adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6094, -0.3763, -0.017, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3847, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0042 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4581, -1.3197, 9.7026, 1.7607, -0.0952, 0.1441, -0.1587, -0.9504, -1.2103, 10.3863, 1.8144, 0.0317, 0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3fbbc3abe24e000486880fb40a3217f6aae8b2dbe7386b0432f355c370c3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb5cdffd8139642647c2db5adea64a3979f5272e578e059a14750bd9117282a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62c9da5af2ccf731172633d0ce60f15e9e88fb9a43cca37b88ad03ea091eacb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrauqF4Roudnk52q_1w_SompfulEfT_xIgpSRnQIj1tuI2L_KWRD23nWgOGiRQLjKl8ca76PN5pVdZBI_kzG0BW9e7swCSZ30HlZS0Fjo4Kl3o01m4Fc1CCWcxbWYSStTxECjheCPKa2u6Ryrtl4sn25MojXA0qRW3EWdsP69AShiS9nPJlxQM8gGMIAc7dCFEbFJRfKbOgmB0gSjBCHOBnP3nYe6M4gqv7cpWFbdaBSdAscWZDoaxfTC3aAtMnj7LK0cJeQZEJmoRGiom5frgq7dyPSN4vS9a1Pc4inlpe6gDzRMGixe1e2ds0kC3X3ydY2dUkZcthGF7ULDHnx8rjukRD5le6C_XsjVmswS6e6rNsKlXl6pU1XuOwBrIzH-ifeGFGjvIozEXUaq7JhwfroCv3haQRDBVQomTBc-hfnWozD2SC363GzyHZWxYDhZzYTo7x78J37v9ahvlsicQEOnVc_qIV1tHEjti-D1Xv116_ybbVdGStK8I_iTrFP1ZME7IXkgiWjOwDMhS_2PIfwUHt43DRw4sfkkgv2ixEVNrT4bM_RC6WCJcX46RAJ7cmJGSfPI92tEFYX2K-i_WAdaZ2y30J7vS-9DRC0tDUv1LzTcqRaL9_9sX9-gyComfi32qqNPhHT_5py8fJeIt6KADcyNvMp30oZR_ATdgCDhiANOXOnXOSiYylmjFgyHed7AY-G1wTORoGPOKcyXEjYPVCvldMvl7plbHvosf-zWSy5PofH2RlmL59xHBkfNtaMicWsTzF8BjrusXD-DVfCZRkjwpSgYuhs2u6lxI0cZiWGDNFzl_BjcdD7_Q5pQrY6Jgwi55GJH0Z7q77kWmK5MXqFJ-cwQDiE0ZS8Of2Qxanjf9mtYvak4Gnr4lXfrBGvGgbEn6C1jRi17N-02m1tntXJKMSTMwsTN1Jf5_g485UG-OMVqrqy3RvqRNiQ1XlWkIfeT5VBNh28E3CNCaZSWJRjS_J8rvSFjZuB2hi-HEiTFFZGwqP_ii1NGiNEWQVRVznO4B1P93BhTSPF4HoRnc4al-gRpQZJ5O5LFvUVitxmK9JWOD_EYFXI26h5PT954B-wZbCPUhglxvcmO284WS5BrxuIsgja6L6LyKqrmzsCzsUaGR5XPWQPv0jXSvLu2LaH8SpHQFpZy1V8j2n7GMfwAiERRk9jH0PxxOCnyZNWY8mkxhp11uopG8xl9yzPp0_qAW5Gvj5OFVNKBTfKDOLn8cN4TUWUzhXWcpjpeWKA36uZ651P3H-YoBgg2Lb2rpa59txStdZTBezezgXt50NAyd13eKTx4aqCD-_pYsbPvGPq663bTnPuS57sHruErrfWgGfFGVx5bC0Oa6FLJ0JO4NnLUjWuPrJ0cLwrB5Jt01PBRZVBnS2De31n2qJvLewCvonbAetOgKKghjdjf-UnjWEcEAnynZEGITJY0jld8OqtVlyqQEfI2rysqKFoOa48u5cmNRa4xtdHMvCYFyS405W1qIZLTFujbCtLwDXMYY2zp69p8T33S2Bf8KX0TDB0CzFudsOHyPS0zmUdnB9PC1OxYTkE31PB1rSmorrRrLWcS_SA35HC2QqRmqqxIg0THK-Zvn5ixYTcmyvjfM-YgQLj3ojkO_tu2ThRv8fl1rb4_OK0L2fAY4XgMVlQxxaihYdZWuaBQ79a2Vqjb3mP7BYZjpFylCJUIBpeMWRFD86HWNQtiPQX2O1w0rZzelGq6sDGWXDFb6TkbMr-XjIfVJRcDWa8CRJrAx3E9gu74tgWKA-alAdamqxsCXOzGfPFQhyL-WKP8XGtjVj0gbwTSzjOq9-L6Uc6Vfb9swcByG-yF-cupOm3eryUhqKRk1QTturwboN3LbNkjE8zx5I5nMFaVypbGlntHxTFcYO7_UnpYVOJt6i8ZRnrcsbimc5P103Z924B0lMa2_3ej5MkA2_dG8ScGBVP1ByicqOzhLQ5hjkuJ3c10COREn9Sbdv8qBcwRNKW-Bk3PTA6eWBJGoQxI6McMMrppXrhIqbeJbg8ORtMyp9bq-6Uu4nY",
  "id": "rs_007719cc1d5b7ea3016ab2b6a6947087d0ad5d0a40a2318577",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides. I’ll approach the neck of the left bottle, aiming to lift its top while leaving its base on the table.\"}",
  "call_id": "call_jDqtbvlXChHScj5gtdGD4nJB",
  "id": "fc_007719cc1d5b7ea3016ab2b6acc6d487d0becb09c9609fe1f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jDqtbvlXChHScj5gtdGD4nJB",
  "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]: [-0.437, 1.5349, 0.8974, -0.0353, -0.35, -0.2634, 0.9988, -0.0189, 0.7921, 0.6033, -0.4038, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4148 left_y=-0.1229 left_z=0.1313 left_yaw=-0.0112 left_pitch=-0.0649 left_roll=0.0173 left_gripper=0.9988 right_x=0.2913 right_y=0.0032 right_z=0.1753 right_yaw=-0.003 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -6.9812, 8.7316, 1.8584, -0.359, 0.0269, -0.1343, 0.0479, -1.4017, 7.0632, 1.8926, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2b12b0dc9100c59da3e62769b4b3c353e3df0918a7efa7d6742a268fafb576",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa49c3045acdbd60aa1064ef87feb8c2ec76a73e77903d1790964892f6367af0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73853ddc4f75000a88d78e292ccb5e45393efbd198abd666f37e6ce2fd956655",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6094, -0.3763, -0.017, -0.0284, 0.9986, -0.0154, 0.7891, 0.6041, -0.3847, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.0007 left_z=0.1834 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0042 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4581, -1.3197, 9.7026, 1.7607, -0.0952, 0.1441, -0.1587, -0.9504, -1.2103, 10.3863, 1.8144, 0.0317, 0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsra5ABR2BY0eJrODIq2g4xa7oShj_OlVh-RpnqLXfLWsOf5I45nqSDn_8mKl-aHQjyQiufi3US9LSCxZZOrl9x9n8TICVjRqBzSzidBth2wzOBGCeHuhHM2KnFOLDmkmXzn06hITF4DePe8JrArZaJ4zsxLYzg8VXRWWCuu4lSVUntDZ6A3Pj-2SDDTHqlY4t6J6q16uu_XXu1n9Zg79hDODTczcfYQm90mufOocWNvrSvH_h8EqOvB6NkNmVRNYo0dmT4vGr_8FtBbRNlMja-ftmwPv4kc1UoFb_iY1x3diOPo5CwjBXs9ZhPEYBBeGjrsIDVWYZGxOrNFYSte0R_MRvbhpizbt82Xpk9bTS0UfqPWpYxjQz8V9ei03_ZEA4pI3ysRPlPnxtahUGy6pgu6TSeKO9Tqy51z8drITJNuCwcYkuQMULHjHRvCtrOFdPHqkjPKAWSEnthk4JXlbjOx_FN6aMeBBp-YftsJpDgQym-fbLqcZQWjEZy7n6F9Lekk0kDkD35QVA12WOKJ5KdGiMzkONZm0E7aFWDizGWiKnTt1_41UvIIyefyhYnK-O5E2GRbVxTMShHbF67RZtQd4RpIRFIbyEAkPo-Tjpi5UH2thwI0nveenGkhASZrMXGrVxRoMfqYrsSdfjS3hZHlBq0ThGPF10ZlT9IV3VwRcoCWG8WYNcxYcvzzC1ADuEI7wb42PLhbtK_cRKtsHmfSmjn8F1k_asitFM3J4jv92DVrrTDVYa5HBPpdywXR1w7Z_8W0lryN-_ykf6hg9jAPTESfoMuN3LF8ZdlW4OwQSgDw_PWsgMSmAhOPTBgN0Pkt08ChglKS-CUM30LMbM2fsj4AEoUBh7yDtsW-yKskD_DJgr3hR0Wq7DuT3D9Lft7YkeW6TP3DCGCrdQDU5xsV-6RqeDLlPNLPfKh8vBzB3Si1Yfdd5u9Gt_T4LpLC23dOFjITL0ULmqh9UpFaHsRUuxtdneiscrZurl7XztslTECCIjkb2T17lxooFkQhvLB3KeTAd7eD9OO8Aiw8DV15Pf-oY1r85sdUkCUjrtkpUsYPIy2S8RxHEc1fcxX6ocprHChQEtVVfiGqTyJaFGd_yQSXzY9JrRnCph1ipwFmZwxhU4VxOM4Bvn0LsVhIWTkomFSHEy7AkYsB5awZM83L7-a-MzXWGj8K-CMeWgs6jdP3QlQC6oasZgt8q4QIVLzLQtx3QlX2GmPEtvFQzpQKRcHJjlCWz9vb13F-ggbeSL_nlbYAC3jt70QDiPWfwbVyugfVClHbXgIQxkuQAp-t0SGUxRNsI61qQwOnuJTUYJXyjZBUvbkDgiVjdtHXbordnPWaKZUa-glPdJDQCQEZkJlOPk5LuXDAoYW8key5ZfJfwyKdp6SaZW8WhKDv6frdON2m08K7dVeXwlsE3Lp9MNCmygR9j0OuXoHT0t4EU8fy52eQEi8TYsNCtM4MQpIrKOeNyTpAmskB2dDRkKUNpHJcahNSUMSttbsKjiU_3cyIncMWzyR3QnRyyN0CLuuV7kPFkUNr0p0IWQwJUfe4rXEAZXRLtsZWEGphIupugiPfygNiDV9Fnd6ktdEvxdokuixeQ6sYyyGA0PQubhgms3WvxjJiVJcmUVgpNfnthmGoReqpMY39_TieMqcqontgu",
  "id": "rs_007719cc1d5b7ea3016ab2b6b2edc887d0b5e1cd011943de2e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.075,\"left_z\":0.045},\"note\":\"The left bottle’s neck is left of the jaw center in the wrist view. I’ll shift over it and lower the open fingers around the narrow neck.\"}",
  "call_id": "call_7lIUQmRzfh46AREsKFGU7s1R",
  "id": "fc_007719cc1d5b7ea3016ab2b6b7257487d0a79f8ac7753e8704",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7lIUQmRzfh46AREsKFGU7s1R",
  "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]: [-0.268, 1.7691, 0.72, 0.4507, -0.2573, -0.1791, 0.9985, -0.0193, 0.7834, 0.5827, -0.3969, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4423 left_y=-0.0711 left_z=0.0528 left_yaw=0.0351 left_pitch=-0.0156 left_roll=0.009 left_gripper=0.9985 right_x=0.2891 right_y=0.0032 right_z=0.1696 right_yaw=-0.0034 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.2256, -6.5709, 4.1641, 1.619, 0.2222, 0.1685, -0.0513, -0.1983, -1.812, 6.7897, 1.9414, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8e10c2ba63e3d2bba1b2c77e4a6c59406a2f1cb3ff5427a8cd3fd439575c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac1afe5fe299957a83e6a7a2405889645c80d4e969de576e5c1552ef8ed2aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d263d7571e437069c42bdfee90bf1611cc6a2dd1f83ddcb0796de4faf91ed6",
      "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]: [-0.437, 1.5349, 0.8974, -0.0353, -0.35, -0.2634, 0.9988, -0.0189, 0.7921, 0.6033, -0.4038, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4148 left_y=-0.1229 left_z=0.1313 left_yaw=-0.0112 left_pitch=-0.0649 left_roll=0.0173 left_gripper=0.9988 right_x=0.2913 right_y=0.0032 right_z=0.1753 right_yaw=-0.003 right_pitch=-0.0233 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -6.9812, 8.7316, 1.8584, -0.359, 0.0269, -0.1343, 0.0479, -1.4017, 7.0632, 1.8926, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsra_wy2V6uXSINY_XLWec0q9Agn828UdDLhlyzDWxIaDZUWu5wvWqEpNOKQ2js-jLOK3cnDxkMVOM3vRcoFFDAiwBumciHc6UyUPkBCJNZPW_jLnKRhTBteAmJvzoxb5GvKIlHmWNN4MrunT9ZhSlaHksJNqUDqK38krRtB6EljSsLIa-ccrZmlLsPAgz644y9QrF6yTxgqA6TOuPtEXSTmE_ZoKZzVdK8T0tONDDnUeWQUvXzRNT8O18MX64gM1lxqgElUUmjf3HKQTWcHWbg59t5SIxpf7GD4u9kWYR4-seT_guBQzOTX9DEw_hPjxJpHjII3_wOl5422ZeKc01ZGrgaXTPUnIHO7ceFHlhpWOyI9p9qgeHFK_kQQm-cNt5x_UMRnHygqonYtlXjaBDUv1uRAg-L0oZKUHkRTuWbNrlCvEuvQdp5V-zvOemuT2suTIHaa6eR6V0L1z2m8UD_tda-y7kmh5D6SbkL610swHp-r3wvmOF7S9sNrvPE6kf4dvY-1L1UgS1gicJosiF3f2saKPivZwZJHNmE9sfA9mKkt1cT1r9Hnr_wldQdOL9rqyrwp4GadQjTZTjYC1IrKyG78LJxDvyUReVRbiUPO2xy5l6o_RcFCAQVf3y866YyHeQTxyiZbdeHqs0qBaZ5ZFU1h86B6-5sV7ajeydjddvDcIpxiBXeLT8QGrweQ2cghTfdjCem1c5-AhHHalD1j8R4onuDh3vdOryWxbKIK2os8ySEqWOypvA7UMNmlGv8GDx0qvzov5m4Ui059tatEIdJE8T9hG1iC-xtDH0AajltIaSpGNzJSGWr-wrAFJJ6mCy7lQudfyI3GPwO2Whs_O7hXcOzT-Bg-BJraGhFGC862mcuSUU_6SV_sT4NdsUkln2B0Enm9keXPtK5nT7dBJcwH7YtZYv8mFj0MMh9CvP8Z4-RNQSpdqpJ-yQe8SZHeoom3jHIzPrLVapSWnpUpOIL-dZ40_fE3p_yK38VtR4ZUXiLyt-We-MVIjOmAYolLjUOKezIaw9dYCnuJNJ1FPmLggU_ZN3KQCnim7iYMmGZ5qnOU4IQwPZt27aQAV5FB-93sy65DDMC0R8x4uG0loYivzNUCwrIms9lhdBisXoTf0pKh58v_XSLjAQwuyPk-HPYPMdA2bRuTxpuc9PDiEj1t__pxWw62Kae0kpu_N3NJ-MQEAZwhgmL4A2HoD9J5dsZFiR6djSezlfPLolAvdDx9DBqCGJY2Uth3V6VnQbGvcTi8q3IjFjhTPVnT0eSsab6yPBO0_GtfI1yRJNAjZWrzlnljh6Uh6emcXCxEzuftLDtyTwejp5Ozxp4VMu0aCldsKanhatsFQBQkPns5zdA==",
  "id": "rs_007719cc1d5b7ea3016ab2b6bbc51c87d08cf638cbd7285738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.478,\"left_y\":-0.049,\"left_z\":0.032},\"note\":\"The neck is still just left and ahead of the fingertip center. I’ll make a small final alignment toward the cap before closing.\"}",
  "call_id": "call_H5bXYw9rBvaFKAWqQRLMIeNR",
  "id": "fc_007719cc1d5b7ea3016ab2b6bdaca087d0bb0c4b1454cbf53d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H5bXYw9rBvaFKAWqQRLMIeNR",
  "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]: [-0.1905, 1.8984, 0.7845, 0.5503, -0.1993, -0.1745, 0.9983, -0.0193, 0.7712, 0.556, -0.3889, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4714 left_y=-0.0517 left_z=0.0388 left_yaw=0.0615 left_pitch=0.0091 left_roll=-0.0273 left_gripper=0.9983 right_x=0.2861 right_y=0.0033 right_z=0.1624 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -7.5282, 5.6684, 1.4139, -0.0269, 0.4029, -0.0269, -0.294, -1.7846, 7.0769, 1.9902, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025ab06d94342a18970d23e9c4033d54875f7e88ec9c347f37a610337281a373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fe70f3787c00ccc34020156a2bc603d7c6adbbba574971de874d8d9643c7ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17034c967a17677852f969f631f8d18e4f115ee556b7e5b3993668d28dbb7536",
      "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]: [-0.268, 1.7691, 0.72, 0.4507, -0.2573, -0.1791, 0.9985, -0.0193, 0.7834, 0.5827, -0.3969, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4423 left_y=-0.0711 left_z=0.0528 left_yaw=0.0351 left_pitch=-0.0156 left_roll=0.009 left_gripper=0.9985 right_x=0.2891 right_y=0.0032 right_z=0.1696 right_yaw=-0.0034 right_pitch=-0.0282 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.2256, -6.5709, 4.1641, 1.619, 0.2222, 0.1685, -0.0513, -0.1983, -1.812, 6.7897, 1.9414, -0.0708, -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": "gAAAAABqsrbHwjcwsdng4qSoQ9OpxatWpG89pNIdh5y8W2AlptMFXiij296HuncXsrOvJ5NiFU77fA9CrFEAJepWMm2Xc6tpu-lesLVxcDu9M-wYT2vxzzSDmV9YEH4b_y_C82dMkeXPHjIEkXKnFX3u18BEksbNe_DLUYXkvEd0Etsms7DozSn6xHxETYjJd86nHIXYKpA9xhxNNGf4PjKJOXtNhpE9AVqGKK0O8I9IFNR_Mkw01qgxjQGubhX7scP1Jnr_YnoKx9PB6p4kbgjRQBXyHE6BO3LCgbyg4sTd8TRuo_iJCPdlAaMOJGK2gJqgBVzWGygOV1xNGX31BRRW4032dN0DVATYARkTFr_nst1jIVLDITVxfB4D-_385ojtr2NlZF4_3zfZkfpyt-Q-C6KK1k9jUx-T02Z8Dsjg0C8jX2beZYxxj_YC5IH68JPADDLaEGttnN6_-BdY9SdjodIRWf1Dz78azSUF7FmIQZdDZiOwb_Vpu7sC9mKhfMrzLhHXLMFrYA2dnpv8MLsRtqAochAiQDh7UtMC2PgryYRIpuI0mp2sIZZY2olG_T4DchXqWIwzuE65SJQiQ-Tb77U4LFi0Pkta0f8cObQyZts8Oa-rB-78kvbzk0tAzlTw07qqei1KyA29dhlt17BpSEMuBPA6TdzxjzYvQgLIXI4bgV2Gg6rZvRl0QF1oSKqmRf5daSY8M7UyeJtDdsJO-ldUz_MEiz_ShRhZE3r60v7Uz7Fnh5t0kOXvH0_Lc_KWucD22u9oY4CbU9s9-2RH_ZVEZz7OlFh-kM88dkSkRG-ftq6sU5YdKXq-i3yRVVQX2xQlC04z39wB2HIzpGOVcTm-BasHVBvpiAcJOJHgJDY0jAka4V9xkiGLfJDaJhMwtOiXYaXwiKSHVHuNzH220pymw4Sl9PFVoH2-w1z4EN1oJAtr-PLYwiDtBM4i2lr_SdCWU1xfXrAn5eVlUDGOgyPgSbMIWW_WKHsPBLao0CYszGZdsodIzH2SD6kIyd20ki-E5SRF_7wFXk-ZCpS1Im7_e7sGkdnVNPgIscc-53B_sbgShDk7fhITw-oOQAZgEX5Y1fFRQt9FWSv8AL4VidMYes5xJlC2o2REzfseU2Co5x9vxwiD68pEaprC3NUUrpgtgHKLYQYVJW51JeEAmlN-WyWVU6TRpPWfLlU9sT8ZJ3zKVn1nYwvGlgiciwxe7S9Q2-gwbEVbLB91yzxAfOakyeU2Hi_sNJaW6z9ZudZRiRio-nD_ep75pgWkCsWglXxDxwVEiejlXk_A6tcmZfTGikhmQteBFmR2mVniiqizxg6Ksn3jxfIHjgI0W7ONQVWHp52v5PoW7t3TS1XamS3jj1NVJT1yzdewTv368okeUQMCxppZ2tggqYfytj4UKQoK-8sSSHgDBUTfuEM9XreaXUrGeeR2azvvT3Gyiv1OJBj3uOQW3r_7rXnKbeNhVAmLPXSwNrQHTOQ5e-_8x-ukZYOJWmDkpw0O6B_DeCfyPZdmJG0eXxWviUH6SC_1-LpTZWgSpkYFcmVs-bcfPQqMRD5Q3OEONwhwgPVyXAYsLSPi08jHHpHfgmLzwWgsJyQM-GbLOCIbylGUa7AnFDRmjV4xWw==",
  "id": "rs_007719cc1d5b7ea3016ab2b6c1d91087d0b641996319f5352e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.018,\"left_gripper\":0.3,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is now centered between the fingers. I’ll lower slightly and close gently around its upper section, while returning the idle arm to a safe parked height.\"}",
  "call_id": "call_NOZ2S0OTHJEjQrSMaVCWKL2b",
  "id": "fc_007719cc1d5b7ea3016ab2b6c54bc487d096bb368d106c6713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NOZ2S0OTHJEjQrSMaVCWKL2b",
  "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]: [-0.1753, 1.9148, 0.8032, 0.6048, -0.1905, -0.1562, 0.3341, -0.0189, 0.7952, 0.6395, -0.4568, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4835 left_y=-0.048 left_z=0.0495 left_yaw=0.0601 left_pitch=0.0634 left_roll=-0.0295 left_gripper=0.3341 right_x=0.2886 right_y=0.0034 right_z=0.1802 right_yaw=-0.0006 right_pitch=-0.043 right_roll=-0.0029 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.3504, 5.7504, 1.0085, 0.0757, 0.2564, 1.2088, 0.2256, -0.7043, 10.1538, 1.7216, 0.022, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1e8baccd3ea1c9bd1a53f61080d04b79a1b537f266abe272d633567057280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6065a499bdfcfe02b252095d8cb0a24dcd2bac5e79229702662225e871bfb628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27171ab4570d40789095be21a85b8010b69ffd4693c062908c94f093c02ac368",
      "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]: [-0.1905, 1.8984, 0.7845, 0.5503, -0.1993, -0.1745, 0.9983, -0.0193, 0.7712, 0.556, -0.3889, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4714 left_y=-0.0517 left_z=0.0388 left_yaw=0.0615 left_pitch=0.0091 left_roll=-0.0273 left_gripper=0.9983 right_x=0.2861 right_y=0.0033 right_z=0.1624 right_yaw=-0.0031 right_pitch=-0.0347 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -7.5282, 5.6684, 1.4139, -0.0269, 0.4029, -0.0269, -0.294, -1.7846, 7.0769, 1.9902, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbPV5aU9F85jbPY2tJPj6dmzcAE2NvLOd12qYBvzDnpwzOUr9_ahVdXo0RYOceKrq0bB7eN2e-gDmUw4QQopRmW0n6SqEUtZyeUFOvjUq3mY3Oiql10Z6bbA4gwqQFp39ITKZvF4jnGzDHnUD2jmis_eHiYrilYX98Ma1QxvVgYVi0XXAAbaxvTR382Js5MVIPOBu_DSQF9jX1YVOZKPTRpy1rjzZf4yr9NHadtr9rK4H0nexukogCgkJvqhtHCdE7WNupzcEezk38DJJ09zF7Zl-CQij2WANqOC2M7NnHi2mJkSVgr_SW7XrHlizHA50c-lva9VnFZL2UPPblzSifJ0QDPbfyRaxEFQDJ95aZE3C5J_5-iH3BwdKm1jmiDfZ6t6xaDg2CKczoe184BBR3JgHbgowBv0jIKFOFr8hP0Gr84XoNMDDSAxSq_T6SnIVEMNigOi9MMUJD4i54y8Mnwct7SUTpRsEls7XVxr6B9yiD9YPnvuelo9Kq7PQVoABcj89sGfXnNXQHi0e_XcLlYl5MWYrgRvuegJBuN3fTNzyKnSwmpHb-lou2T-R9sdd5EiLlKTeWcd_g6OM_RFYVm8KOtd6-bZXchkfR_0kJvIwyBwKeflHkMbLZcfuYgnpXe6VXtEluKGYvty_ugF59H_t32LNzHj6Q3-_el_k--8-XYCqgQL2IQ7ZHh2VF8eN7yJ_YvG1vtLXkfmvr4rUUD3uwkOcPWXLqKOQ9txm5K7jJBDxX3wHDhWL-UFiG4yQxvuGABfy97xg4h0jVH0nvUohao0PBb0Qy8UTxEMk65XfaOvu3jBuEmDrZS4On5gQJePUiq721O2maPoe6c7ULVSprAcubrS1N--1PVqclgcIJXvRfPEfaxfE8tYe_bxhLLyfDsHA3Y4LZNaI5cagBx5tAzqO0cCm0mBbb5buf2uOpYONGlAlLs67O9clMWkGoB5x3txsoSEx1ONV5u6jUzjLxxSonJmoV2LjRtK5QkVu9_mtvSmR_cSxTBPgbY3yf7fE-qSNz3EWExFS3oLsQiSfW2bTWbCjHHtnClU0uk3ao9C2_XtRjrg44RU60NXVCcg3ANMT0lCqLdOVAzIxg5HeFuu4kIdxDT6IdF_8iPuYHhkr3d36-EuVNiKQ4ZTuc_EEnv4OgaEc9_QWK7Mm6r_8EX1ojBu4Zf2IK7wrpXYCvax2K0Gh24Rmv0tfyIFIqKo-wSgfLg9uK0qy63eunj-JzRZKnQSHMAr606aZv9H4ZMLQAv4WJ3rxf3Zym7GqjwyBxNbLY5vrG_t8ZA_xcuPt18wSK4g76d-23PXF0vCi7CVwjWBdz2SRxBJCOad1v16qpUBS_DUx9wm-kRti4Umg2KdKQn24gYYAbSCgBjaXTio5JLbQvX9d4XDefs8oEja3HvTtACOJ_G4DNtKsGoFgLCbROOgiOO1Y8TxYzRFYvE9VL8eewE9TRLyRT9X8IMekDW7Q9cruHMpll4jQXpFqeI4j-K14qATJ6tRMnFB5w=",
  "id": "rs_007719cc1d5b7ea3016ab2b6cb1a2c87d0b406a07a3ece5257",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_z\":0.11,\"left_gripper\":0.3},\"note\":\"The fingers have closed around the bottle’s upper section. I’ll lift a few centimeters and draw its neck slightly back so the base can pivot on the table.\"}",
  "call_id": "call_xpnzrNnmjV0kOngNWFMl27WB",
  "id": "fc_007719cc1d5b7ea3016ab2b6cce53887d09541a0165efd4951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xpnzrNnmjV0kOngNWFMl27WB",
  "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]: [-0.1753, 1.9129, 0.8097, 0.6331, -0.1951, -0.157, 0.3027, -0.0193, 0.7719, 0.5972, -0.4454, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4888 left_y=-0.0481 left_z=0.059 left_yaw=0.0651 left_pitch=0.0995 left_roll=-0.0367 left_gripper=0.3027 right_x=0.2835 right_y=0.0033 right_z=0.1695 right_yaw=-0.0012 right_pitch=-0.0507 right_roll=-0.0024 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -7.3504, 5.4769, 0.9988, 0.0659, 0.2466, 0.2369, -0.335, -1.8256, 7.1453, 2.1465, -0.0952, -0.0171, -0.0122]\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,$blob:9f6cbfae42d041fa2adaebb7806c0b765663a9fd6c76c0751b3fbb0d92cb37ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e421c721a3ee632d94abf97bb02244b883dcd40c09181bbcc752e7ee508555",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d8ce1b8bdc9f45feb655c9573e3e4a0f9d961e77758cf4e696f1ce3b0069e8",
      "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]: [-0.1753, 1.9148, 0.8032, 0.6048, -0.1905, -0.1562, 0.3341, -0.0189, 0.7952, 0.6395, -0.4568, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4835 left_y=-0.048 left_z=0.0495 left_yaw=0.0601 left_pitch=0.0634 left_roll=-0.0295 left_gripper=0.3341 right_x=0.2886 right_y=0.0034 right_z=0.1802 right_yaw=-0.0006 right_pitch=-0.043 right_roll=-0.0029 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.3504, 5.7504, 1.0085, 0.0757, 0.2564, 1.2088, 0.2256, -0.7043, 10.1538, 1.7216, 0.022, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbVyCI3h_5vPBZCvJlDAw_2H0A1JFEsGgM2ToEVPxC5lZzVNRljW3lFB_0NksNpFawrJXpqjFlqtfGhTpboYCo-RAAqwGQ1suM_7MgSIqHZH0fcvFZ2FQClfQQXQ4Y1aPwWu9HNcVeeQpw1vHHLkalcnu7A8X94FzEZQFFCyIqUpTafG_o9qJ8ceWUyKNdxjNxtPas3l0Gyf1iXuaXPHRBEAINUyZ5BhSiNR5q7J-CtULfjfbSky-h6nmIsWGmu2bv3oKpVYbBJS-QP30GH7T7npdRAjl43hdMnZWC-ONOHPmPy-oEMbfw9ybGHlJJYZXvmqpAcJG_ko21TSVxD2-RA3FNqhn2-we-MmZGwgZEjfRKVpcTwDJBUT96A6L-IJYB8XgjS__Ix8KWiUQYpGKhcYjmOMjoLvqkoo49it-wnoX6MutRMdZXJE7TTlcmXaKZOmKJOHQK79I74LhIhV9iF-GDOLCTrD5LzfikYxPbVaRAcdIZ1zlrBiRSBxuiK-3f0KHWAHQqIvtHJbxD8YvKHckNhiTC7PmkS_xuN6iDYrR-25ShSQrxN6fDGp4HKKaOrOtn3txSWzDnWpwvC5TxyK7u4Sf3oMLfrDm5Ip2QMqivbrorgVCYYzxP-HA3DvYJmb7ucZMhQvuXUsp3qWlWqUJv6cKXHTXnZTxjCC8e6oQYMOd85Fm8z_6HNJs60twBoOTIKaGcWm3oJ1k__OqgssitcQ1aU64hm3Odr1FS8yuYtGvvQqRzlx8IWcPvytkeqbQ8wZwKCJliUBarcJ_BRf0JAkiaAgrfZ3NackyhKiqMnFUik8WfHj8Fgq_zPeLWaS7dSFnmsxn-sW-GftqhyZQcnLVetFy-Dn_B-hwX12fYaqjuk8ucili7UoDoKDH1njHRn90AGkrxZmCBprO5QTUmoYy4s1HxydDyEXJh9VjQlLrPPSlRx2_GZkY-5eTN9p_FIf-d5CpjcV9IW1nl2n2F_PwCH2J4MOsuCFtjR4TAZsg-3A1uDNTF4NWBtXNE7Ry02SxJrrllWrASXqiu8XXQRMP2xwmN0phVa0HNZZ7lHvV2JRCrvvOZVdpCAIeXp8AauSmXd50UJX3FeOe833XIm5WHvjoXkMm-IZOAk5vrvovGBMxwPKeLYVSgjNw052UIhCcmpObOl5y3wF6myNTLJtRx6o2k4611EMb9SG9f3v1mXQa6m5usnQGthx4aKH9du7D6e4GhvbuojjvjbVOmgHm3zphhNEf7n4qpUUF8=",
  "id": "rs_007719cc1d5b7ea3016ab2b6d294d087d09c96e4da36239361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.18,\"left_gripper\":0.27},\"note\":\"The arm did not follow the small lift at this extended reach. I’ll bring the grasp inward and upward to a more reachable position, keeping a light hold on the bottle.\"}",
  "call_id": "call_OWPwZqoH9ngWsr2kmh9yiIUS",
  "id": "fc_007719cc1d5b7ea3016ab2b6d337f087d08da7f78aff243612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OWPwZqoH9ngWsr2kmh9yiIUS",
  "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]: [-0.2363, 1.3575, 0.8219, -0.0292, -0.2443, -0.1753, 0.2707, -0.0208, 0.7383, 0.5449, -0.4183, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.409 left_y=-0.0509 left_z=0.1675 left_yaw=0.0539 left_pitch=0.0144 left_roll=-0.0044 left_gripper=0.2707 right_x=0.2789 right_y=0.003 right_z=0.16 right_yaw=-0.0027 right_pitch=-0.0423 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -6.735, 9.6889, 1.8535, -0.188, 0.0659, 0.0269, -0.3624, -0.9778, 7.4872, 2.0977, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917b9964394f9021d33284607536867f629988e73e57cbad48ab985a40af013f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b3ff4c9903d463186b8fd1e390cc144999a48bf7926c64081d11f63df7ec5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c15fca7bd22f461efe0f35ec2cfaea47f4858ea16e7fb5afadc7bdf03ffa5637",
      "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]: [-0.1753, 1.9129, 0.8097, 0.6331, -0.1951, -0.157, 0.3027, -0.0193, 0.7719, 0.5972, -0.4454, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4888 left_y=-0.0481 left_z=0.059 left_yaw=0.0651 left_pitch=0.0995 left_roll=-0.0367 left_gripper=0.3027 right_x=0.2835 right_y=0.0033 right_z=0.1695 right_yaw=-0.0012 right_pitch=-0.0507 right_roll=-0.0024 right_gripper=0.9999\nstate[joint_eff]: [-0.1436, -7.3504, 5.4769, 0.9988, 0.0659, 0.2466, 0.2369, -0.335, -1.8256, 7.1453, 2.1465, -0.0952, -0.0171, -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": "gAAAAABqsrbsA-hWWcb1UEXHrXQZWfwOBdJ_iG1oGq07PAYfzXXTsDStxBL4zlHkd6N8w124OWKyzDz8c6Z7v6tzDQlwUDZgwkF5eeQMwl-sM_FVan-c4sBwNx0Ax2FUm-Nm02GzL9EjGWR2IhI0mbJTPHnMeuvLO5B5QDRKm2UY_X40hydWysTnMyWP_Z5ez2E7mU8-5yH3t6q_ljM00pznfFjQoI0Gnv1fPDxBE3cLDyxNwM56qfLHY1qhegHNsB0aMXzlx_yXrmo6_ptVbThND65g8-jJAsxPiOVHINATfy8Onn7R02P57GEqpwtktGoUSy7QDpRMH3PeVsmz81PpH4eI0ekOUpHhF4VDT1gSHhudfZwzjGczrHL0paLEu9ZRWALmzuMu6-_x50_UjZP7uocoTzzsjfQLsD25S2vbHizcdSdUYtSuvbIeoFHMuwA-Sm_shpIFFWojmv-osDSiuF-_GDsIpDD-oijhh_uUFSrp5Xi9uRlwp5_be983WdkI8-iN0NZxJr0OQkvoSF4k6ARhiwlV1ItKA8oQ35n4oZuxVObSs0N7mNQhMEFGbXDaIUQTDyD_Ueb9dWlwRXsfG4yo86ao8x775vC9V7zQdfQPY_85GWIkGpeJuRMFBt-1J80vbl69c_9XarTdVeOa-jkcWWjhZheiDWPdGkKpSW2ewxqV-J44q-AvW1WhRJ9rClYFzuAZFcpkibP0kdzPi0GGONeXX5fsO5Ukm3Bt6ncbWYBJR_vtG8dIk9z4Rkrv_TMuJ93MxlW-Vwbkos9HZcPeTxp998hB8Yjv4OhAlgXqW0b2iX4ySub7hKTwxdXkn6hV5I-xQHc18D1UcI3wFt7PmyaqiRPsWytleN_fs58w4uk_DIrzTtNNs1fUixYagkiWASlKZ7rRjq2wVapGUUjAUkl10VZUM-9AhScBi67T8K2ZcBN4eX8GYEhLCHeN1DXyz2HCqLs-vY2NCQz9TCn2nUjcasEVXRO0xeXGeRsPJD-J1X3I4mAv1g19rM5_jaVs2ycLImkBZXsu1zs22TaMmNACMu2cica8HYy5ctUun6cimgNs6nxkIWQqv65zmqXPKpr6unhxJmO28tN579QkXL38Hedn75lEeN6vGJ6lqcN60BeDNTF9lm4TvYuPUhR2FzXwhejEvlxAspSds6dAG0x4UJs-PSgYvByif7pamoS-ID5tvwiTEi1c2EGOJh4Lsjq2Yo9IPNpsBsA1FL1aE5pNXUaJI5637-kMODb9ElMfNnZrSIhh4KhbrR_IkfSuZz4qk2N0fEBbPLrvoUMXlpW3XsxRIXCqFgRLZZnXKksaE26bDJvQJ_ZbigBruFn0CP4-TzXFBTdIe2-d5DC8pVi3RiGr9FJIpBnJQld-1rTB_HWt9nGt0-kkGLFkizW4UhVMBCBQK5uJg_17QSvgQIsk94wuWkAGc_SGV778wrL2vHmBJr6pqj7P6pjeSnbmvnj4nVz0uxOxyasLHwhFevJEZ4pzGnEFjlDFS1fygrCnO-RK1s2YOp2Gx_HPBhJVZlb6VheB2xc8rCcsqTR_Zk6QnutkM4h5hZ3QfEhDlqFjGJTvFhU0K2c8imfM-3VTPEAUjy6YVY-HplxXGIRFuGilqSa7MgY1oFqb7LphCppOFMk5ggYWmldokmnNrNhITmXNFK4f6rN5wg5MyDupEE2_88tjl9k4VgZIBIVH5SD_X5Oofs63R1W7bmGNYzzTEgmC5a7OgvlRju5DNIF6sD1DOdCk2GzowPfJqJPQU6aAn4MCZgLoRAVVnR1etnCa-4TN2zQ_9Pnc15czNoVCHXdcxS_6GJ42I-DhFGsMqVHoFd_8SFyI4IyTD4P8UKWl0Gp8lZwHgEc2_rIvqacxf-DxlbgR1aucQ1g9mFMiJrARdE7dt2GKc74krknh8va26Nw7PLJD7xd3IWsEW5ka6jcZqYhpQH9WjLU9ER09NLJRkEej0jV4LXHCRRfCBopoavyVnsPE1d4aiQx4GUqvPREb67ysOOKLptCt6bKDBfYnrqOy7LzR53NPnRjvT-2DtAD2S3_2A_Id0qAPPsZP-DU-ZRFpO8VReYTFX4kfGs4c5rEkSgD_P2igQdEwM14orVvWfot6UDQA_eJBCXgLRuCne6XlAOIN3B0KMwsdVjTaYFyxJIzsClKoJsd9CMThUar3f8sVruoz_JuN7A0KbcbYyZHcUccczRrlEpaGwY03KjqSDS2rs-r9-3MjDsngjcwBKwvXd5nfo2-B_-yyAdfCbpSkhz5Xp2xmnUxqd5OAr8FwgLWzp7GrIdLWCXqXpBYjCYKhpwgoH_t0LgefIDhP3xkl-sGbV3goKSe6380Ow_JG_EIxbcPHSQ6wC-JBH6RQzcoznMwBRWYSfypEmH2Jp2RbHIT0qkjXlpjs6-v4rLzxF0jPsys6J2Lm1wtnLPpEpMOudr5O8e1VtaPipQbkNzDpcLiRHntObUVN5gJZVJvK20ig6JpormsTUx-S3tf56FJtU451u7fz7q544Yj0v2Rn5XM_j2zPuGUEcm0mftgjPY2Em7ORLMsov7VFvnptobyOHfoN2iBZNoqU48CdyfkGNEK01ADe7RfXtJJhZtW7mHjugLS2DlqlHnE-3OonAY8Tid7dHxd3deVqJ-cWbRXqFNQ3CSd4Ly8nRgNSZASKmoi4W_zneda8wmSJUbS7M27d9l-rITttB2FVraEpMyjjXwCnaK2lEpBdUY7bF8F1cyL86hKmOttUA4lImRk_JVa5Vg_HnwjMNbGp4gSW7ha5o6wPOP39on67EZitxSWgPRm_6zNuuY-fqWMh77Mqg6_jwxY8bAHJm3uYYA1Z1OfebJash1jaQzJiWZ4SMcMaxlVotwXsswmN-_CQHKn4r6Mt58YImYUxiCbCiIYTAnV8BrLCY8LdNRjNXf_LFdQGIRixHO2SjU3QfbIjSzz_PiTw7HDMDwAVQ6RDqrsIpqGd0_Iqwc9fnEoGpQmDagC3FmFOv02G9OyFDhWgNo3Xt0sp38pJTyoqnONRjyT9z6WrrteZt3E1xYUsUltbfpIP5eUbNBvdMJJ_A-4xrVfEgBNB66ylnQUkbOre6D5Qt-mpR5Tf3rttqZ3iTiRSBk4raJQuOIkwP5mizafr6MvyobAqpCkSgLl1kX4B-JBIs1x2RwUKZJcEwQ1fPUQfyP-YBuynt5msYJP7CQPFtPswGDQAcrw7B2li5aOgrmsopmqhBpkQEPwHSKGawpANOnC8Q1R0RFqXjNCH3o3lHQVala7frJ2ESKOnNEmppS-xkf4_KmOgNEDhXHs13FqoCwhlbkdUD78rTy6H7MdY5XxZcY3HDrfXVOyMN9lbdk6hp-s3EDgbGfs9XAFeSAu9izm96P7fg8EiWyzTX5oEi8luNcJeoBfX_BWqBCyNC7zkBFKQBHzSAPYvWjgz0-oPhHtnd8oTAbCzNAiH9z6HxqVGbNMXINX7b6w8-JTFy9IuoEOTp9BopRXtpZkaGyFZxouYYjcMHmHNmL7Hz_35mdSkqpZjg3ZAP2TzktW2vMPKhRV6QMBDxurT-hgl-Goksw31ZqSDNgzLQy_IX96TR04QKbpzqxN3bQf3qSyzZQY7nOtyW5C4Fwit4RhQqgMgkh5bXZEP8_YM6gyJA8kXAoTdDh2p2ydCKnwCNK0THCXLukO770xgRhxHDbwsZrD_hTA=",
  "id": "rs_007719cc1d5b7ea3016ab2b6d7c6bc87d092407ecd802f5e41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.09,\"left_z\":0.02,\"left_gripper\":1},\"note\":\"The bottle stayed on the table, so that hold was not secure. I’ll re-open and approach its wider shoulder slightly closer to the base for a more reliable grasp.\"}",
  "call_id": "call_kfZZIdtNgloRcLJoa37t3Lt1",
  "id": "fc_007719cc1d5b7ea3016ab2b6ea275087d09a7c9039145ed0fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kfZZIdtNgloRcLJoa37t3Lt1",
  "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]: [-0.321, 1.8851, 0.7292, 0.551, -0.3347, -0.2165, 0.9966, -0.0212, 0.712, 0.5045, -0.3996, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4467 left_y=-0.0836 left_z=0.0285 left_yaw=0.0663 left_pitch=-0.0066 left_roll=0.0209 left_gripper=0.9966 right_x=0.2751 right_y=0.003 right_z=0.1522 right_yaw=-0.0029 right_pitch=-0.0377 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.1573, -6.0923, 5.7504, 1.2723, 0.2466, -0.2173, 0.0611, -0.5402, -1.1966, 6.8991, 1.9756, -0.0904, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1364e9faeb2e7199644cb0bbfbeb7da05e011c7bc8203fe5d81b47b99e40b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bed24ad821c4359705ad6132e1f941c0eed14645689689d248bae5e1d32cf92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c33cecd1494eec81032b43fb6e0553a0de336ac345dc3f78b9a1dc67eda7059",
      "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]: [-0.2363, 1.3575, 0.8219, -0.0292, -0.2443, -0.1753, 0.2707, -0.0208, 0.7383, 0.5449, -0.4183, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.409 left_y=-0.0509 left_z=0.1675 left_yaw=0.0539 left_pitch=0.0144 left_roll=-0.0044 left_gripper=0.2707 right_x=0.2789 right_y=0.003 right_z=0.16 right_yaw=-0.0027 right_pitch=-0.0423 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -6.735, 9.6889, 1.8535, -0.188, 0.0659, 0.0269, -0.3624, -0.9778, 7.4872, 2.0977, -0.0855, -0.0464, -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": "gAAAAABqsrbyXAS3x585bsWixk-igRR2qK6K_FBCCzjlNk_KjNWzpRR8hXeSbiaqtvbSpR_d0Cg8yXgOcyG6wsEob8Bb4pxWircC-_sxNjHxfTdlzesRQf58DG188c7WGU8818jXBjST6H5SRtvjSJG6bE5zFG8ztqtly7IVPGxHgvqrLec-q2qZJNcv7F_ZdEDWoJzlo9cOncZ2AC21nQKf0QhLkB6QIcb238cWIRxpXVbu374JRy9D9mmnQ8joP1CupzC7yPHwJnu94n8W4YwarNY9I7Lqjzvi7CJvzVXc1W87WcwZcACwcqDoTfsSt8w42yPDAcIuTfz8bSMk2vkpmhb-KIkDa5r1uwY3oZ_1wMKKCKf3srs_UB80RVby8x6TcfA1D1Zr3xPZzYryNnkXjcyp1-Nbolt56Zz_iU2-kDTCR8cS4IT_J8Vc8S7xIdHGuAlcrTn2nkNO0AjUNT9yod_l1lR7xTB3JhosXWLK8VRdm6OL8VyLgbUSjSKoaI179eenV1daI9d9LRRejtrcvT4RWhnLIGLfy5Sa7qF9DVfvZACYqotRte-DpSHonpJ1aIuFoHRv50tgfBGcdHbJdWc6KiW74VKVNCtiZfw2MkD_29-6lu1nMpJvUv-mElnSwUzGJUgPrPCT01Djyzfxvljzdy9FnTmDfzFLvgbfJLti1nKz0iiXYDJIFNUWw7R6ZxPYU9bse76xizayRWJI8pY5DUlvOWKgyD2nOkOsBiGP1RpsfjaJ-TuOUJu2WcZfSgjg5xLcH4Ei3214Tj53W9VBFu7ZaeQtevuRL05VHrJqTmTdfzR2j9NMSDmnBZHT8Wa9HddiYy_hcJfuf5ci4HUcs6qSGVGA_aE6CzPAz9lSTMGXBBHfZrYSb4BlTY76aphV8LYPKtMeHpGf4pT43bXj1I7WqdwyAnj7lIMewVJBAcIowIn8OuwRcdE2cqtnPpknkQ6QpBQaZzf-Hrx9ytjxrarwoXhoHDikoYxnA5oXM-ngnewUYoS7Ck9OSFPiIysf8qrUL0r0PIndPVpCC8qwk_fpbIpjzPXM6BRJZjanR2XP-5gW4to7zo04JkV1uXKQ4z6INqICIp0ksf--PLsRRV1qGrmaUfHifjaidNJhYwBV5R7u7pEch0oUhtIHRvcoU-yReK64dTjcsJVC9POGVKDF1ajwh2dJq0slbcMaRH9abZLgm1HxYEc13lBfK2KgiiPG51JiP3wDX_AWp2TIxxGPYg==",
  "id": "rs_007719cc1d5b7ea3016ab2b6f0d13087d0b3a9f5fc026997f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle body is centered between the open fingers at table height. I’ll close around it and check the resulting jaw spacing before lifting.\"}",
  "call_id": "call_NbbhgetkIUZziAx5Lpp6ixwE",
  "id": "fc_007719cc1d5b7ea3016ab2b6f137e887d0a41fad8921652ed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NbbhgetkIUZziAx5Lpp6ixwE",
  "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]: [-0.313, 1.8694, 0.7303, 0.6827, -0.35, -0.2367, 0.0146, -0.0212, 0.6907, 0.4706, -0.384, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4638 left_y=-0.0827 left_z=0.0631 left_yaw=0.1015 left_pitch=0.1329 left_roll=-0.0477 left_gripper=0.0146 right_x=0.272 right_y=0.0031 right_z=0.1453 right_yaw=-0.0031 right_pitch=-0.0346 right_roll=-0.0027 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -7.2, 4.3419, 0.7009, 0.2125, 0.0855, 0.9695, -0.4171, -1.3333, 6.7897, 1.9658, -0.0952, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ec9d3c971b67057102a3c20fea3469815e8d80b9964fb233837b68f72a6d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f27461a446f0a499f9e92f05fa1f89e791acaddbe45e4993dbfa9c14ac8e1930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e942c0bcb6af6a15e4a6c93caa20607a9f3644a6da20ecade575d8072c96da24",
      "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]: [-0.321, 1.8851, 0.7292, 0.551, -0.3347, -0.2165, 0.9966, -0.0212, 0.712, 0.5045, -0.3996, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4467 left_y=-0.0836 left_z=0.0285 left_yaw=0.0663 left_pitch=-0.0066 left_roll=0.0209 left_gripper=0.9966 right_x=0.2751 right_y=0.003 right_z=0.1522 right_yaw=-0.0029 right_pitch=-0.0377 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.1573, -6.0923, 5.7504, 1.2723, 0.2466, -0.2173, 0.0611, -0.5402, -1.1966, 6.8991, 1.9756, -0.0904, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrb_SoDLsqSxV1XKjMA9GnZ2pyQLNOEy9SKTKvFnEgbPfoUtxA1X17-J40-WtqyXbh8FwLKm6g7HD_R0k_wkoE0-MGYY2b6KxA49FnwQqtXGwyksXXJOr-3_g2rvdUn0uMdoaG7n3L7O0GJMAr16EozQx7GPXNfwaZLfZJkWRxfGKZA5F2A_Wjcq65Mpr91_FQH_FcHWMrmfQEbOi8n9Gy9WXJ04BzO4sQ28ELCIz04asJkY8n_V2FIBieOd27TwH0CCY9HeRXp7m2bUhGDtoFiEF-SPDNxW_7OfegkJcsRhvm3kkn-j_sc6Z2uvKYAWdOVs9uIlT2FsEZho-xE-JvWpr3eooysJLbtAwe6iBHCuH5q9fzDhSK91xAra3Qebnh88l1hQkKcmF6g4I2vN-Q-CZAa3scOKtsJhCcMoAqIhRubKNVW_sh_2_m-FzowbNsHg6WLoihEw3L_yDtmBjKK6pE2OQJpPAYaXZ-pB1_q4vNVen59GiRW1OeR6QtGXLOz3yq0xtzUPPOWS8fD9yam6dUlQYSByCn4E6o_oj3XZ9zm4jYPB_nW5d2G77MCWRj10CCKqqM1HDwGnNG4cN6C0xQaMA2QWoefJGF6_TV4rZNpm7fc6R26JnVV8N86shYgQ12Ix331jIXDyrI5xVQN7DY5L6a69uz1YHDNOXYsDJbSZETrHykxtL-ISmCidK1oAUhklW4AEyJw-xMt2h_IYgxXABTrohGCoVZvBHSaI_RcSpD3sgzzQiRemnV4SIXP8UiDepln-1AyP5Mm1xjqx1OsaROXheWR1ggUgXnqGacoe5edBeD8DYh-mfAzxQOUKlIUUKdcPtagJ0-K_HuRtqxT5Hf9twEjBbMWHo1my2BmGIMkJkMGbZjW-EKFW5U3HcOSmMFFOjaLE_-wDsNEKMuAe7XYqGXCwKEgQimFwa7g1St8IMqRAXDpJXjkKcA-quNrCUWeKLmqGq1ykozCZgV_c8XQbk-x95L7NiNyVqKMDsBXjxEuw37-AtVWF88Gx-u4kp7AAX_vDRgmRDqRX9EWCA3Pe_wp_MuPtX_qHItf9EKbSeZpV-V9yBrfFCgNSKLv5JfiDaADpOJIatnq-pxpGYVBuWmxmQqhhT9I2YLTjijCJip9rx257CCD6mawta2jIsz11BHHg2QV53N3v_S9FuJqH3zTRWtcbbCO3iDaTtiS8zA-f52zL0LEDezTQUxpaj8KFiXxldc6LHWFPKhNs2IC5Md3sl1oP-VeEH6MlZK5jvrqlXkvYHplGAt_zfEgvbB2uiddrZh5Dup0dyQrtDCfNCikF1I69POvpW7LmEOiZlJDYKMmKrpIeorKcn2lYxD7aRB29PtbvTnlSCy3DLG7kDDXs_mGTGwv_rVJjd0S1KHzD4FRw4Dw3ne1GELmnA60cygqG0ADacWlUrXDSxg3n2zkl5UQcoH6f5DvboyB6ousBa9GzsRQRkrSkSyXMbcx-yGWEBZkoD0domb8iHJjbxxLfbInpPjM9LZSFnbDU42cC7IV1dic-h49cBkkcOV7s2-47UI5CCpD17LGXi2I6x9xBFLWr2PpBng5KnrAGIcMSVY8Wjn16qMnaAi5BM_zh6ZR-TAr8W-8c1V7P6gQ9YBiSpEJSCdscbFgreMiwosMQL51LyCAGncT9RyzT86H_Y_vOu1QwnABoaBHfd4Pl4hq-i5xrk7H1zsSk40xEdMWLnj679bMIh7u5SU80kof-kwc5P3zPQLdDSDx6JibQRcVldNOwAI-O_dYEeL719j71PWnm-7V5JPAfQak1Fh38cMY0yfMI0joKfm7XCraOz_GQlLnYEP0v1B-otQtDGZEZ1wNXVueCRf8l",
  "id": "rs_007719cc1d5b7ea3016ab2b6f75f3087d08d9a66204b70a92c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.12,\"left_z\":0,\"left_gripper\":1},\"note\":\"The jaws closed empty and nudged the bottle, so the first alignment was off. I’ll reset over the middle of the bottle, a little farther right and back, with the fingers lowered to the table.\"}",
  "call_id": "call_XYbi7hM8a26zHiDjFI2c4PCZ",
  "id": "fc_007719cc1d5b7ea3016ab2b6fd2edc87d0a21376eaf4359c9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XYbi7hM8a26zHiDjFI2c4PCZ",
  "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]: [-0.461, 1.9335, 0.7261, 0.6971, -0.4736, -0.3222, 0.9948, -0.0212, 0.6712, 0.44, -0.3664, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4452 left_y=-0.1272 left_z=0.0403 left_yaw=0.0995 left_pitch=0.1101 left_roll=-0.0492 left_gripper=0.9948 right_x=0.2697 right_y=0.0032 right_z=0.1398 right_yaw=-0.0026 right_pitch=-0.0281 right_roll=-0.0029 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -5.1077, 2.1675, 0.9011, 0.0171, -0.2369, -0.1197, -0.5675, -1.2103, 6.8855, 1.9756, -0.0708, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3770e2ea80b9fd92d0ef57eeda4637132a85f77246b6f517a74dc8abc6ba2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6292f0bb0739a113b8cecc4aa69a8feb6cfc9bc7b82bc9758f0ccb74e424ee18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dce685c61ad323aa43bd0b0cbaad7f7ad8ecb4f1785c5c0e945ce935ae09f1b",
      "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]: [-0.313, 1.8694, 0.7303, 0.6827, -0.35, -0.2367, 0.0146, -0.0212, 0.6907, 0.4706, -0.384, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4638 left_y=-0.0827 left_z=0.0631 left_yaw=0.1015 left_pitch=0.1329 left_roll=-0.0477 left_gripper=0.0146 right_x=0.272 right_y=0.0031 right_z=0.1453 right_yaw=-0.0031 right_pitch=-0.0346 right_roll=-0.0027 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -7.2, 4.3419, 0.7009, 0.2125, 0.0855, 0.9695, -0.4171, -1.3333, 6.7897, 1.9658, -0.0952, -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": "gAAAAABqsrcMhuuvLrp8rLGkuPLBK5YVwZiwb2Ri2n30fmItPsQJoQQu0ZSzK899-VEnIHpMJEWTGXXYcccAKwQFq1N7-enuafUa1AOCuGiaf9tAeNLQEItg520aNQhhuNGUsNAcdP2ibh9g_a9oHQ_SBtuCcHuimNgpf8N35dSk0A5YBdRfjj__z9szX5L_me3wf6GEHB5dmNfKHaWpAdh8rrVX4vjLwB1S_ysQ4tRya2Q4GE_tWQOmIWqrveVvxh_BZiFXSY_nFPFWxY4LhMGgNB5bK9GIhQhHrCMQVljrNtl7S996MTc2mmtRHG-_7NlA9kAOhmtfp-YuZj8hJXHh8BijAD9RZKleSUqr95AFlsh0Td42HLG48gnCpgYUQEhm03DA7liPP54MGYFJ8FWOgrWSbXFEcp1L-TyhdZCJKXc0xF0Q2QPOpaMqwFgH7cJQ11oZex-7HzuRGPIniHgKoLeBIZQPoDIujc27Z1IdyFfqo4UuC09VY825yv0CDvinkSXE5m9f35NtlyKvM9ru09c2UnLhp7_ronC1hC9uyzJDmAAWhx_c6LU925Z1NQiISgHptxK0sAyJ0V95JNnXPPm0dnYuNfdN0Ky109E_WB2Oc_jhy8XFDVNG6WC3potQ4cJuyu38d1azGO6bjEFNGPOSSOwroHJli-iOVxbyG_92LvRbUvsagTw-3FPan7mBn8t0Ebd_hoS_oiw3Y9v_6OUDwBtx7ohLPPIpDY16j_UWpEvhvrfQYgsdXFNA9MyNKXkPvx2bLsvQ_wCRRUM77W3dItHBCrdNpx8Z4ZnQygO2UZARjUSCfH2-KMu5K3MZJRQ4fcLgjQ5DrDLHeRBVo7gRPdsVC4dNpoYkYAMWVJrnbgPjaepNZizCuQkeW6dwNziXj8YRBk0mk2NRjupSAmmFXpl0QR01K4sZT-QAD8_m1HAclsG0Ck4JjLL8Kco0sIFenNwDLR-Vj7ki7aAbvGvCgQOadl6YAssKnBKd_ZQ19BlbWbiOHUHmHjUS3EEschPsAWuTM8J2tDry7-fmuRLa7xF_p0v7yP5Av3lNASZwZOBO2Zl_ygS-iiADSXVU8hAOBodVRg7_jrzSAEQ-2K76v7O8C1mzhpbv6nNswcc8sXmr0jdYvUbhwb4isd-bucEjxGVrAQQ2BatEjYYp-XsP9qTDeDilooRZtMx-prxSrYjzw7jKNOKQcDNpyrMhawoUSBX3a4aeLGuKZddPmBP7pmnOz4jqlmT9LCkxY3_GGhxUMZeDAuzRU0qg4jUsYoarmtBDZNTSQNwpGJ2niLyhhkq2sGzc2jZRm2SVy4C4XifzaUXCEQU5R_qMYwgNVptUwMYIRqkQ8SjZZfluavTSQjF28pJGEHQvljloSskPZp2Ep--0DDqFSRVADkwmrscBC2JM6Z8JFxgQOn1hwTA3Q92iC7-RboLU6ufGOo-mqObDb_ZU_uD7jXmahJHCvdNSG0KYuup91lh2AKHGTT8Cf2zA7ba9odu-2oEL-igmBNqYPFPTacmF5d_XoAtW-Hg1t_8wM97_0RT9nOeIx5yHYgiD9IZI0Gji0gPZsR8g3MIJOKCbj-LCYTgt0z0jdjUCcrkbnmQfo9RB1zOIdJowm-_z77TVMCQrH-VsLrgOm7YJMTaazAl6tQUkwDWp_L05zptqxOPPZe9cAXb7c8v5R6Nx9ICwP4C8LvF1Vo1L1Cm_QPfAPFCmtNkH7_utr2rTcPonMuOrM7_udmaAB4wke_wio5xLqCYRNQZqqB06XX-ez5f_NQDWAl7llvIiywlK7wGFss8Gs5GSY0sIeBkXvtMV1OGadbQPQqyLfApR7WJshUlFSIv8aNmwDUVTOFSEresBf0gOJZ8RwqS-SYvl7loTEzo1EbgfF2UHazGDO8kAX6OiO-vxxrQURmINzHgeCaulceHh836OFn-bpTJxud4wioLvKj5HYtlt1YcEA22NZzlBei4k6S37cKTM7Cd1yLxY5vXCb3qq3lox0fCzzPEWIHbpjKXfWfw1EPjTBSTQ45Uei_jbXJcHoZmUbhev_K18eohaZi-cfJS3vBqngIVbkC4KnpGBQJIpFKrzv7c7p-k=",
  "id": "rs_007719cc1d5b7ea3016ab2b704237487d0af96e5cae46b6aec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.12,\"left_z\":0.005},\"note\":\"The arm is stopping above the requested height at the farther reach. I’ll approach the bottle’s lower body from a shorter reach so the fingers can get down alongside it.\"}",
  "call_id": "call_65gGpATA5hcIX56pWdAUbOQz",
  "id": "fc_007719cc1d5b7ea3016ab2b70a163887d0bd7aabb228a2dd67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_65gGpATA5hcIX56pWdAUbOQz",
  "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]: [-0.5232, 1.8545, 0.5953, 0.7132, -0.5243, -0.3531, 0.9962, -0.0212, 0.654, 0.4141, -0.358, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4071 left_y=-0.1286 left_z=0.035 left_yaw=0.0934 left_pitch=0.0938 left_roll=-0.0357 left_gripper=0.9962 right_x=0.2668 right_y=0.0032 right_z=0.134 right_yaw=-0.0031 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.335, -6.2427, 2.5915, 0.7204, 0.0317, -0.3883, 0.1343, -0.4444, -0.8684, 6.9402, 1.9853, -0.105, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1a6b8612a1749c9d84360b5bf52e0eca2e8fab7903d7ff23ed67356c61cace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50ca89a46919333f3e05f4748be67aaeb21f69266bbcef3d853604dae3732d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4948cb489e01377910e13f0c4a41ab160e92a68cc7f256d1e0062e0fdb43f6af",
      "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]: [-0.461, 1.9335, 0.7261, 0.6971, -0.4736, -0.3222, 0.9948, -0.0212, 0.6712, 0.44, -0.3664, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4452 left_y=-0.1272 left_z=0.0403 left_yaw=0.0995 left_pitch=0.1101 left_roll=-0.0492 left_gripper=0.9948 right_x=0.2697 right_y=0.0032 right_z=0.1398 right_yaw=-0.0026 right_pitch=-0.0281 right_roll=-0.0029 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -5.1077, 2.1675, 0.9011, 0.0171, -0.2369, -0.1197, -0.5675, -1.2103, 6.8855, 1.9756, -0.0708, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcTJYOIfMjcBr9eXsFCcyYuJ8NDikh41rrXlu4V59mE4iJoBfbJKUJEJI8_qiq_fDljvEXDe4iDWez7q2Wi7LPDTIH_rIuuUHYyq8bCl1N1k8Q5HqANEDWYE0NsXjCNknYZoT6ib8sSi7woKfw-F2K7hhh7nvPuPLSvmyiImRpzf8jlAHoGwgfTWcs1K209jxMvPDMtWDW9yHENTk0Ekiaw06-O2xr0G4RTimnAFEJvJkPt18FpaWnosZdfR_A5c9ge0d_MDVNHCWx-HDPsf6uGXQsjEc3uT_OTjnXyXlkN_AbjfEHRbItHuuMtg_-kb6-hUd0eybXO-2WLBb3N_JDUX-pwdviteZrfGDjqeP5ZWF0QxutBGQ768pXvMDFolA_IsGqdwXPSj-w3-8K_Qi4BrWnGw0DqjFVUOonRRk6_Q0-kXAfAUmaO5NmRZHaJSvT-96-9aixoe7SNS4uF7VHnbupNz06_M53myiNn74oCZ4sDiZMcHXDB52yadvT3ayZ0WvNvUDFmHoVu2uZoxsqLfBU4J1S45I0Ahw2SN6vwJtO-2vYfRExEhYPqiCT6hAT38k1DD5-mDXikDx2P7RPXidmXAX735TmtetX556sLW4VMvWfZqmbjyKAxzgf5K5DphcmHdXQwc5ombL9xj2mcqJw-gWtkbeIWam85NF9kMtvyE1OS173tydwd8RYfC8knaTQs4XMtod1ZtkL4lAfU3ogFWv5hjv47ZQ5a0FMl9nYAuD8yvpkwisBRRyaxMMiNRy_X_0tQ2kyUomiT9mID5yXlt_ZNW1jrxQruxS3kHFkw4xj0Z6Q2NvCd-KwPV-i3TsSiauhB8B8BlZ4Sw-ZhSH0rnpE-EhaG_SUiW2vP4KRLzl1Ywf9yXPhi14ioD3026DH3zWT76fnYLy-5P-l-RSlgLlqKRo0MWytWNdGilztscr198OosQfHUGFnCQ77rnF1NTow1aZX-fGQUTyay_7PB9J93B49WHDi16uOvcw7uMKPsaRs6aChbnQawEEnAVVXDXvTOMI7n7jCsqgEa22ZnMgpkdA74_OxctyTod7p2pPuNYkdPyIH0TmsTYJoWhwxtgUsCJk-heAXUH7MAvNz5ZFS2yS-QCZInOiYwppRzaGxn0Zwm5ME_aF5QMk8ksV5nSloY-GCC0BMcr_fB4wzrgTpIrWGhYfwItNu7TVFYQQl6g6v1W4V0UD9Rnwo8ti15JpVY32Dij0YDlCErZwAbCLdJ2tPt87rdPDg3MbumPzO1vK340BRvta8e1jZEj3wtuQ8kmNAMdh3CL9WMotr5S_kRBXS-dvSDt4WhYYc6wHVEdb0NQqK6gNNj7595dQ1OKXeyWa_i8d9r_jGLu7owIMD-tCTq6LXixT0y_v_2s6d5bUd6rhDM-bgSwfs26ZJOGnRaMLFNdQqkqeim7_Ri_lGqKSMqeZ3tQl1ziYU=",
  "id": "rs_007719cc1d5b7ea3016ab2b70f96dc87d09d5c5e2d04e7034f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.12,\"left_z\":-0.02},\"note\":\"The wrist view now clearly shows the bottle base ahead of the fingers. I’ll advance alongside the lower body and use the allowed table-level descent to get below its widest point.\"}",
  "call_id": "call_CP0tejng4K4RTOf5ljvvUfHJ",
  "id": "fc_007719cc1d5b7ea3016ab2b7119d6487d0a4bd2f45fa359199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CP0tejng4K4RTOf5ljvvUfHJ",
  "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]: [-0.5297, 1.8507, 0.5766, 0.7452, -0.54, -0.3679, 0.9964, -0.0208, 0.6384, 0.3901, -0.35, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4045 left_y=-0.1274 left_z=0.0373 left_yaw=0.1087 left_pitch=0.1121 left_roll=-0.0527 left_gripper=0.9964 right_x=0.2643 right_y=0.0033 right_z=0.1285 right_yaw=-0.0028 right_pitch=-0.0289 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.3487, -5.8598, 2.441, 0.8913, -0.0464, -0.2076, 0.0073, -0.3214, -0.9915, 6.7761, 1.9512, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3b290f154fa428b308c97acccbade90a0b640518c3fa063f4056ecfb5aa511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae3b59d86249b4b66716be861e408433cfac64ef260c42db14f57a0f86a7b31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a0206976a1fbf997067b2b4e1ae72dad9ad663df0af1961e78d94f95304420",
      "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]: [-0.5232, 1.8545, 0.5953, 0.7132, -0.5243, -0.3531, 0.9962, -0.0212, 0.654, 0.4141, -0.358, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4071 left_y=-0.1286 left_z=0.035 left_yaw=0.0934 left_pitch=0.0938 left_roll=-0.0357 left_gripper=0.9962 right_x=0.2668 right_y=0.0032 right_z=0.134 right_yaw=-0.0031 right_pitch=-0.0285 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.335, -6.2427, 2.5915, 0.7204, 0.0317, -0.3883, 0.1343, -0.4444, -0.8684, 6.9402, 1.9853, -0.105, -0.0122, -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": "gAAAAABqsrcceSApd6iq7VqpjLHkvhis_DnicpTuXLZBzYPLBd_sLbOVfRnQCHxaGVC0h1qG9SFTEGWO4Ni7k1FRi5zboF6na5peqBnZ_QYRIvuj9r7zysEFkaKlFH3cHeLBR7RGQh-_ziCpzLuvUMZyT9GhB_YdFJGtKtd_bp7X1pb3yHiXgfXmneKGZS4UEBIOrF5q8sFWnzOkEIG43XduPlBuJa3dcfFAdu1mY7E3nFzRNxH8OBxBCA6TxF8J_mvJiyXPLUngZOdIfi3WFW0W-nQDCEeYAKA-Gge-RhxuBAZVITmF8fIA4LxXo9i4Bj4J2YRUivswbLR7TX2XQaE5C4BP68xmx2vO8campErFmDdDNHcOJiIKKj5YvmTDtauYm1FPip519J_6UMqjWI5qi1v_LcUYCReQRykFdWnLrv2IC9FjYuZ3ypEJBhIzQK4reeO-Rnb004jfPanAzA0ip0dsDb4Z-iauvZK4WlzOVxb0bMhQc2VDGzCt_SJuVZ-Wd2SBkD3ypkv4KYNvn8BWbKZaYyWvSxR6NZ6a7BzY-ZYGYHhCqfdZOt5f81ypBRi32m98PolsQ9NAyEwjUVN0FWvic-b047BjyAhBmtPPpH6z2C5z6hz_EomhY8250wOtCXqTh5Tgk3bRV8d6vM24CqadVio1FsltNU5MrPhaEOjwP92xdO5G7TCeu8klBlcPFoE1_G89yKafAIvc1DbQ5FLslwboxhqhcWC_FKHPOxwP9vQMOAI4mCbIkit18JJXSKFik6uCg22rkVCkSyq9kuy7jFLRH8zH-pF9YYRHdqrxS9xMWasMj8r36kaRZf2GBJM2idFuRgelisCQ-WC3f0WvISu-jCmEMZeg6bybdxv7hqa8o4bHGP-86bdqzzfa5OOI2g2XKD0UiOsjgwkKSO_b6-nTeg4XVRssRKUxqFtGVrFSiG6rvkwTq4gyeJP8jD4JyU1mT4YT72iTBUbn8weMAADd4qcpyWcYO8TjeSkWJCkhduFxq5hh4yg4s6FljgarUzvM6PPA1IRp2HRIEHKjQFl1JK1MZLMZiyui8vz2afZx6W1JNyoLaEzpkxSoh7r2HZYxugDvRkJRcTtzKbBN7HNWPxLr5BqVXv4U-mzRiAXNgqL87Srv5RnEwsJX5AfsDEafb_OWB_FRthDYI86zZT9Z8ym3DD2ytWVydXhI0Dz5qerueCqFTCOMl0qo3xFcy9ornIkhFJ66gQ52cxfzgeK7HcwkBe0t0HYI8PjMnlIAK6VI1-OXMmhxw1juEGeOP8xsfmceD9vl6AReVZRrBcWsu--Dyf_8YZ1oSqWF7yTBBZsKk-9jFToh4GCD1JsFbYsvoG8K1FNIIs0w2JHgqLwzVURl13WFzodxM2l4E1qMLcx9FP-QD8Ek5hUN-XZHDTCBBSGwud4Bq3zK3R42Gxesi8hRfNVNI2QHWiYLo0ql5fQdv5vSAC5D5O7csxrpFcsfgdLiPpRo6D7FACls6fKt54APBlRxoi7VlT-GWoMIGJAbF0jnpWmu3lcbX2olRVC0Ba1iOaq4TUzBsrxeNKsIC7XopBtls69VTQDdtsPnFgC15SLJYhjmFJqXnYGzobcA",
  "id": "rs_007719cc1d5b7ea3016ab2b7179eb487d0861da411312429bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.12,\"left_z\":0.085},\"note\":\"The low forward motion is not tracking, so I’ll lift clear of the table and reposition over the bottle before descending again.\"}",
  "call_id": "call_5k0wpL2KIqpWgV3Cf8m8i6Sm",
  "id": "fc_007719cc1d5b7ea3016ab2b71acee087d0bc86c3580059e749",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5k0wpL2KIqpWgV3Cf8m8i6Sm",
  "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]: [-0.5297, 1.8507, 0.5766, 0.7452, -0.54, -0.3679, 0.9964, -0.0212, 0.6205, 0.3664, -0.3424, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4045 left_y=-0.1274 left_z=0.0373 left_yaw=0.1087 left_pitch=0.1121 left_roll=-0.0527 left_gripper=0.9964 right_x=0.2618 right_y=0.0033 right_z=0.1236 right_yaw=-0.0031 right_pitch=-0.027 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.1607, 2.2085, 0.8767, -0.0562, -0.2173, -0.0073, -0.5812, -0.7316, 6.7214, 1.9365, -0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2597c9ac9b18d24698e42360a6474950a7431855c0074e3046974bde7f8a5ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956d2f410638a9b37d64334d29ec613ad7ee5df329265c0eeb8c7372d29cca93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02eb7716ac394cc1181684b59bf93b15ca72a2eee1ecea408a00523c125dde3c",
      "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]: [-0.5297, 1.8507, 0.5766, 0.7452, -0.54, -0.3679, 0.9964, -0.0208, 0.6384, 0.3901, -0.35, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4045 left_y=-0.1274 left_z=0.0373 left_yaw=0.1087 left_pitch=0.1121 left_roll=-0.0527 left_gripper=0.9964 right_x=0.2643 right_y=0.0033 right_z=0.1285 right_yaw=-0.0028 right_pitch=-0.0289 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.3487, -5.8598, 2.441, 0.8913, -0.0464, -0.2076, 0.0073, -0.3214, -0.9915, 6.7761, 1.9512, -0.0904, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrclHO_-b3omdm-6e94kU-5oW9d26fEnVXX7BXmQjrYbPERA2yiQSo0yVGMCaWd5rFNYajAa8qroaUslEAwoVGD5Dt3J-BxzAuRKjP3t9siUfuRx3YIlx4dtG2-NwvthaTH9UxcQNkYr63qRGU4l91T9rSxS1XEBSoadaO6W48kJaLzzK-5eOlXlVawnyFXeb78Sz7f5tRNCHkN19izpXQXSZYDZ6ZZw89kCF6yJr5kRbzDZWQ3Q8-d1mX6F0kawsn-8HgOCoY6EEMLEOO9sVGmBe0u72RJYpyQfR6kZBuI2pXb6BM85GPspaduTO3EQjXpzsz1Rlpro3bwBWlbxTDuM72hgnsqWR7F4O34BdW_GWtxbdI5KKT6HnYIFcNJ1NUYWTUaR1Nv5ql3yY898WJzUukWJZ_Q5jhXooUNcBZKkPhZqO40lLO-AJu3CjdY2xb3epGKav3p9-zvkLqbjfvLN3KbKy3tZI9VqpJm14THbTnPMJeqv0tNmFaSxmut6DkoSUaGuqe0wECmJsF3Bwg9fQzPlL1pJxBtMc8GMe3vCF38XNaP7oN-OpLka3fSeIz3IXBEVi2FQTgPjtTw5kL4DEbWSqJfk5dKRdTalnHEi5g6ExILj0hkrxNnrxtbKoNfdr38yAqG_42EOjbvoxPZMeDXMuB69WsJ1k43c2pMmO9BcVpgu-Z4Ki4qmPLYQwbRq9WCv1RS1eK_C23aMDEsRhQcGv15q00IY4jjkbJa57apnxIMbHvQ1KGzptX9a1doY2DY3i0Rc-7tdhj03FcoOF80Ce2Pj-KvgXol48meqv0SaEy-0KbJr3WgZ1s8cLbgEEWQI_wiDp2ZT1CVeIPlJpJHB6SEk9AFj4HW5TRT24cvToim3U34uvfNVl5AGK64V128ubcAD7LxHigJLk21rBWU7zfakSq6cTSuMjrcnpja836dh3zr7A3HXT1tavgufTGLNQR1cwe52bYtus9gzvQruV_N-9-Rv8Oz3pZ89SPuRhPYyIudMw61PIu8fGUL9hu9se_Nj9MWtyTOafWhmKii1aTlUCZR7iiYzGaQe0abPe-OTQ7FJmbKCWFa5GhUSSQgT2NyF8aMfPte0ilQW8XFJZ8hTDw5aCRvw3Fl8ab2GbI2QFFcT0D0zQ7CDQpEB7Wx8fwRO3vxQaQXZppy2K9jI03wMgWPDUGiY6wQ0C_bKruGgjEZLmKPuyfIK7F6V1GrnFMAkpDNvZYcyoaXKYzXsupn85ragdM7EdVnv-FI=",
  "id": "rs_007719cc1d5b7ea3016ab2b721aa4c87d0accb9cdb4e8f8193",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.19,\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The left arm is holding its low pose rather than following the command. I’ll retract it upward and switch to the right bottle with the other arm.\"}",
  "call_id": "call_EDfZNh0ZiD93z4K62cBdRaP3",
  "id": "fc_007719cc1d5b7ea3016ab2b722ef6087d0af89e056b6228259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EDfZNh0ZiD93z4K62cBdRaP3",
  "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]: [-0.5365, 1.2369, 0.8017, -0.2436, -0.532, -0.3981, 0.9964, 0.704, 1.3899, 0.7845, -0.1513, 0.5247, 0.3672, 0.9999]\nstate[eef_state]: left_x=0.352 left_y=-0.1009 left_z=0.1731 left_yaw=0.1069 left_pitch=-0.0113 left_roll=0.007 left_gripper=0.9964 right_x=0.3372 right_y=0.175 right_z=0.1287 right_yaw=0.0442 right_pitch=-0.0669 right_roll=-0.0487 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -5.5453, 9.7709, 1.663, -0.2466, -0.0513, -0.0073, 0.0479, -5.7231, 8.8957, 1.7705, 0.6374, 0.1929, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576f682f5286014b1e404087b279499433364de2380bf91cfd202a7fdc0e0618",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7978c935d77f4fe5390ca4f52a1fe175905a6aa60047406f1af8535e25fa33e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93d1efff5d7285c85dba54fa921fff029f2c3c75781590f2feb02a7c4b170a4",
      "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]: [-0.5297, 1.8507, 0.5766, 0.7452, -0.54, -0.3679, 0.9964, -0.0212, 0.6205, 0.3664, -0.3424, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4045 left_y=-0.1274 left_z=0.0373 left_yaw=0.1087 left_pitch=0.1121 left_roll=-0.0527 left_gripper=0.9964 right_x=0.2618 right_y=0.0033 right_z=0.1236 right_yaw=-0.0031 right_pitch=-0.027 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.1607, 2.2085, 0.8767, -0.0562, -0.2173, -0.0073, -0.5812, -0.7316, 6.7214, 1.9365, -0.0806, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrctMRYe0U7r2O6Z-mifpzcFuIBoZGO7KFAMi9NmYh25Jx7CPR_In_hB2yZyKMSFO7gV7m0qfkq_2s-6jiBqnLXgIU1ZN5KneAn1khwy98Cq3SgKCYA5TgL9gT7zi-IQr0a3fYnqHC3ODbAFgwne0dLMRZRdfXklsM04FySGTxAIAP28PTXOXIMOltzUvweRD6d4eenEIZzyF0RKlyh3U5HZ8JoM-m2B845AR4KTjGKxWaUfBM1yq7aQeJ3Aa4Ac7qwo3968OSlkJ909tlw0n4261XBEzTgfQItIxuc3-rMNLqt5um2Gp5iB11c_Z9VzGKwHZo_59d1zv9PeWgTOLeOO_EK--yPMFYk-qkzvVuClN5gMijlDDL-6Ab2Xv5eJYJCtwhw0G0UsW0LDH2ntwvgK3LhXyjGb0LHxzPbPSZk6eEd_UdkeNdeXKRFeOULYwE4PXam8TQwHR73QYut2A5sDm9R83IwK0t85nO4MiHFIwerHBQfE4S49oj2aaeKdoF9OxemTAGdneCgmljB1ues-zuoRVuBkmMD6NzJc8s2oiigLWNRLh55RJfL6-1xLhZy_XZ0wNohPiQqhTmpGFJe4qbN0eHSUhexloFZ0bbYRe-vzLlyCEORi2wsjjcbzBjQQ9uuyDYSRjKHgbNcn1q6fMHruLQtBDBFT8xtZmOxp3PeDx9KT5FHhYFge5RWionqIlBnWUwg56dw6GAUvA2abXjvmNYmNBX8wJJutY4AYxYp4lgzlkdLKEwCOaeuTJXRhekTCAwSIBIHyFuYR7jwBI6wIjkyXzQ767wlVIJ507QZB-eXqqIaA3daZGHCQ37C_73u66uNLGOoeqWisgsX6SK-fcFAHCFxZVRNH92gi_fplSsEA3sWlyWCnx2sV5J6EP54nigbW06FcZWrf4hsr1CitRjeraRKmwBVlNQnFFQMfj2QmPugIVaj8ot7zJSYhjEYxYZFqsV5bikYGO47YkzGRPIeRP9QYEAyryNeyLUXF4wZUthe363sfoyRT0Gx6xtCAfLGJ_niJAlr_Xuo4fN80pxsQiYXQFnVNay4Sttoick7OytfXVru1gIZnfgLAdnf0JA8LhPxsl3X7Mgx2sbNpTBpQMq9cQVMMTkvyeGvhF_hxVTRCl8p8pnLzisH2hxG2ZLkfhMClW9Wqf9SFQ5TW6oMwtJJsMX4EbqY5DaCfNWTtYHyrmQxbLDMMTEoueAxK53zblNCbg4zLBl0t_FHzrShkW7uku3hJCBNMY2D-S63_LlQ2B5OWWLF1KW24ukQUG4BT98WkQjNpO4eLVQ==",
  "id": "rs_007719cc1d5b7ea3016ab2b72a33a087d09ee4b9aa3f86aa40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.21,\"right_x\":0.415,\"right_y\":0.165,\"right_z\":0.045},\"note\":\"The right bottle is nearly centered in the right wrist view. I’ll advance to its shoulder and lower the open fingers, while parking the left arm clear of the work area.\"}",
  "call_id": "call_qazPYNo4oNK9hUHg3leksD7i",
  "id": "fc_007719cc1d5b7ea3016ab2b72b8d3087d09f986a132b19e2b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qazPYNo4oNK9hUHg3leksD7i",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1616, 0.812, 0.7277, -0.4629, -0.2672, -0.2043, 0.9964, 0.5293, 1.7878, 0.6891, 0.3653, 0.3832, 0.2451, 0.9999]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.2178 left_yaw=0.1633 left_pitch=0.0346 left_roll=-0.0232 left_gripper=0.9964 right_x=0.3902 right_y=0.1559 right_z=0.0225 right_yaw=0.0475 right_pitch=-0.1006 right_roll=-0.0524 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -1.3197, 6.188, 1.7118, -0.1148, 0.2222, -0.0122, -0.6769, -7.5966, 8.4034, 2.2247, 0.1832, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2a2f171ed9666c1be5f8cd73d26d8b19ea405eb5790a2827362ebbdf0a3d56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa2d1ab01547bf0e0f00244e1572be34bbbc9ffe90952d7967b801624d9552f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a05af2e9428c02f3bf646743b816933d4d0a8f4b71e21d91c2a349e273823ec",
      "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]: [-0.5365, 1.2369, 0.8017, -0.2436, -0.532, -0.3981, 0.9964, 0.704, 1.3899, 0.7845, -0.1513, 0.5247, 0.3672, 0.9999]\nstate[eef_state]: left_x=0.352 left_y=-0.1009 left_z=0.1731 left_yaw=0.1069 left_pitch=-0.0113 left_roll=0.007 left_gripper=0.9964 right_x=0.3372 right_y=0.175 right_z=0.1287 right_yaw=0.0442 right_pitch=-0.0669 right_roll=-0.0487 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -5.5453, 9.7709, 1.663, -0.2466, -0.0513, -0.0073, 0.0479, -5.7231, 8.8957, 1.7705, 0.6374, 0.1929, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcy_wBFmew_2U1qPPLPiW1Ec6vnQtt6ZLE0dwkMdWeu1pNTtkBMcuZywDXB3HI1AKrmlxA9bowWrO8rCi_D6vpyUfQZkDgJQQ5-nYP2iPbMUtMUdRdy__vvPG4pi1dBvq4_LmsTR0aZhhTtZmU59GJqXAX1sTyszq4P9U5csUKknE9ec56ipWYWAHpbI4hJzmbsCHqjOczlf28Os4ZihZSNQh0wbeTZ8_7xEda4yy0f_Q2i9yvrUiqXb39tsLkTIt1TBBchIB-3Tbv-W2AwU9kTKhIUap4hd7DGQD6S-EDP_vqxDU3_Q2iCAuykvSnKkAwO1yL3AuP3JlgmH-x6x14ouKsj0QrMy7AtAgSvafa_M8X2NVv96Pefb9-oAJjrA4wf3DxtBgPAdRQO5uV49xD8bPamvulQp7jolpYOtANFA40-sflyxqiTl5wRx1BQ6Zm9DQU0rp7kH3A5zy8EafpgwCdApOLeCN9EA6umLMuXskvWtEert9ZnSPdm15G5AMLOiQuuhtGlwE6Ky47hMTZhD4hO7Zxp1JEMM3eqyO8kB_xssbcY3EX1XIMxL3q24TvtqZgXzZGMjJTdW9clHc3lJjo-i6aLBbsLoD0rUsxRejHRZoLru9mAql7nBrjDk6-H133VP7LExdGsfTuSSGyMhwaGNQW-jgpHAptnA5m8abaU5azRaTku6EfXkVu56ZPY4b1oSql8VKsglVSWYYJ6i-DHHdyuEjbqB8I1A2evnZawVhWuGmZfxBVv1XWP_Nq5ZqQnvUVUdX53N7MDtGxMwEwGsYzzbnGgPRGLPNBhyPV1crxbmM4XUK4DvZiYkTxgCp-JKM6FvkjkHEeKS6_Yab7L0iDLje1u50V1akO91hXtiaTrjpMf2hzUEBJPqBlI6lUepHgaKUNF4G0vtqV1UOzNa6mzxZUvt1u54uxsZIXXQ_laR3Aki6WTjvCvcBu0FuS-0Kacyur9a9ZJSuv7t3RfZQ6G7Ax8Ni2vpredUmBnoNMvwgntw9QX4AvvdGaaroCucHC9c5qcdrg5Nosw1YpD17icx3g-MQWBQmCJR0u3kaBjsZk2pp726DYFogij2dvV1ZKH6A8rCPRb7tz-ctBpGnB-OxUTr91lpg4TOCl1lvMo5BAE1H_KN1id9Eqg1VtJAbKmMkTUCNUvR1kqy-MC65Ca9d8ifawFV-5to8BOkNFrkSsAuW0VtzWC_vzoOC51v0aLnGE-fI-EQmpjfKkIpFoZIedHV8AIiXVDdQYmuOYHBya3raY4iXiI8jfMLBLt1GhlxUGsDZeePXBGww==",
  "id": "rs_007719cc1d5b7ea3016ab2b730628087d0ba2134c868888979",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers are down alongside the bottle’s body. I’ll close now and use the measured jaw opening to check whether the bottle is captured.\"}",
  "call_id": "call_bMFO5J4hcK8sSgPxjpCIsVLH",
  "id": "fc_007719cc1d5b7ea3016ab2b731a1e887d0b9449b31d8696a93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bMFO5J4hcK8sSgPxjpCIsVLH",
  "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]: [-0.1696, 0.8478, 0.7361, -0.5102, -0.2699, -0.1917, 0.9964, 0.5289, 1.8172, 0.5915, 0.5571, 0.3763, 0.234, 0.4594]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.2024 left_yaw=0.1509 left_pitch=-0.0358 left_roll=0.0126 left_gripper=0.9964 right_x=0.383 right_y=0.1528 right_z=0.0127 right_yaw=0.0608 right_pitch=-0.045 right_roll=-0.0276 right_gripper=0.4594\nstate[joint_eff]: [-0.0342, -1.853, 9.2923, 1.6825, -0.2271, -0.149, -0.0122, -0.0752, -7.1726, 5.3538, 2.0195, 0.1636, 0.1001, 1.3797]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb54ae582c0c45aeca9b5d86e48960e5737ac99084ec4e30383bb1769cf068a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2492daf659a364ca98396861aa70a203c87e1e510977d3a009933b4d3181044c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8df5c732b98fe9efe7bd9f36c3cfa0c12f2a898a1abe687f429a6e6ae463228",
      "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]: [-0.1616, 0.812, 0.7277, -0.4629, -0.2672, -0.2043, 0.9964, 0.5293, 1.7878, 0.6891, 0.3653, 0.3832, 0.2451, 0.9999]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.2178 left_yaw=0.1633 left_pitch=0.0346 left_roll=-0.0232 left_gripper=0.9964 right_x=0.3902 right_y=0.1559 right_z=0.0225 right_yaw=0.0475 right_pitch=-0.1006 right_roll=-0.0524 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -1.3197, 6.188, 1.7118, -0.1148, 0.2222, -0.0122, -0.6769, -7.5966, 8.4034, 2.2247, 0.1832, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrc6wid51RmKeIAKlDPcqkXja5Bh96x5vOIVHkAqJIpeNNXmDVv6yFNikCi-2iAF8vboIBplfv5RjKrfTD4tFn8P09DGxLUuWaydaIxKBp6DxzXchKJKJaUtulNW-Pajy_Kg7TDakvDNk9cTmAObdtxaNJ7D8HVHBt03L9BjY-rWGvTDmUMyv-EyXlLKi-yYUTAsCtlpmf2mZQNS4h5LY78QDWwf4tET0BvH7Vlciv9pixzr-NNcrETEsfMufyd1QZ0-GAwcyXL2h6NFF5spICDem4E4fDkX3ZJ9EhWZZLMpYgpi5yFz2LfueTZMVpSS9EySpByDLENtup8r_Oda9H56ESMU7VOosNuDYdKVIJrgfjcp9FZoi8MiSoOnYmdtErASxN25h6qWqwByz8M-fzuL6RcJpTmJQFjkiQBxgyVm14LE65-Cj3MWchyxkYp4oK-hKEgoCTuFoGuZT33B-AIoR3q_lBGH87CywayCEBoX1h9K2e62bGAYwLKIViOFciwoLYVBbRICHxjurNxZWyk70RvrIKiKLr9ig_BU7GvOTJdUQ4rq55knL-EJi7cAq-CsjGbCRKhU1Jove3dbWO1Uejh-rVgiagRjBf-QV4tU9WbxmQM5LiNGn1m9lcWtf4hBEJUJqlP2XTdqkw1K4pEy7L4vtyfTOfp7CzFJ8diSKwDs3zsuSxTwNkBEqUKiLNsbX-AT3o3mZArh_N0a-5D65bQQMwgWvehT91skvF6IOgCyxf98i25ttl_bHsIgD7zg5m9crSZcGiv0cmqvvxO8oI5T6fUAfBTZn0ZnO1CkjhjvUT8bVcOG9sZuLbD9IXrvNQZ38tt8vG0gqvLw5GaqNuOXctCNrYclpAMM_FeJVt7J-Jx-cvJ9M6zvUhnZ4tyobQm1AR-eaSu1fzIaba8ucSE1Rea9_p4XuWJ4MkOwRdjBBCkAAuZ676ixCeOC2S_CBrBjb6I0eg907u9FFklOZgcgBl3Qh1VdxM95KnIiXQURtu4J_33WrJQfnUgihC9SXXai3-ja8eFAICrXkQ6K-I8xuZxc6wjrhSMz-pYsPsvtGOiNYo19cKdJ3_dj5NJMssZD953SQdoqtNpQhELbi8x1nJ2ErYl3yPedmrQv0rRw4lMyaYBP3OayHNCLmH_rcL8YGL3O4Kw3b1rAseuKIikgGxIv8lKNXL2vx8Nx1_qmQXr12PzVBLD5p1P6NAsYDoBjKEK_70wvYSIt2-LrlllFXaIgwYnMqxaIaOU-61mFfvjbD0xLyqLoczsAU6NLHgNX3_v2L5ShIqvDW7-7AKX6_ZO1KcbW99tlewxAFaPAsjaXkWbmKLMGG54hc0k-F9wOXCo0cRrUoA6bzsgPYJd3M3yUTu0tucJepIi4x6-p4vf3Fc9UQsYGptW9KoYrhfJ-Mr3DrwqJBCmMkul-GjiClozW6bkSDphvERaq-5Q=",
  "id": "rs_007719cc1d5b7ea3016ab2b7363aa087d0977bb64d895525b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_z\":0.075},\"note\":\"The jaw opening confirms a bottle-sized grasp. I’ll lift slightly and draw this bottle closer, making its neck easier to reach for standing it up.\"}",
  "call_id": "call_7zBn56o3Vns4KV4YXgovDhy8",
  "id": "fc_007719cc1d5b7ea3016ab2b7389ca087d0a79419bb6969fb29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7zBn56o3Vns4KV4YXgovDhy8",
  "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]: [-0.1696, 0.8268, 0.7044, -0.4767, -0.2695, -0.1905, 0.9964, 0.6865, 1.4147, 0.4202, 0.2142, 0.4385, 0.3149, 0.478]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.2005 left_yaw=0.1498 left_pitch=-0.0142 left_roll=0.0061 left_gripper=0.9964 right_x=0.2977 right_y=0.1516 right_z=0.0384 right_yaw=0.1203 right_pitch=-0.1214 right_roll=-0.0545 right_gripper=0.478\nstate[joint_eff]: [0.0752, -1.935, 6.4479, 1.9072, -0.0855, -0.0415, -0.0073, 0.1709, -7.0359, 7.1043, 2.7668, 0.6227, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4407adfb3f298303f7789c68a4d48fedcdbea21a494915ea8a78edccc73a49be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c5b57c2997e99c6a5ebe63de1245289961d431f6eaf84b16fa3efeed966abd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82413ee7b280032aad5b321f7911794d03d72242f35bd4eafbd67008a7b41e92",
      "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]: [-0.1696, 0.8478, 0.7361, -0.5102, -0.2699, -0.1917, 0.9964, 0.5289, 1.8172, 0.5915, 0.5571, 0.3763, 0.234, 0.4594]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.2024 left_yaw=0.1509 left_pitch=-0.0358 left_roll=0.0126 left_gripper=0.9964 right_x=0.383 right_y=0.1528 right_z=0.0127 right_yaw=0.0608 right_pitch=-0.045 right_roll=-0.0276 right_gripper=0.4594\nstate[joint_eff]: [-0.0342, -1.853, 9.2923, 1.6825, -0.2271, -0.149, -0.0122, -0.0752, -7.1726, 5.3538, 2.0195, 0.1636, 0.1001, 1.3797]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdA3zUpkwZm8rZObfl48N3W_5GF64gKaMQqbCss_UMIb4Wy4cHFzrEmvV8IEkPb5I5l76qK7QL6W_Fumgfu1X6Wy1Wwlk_Xy9mdQJI6W25QuTabPNI-XbwTP53zrMNI3SHyJiwPbmrzvW3KyDbrHXP-y04SlO9IyG1MIpUXDQVfeXubXbxnWdYVo9IokrskQ3YNtqXsY-HejyfOFP0IML6AWp7n7GaK6Ap2S61Jv7T-nrEfrBjOTESMmgeL21E4N8ED842y9H-nXMNcdUYpSgFVF8Ze8sq_IVNIQEKS5Xon6pRScOiUBVPVrpReaAjxF16BEAGsWh3yzGIwILsIifpTyJJY2kf6ZvQNYeTBY56MlQ4St4EmqgZAigZ-DWTVDin3z4NhYTB0EDbHfp5fD439h6Lfh6jpOKXWQbb4RgNeV5OIT00pKAyYWBMU8xfVF7YDjL0yYznU8LxvUTxANPkx1f3IN5H2pcGq4Qx7XwhLifjuTwjCrxjMedhWYFmCHZNTON5e_Lo0ua2P6rgVCxeq2wH570t3X8V35kSwPcCw2ZV6DX6NlyRdmEWw2RGlmcU5R2VjkMhacJUH5xizUVcIeTpeVcqD8AKGNKD_ehKei_wuI4K_AOTF0hTlpHf0fQ6qwJ5YwfpiVUCW7JN-fjexj91bgOb-lOYPVC7CM1T2SoIPiuvYaxf_f-vaMCys8Xj7sLCsDrKoo4GA6Qt-2ls4FjgMMgB5w6qa7CIjGYAezaA9kWc-EnTyv6HQpfR8mk8h-lA5OA0fCIu03lp-l8GlbAy0SEw_J0TUEeBlQLJlXq3EfAccYL6rWZditqOslZOjfh82dT6nIuMHWthrpnL3J8pdHw2jEqpRInTVCehnaLi3SM3W5MzMBMhATaR6DVy9fsaMTMguH6eAgD1YIT9YR-xJ3IX94QXVKiHJHWsgnETaQabrzw7S9bw8aRz9OwQDsxRlb0Ngaqa9-OLaQyyxJthqyC0SftJMUpEb_embDBztPzhYebBdr2wvS4Vxq4ESCklowhsLeKib26_6bI4rxfgm63s-s116TPKxLhTx7Kbh8iHdnXNzYdeQ2sB50nNLxclUfYrxsJiW3NI5K5yOxu16le4coXjRo22LDc4_qudDg9ADJH2l_pwaFrxN_Yxs1sujebuw-hwdsdWZV1LyLKVOtkoiTcY4jaihvDxLP7spsQI8vtkxWhjb2C45TRS6pQY11Wls_pXFbghuLtfKXV9hIUslN4OVeSTBcCzR2akE7HTafmFioPwccKhzhgacoE3ahJL28o4QNp_wL94ZBg==",
  "id": "rs_007719cc1d5b7ea3016ab2b73d1ea087d0a1819e062624e3bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02,\"right_gripper\":1},\"note\":\"The bottle moved closer with the gripper. I’ll set it back down and release the body so I can grasp nearer the neck.\"}",
  "call_id": "call_WWU34I3OsuCG6qyxMyefmifU",
  "id": "fc_007719cc1d5b7ea3016ab2b73e334c87d0b3826dba1f785caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWU34I3OsuCG6qyxMyefmifU",
  "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]: [-0.1696, 0.8234, 0.6968, -0.4683, -0.2695, -0.1905, 0.9964, 0.7002, 1.5475, 0.2737, 0.5682, 0.4446, 0.3054, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.1997 left_yaw=0.1498 left_pitch=-0.0102 left_roll=0.0048 left_gripper=0.9964 right_x=0.2897 right_y=0.1494 right_z=0.0105 right_yaw=0.1379 right_pitch=-0.056 right_roll=-0.0254 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.9761, 6.3658, 1.7607, -0.1099, -0.0415, -0.0073, -0.4855, -3.8632, 4.1778, 1.873, 0.2613, 0.0073, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c53e1772bed1571644071018c5a739d09aeaa79085af3982224dd7bad85da7cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8442ee03d2d21d1e610ed7931bb9e064ed73ff2525337d6b88bcc4c123b5f95c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8179c7d538419acc77dc40df7627a414ae311b265001b71676303b287ca14c",
      "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]: [-0.1696, 0.8268, 0.7044, -0.4767, -0.2695, -0.1905, 0.9964, 0.6865, 1.4147, 0.4202, 0.2142, 0.4385, 0.3149, 0.478]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.2005 left_yaw=0.1498 left_pitch=-0.0142 left_roll=0.0061 left_gripper=0.9964 right_x=0.2977 right_y=0.1516 right_z=0.0384 right_yaw=0.1203 right_pitch=-0.1214 right_roll=-0.0545 right_gripper=0.478\nstate[joint_eff]: [0.0752, -1.935, 6.4479, 1.9072, -0.0855, -0.0415, -0.0073, 0.1709, -7.0359, 7.1043, 2.7668, 0.6227, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.17,\"right_z\":0.095},\"note\":\"The bottle is resting closer to the right arm now. I’ll move above its neck with the fingers open, clearing the body during the approach.\"}",
  "call_id": "call_WPGLiI36TXeL8Il83H0ca3Yv",
  "id": "fc_007719cc1d5b7ea3016ab2b744c0cc87d087d28495ac779e54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WPGLiI36TXeL8Il83H0ca3Yv",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8234, 0.6952, -0.4683, -0.2699, -0.1909, 0.9964, 0.4946, 1.6554, 0.7647, 0.2749, 0.2745, 0.1577, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.199 left_yaw=0.1503 left_pitch=-0.0116 left_roll=0.0052 left_gripper=0.9964 right_x=0.4076 right_y=0.1695 right_z=0.0837 right_yaw=0.1518 right_pitch=-0.0204 right_roll=-0.0136 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.0171, 6.2154, 1.8437, -0.1294, -0.0659, -0.0073, -0.8957, -6.7214, 8.0889, 1.7851, 0.0513, 0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617ed85ab8037e3e3aa8772469695911f010097e1bc5961faf42a73f936f1c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a007d7b1d49923f3bcb49f2aa44c60a0ebde1100e67c0e4459d615ce321640",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dc458b54e252e7006047c19668947c7a1592ea1de7876577a8ee40cee6deaba",
      "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]: [-0.1696, 0.8234, 0.6968, -0.4683, -0.2695, -0.1905, 0.9964, 0.7002, 1.5475, 0.2737, 0.5682, 0.4446, 0.3054, 0.9957]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.1997 left_yaw=0.1498 left_pitch=-0.0102 left_roll=0.0048 left_gripper=0.9964 right_x=0.2897 right_y=0.1494 right_z=0.0105 right_yaw=0.1379 right_pitch=-0.056 right_roll=-0.0254 right_gripper=0.9957\nstate[joint_eff]: [-0.1299, -1.9761, 6.3658, 1.7607, -0.1099, -0.0415, -0.0073, -0.4855, -3.8632, 4.1778, 1.873, 0.2613, 0.0073, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdO66IJ8QzE0C7Mmvj1A48hHNQCYusCW2B5pOPGPSG1YJEMFphUWxvWODGVDjq6doTTGdtUYyMNr85jZJfVlyFtPJHcoU9UuSSkQOmscu6aRbPWemt09Wf0Nl_aXWvZvKUTmDujaTFGA7YvSnk8Zlxe40L_hdKrmal6HAAtgmg5xasChT9dJ6BhOCWPQZZDM7Oz90c1FSad92zO2Eno5Nomgci9kcep4COmkRTU7A5VQlhLt8NV-uu8GO44Rx2gAOqr4vVSgW8jY-DKBeCzckZBvRkcnbeGXjkbJcgRYqS_MLP5MWhqEq_EQZNBrk78QyeD5Y6wWnYEx51191v4fCLsy3Ca5fNC2BYlfEKpwbmqyeNoFWGLtk8tc6vBTJBswyioDii5eIyeMUMNgRLWTwdT-ymaZSvMty4G_MX_fjCAL0fGclC7qXFnAtIaRbE7b55OYjIfHLgqRFLt7wpZRmWlMGONOiMA2cU_SlSO6JJTPpXv0tMMlHB0Z_FdowCq8mWMKl2mcCnkqaXP0OZA78tnTqeYwRsbRfLKQpZLBnWdA4qIcfasiKGEliicstXugFyX749Ls1raYJykWJsG4gceWBLgbjilw1NK1w88kafQ30FIma8og5GWXLxGNlWWw0plTijDmCk_QNx0tQR_9qsiUR4fZ8VhtMAMnReLTvfeBEX3qbMRH-s37UG1nphwhekpWXiyfys472_01riDqVMz25u9acuHrbdrDkt3_CSjFioCVrX_ogLS-WBcFRo2Qz0cwyGe2FjZsrxe33F0uca30oC8Z59lzv3vaWYmLyOTEN57JaAZhdyBO_1w1sppi7vL_X5iBgMCpDYBW3XzeeakVe4urmD9jds0p87iZj7MZol0qefBPHCAlQXCwU_7ajgD3gYJI_ork0jvDn471OWO5-FlS6Jt_-8OFGHboH740LcCAjC80aTOFyE1PbcKU8gFfX1E0umAIk4yGFsE07dkxmziQOfs7WCHgeqETobkh7wIApCxlxuiumVJJ7xax7FeFuBWEbfkws05cLNoapGIBBUkKGaph3g1YiVtxJ6f4_flM6nP5aDdLci5xqWaPu1-n_r7WM0p_JbFDFvceLjmJ91FV1QfYOlTlDMBy8zEaiAeFMa_YbZsCgixVD9-sqnH9kUBttv3MF5TVfuOPryQk90yi56qOV0MA7CMEFLZpx3SusNQ_UzkPbx1ioTY6eRVVMxe1MrJS0XfyL4uJbLhA_0X3G-LGSOdzap8F0JeBMTwHhQFrMawEJfLkWP0sPf2iKnOh-1U5hpwFxCn5V542Vg5_pYWYtPf3Ic1J8ZE4s6Tk9_tNF5U8JhDjesUjVFBPdhAH9l93MkuXwowbrLvvM6ydtUZY5oF0Az3xyANbjP7LO56Ct7JSBECdbx2RdbW2oeLbcFX_po-I2b_sLt5_2ISAdpI8PSsZ2cFvnsqO46I6ah8WbxmnFz3x9tABs3wUk5nq_uuCOcVrykYn_u4HAh0cYEEHDCnbqV9OoHQhscp459H8XTdda4PmpZO875M",
  "id": "rs_007719cc1d5b7ea3016ab2b749786c87d090c182f89c5063cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.18,\"right_z\":0.028},\"note\":\"The cap is just ahead and slightly left of the jaw center. I’ll align around the neck and lower for a gentle grip that can let the bottle pivot.\"}",
  "call_id": "call_n5hTHCABhPef8udI0TYRC3kR",
  "id": "fc_007719cc1d5b7ea3016ab2b74cd2b887d08f7278c8809e0fb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n5hTHCABhPef8udI0TYRC3kR",
  "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]: [-0.1696, 0.8185, 0.6952, -0.4679, -0.2695, -0.1909, 0.9964, 0.4656, 1.9224, 0.8295, 0.4545, 0.2398, 0.1333, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2004 left_yaw=0.15 left_pitch=-0.0066 left_roll=0.0033 left_gripper=0.9964 right_x=0.4382 right_y=0.1772 right_z=0.026 right_yaw=0.1645 right_pitch=-0.048 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -1.5795, 6.0786, 1.8144, -0.1245, -0.0757, -0.0171, -0.7453, -5.7915, 6.8171, 1.6093, 0.0611, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4736a10e99fc71263931291713a52facb87186c45410ad2fd03e3f5cd92ccbe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e650f043b69dd5c8a80f64013808fa54f0356cd26dec88b2c76a5bd0dbb7c08e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70e25ba42a378ac180305ca051026cdccac23744b625716664774f4187a9179",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8234, 0.6952, -0.4683, -0.2699, -0.1909, 0.9964, 0.4946, 1.6554, 0.7647, 0.2749, 0.2745, 0.1577, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.199 left_yaw=0.1503 left_pitch=-0.0116 left_roll=0.0052 left_gripper=0.9964 right_x=0.4076 right_y=0.1695 right_z=0.0837 right_yaw=0.1518 right_pitch=-0.0204 right_roll=-0.0136 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.0171, 6.2154, 1.8437, -0.1294, -0.0659, -0.0073, -0.8957, -6.7214, 8.0889, 1.7851, 0.0513, 0.0513, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdVJTMQfiFykf6-frQ1oIF9YnUW4WfekbLhuOJ5yluxASBS7b-iI0r1uDt_Adac3wMC_da5sLKBFbl1S1_eaCvKZCaBw7kAfS_nXs2N_Lcy1vMZCeWe9x-rayBdV1Bd7THAFMWp5VcX_47uu_AKXvdwzTJGT2EwUOk8BXVb1M6MRoPxbvjYzLv4tnj5Sj26g154S6n_lVPOP4xh0sFR_QOHFt2GKmLjnj00XIhsqdJcwYGr_BQlEQ9-2o-PgTHOid7VimFsVeSv_ADwQdlnmkto63i0gRGgl8XcLc8XdoJN4Jbn_EFKHZeX5gn_ubcKhqq_BTlxlIAZfiMDTuwDdsG0ZXq9zFOu2L3IDmlI_OHpH3Slp7wh141ucpPflqqnJ5QUja_vZ74GQuhtQsYQIzw3kbYM4UXU8qO7DLde8-zdLeyakUZzOzsNTnq2wKMzEArNAAVXJ4P7HCrId2rUaACCrnrarzMwCIKWNvF_s6s3OQi94Ki8rCHdDvJXG2fpzWitQ8lE5pEBq4abtM92DUkSr_20uO_wIar9IkcJIdOKhRDYF4kkoLv_zXt_xqok6DAOXXz6CCHtCgkTApEtnGwkfT8LzvzRoHa6AdL-U3P9bD9dt7Rzs9ntTE0fHl8XTY3YQg8mp2i466i8NyEwAW1-SYvls-XFX3qO60pwBR6W7836K-YAKmmH5BUeAADhEFtrXHAij0kgRepg4JnVQjqXpNulm_CnB6hoefV0oGdupAFgSkL9LCqwuAZVH21RwpO7WAVyy6XA2ZsIeeOt2bxOH3CHRwRIOCaGOMavofgnm80rCdHL1MbQILNMhMBvd-ixuXTW3XnoPUJeAMZkLUCfjwGgnaZNrFwFhY4GKE530nXIkLz1NVOQCaK_qm1Sm3v65wbsCwIriP6S6YyibWQVebJw7IyL28o4Wa69olVm4exO_BEuxEUalw_W4g_pe2mKsioOyZRJiUfAuQfDN-Vkosz26HJmbe9MgCSvkDGr-P617Rr7IAmZS7A20RX6JKIWH54i6m8xz8kpZNGHSjs881G1EmFErlygXcA-0BmkKSu6YRpJAWtYQEjYXTbYUwEQqdlTq16Wpfa-AdUV8pL19NCuCRzQK2ICw-F9MNgs1ly_s7gC-3lq8jVS_96zhQ2hWK2FYJHHFta7h09ZVSBwKqROvweucodTgwxNRkwUwanf1xqCV3gpSUBby-5b173EQk1PttZ7Ce3MlBhBg_IXbPhmZlrb1GR9P_Zky3Hj08sYzbrTygbDqwhfOAMOYqErI9nuzSAotudG5Gtpi9m-vK6Gv0_31GDyBEhTs3BIGm6ZAxRsdpWUoKByx6GTc5iEDhGTWuTNHRTyN-9dZjyVG82F8ocdT4-gTSiq7Z6vyAXcsiHjiZoMhkqdfmDEm7in",
  "id": "rs_007719cc1d5b7ea3016ab2b751e5a087d08ba8455d2941a2aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.19,\"right_z\":0.035},\"note\":\"The neck is still ahead of the fingertips. I’ll advance another few centimeters to grasp the narrow section rather than the body.\"}",
  "call_id": "call_3tKwWgwuEeOUsYpGxbwguy6J",
  "id": "fc_007719cc1d5b7ea3016ab2b75402b887d0a7d42b3c62fd4f50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3tKwWgwuEeOUsYpGxbwguy6J",
  "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]: [-0.1696, 0.8188, 0.6952, -0.4683, -0.2695, -0.1909, 0.9964, 0.4587, 1.9518, 0.8558, 0.5056, 0.2302, 0.1284, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2002 left_yaw=0.15 left_pitch=-0.0073 left_roll=0.0035 left_gripper=0.9964 right_x=0.4509 right_y=0.1817 right_z=0.032 right_yaw=0.1686 right_pitch=-0.0036 right_roll=-0.0064 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.7709, 6.4205, 1.79, -0.1148, -0.0806, -0.0073, -0.3897, -7.3231, 5.9419, 1.8681, 0.1001, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb60b608dee1b4dee7ae3b3e38ecb1bce8b3cf0852b1fef0019399d134302ece",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c7aba1edbfbaaa0f1c70af4b4ea106602677e348816f41f4ae8d56e96c0116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:487e89965fc67ba10f65dbc26b28a82cd6cec8707eff30e523324e9be19a2daa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8185, 0.6952, -0.4679, -0.2695, -0.1909, 0.9964, 0.4656, 1.9224, 0.8295, 0.4545, 0.2398, 0.1333, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2004 left_yaw=0.15 left_pitch=-0.0066 left_roll=0.0033 left_gripper=0.9964 right_x=0.4382 right_y=0.1772 right_z=0.026 right_yaw=0.1645 right_pitch=-0.048 right_roll=-0.0215 right_gripper=0.9956\nstate[joint_eff]: [-0.1299, -1.5795, 6.0786, 1.8144, -0.1245, -0.0757, -0.0171, -0.7453, -5.7915, 6.8171, 1.6093, 0.0611, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdcigX3CAbzkCRgjLQJZcXpvi0sNln50rgIg_Mt9i81yIXB1gqwnhx2ewV7Qegds3_4-tjDnZ-AS7_DbwfM_kBPh7UI7941r_eMAu3eOCZuu-1yBzKdugUhKoQFVnHqcUC7ATbDzbPDYYUFb5rfITlyr2tKKWDjl_tJ_YjxJra-ayhjFmN4rrGG_aD4S-KNXmRXmbERXns9B_5vCuzhdL5NqrW7ra3XwFIfmSlDTeWYQOG4pQNnEMzoFbVxMRyDrK4Z3FEiYGSTDdUAIgoFDCu1xTAd-CuHTN7jkrZVM6J3OUYX2eJ3C39ZhcqR4WYKW9t7a7xiZCBf1y213SbqdnzrHOb7prBOgd41Y5ZuE9wR0HTlHvKyvJewfmwQx_YikQGLi_jnmduZDjxCYMeRTUKmALwVIciKvVvvKybNyCXDhDiNybB3xnYRTmLsQuQpClVAIVV1BNl_ngXCbuusDNvE5uDQf0V7eoVVBNc6UVbAY157YjL9bbyTHL3Dzlc3YvCmfmYYG8PZu4VxmPbxlfJ35hbQhTYf665PTROuRGkxKGZuIqcabSoj5eoKZ78Kzl2JoIw0RgMWqtg5kWjc2b-hagtnB8Zo73PoxncN4K8ceqa03xW15lBpburvh9aNzHLigw5Vp76Gor0ccI9ydPup4VpEqyj9Tk0re64zfgvEvo_HOL4bWfHbtYxQ1Fc8pVK0kSlcRI60CKPFIBc7xfpPPwAJBHR555rx01AOzZDcpidpGDtZPPdgfU7rLkvNlNarnn444oxVOE-7aAUDC4qyVmSxkhEVjf2_HvV919SF45zEeqzqyt3OD0eR9Lp_nkW7Ik6uGTjtR83TQWqdHkUmOzrVcoAXjASOT4Qaa9OA5XyOOEWgA8QFnX_IVgZjezGmV9lqqlTARTqsBZBRM1dIfN_-Aa_8mqtwduRsATWwVAvFIgnFmHLknfD-bw-MzXcNxOtdZYH15bWXMNgOwIrN3Dps88t9KMzV0YgTQZGJDjAmG4T-IhIgnWFSDkJQkDNpikPekzzNDZQ4FArFrkFzoHUBSjLe801-iTBQN3W4e15l_Gi-rd9qHET8TIIyysI39o-E7870-YWtsEmPE445etwvs8vN08hLElZ0SxH7lmOc821Sfujdr6I6-d5Jr62vNxQfDlA3MUnQ-T18BfVG7uaibhWDPxd4zIK6zFMuoJFdpCMld1m8kSjZtZSOhrg-lVA55VZvgDfDo7j-y6PYSp7PIyX90PUr9rkuS5SMthMFnfM19lfEe_eURsbpcMjXLT86p4fnmdb6xsOC0v6V78CR3yeT2jSgDRtxpE6LJihhSydzmIJq1sn6yuABzB_Q_wmytmxjzR0zGUWrNifDyREz3M6p15XJYARB-FmpMGZ_LnMM8ZgFYl6wzI-BRNGR9LAzs2-Hr6GKT_P--NQt_kbaXVZqNlAA_k7MgtrKEuz6rrQYmRSvEhhtwRgVZsWleSMqx_GEBQAghfjmGBEPuYr5JptvEeTAHbI1uPGqBWRQd_VelK9azSD6LkZ8dmKmgPSyZmGSOVnUI-XgSfsgz0Fq-2Vh_BYhDzBoWuk3jKYlHjz9pcpSN6N4LUqbJRXONfbOQVgALuJBbmSEnRukNmTCbnKUrBFm-OkKYXl_lwB8UsQ79k-WYS2ITrnElEB0RVdHUHfWjdnaLnmi-54hWbaZtpOUt1ioqk65zsucozV3HMCxkT8vVUPO1_Jt6D73LdZJtxgEbYipOIZxU2LbDuHLvMI0o85_UJ6j2iHz9n65o1itTjaaXPlVNO2fh3wl",
  "id": "rs_007719cc1d5b7ea3016ab2b7577fc487d088b77873ee52ca20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"The neck is centered between the fingers, and the arm is near its comfortable reach limit. I’ll close to a narrow, light hold rather than squeezing the bottle body.\"}",
  "call_id": "call_xsfyoAG81043m7Ba80dQo9On",
  "id": "fc_007719cc1d5b7ea3016ab2b75b889487d0aaf5c5a1adf015fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xsfyoAG81043m7Ba80dQo9On",
  "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]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1905, 0.9964, 0.4633, 1.948, 0.8623, 0.5861, 0.2256, 0.1223, 0.2257]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.0077 left_roll=0.004 left_gripper=0.9964 right_x=0.461 right_y=0.1901 right_z=0.0528 right_yaw=0.1793 right_pitch=0.083 right_roll=0.0163 right_gripper=0.2257\nstate[joint_eff]: [-0.0068, -1.4291, 6.4479, 1.8291, -0.1245, -0.0464, -0.0073, -0.5812, -8.7726, 4.5333, 1.1306, 0.0708, 0.1099, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22179d4c709101ef047866ef6ff559568f926982a251b4576658903a82be8188",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:591ce88e1dc50ae2a36140fb490d2ab192c79c1aabc84530a1fd921fb11868a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3160fadde6da83ef3a4d35c7c64aeb9bfe17c721496a3aab1f0ae63f488b9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8188, 0.6952, -0.4683, -0.2695, -0.1909, 0.9964, 0.4587, 1.9518, 0.8558, 0.5056, 0.2302, 0.1284, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2002 left_yaw=0.15 left_pitch=-0.0073 left_roll=0.0035 left_gripper=0.9964 right_x=0.4509 right_y=0.1817 right_z=0.032 right_yaw=0.1686 right_pitch=-0.0036 right_roll=-0.0064 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.7709, 6.4205, 1.79, -0.1148, -0.0806, -0.0073, -0.3897, -7.3231, 5.9419, 1.8681, 0.1001, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdiD9GfbkA2k93tB2GoBzzcwEyQWO0lCKa6edIWliKM7gtt30idzU9gHXY0bSe5sI-Q2F0uXfA7mmIYxnDbVSjxvUMhQgg8kfEhxLhebTlQgCu5gJGRInDV7qZJ1tfiWAg-U-1qzXGJtqJAY_g_qyjXbCFFdKBdHfM_A672O0FFOfyNzAJ4nDlKK0t7waAzR7CRi0pn9EUdVeqbxtKD9QvDwzLzna450QAuk7Jq13a2SkmHNnJ5TqMpuVExwpmEc1yB_p4aLZ_MnKanVtpJswNEtHdpsggb8KEXHAbJ6CP_IoiKkkkm02ZXz8BYA7gO3meTSEofol8brHgNY79p8q91RcvdXUT74hvSD9IQeLG7aCtpXLVaR0Q1YwS7nCzbMQYlUlt9PUjzwY17ztrsOYUBQKPUVsn74y1UEkYJijqZE9cex2GFvxJsmRDWAULsnNP73CXokfUyjaghWVxH43M2t0Txe5xRi8deAYBNHfGczZ--0nzRh7WnXHMQgJbI-oEvW5sdf1DqrnWzNngdvZVwB4STeb0NpU_1_BzZ4M6TYHTVkgRo8mF2NdgV5gtJl8bN30wIZeFixvylbDXxAl8nDaWqFY36woHPOsmcs9RaXv0KPFFUdY-yjcs4ocXeD6ManVWF-vyRd5J3LdAYV-_5lq2SxXEjtte2x9tejTLWc5zMpWQI6dgWp5wPFQIU0p3pwP8sGv_uWGAXx7zTWJ12uCqswyRwiK5QYATj1BzW7tp4JhINufGdU5T9BzaYewzakr7ZAi8---wUoS6EKuBBGj6u5xhsJr8jDFSFxazBMi40b4LoswO1j-PH4_RXsUidn8kcgXcu3f-4Pc5DHskptRTrIaWyVJ2PMpk8DE-olPHEneHqMdsG4GLhCJ4ZZqTdNIPQbGhoPnUrz-IrLB_Cp1LPF0dlAjJov8iI8oWNTmKIfZYGftBMHHFc07PyaNiqGoPsJ9H3EmAVpZCzmF5wuchoLM1FCVPtIE_P4CMzuDJvXDWx_MEyRqXomb3vgcwyeTysx7qLPYmJapRSDnVR8JpdYaZU4GXoPZltr_LV_-_vnrStwZdaEofNUxT0LrVKMts0GCDx8P1hZbf0eNyQxJhUxqQbvITK4xRHd3zpRd6n-Q1JLK81VfmJ6NebgigieL8MjcBxwU2h3ujk9BkqHipdgWbRsGeNcMSfBv1Km6qiPD9plFpzhCSMoOAsM9xlHHR5oR5kMyhthXhVilbGnmdhtIdCnYve-pCGIl3cbop-OI5YaxuUxKKsOKSnPHtRN0B_WQrn360yPbF7fjk_1w==",
  "id": "rs_007719cc1d5b7ea3016ab2b75fc66487d0b11449795da72018",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_z\":0.19,\"right_gripper\":0.2},\"note\":\"I’ll raise the neck and bring it back over the bottle’s base, checking whether the bottle follows and pivots upright.\"}",
  "call_id": "call_rQpeBCnpEuBdcnRKkqzWHzaZ",
  "id": "fc_007719cc1d5b7ea3016ab2b7610d6487d0a4b01c36aa0c91b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1905, 0.9964, 0.6113, 1.4044, 0.9005, -0.1154, 0.3187, 0.1944, 0.2]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.0077 left_roll=0.004 left_gripper=0.9964 right_x=0.3684 right_y=0.195 right_z=0.1687 right_yaw=0.2123 right_pitch=-0.0146 right_roll=-0.0083 right_gripper=0.2\nstate[joint_eff]: [-0.0205, -1.4974, 6.2974, 1.8584, -0.0904, -0.0708, -0.0122, 0.2803, -7.0359, 10.1402, 1.8144, 0.3443, 0.2076, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655a08debd661769a39a1b1117263d61f71ba42d1bc640adaab9a069483142dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d85edbe8feb4e83a429cb60233dfa257cde3883c5548dd066d31d5b9ba57d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d8e557e7b5c665ae192776408895da31b0a15b8e30ce35c17512017bf9058e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1905, 0.9964, 0.4633, 1.948, 0.8623, 0.5861, 0.2256, 0.1223, 0.2257]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.0077 left_roll=0.004 left_gripper=0.9964 right_x=0.461 right_y=0.1901 right_z=0.0528 right_yaw=0.1793 right_pitch=0.083 right_roll=0.0163 right_gripper=0.2257\nstate[joint_eff]: [-0.0068, -1.4291, 6.4479, 1.8291, -0.1245, -0.0464, -0.0073, -0.5812, -8.7726, 4.5333, 1.1306, 0.0708, 0.1099, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdxUBViSm9GSUQZFrJ2_UR6v8U6_VmKUtjrjQH-n1suc2haSj0_S2bN8IVmlivf3OZdtzb3WCkKPEPE8dMr2kT1r9elpGP4nCla4etAtpNoYotFub6GsH0jDnMTe2dWM4gIL3Oh_tNc884N9GBMf2v9u8W5cCOnyluoHDcoIf_Bl03se5vJ9--l6cw1RdMnriiFRczOE4EzCQ0lQwje7usmS7Klsj2IU3Ks3ZpWb9bPgNwVb9dTu03ya7ppx1O4uLVcdhYMu8qCNi4FE-thUUIT0o30l4Q_4QVmjiHzjzQ3pQiui14b2UJ5UdtFQWlNLNliq5TzJyGCLwGKBWQoQ6_P3GWRdJJgEbRjXTQlaRNKo0ZmGA0MMX-ih2caaIU5NKqjEHY8jryMw4ZC8WaZFg6DLZJHNDfXq_mJ37PRr5Zsm1t6sEsQBZP9aPAGnunK3BXK7YEK6iOVFJ9CYbx5POp_n4aRa3MxmePvCCIt_gqREr1h6pizB_LwOBVRimVV7jKbpA7XsNv6M3QncUcYddUoyWysAmPmVxHrsdwia46KhyymR2SHMboC2G_I2OdIj4PtM_u1042Net6PW_I1Jh4H2NgoHJRzzX4HdQusnrVPNiti8Qm6pl6_-O6e5YckSBzp98ZHVhysZlG86q2jMVHecKrvqB1vbfvLCPiUQoJ-1Wz0oFFqtclMiv66-xzxGtrBEnxfB11x0Y30Dynf7SGznd1pItRj_OZZGnZUxBBiGPsf46qTjnViVx0a65wyOFJ0Az4fNaxTUC6L6uBGf8RLA1HfqpKwx6Q7OtDGdOs4uR2wHo-u13xsEsnwUX2efrsowrdiQGFFKjHh5Z-oGk4nOPFoO6II8j3otYtNNA09bSaQ8tJjjvK6V6lzYcgkpq9sk_8smaOUVzn-AwBa-uUeT89BEhFYi6pNsFFhJc6q45ZPoQBzmoZbLn156OKYVQe8KjSRUkEpiHj--N_s-28tNAtU1jh4oJglnT5t8jNBLJvaqm9rgUwaNUubeNuhS17JQP8bveheMdKGZqiUHl2C72UaVgpkIGK8A21oLDSwxuVObNTmGwlgkSD0c0H6Jxe-xjDAlSVH-kJ1zHhAeQAEAQILjkF8d3bL2-IxKEMIFl_BVcO3RJCNJ8fBbLSlQeYkIr1AcsqP5dny1Gzm-0ND-hlIEJHKz_eeJPWoiy2VSXuQUoGBlYCaa9g466tzUDUypyz8wGhPeBFTIcFER6hNiWhGQCLbY6t_3ykq6UkH-qkJcHdfw2_wroEylIpUNEhU1d7ApjXT4F0PvKLSxeuU6Xa7n78XJUc5TqCO3_EVherHGDjIafpJOI6x7aecxdkxB4hV-l9Os_qGjTYK5CUwXfN5teFr_-06rdNSFSpslORRototAiwU_cbQ7c6kIhGgZPoc812DEejAUTYxIe6on7wvXU11uaTBQPNXkDkEJT6ugm3-aL7KoJYZRdnydM13P16eLLHtT5_KHEo-z1yxJ1_OHAq_4eUY4ymFlT18t5rbZtW76nXOk8XXVK5O1PGLLUU1kTA1ao6qAvQBDvz1J1T_klych6taizkHMKyGvtgh-max2M_b0yJ8guWSpO4rKcWjWagRLSORTsZHJ-18203AA8jq0_a6iTOpRJJYKHiSBsZFOoLT8yScjCBVFoFZiITP_KNUOC11RioEO6jMzuPvAhjQUb7mKB0FWiLWEYYKpWe2uwICs419Du49ZqjxswQJah03JOOqtZxEdH0hbelsttG_4djOkKu6gS8ZxefZDa_i24sFHRnZolNeg-UgY8J3hzPacE6mHVYHiBQDkgBtyPuGi2Q_tcNSYexcOSEvaYnyJAlBvtFHEOIkp29rzyRSYZcilIN0FGP9WdSdAD2ucFTlhnSXlDr5Pee12trtcByzQ8EdperfJoaToINbxeILXO7WBs1IB6ozo7hsBpjLpE_mv_hiRCPP4GJlxPwjhoicacOK90X7h8hxb0HXA5JT_72-VlKX8bu_E4HFz9ePw7yqP3_p_zZSKLem7QUCF8_sUdYQCZpMwcGokt_S3hBymdBO2LAXdeuJYn79Ew2x_h__Kyw0aVbU4gkyIJcYqwEtIMouOnzuHgeROmtDB0_NlGid0J7It6t9H46vY3KwTGQ-mwKdcV4A-nQ8vJvumATx-RpND-HBAd2p87xG1mSiMIAu2C4gLFZQbnfBgw_z0dNPzArlp7Qr1plFCRxJ4pwS1zhaiaP7b-hDsfc87cJMmHxd3Cy3_zaXGUge0horpZO4nEuEzq66v0H4MuZOdvxHsjwOvgpGhy96LhySmabN--lkYAHsksnoSx1VZ5UYmCjNdi9SaJAA1PdVXjqD8XvHXOPVKrU_7ubSjoMnMVahAnOy95KrtUtDr3z3jyNm6x5T7om17Txk0X6iQmXlGEjuZ_0nbX742R4R3aYv4BeCN9rVKlSaHLzNqTIXZijLcVZfV6CcwqlEfMP0zagt2oX0-OdakGoIr74DNpmC",
  "id": "rs_007719cc1d5b7ea3016ab2b766004c87d09b30d368d695094f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.015,\"right_gripper\":1},\"note\":\"The bottle did not lift with that narrow hold. I’ll make one firmer grasp at the shoulder, where the larger diameter is easier to capture.\"}",
  "call_id": "call_zQltf72rXQ0xc0owFdSLSmrA",
  "id": "fc_007719cc1d5b7ea3016ab2b76fdbd887d0a7cd50d1e85b521c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zQltf72rXQ0xc0owFdSLSmrA",
  "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]: [-0.1696, 0.8177, 0.6949, -0.4686, -0.2699, -0.1905, 0.9964, 0.4957, 1.9125, 0.7601, 0.5518, 0.2302, 0.1173, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0011 left_z=0.2003 left_yaw=0.1501 left_pitch=-0.0069 left_roll=0.0039 left_gripper=0.9964 right_x=0.4244 right_y=0.1878 right_z=0.0246 right_yaw=0.2115 right_pitch=-0.0133 right_roll=-0.0186 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.7026, 6.4479, 1.8046, -0.149, -0.022, -0.0171, -0.6496, -6.147, 5.4906, 1.3797, -0.1441, 0.0513, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c434e364d2ef5bd88709d029981b61cb544f288f9aaeccd94695d0bffd4108",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e47248e18d0718110c76d2b65d190657083a3d31ae8885a3d80584c25a38d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f23ab029ef31a8f87c93601dde187d3adfbb62735897950fcff2c5f3dfd0a5b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1905, 0.9964, 0.6113, 1.4044, 0.9005, -0.1154, 0.3187, 0.1944, 0.2]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.0077 left_roll=0.004 left_gripper=0.9964 right_x=0.3684 right_y=0.195 right_z=0.1687 right_yaw=0.2123 right_pitch=-0.0146 right_roll=-0.0083 right_gripper=0.2\nstate[joint_eff]: [-0.0205, -1.4974, 6.2974, 1.8584, -0.0904, -0.0708, -0.0122, 0.2803, -7.0359, 10.1402, 1.8144, 0.3443, 0.2076, -0.0415]\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 shoulder is between the lowered fingers. I’ll close fully to distinguish a real grasp from the previous empty hold.\"}",
  "call_id": "call_9SqYCNHJWoe6fJQ0KrI4PMYt",
  "id": "fc_007719cc1d5b7ea3016ab2b775058c87d09eb4562afe4b462e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9SqYCNHJWoe6fJQ0KrI4PMYt",
  "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]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1909, 0.9964, 0.4973, 1.9102, 0.7601, 0.6502, 0.2043, 0.1219, 0.3818]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.15 left_pitch=-0.0077 left_roll=0.0037 left_gripper=0.9964 right_x=0.4339 right_y=0.1988 right_z=0.0455 right_yaw=0.2314 right_pitch=0.0798 right_roll=0.0258 right_gripper=0.3818\nstate[joint_eff]: [0.0479, -1.7026, 6.3521, 1.7705, -0.105, -0.0855, -0.0073, -0.6906, -8.3214, 4.0547, 1.1697, 0.1343, 0.0024, 0.5104]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102d494c99912809be426e7ce9fbf67d863dbb1697821850cc38057641c8b317",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f179820bb046e307d274fa91a0d42b7210eda16f4b7ff8ed865aa917839f37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a46a204a0d41b6ad9f81139ef2bd804afe45a867928ff78ddf3af4f8307fa2c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8177, 0.6949, -0.4686, -0.2699, -0.1905, 0.9964, 0.4957, 1.9125, 0.7601, 0.5518, 0.2302, 0.1173, 0.9957]\nstate[eef_state]: left_x=0.294 left_y=0.0011 left_z=0.2003 left_yaw=0.1501 left_pitch=-0.0069 left_roll=0.0039 left_gripper=0.9964 right_x=0.4244 right_y=0.1878 right_z=0.0246 right_yaw=0.2115 right_pitch=-0.0133 right_roll=-0.0186 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.7026, 6.4479, 1.8046, -0.149, -0.022, -0.0171, -0.6496, -6.147, 5.4906, 1.3797, -0.1441, 0.0513, -0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrd8RdOOfqmQY-QEfaupqf3byCxmw6tCt_gMWAbtyX-t5WnjyN028PdnCyL2jPDCKQ1gXn597g23nfEMBD2qS3YEprhrK41vLTVFad7XohduBPhrRqhAHzBirx9OID4qygYan8CidVr44KOjOK-rvbb9rKmo1l1ngaN6WKy3vgKTEjwKsBVigjUmy-nG3xbFoKVDyavLcReQWI0KuQSLg1Q8yR7jgbFaZPWX-eUa0nGvAJLL6mFNetRtz2xjbH80zns0ojPJ7oDgE0ZhUIlbX8fRR0rLVmy6y1uUL_paMKxasBMT1CI64773YWubHD9Cb6fQPJlK-q9CoGnsoqW3HSEmvQIIQp91Iz6XDK3PlM6s3j4enQ3FT2e7DjhGwdmoAw8VbFtxQcbuSTMOrm0PKVgG2-jjgc_9i8-bymjMPvU0nhyJhFwN5sf4nJcibp3GXSrTkuTjDyi-VDpkDVQ88MN1dgsuMuY7CCfYQvPmh8GdhbevcmkKSODe99Km72NdQ9Hc5CSMtXjb7_orPPMekGuLJ4s0ZuroE79GtsLQbe4cSqi7fVggs0TnJupsPrxibJjmS8fLQon48ieeAXolZ1pOzUKT_jsnDdRrN06KurJGHFZV_XLyE0pvPvz_69GmEi7Fo7c1PKlGx0Y6Zz3No9qUN649g32e4m1khFkpCYUHmm-2HftqI8rtP9TfAzQ42vLxE_0aLveckBSc3Qmo21Qj7dUR0Lj7K31LfT6IUnaW5RjCu8lbzZ5JLb4GntnG2upoju9nNj_toZqYo_NdCq9ALLbSsH6JeOsvb9vjivX6vGne93crAnhktInpi8M3ZP40FkDUOugSpvXg9FnDBH8qy0Q7TqV42JcH7btPQrlg43t6wW8wsZNsHYvUZm8zn7JdT1CBhe0GyQLZp-BvrZuf3blEwiHtS63XVWzlOngIxGVmbPkDmGYe9iQ-CHRGrlDVd-digEY4DV56naBvFjDURj-tp7-ju2FIohQpmw7VI1n7UbsKT6yn1zydJK2CGZVHeXu1m29xK0tUAwBy6pQeVvpBe0Xud8vzw1P_ZNtlfrGAk1tbb-1-2IQyAZh-Q83bbPxmjB4ELuZhNhd_wkreSh1fUT7FgLGKpQJtpew0-ufACix3TjbdUsuCZoAb8QFg-0WQovQqtSGWNVwrKC6izZ4aP42lOodFcmvKmRVH2CsHRqpz8CvFZ-fduEGYOA3z",
  "id": "rs_007719cc1d5b7ea3016ab2b7798fcc87d0bfa1a40e6bc9a1f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.18},\"note\":\"The jaws have stopped at a bottle-sized opening, indicating contact. I’ll lift and move the shoulder back so the heavier base can swing downward.\"}",
  "call_id": "call_nOmSwqqHjN7oU5kslQLkd0x4",
  "id": "fc_007719cc1d5b7ea3016ab2b77a10ec87d0b38b55e9d1a4993a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nOmSwqqHjN7oU5kslQLkd0x4",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8177, 0.6949, -0.4679, -0.2695, -0.1909, 0.9964, 0.6174, 1.3491, 0.8188, -0.0723, 0.2871, 0.1688, 0.3818]\nstate[eef_state]: left_x=0.2941 left_y=0.001 left_z=0.2004 left_yaw=0.15 left_pitch=-0.0062 left_roll=0.0032 left_gripper=0.9964 right_x=0.3539 right_y=0.1944 right_z=0.1618 right_yaw=0.2583 right_pitch=-0.0055 right_roll=-0.0066 right_gripper=0.3818\nstate[joint_eff]: [-0.0205, -1.5932, 6.2974, 1.8681, -0.105, -0.0659, -0.0073, 0.4855, -6.5709, 9.9487, 1.7998, 0.2369, 0.188, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d2d85685e020e40e6397d60458f3d96c30e2fc6f53ee6ce7e994e31e8f41f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd661e30c8dad697689e02fbb96205a106fe311ba5afc9d8c32c919b6b6326d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727f6d3ad815fc963eced6d58e3ac10826da4f67fab430f02e8ab669aa3efc8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8188, 0.6949, -0.4683, -0.2695, -0.1909, 0.9964, 0.4973, 1.9102, 0.7601, 0.6502, 0.2043, 0.1219, 0.3818]\nstate[eef_state]: left_x=0.2942 left_y=0.001 left_z=0.2 left_yaw=0.15 left_pitch=-0.0077 left_roll=0.0037 left_gripper=0.9964 right_x=0.4339 right_y=0.1988 right_z=0.0455 right_yaw=0.2314 right_pitch=0.0798 right_roll=0.0258 right_gripper=0.3818\nstate[joint_eff]: [0.0479, -1.7026, 6.3521, 1.7705, -0.105, -0.0855, -0.0073, -0.6906, -8.3214, 4.0547, 1.1697, 0.1343, 0.0024, 0.5104]\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": "gAAAAABqsreM52b4h3P5TPAe7PoUekAR5oz4yIhorI9VfkFgE7RDrA_E_udBBQftOJuzrODsEmNEumBl4v4tV5xdWdVL4VjLpDYEBup6341iVhhudQ1r6uXr2K_MyXpxg3xi5B3__VHrFf0f6TvWIHvBV8dPsLzUdw78ojAeS5t8ltNUTcWvG36Ue_D80tylZyadvOWRZ2JuMiRhljg1RC4Gk_cJqjjNf6lLM9fZktw2u0Fm-22E9y4KWEe1ofHz8_RhsnO8jMheCr98pHPbAgRL6rktfn6sNV8YZ1QdueQMFvXFuOqvphhcc39rL1-AG1zc3GU1cmLzQ8UvIUyytkmCi75HO1FXb4_CtJzZxyvjhgfNg8v7ZsgmMjMCHqz-XVziq0IcF5pz7F-axFvAstyFQNilTpzffvOdUskA5SQkJ4aTePjouxQ9CrIZiFYbH5-fSLUP1uVvuCpO07ogBqToFWIyXVB9FzG9cwG_nJtI_pKNpfIPprVKRP8JmnGHna0MVQ-h6q2RlLf8kvDjG-3-OXAciagtxi-od8zwD84MXD9P-M5sOi3AWg00arCLk2-ikouowCdsJNTfLYEfX__i-da5N0ZTPAs4KVHyprmIUUhq-722BrNJNSJF249oNkKbCZoAeXe57IWVY-ZifuvHXNzhViMCKZnXAyAMV-o9Kijm1srLSWdjt3BY1L3zCQ3J4gnduahQRh8BMM4urM1Ar-pWuAIJaAoAaFlnpmTuvHdTGi7IxyTABU3-6ZXgw5V2bqsWyNK0VbMdEmynd4qKNBvMW4N6wIu6LWms0Ae3XfZGhLR1qwNfY6mH9YLjbgj_OMHM5H2ey20ft-irPCAfCXTYX7shKNebnMNDAY7IETRPOZ1qecsA3fD370sAU1PPwpvfrucbPu3gg2I4gUzd9JSNmAIrrsx_mTQQMottvEZ4tlXu9vadU1AG4mCcC2-QCnyrZ4zNQgFN5XGQREY7SxSU4lC8r92TObq9n4jRdF-ra-gfVOPe83BFIRslTUVvR_eWJT5ES5NfHHFvCDFhg0DMkb1m0nVEoceY3ps0QzrLR1aa03SJGyyYrf9fQLGmQjwsbs79kaGN2TB_teRIFHLpjNfbxNewomU3KGoam7l2kbxLfHH3ygV6uwFyb_nloKDbwfWrU27fFZkyFqBCUvwY9Ez7Yl6s59fFfKYYxttur9OTwAHkespKg6o1CN0NyNSZd-NbgcZHFUviowyZjefm7xNTlRqILInE5wytjpIT5YaCyq7Ep5n3em9T89D0EggzCgajowiABVeuVqpsrXc0tog8AjGdAGU38sqSQJQ-JQTpYeQA2thTXVvxmbuCWKsvorIdZeK1yEyCbDlSfY5V907VffnRL9KW0W2mDWUdGIkD9bW-ifNgY0JPXG0Ht6iWD1PU8n5GY3juvTX_s0r3YOX8AguiEUYCBOntjqncookE4_GUq-KLMMCgT2v1rUqK8j3IMOzif6PTNqSoswTUDYx2tv6eT-8mS1p6kIJZZxOiywVSe5uBPxZ3mEZAk8VuJ0IwFKilDGfmA8Iz1s1WrmH7fsOr3J5gb_4yQwicXnNkJGYcU-LicyD3KVPnembNj3FOH8k_pUPuVgDXrlHHI1H9cDsmFsImztrXuXcctrEM6COU4VBZh9pjQI30ErksyvWrLHIITXG6gGupD2tR5S6MVu-zVxpOuy-27jIs-IZ6GawVmuI5HDLeT2aQkZivElrbVqzZFdpOSNONoUVR00PY-1WqMsL6YIu501khwTqfZpeexZAxf3YUVKyyyGitJeUfn3Tc0QS183ulkgRaiaaZHEn1KDshuvJvkV_qFa0C5L8JoIlT2xaEz5eP5W8sSP7A4v3-HdSx5NzXSbC4a6Ms6cYMVCJRYeHXK1FCaT6uV5OyCMwF1whvR2dX2tOLXc0YGJAEZjqiC-tr8B91FARETKbtQRg24w0xscqHEfRZRqT9VJu3m6_AWddghQljSsc_CcKX-8dH84H4_m_-VtHHmxdr9Dcz3GuIkoSo2Dpjpmnbm00n_K7RdT2z8-lR6Sum3aN35CGThvwfWTfqObk1H8AI2i5LH5icagFjk4DNLmu52h9cJGUmt5SJy5UJlEPuGUCJXyC71hAsHDNHiL1L4OlOqgcdr5FTgA5Jgh2RHmM07xlCFBPbrywHW6RBXWDcZUiW5Qqld-Oba3-jeTdPsjsweim8JE_-FtWPy0tbD7MpalzTMCtJWNnPPYBlcFF3FBE-rcA5iFBmA5UsIBOgbXyNWZxuuk5Mvo-AOZdm6sNGLzWhy_bFrrCUdOJUiMBXb6qvLIztEjVlM57r6FdhIXAsHkgCyb-GhyZSQfaxDLW1WUrw_nP108_y6vcCb2gR4dQCEVNx8P1M0v6C-RQcuL8YxL1Ds9u7Xyt-8NSHcXT3kMuTc1O7uxnM60Er8T75Z-4HoG-NE_UhLS1fQ1wgE7j7G9QnYm7WWN2IPPYiXzofPVa0_OHMDnH02HmV-Tmo2EzZvW1i5J-S-1HSqg105g==",
  "id": "rs_007719cc1d5b7ea3016ab2b78165b087d084c162ef48f75ea4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.02,\"right_gripper\":1},\"note\":\"The bottle slipped free during the lift. I’ll reseat the fingers around its upper body and keep the close command active during the next lift.\"}",
  "call_id": "call_knp3HsdmIsvZAuWQ6Z1xgbxt",
  "id": "fc_007719cc1d5b7ea3016ab2b78a58f487d085fcd65fddbe40b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_knp3HsdmIsvZAuWQ6Z1xgbxt",
  "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]: [-0.1696, 0.8185, 0.6949, -0.469, -0.2695, -0.1905, 0.9964, 0.4755, 1.8931, 0.7425, 0.5354, 0.1699, 0.0845, 0.9965]\nstate[eef_state]: left_x=0.294 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.008 left_roll=0.0041 left_gripper=0.9964 right_x=0.4191 right_y=0.1863 right_z=0.0225 right_yaw=0.2592 right_pitch=-0.0357 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.7709, 6.4205, 1.746, -0.0757, -0.022, -0.0122, -0.6222, -6.5983, 5.9692, 1.4676, 0.0269, 0.0122, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e1e8c0d198017612024b8130d6d4f4de98522df80f66f701990b337036eff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca75f31b36178d8b4d076c7a8a0287ba445ab3c0a55f4aa69ba1f5b192b0ce06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b77e74fd692b9b05701c0e9edf07fef71f06a9fc5db8945b88a9c7a81bfc37",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8177, 0.6949, -0.4679, -0.2695, -0.1909, 0.9964, 0.6174, 1.3491, 0.8188, -0.0723, 0.2871, 0.1688, 0.3818]\nstate[eef_state]: left_x=0.2941 left_y=0.001 left_z=0.2004 left_yaw=0.15 left_pitch=-0.0062 left_roll=0.0032 left_gripper=0.9964 right_x=0.3539 right_y=0.1944 right_z=0.1618 right_yaw=0.2583 right_pitch=-0.0055 right_roll=-0.0066 right_gripper=0.3818\nstate[joint_eff]: [-0.0205, -1.5932, 6.2974, 1.8681, -0.105, -0.0659, -0.0073, 0.4855, -6.5709, 9.9487, 1.7998, 0.2369, 0.188, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s upper body is bracketed by the fingers. I’ll close firmly again before lifting.\"}",
  "call_id": "call_TBxSh7xerGSsI2evUw7O3GLX",
  "id": "fc_007719cc1d5b7ea3016ab2b78f816487d0bd58c29375770828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TBxSh7xerGSsI2evUw7O3GLX",
  "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]: [-0.1696, 0.8181, 0.6949, -0.4683, -0.2695, -0.1909, 0.9964, 0.4782, 1.8954, 0.7326, 0.6559, 0.149, 0.0917, 0.4572]\nstate[eef_state]: left_x=0.2941 left_y=0.001 left_z=0.2003 left_yaw=0.15 left_pitch=-0.0069 left_roll=0.0034 left_gripper=0.9964 right_x=0.4283 right_y=0.1965 right_z=0.0425 right_yaw=0.2752 right_pitch=0.0678 right_roll=0.0236 right_gripper=0.4572\nstate[joint_eff]: [-0.1162, -1.6479, 6.4889, 1.7949, -0.1148, -0.0708, -0.0122, -0.5949, -7.8017, 3.4803, 1.37, 0.1441, -0.0659, 0.5397]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5f3dbac22d0405c18af3578c5d0713ebbd016d21670d43e9fbb40518c52f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8419a6fea148c2e95ef9e5f84d61ccd2175e630d2a19affdf20eee8acbf4c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ce33c04f7566e5d275cc55d952cd9dfc3e95e114d4fb02d5602a2971de0153",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8185, 0.6949, -0.469, -0.2695, -0.1905, 0.9964, 0.4755, 1.8931, 0.7425, 0.5354, 0.1699, 0.0845, 0.9965]\nstate[eef_state]: left_x=0.294 left_y=0.001 left_z=0.2 left_yaw=0.1498 left_pitch=-0.008 left_roll=0.0041 left_gripper=0.9964 right_x=0.4191 right_y=0.1863 right_z=0.0225 right_yaw=0.2592 right_pitch=-0.0357 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -1.7709, 6.4205, 1.746, -0.0757, -0.022, -0.0122, -0.6222, -6.5983, 5.9692, 1.4676, 0.0269, 0.0122, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.18,\"right_gripper\":0},\"note\":\"The fingers have made contact with the bottle. I’ll lift inward while continuing to command a closed grip so it cannot relax during transport.\"}",
  "call_id": "call_gdNyw3GxkygeF7MhzJteSv3k",
  "id": "fc_007719cc1d5b7ea3016ab2b7948d2c87d0b369252c6edcecd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gdNyw3GxkygeF7MhzJteSv3k",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8181, 0.6949, -0.4683, -0.2695, -0.1905, 0.9964, 0.5961, 1.338, 0.807, -0.0666, 0.2279, 0.1284, 0.0143]\nstate[eef_state]: left_x=0.2941 left_y=0.001 left_z=0.2003 left_yaw=0.1498 left_pitch=-0.0069 left_roll=0.0037 left_gripper=0.9964 right_x=0.3523 right_y=0.1951 right_z=0.1605 right_yaw=0.3078 right_pitch=-0.0109 right_roll=-0.0072 right_gripper=0.0143\nstate[joint_eff]: [-0.1026, -1.5248, 6.3521, 1.8486, -0.1245, -0.0464, -0.0122, -0.0205, -6.5299, 9.812, 1.9512, 0.2857, 0.1978, 0.7155]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14446ebfe354fa2b51bbc2de8fe4674b888ad22857807892d2fb6341aa99d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e0fa4bc0cddc3d7426a72c1545802087f16d130a66ef4f4f3d1e9bed675027e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b10a1bc8f0656f045a4eea74513384d062fd865e79ec2e36394b93abaae92f24",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 0.8181, 0.6949, -0.4683, -0.2695, -0.1909, 0.9964, 0.4782, 1.8954, 0.7326, 0.6559, 0.149, 0.0917, 0.4572]\nstate[eef_state]: left_x=0.2941 left_y=0.001 left_z=0.2003 left_yaw=0.15 left_pitch=-0.0069 left_roll=0.0034 left_gripper=0.9964 right_x=0.4283 right_y=0.1965 right_z=0.0425 right_yaw=0.2752 right_pitch=0.0678 right_roll=0.0236 right_gripper=0.4572\nstate[joint_eff]: [-0.1162, -1.6479, 6.4889, 1.7949, -0.1148, -0.0708, -0.0122, -0.5949, -7.8017, 3.4803, 1.37, 0.1441, -0.0659, 0.5397]\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": "gAAAAABqsreiYjUGqfFTXpizYp9bbMcfr3QHOtyn3sAPtVvaJw8y_u7g25xUekMIicJWTU53wEjiKpHa5ZhiE32-nkgLgWa7R6uVVX_xeaJm0EY8deu6_Gt1QXJP_Vh6KlB-ZW7FeYZKnAPXFQNUUhucjXDmgYwDicL_YuiAwMsrU_utm_uQ47DqZrJ674WOMGTFbXuIDzAgFc1FdbyKkAzKfqRm8QasYRiLKt9DjI3RrLZM1nNlnWb-Uqg2SllWbGHnmsFP-uxWor7bGnoKShc2vbK_k7DEF3qgBkgUWI4dR3pL58bUZkRGMnIg8DX0w6ZytmpioiejP0RJIiMOySy4aL8saZd_0axX9BzNgBt1sqzT-ZuIBnDGlXeNJc55AXOHI9hqpjgMgS7wD9k4MnEVAJ02HWPbK6o1DwGqHf3tUZEzQL46W-dEpwZPZaDfUEgbxHtrTovZrGkLGf4GsEish_Nw2AIXJ_FAyKL4ppfWRz5mmsEmIYa7S4C636LzbuTGRx5qPAzUxVqgcnFzBtooH9gZaxg4TXXFh3RVs8ih1pkgLGC8Un24pHZaP7xILQ5YZ2KBrsz7_cW5t8JhGG7Kb_CYRYmQ47osd9EafuYFWDTo1V4o6cbxXSjW6kVRyTEFV08BDQE5e1Bs_GwofHEib0Hdni3v9khYMZh_IlLgLLuMCip-g8n8hbN8-l8uf5n-LfzaDXUXjBns8q4byRexycwNijqwpn7mtay1tsqZRZTMyY97NfaF_B8cWA-TS8BT73eR-iTHyscnjUuVVBRKu4ZJDWuksriQlWK1dMeP32qJH_Y2GbAYDvDZYITgEmo0P_VlEM2EAbXCBMh1Xi8EB7AAY4H7xsP0W54wbMtGEKoWEN7MfSeKAiDAcrt1qW2gd85c7TXfRdnAVNM-vTyNBZ7wTMq-dB_lBp4zffGKbQMbiYKX7axhOwIUhZ1a34pnY6De29KmBd0suBP5BHctq5Z6ZK6UmQPNBCRDs1bCQNKktMmt5Yr2AkaVQkQmnFgyAzaG12Zy0ozzbQT1tOzYJe9pYafVHRGMKYQrKHiOiYSSSw5MwO2k7ttYBTCphZugu-pQyCLBxJ9XLhF2oajUOp5xnTpLsHoB81R2H37AaqqQGte0HSzw5wqeZqogy1XwRcaJaHZfnwSCb4C2II1Ajagw5KlZJGVjZIbmFtZCC7E1Kay2FVe97cCQSE9cGgXe4P0kTeT6tpLZIuOr0gv9OTT1gE-JbUq6bargjed9A5He_BTUXzt6aP29QI2JmK40SqWDnF_zR-7sY_gbluObItWN4iTW2v_LJEXINfXX_nSMuJUVLIfkfS0NDiYvVdXUJuLWtQAdfNLcQqg8wCxotraEtTy7aVbNUmhtcA6UvseyxDTnlmp9h9nqKakJZaFI79Toy1F1zlbBB6Jf_4TzqY7231wzSfMgY8krzZKQmnWs5VF8DI6Gur6i61tjBeE0qeSAV3t4OmYA99IZx1uWxO0YbbeYkyQ3gRX-bEiC8cW1RqgOjNnrrDmk8Guc5R4NoAh83YJyZiOh9qRHLecVIvz0-N56j_Yr9DUClfMTJjWHfOTykr70XEhqmDqUj2H8AR7wtr2AsrFhZRMREcAjdw2E-MStiWoOBjvwoEVEOQAqHtswklC9GDDwMt3e2Y9Mi-9UKHwcR86fs_o3tmikzdj5qflnw7nATXI-PQ0QDryQL0k1Urxxdztfs1qVH9yfw9mwm4lVyB4V9JCas1nnrXYaDLPgIwk0vYB7dL9pt7cNCCoDZnNiLJ608qpGrv7oUZkGDwKHwIDmnySEz0L9vq14UQNa1qW6a9DdfMl7TwyfeHpLneKlVktiRMgEElX1Z2pjMaIcNyHKHfOKD7PfTCY3Gq8DARXoXDtwuGD8Md0_GC6MPRIXKULP4tzuQJicxSJBVl75n4x5Wk2VWaQzmyKdWMrNmlFOJdvwGtSFga2PDUs6KZk=",
  "id": "rs_007719cc1d5b7ea3016ab2b79b2c1887d0b8e1c40134b47cf6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The last lift confirmed an empty grasp; all three bottles are still lying down. I’ll park both arms clear rather than keep nudging the bottles with unsuccessful grasps.\"}",
  "call_id": "call_2L2mLcz3qyUGbbHkUrG2MqfJ",
  "id": "fc_007719cc1d5b7ea3016ab2b79fb45c87d0ab116aabf23394bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2L2mLcz3qyUGbbHkUrG2MqfJ",
  "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]: [-0.1776, 0.8055, 0.6949, -0.4732, -0.2699, -0.1909, 0.9978, -0.284, 0.8795, 0.6834, -0.498, -0.4404, -0.3416, 0.9967]\nstate[eef_state]: left_x=0.2923 left_y=-0.001 left_z=0.2027 left_yaw=0.1423 left_pitch=0.0004 left_roll=0.0012 left_gripper=0.9978 right_x=0.2913 right_y=-0.0029 right_z=0.1796 right_yaw=0.2386 right_pitch=-0.0483 right_roll=0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.812, 6.106, 1.7216, -0.2271, -0.1099, -0.2369, 0.7726, -2.5641, 10.8376, 1.6484, -0.5201, 0.0317, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f27dd6c5a54bc4bcbd4e2fa5913d2b50804857e0a2b626d8d4f006e3c9006e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df40b1a19b62b95ea62a328f5bd688112afd2cab755a3c81ab4b1906fbbb490a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f7db23fad107bc51790281fa213b3609ac6a0431c763b2b510bffe4bd14961",
      "type": "input_image"
    }
  ],
  "role": "user"
}