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]: [-0.0204, 0.7921, 0.6071, -0.3767, -0.017, -0.0082, 0.9986, -0.0212, 0.7883, 0.6033, -0.3866, -0.0231, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0006 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0015 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.4838, 9.8393, 1.7802, -0.1001, -0.0855, -0.1587, -0.4718, -0.9915, 10.2496, 1.8926, -0.0317, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720c0fb7e35d96de0ed4e8355bdc0d8f096c202b2dc94da0b8a5ac98bdefb901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a8873d621a1046f2d9508f6fdd85e99241c6cf83cb2fecc17a50dbff15df54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f11f32dee62547b793e0f964eeba11f8d91b76baf2885dc17982bfc998aca1c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0c2f210df4b47d92016ab2c06da10087d0b7f8966b2e2fb2e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.175,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"All three bottles are lying down with their caps toward the far edge. I will approach the left bottle's neck, aiming to lift it so its heavier base can swing downward.\"}",
  "call_id": "call_LV3hMfinOC9CqNV7kw2Z58K1",
  "id": "fc_0c2f210df4b47d92016ab2c0754c6887d0a7f2cdc23db23b4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LV3hMfinOC9CqNV7kw2Z58K1",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5518, 1.6871, 0.9382, 0.0563, -0.4469, -0.3164, 0.9988, -0.0212, 0.7937, 0.6033, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.423 left_y=-0.1666 left_z=0.1051 left_yaw=-0.008 left_pitch=-0.0521 left_roll=0.0208 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.002 right_pitch=-0.0229 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -8.0342, 8.6496, 1.7118, -0.3394, -0.0171, -0.1392, -0.1846, -1.6752, 7.0222, 1.8632, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b13f76dea6f4725fdce56a05715a88aebb8a740e5515ec6bbb24e82ec16175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d436bd11396255592f4e0c14a8c6853957b41b41f5eadfbff8fc3378b4ccc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb4346726b369069b126731e4100474fb41b82fd31a2058a4510b7cf73fed51",
      "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]: [-0.0204, 0.7921, 0.6071, -0.3767, -0.017, -0.0082, 0.9986, -0.0212, 0.7883, 0.6033, -0.3866, -0.0231, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0006 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0015 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.4838, 9.8393, 1.7802, -0.1001, -0.0855, -0.1587, -0.4718, -0.9915, 10.2496, 1.8926, -0.0317, 0.1685, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCCEo4tXe49qO5iDm8LubFPqXgIdxBrouNh8z8zBGSfzW7HDXTO-v82KoFwX8XE86r4xxqPrSdX91GguGuds0NRSvRoYuUfL-pR8qj-SY_ZQW85uAi7LisGFiyG-efVgyIex8HYsqwRbon0LEJ5hqaDa_LOqgUkyavCY_sSA5jtup4nq4QeL33IMNMr3H84-baS8Ixs01P6RYy-KbDc1aeWhaOogc6MSWKh1M8oB1S7YblHQOaxmSxPBoQ9BgIXGniuF86C2xnVGnCXp-x-Yp31Ph3HdzLQNSco0yfoC5mNd6acOTXpI3yF3lYlUL_mghHf8h7j1r9_aSWxvqQbLLH9FNcoYJ1x511iVq4up1elBpbo_9l4tmzwlWevl9HrfU_8FIWKWBNT7NfJbMjXiIGo4RGdCMDkW8BnYpfXBH-Ue0JvzYczFlndu8DPL2T81WRf2CQXr1KsCL5ic_swbrG9Byx69Na7WGIHL1Ep0h5HEmQpo3nyuIMdS9sU2a0oBk6YyMTLXZzQ1sjJdzq5m7roq_7X9kz7xvno5b2udpIhmOiGEjCr7jJ506so7qyomey3Dv_8JFrewV4QSeDSYqoM6YjryenJoaR9JQBpq-emGCIjasjRmgmh8P8hyQI5_F2XvSdJ72QJBPwd-9ZPusT9YDmJgCZXY7Dltwe6OrqcK64hfQwIdSSMkxuS7B148VDMHOMWLMGhPtOA3sI5gzJWdiDk7UX8MHykEGIV-AdVOOmyq2Ox3e6Kbo4QTduoH_ubmgjft3nK1SjpPo9gHNf_n-FkYaa5oqNUq_aCe7TTCk8_IYl4Abx3bKqmXWizSCgPYksF1er_eQROn0V2A3Q_T4fqRhKjuxWDjEar4xqMyrJPJN42y6umSePzh-Ztfmr1YJ5QwkjCC81oxkW90ZWKzKob9o7xq6edDUgHEukvOrje92r25KVz5Q9mq8ujwhhsgIhPd5f_9J_CBs1iipbPogvnxyj6iKnq3KRJCUYrzAY-bgKzcFdBs2_9m0eo95exLREW1H8w3ewyAEoPlAmn74uKBB-q2669dRjQ91KqIuEzISoZDH-raXqyuakC8tOBpkOifueP2-2jYYU_8D65hMMgfILrmdp6ymul4G9wHqtsGwES5ccuZPheMJkmlo0aT33caOy-sZDAnw4vHdu9BNQ0pQsIfljVYAe3ejDau4u_zeXDhFexmzfx1WX5KoYeqcL2BeQATZmnvTPkUIb7xvEZXaCm11EsmPF0OKnqXDAq4JeCfRDrjOFoh8nS2mIimAoyvulaGYkaxyDKydepvS7znr-eJugC6pHIqB7SWYg27kpqIzDel7w4CCarKiq5VzWm3mNcpKJsU3jhmtRZASmjxhw71fxIhkF4vkfbGnzOb4clVYplq5q5hmVozHu8aas0JTi_zFIX-DDhBcaZme_g28R1nkFSzqiMr7CaxgbUwx-qqkSL-cZzf4KJNc4F8255Iy2porUou4ayPEfoafp7kY7BEbW6_V4iLd7UVeD5VIWY-ZtL1KfzzjD-87uNfWuFMKfzfTmqRbvM7dhMbdA6f5yuUQGy6dLtrZYq-7hgM2CFQYBH8QcGEhMKj99xKrUym77V3mskCxX9IVIsUv_UPWZBi3J50jWTcFu3Vg5kSvTn37SPIRT3zfopjUiLkYCj2I31wajHLnHaQgykbW8xIoadJ1qDUuoBn-zAn3wiroFAGwdU6ty8TDc3GApleikLGNdG6OgKggvqzywfyl1Npe21zWLQmvh0CxhnTr8=",
  "id": "rs_0c2f210df4b47d92016ab2c07ba8f087d09399d337e1b2245d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.135,\"left_z\":0.035},\"note\":\"The left bottle's neck is left of the jaw center and farther forward. I am shifting toward its neck and lowering to cap height while keeping the jaws open.\"}",
  "call_id": "call_NKBU0n2JlpCeZPgQIFYrwID7",
  "id": "fc_0c2f210df4b47d92016ab2c080577487d098486af1cb0eec64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NKBU0n2JlpCeZPgQIFYrwID7",
  "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]: [-0.4034, 1.9347, 0.9195, 0.4427, -0.3862, -0.231, 0.9984, -0.0212, 0.7845, 0.5831, -0.403, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.1282 left_z=0.0558 left_yaw=0.045 left_pitch=0.036 left_roll=0.004 left_gripper=0.9984 right_x=0.2884 right_y=0.0017 right_z=0.1683 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.2, 5.7915, 1.0525, 0.315, -0.022, -0.0464, -0.5128, -1.7573, 6.7761, 1.9609, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff82d94926a90ecc16091c7a83cab74f4bf0a7b012d576af2463c7429a5ad52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cf74d46b16e558ab3cb4e491f4b5358dc8224cca203a095b26be6a2216e391",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8188a051e8cae8a85ee3e7debc008933f270e12b3498fcc91b609b5f0cce91a3",
      "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]: [-0.5518, 1.6871, 0.9382, 0.0563, -0.4469, -0.3164, 0.9988, -0.0212, 0.7937, 0.6033, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.423 left_y=-0.1666 left_z=0.1051 left_yaw=-0.008 left_pitch=-0.0521 left_roll=0.0208 left_gripper=0.9988 right_x=0.2914 right_y=0.0016 right_z=0.1748 right_yaw=0.002 right_pitch=-0.0229 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -8.0342, 8.6496, 1.7118, -0.3394, -0.0171, -0.1392, -0.1846, -1.6752, 7.0222, 1.8632, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCKsGemirvGq2UKHymBUQco5_yA514Txz9b9qynOY1D76vQVygI1zXdCfiTTmPTrKJx9wpC-RF2BXbiWs3tosq4MmDpIqqkldssRs39MVq-LoI0h9wktkmkfdF-ks4w21gpwCcVoO-eD54W8OHAwNo0DDR-78dCk_xKtNyJ9YZ2ZZYRg2HobTFAmFWTM1nZq-UpBeNTrh1ih_h4GH1RGosmj-ZS16sFri2A6_88HQY0Vc70emS7m5gpy_S4NpX8KRLe6LiHedUCFhKPNLZjfKxP8rolzGv8BH55MUjXTBPSif3FVC11aCheIM5CWlDH_NoX11zTK-vqoRVDNyKy_LDes7Io3i0fF-qwxUEPFPj6vL80nVvlMAe7uWmRFBgO1yrrCsBZ35rE843tP4Rz1dytGsqZU9X7ifHNiAQ7qSsryrsGhnGayCBoi6XVToebEhvqWCV_-Pn0pfXF0rcSwEpf9FGt0VqYgOrwohnKTdoHUVzRqvyi0VvdeWPcWyBery8ZfjOQszR70TKk_oBreSwIRzwiizUNar6k0EOdeB8y82VuW0gb-uTV35p5l0lyOKkDgfPz10di0bEPyjy74eN_GVu68QdbfctHVZQ03899wERJC13gdjAUsFYuX7X-v_FZoBiLQtdlBHMWYHv5l9yehscSLgu7NujgMMGKeyhju9jDpMtAx8hWdQSF270H3WlpWm4TPA4qoTWmtWVnf4xxUAfPHUkYldaB70jjaTVfEqQLVYPzDImB-AAXoIwYNapoEsl_wXpN0ouQ-jt8uZr-zmxKUBRNBVeA0rxEVKw_9OXpvV7Pg1rBKdhnngQx46xtbXyJjPozm5NRafR7IUYgzgbpLFDoCoUgwkb-KJ1LbLoEJucZuudZsLbsgFoBwXczdoyHd0Pa8eVfaLFJNrePaxYlte3oo8QhViLqb8hv406jh-Otg6opjzAkCeBIogYVoQ11y8BfLhDb0SxoOQoPy-WbM5N31_PeCgETaNzTd7b3go9WjxOf5VNcKbYlqR3m3uFf7cqOoM-NKmGBoIIugOGze48dhq3ODID_tY9wdht0QLNdYme0hKacXRcNE8j8BzRJ9Zf0l2VYAlnVFN37v8xfXH18JSihMjgXRLIlysENGOyuV72G25mhuXz5TFfAUbyUg6ewr4dW3l2kjjGyDtlfLnBpQ-kCRzW9jG5jN8lZmivnNJqSz4mt8Lx3Rrv-KvP8nP2h1nqiGrMz-CGEcj4wXV44S70Os0gixMrInVeV0lM02OoimZk0fsptbmHtxJQKZKHimSKTs2NNg0HfWLGLvg04szzYt22cXhewFTDIR_pkufV6vVDA96RjHxc8KOstV10qaFBqhcrgVi0p0YpFxExCO9_pznfTzfKHlA3dFW26_rhsadHcwoA6A5tKcAf-OLFjxYWeJyEaR3i-mSbqD2Ko6jd0foo2fJLNOsRtXv5D3hKtoZ0FMdqoFT3s5C9vuOuDRjl1Xpw5aSmDKWcOv6mMg9PshOnyX9ARLaqvRLHwcWf5tnO3ATbj3zpu3hDln3J1s08xkGUQHnUeDdaizLJMGIkQs6pWGWDmpf_W72GQFrM7mk1gn5d2B6S4vMqAMKJB4ZbK5gV_Xm-3uy3peLVzkmhyY3bf0UeYVyHJyJcfszjw8z8F6HKtwxl-hTLGJ85HOfZ_XlOCWUFzNrQ_EhC9c1LK9_H0VMaWb7_ojk80__hzONWUXUqWFe0I",
  "id": "rs_0c2f210df4b47d92016ab2c084727c87d0a68b3d999962e49a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":0.3,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The left bottle's upper end is now beneath the gripper. I will gently pinch the neck and keep the idle right arm parked clear of the table.\"}",
  "call_id": "call_7eTqVJUWxGLzC3RXQn33Zrx1",
  "id": "fc_0c2f210df4b47d92016ab2c088865487d08b0acb8210c881ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7eTqVJUWxGLzC3RXQn33Zrx1",
  "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]: [-0.3912, 1.98, 0.9306, 0.5358, -0.4019, -0.239, 0.3057, -0.0284, 0.7887, 0.643, -0.4706, -0.0307, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.4917 left_y=-0.1242 left_z=0.0575 left_yaw=0.0761 left_pitch=0.0922 left_roll=-0.0218 left_gripper=0.3057 right_x=0.2866 right_y=0.0009 right_z=0.1807 right_yaw=0.0052 right_pitch=-0.0445 right_roll=-0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -6.7624, 4.3009, 1.0525, 0.2027, -0.0317, 0.2808, -0.5812, -0.3077, 9.8393, 2.0147, -0.1148, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12fc7328f804f8f9f818860893ef1227a1ae9db7b1d68753234c6789ae64ec50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d06c6af9ae1e6997bd835fac52825ba60dd8c97d111046c00afd3ca8b6d3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b4951941148f7f9333add35730964d494741acceecb33e94dd3f9337c13b31",
      "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]: [-0.4034, 1.9347, 0.9195, 0.4427, -0.3862, -0.231, 0.9984, -0.0212, 0.7845, 0.5831, -0.403, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.1282 left_z=0.0558 left_yaw=0.045 left_pitch=0.036 left_roll=0.004 left_gripper=0.9984 right_x=0.2884 right_y=0.0017 right_z=0.1683 right_yaw=0.0023 right_pitch=-0.0328 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.335, -7.2, 5.7915, 1.0525, 0.315, -0.022, -0.0464, -0.5128, -1.7573, 6.7761, 1.9609, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCQHoria53yX-7_ZhPABiBqCf4WjxJfbt-CSl7nuJ8VUOeA9TKf_vWcoYifHFSgt4EcgQgHIljOPYXuAblCbhlXO5NWkdRPUxaQ8kkuYoQv6TnW-dwKjqZawTD4PzACBS5rIQXWgBqtYQxHMyiGpL0VaaAkyxBF7K0PjhzDSQZL3umSEnz0p3kj8Nf2V4PPNhORANvcT9bOB-a1bmcRsBEkUyRJyHthsHRlRX1yY5RViOBiQq2C3cTi7_tBwbWFV5hkLzB5BKNoetEv2noGFJ54pXjJWuF0NQ5N-UP8rtOExfp4c-L2lnfWT_WPllogF_CD11FunJXjRTdXQF_iVJZSRR4jGGL12HByzA0b2hSM4BLB1c4t-BuYYxpuQ4FSASPmt8ZFotOpQaWb961nUjYCnjySFh4YYOFHj5jA_7Lo0_VdfRPyKcKorujZKbgJD21OAdU9CtR4exXx7uIN-tIxoEUWckNCgNl72DM-P6VoQxr0NnTG1RPQZlfMHkp2FYNoElZaD3uGJ_dRXKzP5KeSs8ytS1sMss4WaPwqwpSoGx6dC6TF-_iz9F4MX6cVGNM2kIf3_0Hs6tcSZOQV_-v9KduRxGbQBGk682NPsO5WIepWPPRpr1XWmXBaLlySo7tL8oDgWdEnLKuXgu2nthv_t1Px2rkX4aA753V2SoXguzGDkDvMozsYKwY7TXYwZ6SVdUr8GZbaAfF0QaMm78V-4B0TqIlrceXxCDMWZ1DZ2BHtXVTcVNCNmpaSAU98kBWLR1BwOPKVYlQ17ly-jmkeQZKi6sI2xBMnqqygQQ2PsS4bMbgfBwHF3tmRXAvJz4SMYDc2WgQun3M7ee3nF45ZimtHzAV_MdlA32bQYKxTr-UgryxEuXWk3_9yKHhVv6iuvgXSL5XB3z2ZSTWF6vuOOV6Y-vgmr4QLwA8YaaKnTYWpuvU_QTIACFO7ah8d7_mclCrg3zSVqJcrFlx7li8pvkh5IaDlz55z6uFwIhoOT2XQ-hrk9wvED3Id35BhscFyE6Ldz-y7IQu-n4s9XOaitC6b8vmgC5fVUZOJ_RUTEpHlyNhFyTg41mgcfQMsopdqYAadS-WE5Iaqm-T4QfWBvk8yrsPJ0Rc8qqEBrwJ5DpqDxzxABBtSkjVqSFp5kI9FYt91PekiuKs8ppIH2ekJ8KI6q1orH1dxA09ei4YoQzalgssqQhi2im3qcn2jaRLLdqWhEQBQLSFfnMhK7LtZv5i8rn0tZXmPlq7X0UWnNTViWCtHfD1rSYGQaeZSfuxOYmGJwcJUBqFd05KMfqZpUQ==",
  "id": "rs_0c2f210df4b47d92016ab2c08ddd1c87d09899d7bee25097b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws have narrowed at the bottle's upper end, but a grip is not yet confirmed. I will finish closing before making a small test lift.\"}",
  "call_id": "call_iTTZBvW2cePL3bv4lghTn4tI",
  "id": "fc_0c2f210df4b47d92016ab2c08e844887d09c1594b199ce672c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iTTZBvW2cePL3bv4lghTn4tI",
  "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]: [-0.3904, 1.9781, 0.9936, 0.4019, -0.4007, -0.2619, 0.022, -0.0284, 0.7635, 0.6006, -0.4503, -0.0307, -0.0475, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.125 left_z=0.0556 left_yaw=0.0862 left_pitch=0.0303 left_roll=-0.011 left_gripper=0.022 right_x=0.2828 right_y=0.001 right_z=0.1722 right_yaw=0.007 right_pitch=-0.0414 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.494, 7.1453, 1.2332, 0.0073, 0.0562, 1.1453, -0.6359, -1.7299, 6.7761, 2.044, -0.1343, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af35ca121e0476b61fc311f4991a83bb0fc464bd2a4115cc52b5a65a9cfac4e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4519c65856ff2d35d17592e0146a7297c698dec4105a85a4e6fd348b966fd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95d853191ec066e88515d75c1ab743cdf1de072ae30d7e3c17580ece72193230",
      "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]: [-0.3912, 1.98, 0.9306, 0.5358, -0.4019, -0.239, 0.3057, -0.0284, 0.7887, 0.643, -0.4706, -0.0307, -0.0441, 0.9998]\nstate[eef_state]: left_x=0.4917 left_y=-0.1242 left_z=0.0575 left_yaw=0.0761 left_pitch=0.0922 left_roll=-0.0218 left_gripper=0.3057 right_x=0.2866 right_y=0.0009 right_z=0.1807 right_yaw=0.0052 right_pitch=-0.0445 right_roll=-0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -6.7624, 4.3009, 1.0525, 0.2027, -0.0317, 0.2808, -0.5812, -0.3077, 9.8393, 2.0147, -0.1148, -0.0366, -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": "gAAAAABqssCZv3vVpz-fopavNLyl86Uh_2p4PuP_fwP7YKSuXLMaXRIY3zCpUwwBDhB8KGrBzgDQcqrvsMtCZzNntksfvfLAXYj_-5sIT03AnToj7oQ7mlGa_F_CJRcaSOVMrhEqZgmNQARD1FYGZ2XvVTB-9byB1qax30zBex10HoM_8goYdRlP73HWcfhvcjhCJ4Jd7JTJlzXdNxG8YzRSQsk6iWgc849rxkg-8wXojZIVZQSwZ2aUrk6G6Nw1eVXy3d4U7_aNjsbpqTZedoGW6RYk2_f4OM0UREJT9FihO72pTX_z3RKwPo1nY0N2OHeHMYCZhe_bi91SMOteCI8B9h7NLtqoItmyqTuv8HJXutK7K-Gdcrr4UoxBqH_LoYfvxA62Vlb5CDVCU87Z9yg72ks9qIuvzbamZHpx24ZDbT3c6a2Qp6ViSr1dBzQa5E7t7yEwuAhCpQw-_58JcDP6fdOMsDC_vOMsD1LPvnTXu33IngdGr-6rnGPl32YmKY0n0BNUaow3X68shb2xV8Ktw0A5ojYwj0vRCdpImRHtQB5c2ryHFG9eYRUdzdP9h9mdSLYJLwfQTnozkOK0N1BsJ3UH4NqdRzK767BKuPzlxV3Kws0iQhu2f8vJ9bLN7B058ucHmQjn53ZrNOIIP2qbR8PTdMx5pqSeWFmbPxU-vyCL496zNbI4MpW4eWsxhq3ETHEXqTsiqpOeEM8x77swgZcruK_twowPA3dY2RcqiDYmretGgJnCS8ZsMVFtcssOign1SLNcItM0s4Zw1vDxlPJKMVjfs_dLbGBdYRKKWvo4XD6twu2Yftfjejy6rQTOnQXkdPIpUV2hejcfsFYAQsI-ebbvpEqqRAC6cPBmFRMhWpLD6Mpmyog-Epg7q1BSRzxhSdH99HTXd3REnC8SintxIOC_jPck6DOGE4s5IxGONRtm6hMXsjz9P7HFQuKEPv98ZO6PqKsLdJI8MICoBvgIgaklfbKfRB91XviLqJQxGjgl_RYVnqF665GfFaW0wdCSQHZUKmlGySygO5TfA-tBEqhIqspzKU6XNYI7LsRorbQrywmPJ59uso8hl7SXsmdvmpwU21xSNHXvVJvjAEJlZMwf6JGuzuDCKt5tT2K6-qMzzER_IEuloRlgt95CLwqXSnXE9OlElkR2avZHrlJlIHpLuWvVFjbrEwjWvxaidSgtUUQih0zy32WNbEMvFgxGTbJk96tPndH6rNqnWTxpoOhpujoNcrYOhMx-_FFfh1iV5rBwCW0U-_J4UXS0OoYAaF3W-UdTMLByNtVhdLS3NKiP3kShVrql04CWLJFgoOPH2oepgoIlQybW8HhjKqQpoPSB7HIDj0QaYCU7GL1o49HOI_0Ke5tgwf2w0874ogmu-C72sSggSknCCKbk5YHDvh55SHOq0a1r-PpsUl-ahvVS3HY5h7nMeAfQFVaDCEvzs_MEf97phY_YuKBCzpVggOwbvGqTG8M00ZZbFgLEJoGdal-WzFY8mSwZcZCk2RQphhJIZyzrsIiDZIwMwICIERjsxP0u3ltXOYXt8j9xjOgvtUVKAYIDbn0ajeeTaXmV1_hz535YLc3SNh478l3QEEFHlSre05RTq0Z24vSk138eoy74hVLlLwk06NqZrUn1t_XmgUmeo90UcYvihVrDIDe9tNvprHvW-HIIojfOOGNuYeULX2gc7NTodT7Ntq4MK04=",
  "id": "rs_0c2f210df4b47d92016ab2c092ac5087d0a8a4dc707a18bcc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.10,\"left_z\":0.075,\"left_gripper\":1},\"note\":\"The nearly closed reading shows that grasp was empty; the cap is still at the lower-left edge of the wrist view. I will reopen and move back and left to align with it rather than repeat the same grasp.\"}",
  "call_id": "call_ASuzsd7FYcWKpkFUyMNoLBDE",
  "id": "fc_0c2f210df4b47d92016ab2c096e55087d0911330c442895c28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ASuzsd7FYcWKpkFUyMNoLBDE",
  "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]: [-0.3843, 1.787, 0.8173, 0.3317, -0.3965, -0.2623, 0.9947, -0.0284, 0.7391, 0.5579, -0.4259, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4459 left_y=-0.1029 left_z=0.0631 left_yaw=0.089 left_pitch=-0.02 left_roll=0.0118 left_gripper=0.9947 right_x=0.2795 right_y=0.0011 right_z=0.1642 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.441, 5.6137, 1.6044, -0.1099, 0.0122, -0.188, -0.4308, -1.4974, 7.1179, 1.9902, -0.1441, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e1f970ebf2dab9c35a0f67a9bd94fae1ac2d9b90bcd17240cf82500fe82823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714743168bed8705a89a54c728cb3139fe1b0d16c51830aff1a6c0558aa9fb9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd8574f513bb1d10be881e63e197b01433c2e434eac83ba23897a1ea5d87fe11",
      "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]: [-0.3904, 1.9781, 0.9936, 0.4019, -0.4007, -0.2619, 0.022, -0.0284, 0.7635, 0.6006, -0.4503, -0.0307, -0.0475, 0.9998]\nstate[eef_state]: left_x=0.4942 left_y=-0.125 left_z=0.0556 left_yaw=0.0862 left_pitch=0.0303 left_roll=-0.011 left_gripper=0.022 right_x=0.2828 right_y=0.001 right_z=0.1722 right_yaw=0.007 right_pitch=-0.0414 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -11.494, 7.1453, 1.2332, 0.0073, 0.0562, 1.1453, -0.6359, -1.7299, 6.7761, 2.044, -0.1343, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCjfM9dvHXDTU11shu9IH2yXecjTqzbfdkPPBFvTlLGa0G_BPdtSlFEogKqt_cYJLhYQfXa_3slCgNIeYybkh1DkSz17o7nzkEtxqvyoSEZ-2RJTNaluAiEVjJWbxp5wm0dKQOpA4UwQg_iISNcx7ZJT81zmc5EZwzqQFNLVcAy-HK74_ZpBCFpW_8WbaQMkMQ2nkTZO1MpM9fdjkSCzW4k9xZ6OXoVrQzwJR-00eEiyg1fJn1Hhi0gTsNE5nnkjBvpDtx2ll0p6Q8aM9JP-DRdtgm8-7L_N3kQApb6v-cZUrJGSDASvhd34OdcuH8HlBqoZVLwWwux7DLisTwLGoPFI_31kwbiUvH0udswhZOqRqBUaygRBNg-RWrP433uuh-CB0vqOorXkzfALt506s425BDzrOnyFFe6PFxsUunBtpd2GI_HG6excgnUutHR2-jtq0CbVW2E2dmbB3JdSqP80lHQKB485Xa9aRLx_dRowQjbdlxDPlnmyhH3dignFv2B_5snKqxNdjekDEwBQ8HOLWU48o48JdNBCbw1Jc5pScw5GfcOy68KFqQHpIhzpwXQNTxJfRvSdV3eFVE7LJfIIdd_pZFQ-qTevy0ZUnvd5QLAZjac96z2Bx6JVOXEU_yw7q4NvL1LQGZsb81Xry5YgFPGDubMwaq1dDOD5DWsuySLvETIvgT1-MmZ_5fWLWQkUQAy-1K1u4S61vdBhjl1ehtKwKRefsIzeIyigOimKJEdqDv2CwuAJ_2-kkDx6s66tZ34p8_eqb6vx-I96brinvPnbdjDiRYqyIgKN0kwGCZK20dGF4mMR6ZYeZsy5CADr1SDPLFPI7mAPP-5QbvCe-Y4MNi29qxLScGy1b1DjM5i3fkDYy5mDOOoTQUmFAo6vumQa5V6lYf-2dhy6cbSN31-s_wDu9gmTHoUb6tIf34XbrH5_4kXAG6kGiGElsbO7cksbIAJXu-zBDDabZVgBYvcXSlT6nmiQMxg7Kp5B-DPHDtd2d-sRZPTKQ8PAIj0I_hN-VfKeH0K-mv8KXn0LzjQrL9--0b22fO3al0XjUREu5djkl7bQsiR8DQl4RqcFUvtGDC_Zy-HDcHZ03Adu1OadZ27s9rmVWAZyZXd_SFjUTDPtrVoEr6QKxtW3kt0iT9CWQXhfou-rBtuePPHR-PBktQgvN9D8__kbvH7dDTXeLKQfC8DO5eikWh4HC9bBFpjxwPaVmn38LpM24UwGpvCX4acOQSwm9y28QFf4bnAp41TTHDFbc0hk_RNZp4r1KJQrLkQYa5rV2f4uKP022vkN-B2jJaDe3AC9jIyZZtS4Dwg69x2enybPSeSVxufN-EohBifnPe4z7CN6Uv4ZNo5MpmomQnLuRenfrz6HnhFqlkOwONM7i_sVLXANFoDlNqI7Af-ye3TcJreusWfKU_n0XBwIe7wRyYOeWGNelzed34VsXIoDn86PqpzwNKJFXG-l_PCGxMv-y_D8gD_9w==",
  "id": "rs_0c2f210df4b47d92016ab2c09ed76487d0b80d7209b0f65b93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.08,\"left_z\":0.025},\"note\":\"The cap and neck are clearly visible just left of the jaw center. I will make a smaller alignment correction and lower around the neck.\"}",
  "call_id": "call_pqvFpzTfteaXsIF3cRLuYDxt",
  "id": "fc_0c2f210df4b47d92016ab2c0a19aac87d080fc242e86727987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pqvFpzTfteaXsIF3cRLuYDxt",
  "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]: [-0.326, 1.882, 0.7788, 0.5232, -0.3431, -0.263, 0.9961, -0.0284, 0.7216, 0.5259, -0.4122, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.0885 left_z=0.0422 left_yaw=0.1039 left_pitch=0.0188 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2765 right_y=0.0012 right_z=0.1569 right_yaw=0.0092 right_pitch=-0.036 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.7316, -6.4889, 3.3162, 0.8718, -0.3346, 0.4811, 0.1392, -0.6496, -1.5795, 7.0359, 1.9658, -0.1636, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30076b4cdaf545a328e84d01f99b69b33986f0a5f46b8ab267c50acdd550f293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ffa0d1b97e968ace9bd6df0ae7ba3fbb860d1e1ad26c6fc5ef66d1856a97b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408bb3890a576fa5b5bc295df8823254251e457166d2ee9cc5c579328cb396b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.787, 0.8173, 0.3317, -0.3965, -0.2623, 0.9947, -0.0284, 0.7391, 0.5579, -0.4259, -0.0307, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4459 left_y=-0.1029 left_z=0.0631 left_yaw=0.089 left_pitch=-0.02 left_roll=0.0118 left_gripper=0.9947 right_x=0.2795 right_y=0.0011 right_z=0.1642 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0099 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.441, 5.6137, 1.6044, -0.1099, 0.0122, -0.188, -0.4308, -1.4974, 7.1179, 1.9902, -0.1441, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCtaMibmZ3HjM7AM48Nf6JPYRitudz72gcHY6ep8QN5u7OwcrJ4ezbvZak3zaJlqJBCCDsiEkdX465l_NIJ_psVr_Mm4f7OHmKZVeM4auPtg6AQxQHF2DiYRR-iX_lbXAFDDhcsHbYObxaha5-3kd7Qjkrr36yloghtZGx5u__vhMx1gQVAhu6Q7s2WDPJSD5jbZgkCv5ApNCcNDBbtWhOVmok5C1LwpkILieOgg5QlTIr79P2IH-NflYDV7r9_9TtIJHyldvk3RkFT7Ej9L5qZrtZ93ho9Gh9VpGM1PG7yaB151T2bBDcnT-OvpRcNZrXzPtqwF7xeiuz3JqTcxSn0n-ua1TA9ylBLf6I8iTi1TIy__CE26UpqmwmTwQISZh-KF-ZKj3J6r9n0t5-69pN9Fk5ZLgnBznJuIPCqmDbq-ULmX5tAdFOcluKKaE-tydSG5XIj2iCPonko-lFhBWMcPxCe6Mf5l3kv8QLIfoWUTOdPo5LCMiP9Vy-4F1r97tTw5pEtcUwhcfAdnwNKQ2cAmzcK2TFG7QD3ddl7UbFANPEbkZfEx3qsTpAjFZyqi8umzuMPcREBK2fMzrr_JTmzXtoT-Bv2wwzzB6kiwypf1qLBOgfJy2MbP2hkOvw0s60mSsjQQt4MZcNuQ3wGPfFz4X9T67xABmr0bXGqPHIJgR3nH2IgP6orqO6j_4ScDfP_Q3SJevdju71Ze10wExGwAlAnz5f7gdsNQxmOcFrKO-S74nWAjkRhV7alNbqQc1eJaqAzoXG4RZEimylbMswm2ICTcI03BA80Gc9r6j9dGoiQKGQyqfT5XOMkfX_gDDvFhUQDVy8KsIX7PfpOj0PiTCgr8RtoBqAQsb_5JQb63XX0rGbtmung-2m5yovmIa42w5a9pf7qk_3Bg5dYry0MpTXB7XDObVcrSoCqdMiPcAYWMDAPaQKCnX8zYpQAMYPxQP6FEksS1E-lUzZ_YscqS8Gt6SE_nmd14lGE7iW7e6c0DChK2D_RGTfXyjKbK23Y7MyvyI673NiESGi5lqYLnWOxKhlO9E144Uvj1T5v3QBKeTEaJed2JV61TB5DSOqn5v5jAsDsBSTZM6UDfL_3VtNK7OpWjV2Yp-rJb63POy5SW38_QlwiqZuy5cNm_lnYjEXN1QDXRMMETqH1NCvG5rAWxujMPKwqJAh9PiOnHxELPDzMLVytKVEIAXX0SrapFCbatEfr4esbi4VsgEgzdWxRD2dr0VZnIiWBPurosEnwutrGN8IqkQOvLR65LKTmPTh2RH-VDrlIZSNbN-MlQnT7gQHouzlV128-szk5ABXWB-hZZGZLyaXYTT4VFZHW7hkAuHtIJunOvJuw-5nCi37QD3pMH-Xpdp-rZgTR0zQRjCqe7Ce3S0uuD9hr7azcQfKuUt5Nxv9qEQNbR5JR7meQK8cv0jK0KCNpI4m1M7z0yMoUOXUv1Uyp_FC11uqQsmNMg_VlFAnmVlR1cT-X2qSLXLKEx9iC6kD5D3RBiOMz1Td9scqt5d6-vr88Q481yveEY1x0gGPNZULzG32df4bSPdxoPhY353IaDAf1QAM6dvYYPSJuWq8hsYv-cOezZ-YpjH4jedmjbVkZUPAmCqptNv2d3mIuFB2wkVK7USSDjkU03xSuZPy7mb1Rn6hslGm72qT1vu_NQTLwvkN1fB7UrtRzd4SSJdeQ0-GY39lGqju-BRX1mLSmJE1a0ds_ASHmJs647KCz2KFqEW6WAK0A5sa8_Eo4UziqasPNoXn-LTpB_3NmlZwjgWRsfth91_9ptJvpdHlAIR16_tal1lPdj2YLfcZ0CsZl41WOUggEnnSn_CuImFCfu2iT4W7FmiMbGyt_cawp3IuSlRDZMEtLU09G0i3GHML6tIYRWTepnGpjr6qwUf1nq0W-Xlj_iXKjMJI68XDTcESIbsBCxlN4DJDpL6kAdixjJHakbXI=",
  "id": "rs_0c2f210df4b47d92016ab2c0a668ec87d09cf64418b3b2ea66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle's neck now reaches the jaw opening at the bottom of the wrist view. I will close here and check the resulting jaw spacing.\"}",
  "call_id": "call_WkiwGpMLavZpIthNVSOdMdGB",
  "id": "fc_0c2f210df4b47d92016ab2c0abcb0887d0b474b28fbe4a36a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WkiwGpMLavZpIthNVSOdMdGB",
  "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]: [-0.334, 1.879, 0.807, 0.5457, -0.382, -0.2607, 0.0191, -0.0288, 0.7017, 0.4908, -0.3962, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.0893 left_z=0.0598 left_yaw=0.128 left_pitch=0.0762 left_roll=-0.0443 left_gripper=0.0191 right_x=0.2734 right_y=0.0012 right_z=0.1492 right_yaw=0.009 right_pitch=-0.0353 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8, 5.094, 0.9939, 0.0366, 0.1441, 0.862, -0.7316, -1.388, 6.9949, 1.9267, -0.1587, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e866ba6f2897b980f699ac2f42b946bbbb3d91c78d0c916bc5d53da3bcc65bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef0c298742cfd0601d29cafec199a75ce67cd4c82a5d125524f6a249f107c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aed07674f840450b8d4651ef1f1ca3a63ef342b1dd1961772ff7977660145f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.326, 1.882, 0.7788, 0.5232, -0.3431, -0.263, 0.9961, -0.0284, 0.7216, 0.5259, -0.4122, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.0885 left_z=0.0422 left_yaw=0.1039 left_pitch=0.0188 left_roll=-0.0416 left_gripper=0.9961 right_x=0.2765 right_y=0.0012 right_z=0.1569 right_yaw=0.0092 right_pitch=-0.036 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [0.7316, -6.4889, 3.3162, 0.8718, -0.3346, 0.4811, 0.1392, -0.6496, -1.5795, 7.0359, 1.9658, -0.1636, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssC2iPfDYzNImUd4TNT4CVJghmlmZdIvBvm29zzoEdblPKRiT7pC28ko5jBkhHJIL58MihG-8e0F8sjd_PMVouWkhVHHFakTyJ-oQxhWSE9zleE3LevA3j0df54Jqbg_pOKevnlklhMqIahYgmNwftnqToIkIzZ5bwhz69BfTIckurltCgICagwDKX_iE1N01J0FEm5rRmc2dSydmDek3Lz4TSQRdLt9THboFgm2I7_lGOtZFkyUthWS2etwqmFyEaD1ZyIa_4XKdz2WfkgH_O4eqoE-N5PTjvmi7Amxk3cjQr9EHGV4Htps8txYasdilWCxwkAIDm9eCNiif8E1ZiP0hDWYN5BAmX9dgW2Pcu9tZeq3XtJlRZ1aDUlpQo0HXvXr-_-TqhrOT5OlPEIzfFI2rKgkASEpWKav1Kzap9wm7c2ky4jxsESzEq0Tae3arYoK2_fjv1H637vohKwiuu244FZaq8buLSoYnDPbzRmUiuO_5Jc4XYarOOQFs8AaGDBLhDY9Z_RUvGZqGYj_umqd9gT25lCpiMedrBn1GGtPzWkYlnpzfaHwTY9e1l-g2u69zZ8T9-FDACRfGs7BUAEMTA5IfN6ksmhRvUIFzVtii7ELXOfdScg6wyBDGt79O6385DgjsvOL133_aO0Jrn-elQ7aHUhN3z45OCqKQwvIKYY55z28wAeXbbIDBivc-mPRxpR3tsMfqVlGLc_GvWOM84hzFUS22zz78V1PDEUlCGvEE2NHCGHJ5cV6bNEPCX6o8sXfoDt4RbwXF4sM5oo46kQlY4DUYbXV2sSC37jHGAMNu9fMXQf5WghmNGRzDyht8NBfvXXT-zDhvw7eQ_eYZKkzumwjShwhMsJ4wzktHLa1MPSPKnSQ03kIvEZ6tYiDGMiGZl031ul3thZF7GXAZcyObAVhoBSiTcQbmSLqnGpYlUg6YGDZ1P1N6lC4LhCaG6TwzH5vLtDAQ7HCR2yEhNvjjAsQrYeqqep27LSWUoXBFumfnsQpSXENvd6ZzfnsA1mS3ZpRl6iwlZTA0jBszJmeAQn7qJozfQwdSQyfZZobyY6t_AWg4WIIlROEHsqTQPwc2R-efJeugJuXf7aUOc5gYdDnFBGNk4gw95SJdDhJ_VwDUuydbHhh-GHB-_kP0iAIX2KwGFREjM-BJQ1H_0KVMMd0JKM-DyzGoefFXyRFyi_ATVyJfpe-RVdxTfKXcyQIO_dSDgHhuopkZ54kHhsMRZPbAke9f-xLUQPvqKvLicCu0dujowwcAErtU30KhrBhAR2P4lKmN9K5uhexNvea1RPCydQJIcSK2YNT3nhLoK0B04RcOggNnBHezJ-LwyZHMbtWkG1YKRSJjbRBwX0Y7wSzDMP9labYIIp8lOFolbjCA-yz6ykHl0C4BF4ojxonxzkahCqzNOPx0RweU9dpqzkSKFHG8l5XM2OwU0DNX_-qfyt46l1GOkVsngVSh3pmAYqzeQruErdBDr-o2YPwBRkuiPFdoofKJiJkupvXs89hrmoKIfWhYPtLIsd7tTzuTOEqID6sYFXPVu90Fw==",
  "id": "rs_0c2f210df4b47d92016ab2c0b0b28c87d090c44f22f4692958",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.1,\"left_z\":0.11,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The second close was also empty, and the bottle shifted rather than lifting. I am backing off for a clear overhead view so I can re-establish its position.\"}",
  "call_id": "call_9EaBbe1JHA4dT7faJWTrqcSg",
  "id": "fc_0c2f210df4b47d92016ab2c0b3650487d0a56cb09d78903b79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9EaBbe1JHA4dT7faJWTrqcSg",
  "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]: [-0.4568, 1.5364, 0.7303, 0.1661, -0.466, -0.3302, 0.9946, -0.0341, 0.7925, 0.6392, -0.474, -0.0391, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.105 left_z=0.1047 left_yaw=0.1088 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9946 right_x=0.2859 right_y=0.0007 right_z=0.1773 right_yaw=0.0144 right_pitch=-0.0553 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.8974, 5.8462, 1.7216, -0.4274, 0.0855, -0.2027, -0.8, -0.6906, 10.1812, 1.9658, -0.1392, 0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d81ef098661ba2edcaf65ae53c3a927cc4e78c25586192599a582a7f263ea74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df538dd3631cd01955274cf30d3974ff268b55acebe6b691f48b4a235696f5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9fc790f58f643c104bfb3b0ea51096daee06bf5668f808abf599d56bfd0d98",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.334, 1.879, 0.807, 0.5457, -0.382, -0.2607, 0.0191, -0.0288, 0.7017, 0.4908, -0.3962, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4691 left_y=-0.0893 left_z=0.0598 left_yaw=0.128 left_pitch=0.0762 left_roll=-0.0443 left_gripper=0.0191 right_x=0.2734 right_y=0.0012 right_z=0.1492 right_yaw=0.009 right_pitch=-0.0353 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8, 5.094, 0.9939, 0.0366, 0.1441, 0.862, -0.7316, -1.388, 6.9949, 1.9267, -0.1587, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssC_RF1w8vhwiqsn-24qEEw1fAYhcaoauq9DIvPxSJDphhEwhrnfihqVb2hRwvjgMlm1-m7Rkof-bXyqIOfGTYJ4avOAcIHZ-K1ewjrGKcU-_JCqpJsyYHdAStp9d9QommjmOb9O_IvtduXNTdmxVadlfj-VVNyWvTp_jbeIDdtTgrRkpmItxenKOnm8IvuT5eqasq35XH1X0n7BrNNTvgSnQt8sij45OJWzwDWUoOMdd-pZp0Pllgsyt_AjEoKvAgmiIZTNtf-bRlZDaA0B9NrZ2ECQjWI5lLp9ykdKpUSigK3a_vBQFKUh7HZidlATl4FprOrHQrN7TzepJPgNFM60meinRiYGepW5meLZHF7pZxlwK2MM4x_G1SapSNL6KvaXDtZWc4SkxW0N2jtnhDfggn7pA06ary3wvTyd6KDbHBvI40LzOAk2jwJefwIB6sUKXFyGwa6dFRWeL3W8zzNlZa4JXHu-0VrPismC03mq7N1OyLqY44dFRVW83fVBTbIbdx4TRjHBOFeo7v9ZaF4uAdv8tJTmTJV52a8nNNJNP3eVwiJ633sZicmQq4JvUiWJj6b_d7Og3Bi8OwyypyceXflsvezQgcvQGg1HGpj8YMdtyDj2HLcEBjED7V7rlIns10_smr5n3TIkp1KWMoYGPDau_kg1GGJhd9kJP-Syj5UEMWJLo0jF4-pwWDsqgiBAJaqbYFsZeoqqI-CLSA6qLs3AbxAQ_xePmUHnyA39J58mDvegx5TcZeT2rlC5zNWUWtLyj9vK6TP2rgbRLv_6dQAaT0YrWIjwUleaU8x8sQjpcTvfEyGVQRmgF-PIh2mPIXDduMQxdViXj_kgCInfrKB5u32G2MuVcNIerml_NgxvXvTW7L8YHuF1UZGJar53CBxLebnlbRRpPAE9lzi2axl7sY5lCcZJgBjOfST6yRmvfeG0KjyIqzBOP1IwPBCugBF18ElLQjRc0aWST4SzKrwHtn2fTLzcbcNtuYuVYr35ok1aiXF8_DwCd_-LNIbpvzvU-lvoIGkn0gnSWhmZCA1nEGiglPySnpJELZriL3pkkcnpO9uU37baj2HQHJHKeWIT5zjmBCvJbybCgcHxETv2XYtt8TmphlpCEfSfXsOgA3fR4sp-s61J4w_AQTmPeeFWtkzZvw-eJXpQ_V0Sf_wPVKYZUGY6vEHPbwj1Cppu6Y3sabLIwCpw0NjZQm9Qky3fWmuEg6nc7wVdTPUfVOjM_O9IaxHpeI0dXaDadqLJH24WZQ6PPts_sq-GsCV1IbLUqNXBJLQc8GEPIunSL8xWM82c13aePIGGoihso7HXObrXiJLCNdsDPt2wqiXwYjmW5FNeWRf6TeaQP0ffBwQ18RL4Q8Zu4POqDfk3-bBaUDxbw6qcqevXMFG_NwG4SNXdK9-jnBkFVS8kB-CYPg==",
  "id": "rs_0c2f210df4b47d92016ab2c0bbad5087d0bcc84b87dfbc365e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.09,\"left_z\":0.005},\"note\":\"From the backed-off pose the bottle is centered beneath the wrist view. I will descend without advancing, placing the fingertips around the upper bottle rather than beyond its cap.\"}",
  "call_id": "call_qtUhnh6sKtZ7Ho4ChEMgaLdB",
  "id": "fc_0c2f210df4b47d92016ab2c0bda29087d08559570214ed147a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qtUhnh6sKtZ7Ho4ChEMgaLdB",
  "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]: [-0.4335, 1.8042, 0.5659, 0.7109, -0.4397, -0.342, 0.9961, -0.0383, 0.7582, 0.5838, -0.4454, -0.0536, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4111 left_y=-0.1035 left_z=0.0413 left_yaw=0.1195 left_pitch=0.0863 left_roll=-0.0907 left_gripper=0.9961 right_x=0.2811 right_y=0.0023 right_z=0.1671 right_yaw=0.0224 right_pitch=-0.0472 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.0137, 2.0855, 0.2711, -0.2515, 0.3834, 0.149, -0.335, -1.6342, 6.9675, 2.1123, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb98e4ede9fabd9a1c1d99f57520fefd0c20908241432ead440915f2c33f09d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb6cf9e75b024bc7508dcad4d9ef75d5d14179a9d0e4609bd25678fca8556ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0549075ee2495031d8998ac7b39da380dfbac6ffc57e52d62950ba8507e72ac8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4568, 1.5364, 0.7303, 0.1661, -0.466, -0.3302, 0.9946, -0.0341, 0.7925, 0.6392, -0.474, -0.0391, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4016 left_y=-0.105 left_z=0.1047 left_yaw=0.1088 left_pitch=-0.0011 left_roll=-0.0084 left_gripper=0.9946 right_x=0.2859 right_y=0.0007 right_z=0.1773 right_yaw=0.0144 right_pitch=-0.0553 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.8974, 5.8462, 1.7216, -0.4274, 0.0855, -0.2027, -0.8, -0.6906, 10.1812, 1.9658, -0.1392, 0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDVQOWcZZSaotcylsxs7ZzlcBUtwMbdwkbwQaFaZcSL3nMQkP8gM3CyN2pk8K6MYWFiHdf1zPGMqs6Ux94JKLCwPMOGX9x9K0VygmxsbhFHil2HZ-85OH5BsxKq2vclwXP5HwnZj84iCFC0pFLkiD4qIHnGNtZAf-8op6PPxjh6-w7PtStAG3YRwknw5rMCRzbnv6xlwrPr8KDInRaaMgXdPKSMzg4IQQgL1zX5W5OjivVQwdRDggNP5zDemtMSGzWkqAxQQqkkfZIv6Dx36yu1prnAXHnBj7V3_J2RroVCy6fhrqnEUO0rHSyqffIvte9Oh9o8HL2C2DvZzHlgcxyRrn_PRH3U9p8PdF20Q2tHRMfrr1uQG5U8ZE4Mq5hq16x3BRaHK6MNCKJ7OrFAoJ7-jO4uDHkoc6Ie-AAlXbML2Ock0DIGpA48ULyIPwY7IRfQhh6MrMkNnwp3GGkv24HTjeBn-OaOZj2XAeau1BUBvxwsYGo9MoBYhthNaFQfimQK72hc53shk4hxHc3DROQXgOt83ndNG6Vi81eSph826grH_kC-gykoNyXJNHrMiw9k1e3oKwHMw-QirdpTIN2N-KBWrb59gNLvn3o9EKosQdZf2CB6IUg4h9dGRxFqFN_OEbC13qU8TqbX83thN9voM6v-XTWhItKUC7bnyA68qTJcBodFs7AhOHS0tQA7oVj_2tVVK0swDx8YVlZn_HBzmy0fzRqXvDIL9ef4DTuddHIJf9kQx_NYy2NIy7YtH5gKerA6ep0-7b4w8spaOT8i3pJnq734JpRQeJxmRu4i-WPg8F-_sPrtpAYyq9tLCBdDOYNQ_ddOJB1OF-d8kNhiIOEVGqtiobFlMekGdVopxiQVyUn3Ns1TnlnV_ZLgUkHzxeWdxNzvOjX-kwGGBoNvjQI6qfFLObC9DPlnufZHVpafhLomZgI0PGsW3rAhCnYLKZFOUQGdATLtvKLaMArohbJkOTsr1A6E4tsgaKjJXehJbQWOQrQqoKJfaJeFaukgS6M-VrEmTy4GnmL7ACyR4WqD47YPecEjSfhAoTGxjdaNvlJyp1s3uPbtRxOVM-7nzCL7nCOIRC5m26HUqn3FDyAFk-KRMJeXB4cvXXH1xCCTkHxbI68kP0b8s8kbDBO6OVUamfSq9BdyugzUnDSqMoT2XcSPERJLpNR4gC2WH92litvGBPIz0aVrUJ4nWsK9N0Uvz3nch3IMxEGldKBYr70cPUX1OfT1EYZP-j2V19gog-krJDYjMsYxDGURAZxX5XLYJV8qxHEr2Wkzze619G30YKSKV2HdFuNsrBp7wK9FzhX-Um1bM4DZbDTb9geMcpvmw4mGt_OPQVKF8ddFkb0EEnIZGt9IePk2A9p53_DFpj_X8mro6qJujTMBadf2kWPP2kjgnoHcW1TZYC8ZzVAE1C6jw62oe4M5-mAkxwziEo2FswOwphL28RIePXTm_tcXL0DuVpn6T4KMh8ruIJZDptvvyEgzC7CLllT6NKKNiJRrafjI3g6rN2cgUckzxaSoEOF1D_7qM__dUMIahDbRVx1bkePsQi4Bvig_qHyNnZsCa_wL97F8Eo_1aGTiI0JOl3wxlh0zhDs_fJxns61wo19cnq3sWbzPdCqHYnifbhtrdM6FZHo34dJYMJVLMKZjjMBRFpYnG9_1YpySBvZkilOURDwbURghuGNFddACtO7Om6a-hPAXQZRN49GJBCTczopJT-SZTf2P4gEVE50mTqxhNhvIsHZo4TZFm2M69MycqrTsxO0sArnd_ghhbXOQUAV7dpuCLAUqxwvWqUg21f9TQiJZfv_1qhXoSFyO0W0NiA_pheYpq942wPa-oiBvXWqFAIZlbB_JWO2JRbUzeUJ5OrI4_78Tu_h2uuY2cwI1f4q7JFYIZcfk-VQXMQjSQC3HEqs1GqhEwNhtSYM0YIOnCj95OS_sBGGHDk5_XCLDo7T6fP2PRRkMZzDsGY4gK6LaerfkhaDLKdK2KSCtWDVvPCAqNnIEDTGgzOJ_LvOEyLqqcgdtw83FrVYFVfD_1hbtttGeqbVIO5NqnuEMLCM5wiELpaNfI2idCKIcXRCU4oxBsaGyUpvJB55chrj9EE488gVxBxPnK-bdlxmgXu3KwqHIP6GFZejGYZOWmoJnYGjqXA3jZef9eibR4UFsRoyISq0xAOP-8vmxFMqH4wnyLputUgLzvpaQmB4aR3CvrFpf96ybOIKSmLCbn8cZfWUx3OjB-0EUEwf4F8tKE21mVB94snQBZjMg_ykWjicwP0133HniJX4DQQJmokxwQZ9mMOWC4_Fyd9I8MZwkSZD8h-wcT7-wlF6R9WZgLozPvrzFAgVX6LRDynz_fR34D5EKC9L-mmtZSsGceTCx2CNOVChhPOgAPZD89tV6O5xkdDyxMMUeIcFoKCrYodW4fhejqeFj4T74lTJfudtRh21pD2CizZCxSFIlgeMdS7oy4AUeRgM2w0qDJFluM1Ep3nPAwmPM53PtkBerMSTvHJrajwoYuWnL_7XovyfHIOxV-pBAbhr5zgOC2mPv9wX_9EVVy3p3uN9NeQC7Zab2FeLEGqkS0yWoTvVPcaUxmT2N_DUYEdVI4VPZAEN8RScZGfU9GvYIbEXsOu7-5nPpoR8v_jm6GUtxCc0FRpVZrObxNStEbPtiDqp6YMQ0XOfnz-HWxqfgd9b89oMaLKtWrwxZpoFxq3EeJLjDf5aZZKa9t9MSU2Vyn8wzNveS9K9ADFqkmWRLpm_-Ewa72WHUGE5wPpWnFRF1wkKCZ8cG4B6QjPN4I2nI90lRe5rJ2Zavf0xFhDphaj6Y-Iu_sXG7FEdJrm5QnSw56aiP4kSAybq-PE8cZb9M1Mzjp3hGwX7qLZudeejbwBoZfi85zggzclBLv1VvZDt7TexNKT2e10uvj6lydHHDFLGthE3YX4MxXKbH6ujIgXh-JU68BRTemIOX8VRqkTHX3QA-KiQ=",
  "id": "rs_0c2f210df4b47d92016ab2c0c52e8087d0bfaa751666afe475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.065,\"left_z\":0.04},\"note\":\"The wrist view shows that the cap remains well ahead of the fingertips. I will move forward along the bottle and slightly left to place the neck between the jaws.\"}",
  "call_id": "call_boGW1ACSKhJYUNkkAlZHredJ",
  "id": "fc_0c2f210df4b47d92016ab2c0d336e087d08b0e518a01e8289d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_boGW1ACSKhJYUNkkAlZHredJ",
  "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]: [-0.2729, 1.9064, 0.8364, 0.5304, -0.3435, -0.2573, 0.9963, -0.0399, 0.73, 0.5377, -0.4221, -0.057, -0.0589, 0.9998]\nstate[eef_state]: left_x=0.4794 left_y=-0.0687 left_z=0.0539 left_yaw=0.1548 left_pitch=0.0558 left_roll=-0.0533 left_gripper=0.9963 right_x=0.2771 right_y=0.0026 right_z=0.1582 right_yaw=0.0239 right_pitch=-0.0417 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -7.9111, 6.147, 1.2869, -0.0513, 0.4811, 0.0073, -0.1983, -1.5385, 6.9949, 2.0293, -0.0708, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37944551749b5c185198d192977546832dc3040e860dbcdbe2a516e02eeee5cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0433ca4e7f65e9b0e970c5c732b9af5d888b7156eaab33a26de679db1114c96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0904d95177f4bf3090b5fcbf7b8f6d36711c8c7138fc43f936446edd987c5b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4335, 1.8042, 0.5659, 0.7109, -0.4397, -0.342, 0.9961, -0.0383, 0.7582, 0.5838, -0.4454, -0.0536, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4111 left_y=-0.1035 left_z=0.0413 left_yaw=0.1195 left_pitch=0.0863 left_roll=-0.0907 left_gripper=0.9961 right_x=0.2811 right_y=0.0023 right_z=0.1671 right_yaw=0.0224 right_pitch=-0.0472 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.0137, 2.0855, 0.2711, -0.2515, 0.3834, 0.149, -0.335, -1.6342, 6.9675, 2.1123, -0.0611, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDillQS7KUeyFFtgOp2qk0_Bbq41GUPDJDGF2VvRSEWvCeFZ_DgpNX4db_pkMKHrrHL1Xf9KJVHpEm5Xs7LSmBypLfgApnXMi9fdqDtgT211VUHNWI6yt8nr9YrvwQmDV9KWFyrpPQBMI26-kijNlreTsWu_kIhJIzwKvdBCkY4Iyu_CSCFZnlyNa4LEv4vdxgu2AbJmvqcBwD-gmQP5xGKcCVcuKwA0IEWKSKWb42STBaVh3Qwu8BMc5dPlNt-gRkO_8ZtTjHrZZYwUN06JlaPkpQ3kuqwEjwy0q4cCEZy-GJcW2XV93khkPvE4yGs7jpVSleGoAgIAoMJq2oxZpGjynyOuwbTikZSl6B2yBf-yv3hK0yJGF9uqFKiYL9j9f1IXfN23pTsbOH35meU56Qpbqlh2bsZkMYBgvaQzwRAzqXeCzVtBZDme0LUFO7ScH6KFVkbo-MNXIvNBtxj9CoHvjc5G7WDlam9peMRiVL8W7p3BWrehDP79nL5o0LzPtNJW9NGVF8zrpeN_uX5dmGTUYfxxWTMYRvb6-etiz4P9vW2OAHuWYCetvdiLkGRR4PSWIVuNXrTfrIiBEsz0j-_xLLcEslr6EDeo4W2SCe-DaN80BUfNOrbISJFIPTZq-PeTyUondBTZ6doJx1KutRgVRr8V_D2peHbIYxKkZx_ScqiNTLbR0_SibhA_Q3vFgmJAIp1caNOeksFnijYRFIvh09mrm2K15MYk54-pnSCeKfjhkdXC0hVPxuMwpGTH0S-722bT10slNulEgY29hPtrAPXh3GVRfsjFq_VBQXdpixYXPGhRUT3uqkarktcnIYrLKkScg4KkdC6DYE3WsNoHzpjnkNor8s05SyCAY9DIHHVthrDDlQy2DbQwP-X86o1iqCULh1gJMIv04rkTV1ZdoGD8tpn7LzI83btQwGxjrrLiXP3VGuEXB9WeP9sqaJDphsIFrcs9vN-0XuHIeT707bVCB8_Dc9J_PF72jXQdpNCi02m0EThIHtco4qqWwKsn-bGPBfZoHSZoJtyLbrAYKxoOmygnMp9AkVRdQF6zCIuvxsJNeuREDrKZnmKNrcXv9YcH3O2EkCaQZbwsfkaLuBP2Cdv3cfhH6xpwKfCz0IETxgxH-9cI6_m8OG4vZwSvFT9GHHFxxZUTbtIBpOdj9QDnUyMsc_dzPnpWuGudlCQAQKZ0vUkf9pvBkErwsm1XIofXtJXgLZ5qb5w8PGBYO0e4rpqhZGNrSa6GG057osBEYp-yHli9BLzJKgp-CKreXyLSBGJXF8U57rtkvdr1O1AFWIdTdy4Ukot2KG9Eg9IyFomoOCThnknaoLX6xY6rWNAbdNIbFwCqp6V22JeE-EW40Kmj0G8PJONuhWhywvfuEX9kxqmaCBkxrZ0QqigkIRBiRPYsrclOOouGi3ohImqbwJNVDtFLURoYsXePQfP081SAQ5Q9kiIBzvmPL_HTLGriOttiN4XsUUPW668rfgtnof3uGySQIgMMjGsXw6yp9VfctHBCr15P2A7e9Jvfs-uHHly7SmnxSmLTSxnGgTiLkB9TQBaF9yfpwgLLxaBoiqMN_pyuOkrP0qqG2Mi4etpb6xG2CtCcDDgpJSh9Fi4OBcjhVtYaSC5Y4tDs-rnQUPJJmAFKtKZqXjcFnQ3oyEeJn2Py7ARnOlRXhMuIDxJumrXTVZm0JYbu8dWkdQT1WtdDVh1f0QoKlNRxYEo6YBLIaSXA8ij3FC_xBYHiRhLVvfGM3Hyen5pgcAM5Q0wDT7vtBjvisT6dypjtyKXNHb6YZJtemAN-TIbfe8NcioaA1-Lqn-M2jH-UXnBIQ-FGaccROuqm20okb8k_fvD",
  "id": "rs_0c2f210df4b47d92016ab2c0da1d9487d09ba0561cc5056344",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.07,\"left_z\":-0.01,\"left_gripper\":0.28},\"note\":\"The neck is now centered between the jaws. I will lower slightly and close to approximately the neck's width to avoid squeezing the bottle sideways.\"}",
  "call_id": "call_m4oWnkCWLW4y6tne076haQiK",
  "id": "fc_0c2f210df4b47d92016ab2c0e08e0487d08dd325a21a23251f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m4oWnkCWLW4y6tne076haQiK",
  "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]: [-0.2893, 2.0182, 0.8459, 0.7704, -0.3843, -0.2649, 0.2859, -0.0399, 0.7044, 0.498, -0.4019, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4991 left_y=-0.0757 left_z=0.0562 left_yaw=0.1843 left_pitch=0.1875 left_roll=-0.1038 left_gripper=0.2859 right_x=0.2736 right_y=0.0028 right_z=0.1508 right_yaw=0.0237 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.4923, 1.8667, 0.2369, 0.0904, 0.1392, 0.2857, -0.5402, -1.3197, 7.0359, 2.0293, -0.1148, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4644c91d3f95129933810611909efe21565ce0cd771a6bc1b8e38489a1da38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9baae84e155d43267d4f76230be90da610fdb2cd1461dd0858839f5eda722bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e7e8f28c1d3546c2fcf11875cdf33974574b00570a1f3c0009b14c5575cda",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2729, 1.9064, 0.8364, 0.5304, -0.3435, -0.2573, 0.9963, -0.0399, 0.73, 0.5377, -0.4221, -0.057, -0.0589, 0.9998]\nstate[eef_state]: left_x=0.4794 left_y=-0.0687 left_z=0.0539 left_yaw=0.1548 left_pitch=0.0558 left_roll=-0.0533 left_gripper=0.9963 right_x=0.2771 right_y=0.0026 right_z=0.1582 right_yaw=0.0239 right_pitch=-0.0417 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -7.9111, 6.147, 1.2869, -0.0513, 0.4811, 0.0073, -0.1983, -1.5385, 6.9949, 2.0293, -0.0708, -0.0073, -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": "gAAAAABqssDoaIvUtyOLyVVxdwik8opbOAt5P0FeOBeVNd5ZllWJLbwJDhaJjtxdQo-UELzovr6IbcBIebA_JGIJlDDUk5lY8pmZn8XK3WWqckW12Kh387Sj1u4GsWjN1EupJbbhOs4HqxeKFk4-SZvqLzq7UENrLiVh3xZrOEVOFoPeR3wYQHeXr_rFfJOekyj5FuOKk31JTXL6VrETtVYK3iKhRzbK8tr9EPilpeH0LBh1w_Axth0XZH_-cGCWS9G7nERqW62ToXHeOSe1dJsnuxEdUcUyNFGbLtL8OMSNOdOuHjGueK9RHwxxqPUeLOnAfPKR4oVQnmOVrjZOG0s1F0FWzAB0Rv6s3a-H-fO8hyWFwKuPeSg-cPMgsxByTcNhu2hhoPOVYsxZ_NzrrOD09LsDjyAFkbSKb5pYQcxTpPSnWIrN_-Ja5qeL32mCIKTg99g53GDyrMtDc0Of_rEWEiVDvXcOrzBnphDF9SS6WUG_Fz8WFVOz4bknK0SeIdjGi0Y_ouAJlDA3RUgdC6DHHw8skxSGf-7XvFQd_LeByCbaAEIEL7XEAqFpUg2LCPjHvNzgbMXdqbKoYLVpKrY9gksfaeFT5xaI_NfhdLSJMGWS48UMU33L2S9TXsZoxZMZ5a_1rT9Lhz-S44UhSS4WwYp9jU0ExhNVe4XEZObFOrL_v1RkGwSy4UhFPL661O8krhlcBlGNEt41cIiX5RupAx27ad5rlslngHzbOt2MqZ9f3I1inPxo_imKmpNA_UYOmLj13XWqIvS8nuq-EHEZ0XfGAx7DgH-PhYQs88mevauOunyllKdIcFyvUX52aXeWtBLmLti74_MDd9bJbSGWRdCAw36pVPCSG13SjIZoAGpL9mMrgDEDx9rcDhEGsuVe7h3sYZ3nqPKA5Sq6CqHvIEVbzdMx7Ga3rHxwvZ3L-cOAu7BdFCrg4XtujIQWYzgj42t_4jpD38J7dGbITKiSTtoUDutJuEGmkBnvgO5fcd22bTxatkz7NL5j1KGoEwdCvFnaZOwe4LqmiGl2FMrYxH1YVaAgUfEKS3I171XSvS2Lt6HS62um4yYJ9leP7QRZtTCxqn2VOhkgG4x0pqhIAmNoIyveWUTTCfvs3HRfFgZS9aOqfliC9zZ_Wj878OIoLLoG6PZMl2DSa503AY7AufwJjBQ4XD8RPV3NDDN5E2zKm91OPQwrW7vxHEboyGenfdwiLgizTopPp6SkEDSQBb1YfSXwb1LZ717Wc02mIn2co08XcM6v9Cg6YtokB7-aNE_hSsLlsI0-P42Qi6mdMyHmHTMPNA==",
  "id": "rs_0c2f210df4b47d92016ab2c0e5d48087d080c742898d5bb4bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"left_gripper\":0.2},\"note\":\"The jaws are closed around the bottle's upper-end region. I will make a controlled lift to see whether the bottle follows and hangs base-down.\"}",
  "call_id": "call_PZl0g2RElYEFHb4elNeWpwVe",
  "id": "fc_0c2f210df4b47d92016ab2c0e71efc87d0a82f7c94fcaead8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PZl0g2RElYEFHb4elNeWpwVe",
  "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]: [-0.2932, 1.7985, 1.1946, -0.0391, -0.4015, -0.2707, 0.2005, -0.0399, 0.6842, 0.4664, -0.3874, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.0755 left_z=0.1401 left_yaw=0.1887 left_pitch=-0.023 left_roll=0.0098 left_gripper=0.2005 right_x=0.2707 right_y=0.0029 right_z=0.1444 right_yaw=0.0237 right_pitch=-0.0326 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4769, 9.2103, 1.6581, -0.1783, -0.0269, -0.0513, -0.1026, -1.2786, 6.9128, 1.9414, -0.0952, 0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e4d1a0fa14864a35a0f7e224373013c9e956ee1d2aad5d014326d2bf869615",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb67dbac69dd712bb744601456e8094b7c817d93e2e7df56eeb83ff22e471c76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1a3fc93e148ee1ef35ed0fc754f31040251e834d7b7cbb54d1d9f49b17e4d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2893, 2.0182, 0.8459, 0.7704, -0.3843, -0.2649, 0.2859, -0.0399, 0.7044, 0.498, -0.4019, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4991 left_y=-0.0757 left_z=0.0562 left_yaw=0.1843 left_pitch=0.1875 left_roll=-0.1038 left_gripper=0.2859 right_x=0.2736 right_y=0.0028 right_z=0.1508 right_yaw=0.0237 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.4923, 1.8667, 0.2369, 0.0904, 0.1392, 0.2857, -0.5402, -1.3197, 7.0359, 2.0293, -0.1148, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssD7VsxBksntCSuLvKeWy9ksQrfE5s0u_dm5m1IJI4g-dXIAy7iQc6wNeVg67uo3aZUUMVx3Hfyvs-xzK_zKNEGNYi2Hldd3ySiqbLsMUV9mPtXJkClRojDejl5P0yrQCeD4oDwBO3zvA2z8fN3jgh-hrwhwj3ahFzgfdPHU-eZ8T4oaFqGlpXSUnhie6tXaqQiYBEgZw3B1sxHjRrYGyWitq7tZsOx1ArrFkiyI1UwzGx9JpDVmRpuQKINEtUlVKq5aHrJ1Kh8aUMoFsNvwkOIx_FLyx-GblO-eUjGS1NIW1cRDVidVQJDeMrn6tMnp8igdA0XSMOrJ66Ze4Ks-Yj064lkdZN43Jch0MNmYhssYgZxWgIHFQX7VQJpcjDcHXU7YvLORwemZySEvx_ppeNlEf7rtHtWTqTCMRLMHzsrQmKSUPA-ObWuH-K4DO7hqHbFRfWXuzJjL_6eIWfwKi5giQkHn20WFn9HyecUAPMORJa9r6rumEHKjRweBq7Llb0GnRRvnIC25q4Dj299KYQqgcitdD8euCt2qC0x8-KeCaQqG2fu03tgQNOAxUI5o59wW3qcjG5JlLfJ76TymiMD4_jcKERve4cNHldRf1X7i-MYWJoW-ZvaVO8w8elxKG60wz9q5EqUYbO1nv867o4Z5YA8-wwsw9vU7fW1TjKMtaV2nY7u-SHrtxJ_xAdWPtgckT08sn4MCRF3wMONli6W5f0on9rM0YzbcMxiM6hPAPpcdq27zyCPMoFZHCYF5pw67m-A4Ez_ycnO5tFwG-RMzon8gh-lkUOAFCe94M-At4FFB17MGBquE1rRzgIdLeCaJgrjG1chxNl_GKQV0TGdOI93Cwx1s505NFNJD75aftyNpI3EPnwjEUahRnzlnP6ep1DfLHFEqMHgV_TNI-yp7_v0XIlVMl-NTZGg1zRWn9DurHM_ZKIpx5SVfPSCXx9pVKJrBHT2bi8L3TDyAp0L_BevBvFNfiuEyqYjf2_8ed-mYjAexQCwWE7MUBYKg17EMx1w3TsO3pTszygufJZF6e57wuwtXCUluJl5DLl3Ginz-FMoOU620bXUyVewcpkaXfrafgxHbX6Jg1Zrleu28_LBkdS5eMUbBTbV4d6f_HdfcqEucflmVwyWyStGShu_m2vjYJ7dsAgBgZCJ-lwB5mxA4x-YdD_Ow4fnzq6N9t38LadYJV2DQrlLTUq0vIVdEocK1KDsy5EhZyQ4xVUXBTUcG27M95bWUkD6828GW0OXD0i898K976mUnXJ9H4cgRLVmjWaOd90qGXeamF8707ecWY2TIBRhA6JHfwSj9LT2qSWkgpGxnLWFM5-tz0rj6gbNtV-LQ4xMumDg8be-dXV4FtTP-cBCzuSateaAf3Ftv59ap-Cwu6sWPmCTwFYnE--QZos1NRvdII5iNwRVysVhXeLZr3Uj1aP2KIGPeffMiPPD5AEH4tGfY75YK0lNGlXlK9bazCX_wtXzcwJZ10glQGUaKc9FNWEZ6vdDqCzxj2NJVBWlbROcukL2iWsqrGBvg80Vn9GLKRL8gnl6ReY7_33vHH1VS8FoaX2qkHjmb_mtGLsHjoI0SlCL0_MqsFZxryZ00O5JjJ-08v6noQlYZYPGhXEKq26grW7KnG0afDCD6UNUa8MacrqfsuBUtfFUlXb1iga3hdjlMRroIRSqOImCSpckB5cSmrWQ-SM-2uiMTbWlSBf_yrOWiMvm0FbqMpZz8ojmsqcTtV7GXnSMkpbkuLnKztAFa73QL54AHAbLZBzBiygauBWOJ6YTiRbZexuTWiIRuYy6ylg003NmKQWoH0kKWTPUzM_Avy6qdNgq2sQTJWnxuTBSVI68qr6li7Q9CRCkZ-odUVN45KyXg3USuUHHveusfxrQYRQWCcSWS9OGv0WUMLLa0DJCjeJpPBmEyu-h56aUQ64Wm4fMcCkEFLPP_pkcLHEEtJRNU3WhOc6nkUR6wK9SzpdK04t9pEcPyUWWpM2J17axB2z1jwAIdbZ3CAkUqvym6ty212OG0TllOZDkNyh7bKH7vPR9Wip_YqcDrvnJ6yc86ET1XkJ0a2TZU6yK7dOTfkqiOnijYBYYg_z0QQZntGJ1MMQmAnlvhMZcJvVz0VtuDfSLQcuSGH3QQH0ahWjAGThonmofw18aW6eWW-_tVynXPkMr-I-8wpkn8V1FRYA_9qUvImtqSi50ADV-Ny06g4LH3ZkT-u2L-QZs3LbmKkcJXxLdYWRs1IKPp2OechAoHabi6COikMbfZDlgtrC4zhrMHJhek51YOL0HTZWMUqAK2ulfHGNv2pFezSz7oDGPAGDnlQEaOOCGjEBUuI7l3rSemMvxYA62BGjDnmPQMAdv19wIZcb9_7KyIFDUXjTkU3tFk0mEw3jXIHmvwopfzii-LGnX5ge_bciqoWsAzHA0vfwJQ_ECF-cSEGs97eVHqRSBMggpBfbkbYLlSPqAb1XL2aMwN_djyqHBTc0t_-ppNUFAu4ldCoa0mh-vS4TQo1MBYVM_Y4hkK9Ec2_Sq0WyEepO3fiH6Bp0g1ZuZhqWCpGOldi2ZI3bQKoJlvK4yLRwH-m_sBxV_0gr3LNpJo25MT9csUDbhmOB6UrZGTGKUQrIrctm_TJVuzN3PTyfRzvJUJck6dil_hgRHiEcib-RTJgz1D33SBR_pWVNRafOGq91h5nJgO1hAalNbsn_3uIkCf5EgWxikGyK9J0NKX92Xf8XmkbLNwAF6TxyQkuv6twZGqWvhzD6Tb5PbiwdJkVbchIOcRW9eER7WiB4NNHyLGgwhBLQdcvi3-XAOf0NeztHYMebb3FwfswlAJw1eZSYZpGiAf3FgT08qtfEKz1UZXCGyQIlU4MnXNWDbtEFOoS8L-1_31QFo4bKHQUhYma_u9CdgFrr2E1zAGdv6BgdbhBINjIaH8ixUn14wUtpVY",
  "id": "rs_0c2f210df4b47d92016ab2c0ebe4c087d0a4ab94150cb0ee07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.145,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The bottle did not lift with the jaws. I will switch to a body grasp to bring it into a more accessible position before attempting to stand it.\"}",
  "call_id": "call_eF2KspZBeWKVLaWFvqfJqc0t",
  "id": "fc_0c2f210df4b47d92016ab2c0f9f19487d0bf976f5e2fd4c3c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eF2KspZBeWKVLaWFvqfJqc0t",
  "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]: [-0.569, 1.7782, 0.8455, 0.1959, -0.5915, -0.437, 0.9943, -0.0399, 0.6647, 0.4393, -0.3759, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.1452 left_z=0.0638 left_yaw=0.1526 left_pitch=-0.0303 left_roll=0.024 left_gripper=0.9943 right_x=0.2681 right_y=0.003 right_z=0.1393 right_yaw=0.0237 right_pitch=-0.0288 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.9385, 5.2308, 1.5604, -0.1978, -0.0171, -0.2125, -0.3624, -0.7726, 6.8581, 1.9805, -0.0757, -0.022, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323f4b68ec16a0bc15a96ad8561f4f453c9b4dcda873933b7b7ebe791e47e530",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0111c3f3d02d3d61c548460731ba7346ce4a0e9f8667f96b3f4ade67376f7776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b16bc189e3bf60553a5056ba06e76c2caa4a3cf28543741be0624dc6f5040b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2932, 1.7985, 1.1946, -0.0391, -0.4015, -0.2707, 0.2005, -0.0399, 0.6842, 0.4664, -0.3874, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5013 left_y=-0.0755 left_z=0.1401 left_yaw=0.1887 left_pitch=-0.023 left_roll=0.0098 left_gripper=0.2005 right_x=0.2707 right_y=0.0029 right_z=0.1444 right_yaw=0.0237 right_pitch=-0.0326 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -13.4769, 9.2103, 1.6581, -0.1783, -0.0269, -0.0513, -0.1026, -1.2786, 6.9128, 1.9414, -0.0952, 0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEH8eHbsLeH8WMjb6iQcWg8OLldAskwljiEAgZnfZ9tkSXMjIY5HJag8WllvSyz2B3jS8PNQXsqZc12ObKBuRMP504-Whqt6S2GKFWudkykvLda_KRvHWv4PuSccFk51l0CA-YMQoHmIA3sdTeDZJXGjr-VRm60JGvkVNFN1-qRvzlIdQf9239iKVPW8Ak8efLa3mfNcsRd4zLpEHhGls81d-963R4DeVN0xN3oXopbESK-KC87RARcTo2Lxt0bwJRa9Jrv-xt3O3LdTKRTyxA05RJt6titkneQQt3Ab3nvq11ZpQN1CqcohMrW0Qf4Rg2HbAXSVLZy95_YTPGlgzo-qoY7FYu0wVkLpLTs1qZnGsluHwMcUtDIukSkEBI9sGcPibdD2YXQ0MSkhm5saYzDGBLP5-sfSnTL5i17eAvt0MBg1yUfzsDLVd-4JutyCPXRNfVwtXQ3K7MXUL3gLpVBlJiIhA8pUPvG9DKJkoY_hdRVlm4oJwdPoRu7QRsYD6QaBVJDivxxfiqBh3flPnu701Wx-TsGaNmyjigBGNtNMVor-RbH3ju248r2c9zd9LhjN3lotC8V-YWquWj_IjHDOQb5nHOqXrvrLJ_4j71ZznGYCBiSx9qUbgGxuJ66kDqFiKMsZqybURuhUex5ECDUK_CkXCtaK0weh3Bl23Qoza23PczrkWLj7ZpuV12rQNHvF0lJ3OZyqd7iQAgCiGLTWrikrZMHTSyCx-SCxZDr8InuaazUXr8UTg9h0-FQWkb2FigtzPi3vmiIeS1r5fWIlb52LOGaDpjjk2P85yedOzLnmlK2Dnsc9hO60_qW5U0OUA9bdalGLQ4Apv7fIrscDs5iqe0O0lZD5Jacbdz1RLGzPmjYz0gmY4Egl54iVtLX84iNenNld-GFulRBZUeTfVr0aSCstko8eaCTksaApbpa2XdulovrZKAXl6wPwGFYlMeBd0MMcLk1mEgrNbv_e-g3ZH9oUQVFgqS6CPTlAYJ8WqNU21pN3P8_7iQRauf0vpuE26gQuohVYQ2bmdRejOE91fOQAI3XyMCyGWIVbs8hZoEo7FTh_2RUGh78nQ1ySTSHysGSPXe_JTg4Wgm9e83eEqAf4B-b5nRtTHGz3zeZbF_8La5fygE-QZ4jVPYSl9zoeT_qLd3CjPpWDQPVSLwJa49ano6ZVHe6ndUnWHij8Its0IWoBxSEpNssbxkPP3uwMhRzkPrn1zcfle4JhL64sD11Quq96X8CgZu7aHQ-zM3Wc850dTC-eANkEgH7oBTouNaua_tCCO4WwPkl3CAhWtnaDfPCA_HNQoXbhxgIpWXyj03T3vcd0oBV9CbkRUrKPzAjPJOoQnO_BTLaVXbFf0F1WENwFuF7HLRElTqC-r3SIDE3vKBb0xtQJAsYTNEXcXSpa72ESWpXDILuqDvhzr9Q1lc4v8NMKdXeIkTzTekRdDd9iO8AwIs2lmhq-XdyD0XNevcR56azOwiVRkAR2MkL_fVzbfQ6Bbv7oEUT3tD0XetdRyeMPwp1ShWFU_3SaN_HZD2-JhRRbN6JoQ==",
  "id": "rs_0c2f210df4b47d92016ab2c1016bc087d0be9cced17dc6e0d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.095,\"left_z\":0.015},\"note\":\"The bottle body is left of the jaw center in the wrist camera. I will align over its body and lower the open jaws around it.\"}",
  "call_id": "call_l6JzLUViTiwcqX8LuwsZEMeN",
  "id": "fc_0c2f210df4b47d92016ab2c1060a9087d09a342d50429530c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l6JzLUViTiwcqX8LuwsZEMeN",
  "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]: [-0.4473, 1.8236, 0.6765, 0.6071, -0.5655, -0.337, 0.9956, -0.0399, 0.6468, 0.4141, -0.366, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4299 left_y=-0.0973 left_z=0.0564 left_yaw=0.2055 left_pitch=0.1124 left_roll=-0.0261 left_gripper=0.9956 right_x=0.2656 right_y=0.0031 right_z=0.1343 right_yaw=0.0237 right_pitch=-0.0261 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -3.9453, 2.7145, 0.5788, 0.7204, -0.2515, 0.1197, -0.2393, -0.8274, 7.0085, 1.9023, -0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3598eec8e405727a375b7092e12082c28c15de2e55ba707b377932e759a47754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c131d9ba427a7c3b8abf77fae09d6d015a39c6dee44917ad123b317ff61d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150c2de0c640754a831ef71a90bba66ab19f89bec90ff2f3f21a7724665986bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.569, 1.7782, 0.8455, 0.1959, -0.5915, -0.437, 0.9943, -0.0399, 0.6647, 0.4393, -0.3759, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.1452 left_z=0.0638 left_yaw=0.1526 left_pitch=-0.0303 left_roll=0.024 left_gripper=0.9943 right_x=0.2681 right_y=0.003 right_z=0.1393 right_yaw=0.0237 right_pitch=-0.0288 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -7.9385, 5.2308, 1.5604, -0.1978, -0.0171, -0.2125, -0.3624, -0.7726, 6.8581, 1.9805, -0.0757, -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"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssENGkoMP8eyhwYP7v6gk5Q8PW8E9zJKdTOI7OUFG-9rqXH6lwI7FmOiw08m2941MtWNE__BtSh80wJPHB6QM8eBX8iRe1dW-EZv-HIbpIneHKS3DVyP-kQA3RaYqqAM9kGkHZBQ_e27mdCZnavmdr-Fw0fiVj_tOWhvEM7G8JG6UbM4OrjBdiw6CEG5uqcOo2C0qaGT7bOCGiJhDeWNJi0i4wzffX0N2UJiQp0GY0pFQOdKYUf3EWBHAAwieE62DGsQJLakieajWeSa0iYMc_2y5Qh0MANgGfgIII-uip_bfuEQbrtF3uKWefKbeL5LDL5szPilYQi29cS2rKnWH8oi4ktpewFtIXMqkTXLmygiZ29MSpOWIyUfqNEFu5-RJkOYtVeZHXBwAlIUAUrP_zV_OhT5NFgHDD6TJ9dfA_YOBG-Xvh8ptpGVNyyE-f45gDOJmOSy4_viTbXKYwOkhU1ojoJSIvVV987QUsBW00qkB0OiDp4F0sU5KL7tmjIPijPYsP96pjZveteaB3mK8pOhv5xAwJBRLu7bf8KryxwReSiaBUnP2_tcXWkZ00qB0AhSOFgK_t1ddjQgdCDDzG2bk6IULX69pWLJBjcheeuqADkHqsI0Rarwq0j9rstaxZp0_5ayI4ovAcHyU7lgRl3uGlCSCXBuTz8Ar5mA7USRI81lIQsdmMsTSXP9w0RGAKU0e3veq7zDy1MbFYQc821FqLTQ6Jf6riahTc1UNUzJZ20XKbK-SiKKtJ9U0pEcfbDnI-sIcf40f3yJfU7MPQAILtz6vTHM-2ZJgbE_2-zb3EF2FlJx_tihbsmGHsYDDf3NfgclPYdmnyvSZKvt0lwpWkKJeSRWMSCimmSYSYGPu3wE_A7W8xwOzRPzyJ45J7lFgdwJHHAL7yIbfNIGl04i6QFhng5Dof6gwYFQ8mfo5rH17BrY1OSPtn9uNb9GvIaxLRve7WuLBasBwbHWhWetIJF_D2cO21QUVQCavIQa_eEUkr2yBPHgm8qpzmuiE5yVjwcP90htb5HPqhohij_Zt7SS2ycvMH4XMdukshak5zXJLFFhtcw47Q5_nTP2zGhWIV8Jeexh9t2AZ_zOzXsugzEKOYqHEgIaSloqzmFD2d07MFmgqFm6bzr-h8jPD4itPK6-48Ml09P1-I1hQHILzSKjBvRruc9I_rgLncAQMWfxehtwv5hHo58ZPLCpZ_iDP5QBhCWQdk7VjQE9cKWDMloFi2uunbtyTRhf27kMOJrENCtId6eo2IZjXVwaaT11JgcWZvOdtDeZsblxOrsOmxPfEmjaNfxuHMBNdTIfNKXdAnTEwddKZjpAUp_KKhpT",
  "id": "rs_0c2f210df4b47d92016ab2c10afc5c87d0b62f85ccad33f210",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The body overlaps the jaw opening now, and descent has stopped at contact. I will close around the bottle body and check whether the jaws retain a substantial gap.\"}",
  "call_id": "call_6ItsJZDbzmTEiBpY9ILIYiJE",
  "id": "fc_0c2f210df4b47d92016ab2c10c6ab887d0b49aa132eb02603b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ItsJZDbzmTEiBpY9ILIYiJE",
  "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]: [-0.437, 1.7874, 0.7631, 0.4107, -0.5472, -0.3737, 0.0181, -0.0399, 0.6327, 0.3927, -0.3595, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.098 left_z=0.0646 left_yaw=0.2171 left_pitch=0.0474 left_roll=-0.0217 left_gripper=0.0181 right_x=0.2633 right_y=0.0032 right_z=0.1293 right_yaw=0.0237 right_pitch=-0.0269 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -8.5128, 6.0513, 1.0867, -0.0415, -0.022, 1.1209, -0.2667, -0.9504, 6.7624, 1.956, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4390ae7a074d87adb479c1f444a6ec6f7ec6d3e5a171bbbb997c5a5fd6c76bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a13ee023ac2ab959f2fdbb0c680bf8034225326a660224d21d494d8e020d13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8ba4fc6a65d0453f47ad785100ab1101db8eae7c485bdf24fa567cdd78c75f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4473, 1.8236, 0.6765, 0.6071, -0.5655, -0.337, 0.9956, -0.0399, 0.6468, 0.4141, -0.366, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4299 left_y=-0.0973 left_z=0.0564 left_yaw=0.2055 left_pitch=0.1124 left_roll=-0.0261 left_gripper=0.9956 right_x=0.2656 right_y=0.0031 right_z=0.1343 right_yaw=0.0237 right_pitch=-0.0261 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -3.9453, 2.7145, 0.5788, 0.7204, -0.2515, 0.1197, -0.2393, -0.8274, 7.0085, 1.9023, -0.1001, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEZt_BmR7mUZFd-grozvDWu_QM8W4IkBBGAzPOip5h6W5dltCHlZV3EQBS9o2duSpCbfzC5EsBgKxoYrQSk-VrGybWWh5mZNnOqytiRWlORxWzsQnxLSaztPtCmzaikV3fbr7dyIF-Ec-6Nr33t2DACMnDa-6q9uRypCnZpnbsQbAsUqX4Pbr_X8E85kjEpEWLF-soJ2_bqrEiQDKG5hToxREq_9-myQ1PyYAt6psykuObEstRQO1LToOvN8HLcvAtJZ9SkUWSPfTsn06j97sHk241j4xjgOcImZt6jrAG1SasmiaNrwsj2jFZj-CRMvd_NdkJMgDeUCG37f39Z0-SCFIz8jKBOWVqdc8aKY4UR-naD_UPUKdw42ujLnm8zQ6pjnuIfgN52QVazjL-Fvc2kL7Ovyw54nDGFldeu9DeNgZJG1xH3FKCf1rNdpeMsRQEdBue60wHo-U62bwsBt_cRzeuWElECCdmo_SUWpovEZzNymsKhld2PobaDsaNFW5vp5_meL__EYFYCUGCrfYXq_XR6X5hnZo7yyUBt-V6PUXoNjSMSiasJu7uRcgIVa661A2jVtgQWb7tujzAcewiNgLb4jB-ppigYKvbhJAVwaTmuiNetB-DjkQL5DJWOSMMj6evUUtf331R4iN8NYDzWwQHorLmwRDOJbPF-Ahj3d-unphzF07c4Ww-lJfz7c36ox4EmDLNFyADXpRCD1FU3etpsCZxd2xv0IQnSoWzhUs4wVy4iPl0KXH-JGqsrLxGD1rnPh0Ow0__cUTfB9QFlaFzdgFUB3hPD3y6D310CpOxJsCNvz6HECjSbaVk5FEDxvejh0adk5WWk0NtVv9AeWpeUiJ8ZDaiXnp0VID4gNmXcxaTKx1rcz1JyPsfcXNIbEmvI8JpCi_6BJETwY7-SLeZWRbv2_nJZdPikt3oTPISl6OoxJkL61IRAfSyd-GssB3kn_uBBGOtL6I0x7iWAHBSgMTieEFyvNB2Haub9LSdg4vxrVIWHcgpDKrOxT4oZkjsjeDKDg_DGaHN0W6sVwOTMkxVzRrxhxl9MZ4gPr6P7aHVLGCC6YXD9s0AvV-NSrQVdX9D1X37hITqx32Fcx64dmeE5NCgB2EPnf0DnCCQp2H34SQtL5HmS5VTyn9HAFd4RcCmSRaWSnMvDSaqYvmr8f3LO2_5jrSO0KMaqJz90aNczA9d0LwmVeqsUOU297CzzU1t-k1B5Rigi03pliRYZKON0ynFpJwyNMP-7xw6obelugqmwHCJCEBYFzLlJv5qTs-abL84B7O1618GseNcHrzKsikKo7dFzjwtpVvin1zpBfWbEmOrasqifKnJnGocZz9H-RiYDIMXyt-rFcKZhEItoSNnVHEQNPW1EiiHuG4CWk0BaZcn-4xixeUkzjgq1Y5EEv9VOlvWvXZnszn6icilRnVqM1Bkqkfscz10pnzSjosYn8mL7byhvAwlP6YEQQRRqYIdKpwhpFYKy6fAm-cZx564sBrWWY1HHUcdLveYuXFVhPlt92hAP5XsvcDc0a4AWVRZe4p6n0aj890r_4K8jeezjU4fVp4u9C9Xrcei1QwKUiT-W9vpMPEow",
  "id": "rs_0c2f210df4b47d92016ab2c113d58c87d0851561bb03a0ee00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.085,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The close pushed the bottle into the center but did not grip it. I will reopen above it, then approach straight down now that it is aligned.\"}",
  "call_id": "call_7GQeypkdsTsgEHBEvbkORiAr",
  "id": "fc_0c2f210df4b47d92016ab2c1171a0887d08a69581f3eee5a28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7GQeypkdsTsgEHBEvbkORiAr",
  "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]: [-0.437, 1.7527, 0.8139, 0.2222, -0.5388, -0.3935, 0.9948, -0.0483, 0.7918, 0.6395, -0.4732, -0.0685, -0.0696, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.0958 left_z=0.0639 left_yaw=0.2208 left_pitch=-0.0374 left_roll=0.0202 left_gripper=0.9948 right_x=0.286 right_y=0.0019 right_z=0.178 right_yaw=0.031 right_pitch=-0.0523 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.0718, 8.1846, 1.5214, -0.2564, 0.0659, -0.2076, -0.9368, -0.9641, 9.8667, 1.8388, -0.105, 0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aaff9b548ccf5f6525d1d807a34889be13375302799ce011ca29beef1138dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d26eaa588c13b653f933482d9410fba4d3d39ae19ba26715b1ff356b29a8c14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb5ede2f2edb54408c9664e9b42b6b993e61ce55649335fe04d36e0ed26f8f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.437, 1.7874, 0.7631, 0.4107, -0.5472, -0.3737, 0.0181, -0.0399, 0.6327, 0.3927, -0.3595, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4355 left_y=-0.098 left_z=0.0646 left_yaw=0.2171 left_pitch=0.0474 left_roll=-0.0217 left_gripper=0.0181 right_x=0.2633 right_y=0.0032 right_z=0.1293 right_yaw=0.0237 right_pitch=-0.0269 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -8.5128, 6.0513, 1.0867, -0.0415, -0.022, 1.1209, -0.2667, -0.9504, 6.7624, 1.956, -0.0611, 0.0024, -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": "gAAAAABqssEiyLsWFm18BFj4p94_HjoIPCsZG1SuB11CefGQUFtBaEf9uejjWGQyVOtvODwEy4M1TiAO3ij1TIF-6gw81ndh0vdZyHmOjPFpW-iHK_Tg_2AJEN9lVAxELjwmW2Svnk6mdspqGLzNJPz-rl-djlJzEAd2h0KZ67h3373J9ugDix6NDUIc0iBteH0ag6y8lZ87E9zrd4V4weMKyNVJKEBYS8T0qtgOVbfKM9ToqLRjtUl89bfMha_hwzn2SvVgYvGi3Buiic6z_zP1jVLKhmFv4N-ftpgETW9AlxpoBMRqS70TQNlvqztidT4gkZO8OeePo5AEAILdANCgssNe5TwJWrT2hixeYI983esB0zqEr0l4Dl4AuR7VhJ8biup6xJs_aNIfbm8maBZMsOypFRCwtxvCMLDXXmHgSuBpc1H6cjMkuJAvI6u2BGqDsBoVSRnHTGvOuP6UUlKcK5bfPpO_f1XZiccerVv0MzsleMdZW2KbQCPda4pDkIztkOSIlyMm3DV44CkjT0CDpitsCwgo4IKkCWcVrjc_N_JuxzVj8rxYu5do10c1PAHyMjp1O2ZTsII1RAhNnMPc5_TvVM3tTfaOD_wPEe21z_5lsQH2f1luxtzLNPALtgHAZ2asgKEu5jm-2dM1cVYMHQ4kfBUv1QbhkpLf-8rE02DpfJkaFS5f88uWcmPvhMEYQeDpYFmWpVDtlgepEcf0ep7faHZIbLOqTHT51DapVXYR_gTqagbigO3eYFUzM1kw1IEpqF2SCxZw8H0uFyvgUVCLsLafu2FnXTld3nTabktm5exHwxrIZ3r5kEhqjQSkfTvjilnaouBn5yfm2hesh3uhjU_2WSLPhoblqYVs2La7aZOPEm_2ZJMQ1B_ph-VeB2kqLqog1BiMblARlfir19j4JWPAkpqcnpQqcMIY3CyoxRMdewUz8W5fitQ5uoZ8jw-df6d-6HHeYOHkvfgpgWb_Nq2OGTNIRPpO_KRcoSojhSQhGc1VF3PEijSyDGw92Qcgshd4ERFUNwcuVqVlYVdkJZUykPaWbIiC95Lxe6xs00fNXkp038v7RJytYWpdWMYNtw3DxPCaYW2oKJ_1-SD0GOoM2Jo-hF6ThdowAMf5U4W8Hzx6IEYz_lK3Isn6TNnZxaJ9vBRrZ48yd_V1QVcw-nykg9LQv5yRQjsK5okEG9g-G9Va53tx-Y_eDUKnhdj8Olu0IgDKrtQ5obwKnsUldZuTHRK5poNaVDWSn1E01_Xf4gADIed4TAj0rHbHSheBaJIyw0XO6YmL92gCSbVj9R2ptqubw7z6zLvI1yk6PP-gFx2U1omdSPsip1ZWXmd4ahTjpZX3qFi4yQQeWHUeXUcjHQk2pnJH_l8kJa_I6HRxWjgfrVEjhj-BM3EFk0KO_PID",
  "id": "rs_0c2f210df4b47d92016ab2c11ed70c87d08ad651fa075ade30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.115,\"left_z\":-0.01},\"note\":\"The bottle body is now slightly right of center. I will make a small sideways correction and lower the open fingers along its sides.\"}",
  "call_id": "call_dJyJqNPPnYGbbWHaVNFpcmoC",
  "id": "fc_0c2f210df4b47d92016ab2c120de1087d0b2270e2993211c05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dJyJqNPPnYGbbWHaVNFpcmoC",
  "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]: [-0.5209, 1.9278, 0.7261, 0.6403, -0.6018, -0.4461, 0.9962, -0.0479, 0.7589, 0.5865, -0.4465, -0.0685, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4326 left_y=-0.1288 left_z=0.0379 left_yaw=0.218 left_pitch=0.1046 left_roll=-0.0963 left_gripper=0.9962 right_x=0.2813 right_y=0.0022 right_z=0.168 right_yaw=0.0316 right_pitch=-0.0458 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -3.959, 1.1829, 0.1929, -0.1636, 0.0806, 0.1343, -0.4308, -1.388, 7.0496, 2.0342, -0.1245, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa21c772fe3aac135148d3ea60840e9ae60cbadc3073869d2462771e338e040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca3367ee317a606be6fd1e9e3e6684b760ba04d10859bdb367d55da119c0241b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea6217a1369bd0f50e115dd0c9b4c002988804d32747547018dba2afd5b1f2bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.437, 1.7527, 0.8139, 0.2222, -0.5388, -0.3935, 0.9948, -0.0483, 0.7918, 0.6395, -0.4732, -0.0685, -0.0696, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.0958 left_z=0.0639 left_yaw=0.2208 left_pitch=-0.0374 left_roll=0.0202 left_gripper=0.9948 right_x=0.286 right_y=0.0019 right_z=0.178 right_yaw=0.031 right_pitch=-0.0523 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.0718, 8.1846, 1.5214, -0.2564, 0.0659, -0.2076, -0.9368, -0.9641, 9.8667, 1.8388, -0.105, 0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEnsV6FmrCelK7e_l64zBTj0g6dQPlOPWWeKIFRQzv5V-k3uloeZMwNZ7TQO3HUkhahMwbxTXRA3dUNyAQLQyIyCu0tqhUFX2WKFz0TDzW_uRng82VjRam8ckK1LjqY3tBw8CgZCtumQBggbDWwbJ-rlrJq57BMFMvp6Qly_cWIbsK5tqoJml8DD2MRl9qk1VpoEkRentRUnjyF80vRn47TLV4V-t3fr3eQqbce6N7N6SBZiCNvIdvhvtviRkq00edrOAldnbLmj2jakCtBytd3CdZ2WLgeuzOpXdGPShTncUuZntnyghuU0RPhcZIkmOtRJCpUg_ljVuAfYVilGGemvM-6hmBPXvaTrt6mQP8yDOk_0dA0djTS0PljT-kLPi8O1vUsTFsdV1Nm0BVhNH5TVUQPL899oBfUptcReG4Q0XLvezNbW9aBRiwecs-t-ko5YDc_TobixCq-RY75YCvize3D7PHwU-SyFaY8ruiBbTe0NhtNcase4nlre4U9QXNKLU1TZU8MklzbIlXGsQLCvUye4pPn3nyso9FpRRacLV-XKQa8LcR_R4t8LCsM-kiVnXEKcihWuXTFN-irDl6F931eWxmwicDQ81xsjdxCGoCm2BtV_hA_aMVeUvOEhcbXaWGuzUnc3Ue4fiswx30vqnhprKrfDnDkgf95EKmTNub-yzPi5tHP_OHC64IreCGWjPs9dI2D38CWJOhosB0FuJT2WZ0H8t34Hl3-iEtZr7JMQg6suV0cdE7wv5rPxCqBEajhwiI39Cg7Laj76JH_4oP19B3Q7ByERr1s_kPq11pE7MVGYmkapK6KYTOFEeOqZk-7lyMru2o073Kva9fF_WPIfbtr8w1Rgf8W9zuyoaYYoZ4VNkaOpFqONaSaMO3js3JDOe0OlPyuX5eT8LLRGaV3G-fzeN7jLLfoQg_pJrDxpigfXH-NbEJ6E29DIaV4SN8xXa_tv2N9K64ZSXWQ4Mn2VYJiU1dJGHY7MrWc1ZcRZcdXskuHyRIJcmMkUqv7XppDrtAkdeubZ-q__r9ooZ9sF20KZ_CWOe5P6832MkQH0-LThxxPqv1GELoKkD5Gy2klFEXLUPCjZKjPiLKKuc8F25iNdjn9Nl8frdOcUVC1HrwoFKgfvjxMnP8nCc2rL9YURErOPmqv-Gn2bPWXww7-tCUDOoWsOktSMWGBZIFcOhQE7yAxFiLXjaD5DF8k",
  "id": "rs_0c2f210df4b47d92016ab2c126107487d0b9cd1cc16fcb7e39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The body is centered between the open fingers at table level. I will close for a body grasp.\"}",
  "call_id": "call_saFOVW4RE7RgJwpNgarDeznq",
  "id": "fc_0c2f210df4b47d92016ab2c1265ad887d08ef87ec0b82ad4e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_saFOVW4RE7RgJwpNgarDeznq",
  "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]: [-0.5232, 1.8847, 0.8379, 0.4469, -0.6376, -0.45, 0.0216, -0.0483, 0.7319, 0.5415, -0.4213, -0.0757, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4452 left_y=-0.1312 left_z=0.0615 left_yaw=0.2438 left_pitch=0.0898 left_roll=-0.0589 left_gripper=0.0216 right_x=0.2777 right_y=0.0036 right_z=0.1597 right_yaw=0.0372 right_pitch=-0.0382 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.0889, 4.7385, 0.696, 0.1148, -0.0366, 0.9695, -0.5538, -1.4154, 7.0085, 2.0244, -0.0952, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2219fcd3bca05376afb113e9bd5a032e6a7b0d94b96dd52f06f53a4042b66a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb569e4962e495f7376a993d9211a2f19cba15c07cfc972a640bd125ff57002",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9bae205241cc378b3093d36768bc95ac6d0286e4d3fe73f39096fd100b00fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5209, 1.9278, 0.7261, 0.6403, -0.6018, -0.4461, 0.9962, -0.0479, 0.7589, 0.5865, -0.4465, -0.0685, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4326 left_y=-0.1288 left_z=0.0379 left_yaw=0.218 left_pitch=0.1046 left_roll=-0.0963 left_gripper=0.9962 right_x=0.2813 right_y=0.0022 right_z=0.168 right_yaw=0.0316 right_pitch=-0.0458 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -3.959, 1.1829, 0.1929, -0.1636, 0.0806, 0.1343, -0.4308, -1.388, 7.0496, 2.0342, -0.1245, -0.0073, -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": "gAAAAABqssEzxDEBFPXBUrXvoRnCdSiR9NrUW1MRggyX1kYnE_EVUzcb0P1KWbsI3LuE9VLl2ZH_wIkioDc4boCHV1JnxkZFhCdLn9MBzkDuWjyFxf7q_z__1mtlqpFM3T9Gi0URnpJL4VVw3-Mh4go9-clqcC7QDGNXozO5VxBKvnxoj1O2lfRnlFaSKuXjg8-epOvkhREK5oRH9EOVLi79d9mQY_lXQ8xqDLycQ1qEFLQki5poZ29J6JQ4J4w0w8CGdxwMZCQx5sBHqLGzSeVxiGJQGfhnW3fMu6LPSrC_kuzWmuLknPa9FsrECGk8FTZW0p4QnARSsgwT9Gz_SMt5I-y1kLBMCPoIsN4-MtvBg7lyq7VwVDpva0GtGXboYOtpG7MopgfHr4ahuQ3dt6ipTb2cst9eLpC1RBXrgI_qQqQrQPFbc35IUKQavNGz99edvy_bbJQd6jpgw68R7-uIyKHOP3c5r_V6cjBrW7tDfaM1rwdH-CZHUMpsBUWivbVHPRHnisbFQs7wE4__8Ru6yj8woVUB_8-s749RsDfN7GnDbeL9V7Cn9depf6x1pcoFWi2FYMLNIaDIYKsAnYlolsHtuXHYBwdXvtbOwjUKE5gfspZHq6FMazfkYVZ5HflGN3w27MYVsU6D52Zpkcpf7T_O_tdxRVeiIt-ZZsBv8QUlEspWoV-en-GY5-iKD1Dw7U-du2hBLYWQdFlwunDHypkOPVIf3XNQ8K-1GdZTG70mfvF2m9BFe0EGpGmtz1hbVoU-s7BJGaYUuzxdmOLB8-FP9Fv8Z4BaCSmhae7XTvu9Q2MLAS9JpY6KQ5_NG6o3_FS5rPMSO4DSaSkr3bnKcqBNiVcIBPqOP1tNSD_ANN2a7J0kDelBDq_gaUmFhfmcw8QMPmRAWQo9RjodaY4Z_vkWiuWySRiWFdXX9_LHOFqgKSbxuHWGjqr87GDgpl31OSeXgW4ZDyoQV76gJrbn7hxiFE5r5wO1Ifehg5H35kFJ-zOaV3Jg5131BtzIPJekol_oYTes1yXTtMx9qWYuWMEaFWCEN4xNbmIomae926wVIdQI8JphMd9rLb1WmiRcfAZVTGD3S9WqzidwYmXAYFNuN8HRREyNji4F7hPqSiND7ValGguLOKn8WyicVjgibMobL8cl1ACdmSmC_8ThwJvhG75EAqi0u07cMgdMKZIbDWcYAGHsgFmrfKQRaUm2XKOvkHgv4B3cF8Ojw5TutHUU3Sa04jzoBpM_UNEavnZsX2ietvzz5_zz7kAo9JFZxnZ74TOi7ni924bYE7NitVVYbcWH3Yl8LLOqhBJKiPoqmVbiV9EFQwMBY2npjryUntUYQ8UF6jwZ9IluNrIkv6Yy9fwoiZpj74XnrPrxHUCFzDNyUBLzpfgh6L87QLkmxvs8BIRaNVwdSuNPJVhpMiYhV8BamAe8clWJ8-E190kTI6TC8NGEH_7Yz79NWUSt2KRWbizhoR-mWhx95SOW61JO42BoKFtegLO308XNSyUAXr24qfDdovlQ6l1AsoRXxmGpA3c6gY19cVEHwANcL63l2nv7_BFXPuRT4QbETfRqkMEy7NvPpi0qtMBVKlsBGhfNDVsGHEMimc3hEsHq4qSY38e-uJvek9SCgX4DQOErVAy_laKhAVM_knVIe4SKkmhx_kQNC8Pz-iSeb8h9DuPBAgR4Y_Ny3llc_QiqkqpDRE8eK1HE8eUgNF6-RUVfQnoUEFq7AeCMSlQKDMKbRIxUPP0v2pyFdU8_BmkCd6N1YvSmbyIN_ep2x6oz1q98xMahT7LFCFMo9qqdqo9H_p-Ggg_U29rGqAiXdKIEa8Ms_yLuDvt0GSdnCD5Ts-GuNDBQdUhM_L9E1Jftnsi8alIQK-SZhNn0BYCqEvY2Cjjihtsm-3lf9JITQP8FETAf8GwIfnxNzJ5HPCIFtZdHKmmdxYBwsnOgpHKQmwVrGf4useLI_g7BUTRtcR52MhjvRpq1Bn9Pd_AqR9GbJBxUr5xSSQdiQQ==",
  "id": "rs_0c2f210df4b47d92016ab2c12bc5d887d0b4128e942f20c9f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.135,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The fingers are closing behind the bottle rather than around it. I will move forward while preserving the improved sideways alignment.\"}",
  "call_id": "call_wYUwmKXEKToS0cgvZQGEOy62",
  "id": "fc_0c2f210df4b47d92016ab2c132a05487d0904d22c6fc523826",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wYUwmKXEKToS0cgvZQGEOy62",
  "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]: [-0.4835, 1.9789, 1.0267, 0.226, -0.6075, -0.469, 0.9943, -0.0483, 0.7109, 0.5049, -0.4026, -0.0761, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=-0.1292 left_z=0.0468 left_yaw=0.2671 left_pitch=-0.015 left_roll=-0.002 left_gripper=0.9943 right_x=0.2747 right_y=0.0038 right_z=0.1523 right_yaw=0.0376 right_pitch=-0.0352 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.347, 8.4991, 1.5067, -0.1148, 0.2711, -0.0269, -0.3214, -1.4427, 6.9949, 1.9365, -0.0757, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e5cf7cc6ebf40d612319fd33fa716f6e2a1b762b095f5cd4a7dff6fd9b8050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76d82b7faf8ffc96b95fba3547ebefe5fa38d1db9a1751a4d67922f660caf38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d10e53f5ff374cdcf6761053b6d719f20c43aeac318e5e158c939dba3e72108",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.8847, 0.8379, 0.4469, -0.6376, -0.45, 0.0216, -0.0483, 0.7319, 0.5415, -0.4213, -0.0757, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4452 left_y=-0.1312 left_z=0.0615 left_yaw=0.2438 left_pitch=0.0898 left_roll=-0.0589 left_gripper=0.0216 right_x=0.2777 right_y=0.0036 right_z=0.1597 right_yaw=0.0372 right_pitch=-0.0382 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.0889, 4.7385, 0.696, 0.1148, -0.0366, 0.9695, -0.5538, -1.4154, 7.0085, 2.0244, -0.0952, -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": "gAAAAABqssE8uqi1_FtrrjWl1vpw59WCGDUUTk0UQ6gzJ_62at6nHqugN6u9HYxBtpiNY2YwWGDkusQpsyBt3_gj3vPsJqRcDGHjs_u7nRtgT4A8X9B530NmC8m2RODfx_fyo7Sw6XiJW5u--5az0UQHiyS9P-a_gpqq8oY6Ifypkb65kfy7gCBd7tlUFrkoPovSQ1QLpYAeZNU3HtAjwxe7PkWc4oSqgtSG5-kHgEiwNbaVNuQGANBBPeWw4oPikZP1OICS41JwqUaPXQtusMlMXStR74otmdbst3a0rpnJNz82irqxRrAAHo-4VqCvSo89oMyXa7ea8gA2DT4Cw8t1tM-DIBHZpTb8FMgbZgz76yADiO9Ji9z8clqOBlWL2RBdAyI_tZqqco79-yk3TlCx311EohrsLwl7prss8ILPK-Enm6Xyik_6le9k64HB4utYK3fBt8Q2uE6WBOwNwJGfr0kwTxWJ3eM_pTt3PbXccpOt_bP4TVTtagii3Vss0WgFySkF6CdGlh3oqyp_Twpz3xKNo84gqGxF4-1k5CnhiS7F_Dtu2xQItCMAYk62Wq2MBstQnYsBAxDizKldfecihSGBNmcckQNaLVnJYsK7MzbKqEXTF0b-2zBKYrBc8pDAtviVeNVnEldo1_Yq7MtaKYs51DK0OAQeU8eBEHeZbMXnuWFAMy5RXseaygUOqNNKEbq0Fv6mG6TJpxhDlSjKS1GIfIcTOWT2ZnfX043KCOp10rJaXkHT3_gMna9GVMNibyBhhMxpGyZFvWx5VU5lcrJUeeoWnoFhPwBY0kUS7CT85KIZrD8LZFVbKabHs-86SUfFUqPtdrl-PPiZ3lD8g4obpxWpQuiIjRnF3fXJo5qleX7MQkrszy-GI0EjZuKFXwfVRKgKy4U3ZYQCUZ5FJ6Ijv9h55caTk0AoS6PA9PGgyhr2QHqPEAajFd77lvjE8JMss-VIiD-dXoUgBigOcb-lBGOE0hX-nVVdWVGex8oHWEe-oD--64o6B7TCQjoGwFBLlile-3yv-bs2IQCXoBhEyxR2504a-FbRrXgEXpM2gJI8pOrJDO0Ua3qR6pLA37XQsyE2BU0ajR9sNPCoToEAy9Iof9qVF45UP57rjeGQrUG6YANzpBCavkjBE6n6-e48FbluIE_laNVKusBxDXS6HVLSBLa3gpnb_U4s7C6FGb25hUlC3rIM89saFFj3A3lkdai6L_tVoaMUyARFXgLdqLVCfzl5qZ7xo2hZfDRNJg3FawwpHpamW4I-Q2-UzZeySyExz1KNCs6x5Z4vxHJsR9AouA==",
  "id": "rs_0c2f210df4b47d92016ab2c138f9d887d0a00869d633c731db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The shoulder and body now extend into the jaw opening. I will close at this forward position without further pressing downward.\"}",
  "call_id": "call_3B1K7Pe51hFbU4FSQYVt4lhK",
  "id": "fc_0c2f210df4b47d92016ab2c13a840087d0a6950e04d3a050d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3B1K7Pe51hFbU4FSQYVt4lhK",
  "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]: [-0.4835, 1.98, 1.0229, 0.3099, -0.6411, -0.4725, 0.0199, -0.0479, 0.6914, 0.4717, -0.3874, -0.0761, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1284 left_z=0.061 left_yaw=0.2957 left_pitch=0.0567 left_roll=-0.0442 left_gripper=0.0199 right_x=0.2717 right_y=0.004 right_z=0.1452 right_yaw=0.0379 right_pitch=-0.0336 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.8393, 5.094, 0.9695, -0.0024, 0.0806, 0.862, -0.5128, -1.3333, 7.1863, 1.9609, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473f92d589ff63299bc16f235e147abeca12606ce26829ec9bd95192a9d1986f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a062fc21ffce634b52f61d0c04bc1eb19a18f11bf43fcf3b96f537859311a8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcec59be2fa4623507934af2135584875d7ea6c6a3faa9f10fdd6fd3fa5be41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4835, 1.9789, 1.0267, 0.226, -0.6075, -0.469, 0.9943, -0.0483, 0.7109, 0.5049, -0.4026, -0.0761, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=-0.1292 left_z=0.0468 left_yaw=0.2671 left_pitch=-0.015 left_roll=-0.002 left_gripper=0.9943 right_x=0.2747 right_y=0.0038 right_z=0.1523 right_yaw=0.0376 right_pitch=-0.0352 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.347, 8.4991, 1.5067, -0.1148, 0.2711, -0.0269, -0.3214, -1.4427, 6.9949, 1.9365, -0.0757, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFHUuW4Z0qfe_TsndmHqsslOsAXVm2J3b-fB0nQTV6GUxzJyJ7n67nv6_vazPr2n9wmcRx34k49V6We5s5t80iZ1x7b6-O4jKgcZqkBDrVDoCVUWG36yB6KDPENbmjQoGUi2g2_Apii1fLvPF0s2P4JSRK6ynjzhILvBQj4Y1qIQ3hkTVAHBbDPsw_fXeoH5WT_HyDOBfzYx2lHjrZBwxUDJS1g3pPgfHpEz2jdYYZbvT_zay4DHiWETGrAoJSl5mQm7klPPbDlrqKb_fb4F79cAmQIjrhdGTwnZP8oojaiWRJMzDYiLq_Rsg6gyliE7CjHSq4KmbbD-qisnKX3PLp2aqpLx8nDjfzuUqhV28BrpaxVGhguxYL7S0SmMOyzGX6dk7hRFMi7T0SJBV35Q7FHodHR83Hx-97UghVOzBavVt4PsXNtPyDhYSo6n9DMt0vwJllreRF8amWLYZT6BGXcxzY7QgooHFZ1D7ieeWJ-YKWkTK509MsMcmlrWDoIYoBR8f5h3lgNn3JW5ODHgnrcoy3AFR9tYBN-lMjEnK7zZ-q8NNOBA6C_exDS5Yc-TgNZT1qPmcsGfBT-U0i0uWaFrWrOJ8bO_TpSNM-t-6EGYRiv6x-DeHdJcBnJARnptbbDuFAtRKfEBjjU3OsjDDdmLqgFGOaNYU5lU2l5yF5_m_AO_RuiyGYzZe6SD9HC3hyAMFHq6KpxAQ3lFVkpF0SlE5HeehGlfInSXKjpBtsCtxy1g8qFmhdg8ce8n1ouixQqotY0SPrvJxkLVbQS4_CjgUGPN0NP3lsHDXtSSaYPzuzkhy899DJyoAKG6GeaY6ytC3LmY9JhmBusX92sbV1nb6Btl5XHmLUtRDaRW59Ajy1NffgqV_XKYvlKnJisIQTtrN0CqJJIqDDev2NgefXntsYl0erqBrfQ7-7CPQMH2CsehzbE4CgWAF-AFWcIOD5SzzsahVnqOZLCQJe8c1GgQQtqxqbJyxHp97gNce_PT2XqT49SqroJKQ8KnQpnRRM3IZv-GvgA93mMRZkWFXSIJ4znI9AZUUKZBP_iTDu_SdNxejQ7YVkFrqB7eTveQlNSVyLTAKnDupSUBAqyg2qmD8QLFlP2hRoL8to3DWx5Rz322QLE8_MpRNMbqoK9IIZJVVE3EScxBSzX1rTK8mMiMc2fKBvPHSEqKExIRwlQ8isBidzJNFBaa-s_Aj8Lqv7sLHg_XV_WYrsedI1cyJV7v0E9OmscAvrZlfVf1-8V_xbZoD8o_2o7zbhpx4xEhfkebqN8HXXlFh_CVmZKTS6eDANHHQzL2x3ss6s6FrGZiLWucfGacuO_OyyGjQQ-NSxNRntdjMdJDsQLinriyWn_SSfbUy76LQF8DZ9GZc4d4YBGv6Jd5BL79m4XBKqvfquhaQopd-ObYRcpoulUdTF-sOxycZ_2ufFYFD3bAwomAgn9C9gJLOuQhGOJVnDIx3fiYD0s2asuRfxvxF8bwPgamUHtUFNbPsSV5YGiyVhcCJUsqPBCqXUdZo9Jy5u5GnxcPJ5qaRl77eX8tVz8yjuKSW-v_cmA5NK0sWH3i62qKYebqIHkzE6xWpSrjeKOOsxdYtGoFwa6LUCXSQ8bqZwAfA==",
  "id": "rs_0c2f210df4b47d92016ab2c141046087d0a4ff4c6b89fb0bc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.46,\"right_y\":0.22,\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The left arm has not secured the bottle, so I am parking it and switching to the rightmost bottle with the right arm for a clearer approach.\"}",
  "call_id": "call_Pl0ECcOHaE72Uf8fgxX9dzKJ",
  "id": "fc_0c2f210df4b47d92016ab2c145024487d099dab077e9fbbbd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pl0ECcOHaE72Uf8fgxX9dzKJ",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3, 0.9215, 0.7261, -0.4114, -0.5106, -0.3664, 0.9972, 0.5892, 1.8866, 1.0599, 0.1238, 0.4194, 0.2668, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=-0.0018 left_z=0.2059 left_yaw=0.3211 left_pitch=0.0405 left_roll=-0.0364 left_gripper=0.9972 right_x=0.4443 right_y=0.2148 right_z=0.0739 right_yaw=0.0796 right_pitch=-0.0603 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.812, 7.1043, 1.6386, -0.1245, 0.1148, -0.1001, -0.0068, -9.6615, 8.212, 1.8632, 0.5006, 0.2906, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dcd5e845c6c7c1a99a14e210679343c9cdf81b36f3982cb2294c12ebf750801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4359b3aa8238fb521dc5b86b7403d759a9fa8a2238b3906f39c462466cf09442",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed2d60a3f5926adcb7ed8a6b7662335b7d00c1f85b7b2f9cec7a99bc105ebde",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4835, 1.98, 1.0229, 0.3099, -0.6411, -0.4725, 0.0199, -0.0479, 0.6914, 0.4717, -0.3874, -0.0761, -0.07, 0.9998]\nstate[eef_state]: left_x=0.4795 left_y=-0.1284 left_z=0.061 left_yaw=0.2957 left_pitch=0.0567 left_roll=-0.0442 left_gripper=0.0199 right_x=0.2717 right_y=0.004 right_z=0.1452 right_yaw=0.0379 right_pitch=-0.0336 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.8393, 5.094, 0.9695, -0.0024, 0.0806, 0.862, -0.5128, -1.3333, 7.1863, 1.9609, -0.0757, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFRKpUEW9ihsxPRRcK8ou0MNDWyRhwGXAy7umHeTTyiI8Es3rmKg2ylVmsjjv-u_D306c3RI9hcntw1tM8HnW_FHTcbzorLSnKE4VgPR6zfA7nLVCZzCl2iNiRwP44DfaZWjgBHMJetT3DtzoYY_9ntEbNpkpuonN6_zKkmIyDCKIbsCp5fjnZgFlgyloZe_NgQAsw7uamxN5lE0Wg74zoNpgjU1jgZq1bVl1f4oYgMV4FMCaOoaUrVUWdlmQN12VpO5zlxun19QVUtI-xVVdyJti6-g2qR8UnPm0lO74HqwbnCVEMPBW8aTfyV0udkLve_r24IKhubQWwgzIzNItIpo5XAo_HHgAT0TwgfpN5f51NZEhNo48-YbIzzosAnQaSdbgcg4UVl_M3J9QRfm8PafWg-Sd4QXhHEoD2VYaeCl6_DOUQNJkqXBscmRmmCovAmEorE1zcAD48fl8QESA2fIppnZ8SCvyHXsqeurlUyXneLXSDpYEHj38M507Mrjod1Div029zjAZPYkFHekdZn8CEfdQ-9ErU33TCrIGwPq2xLruL6371DyBPL-3Rb_tPeeLAYAFO43Prvq1b_nUNARj74RYH2UPo8GhBdIwEghTNqKqPQnCxUBdxmGhZx-Fiv_PwuinaVJMWl3CNIobGAWA7x8lcT72HkudBoeJuEUpqq69ANTvBoXx-T6zFwChHHZ9I-8zsn5XZQvLF7PhW0xo0XvG5J92oUSBceCR2bRPX8kkTRWKrg34_Jz6Tl69KCA-OZDJkLNX28F17K2zBjScDYyIJy5njtK2-GpcdvvpiCHc-DuCsvQkiyIehDK0sFO5uypNfpjC8UOr83yQBYfZO-p7j6QJv6LAIxvk88jb-PrHEMKOfHkyfcSbXZ8hOwGCs73VtYTpsHFeVK0I-otSErsztYxMj3Nq2Tf7PD8ioexwWZ4ZQl8bx0dyUvUd3mL573jsNM57hDUN8XoBdaxCMKAEBM746FZXXB2-qCPU-_1TQcQ9BYB199IpseQguI9t7--wqGei16sbueTgHuig4R6ursMi5rkiWWy_K91V75lsto7UYIYSY6glWk1kBLyUG9RdWerGIiuyBBRs05fiAG6K6T-wnT-JuLoyte9PcafFPkTMNLSnfSRBQmUAlOa3wC-Pz1QC5_KfqVsCrVed7duYqcCNxukK_3vHct2sw13eb-Pw1DVf4TKTwPbx65NRD_9PnkqeVBGv9xAEuwo-rXJVIdVrX70TexKR3YqhRepLKMokR7ESWczrP9n-XDnXqoN4SsKw0l6kgNmyaapnBUcNZyWn0bHtsSnnkccBj71aAVgdgnLtelvRK60QMZyKpJWXa9-tLjz-8oSU6XDA==",
  "id": "rs_0c2f210df4b47d92016ab2c14db94487d083a697c6b9e88d49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.19,\"right_z\":0.025},\"note\":\"The rightmost bottle is slightly right of the jaw center. I will shift right and lower around its upper body.\"}",
  "call_id": "call_3PwzoTOyTfmWx3EXxhWvFIkJ",
  "id": "fc_0c2f210df4b47d92016ab2c14fd31887d0a2e069cca7961dad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3PwzoTOyTfmWx3EXxhWvFIkJ",
  "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]: [-0.3016, 0.9627, 0.7452, -0.4866, -0.5053, -0.3668, 0.9976, 0.495, 1.9991, 0.9977, 0.4095, 0.3878, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0019 left_z=0.1891 left_yaw=0.3155 left_pitch=-0.0406 left_roll=0.0171 left_gripper=0.9976 right_x=0.4756 right_y=0.1849 right_z=0.048 right_yaw=0.0459 right_pitch=0.0287 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.8103, 9.853, 1.5849, -0.3785, 0.0024, 0.0269, 0.1983, -6.6256, 5.3675, 1.2723, -0.3883, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d286bfc735dee984e8b7e0a1aeb9ee41dc094dc58ae43fb96f033101517c1990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19767ced43d7d2a68e3d640c12eb72b7a7528af35c6bb883360aa7bcf541070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d9dd70fa611d78d71b96dece89291eb48f490ec79f0cb511c86aba2e68b2da",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3, 0.9215, 0.7261, -0.4114, -0.5106, -0.3664, 0.9972, 0.5892, 1.8866, 1.0599, 0.1238, 0.4194, 0.2668, 0.9998]\nstate[eef_state]: left_x=0.31 left_y=-0.0018 left_z=0.2059 left_yaw=0.3211 left_pitch=0.0405 left_roll=-0.0364 left_gripper=0.9972 right_x=0.4443 right_y=0.2148 right_z=0.0739 right_yaw=0.0796 right_pitch=-0.0603 right_roll=-0.0386 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -1.812, 7.1043, 1.6386, -0.1245, 0.1148, -0.1001, -0.0068, -9.6615, 8.212, 1.8632, 0.5006, 0.2906, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFbfXn-GEfEqdx-By0xP93rdXPINm7YEZS44Pb3vzZqfN6Ijhksu3Slq4oJdlh_moXtRBuSZadS2WNeG1xpsxZ4NuZghKgjFiSr1oSJVIqpMg-J4BfL8Xwz4U2EYeScsBnYVZxojr4M3baAmk_NWKunhCimtPOWbgoMsX9wjFmw3Xd_0DEmC-AVuNWfeVSN6ATDQNpoebAOOtgouuXLWJAm-bfi_39GGs9KJmPP4qBu-Jx8OT6tUbUKBlOUTQM26MUrbUTIMQFoUKi9KlqdxUEci2mBcEO1rJ-9nY5fYomkUgxumpZpIp3ZDbU8ZVOYV8I5EXKWJi3PITSZTvmhSRMyfXaQrgA_PAt_P3USFoHBFuKGXWQKYhROwpx2Q_6NoXLK_uYbOLbO6-1dLgfu7OaNL8iK0sbeexFMlW5PeiNdDl8IqK8qsKZUGzYj0d69eDhgrLC2QTXwFI6Z1AdbGPiGFZLg3Ocn8v0GIA8T0G_kfX3Elq_LhS1a_W7gNRH4geKTHCLhpAW46bP5pRNy92CnsZGRoHiNKIGJ0imTgBSKoGyxq0wwiqofamSkr6y8kpPgv5JiPs4z023CN38W5AcBVqNjVYQk2aFldo7XoMgPjoz6qRvfIZMM9PZ1d_4lwoArwsnOTG1b9T7R9HLM_j8tbGYZWU9oLFXH8bFhGj0V0t9R9VJnVf9lgf2bMRDDDHqBcRt6g3Xgzn52jH766gZKO72Bw_bprobzqvAh9SB3AOtfDX8j9XVleiLHhRUIb-ltaOknFSUzlnhlI-WJHnhQE5hy8MttLYIP8MIrKR837uiHKyjQcIjyDX10_xHlun7CsrmtkzNCC_Hr3hNBwQmHxYwcAwfNVfDk4r3zLlGvgsvahop4oEx6JUfqoei1IKK9Ipc5EG_FXp7aVn0cEhvwfchmTCpA9SIiY1BGfnmWokOQfThZNs6nSN-icCpQlc2KQXZND59Uyk6_9J8gvkGu25tYpdoU1nGMmG9VdrnMD3lDK6ydU0rxMbeRUP5xzNgQo6GfSit-TX3VMKKv90oPliTpJ8avoEeZEF2RXjXFkIa92GuzOTrkInkOiZrSlqmJjlQFju1AmACz6_YH55MLiepgwUkETr1c39nCtPF8b0N0VZEg7Z-RgMhCFLuPenkJH_ZDuxB9yZe6SxsTjTFfSmiD6Gt80_sqnfkeqpFOFgSltcchiC7b_6puXtxV9oaVh4M4EE59kg3Rku7ga_wEDUre5zPaQU5GKypc1f-RTWTgj0nR_gOIW-id8xcdkwjwJBoQbiJuOwAntdZ_znqTI57IVC_T3Z9TgjqC2l0myZ_qtm0O5EdoxhaN1CImZ5G2tU1iXuYHAf_zAY8WLgb1AP12bR4iRzI1aIZn1EgYpbs6KNhYkyJmlnmCqQftnb6DzaIvf8jrYiKOccsnJ2X0ENaHw0ll1zrpsYfsbYOkDNZWoh3YUMFbkPTg9InwZNgQ",
  "id": "rs_0c2f210df4b47d92016ab2c156ab1087d0b0b6154b77c27a9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.17,\"right_z\":0.005},\"note\":\"The bottle remains just right of center and forward of the fingertips. I will make one small forward-right correction before closing.\"}",
  "call_id": "call_IaaWk0AZxJzCdWbAoQ2PRsiA",
  "id": "fc_0c2f210df4b47d92016ab2c159f99c87d0aa667cb8a0a371df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IaaWk0AZxJzCdWbAoQ2PRsiA",
  "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]: [-0.3016, 0.9451, 0.7086, -0.4526, -0.5049, -0.3664, 0.9976, 0.4717, 2.0308, 0.9977, 0.4458, 0.3546, 0.186, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=-0.0015 left_z=0.1842 left_yaw=0.3147 left_pitch=-0.0286 left_roll=0.0086 left_gripper=0.9976 right_x=0.4811 right_y=0.1806 right_z=0.0384 right_yaw=0.0594 right_pitch=0.0251 right_roll=-0.0195 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -3.1111, 6.3658, 1.8144, -0.2955, 0.0171, -0.0073, -0.2256, -9.7026, 6.3521, 1.4383, 0.0024, 0.232, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b599d30a8b1553d09ae4eef8a716bd5d1ee8af31ecc3f1954fee4ace823a577b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55185b4f4391884893efba4b2424361d98539cd1247671f55fa2793061af8514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f7c2859725c46b3303bb56028785962cbef7beec21900be66e123468a95437",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9627, 0.7452, -0.4866, -0.5053, -0.3668, 0.9976, 0.495, 1.9991, 0.9977, 0.4095, 0.3878, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.3059 left_y=-0.0019 left_z=0.1891 left_yaw=0.3155 left_pitch=-0.0406 left_roll=0.0171 left_gripper=0.9976 right_x=0.4756 right_y=0.1849 right_z=0.048 right_yaw=0.0459 right_pitch=0.0287 right_roll=-0.0228 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.8103, 9.853, 1.5849, -0.3785, 0.0024, 0.0269, 0.1983, -6.6256, 5.3675, 1.2723, -0.3883, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFg8Mb5EQR3OEQHGmRhcNVOk6sixkAZ_W8L_SB_CQWKm39a09K7LBBSYhWgcCfNAk2SIZpF1G-2WiMox1D5qp3eYfRENUsJCLwxIhZKpfqFrWWxJoLdF48rwJyuUeu_fTOGO7nUFWatawdjFu0c4h0GaGekMQkOInOsp-hGQ_dom22WSAPmXXOr0NZ4IyYov3LQBqQuxc5USOIgSMWWWHTHsskY6EK-XrnBbh-dnyV-X5EcW8DqrOAhFEnRfe_dwPsEm-KnVydFp7-bwfgOeB0ok9XD5PpJiLSSHTvVi_vYxESD9arztH6-irrIFnk0w-Rnib-sv_LpZZfzNyhaa1mlkNPRMBy-T-x97Vam2XRpgM0PYX7MykNtBq6iP7J8yXJcJ2mznSyMXvLSRiuJhVMFmpCKUgjzKFSgzJM8EWWx9f0aXsn7TCbQPrT0Lshn71wtox5vlkuIHMYA8iZ0izzopibT8XXxl1hUOrKsQIIOTXKP5ifToUQHSvBh2-wqoIhMrB_mXv350a0632bBYx82AFoDugPDHnL2-CiwCAEzEqn8Kz5NF_nbPHGrhfn3tx_HcjdJHwKsFOoM1Oa-fgUxz73foyZqKICqOn3hDQ8TDOofiGdGnERtwnOle41FtQ1xruVu3XaisksPgM9SikR6Z44NslBauQfAi03GxifhKIbQ4u1BVX7hismNtqDMMHDZW90t5IMWF5rcsls5x7jkrX7fbFK3Ul0ukErHMAe8Tpuc0x5IMRnH9CoNBMuGuAhaE2bybiMdbJ_HWV7ilqVV1KK0fUX0dM8uYgVUEZ277ogyGqMkF1YAdbxiyihs4P5iqpvcHXYgsrdYOk_gGSICaWTFUeXHQnLGn0h9J5w1KRpSzpzkwUsd13QcHB27Dd2Jla1V5bXQOw3RlSrd0BhZiwCX8gATMQ27Ob8dDX4LRqmdkvUn7uCgM_hU_Naehhl64vMgfYw2dCPw5j1avtOZmtj9ByIvNxD-9PMeOY3e2_HVXbRpn8y2s9fHl7Ux56VnoC4bRMl-OxEu6fjYXdBmYrPZRGMnOX_niqAARobKBzPDPCYAepmOKDATzN0dDl9JqFOIYTz_6OjwVklyh08T8INtXMYSVdsRjt76iVcZe8nHNt-fxV_uV8HqLoc7MtcdZ4AKsiiqHzoKKw4lckC_e_3vu4UFaPxsRXHX7a8Yxj83Ev_8VFwYtvDLh4upleHRfLWVxmPalY3N0_uB6XlYew==",
  "id": "rs_0c2f210df4b47d92016ab2c15eeed487d086cf07a1068c3e2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body is centered in the jaw opening. I will close and use the measured jaw gap to determine whether it is secured.\"}",
  "call_id": "call_U0RLopJp4wTsyFHsgszlCNBH",
  "id": "fc_0c2f210df4b47d92016ab2c15f5b4487d0ab2cf41ff5ef7792",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U0RLopJp4wTsyFHsgszlCNBH",
  "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]: [-0.3016, 0.9356, 0.6823, -0.4232, -0.5049, -0.3668, 0.9976, 0.4698, 2.0266, 1.0, 0.4488, 0.3603, 0.181, 0.4731]\nstate[eef_state]: left_x=0.3042 left_y=-0.0014 left_z=0.1807 left_yaw=0.3147 left_pitch=-0.0183 left_roll=0.001 left_gripper=0.9976 right_x=0.4829 right_y=0.1793 right_z=0.0421 right_yaw=0.0554 right_pitch=0.035 right_roll=-0.0228 right_gripper=0.4731\nstate[joint_eff]: [-0.5538, -2.906, 6.7761, 1.707, -0.2857, -0.0024, -0.0073, -0.4444, -10.4957, 6.9402, 1.3065, -0.1734, 0.1783, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e43ae46b5e8288d94148e40a0a1057c47bd400b38656644dd0695f194e8821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a4091e36076317e1ceededa1b1dfe5290e78e9e8668d3dddcbb1dda7246104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a056e4e57bf9505bcb7ef005f88bf838d6b96b1c29c00331460c4434bd3cd05d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9451, 0.7086, -0.4526, -0.5049, -0.3664, 0.9976, 0.4717, 2.0308, 0.9977, 0.4458, 0.3546, 0.186, 0.9997]\nstate[eef_state]: left_x=0.3045 left_y=-0.0015 left_z=0.1842 left_yaw=0.3147 left_pitch=-0.0286 left_roll=0.0086 left_gripper=0.9976 right_x=0.4811 right_y=0.1806 right_z=0.0384 right_yaw=0.0594 right_pitch=0.0251 right_roll=-0.0195 right_gripper=0.9997\nstate[joint_eff]: [-0.6496, -3.1111, 6.3658, 1.8144, -0.2955, 0.0171, -0.0073, -0.2256, -9.7026, 6.3521, 1.4383, 0.0024, 0.232, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssFnoSCqpVwk4jbXcBiQiXAvKsm0wm9zaBIE_Y_bp-VMoSMp9a4BaqdBatYlDLjrjCD_7A5CqnF0Ky1Aj4jfMWsu7_tbvifVPtFCakEYM5am8rVzk-voFBlWeW1rHRQee6cLAFuamNE6amX4zphKKrchrkEH2xYnbhBkN9ss2w8HtuUhW0sUxxTNxMgvkK3_QWck7YLPhRNP1IEZwc6Jfv5z7vYRC1e21Xj09SAjMKkr4biQmL9-MTNQLEjHWbpZVglZFn3-sx3XkNBn38awLA_Ff3ENJQe2IYueslmbaMqtbjaoMEeIRLXeUaD4jHg35KJv6sdV4nyCVlraoWE6nezYVVxOW9WDnkW4cNNT7ntHDqaFNVMQBB8G58l_6h4auB2hj_UIA-4oFcRLmh1hBzfYXjtA_3kFWRWFHUa0yuyxnQdF6wbRuEixFqC9cQpF6uXXJlaUf8TUPoip_N8qLfbYt9w-B-TCANlAY1g5bV8XYLCuPgYIVv29nJNzhF5R9nqa5TTJ253E_semekCdTrQRpGyCP6UiNx1ApUFhaN-vWClmgqqqEacYLaGZVyJuO9HUrO4i7GjPawj-ID446IBDU0fsw_YacWHAubw_Nk4TiPbzal7pG0zA1Rm_KZylJUcYj90WGFrJFXI1OLnxDHwSL8iKh1CLJHEFUi4dSpZku56ybvyH7n9I4l9dsHxFiWWwil4h9-APQR0rWyZXr6gIzIrLbcW8_FzfIVho3ZW-Cge8yOjUkOWMHuvX1-0qW8iYGdbuiWWOuQPwpnZM9_iZcaGM3QY8JQJmlWVRKGqapWVYQaMGq_lojBo3pXfmFQlRRxnA2zmVIqWRwghI-Q6QwTpBG9Hx-TzXqhucBAUsxAPdNGzNh-IR8GWQjYZVReIkKOkmnjIbUwM-pT3ue0VHQndAa0I5Xuzmvq4pq-KtyEWidsdRJiqYhESwm5Qf9qnyYC3NmD3aZtJ-IQIc5YDT0IXqQ5ciAwPgoC_EueKJSIBLzOFbO3K5J3TA9J1wajITwiFcDvs8-8QF5nNkZKxIMnx32-F8C-l8LjTX8R7wTEExBwlZOi2xcersQ2SZNznkdVEuYEWCrqvcSInwsm8YK7wHrujsH_6fH7IiicuSfdMfGi_TVL-hQpXYe84M-QaJfiqY4jbT9tXYtjsfCFHjv9C7TqQBxEZLnQjoRVh7zmWAQSDEJPye490lN5KB9ncE",
  "id": "rs_0c2f210df4b47d92016ab2c16452fc87d092c7f304d5ddeb50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.135},\"note\":\"The jaws retained a 4.5 cm gap, indicating a real grasp. I will lift the bottle a short distance and inspect its orientation.\"}",
  "call_id": "call_C3Ic3sSAM0aPm7XFpyY08Rtk",
  "id": "fc_0c2f210df4b47d92016ab2c165274887d0b21b231d7d30d1b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C3Ic3sSAM0aPm7XFpyY08Rtk",
  "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]: [-0.3016, 0.9348, 0.6651, -0.416, -0.5053, -0.3664, 0.9976, 0.4698, 1.8679, 1.1305, 0.0715, 0.3275, 0.1886, 0.4729]\nstate[eef_state]: left_x=0.3027 left_y=-0.0009 left_z=0.1748 left_yaw=0.315 left_pitch=-0.0257 left_roll=0.0068 left_gripper=0.9976 right_x=0.475 right_y=0.1815 right_z=0.0977 right_yaw=0.0778 right_pitch=-0.0535 right_roll=-0.0334 right_gripper=0.4729\nstate[joint_eff]: [-0.4718, -2.8786, 6.7761, 1.7949, -0.3492, 0.022, -0.0122, -1.0735, -12.588, 9.9077, 1.8535, 0.0952, 0.1343, -0.0269]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1528804f56d8ad2a92014fce402824938657c04e6a3efb18d65e91799dacbf8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8674c454a818bdf9a988fa8a10ec3a4c194888b08d3237edcad27189014fb436",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d34e4346c88063e671f207edb5e193c6762486b6cbec76402e010bdc6840bd68",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9356, 0.6823, -0.4232, -0.5049, -0.3668, 0.9976, 0.4698, 2.0266, 1.0, 0.4488, 0.3603, 0.181, 0.4731]\nstate[eef_state]: left_x=0.3042 left_y=-0.0014 left_z=0.1807 left_yaw=0.3147 left_pitch=-0.0183 left_roll=0.001 left_gripper=0.9976 right_x=0.4829 right_y=0.1793 right_z=0.0421 right_yaw=0.0554 right_pitch=0.035 right_roll=-0.0228 right_gripper=0.4731\nstate[joint_eff]: [-0.5538, -2.906, 6.7761, 1.707, -0.2857, -0.0024, -0.0073, -0.4444, -10.4957, 6.9402, 1.3065, -0.1734, 0.1783, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssF0OM5hZISs-CcoU0qoVjFwPK5x4dQn1w9iKscFc33_kHidbu7Mtv95I2nLQ3YBzYeCVzXfpKkdKX6TtBSBzuVq1J9c2Ry0hn8nQjKGEeY45sUOUpjFBugTncsOhgipoSHJjVvyYEbTOhyh66KXD0FT8EqM1A17dQep9TDuAuUs74Ggkx8_QqMPr89xVX52PkbfSoD6mn7MZNJoYtfi8vESoooumyzEctTswxEk0FhiU9dlmlAsR1I-s8P_PwSy3ewjVSg_EnsTR0EAXuYj_9RiEuJgS1KyIrbhHnuMo_wxJKvRznmF5K_CZKYI0gW_Fn9tASya9HtawYQ8Hv22d9dMWPAZY8IkqPpMNNqoNf49sacCvZ6Zxp100dpxowa3J4Xg4GhwhWHHgs1Ssp78xuyTh2SRNeuEeWZq6oaS0YgW1iQpNFHWIj-ybhl8-R-pkax3pKjsFkUv8ri0UdU61Szyz25umm2YJz0lfFzyhxqNJTAJef0hWrBFdbakoGk_JfpXbfdy1BpGrWAzfOIxfqTtrS39jY_XC5iCUJ-lq8TVF89BfxXVUbRQkY9jp2P7_jBeUnpijsjVMUzNzGRoPcIvGKHdhqbpiAMeJfupOBeBQBHhHSkOsKOumrzz5zjJgvhfA574D61EOxyX8R83ghzuJFMbWhNuXVksBB-zeUA4L-yG6jYMWE3EPqpHYiYGi3Q0pmiUHG9hBrv_O1jouPalRTorHCCWbrRcsxhuYivcgQID62W-sHu8l4Qdzbs1cBBlhupxf6wC1n9hP_qIixTKkitXXCwDOv96PTf4jkyQE4tZJ8am6uBRBfCHIRUWighYsSu1wr_7ZlhYvblWv5phuafKz5qlEXcqYXbl1M25kw_2mIdXNshUttX7vj0OQ5-roUSDG8ffaU9xIkbL1gMhAnqBycBm9WBSbcyZnpkOWocHLO0-ygMbpgq9kbUKUn6l8X22bl9GXUXsxUkVFQ-CF4_ocZQWgvxfds72wvTbAEv-vikMmWJvQ2YN9qB2sgD1XqXV_xguUd0HMyrqSPz7d6fPG64ceV-bYWvhbKd4irDc0XafjycFAIukwxwgwHjWwXzkHLOBn_-Do3TAXXyTwP8r-nlkWn-xSC7E4woEwABssxGZbdGxuVUyvpmx985WXKxbENQefYo9yt6l7GDmPOjhX5boSb0itP8DZ18mXLfjPvCVWXRiJgMho0ZqQG1g4zFWY2s4_GB5di26nLH7j7b7WjaY8bqMjsQ8SW1Ffjs8GXuVmjIbfR-XYuMfDKGCQa6coVvgNRqh_qiKR9E29HnCB49zIEHRpLNwqDPUuEFt70A6SnEmlsQdRSRPipFkXK8u9DND8ZeYZ1qgi8-I6r8W8GpEshuOdrf1XgAFRkxHFAM12ZXu-dhEH9xzs4UUb2G1Rso1IIXbrM0jtQv6GfPHC6vYeZGh8KmoabObTwkf7Vd-7oeYvkB30g41UbXmT8kWcdPAlMBGMVg9p25fHM1SS9Kj9eOvFHz0BE4-8fHsiLPHJkVyG_48tKu6xXTF3gSuwAYTJ8wQy3tp8czuIu5a_nFyqNbKYoWsbRfLMISPdPZJ_dwG3Dl--_FeLBp1uQnX6CqTRoNj88V57zftsp8p53vMAGnHSp2dZdwVrHenUDnpkebnH7AHN6CEK_dKnmIN_z1yi1wii3k8fZkCVhvN8NXXLCG3Bs6elzFPp1tgVcCbsxrxt1tXlXZ830CocvKO_hGCjlz6Hv-IhBbg2zuoSdKv_UBUgrqyNSt5KZglzxjJedAhjCVK9fnS3w_eHKsO1iMIaP2a-Tu6x3WSw8l6Az05mHVTdnk-MJfz8VMQ1QyQmBIJcL2kP7zNZdsAn27YbsmFuYKIPemodN8lx2h7Hkms3sFniGmku2ahNuExx4UVGQYxIlWgq8Y68Hd5iOCx0llmTS8QgdkSJ_NKUl-4kv0X6f6U8c5ep234E-s0iTzB9JXdkJvxIYObqTMzCCJDvOH4N78poivxd7uyOEfIQHXoiho6gjxXWR8SHRL3W8wXsqCCi-iu-EquAu_mK9HKGnEhOuy8Y1amlZTe3gESz5c9SeEVN8hzTaRHQKW1TdWgEfNGRL1AGJnTD1Sli8ziXC3DZDmFkrSrUPvvTmQCLX2hSOQF47UnijHRxcaqJwFkBZ1ztXvwFKSLibeyXGoK3soPHRorY1rS5qUSJCVoMA0a_JN_1jr5OE_6_nAz8j_9zTTOijJhg3Ie_9qm-Zn8n8SN_fFMjZaKZhf2oWAm9vKKPE3KC2BE4QLoCEI=",
  "id": "rs_0c2f210df4b47d92016ab2c16adc2887d0b8edb9a7ccd31284",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_z\":0.15},\"note\":\"The bottle is held near its body, so its cap is still too far forward for a neck grasp. I will bring it closer to the robot to make the neck reachable.\"}",
  "call_id": "call_l8dUB3OLWQt8KWvtMQ3PPIOk",
  "id": "fc_0c2f210df4b47d92016ab2c1729acc87d08c0e629797520ab9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l8dUB3OLWQt8KWvtMQ3PPIOk",
  "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]: [-0.3016, 0.9279, 0.6437, -0.392, -0.5053, -0.3664, 0.9976, 0.7475, 1.3216, 0.7521, -0.102, 0.5129, 0.3546, 0.473]\nstate[eef_state]: left_x=0.3025 left_y=-0.0008 left_z=0.1718 left_yaw=0.3148 left_pitch=-0.0179 left_roll=0.0013 left_gripper=0.9976 right_x=0.3271 right_y=0.1899 right_z=0.147 right_yaw=0.1171 right_pitch=-0.0015 right_roll=0.0007 right_gripper=0.473\nstate[joint_eff]: [-0.4855, -2.5641, 6.5573, 1.79, -0.3004, 0.0073, -0.0122, 0.1436, -5.7368, 6.3248, 1.7411, 0.2662, 0.1148, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bc2315f44f7d92c4a8e60c639c239e63d2cc6893a608815c0efa84facedd288",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09124ab1e85b07b61c62b6077ec2fce5ccd271a6ef8dfd561f9d5f785ec30df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5f2911c86d62b954a17b6c1965a95298675dc77779907e11bfde8ab6f990993",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9348, 0.6651, -0.416, -0.5053, -0.3664, 0.9976, 0.4698, 1.8679, 1.1305, 0.0715, 0.3275, 0.1886, 0.4729]\nstate[eef_state]: left_x=0.3027 left_y=-0.0009 left_z=0.1748 left_yaw=0.315 left_pitch=-0.0257 left_roll=0.0068 left_gripper=0.9976 right_x=0.475 right_y=0.1815 right_z=0.0977 right_yaw=0.0778 right_pitch=-0.0535 right_roll=-0.0334 right_gripper=0.4729\nstate[joint_eff]: [-0.4718, -2.8786, 6.7761, 1.7949, -0.3492, 0.022, -0.0122, -1.0735, -12.588, 9.9077, 1.8535, 0.0952, 0.1343, -0.0269]\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": "gAAAAABqssGGGZGAo76q9EVEWE_dEiUCbGCTxx9WH2kOYThCPALSc0tfsAi86mGTtd2jNIxMLE5rB36__huzk5EU8eH15GdhWxsz1MOPuNneNFW0F0RVLTqSJ-loWpmyqSZfxe-0mNvlLI2101c5gKpdeENvKpcC1PYV-T1HOQ-_7dtlqama_MxSd2cGpV58HrPi8zoxmGAxm3CgvTP5EYUc3_eLdZ7HWw0JHrkRdyIp6AUMlK-q9Ak68UVszBU1eVBBVjQZIdSr7ZiNPzh8s7IaOK6vaw13lLZ06ZjpwoVS3b1Ny83VlRf-7NeRiyYr2BUzz_wqLVATCLfvpPXrHOjYReizlSvsPOqRdUHQGCJ9j4dfiHU-PJLtr_qQ7o92PFR9zHyvLcwur3_e66tWFu672wOJvRkJ9R8J8OjG9rJp8oSrLkTa8b4EXbid_9YU0BLR2-Wr4EsDqgSCGMu8hkkjo_b3VjzElgGwZazeFH0fFCW63GWuK3C19nuXqD5jcofJujeOOfnWXu1YAW4e0Aua4aDBwD3sPSvL3Cnct9ZQ5IXneSvXmo_utR2Z1domWfVbxDxEpr837DuXU1cdSB8aOdS9-IJNyOVa25c-hn1o4rORxHI3_kF0iZklcIpgSmVpaDOPt6VMabFp1gzL6ObJyNgbNIzqBt0iXL-bVBY0GrTxOZmy5tTZNiCxGVu2HIJLsyEyufwhFqdduCmRp6V-MPj9rMD6RYfx61HDS9cHB1t3yCi98RvXi7EozRY3266iFeFjLid3vQr54D2zwYA5QvQfXJV8k_Vm_EzcNzZtBXi7O1hrqWU01ny1hj-6gYL76NM3atFvAR8_AYpfwV7ZidWtt4f6P5TQYOEeKXiFXYG6KyZLkT6NiiZbWRUR86QQ8C7rIVv2l2X0ZnYoEnLC63vByymQnWuWpRzmNep0otqAxEZdJNPwYAtWnIXGzLEQcX0rcpf9-Hg7elnOclEmCL1SinY3ABi5-FKAdyZPtLrj1AEGxNkmyLBI5g8iAnp31753WAcyyfXdZVd-_7VYsH0Gn9S8ChS8O26r9hfZKbDVy9HZZbZDMSQddCxTzSjtYbzTztmjBkR9xPTdKrXqokxNAnC4ZNNUcX0BEeNaYsDZ_MzQSaUr4n5f7tSQUs5Xc0ztFNCibuKpJxxRbUwiEeT808Lqb4_QkxWn7WtxdeGUz4jlrYKq8Trpu-D4yrEl6o7tEZVLmL_Yhx-84ez8IHHIPy0cXmoj_NulmTUmtuhAI4xM83f99xTJw6v9mYiz3Klw7YGDZxypW9PKnoIMDBhX_eOWoHKFqNsw1nwsk4DjGQBK4CHmY5FMk6126ExuXDkfzezZ3QodWeMimFV2GMwo4grng0A3-VatT7MAVia0pEVYeHElIPdst76ABZX8awDtsIKKsiHt6TGuA5HzKh2C22DcIDLFExOLM2UEjHDJf_6uuqJYbkWtTtDSyHrR2D1U6VbeeQ8yumSZVN3KQMwu9CUjg4bdSU3sOiyQuBErEPsrptyOOLDrH5jvn_WDyCM6OFFQlACqXUCYWDfaghcRoUegR8cJpyGYBHY9eLWu9wWU4X5RGqfcVSsKU23Kv3F3t4iZyCDnvTGbhuenKBt-L2vqhRmaJXlNIGhkIloizhbVO0QjMBg_PIQnCUKUh5Xlto3zvgiLAkzMM68c-ec0E7J0TBJvK9YiIt3ZxJft9QvLvkw99TKBoCSn8Ut3V_oiAUSZigSLEg8Da3PbKkLgsmeKVF8NrS5IrSuKIoAyR-LWEJCj-uz6KeFHNgj60tQOBOVQlmP-A3Gh1jjLNsSODo9_J2mzQJqV-hKynd24joFbuMzK6K52VI46-I3RyBEAQrn4noqKEeUUeEhGd7Cvw62T4vhDeyz7-RUL3oRGdosVOjWfXI3NP3TXTON7faiFsWm1-9zua7oX92fvFnE8Q7xlTqNpKcSqxYvnOLMbYJoOmUAWsJI5hcisPMEkvjlzpKITKNfRa4lIH_hGNJ1emr4EannIf2P54gJI7c5Luo9cWoTvcgQku7N7JSUmnDZAw6L8Muhq7wpMe6_V-yB8kCxba0ayPAdjUutaw9jMIvcAydw9Kvhp2ETI2eP_2EVhKvNM9HNy2z16w5mT-IUJi_aLzhE4vHKt3T2aNNWlMhoJECRjVF3JsFiC0vOIl5uTNuakLBsCnixg1BHRFjXrumIkqOgWupfW0mVUwB7SNgTOXbDgn2ME_MsdttcRZh25T-O41874s6MVvZ681zpD__A3ZjJ0FIwYrfuTvpjscofeWR7QNK1uZs6EvXn5KtcJgkzIgR2oh4c8b9cfMujFs7QWMEIvMXGPEOqg8Y_FWQSFfpgmN_9n14BvlcJrCSPL1ygGvxke4i7fJ2YOBimtb3CbbWRSZ_2E2M2Jmtlsi7AZN3Wo3Hu64-XrfL65W2LTygA1tjYNGe8Covp7ou7Vc9ArzWCVZeEfg3Kxk3boxLtA-DFTm7jADE--JFX3jlEtuartImNy-2ixNTX6HKZDkxJ7Y87OsNE1x-xJIDEa7nGasIllwUK6-zofoZlfJ76Ku4PwF4ZU1a6uGPCul_9IypPlqxQu4kx2uCNlWDXkTL8CJ2pwwaEtqGpiVHlQvvGX18r8uC2501J4TtM28oFOgaR9q0v2-o-N4S3B3h2AdxJrm8fgJlLpZ9-LgAZczMgv62-96AK10ND-Gewd7j-4G2vqhVIQ_wXaww90AUhDM3_nONw0RPcuR-BvyP3IvLRijvnCy-Fyl99cKWYwyas9QsBAFoAKxn4DhvbAirYRoFmz98njmjCIS9FD3ZW00u_qHV6zFi5wWeI8ZWpuq1KauwJ6slsnSBDA3uXvmc3ojeCGmjir_gNtK7aE0_phiDX15BfRkS5nNSWkxPxnSSCATRVeFA==",
  "id": "rs_0c2f210df4b47d92016ab2c1786a5487d0ac5db3e9e93da7e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.17,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The bottle stayed on the table, so the apparent grasp slipped during the lift. I will retry the confirmed contact position and keep a closing command active while lifting.\"}",
  "call_id": "call_bWqUvbiZYC2egUP8VEr2lqUU",
  "id": "fc_0c2f210df4b47d92016ab2c183e5b087d089e47c4d03465a2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bWqUvbiZYC2egUP8VEr2lqUU",
  "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]: [-0.3016, 0.9234, 0.6315, -0.374, -0.5053, -0.3668, 0.9976, 0.4294, 1.956, 0.9588, 0.35, 0.2523, 0.139, 0.9977]\nstate[eef_state]: left_x=0.3029 left_y=-0.0009 left_z=0.1709 left_yaw=0.315 left_pitch=-0.0095 left_roll=-0.005 left_gripper=0.9976 right_x=0.467 right_y=0.1692 right_z=0.0382 right_yaw=0.1263 right_pitch=-0.052 right_roll=-0.0241 right_gripper=0.9977\nstate[joint_eff]: [-0.759, -2.441, 6.5983, 1.663, -0.3101, 0.022, -0.0073, -1.2513, -7.9658, 7.0496, 1.8388, 0.0757, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5550bedabbd8713d4d03d60050edcb75b3b203e6097083d323613ec9281b67df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5a7aeb2f38c82ae4a747d71ef485a6ed0c91c91c0523415a67800ef16b881c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2770af217f752d0f672add293b4c699d42859a6f82c9bd14af2763ee77c21c2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9279, 0.6437, -0.392, -0.5053, -0.3664, 0.9976, 0.7475, 1.3216, 0.7521, -0.102, 0.5129, 0.3546, 0.473]\nstate[eef_state]: left_x=0.3025 left_y=-0.0008 left_z=0.1718 left_yaw=0.3148 left_pitch=-0.0179 left_roll=0.0013 left_gripper=0.9976 right_x=0.3271 right_y=0.1899 right_z=0.147 right_yaw=0.1171 right_pitch=-0.0015 right_roll=0.0007 right_gripper=0.473\nstate[joint_eff]: [-0.4855, -2.5641, 6.5573, 1.79, -0.3004, 0.0073, -0.0122, 0.1436, -5.7368, 6.3248, 1.7411, 0.2662, 0.1148, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle is centered at the previous contact location. I will close fully again before lifting with continued gripping force.\"}",
  "call_id": "call_o3sOvCfXS255aio3tk3zA0Ry",
  "id": "fc_0c2f210df4b47d92016ab2c18a177887d090dbeb1cf2ff57b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o3sOvCfXS255aio3tk3zA0Ry",
  "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]: [-0.3016, 0.9234, 0.6315, -0.3721, -0.5053, -0.3664, 0.9976, 0.4252, 1.9732, 0.9226, 0.4683, 0.242, 0.1287, 0.4872]\nstate[eef_state]: left_x=0.3031 left_y=-0.001 left_z=0.1713 left_yaw=0.3148 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9976 right_x=0.4707 right_y=0.1706 right_z=0.0395 right_yaw=0.1367 right_pitch=0.0083 right_roll=-0.0081 right_gripper=0.4872\nstate[joint_eff]: [-0.5402, -2.3453, 6.3248, 1.7216, -0.3199, 0.022, -0.0073, 0.1573, -10.4957, 4.4923, 1.6435, 0.0952, 0.1148, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fc218cc3f819f405325d0470b04266e8bd8fa28ffe79037d8e77262485f993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5311786eed5107cda26ae72f8f741b77e6df1a1f078cad1a7e61c9f15380c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30fe71197bbb5e7b86562f0d0c510731ed6ae79248b078065584949c1b7cf74f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9234, 0.6315, -0.374, -0.5053, -0.3668, 0.9976, 0.4294, 1.956, 0.9588, 0.35, 0.2523, 0.139, 0.9977]\nstate[eef_state]: left_x=0.3029 left_y=-0.0009 left_z=0.1709 left_yaw=0.315 left_pitch=-0.0095 left_roll=-0.005 left_gripper=0.9976 right_x=0.467 right_y=0.1692 right_z=0.0382 right_yaw=0.1263 right_pitch=-0.052 right_roll=-0.0241 right_gripper=0.9977\nstate[joint_eff]: [-0.759, -2.441, 6.5983, 1.663, -0.3101, 0.022, -0.0073, -1.2513, -7.9658, 7.0496, 1.8388, 0.0757, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":0},\"note\":\"The jaws again stopped at about the bottle's width. I will lift while explicitly maintaining the close command to test whether the grasp holds.\"}",
  "call_id": "call_TztPi5PwK2WNQNLHwpgNboDZ",
  "id": "fc_0c2f210df4b47d92016ab2c18f357887d0ba81a17b51adc5ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TztPi5PwK2WNQNLHwpgNboDZ",
  "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]: [-0.3016, 0.9237, 0.63, -0.371, -0.5053, -0.3664, 0.9976, 0.4259, 1.8008, 1.058, -0.0246, 0.2192, 0.1246, 0.4373]\nstate[eef_state]: left_x=0.3031 left_y=-0.001 left_z=0.1707 left_yaw=0.3148 left_pitch=-0.0085 left_roll=-0.0053 left_gripper=0.9976 right_x=0.4477 right_y=0.1649 right_z=0.0793 right_yaw=0.1546 right_pitch=-0.1736 right_roll=-0.0489 right_gripper=0.4373\nstate[joint_eff]: [-0.5402, -2.1949, 6.7214, 1.663, -0.2662, 0.0171, -0.0073, -0.6085, -13.559, 11.6718, 2.5031, 0.2027, 0.0513, 0.779]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a138fb52bab51cbaa18eecbc850c86871b56d6198629830eab65e09ecedbd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cae33ac8d0e26175deedca2836dbb41d91d399ac3cc99b0554ab22daf5bb42f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de24b169607115a06ebd016fd8a456b2e32b7d7af2938739f0854f910134ce93",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9234, 0.6315, -0.3721, -0.5053, -0.3664, 0.9976, 0.4252, 1.9732, 0.9226, 0.4683, 0.242, 0.1287, 0.4872]\nstate[eef_state]: left_x=0.3031 left_y=-0.001 left_z=0.1713 left_yaw=0.3148 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9976 right_x=0.4707 right_y=0.1706 right_z=0.0395 right_yaw=0.1367 right_pitch=0.0083 right_roll=-0.0081 right_gripper=0.4872\nstate[joint_eff]: [-0.5402, -2.3453, 6.3248, 1.7216, -0.3199, 0.022, -0.0073, 0.1573, -10.4957, 4.4923, 1.6435, 0.0952, 0.1148, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGZTyICDxjLZUZhLiISwU6PO_bdSvCdB2YXEKdxk8HrKR1IFKPZj7LR9Jf5NmsWQ2-ZsqTHyy02DPNlOzXtnLlKkQL8HomPnJ4gahsBy6W64xcPv1u8Nv-Y72L5TFnhJz4UP8OWInNPmmccZ5DO0v5MNS2YRIPQPooFoXl_YzkIRlhjYS-3FhMJy3o7Yv2gN6SLURSqG9jDWxmJk-weKhSO6eCp7ygRa0Yk4jdy0FJwQpez4GF5QJqmQi3raSdSpBheIudoCKOdFYeA5OWQ7hkKQLqmDdnGEGIpHTkWZ1nE5nitx8VcUBLbJwPX0eDFieOKk9GB8aDUCleNgrcU_fZDw2oCG6sRQTpgxpvfqaazpRHnSp_oEryOgTbg6avhb_gJUokHee71x9OX165c6M_OAYVrc5sMMyuZFZ7wYxXZ-RkAmzUSjAQCu7vNnAsuAeIXZ3_uTTJLeFm5H4Yly9JAwvwferr79v91GFOFLVwIo5ezD32x8_kLqQWGhQvcmL7xGeqF4b0IcHC270wlmLPc7_Ls_lGpQQOcbOcbUiEKWFqmPw2i7k9Vo9vE7EI7-qT045sx4lg4UR7rTg_zbKSkAO26uyYmxQy9j0A95m2ipWDnj8ZFMhAJsGhR6cl7yZd3PxLz93abN2JEqaIzzE05E58Ds14wnjo_eO5Fp1HZUmU73CkxG7qEVYfftHzjWYFBBfJRKIZaLWcLIZBt4HeQZp-fzqrjbzt7ZIkx5Rx-T4IaJpem0S5xW3JqN3z-b5Z7xr8-vCnE_r5409s5uC42jwD8kG2yQK1qugVNQlfL2FSQwCrgDpSOrmBMfLMb71ReO8f_QOhKBz1Wpv_G5FsoIRfrcTO7jyygNRfTybIEI-iLHkcWsLK2cqWjXeMrxiPY2TwY30I7ZwMJHmzEJ-e8Z7XgnbIvyGbJvQpec51mqHhix17DVnkmXEbqr0yCm7Buk0ugFpJlff9gg9iRGI7TyODK5ouVMWzCXTw52UQ6O6BW_YUKv53oMoV8frPCMh4TFl_KWHfzZDIhF0DVYFP9y28bpAyOm4eKMbqmapG1Hvpxco4Jw9hSkybiiO1WY-5Oywnjls9-XVjNH2D-9gE4o1rDmHY7mUSwEtw6_yNAKOvlyBNPov2KGPIn_IBzI5f_hiCPD1y2h4C0mLNoApLODO1gAHUdf4BcZ9CzoWoe8e42OlvVEyasbyj2ioI0rOAvdWpYmtiXHjkEgvqYH6ZTjOjwWMcCyCJK9qxTw5o92NBcZg-hhT1xilWVcc1o9buK_VDtWrQqbMMOtd0uWnRLHrtZeiff7hXt3izfcG9h-sChRsTJGyWpv_6V00fneqDDMMaXn4tjGGnkKRtq8V6o6crp7NyiYEmpc7SgT3sw_xk=",
  "id": "rs_0c2f210df4b47d92016ab2c19586e087d0931df3eb46ba8ed8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_z\":0.2,\"right_gripper\":0},\"note\":\"The bottle now moves with the gripper, but the arm sags significantly under its weight. I will draw it inward while lifting to reduce the load on the extended arm.\"}",
  "call_id": "call_viAS8FNXh3dz7qSZBGz9yfth",
  "id": "fc_0c2f210df4b47d92016ab2c1975f2887d09f8f34a99b64774c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_viAS8FNXh3dz7qSZBGz9yfth",
  "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]: [-0.3016, 0.9253, 0.6296, -0.3706, -0.5053, -0.366, 0.9976, 0.63, 1.2278, 0.828, -0.2352, 0.3618, 0.2272, 0.0221]\nstate[eef_state]: left_x=0.3031 left_y=-0.001 left_z=0.1702 left_yaw=0.3146 left_pitch=-0.0098 left_roll=-0.0041 left_gripper=0.9976 right_x=0.3335 right_y=0.1702 right_z=0.1811 right_yaw=0.1896 right_pitch=-0.0166 right_roll=-0.0083 right_gripper=0.0221\nstate[joint_eff]: [-0.5128, -1.9214, 6.3521, 1.7509, -0.2906, 0.022, -0.0073, 0.0479, -5.2308, 10.2632, 1.8242, 0.2711, 0.0611, 1.0769]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e696014c7f7e1f1cf61cc85e338a89869fe37430089b9dbf9908f911717039",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f280904c7420c3eb2d5950098431e7b21520068b1546094445f7cd2eb75f9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81b592cd796d240762d1e27f2c4dfaa5cbfe96ca56cebd95c070bbd9046d1f0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 0.9237, 0.63, -0.371, -0.5053, -0.3664, 0.9976, 0.4259, 1.8008, 1.058, -0.0246, 0.2192, 0.1246, 0.4373]\nstate[eef_state]: left_x=0.3031 left_y=-0.001 left_z=0.1707 left_yaw=0.3148 left_pitch=-0.0085 left_roll=-0.0053 left_gripper=0.9976 right_x=0.4477 right_y=0.1649 right_z=0.0793 right_yaw=0.1546 right_pitch=-0.1736 right_roll=-0.0489 right_gripper=0.4373\nstate[joint_eff]: [-0.5402, -2.1949, 6.7214, 1.663, -0.2662, 0.0171, -0.0073, -0.6085, -13.559, 11.6718, 2.5031, 0.2027, 0.0513, 0.779]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGfgFJr3NwoYaGmrzk2-_yl-9UNYfbl2mUGEjDvh8oJYOzrJOQCGmL3tY6HXCdwqqZ6cET-NTEuSbZH9Jbr7v_UfraXZ-YNNyCCSTDH7230_JUv1bQDO9Dyucsh2P6jFJqJK7qmNR7io4OyjtGYSqy7q2FWBikRf7lGv5gQ0xDlgHcZQzVOoriMVTD1iWDGPiS3pOJgFc4S_ixnAVknEDumCsQ1qvQTzpWqzcEZ-ruhP_cAXYTYz9eai0Rgut-0qYa2XQdbyiR6wP8MbI6k0wTonE1RS6tRZGUXnj_Ux3SBDEjj-zMnrOehAX3ald1E6OdslfWDBAS2tbcHLEvrLSsPFk9vZY4iKsMYO6PIv9r11yGJ2mS0-D2GQfKuLFfm2mFpw1mapGe8B0nrTE3lMTgwpUkP7nQORHrjslSJcGWpnPrNyhZP0KZSDzEytC6BneSJLaGfxaUGTS3jx327Q9ye27pBC801ln4T4H6j743YfQ4rQ94zeS1QvY8DO6SILxwez3TDn5DyhgBpfWjnLB48yUZaja0ZppXEh2Z2cuvQDk3fCMTLXqJeq8qrXIuwvQ-SGg7ghhSKtd1rEPs_VFoqjcHnz_cYu0OE_1_UYSmWJUFlU5nZwUbAs5fbZaFTemqj3M7h4C3LaxlJF8i1rOROpngOa5ebKyZSFrw6h6fyofXMT9R89_2W0kyrUuoWZEUM947AZ5NaZsSeo3flPYqOla7Ap4_mPMGqUdHiF_4ndSzqSt3r2aBseJ4osuWJF83INxCcVGqnjfxCe4B2gl7n-rhq7i1iCLYamtNxSoA06XX_nnWjt-W9jrMK9xDytUgFLOjq-7g2xpsRS_YSEwhwCndYfEJvVkKGlq2-gvNIeFDpQz23tulBWMBP5FE5RnGI3oD1tRbeTIVfprCuVdUCZmew4azWS7QagjYlEsO8TYe_X9ZKdnkizwOI7QhNEa3GcIlX5TYp7_QWU_IG1lARL_cKpFCKA1uCsBQmZenPnrHh0x4JoCgU3ybox_HHwyhtSAfVNGOEeGMect4hoaNQ55U5gbkBrkqtLhq6I0OOdF0p-3fjnsP1-VBXA2b2DIQBh_xMXvkt90pS6BrPLaizITboZcY292JJGujSgebkwIz7IAYOpQFhSK-SVJnVDX9ccI_JwuUli4lnYRTIIC073NIw9Q8gh_63m712W0tUMl5ih3TYTTne_BWVPKdscONQNfpijC1lwsEVcRiqlBmItnTEJyuqAohDZykBwxD8g1ePedc216Dz3RU9nTmTUTIqpswFKKtlpdBz7EGVn_Etjw==",
  "id": "rs_0c2f210df4b47d92016ab2c19cfa6487d0b92a5f0360a2e8fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The bottle slipped free again, and all three are still lying down. I am parking both arms safely rather than continuing unreliable grasps.\"}",
  "call_id": "call_5NdfkOxNggLLMJARE00b6Pae",
  "id": "fc_0c2f210df4b47d92016ab2c19e128487d0adec7c5461e1a995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5NdfkOxNggLLMJARE00b6Pae",
  "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]: [-0.3096, 0.8978, 0.691, -0.495, -0.5095, -0.3702, 0.9979, -0.1883, 0.8417, 0.6872, -0.4732, -0.2661, -0.2073, 0.9962]\nstate[eef_state]: left_x=0.293 left_y=0.0005 left_z=0.1822 left_yaw=0.3126 left_pitch=-0.0371 left_roll=0.0151 left_gripper=0.9979 right_x=0.2945 right_y=-0.0052 right_z=0.1894 right_yaw=0.1306 right_pitch=-0.0309 right_roll=-0.0007 right_gripper=0.9962\nstate[joint_eff]: [-0.7179, -2.6325, 10.1675, 1.5702, -0.3346, -0.0317, -0.232, -0.1709, -2.4, 8.3487, 1.7949, -0.2125, 0.0611, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afbba48b6541827565332a9d1f71d491389bb5af439c81e8c44fe93b8ba278a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c4aade4fac099c9402d118d8b040eeee6f5988ab35e82e2606453a756a7d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f560f9bc6f1c88a790aa8faa7ced0947c7d3b143bf788af095333c27a46c171d",
      "type": "input_image"
    }
  ],
  "role": "user"
}