.7253, -0.0415, 0.0415, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2f3f558a07ac8682ad267d66f124b5e8dcc3ae83cf327340555f71d1c30417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f0409757c596e2103bc127625bb894972b2d6606103666475adffe32ade4307",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1207cad6e1aa875b3b964de1bd9ed8840170784dbf4b714ba12c946043634fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.963, 0.7151, -0.4244, -0.5312, -0.3962, 0.9976, 0.7609, 2.402, 1.689, 0.1337, 0.5709, 0.3901, 0.8522]\nstate[eef_state]: left_x=0.3099 left_y=-0.0047 left_z=0.1884 left_yaw=0.3164 left_pitch=-0.0061 left_roll=0.0011 left_gripper=0.9976 right_x=0.5144 right_y=0.3629 right_z=0.0555 right_yaw=0.0516 right_pitch=0.0875 right_roll=0.0603 right_gripper=0.8522\nstate[joint_eff]: [-0.4034, -2.6598, 6.694, 1.619, -0.232, -0.0073, -0.0122, 0.5265, -10.8103, 6.9675, 1.0818, 0.0659, 0.3883, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSoHyBfnf2rC_cv7U-RRxc1yU25oItwwsmJJHM4zpidjNvJzCos4jy_Hx1Q1YnitoDmrPmB-lIHI0O_umOEHsgCmi-aR-TEnTOe0Mg5DejwZNNATC5U4XR1y8fngFlGqfmbk8v4aPOC6o0q0x3UPnYzyKVuIRc6P6fVLuIm-r6v0VC38Tvnt75PyfAJYwz1gAPq5ZqPrHvyMaCqBemLAKEkf1VyzujxZEzgjA3X6i51DvqE0mhGbKyalITqWNR94HGKBSRm1zYeDkbAHLrXBP2rLBm_GoKEIqW1CGSJjD2_Hww6sBxPgnpn95FyMosNNNN4MQwqesejI4WU5aAFxi_pvYN0zHXeRrjf0SWusbYzZBW9MOp4IWEBS8MxlHdoiI7eKlbmSO-4nx5NBPLK6g89sI5A_fBqRf1mNK9kimsWb9zFWYSCDfBNKoQsEkKloCado2BS0joRMauVrv5MPtSgezKq7r-T5F1XgOfWkFdKZ0dEWlsao3Ua9od-Vz6GeQmcz4f22SVKUTgrF2JIKkH2XXpqG0rIkZG6c1e2Lo8MQYpHgte7RhdgrJ0AcMBOEx1kHqh8SLrMj5Xg5tvqorhJCTyf6sRXFL7sNQCsqw-SEVE3yHNQA-4EWAwP6xNn-El00XXMDBFc9CrFrG4m1c_G3nYK-kr2BLYcQHiOYLf2BjWxDDvzh5Y2W2f8y4QXgXQJM2z-npigkmKYnFbzBWTMj947IgHmAm1SYc1hNcwmzsXcv_lTB-USxydgZdmf8SlBYM7ZbWz0wFI0_XwXIqoe4wUCjuuF9QjFHlJT9xiPZbGfn1Pyb6fg7DMnazv4oyIc_MxEXa-ZsoiCx1Zp5iEQ-N2XEhQpSoVQ2TwhEwwMpcZs5DweCda8Kb4wCYDfXTN6iDvoSGlXA-2LX28-JIwcVkCHm9qtmd5KKK0dVy_HLlo19oT4PgKRvqrO4EcLHxnGFX4zTSH8huMDeYodMoezNKofUjitprVxuiElUO-g8-bnOCOFYUlESiAaITqfqDCGeirkBkHNLfcs9mPDP9QOOUIMsQC23aSqu7tD7vC1PwakHXtNuwz827P6coowt3MbAyONkZT1q9T5oGcqUBRXAS_oPAU9MwaAgNFEUy3JQVW_RWYR-tK5HfzF8-czsfnyLeF4A5uIzi7fS8Q6yYuUzs8pIQBXCPXbzWHQiKbHxT76fmSjao_UxopU0mW1T-c6DE7iTus7etb-PpmxGEuH-Kp1BI67_ofglA-MRM2P9RJUn-vIxjeA3RhmA7nrXgtvGHI-hjl-nj9-NO3ZDq25TH9s2-nsFISvOv_HzScj-4URo8R0ZTMUTiBvLWWN8s-4x71Hcutl_7fm65fUMlO9WQZ-giP6neOlguYM9vEbCnCRxyCvcO_nqnwYXIE5OjI4y7CbyOryHYaRfSMpi4UEilKd-kHNi0zV110arXvuuO9mQBYgyHVj6i_Ei-_VGParmfW5i3e2ezeQeTOWiRPzmUs3a077f_uMhn-KkKa-1lpZi7EFDZg9Bs2013wnD700ux3cjy06sW4FKOlbwF_ATc-bz7W9M5mrY9xVhQp44BMjjo3keDXLQHuHkBWjygG7T6eOH-bYvY4-yecuaDqzrCIiOigMKdEfY_cwZ-sIrntAhBiwJjvysNQ7NtdxdesH0ltt5MJdXkJTUm_bnkgMDI27nIbL68NHy0KaUs3iHg5imtVrlIAg3elsElf7VEVwlSOXmduamPxKJYvwzeb1sJCKGpig0j-ABT8fkFAfMbvmt5Su-Wf3vhdRkBe5bUS-zoACzMHbc7qlpFks8doUR9o57ysLATfKSRZN33nUkdYCp3234Tco3A3WQ_QsoPm0YVzI91EKW_jsD9kJtK8oGUnUuNxAlz1RoWmgu85UDdHtTeyLTZIWaS-OvusZVo9COihoXJOBXy9DM8xhMSIzsjrST6ve6wwjshXg4sUrbzfkcgsCNRbNVyrkfpkRUrModKlagx29tY-f8W08tew52WFFHBMTaFWQC8nCbLp8E6-G6GEMQ4q7QOBJB4PF-B0RkXU43aPIFlPzOELdkjbbg83QonvLt9iVBf6QB1gu8YPGtwcrRZk9agx3ljHfVuWewxSu9xHj9mvsmtSpjlvXZM-W6WzcarSywk-kZbMSY6H0c_sE8-xa6TTUWEllRG7211cm4Djp-27MxRhcoyrxDGYkX_2o_3SArUFIUJTxtQSeC_Mlxu2779Drkj28URZjneqSrW31qt_zAmRGM4k8INWRaJTaDszwYL7Ve6RUEb6yBR5O3_AwbQM4KUF4BpwWYnrkRB33ONpditivjuxnIcQOrNvp6LxXRrr3uwN-Iqvx58r39XdIBH73Ir02qjNMvbwI0g6F211R7A3CexJgdHG2tEGD2tH57EO8KvaywMWT_y-awpyn7K17UQwWw21xFHAlX1DXP0cgli0S1Z6SdLfvM1AZ3CvWX90R6Lcd-X2KLfbNTnqaocqMSRhGHZJu8FWtJy15WQqEgRaVgA17WGdoV7HDYVzHONRX1mRlmL2YpPkuXiJZ-simpbonjV38",
  "id": "rs_0fc5e5c73895ddd8016ab2c49b13ac87d0abe01c6a3120fd97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.31,\"right_z\":0.005,\"right_gripper\":0.9},\"note\":\"That close was empty, and the arm remained several centimeters above its target. I’m shortening the reach substantially and opening around the nearer end, where table-level access should be possible.\"}",
  "call_id": "call_h4hwhkze1f8rqVbrkeUrBwmk",
  "id": "fc_0fc5e5c73895ddd8016ab2c4a6948487d0964e66f3f80ced88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h4hwhkze1f8rqVbrkeUrBwmk",
  "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]: [-0.3202, 0.9638, 0.7151, -0.4232, -0.5312, -0.3962, 0.9976, 0.8154, 2.2181, 1.2621, 0.3157, 0.6056, 0.4412, 0.8947]\nstate[eef_state]: left_x=0.3101 left_y=-0.0048 left_z=0.1884 left_yaw=0.3164 left_pitch=-0.0058 left_roll=0.0009 left_gripper=0.9976 right_x=0.4424 right_y=0.3283 right_z=0.0286 right_yaw=0.0541 right_pitch=0.0532 right_roll=0.0495 right_gripper=0.8947\nstate[joint_eff]: [-0.2256, -2.4821, 6.6667, 1.6825, -0.232, -0.0317, -0.0122, -0.1162, -11.7128, 4.3966, 1.1355, 0.4029, 0.0757, 0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:905d3bb68e912f0bd46c3bf66cb717c8509afcac94233ddc13c354342aaa1a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb09de22a738c395bb8e92403ac7649dffe469e21ceefa70af0ad8a3342bbd80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337ccacca741d53cfec738bfa384cc184dc8fa8820a999137cd2ed783af3c854",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.963, 0.7151, -0.4232, -0.5312, -0.3958, 0.9976, 0.7776, 2.4191, 1.7184, 0.1471, 0.6025, 0.411, 0.0182]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1886 left_yaw=0.3162 left_pitch=-0.0052 left_roll=0.0007 left_gripper=0.9976 right_x=0.5149 right_y=0.3715 right_z=0.0612 right_yaw=0.0299 right_pitch=0.1167 right_roll=0.0835 right_gripper=0.0182\nstate[joint_eff]: [-0.3077, -2.5094, 6.4342, 1.6923, -0.2759, -0.0073, -0.0122, -0.5675, -10.8376, 5.8462, 0.7253, -0.0415, 0.0415, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSx4wGfIxCXm71_RKeBfcTFbmKE2wXFsLi3Z_Ebcg9CJEhdG8Xs2II11d38robAjNPKfGGQ1WPyhJ90q_Z0uFP1RM9dS0oZbusYTgaTKMSKy50rGeGVfFbpTVqXSMFIxrqWx-Z8hlXehIPCSVflCMPeAy77bmKcWzxnIoblL6n4Ft1EisyNeWvkJH6ovYpe50XrT_F7ELsZmizlKQawm679N2WEu0h1-pU-I3I_j3MCyq3KRlq6I0CzCap5gb8l12QLbQBSDv-mn5gPBwmIbPcbRLTQgu99wxeorvMUJL3vsjsmqTWtJIesJEapiQrl7CoJBqVCued_gFUQqIxGa06v4TAxVoezORFKRjQtNgRpTH-j_1PnmcgOpeNGF43VDQ6vjBi-fXscXV4j4diaI2i-iw0TL1aa44LwSjzI-UnhXLSkUsbJ9lytLn45_j82Sq35EAqROlT7l5WmxYfi2KsxfR1V2LD9g9mdS5C2kI8Clo2Qc9leV1mZSK222eoBp3n8rvGZWQDe-h73kyZGegwmFUR3r9m0eKxTiRSJFTdVpht4p7l8wUcF0XDlLJG9W_1dw6OMnU88G7tboHjlduih1QMJAQszzbZvnrWa2TEbbiQeEnGMSzZ8wjxWHBCXZssMOXpaX_5Y89wOEGHtyy3mgK-GzGTK4lyYHshg-b2y_A4_Hr7ia20a9C3tFPDuS3d9a8RTjQQ4xFolo9ie4t0MK-7nlI8PpyIR6T11CbVoR9KTrErP47LUFFHmQ-2qHrte7OoocRtYlBC6I_zwQ7RGP98FVynV1_HLQHAfa8zLAAfZHArxadOGlvlxQliU8XlftX4S8HRdtaRtbdwb9ie-Vkzkxl8suazUBLASk74L6F_0LHJlNF3bclEfo31ff05D02d0ZegH6NAotTQIGpoba47xAzZ8XNNicZVvpGKFISeeUHdyGEve09lTB-k5JrwjdjqF2TB-mmIb6HbhJbIKj9zJRA4gMFP0PUqCqYt6ASbX4nvCzH8DyOX82niQpHuyCSQQRo1NwJFKDg8LBt48BdJn_It4cf-a5agjbp8YflJNEkyvuNk60SL4OHJqP0B4bxAdKvIpX3kJyzEBC9mSm8V8ie1ftvSYPQ0p_86WdncviVcEcL4m3OFcYKxV26hXuLydVVkvf28qhiheKsi6udCpOYK6GI2bJvxMqXk1bnx_u-nPOxYiw-jWWPLdibhRyp8X1ttQFIemVCAMSjxc3HU5MkYkMZIsxfZkKZyRq4VXP5_lEKgjIVZrNRRBDR3FDxTaXiDEwlYTKBHa51x-jQ==",
  "id": "rs_0fc5e5c73895ddd8016ab2c4af2b0487d08c2928e1ae1a12dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The nearer bottle end is now visibly surrounded by the fingers at a lower height. I’m closing for a final grip test.\"}",
  "call_id": "call_B7DSZOEHr9zj3GTdFXdAFzJ4",
  "id": "fc_0fc5e5c73895ddd8016ab2c4afe1b087d0bd4b085fbc17b3c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B7DSZOEHr9zj3GTdFXdAFzJ4",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3958, 0.9976, 0.8181, 2.2189, 1.2991, 0.1577, 0.5911, 0.437, 0.5385]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3162 left_pitch=-0.0061 left_roll=0.0014 left_gripper=0.9976 right_x=0.4332 right_y=0.3238 right_z=0.0145 right_yaw=0.0705 right_pitch=-0.0418 right_roll=-0.0305 right_gripper=0.5385\nstate[joint_eff]: [-0.335, -2.5915, 6.653, 1.6777, -0.2466, -0.0269, -0.0171, -0.4171, -12.0684, 7.9521, 1.6777, 0.3932, 0.0415, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f82e48f15b82119ab93bc6a4a307e5d32ff121efb05673fef4c9f92678217a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbebf32ff0d79dad1cdbec683752a60ba869a4147b5bd7797435e41241dd8b30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8278ca13b5dcbb1d295e82ebb24b0cff85015db25535d3fad477ca28434aa2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7151, -0.4232, -0.5312, -0.3962, 0.9976, 0.8154, 2.2181, 1.2621, 0.3157, 0.6056, 0.4412, 0.8947]\nstate[eef_state]: left_x=0.3101 left_y=-0.0048 left_z=0.1884 left_yaw=0.3164 left_pitch=-0.0058 left_roll=0.0009 left_gripper=0.9976 right_x=0.4424 right_y=0.3283 right_z=0.0286 right_yaw=0.0541 right_pitch=0.0532 right_roll=0.0495 right_gripper=0.8947\nstate[joint_eff]: [-0.2256, -2.4821, 6.6667, 1.6825, -0.232, -0.0317, -0.0122, -0.1162, -11.7128, 4.3966, 1.1355, 0.4029, 0.0757, 0.1343]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssS9RkFYjepcMJXEsvZApte57gIbv2P9AnYubCtjjpCiaKAX7dQ_qmuUP2H8vRUK_VBAqCc9Ngjt8LBX3UC66PG1WtBRNW0XjbsnSe2FchGvrRTWOSHb7Trk_M9krzkX67q2pp2gz1hj-q37UTdHYtyXHrie8Z_pd5Lfq3uILP9QlIMgBhvMzCsHVZ08KZpJIFp3mubYLxWtGQX6mlVwALF4q5j_Hpl4mwAd6JpHlJYhP5NIKgplRMFf2YmOJlTvxOTtV_Wvkin3G3RzTdvM7LJCUfKy_i6FC19R1Q4-WWXeuYF7vKsdlyEt0cQOGjGjWU45rqDDzpDnZs8XKEjGwiHJvmI6WOSO5sTADaBHkoHNh2n6k1b24iTo1kZkW-VsTYPfSzU99oMwubugSpWsqcuGnOxT-mZpe2quPX06viKGA3BLnxhhJ7XGr-0MeD9JkbW9jlpXu1j-KnAtTnimabqLlOKddh_Gut5NvOsAEO9pKcCu6RjaKCCZeuPWB0gyN886Prali_mzLkCLuJ1A1z5Lp6_Y_8TTyqyLkzd84qIZs7RBMxzKOj8CgDTqrz5Qcf6_e8NrlXWhsby_pSCJUICDGqOMSdKQJ5P_ZAfhIXsrMbDavMihba-btUVYmq7sZ_mmGRetM-yfQ59nqlVhjSUaNVBgJ4JEh2i8f5CMwr4axg5Bgh54pAitfWDbDaDBjCZGWle6CtveR8BAdemNU-OP71l00WqOfMjacgOlcEvuXUm0X58oy64Hdqs8Ee9_yV8tMqkrkh8k3Ddz-sABRg_1Gvp0qNPUttIDqtNfxLDMw_3lLRkUSNRVEEfM3KzOv1_zoKBCm03TU0SdGIcEDjS_GS7XGf_Hhel3da1JN7bMCtMYMeYG-XcGaLcpfaPgmsi7HXzE4-chj5oJtnOfcBNTIDkjeSoMrlRy4Cv3k4X0VoW9MIX13zezPYACi4pRkXiywul94exxeh_1u8S9QY6IqeSAYyxeiTprtF6x7jUTz-CoLhfLrtG3Wjq1S5V1LXyEuiSyGBukzu55Gp4uNQmaLXc35eF8rsRkc_XFJPXotGUVVWaYbX8l2rbxk1eR4114DTMYtEZbRmgdFGut63TuG2At05FjM8gF_qT3XonTwm_VqnMdFrqHlpcaD5YesVSVyZ_x8IiVJqyvO4g94gqVvF2XXDIBmNZ_08J918bGIiD92zqWuj_YK3M4hEvzx5W1kyOod3UqR1X-9wU_NOI0_fIgGADlmgT7KSwxKAJdfocECaRmjEX8ZfwduZFJSsfpBPnLgv6EaSiq0IaPWAJy5eVsMpfEIsC7hJPnv1mzVRs_RCHqQyZXEPiU56Mqu-fOS9diDU_ck5fw9sbpEnAfztK6U2kB6WiP9nPBENoBuHg3sRzkuUkAvB_GD5ZBXzgE338oEpe4LXhEbhlE36wEvcVEs_yGPcNgwmreQBw4eD_LGyYtYSb7Se5ScFLQshVLYd-uUw_fkNCze5hDjPhObsIZ4WvdLyQqWo9HHb__RkCG5xpwhGfXBA_hD-iZyEzUjxX_C9ryJBlX4MfJ2IMIk9AVBlKz6llmOvUIlC0G7buIFvhlfgdIRpzmprfCm8jEQlmFgnXZJrwo95DSQeBwxeBVkbYStwBQvOB-44nfuhRcWDoBaW0FKQ--P36de7AoL-wbqvAZsJJQEcvPsDaH1rc7WWKlUd3zUlLb27HmsPb6WKdH0WGt2_0rTXtZX1fRPTxow44YsBX_4a9mpUj9pjZEa1jGCLSjVyrUds6GrPA=",
  "id": "rs_0fc5e5c73895ddd8016ab2c4b51fec87d0a9cb7e2ed4d5918a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_z\":0.07},\"note\":\"The gripper is holding about a 5 cm width, consistent with the bottle body. I’m lifting slightly and drawing it closer so the neck comes within low-height reach.\"}",
  "call_id": "call_MSWcYt71fOIfHZk7moVrOKRU",
  "id": "fc_0fc5e5c73895ddd8016ab2c4bb5ea487d0a4189b743548f7f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MSWcYt71fOIfHZk7moVrOKRU",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3962, 0.9976, 1.0645, 1.9469, 1.0054, -0.0319, 0.6933, 0.6239, 0.5428]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0061 left_roll=0.0011 left_gripper=0.9976 right_x=0.302 right_y=0.3191 right_z=0.0247 right_yaw=0.1317 right_pitch=-0.1219 right_roll=-0.0915 right_gripper=0.5428\nstate[joint_eff]: [-0.1573, -2.6188, 6.3932, 1.663, -0.2466, -0.0171, -0.0122, 0.4034, -14.2701, 6.8171, 2.1856, 1.0525, 0.1929, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1287b0e40fb0ac0cf89ac4e4119a2be0244ed739e6a0538f69f6a040cdea68be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fe5631ff8aa3c617d07f541deb821869f9fc4c5c3a8663c0abeb5581c47af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7873f6d0aa93d8a862b4447844b9cef67144b78667d84c07c4b5fc459d18f5d9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3958, 0.9976, 0.8181, 2.2189, 1.2991, 0.1577, 0.5911, 0.437, 0.5385]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3162 left_pitch=-0.0061 left_roll=0.0014 left_gripper=0.9976 right_x=0.4332 right_y=0.3238 right_z=0.0145 right_yaw=0.0705 right_pitch=-0.0418 right_roll=-0.0305 right_gripper=0.5385\nstate[joint_eff]: [-0.335, -2.5915, 6.653, 1.6777, -0.2466, -0.0269, -0.0171, -0.4171, -12.0684, 7.9521, 1.6777, 0.3932, 0.0415, 1.0281]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTELcyq22ylhtc3nHbIWFBzO6394IVMBhYY42PXx0cl6a1pFMegkEZBVUiwDnKmsWbCyYjeHf3gyibPY-z19irl2wD-PLPOmSrtgrN9dEtR_byjBXrAM9d2SUmqv49kSrGO8W5VxjZ4g-pWYIOeDrNSAlkQ5huG3Qy_8RYf26snfaACl8wvOHTNnXwicQue3K2LqBrfp-mJU0xBIynAgRAdCZVYRC4BPix9wG8eEWs2JMqXaZzHkHfToD9a4FbcFwelnaHemSGMZWLVKj30sWPfjZrpOYIsR3qczsClIl_bZpM3PpK0KMQw-DuAh3teiY2R78LkpJHp7xfOQbn6wkYOWQFfaeDa_U9IodrFoyPs1QEVBecTbn2j9JG3V-cSvh5bUzbe8ioOfhatZcoR8v5zI1PwW5FUGgtilMVa8_AwE6YO96bCTbzTwhHE2H7yZeLa0CFQgd87y4wsAhGiFvvLZcNvvNPV1Fg2JLkEFOzLzRmpzQ7QLPFPdklzsbuZZzoR6TL1NG9sjg1ZUPNn2TS5uJP5SK2Nk2RWUBN8HRBrEM3F62U1HMbmk_g_AQXnTIIaJIgweUgMeeSKhRLHHffSRQg_RmHpT0x7UZVB9w5QkzkIT6ljDEvW5KRVeNvWBXXu12gag6qK4P2d9BmK--eF4Vp7-3ondHqjS9r4kBFUuEylGpc0bC6B8dxsioLVvdmf6zDgErLbcFO3a4nM6pTrd8bxPiMt5QKquata3fsxpQIn10J-uDK-w8X9r9-OeokaIDEdJrGJigYN_XmzzuxPU9yvOh6V94qyv6vtMq_iK2Ca3YZ8vwgxFQRrlC36gqhYO1bUdHy4YKBKMI9fJRGcPAYMUQiRPIynMQuW5Tzj6XLO17QU3crit0ZyNE_Y-8DGrxJ3dTKnQn2InYL-oZDnkNqa-qGnQHZJ_WrKoiJSHiciiey_I-ViuGl93_aw6WsKAIaoq2LqgePO9Ieh7RQbxiEigns0Q75n1B1N0SBL7NYHcmS0VNENy_tfV8YveFqKf8GXHfNdY8A3T7wNP_VXuKECc7-RLo517WYGxsVxYNz2Q8_JBeaWFqGemqVSbYhAQzsHIqQbJyBuR96QvnK_5WleQE8vyw6R5NE9HNUlGU-QkndDVSS3SjLuUpKlXL7Ur98Hm_4SpLn1dhaYWadkDr6ovlLFaKANSAnkIWCZs1rNYTd6Xtx1XwBHXTOfEkZQHPvVINmYAQcc3zO9i5xgbREClGSrB4AOpHE6rtyXyV8BOhXZKTOFI2xSvi_gFWaHlbwgnr07bWWpyiAz_8nCL1QonckoB3m-UaFx1DZmJ40mx7J63kevtgoES5wJdZ2VcHOZJRDpmJlOVHvr8Tot8HTGX_5vP213XLuCltv7_RDcPt6dRt9bRZep54Q5y8Zyz63oHA4bvA2jvdxElz8tdKN1zpzOWj2TWG3OPx8EUls=",
  "id": "rs_0fc5e5c73895ddd8016ab2c4c11fb087d0a3dc9b6d0f8d4dcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.9},\"note\":\"The bottle has moved closer and is resting on the table. I’m releasing its body so I can regrasp near the cap.\"}",
  "call_id": "call_HhVPD48IsTCBn1O6wOiClE3E",
  "id": "fc_0fc5e5c73895ddd8016ab2c4c34f7887d090dbedc8f5dafc95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HhVPD48IsTCBn1O6wOiClE3E",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4236, -0.5312, -0.3962, 0.9976, 1.0813, 1.9488, 0.865, 0.1783, 0.7116, 0.6121, 0.8964]\nstate[eef_state]: left_x=0.31 left_y=-0.0047 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0064 left_roll=0.0013 left_gripper=0.9976 right_x=0.2919 right_y=0.3102 right_z=0.0087 right_yaw=0.1485 right_pitch=-0.0698 right_roll=-0.0549 right_gripper=0.8964\nstate[joint_eff]: [-0.1299, -2.0581, 6.5573, 1.6874, -0.2857, -0.0269, -0.0122, -0.5265, -9.1282, 5.5863, 1.4676, 0.5104, -0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a784f797ee0602594a41ad4f22c1a6baad7245a0554546867c669a2c9cd0a01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42f97e718af7c4685db851b5d6e0881e20aa5e8c766649c1c480b60ca84ade2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58449794a3c3dc716c6b4ebb823cb72d5a8224555fbd3cf9689dfcc1704879c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3962, 0.9976, 1.0645, 1.9469, 1.0054, -0.0319, 0.6933, 0.6239, 0.5428]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0061 left_roll=0.0011 left_gripper=0.9976 right_x=0.302 right_y=0.3191 right_z=0.0247 right_yaw=0.1317 right_pitch=-0.1219 right_roll=-0.0915 right_gripper=0.5428\nstate[joint_eff]: [-0.1573, -2.6188, 6.3932, 1.663, -0.2466, -0.0171, -0.0122, 0.4034, -14.2701, 6.8171, 2.1856, 1.0525, 0.1929, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.365,\"right_z\":0.13},\"note\":\"The bottle lies closer now, with its neck to the left of the base. I’m lifting clear and moving over that neck for a top-down grasp.\"}",
  "call_id": "call_6Io6rPXfYULakfCfIziKYMez",
  "id": "fc_0fc5e5c73895ddd8016ab2c4ca543c87d08308d6c020e39fa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Io6rPXfYULakfCfIziKYMez",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4236, -0.5312, -0.3962, 0.9976, 0.8349, 2.1216, 1.5806, -0.1497, 0.5392, 0.3752, 0.8971]\nstate[eef_state]: left_x=0.31 left_y=-0.0047 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0064 left_roll=0.0013 left_gripper=0.9976 right_x=0.4472 right_y=0.364 right_z=0.1212 right_yaw=0.1613 right_pitch=-0.0099 right_roll=-0.0091 right_gripper=0.8971\nstate[joint_eff]: [-0.1436, -2.6462, 6.5846, 1.6874, -0.2808, -0.0122, -0.0122, -0.9641, -11.1658, 8.9778, 1.5409, 0.2466, 0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de9c5679f414cc6200fc6ed70fdfadb5e9824d4d84943adfb3ed5fa9f901648",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f95366cde0c675f20e8c2107d59d51798d7eace8bcb92d229a5e0a096fa21b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588a4f986688c404664483811c0654925d2e85f9dff57544e78da8c8a4b56d54",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4236, -0.5312, -0.3962, 0.9976, 1.0813, 1.9488, 0.865, 0.1783, 0.7116, 0.6121, 0.8964]\nstate[eef_state]: left_x=0.31 left_y=-0.0047 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0064 left_roll=0.0013 left_gripper=0.9976 right_x=0.2919 right_y=0.3102 right_z=0.0087 right_yaw=0.1485 right_pitch=-0.0698 right_roll=-0.0549 right_gripper=0.8964\nstate[joint_eff]: [-0.1299, -2.0581, 6.5573, 1.6874, -0.2857, -0.0269, -0.0122, -0.5265, -9.1282, 5.5863, 1.4676, 0.5104, -0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTVGz-N4GfTEJirjKZNPD7vqsfOM5Varnud8WZRsszoOhZo7wx7zf3JCCCGXiziMUstDSCHmrkynJ3EPnGq_WAsl54YdpqtJwSWO7QWoJEGhOtfcaUNfgIcmPe-r57dKlDmwVF0PkDjtZFEMdB_bBCr66Q9Q9QBBpudvjcAFMwty31Ar9yWAgkQrsEZ0eZWNsCFw-s7KqSWbW1WRhxwTVAGxIqX-LYktajTSdGAcSK__AzXNjlb_CoCi231yVie03aKcvXp4-eVLD2CpU32uYsjD7Sk3v5GSyZWxY0gbOYN509hPwAg-hjXa0hWL24gIbohAPG5U3z6HKsk0sojjPZACDfSlmYSVHijneq4wjhyt3uP1Z06fngzc9lV7-gIW7tF7DsKi1deXA8Hb3rMDRtyqU2fpY7-M6NIiE6Zd6dEpAISg2fOKwY0q8V2-qFbPM-NzMJRsPNB6RdG62KJnGpld_LQIzWgLFhua2FqMS4C_pvBs9VpnDN4MvAt0D2EzBaTvtjgq7TVf5utdjyNkRl5xl4WKLRgN3m3rRAdFwrH8DWGJIOeJmhFU6x9s_iEaU6i_RLrbz9aatrlRENL2SIKMlGWvY8VyDr9D7XYymkVamR92GJyQC1W_z2CuDtOX6FH3H0IQ8Mb_XZD8KKs4FwS1ngyB01MixHR_gIvOBOIovf_nsvwxQN4LZ0jmY7Ih0K7ZQiyCkj0HiKeGoTt9J7IFscqowlhMBLr4Iji5UlFWMhlSJ0zew6q3QvEkCB4ejEj9tI1PfvXA_OC3FJVNQFDqPwPxD6jwCICnEo3vKCYBaciUmZpbRCwfYTPPqBganUZ1xxtfRvYo_c2ZqT4xHN1Y2HAeb0z-s_LFQsfvaUsDlyiQpMRhjCITqbOGWGofwiF6cMHkSzD-nIVNY1z4KXtq2QjBANc05GslZRMvpjG1mz3G5vxOVeAlI8wWtfM1VPBGTNW96Y0AODpTBowRNKipm1LAbxECQVI2pL-Em0-CgzH0fHGjuMMbJ6BOqF0Bph2MK0v2Ddyui7OC9u6FG806kBLmrJJewEt9pZ-EjVLABpTh3UyLY9Y8LCV7Kr0HAYrBGgFQ2ROxbGar8qDuaCCgQr5ljL0uzN6g-ZEjjbcKW_oUttdQ7M4rfogPlg4F0BGAG4Fvu7Ov5sO2noWVtIAoO47YoM3lIDAp3Ckx2eRZY9xoANxA1zGO_aqB1QsEX_kjmBq8fKHWPYwzRBfAQXMOWasUfwVOhliei4IAfZQwjfHI4q3uqG01GFDUJJAShcZrqv28oNWYjRBalUGG5De4H4vagQifpuIWx1D3eJn_KVU3VwpapxVL_5Pfc0qwvbUAX4556u_xI7dc_CIIUClOENAICdmsgsVQ6tNAGB9EosXxQHpN8dNtHXPjox-V_2G",
  "id": "rs_0fc5e5c73895ddd8016ab2c4d0aa8c87d0b2e93941e09b9145",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.365,\"right_z\":0.02},\"note\":\"The cap is centered directly beneath the gripper. I’m descending around the neck, with a small forward correction to stay just below the cap.\"}",
  "call_id": "call_K0rn68lQT2xoGDfAAseaGvm3",
  "id": "fc_0fc5e5c73895ddd8016ab2c4d2f21c87d0a0cd875b61a17742",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K0rn68lQT2xoGDfAAseaGvm3",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4229, -0.5312, -0.3958, 0.9976, 0.7837, 2.3199, 1.5532, 0.1001, 0.5037, 0.3317, 0.8972]\nstate[eef_state]: left_x=0.3101 left_y=-0.0048 left_z=0.1883 left_yaw=0.3162 left_pitch=-0.0058 left_roll=0.0012 left_gripper=0.9976 right_x=0.4788 right_y=0.3619 right_z=0.0397 right_yaw=0.1614 right_pitch=-0.0037 right_roll=-0.0133 right_gripper=0.8972\nstate[joint_eff]: [-0.4308, -2.6598, 6.7214, 1.6972, -0.2515, -0.0317, -0.0122, -0.8, -8.8821, 7.4872, 1.4872, 0.0952, 0.0757, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7157b4c9d33f915d23acb01ea51f8c1b403900da8e8984889d791e799a78fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fa7ef0476618a1484811256015f64953bfe0aac6660222085bf9779491ad58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005177e0a27c557f1f89ab54b3e2cd43482b45d99b3dcc275ca1c952c75ae726",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4236, -0.5312, -0.3962, 0.9976, 0.8349, 2.1216, 1.5806, -0.1497, 0.5392, 0.3752, 0.8971]\nstate[eef_state]: left_x=0.31 left_y=-0.0047 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0064 left_roll=0.0013 left_gripper=0.9976 right_x=0.4472 right_y=0.364 right_z=0.1212 right_yaw=0.1613 right_pitch=-0.0099 right_roll=-0.0091 right_gripper=0.8971\nstate[joint_eff]: [-0.1436, -2.6462, 6.5846, 1.6874, -0.2808, -0.0122, -0.0122, -0.9641, -11.1658, 8.9778, 1.5409, 0.2466, 0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTcEnOLZe4-kAWzdyoBzei2-UoKxzRTCQHgIbDRISfLjAIrM9G8cuaMvnXfaWcp6kKJZ5EaHijEKDj9LPJFvv_LerBImGcEPpG6AikMJxiz5wS3-vz_1JoUX2fTRMPO9Nr9eBHKrVgXrld052GLi6IDwWMQ4yCZqBwnqLadG1mjPrWfHPMaWDC750CxfRByJcgSzPo1eJSvnHlIJmkaWPQn4XDH13VwAb4Z-fAD0dLN6qKL2ZwoahXO-Lrus-zXAQl_wWupaa2nrjPPyYEhJvB3O7HMe0x_VwJ_qqHe_sZLa21nRPeCrsDAlxvBqDXynqjuMdF2PjqMXW_2T9TtppvIGny5K5RtrbcsuOrn-E6fU1gg40P_JCZcptlh_HGPfcWtghy_Wxx1l01PDYhadcURIi5cImxwq9jgZs2EtUBORbR06RFgE3G9KLgrdwZXJp9AShXhWXqIEhCVCaGWzC-1y7F1uiaDQNvFBqGJcKLM3ql-aDMlhNZRSOwAMEd2n1CDWh5oyG1PrC4IfQh-3B6C7E6QDLWYg81wsZ1NvNfefCXuHZnrDrMjFIWwaofUBbCQ9MO-0ds4l2tJqc4wR7sbW-CFT9GqzBxdJPmZWMaziXlcAcwx_2W9i5UBWd0m8Vx09ImN4NqWtNkKftXih7tZwhUw68E43VyDNUSqd9vDA0_X_z928tr9sVlr4CE-wD5pkf71gmAc-ySJilQ47p9fzeKOiaY_sYMoI6ED6_Lt2eyDGsxEDllIjVC-9uMahn9xfLqlMlXYC8JVu13x9AVsQ0LFFaN8219gD1x46O1jJckQ4Ik77tHACeRPwz9aPusQvaHFdrnEdCaqaKSRo6J9JSHVQZCAV41Ps6QqtHwJp1dWi6WN2VRsSWOKNQLQa3trMgO2bpXn_ui7OWJ-TTgNRIuQTtjDjEOZ0eDAmE_RbBujVGuBmkR_dFf6chRwTh02wGm2yc2uhuOoipldbv2lRJW2WBwKALgplN-xBB1TZRgLK53ZFfvHJprRHUB96LU8eFwxqQSBF90bAOEeZ--eQhMaYUyoYe9waQolNTaBkXtF-Qg-9UOqNIDIy7I3Kwrn0aRVjJkY5wu19I6eLEOndsas-bn9zcnl32-vTZo0B9narFUd1E5vq9-bwSfXE9NEc0JxNPEDMM2TiBpCNxLb-SOtMDMut4JChblMLz6oWs6jaWwcyH9WPS5mHylPrHXXtf08XM0Zf6VlpuBnF2gf3bLWd2Gwa7OgsFtQFRqIDcakbX1qkjFsMU0ITYuthP5VQzgxzhVITvbwR1fo3WHU8yxDP-Vdoy5keRys4QN2K7yxGAmCk5emEv6m2Ufho9CtJvOZV8XSlKlwiCGkFHbJDhlEIYN7lKLwx1_u4ShoFSdgPPcYPsrgxrriURikuZo6C0X3B8eGB83FZ1KgspqSqA==",
  "id": "rs_0fc5e5c73895ddd8016ab2c4d84db087d0a121ece0c23b8068",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.38,\"right_z\":0.01,\"right_gripper\":0.2},\"note\":\"The cap has passed just under the fingertips, slightly left of center. I’m making a small correction and closing loosely around the neck so the body can pivot downward.\"}",
  "call_id": "call_Cc6nw55cSPuUaNnjChYnyTKp",
  "id": "fc_0fc5e5c73895ddd8016ab2c4da8de887d08892b999857c05f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cc6nw55cSPuUaNnjChYnyTKp",
  "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]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3958, 0.9976, 0.8104, 2.3589, 1.5963, 0.1841, 0.5037, 0.3412, 0.2054]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3162 left_pitch=-0.0061 left_roll=0.0014 left_gripper=0.9976 right_x=0.4824 right_y=0.3887 right_z=0.0496 right_yaw=0.1814 right_pitch=0.0675 right_roll=0.0465 right_gripper=0.2054\nstate[joint_eff]: [-0.212, -2.441, 6.4479, 1.6581, -0.2418, -0.0269, -0.0122, -0.1846, -8.1573, 6.9128, 1.3065, 0.3248, 0.1343, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945ceb105cf7fe3a8e10099f8fc355b73109ef598a48bbf8f2aebf921e8c3074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7759f050b15514ff4a0f3c80f3ae60176998e7791653f02685029a3da488e91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576d02e9f271a0700c34d61ffb7a8a7d99a879d2392e463791916f3534d26a34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4229, -0.5312, -0.3958, 0.9976, 0.7837, 2.3199, 1.5532, 0.1001, 0.5037, 0.3317, 0.8972]\nstate[eef_state]: left_x=0.3101 left_y=-0.0048 left_z=0.1883 left_yaw=0.3162 left_pitch=-0.0058 left_roll=0.0012 left_gripper=0.9976 right_x=0.4788 right_y=0.3619 right_z=0.0397 right_yaw=0.1614 right_pitch=-0.0037 right_roll=-0.0133 right_gripper=0.8972\nstate[joint_eff]: [-0.4308, -2.6598, 6.7214, 1.6972, -0.2515, -0.0317, -0.0122, -0.8, -8.8821, 7.4872, 1.4872, 0.0952, 0.0757, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssTl60TW-Tl67nu_gLf35lnuAt1LfKkjM375rYPN8zwJWqdSEo46-wKkGhPA2g2J_8kg6f9824fjS55CrWDBJ3DJIkZw4RM-l2tiqmwPvfhfsrMiICjLk1Z7otzbGa01Ts98VwZNSisuvumxb5HtIb53e1543qBTjXESiWDXPoICK8mVqpUDJbN-HF9AO-9LE2nMksoZLcveY0OU4hJDEmcSNAMFGICYLWysP37me9fajfB33c_ToRXFztK6EDo13HCvMHs0sOJj9_Kdw13mr0yshEuzlgCc-6bSMYDdZ7DzNsSGnleXY2wM7OUsjPS7Ufi_JKHyTdLxqyRe6NjiLJ5V4E5KUrhwdmtvzkYKd4ETF2IaAZ8nCpYejt0FIvFjWv_KLX00YPnElBSX3zDKq0nQRSQomEowChKeWwtRDmwyW0RvEVar5O_RHucJzjObAa_PeY6nI6LD4WTsj_q_Lgx51r7Ss60_LewtAcFZ3BPZKKwKESdzPrXaL1ZAsiAmicZeRAqbs4CST_EJAmxpLJFRxa1YybZUpfDkRHI-dzBzCiZIh6teOhJD5AB_p0R8fpMmzwi4N5T2pFS6H9KaIwfBHPKHa2oEyzPGcS4xwjWcgDcEAihhScGbh6KaCuut2RbWcwEyVPShilTEN3U71vB6Im9ezr-zmWGqtWxPslKX4hnESbGR48COGj0WN2EFJz1UAqELJgwunqmWtwPzCXIS2oHuvFQUWgKrjcUWVVWhfRqTHQn3nTYTJFMoNx33ahPvG8V97GiYBCIRf2MgGDynbAF0ovlXQOUzroSSHaE4DXb8qS-eItdDD_jw_yoZL1WXBUJBwzUwRXgmxWk4_FHOogHFHz-5nKxfL3hNz_nBXHmw80RC9i5_TqySy40GLkK6Tb9IR3LalhOu9iiIdnDNFFKafHIA3GvbHKsuL0A2Aq6tWsLRf7DJAKStvMsZ7pY-wfI4Sgp7r2043YLmfz20098E3JjuT7xLPtAdZ-tch7aTEsx1OuMO0RvOXMf5-UWP-vU0X6CNKRhIH21ChggGEZ_Qk9sZyE8J_U6G7hJDUYo7RfPVJMb6nyW9sZIjpcKpDa6Jb682nCNscxLePWTNCFlAAQfZqkxuCMPt0rs9ghS_MtN2VczZ66_oS8aUj4VcPIe1hkr4mxyWN6hfHT1b4BZQzORNgNaEGq6SFmrOpciITChiM6Hneo4SnKlu3Eq25nyV1_Pmkp8ScWxkAf2xUg==",
  "id": "rs_0fc5e5c73895ddd8016ab2c4e37e2087d09f1ca8a0f46fa6e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.23},\"note\":\"The fingers are closed near the neck. I’m raising it for a final test to see whether the bottle follows and hangs upright.\"}",
  "call_id": "call_OFKrrBLRLnTFflX5MuKgNFqV",
  "id": "fc_0fc5e5c73895ddd8016ab2c4e407ac87d0a8ec95536cfa8e4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OFKrrBLRLnTFflX5MuKgNFqV",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 0.9638, 0.7147, -0.4232, -0.5312, -0.3962, 0.9976, 0.8761, 2.1807, 1.9652, -0.5465, 0.5232, 0.3618, 0.2044]\nstate[eef_state]: left_x=0.31 left_y=-0.0048 left_z=0.1882 left_yaw=0.3164 left_pitch=-0.0061 left_roll=0.0011 left_gripper=0.9976 right_x=0.4395 right_y=0.3951 right_z=0.1807 right_yaw=0.2202 right_pitch=-0.0726 right_roll=-0.0557 right_gripper=0.2044\nstate[joint_eff]: [-0.212, -2.6325, 6.6256, 1.6728, -0.2662, -0.0122, -0.0122, 0.0752, -16.6085, 10.0171, 1.7216, 0.5348, 0.2662, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7314d33ece84fb42223295a11aea0707db4cc7386cb2bca7d546487938c5e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21c879de35b15d53a3c50dc6e3e05c7b6ea4a77f11783095d59b85a2e2e042a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd42330619cc4a9e52000d38702f623b9c38b555a2495074b4a7e4350f3cbd0b",
      "type": "input_image"
    }
  ],
  "role": "user"
}