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]: [-0.0193, 0.7925, 0.6079, -0.3767, -0.0193, -0.0284, 0.9986, -0.0166, 0.7879, 0.6033, -0.384, -0.0265, -0.0338, 0.9999]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0034 right_z=0.1805 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.6222, -1.3744, 9.7573, 1.79, -0.0464, 0.1099, -0.1587, -0.7453, -0.8957, 10.2085, 1.7998, 0.022, 0.188, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a096270ec3749c3ca1c05bca48d87f0e05630630bc7de5073b059ee30aee36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2015c49efc7d273d5a991e119e79d3e1af9565ee3dd27ec224e92c39f42276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194c69a490c5635d7d9aa00a8e2404a61f96fbe3c8ab4dacd45dff5c23bef83d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9mtWgHPrrLzP9zCgC69H-I1Si8scwEOJHxqyWKAn8DCiXxIJUgObuOt9479HbfAXs0unC1ei5-vpvO470IwLzvwwe7MFLkH1g0QM6iA6ENLMK4PhoTvKF8JF_wYSMUSfjd5nXvEeRPwAOTxRoJHEOOZsjjNBjVSdFGbiJGNuHD6MhEchO1QURO-YngNpB6PtF794yDIE-ps9VgMWXCLYbEHVLnjLFoQX3IptH4fjIeF-f_bYuKFF0uthkC4aguQHsUeNMioUxNDdqrjX9CynfKoFy1thINEtzQUTWQ75BkdO0rLIhTrquB7xXXJCcTZGdbOYbzyNd7rLwrduAos8MBLHacjlsmFCABs1K7yoi2cRA0G4NVLhU6PIaMkSykVsWIck2UGmEgezOxZ4qDqKbAA8rC8hHkyQo2iOENt2alHxtSAYdEiCyhqmUjONwiLpBxJg292gWcfE-EXUULI93XyHfIhQpa7EGiFxVREApisvYdVcO88Vot6hYzfd8f0IpTAjNyT_78KcInW8ieCJUbvmn6AZiC_E6N5bO-eYLWWJ1WyKn6obIOBeFudhCi2K8OmlvTPX61Hrfi8cYPHIq6u4XQSacj-Ds74nzSW839VME-NpwxJRNyw4e1jfShgxJjh1ihZaFEZ3uCOL1l7JGcWDLdAWl0mcxCwX_YIoekcZ6n80dlRbmHc4wmtvIoXbKwMwmOVsuyyTYKYPfu80y6CMHxsKxUut6nd2IF08iiPN1cnWF-obwwotTofggccrdvhnTgtNv6oevlWj5THLbF5WJORWPdRtwJL15HUmkYum0k42qr3rO_uc2dnhR7bvGxygR7V0uITjK-FD_AeZ0894mrXX5wcGkYT7wfHursGIHl0O6QornADhaxg3M_9deNJgbBzI52R4fu3uzwu-jS0FZ-0nw5Kyb6i549eLO4nnbhcCSS-wEuQC_Z23MVdLJ8keLl_hiT6SCFIfgY2VKBy6IGRF-MVasm1oH962AbGd13gmKWAAd_tR9AKQ0S3trHoW87_7IX7IoiL8AfEof7tolg6KtfzWPjpa2Tu-4-jYQruR_qjExTfOLGIIHRDVSKGseG8c3GplJsXgvK1pfuUe5bjjWxzTlTjhSXkg82kYDahJK2YMw-8qLkHHNyW0a3vT4FrM5i2j4xOCCMOCwJBY9JCqKe0GcfV-DQ19tSWVGEUMsP1lPK8U0W8v9vRrkjdR8AjSJ8gNmh4ctym6gZwNERPeFNmRo933GBWuzsJ4UXv0GkisWQLeV8sqY35lcxB0HqGnQc8Y6nTADnVJ6Wxup7khvp-hh53dR7-XacpxGCW_Tw8s-lMxWyqLbhi4mIiLdpztdS4VvBW0wa5qwrQEWM5jWUR__J72ftJdDAaHKHreJJEbm2MHGxOnO-2Kt37qh5zrkzCgGTWTUeZSp2C6P11CLD_zuc8Ib6FgbLRUxtHdDQbtb_yQW4XbyNgilSPCr8f3jvaREiNoQ_iEiwEobq_BM8x4aCsDTiaqW4hRHQdcg2gfAhaxVSSo74JtoKQ5D-YtruHyYTOie02tL_b8-xnamlSXb16hsjH_9gPmkf169fOy1kDm2udMT6U_FkCs0f10_3CHGtS1eUGvJTSs5gRjrpV_mC_dDVPzMAjC8xkVD6UJP9LXJteXf_YoZME2L3Or7qbEfG_OWXf7jMwaMwydukbk38AmpqXtNkhF2VVEdrjvl7ob05HwfsY1Jo0rDPx-usLYcBeUh80qwPTxvPYvi4-AyILY1xKSVo8NflozIY90E3MM3argqtjzdVnHgtI5AVNGYvt93qH4hvl9GUR4f0IhZhg7wA4AMbJNzCoINQMKW0Xvo7Hj40scW2aUi_HKXn1_jql1MdIUWdAfDVy-Wxj3CRGczq4aX6v2sZfp_gDfRoqMBylHecIRbOZWR2eofvYHhB5dyOPIvmb7uXoU4LuQfD1q2c2x9Bh29UFQrThE2Q3sIeDTPX8RqneTAa9beehIUSj-UXhTV3chQA7oluyQrPjKUX7LwBfeAMwF5Iw7QgAHDJ4CaytEORwvA4I127P1_-qOUxqg527R_XHlP0zs6znlS3ZnSPLumTWOi1n66X_y4cxCmALZdb",
  "id": "rs_01ed96e286105a45016ab2af5bec7c87d0857fbc50f0cde342",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.135,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying with their caps toward the far edge. I’ll approach the left bottle near its neck, so lifting there can let its base swing downward.\"}",
  "call_id": "call_MUJF4iVKxfArqHdJIgHvmLEP",
  "id": "fc_01ed96e286105a45016ab2af645f2c87d09936eef3de9ff40e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MUJF4iVKxfArqHdJIgHvmLEP",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4603, 1.5337, 0.8978, -0.0414, -0.374, -0.2741, 0.9986, -0.02, 0.7921, 0.6033, -0.4038, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4118 left_y=-0.1281 left_z=0.1318 left_yaw=-0.0121 left_pitch=-0.0619 left_roll=0.0226 left_gripper=0.9986 right_x=0.2913 right_y=0.0024 right_z=0.1753 right_yaw=-0.0026 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -7.4051, 8.5538, 1.7314, -0.1978, -0.0708, -0.1587, -0.0479, -1.5248, 7.0359, 1.9023, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db54b768d9fe67493912993bb465978032f1751bdb6dd8eb3bfa45073713eee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e33db4f8de7f8506cc32e6354c12131c168e47749780f4ef1636fb6f5083b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3121f1e087937fd773e3cd2e2609ba195c1c8c2aeb5c41bd7150d6cad5b42c13",
      "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]: [-0.0193, 0.7925, 0.6079, -0.3767, -0.0193, -0.0284, 0.9986, -0.0166, 0.7879, 0.6033, -0.384, -0.0265, -0.0338, 0.9999]\nstate[eef_state]: left_x=0.2956 left_y=0.0013 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0034 right_z=0.1805 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.6222, -1.3744, 9.7573, 1.79, -0.0464, 0.1099, -0.1587, -0.7453, -0.8957, 10.2085, 1.7998, 0.022, 0.188, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9ymNILfNaar8RTMwBVxXKys8kLIl8W_3HO-oVoJRy_AsNvVJXnr7q3lPuJxBT4m40INW1Tu0g8GsIi4NLtGobeufjqXqJbBoZlqAEL9Is1JvHxNd-grKdbO4_s6W8W3PG4xbWxQPubxN9ccOeS1L9bUAUfQhrlODfduHVo1IQpwXMoPF3hnXOpdKZmprhT6mbDdg3GjkLDtI4BaslMLyDkmMHUinb1cQSITHca2T4NTaXr4sPS1ZBaBQ23xPFaGMD8Zooe7zkhw_8XCs5mPcopW2vGWUaFMlEaB8MppnxqKYq53dq-5-d2EUdQlu8Rs0NdQ-uQiQDL9jO6NNfyGygVd2cMH3W0dRea91QlfD839vxEkmaSRe2IVBRjFriISbnABOfszZ78cmg3OUSysIZZgccFZbLaOyC7lhQlmcUFiojupOJXn7FpO6aoaEvYzMEvEUiSrQ3_Chyzr5p9wA1cwSX2VmvV1pYNiMUNJqbUx0f0h60LALP1QNrmIwZa618fWZgVhoXJv5oUrxGGWqdEAvTxQEZEb-bKHYPKbcVFaXGTeY3sZn4ZA75KCEzDPcx5B6LCLEaR3Oo3cEy-0oC2WRildbSl-oy0Q0uGUOszhd0mqQkHkr48P0ohvPTrRTN3SgaMTHoCxuqODQ_kg3MRlddvaNJICr3eSmyEmJCa1YwRElz-WpPmNwkzoo8K1yI1Hy7LZnf7rTFmSbc2j37iWtcLO8HccVxclSrlAc58i2AZkx46rY0OKKZQc_1Ne7guAkGKi-uVZ3xKsMEVnoGuKTQuTieMnqGSmekNo0Mfu5L9exJ2noUhXowPpCT24Cb1kTgCiVCRHS5vqj5MFCd1AhelSRrO8H4XXh1_TQ9qlSW2x69ixcemp85qnsZlP8ptBFeQkjKN5fB91BfL9XEgHfNiD1wo51jDl0syoj1t9wdPlCEBcWV3fOlOx1fhzfgoRE3Q6tyOXlvc3ZOat-osiEr_ExfKZ-xLNEIL61q-z2p-6WCz_T2YXJE5o9El26CoMW1_o-o5xi6DQMglCbh8hlJXFL5FMt9R0ut9FkrqbBYl1ihf7oQ6oHFtJcmzYDdAblptjdFDWq8rz2c60iPHCRSlMhw4f3YNEVU9rRoRBjsZ5kBtYQsTP__FbEZ8stc_FR2Lp9qTUh_oZIMCOqV4p99-Lj7I6MNXhtYJ81vJeW2lLpCxbcFsQhWk12Xw-kW6xZ2xElDQWfOs5_BpJ8ppllFtQr8-ZrRi1oBvvY0tuQf-TjnWtawQTxYs0Azh1JLvWy1h2DaghWv3z8BdSnlE8Nuz6LTualtYUFjdqZNbbWEPUakqBV_oh0ojaHtCwdPwmBLMtmkwiw8W_J8rQt8LA1R7GR8tUaY4_y2t6jabjPxR9lBscASxl3za7ww9Mr8VGUf3W0E58IT4dzuMRViY5CbjUlp3O-bpOCCGkbV2O5Mf35VE0VgOspePyGYNw6LF-VRZCCu4jh19y7vzNZp018iWeoVvhA6tG9Q3uS7gO3LPYTw4ZEvKgUU86PA0EX-mXaoYZUaWDRDQe2LnbMqTTvNNI7K91ZNpkXmXM4WtaMxgxvBg2lXaorJI-WphWa4Q2qhgQ4pcgYIbI17jdk7_bc6hzdIGdY-pknyE8MfTh2fWz0mHkB2RPpBtFcB-Yhs2sp9y5YpvcKsSaiVG5CDq1ndZfBcBaH2enIjLVWh2irwEP2jzCMvj51H4K3K1QFYFMqX1Aw9MMAC0OLir8QQlOl-hd6VcM0jqEHt3mKdWJszvFsreDC0m6W1vfiUJDFvRSLIcBXqxAWMzIwNv6flWdIq24BkcZ8sTsiRi8oqEljbvYiDOAt_NjCUQKmaHXv6r6FHAw_rJfVo6CEi4EcuurCqplAluGk7wXef31HDCdEU=",
  "id": "rs_01ed96e286105a45016ab2af6a693087d09017faaa1cd80a99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.105,\"left_z\":0.045},\"note\":\"The left bottle’s neck is left of the jaw centre in the wrist view. I’m shifting toward it and lowering the open fingers around the neck.\"}",
  "call_id": "call_yRO4bQ1V7Y7yWa3iHFPSF3mJ",
  "id": "fc_01ed96e286105a45016ab2af70442487d080dadfe17742f270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yRO4bQ1V7Y7yWa3iHFPSF3mJ",
  "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]: [-0.3447, 1.8378, 0.8173, 0.4389, -0.3183, -0.2085, 0.9984, -0.02, 0.7826, 0.5823, -0.3969, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4602 left_y=-0.1027 left_z=0.0587 left_yaw=0.0218 left_pitch=0.0123 left_roll=0.0092 left_gripper=0.9984 right_x=0.2891 right_y=0.0025 right_z=0.1697 right_yaw=-0.0023 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.8137, -6.9402, 5.7368, 0.9988, 0.4029, 0.0562, -0.0366, -0.4308, -1.7709, 6.9538, 1.9512, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd3c5994ab3344853b6c66c37ea83c5f20c22c544c46028351ea716f1030ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0552319c50f5dd120c298ae98d673b0ef9838ccdf94062c8f54f3cf0be24418f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829f23ccb04af0d4db6bff1a8621eefbc71b9e3bbe52420df20422d802bcfb91",
      "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]: [-0.4603, 1.5337, 0.8978, -0.0414, -0.374, -0.2741, 0.9986, -0.02, 0.7921, 0.6033, -0.4038, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4118 left_y=-0.1281 left_z=0.1318 left_yaw=-0.0121 left_pitch=-0.0619 left_roll=0.0226 left_gripper=0.9986 right_x=0.2913 right_y=0.0024 right_z=0.1753 right_yaw=-0.0026 right_pitch=-0.024 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -7.4051, 8.5538, 1.7314, -0.1978, -0.0708, -0.1587, -0.0479, -1.5248, 7.0359, 1.9023, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq942hwI7pASk6bpBR-RjFY6EXxm8FiOLBhRa4FZP67MYp0FTL97wuOvfHjSSVMeU_qKSODAid2XlnsoRQFOaHZqENORxXPqFBkRRxDQpnt7pus-QRO0EHQrGYguuh4H_IR-pkDbvHcd3FMnU15sIOT2T3FKLSC4u_yan9pwE5BrO8oafOHYJMtD06F5HRGU-M8SVwB5wfftII4qUL8qL_7RCfrYXtcM8p2dLMVJ_KVoimCNu8OquV1R9CwMrRgpxepSVyIM-6zYw-7VZNyv8SkKOwgmkvxYsFkLG14XR4VWk40JeKf4XHo7ATx_4-oclyLWPFwwH_Evs-Olm2xHSTVKCA3kEE1V6ilVrWEeR8hAfFX9ZxEqXuWPVuEYQtQftA3kTfIo8jBJpDa17NzeYab-zgv1IZoOR77MQ_r6WkKsjkCWWySc-Q3n5VJIkAQYx5YF3C-Y50NHxLrz9hJ7FzvusEop66HsKYXa6XxsyZsfRHp7AI1g4_a8ue2Wu7uqAchPmtgqiq-7GKDuE4NH2HrTuyk9i1Ks72Xi719TsZls5O5JHUE58SbfbTQbP8YNkEn-SJisddPt8J2ct36Bjrde_idi-up-OpSGMLC_0t5LNej2H1hsqPjKL5v_6C_cgGO1wgirlqXD4g1MCJfzS2Lo5p3HwBlN8xwB3xaysgsLraZlS2dsfCA-2i3nLk5b9Ah1woXqHdxAsjF5ryORqHKlt9jZpqDDcppdt_n7kweDxX82n-jxhkaHVWnhUQdCLtg9lbE48oag7MRX6wTC-VU2IWEetLzN1g8Gv9Ye9o_aFYuVEWbpT8P6EcW0pgwxSBkBCnDAGjEy9Zh3OJ8LsNjnv_xrQPr0AODP1ATa6zYkE94lgH_wS44g7NkpfRaRYCdsVV7yaOhu0h-F2jToxvSmDxOFPlTGFtI92udnNWHlOnl2xEcmQCYVVEvPZC2k5o9ZZvt4DAivvNCPrrbFF56j_UR26FnE11TgiLcKkAVHIg04Nkgj_V20bHPeKGFYcwrLAWS8d74vElFEa2hIwMyzO7Izj1f1wpb-RzyJ2jDjbkWt-mtCoSvI8_PQ0v-sqaSaHerDk_pdQTpb-A6oO3CarDOkJuHiX_66TnV5SVcPWwCbx9Yyru_Xgs5YCwtd75QHQLdv1xBAfPLgBbfK5VXSsE9cVJAgwSeKt4WXXb8gVwMkx3jibahL3bWbCgMbtgWH2fn3jDKsdLioEUOFGzvcjjL_okf_s8T8SpTiN6kGhKUYftIujuxufWiuLtcr5qulcjdG4ZKG3xKuJxZTYDnN7wJZjfRdbSYYdjUy7U4-uR-XYUMCCockdIhn6SqUStbdK5Z9QTWkJVujghNGEqnHdeyltW7cITElwBgYP4jWahbAjlt6nDuFphBvcthDHrJhdeVVn_kUx4xobYtCoS8Oxg==",
  "id": "rs_01ed96e286105a45016ab2af748d3c87d091e9d88eda371792",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.065,\"left_z\":0.022},\"note\":\"The neck remains to the left of the fingers. I’ll make a small lateral correction and lower to bottle-neck height before closing.\"}",
  "call_id": "call_ngqMqvoTBr0K2bKAlqi3wE7E",
  "id": "fc_01ed96e286105a45016ab2af76ff8487d0841c3f5296496d24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ngqMqvoTBr0K2bKAlqi3wE7E",
  "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]: [-0.2249, 1.9453, 0.8387, 0.5842, -0.2474, -0.1825, 0.9984, -0.02, 0.7712, 0.5541, -0.3882, -0.0288, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4874 left_y=-0.0634 left_z=0.0452 left_yaw=0.0691 left_pitch=0.0562 left_roll=-0.0227 left_gripper=0.9984 right_x=0.286 right_y=0.0029 right_z=0.1617 right_yaw=-0.0007 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.294, -6.106, 5.4085, 1.2381, -0.0952, 0.3346, -0.022, -0.3624, -1.8393, 6.9812, 1.9414, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62da19d02a0f5651b8472e70114b983300c63642040c2081531bc9aff66ce3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2554d19ecdbd633d88f76ee411f15510a399f965ccbe9a53efa2fb9a365e4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd785a7aba8bd92c280865b8b6c9c5c0cf9246d33308647a23589d2971d7460",
      "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]: [-0.3447, 1.8378, 0.8173, 0.4389, -0.3183, -0.2085, 0.9984, -0.02, 0.7826, 0.5823, -0.3969, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4602 left_y=-0.1027 left_z=0.0587 left_yaw=0.0218 left_pitch=0.0123 left_roll=0.0092 left_gripper=0.9984 right_x=0.2891 right_y=0.0025 right_z=0.1697 right_yaw=-0.0023 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.8137, -6.9402, 5.7368, 0.9988, 0.4029, 0.0562, -0.0366, -0.4308, -1.7709, 6.9538, 1.9512, -0.0269, -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": "gAAAAABqsq9_F0u_akFMSYWU6hwR39TVMQh6cNnFTVPWllMLV0S5C5_SCHVirMMXnf7u_hUw0ri0xKOd-NyeAQpnJpAPqpCFuz5znzT-m4acuabOm-rUgeMu23gBB-cUfaFlLgZkcOWCzpHClfqkenlQH4MsjP0eNPLt--yOhmw7TWghrL3slOyc_Ztu7IWk08GUXUQHg04S4Jdd7HJwFKeUZ8enpH5l3ag-aU0e52YlYEs5xxB-8Mi6g3em72WZr50xUWk_tSWchGUg-45e-2Br-nSq0qyCwT9FvQ96xajy3oMYDDAy06Frzh6BRnzioPeTWEmp3VSmluH1jAbQFdJV-h6sNB6AdCgdIhLUmartVLXg9XhMYJwrbUE8Y6hJX1oyV0NRVtqoqmj130wRui7TGzC80H1Ffq1pKLA1C0Pyf2dUkicAp22WVQSFJU0YMdkc8swB07VQ1U3Y0t8OlePMAbts-fa58d4WKr6dfU828PHXkw73T8PbmhwqCbE5OCWunamK1mKAa36a12ENd0B0i--0m7PSSUxZlUAZT6Y1A8H_4xFgykTxuU5OTOb8rreqifZGt5KeWjbBXMqKYIftwzl4jwoJqoMDVVAiDmVe6zjdVvvmTqXTBETSETLIb5TjlKDF6msqLfHiJwW4Tk8sSI0e1GR3EeeQ-nDnajs23IqHPmnCRoj6HFzuIpbT3yleIxB-ZxNhyzuu3QOmOpzmpmZigUA9S5nSK06RIgd7MqIMUXYRhvr_cAYfyIxLIRtldFhuBY3opMU_mStdrCCBr47yunqgY643wCw2qzHRMUF39nY--MfVFQvjAf-CpfcVVaOUJVC4oomd80FsbHlNyo84V-FY9Zb-GC29b7-h6rgKMXyFGJVRlT7vYSi3VS8bIYMr_k9XfE7e9xsMs6HbM9FxdC2hAHsqfHA4KosLBDSiO5pyzudx0S65Y70xK_2u7BGgUrVwO01kIE_Py9Bmk3DlMAyUp6wvejTr84HPMFrMvadhTImvpCGko1lREIXA3fKVdfo48D3cyjIFXLhCwPtdel0qK6wsAIH3mnaevcXe4lu3gqMlzQHdE8-GVm-PQK-zYC-dLhEF5QgJSrcOX9UVF4nHN4a3Y2BQvjbxK_1l9grm-yA7Ho3Mc_vAulgIEGrx5PvIhm9pN-wrisoQ4kXvFim87rtyOikB5jTEY9eR5TseRUcEAMI-gcODYld9gv_DNkzzBHcO7UT1lKCBE-UwRxMnkvLLUeyhUobU9XReOG2t-UXLz3VJdIumdPPb8FK35DnXUU6_iH2KMYTa2jYcAfBj0ukfhWkISq0jsyjH71nBBXKCdDMGVVb3pNgjxZvJboc8A9gpqgD34X78k-2pclhEhzqQn2GxQhA7JjPWTFqA3VvfleKmrsDn0S4bhmr25pci",
  "id": "rs_01ed96e286105a45016ab2af7b1e6c87d081514a6109db3f10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.24,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.183},\"note\":\"The bottle’s narrow upper section is now between the fingers. I’ll close gently around it while restoring the idle arm to its parked height.\"}",
  "call_id": "call_gPziHcOcQBg05fTJ43UMUrXY",
  "id": "fc_01ed96e286105a45016ab2af7e1d4c87d0b28365d5060a1a37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gPziHcOcQBg05fTJ43UMUrXY",
  "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]: [-0.2161, 1.9621, 0.8513, 0.6571, -0.2169, -0.157, 0.246, -0.02, 0.7879, 0.5739, -0.4042, -0.0292, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4987 left_y=-0.0669 left_z=0.057 left_yaw=0.0401 left_pitch=0.1186 left_roll=-0.0324 left_gripper=0.246 right_x=0.2872 right_y=0.003 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0495 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -6.9265, 4.9573, 1.0085, 0.0806, 0.0806, 0.0317, -0.253, -0.5812, 10.4274, 1.8046, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85236886d505cfdf8c077ee392deda697627f830c193d147c2aef465cf79da15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d2e4d32f84b43bdda1dc203360c4ade957985dd81fa38f96dff2c8dd65cda21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98e13af495e9d7c27748c15a9941fc907dd2ef3ba671da0b2a9446dc812c8eb",
      "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]: [-0.2249, 1.9453, 0.8387, 0.5842, -0.2474, -0.1825, 0.9984, -0.02, 0.7712, 0.5541, -0.3882, -0.0288, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4874 left_y=-0.0634 left_z=0.0452 left_yaw=0.0691 left_pitch=0.0562 left_roll=-0.0227 left_gripper=0.9984 right_x=0.286 right_y=0.0029 right_z=0.1617 right_yaw=-0.0007 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.294, -6.106, 5.4085, 1.2381, -0.0952, 0.3346, -0.022, -0.3624, -1.8393, 6.9812, 1.9414, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-FNzVJOBRpzs2iDy4yi6-c-xwj2WDs9ibJYrcNl-uLKSSsjUnrbyejy5yX9e0FkY0btV6IHf_6jf0zJXKtsGx0bVmtjhrm2u2tNilkslHaCHk4Vzf8w_2sZtjro__cLiIHS8kUdc6ae23k5fbOq__nZYArUFsiAPtbhH7Q_VqgvdQj9swJXISCrHH48vfE5DC3YM26PDlml7y6u-LS3nebdlV-w1bhtC0zfguuupcEq-epEaz5_gl2OV6Z7FmJ0Cx_HESaV2OgEcQB8_abL-jBKqbfllRfq9Q53glG7nlFJRNbUedrgm3SRXKsbUAkO53CNIXDR3bhDT9lQifg14G9FFtaPRK6eKUBX--dMC6bZlSKxp03cg9LbAElnnA_w1gum9KZu6WBQFCa0paxzpNGSQXvXKW3PeNAJw0AigE06oLs1GFJocl3sGOm6pQDogsWx1rK5y3Y3BREu2MT6Cy3f2MFmcVSJqqzVp2UwQjdgg9sBirWBw8PTNhEMfrDjAF98gZqjh4kcOmjufj8SedDrYbo7r_1uBzvUxhUDOaeU4EIsAA0H-QR26bRYBv6MRcD3l55DsVQVTNVOowdPnJvII5yvsKJA1pNXHGWZIVZ5lhR2B42QO1en0DZMJx0XuokI4zaMAvGoqBRJoEYoYnJWxZP-IZPdTjkyb5iGNed3cXWR_e5jICq7wjdKu0LSm4AAAVVCpOehgh8fzp5yZ-bOegxfbaZ6-2SAww8dg7jW2uB5SsoZuCjjChNEbVa4P9RAxuB9ys-qtd9JBnWCRt84HFx0L5_fekgjaHz4M_vU3hjmuhVR_pVKJjIJWyvNRs4CnTIl0wzp-geY91kxdHpGXC1lMmGq0-1kRzPpWrTjvevIo_zVMyH7izn_Mzq95Xnpgkim4hsDTOJ3yfXgHGg3BEuTKhGUBr8OjsK1grlr6edOHyXR8wpu6p6s3nUMUVlXhJCvlFsNfrDaiNExxzGxN5PmKmksZXbzrqxQ20XKjid2gFtJ4Gu43Q4XY_tWYv68oUzbUVm7cdGLqyoGUiKJJV_NyUo2JkjHEV9Jb9iu3obbqjFdvd8lpeeR3a5lMYqp_O84xmIr6feK5RPCxUgItGf9S_idhAXA5tQ_u30FdQvO_iQ0StEKn3NqRCpieKMV7605TD9ABkc_X1_ICLsZOHeMVNmzjoE3OhJLgPSiLhQ5RZoimwDubW61QwInvup_r2Nw_jbQ_oIfmm0zYJg0jfYYuIab2NKrTYc3yDtU0U=",
  "id": "rs_01ed96e286105a45016ab2af833f2887d0828fe1884afc7532",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0.12},\"note\":\"The fingers have closed at the neck, but the grasp is not yet confirmed. I’ll lift a short distance and check whether the bottle follows.\"}",
  "call_id": "call_GBwALB2z3HaERdE0mTIdTn3g",
  "id": "fc_01ed96e286105a45016ab2af83e91c87d09495c379ad15e16a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GBwALB2z3HaERdE0mTIdTn3g",
  "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]: [-0.234, 1.766, 0.8848, 0.363, -0.2329, -0.1646, 0.245, -0.02, 0.7582, 0.5247, -0.3759, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4808 left_y=-0.069 left_z=0.1005 left_yaw=0.0383 left_pitch=0.0583 left_roll=-0.0151 left_gripper=0.245 right_x=0.2831 right_y=0.0031 right_z=0.1542 right_yaw=0.0018 right_pitch=-0.0407 right_roll=-0.0016 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -10.6462, 8.8821, 1.9219, -0.149, -0.0855, -0.1148, -0.1436, -1.1556, 7.0359, 2.1026, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5df04b016b78c8782d1277524c162082bf9f3e62fc41406178f7c7ed02e821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12b4589ddbabd05e8db1bdbfd6f8a15cee16c3bb274729d2802494b88775bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7863abcffe705d0d099291178740ad9de1303e714ea87161f9adf1f247544edb",
      "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]: [-0.2161, 1.9621, 0.8513, 0.6571, -0.2169, -0.157, 0.246, -0.02, 0.7879, 0.5739, -0.4042, -0.0292, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4987 left_y=-0.0669 left_z=0.057 left_yaw=0.0401 left_pitch=0.1186 left_roll=-0.0324 left_gripper=0.246 right_x=0.2872 right_y=0.003 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0495 right_roll=0.0005 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -6.9265, 4.9573, 1.0085, 0.0806, 0.0806, 0.0317, -0.253, -0.5812, 10.4274, 1.8046, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-Kew6D_-vLgMCzbbmQKfCaQyp0gpR17DJ4fHyatdSyH5lvydFxUUDagcCUGJZ85mScULR58BPuZoqi1pwBLrHuYdsZN5vJQM6cO1U01wfd0d5P0auZ49lnuvGUrzFN9cESFAPHdOMbcvgDtIo9pJtOLF6CbCXph2ZnEyF-jaeJ5herWhYYkW4R9OEp8xGSffMQ9tZLBWx9D2RKzyQN7V8C9gkneQ1kMJC8GFXKgn13d6cxUvMo92Ypx7ezk90kY3iiGiTTWmngHpWGxs9VVlMnnr0NFQ5B7Ivg9sEhiLaeR5kWZG8_kWrbCXDlnVq8YDbIFFuxuI6CdhqL1uYgfdDIgR3xS4cwGQ6p-4UpHQu51yDDUk2ZHI5N9mZLgSYI38ecB9WYMNupTLZeTZf5Xb68LVa-9mKhgVx1xsVO6MlzwmtldHgUwXByGPFSyq3nOJgB9YJGMs1pPdQiqhdKUUzeA_IbXg2WJgolAFYWeCtClVapWriN5UDJNsUf1dzU0qJBg54lU1vY-J5ll08v5fqH8m0UY5BY2ieYjlohw_HfT-rzxmNg9LylZCMKIQTmTIedHMhCu2yMLVW8DvfLNHLFCDAMUwjiGrVAhLWjQqKUPiO_LAmg4V_8g6PlAIJuzBV1rpoR_LMelUOAf-adlhBmNHVlxiN5nd8JbqJnGxkDPmFHLeKBAfkfQBLv3Wn1ugUeGkMyatu1YYWkZR-Xzl_aK4BlOCMU-6qmDQBDsgO3SAEr0KE9FNNCqedkWngBoT8zDXH_UO_lZifE0IOsw_TPOl_fI2njl5upkv1GJHuebG34xjd4wYu7KzC-2BvvQtLiS9YOuHQF5f1pjahVToQWD5uXgYK7HU8B83oYUNdgT7cDZJXz7laxvcy3V2bPzbnNx3sZm1LmQGpPi-B6BbxzJXa3YqyjPGDOB8kxgyUlj39e_DyHrQQXwBJbuFbJLf7e5713u9hv3bZWzSYQ0Fxq_X15Co6Yq2ReHQo1N42L9ryiF7y6Kv9b0yu_3BJvzeh3-V8pgxxGTvdnV4r5IyeEGEBxUSagZk1RMpEEKF6vj3z0b82rcOIcVtseyFFo1aKFCd7URweV9QxsNLQmIyYXQHow80F6W61fFEAF_SXXJ3e9uA_PCiJH0RQZPo7HrZCvxwH8tDzKn1k0Rou2jubbU2O0zG-sF1c9mjdfFwmrl45GXVNFNYeP48Q2SHp0vJEuJhmzZyBmYjoktRKBYQILz5Y_lYDo31gdU2pvUE8DnDHwts7PIJ0hFdhbnJ_7vBAmZjos3hAnfiJ1KIjHIvBXoVvkNkREMBr25eWiZ9DirzZ2lYBvMbmh8BD4FtdhELV_",
  "id": "rs_01ed96e286105a45016ab2af87a67487d09a38182425d90413",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.26},\"note\":\"The bottle’s upper end appears to be following the jaws while its base remains low. I’ll lift higher and slightly inward to give it room to hang vertically.\"}",
  "call_id": "call_bO8HNX1Lz374oTti3wtRCUza",
  "id": "fc_01ed96e286105a45016ab2af88dfb487d09d281b4768111e31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bO8HNX1Lz374oTti3wtRCUza",
  "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]: [-0.2699, 1.4567, 1.2095, -0.3653, -0.2546, -0.1879, 0.2449, -0.02, 0.7372, 0.485, -0.3573, -0.0292, -0.0383, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0708 left_z=0.2341 left_yaw=0.0327 left_pitch=-0.0288 left_roll=0.0029 left_gripper=0.2449 right_x=0.2793 right_y=0.0032 right_z=0.1454 right_yaw=0.0013 right_pitch=-0.0407 right_roll=-0.0015 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.8547, 9.6342, 1.7802, -0.2222, -0.0415, -0.0269, -0.4991, -1.7162, 6.9812, 2.083, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab9a2311ecac0d302facb91d618734f8ba29d27d002604a05243d02305b9c53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2424d1819e6625d17ef672a41ac9f17cc68803a8add87ccf9d26c4a57de2849f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f7e2fa34e94b64df28d1391d1b706d05110790f72af784590409b0c4aa36a9",
      "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]: [-0.234, 1.766, 0.8848, 0.363, -0.2329, -0.1646, 0.245, -0.02, 0.7582, 0.5247, -0.3759, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4808 left_y=-0.069 left_z=0.1005 left_yaw=0.0383 left_pitch=0.0583 left_roll=-0.0151 left_gripper=0.245 right_x=0.2831 right_y=0.0031 right_z=0.1542 right_yaw=0.0018 right_pitch=-0.0407 right_roll=-0.0016 right_gripper=0.9999\nstate[joint_eff]: [-0.2256, -10.6462, 8.8821, 1.9219, -0.149, -0.0855, -0.1148, -0.1436, -1.1556, 7.0359, 2.1026, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-dWCLXT_ebOYeYmBunzkx_Ss8lfoYHciCvsgcxxPtgwJHPvNFbGlHWsIW4-njpIb3ZgSN96cLG20Uq204mS3U4w8IbkgAqFFTv9iNXSbHKTdw1MO3bCEencehixS8SiXYFyKt1w-c-1zOAVlHg0rEpU7R308TFcC5aKA8ILLxcnOLzd7pAMTBMyVCYeLTl9OfZjuH7R6zarZzLtKdT-A13mgXKZxF6hGq6oEU6WAyOaPfY-gRalPViriD1NUbwSxt2wt4z3vjAWyNJ128iTB_Hs5V66WfCWVpwtPwZ37Zr6TjTG-03jBui2CqHHl5ZiKZal_agGxJwiUrxxKgS0hig-mP9bs0PYkHEv1Zl-NNNyrJzXQPzHYNw23Eah41xVPmybCDFr17zMchSZ64ejCRzrKc6dErCShps8G1AL8N0E8YZryHjScpZTTRpsnmjjk5YtF49nkHbGtdJzezDPvjo2aTISG8Bppnmdah9sgPNRIoJ8Alwi3IhMNA9V6GdrgbsLyjVj4QdDJ5uphCflmzgOBS0ZX3lyJ7OmVn-OB0dVc9FbDAgaKkeoZ7mAto--GY-aIBUmRHSAcn1U9w1MMs_fwJ6gn_doHI8QK5bs4IbwflmkqxStCzzTSJF465Fd6_pu7_krRIHfrBwCJNj5SAw-wldjj_IIGvGdMcjSkeOsDJSpww_tB40Q3a8j1y7YdehsIdol0OmZxNONsyq_a-5zXqyyE_GaaiEyeXPc9yFidXKh3wAiExPasowgnmcTEx0uYsM8e664CoPDYSDLx4pjzMf7OsYsSBqvayPvgmhaPdxQXl13LnBC_ZiIC1soyqB7Xmcbx0jAjpr_2skm9nd46_r6fAK4URbDpiXsCT9r7fB021rjm_y6xJ2-XPljmHb5jWLVB9uG1hj4Pb9ZOJ19vzbB3O_2Cpreh-Sa3WPnsprhfZxWjwN-vyg6E4DJ5Xug8Dew445EiV-cLwvlafNv09qtdduv5_fNnFX3aaWByuFKDhLkcwCQaM-k5yBRGGZXwG4y-rRDClR5cZmeXzzngE6SYaozughFRM9rS1sBKzoiijmkSmsWAw2Sk3A5QJtyMrxy7qwM8xW72O-T-uicKJR5Q98kxRfTMb78Lw2hxkXgMf2e3BoqVFc9MQSaX08QLzPAYZizafKvJmAFsxZjVl5dSGlUzAEeh8Ha0b7NorY_oGI2bPyYpu1Rg3MK8OBEDwBNE7hSLcpEJmGQAukKM2Ad30oMcXpuZ-6__uzh2BozwhPbSZaeYA7m13mR6-jYdFZladSxkQiJcB0F4ksAzjByz9ZoNaesaKTS7bHeB2Fqb_v_-qP8gya3tCRteYIgkY-Gve0BkcAaaCcXA6Kjq0fF9Ielw9qji5Og6jhGLS2EVTgIK1fRSOCTHWOLo8m70-SCQDONbjfeHoJWkBxpqewguZMO2GRwRBWHCt05nZxdSm7TxUWLAmyHJnPNWsn6jC3gh0GbVIAKRUdbVk-BPZfPhWjyGUYvUwz6rfH7s0iPEaxJ8kQnWqtdHmFjspFI9msjUAgGUanGHRU9f-MUeBYUb37XIPqKtvst-NimHRJaswW6h2nCuCPKnRt_81xeRIK9s6on27BrhAhkUO-79p1OXFudIzs4vzwa0qo9AVKrt2Cml9eJimRErOLoJEYNQO4UplwQZ6XuPGThpmG_1uooNDvKVAY8P3XYIK1L6BgKfe6icmH1VoFQxZjS3uw3HkQ5z9IW985aHZbcYSfWOO7bGLcwiPp37vt1dW8JBzVejBiiipquJmwKs9EpxB5tMeIwcaYoF9hfrKAxy7K5LNLM15ARqDVXo9QiysUU2mhCDl4Llzf_aNZkxEPScS9NqdQNb0FiBPlUQqOD0w4npEUh_wL54C2CyRLN0U1vKJkbm1xS81xKHmvi7BgnY2FIRHyI1V63ehCWsNubMKEJhcQjBxGP2-sKsTrftesajXy6OOOXUiKWT1WYH0XFpHyRl2DO0ffHjknZZjyxAM1tidgODbZGIimcpsYhTAi3PKhb_U92gbQd60jX9ZRMyQcYD08LFcGXu1huRgztGXFiKWhg-jEsIxi6-Bp5pCCXw6KRTN1HMRnDvkpnaQLFNEpErupBLSs5MLhi-jmEGkxCXvHQUoR-pbhXTIenrFo-5najQFB-PdzlVYIL8164x-3roVSymaQ7xRFhlnzkYkECSd5aPzwhG4KQXkUaUfhZ2rMawKAdZ2ll8yr3XHNpLPVC-2M-kJmaUfsGHPabzRswbef2OveHOz_kf1pMxbUR1vNhHMjxIfo3rFM7qJX9AnlvZ3RcWyoXmd5RZJVrMYCZNMProsTPBMUG1w9gSOny1sCRyez62IxcEc--abs72HrEvjoUg1Qsl17ZSRHscwTlBC3U1cYwo_gmPn2EZ9k1fXPw2u3XJ1d7bsgzN_dxP_ySRjbbA-inWJ3WmKkS9xRlZwhqheRwXwAu411jmdrhE45FSRRFenQ1eY0_UntkK9oWiHI6ax6ne9SbdEO8Kq6VrfOESGDIhy3kPrjJe1o_fKsen8Me9aFLJDCEoH8plwfo7O9-MBD103-291tx5NFhyKICGrL1gYsh0hJi3tuP72_xenCyx-AMdz2y_OvWjNs5os71X3C2Inl3uoSi28VxSQanNHRMprV5fKQP4Oy12sR6XYoRlHwJa0QB2zqR8JhpLpbKXyuhfK45teBX5iQmfgvvnWFJe7ag-ZDjN_OqJRiI_4k5h5apjoUjYB_lafDL9N6z7EWV-6EO9jUDR-PZtHjzSnzcyhxqslDkpAIo_K98AxVm-J6R9nHX2aNvD7xGnEj12_znazyZyNjqI4H8Q==",
  "id": "rs_01ed96e286105a45016ab2af8f4d8087d0bfb2f5546a9f1672",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.13,\"left_z\":0.045,\"left_gripper\":0.75,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.20},\"note\":\"The higher lift shows the bottle stayed on the table, so that grasp was empty. I’ll return with the fingers open and correct toward the neck’s actual tabletop position.\"}",
  "call_id": "call_pT2Rne2q9mfTY4MsYP6pDFKb",
  "id": "fc_01ed96e286105a45016ab2af9b40f887d096c8009ac2d00507",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pT2Rne2q9mfTY4MsYP6pDFKb",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4847, 1.7283, 0.6956, 0.4133, -0.4397, -0.2932, 0.7475, -0.02, 0.7944, 0.6388, -0.4671, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4135 left_y=-0.1287 left_z=0.0598 left_yaw=0.0262 left_pitch=0.0081 left_roll=0.0151 left_gripper=0.7475 right_x=0.287 right_y=0.0031 right_z=0.1779 right_yaw=0.0041 right_pitch=-0.054 right_roll=-0.0048 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -5.4769, 3.7812, 1.116, 0.1001, -0.2466, -0.1343, -0.4034, -0.4444, 10.1402, 1.9316, -0.0757, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e1c439811dbc6bfa4796697d21c92ef2ca4e2895b830f2f59580f107da4f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2bd7632ba8d5283dcc8d0caeb40826be16593bda799420034ad935a506a990",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c7ae8b70be369cc40fddc164b5b67d5dea58e41930c2953a9e9118cc23235c",
      "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]: [-0.2699, 1.4567, 1.2095, -0.3653, -0.2546, -0.1879, 0.2449, -0.02, 0.7372, 0.485, -0.3573, -0.0292, -0.0383, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0708 left_z=0.2341 left_yaw=0.0327 left_pitch=-0.0288 left_roll=0.0029 left_gripper=0.2449 right_x=0.2793 right_y=0.0032 right_z=0.1454 right_yaw=0.0013 right_pitch=-0.0407 right_roll=-0.0015 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.8547, 9.6342, 1.7802, -0.2222, -0.0415, -0.0269, -0.4991, -1.7162, 6.9812, 2.083, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-q6gDLQH_sSQqYruWYJACI_hQJ2-iMoU0Lz412lVLkAPKq-1OHMoGoUnCoTtHQL9RnX56a9Mz-Kq5f5JjoUCjplgAuNon9WyvX49GwGAOpODyT8LPEdK1qDOJ5KbQXdUvN0S50N3eaORH9DJJSd-OUYgTozY7mBW587yYOnx0yV8CSWpw3MQeC4Nb-qLgesOJbGimttvznCns2OQj3ehc0IA5BTfr0Ek7qEvY7E52L1fKjA4vEC1lFSA_b0_mW6q7FgI5A0TyIsDKzazEF6e4eeoQWANY-aGPua2ABxDNQipd4YUMx-fcOn3ciDF26hG0-SL2geg9AWQhZLLyU7pHSQ6XsIEfMxbvS0gv6Vm6DGtyQz4TA9fppgj9n9tQbrEmIjTmzVwJvgdR27eKsWvUnocks1DKJaRw0sgmCBu33Gwyu4CNPHvAM8xc5J1Ijg_nW2an-fdlMP-tKVzoE_vP-_QQKLoUVIq0pr-2-XGQUqUhgmvM8iCqXYtwD-rsvkrShtd2JSZpcSfjUbqNAX0GQaiUvSrwo77YbZCzDKd5ZmMBOdXa56nYf4dDGNiWUcW2AXXXQGTRsQrEG780ZfDMoWu571kvCDKVxIzF3qxZZUvlOKNkdToiiwcZzyQvpvX0m-YGANCxHQNaZ1hmG0K1-gxSVC5BVYcrcR8kURYn2lDDKDsbnfG4rEVTUZgm5NW2SXJ5FLk67dMi6HDuaArducz_6Lc2fRvzfTDIGLkFlEAYr-0gF2V8XTCNjFkbArhTNAgWfyedLsE73u5hajuM_CuhjFa5fFhTOGKmG05PvlqKnEpUuIqatt1ybU8w8uVIPeD3KywHSudgjaZkC8MlEiL29kxQAA7qwDrgxNMqpRfNECPD-c_FgAh7JZZGNwvCfviV7_jL2p4blgRvgoNjRy9dzjctgz27n6l9HnmxmDa9bG7uHXGgrt-EWVf0SNlp6_GzKKs2wyiuLfoJ9cIxHu6ebIdEJXzO3re6T4mN-zXQX1H0W9GWYE88nuqv9JO_HsU7ddvswHXmHIxyIFxbAeF4LKhnNqaFEzH0UOpSx0awKg14xzaXlouTc4Ubl4xrP_BcreY5WthwQS2FJCNX4QaX7DvHNbJAiEPnakxCd9UqKtXoYnjWTswsF6mYcks18--M95k7NsDLaE4QzeDQQLzN9gfwg1GyRdPeeZU5VJdKTNq6zygXJaZ7AmmdoKesrnF1Pdekq1nQqVILkzvDpwP8dahO36hwcI6QBa7JXK7V8V8XaH7Q-BMocLb5OvNYnEUB92-5lPtZWxEllbIGY4YwgwSgkS9bSdB9Iw7RG3JwvyO8O081tXdEGp9VPERz6YwJkfv1t6qPXdNYmmKYlE0sCSWurPsLEpyA_04t07bbeQwbxfvUVwtKnnVN4B1n9_DdJckXOeKnLgZmIzpE_jReU_CqKFASRggX514ixrIy0PWoBGTlVMXKnsyXAUKKRk7MYeqdVwlqtx6uuh5jIE9-I2WkUBlvrLK5qscoEr-E0gSFaLSa4GCnXE1J7ttmL",
  "id": "rs_01ed96e286105a45016ab2afa5698087d09d3645313d0e82e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.13,\"left_z\":0.02},\"note\":\"The overhead view places the fingers over the bottle’s body rather than its neck. I’ll move forward along the bottle while keeping the lateral alignment unchanged.\"}",
  "call_id": "call_MG8T8QKlbejb3wssuzAqNNtu",
  "id": "fc_01ed96e286105a45016ab2afa881d887d09dcc2a8411c035b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MG8T8QKlbejb3wssuzAqNNtu",
  "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]: [-0.3985, 1.9999, 0.9459, 0.5636, -0.3965, -0.2581, 0.7475, -0.0212, 0.7605, 0.5842, -0.4416, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4968 left_y=-0.1312 left_z=0.0591 left_yaw=0.0618 left_pitch=0.1116 left_roll=-0.0344 left_gripper=0.7475 right_x=0.2818 right_y=0.0028 right_z=0.1674 right_yaw=0.003 right_pitch=-0.0491 right_roll=-0.0049 right_gripper=0.9999\nstate[joint_eff]: [0.9231, -6.2974, 4.9299, 0.9695, 0.2466, 0.0366, -0.0122, -0.6222, -1.5385, 7.0085, 2.0733, -0.0904, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1742818151e193842e3f031ba8a33dd3f0209f62f84d84308e54229afb79388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fcd1989c36145ea531f74433b9d7950c6dd868e8df696ab9abf79f53847c973",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a4a3cce615b27da9a794a3cd7f635708d46b52b39d905b0f8b2b9b9f51f6e8b",
      "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]: [-0.4847, 1.7283, 0.6956, 0.4133, -0.4397, -0.2932, 0.7475, -0.02, 0.7944, 0.6388, -0.4671, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4135 left_y=-0.1287 left_z=0.0598 left_yaw=0.0262 left_pitch=0.0081 left_roll=0.0151 left_gripper=0.7475 right_x=0.287 right_y=0.0031 right_z=0.1779 right_yaw=0.0041 right_pitch=-0.054 right_roll=-0.0048 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -5.4769, 3.7812, 1.116, 0.1001, -0.2466, -0.1343, -0.4034, -0.4444, 10.1402, 1.9316, -0.0757, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-4IRrPEaEVvEwTDG5swozga1MBINhkacAhql40h1pDSJCjYRzEDCdNRfI8ynZmDY_ixSU27QmXF8NZqrbkxDLIUXaMScARGTH4H6hbGw7oE-L8hLHIl33uue52CzlQI-jxm7nXAYUGVb3kmjqv-1iqdgOk2Kv0T4_bGEpNAYKtAfuvYnHgsMOjcgiGcrzS1tdTDuNP6Pybc4smIOqZvBlRjU1WGusaJuR3Q5EsUcVZ4_oCGAmpm6qo6lbkv4S8QR6u1VRkeZUY1-ci6Pd9_XD5KwoMV_SdAMNZ4Z1G_5EaA33bmXVVkhASDqGFQjYzqwnmdRKItAcSsu7oN_rogGDRczOIkNGO3obXpH9alVGfCRjKpnW1mT6iHuhOThq3c8jfOavGyOug0KP_E15anzrFopD4ToPLjJEzY-jz0PC3W1Z0Mbw8RUzChNdkH-JoBRAm3xDfZVIqAw95DHkWNsDaPCglfxjS6natgdAHmTKsYNg_qGHjVw5RWV6rct9AZts0P--abki307EiFKFfhxq-5GoDNzCZU3hi_mZHR5lTMFGchdPyCVJaAD5gXfX6Ur1eNnUrUEneifx5rU63_jNHvQG_d4TTr0Oyv7M1h4nsJgeSu2utvu_A5x6bqzIa1zf8fXy96tkNvqMo-UtTe1ai5RagiIfaSVRdCWTFIeq5fofjqaPK9Ewm8FjBpbyYAqE5PwpuIz0vM0r4EmDLMp5EcbWLnTzZbeIleqhcLJMAn4Hc_YXGSb86H-swdHc5Vq1XEMGBqE_Fjc6PzwbGE0gy-CBga2RFy0UZLabO2hfv5-DsOlPv0LQdUGHGcRJVvY_WSuWFquf-a2GrAMjmnEXX3kPa95690MQYeR9zv9b9ISUuNEv1SMDISIK8y8CcKprSwjxOhrClibPrraouaT-NW3j51FkKtAXtQSZzN-XvS4-zspBaRxOlw0wnoueJmOMuNG_GYHaFKB4UHpFm7bnvma5YVozjqlsLgl-wv3RfTNrEuxos7LPshjAJDVGyV25_HiCfa3u415BkB4xrwyaEIIA6ts5EY3Ad-XS-ZyIMvvu-g_xdLMHlaAulrL94DEUUY7hE2a6V79FhCyIvODeO5wtlzaQru9JDP4t_9wLwxy45JlzT8BrXucckdmepD6KdmHvvJ4gp2aNqg2_XgBfNFlGiDrs-jP_uHpXGSFqQbhtwv8RGgNPAuFIfmPRYONe1VZ8DXcp4pvC-uQA44cbE6w17Xhm_1WjIua5SFAfTtuMSQoEPjrRxQThHmIvoU7bLJrRFtjq76h2Wf1Ek420A5OMwvAVMAo5Dx6urBshFSie9r8LJid0qIeHGF4L6QkBhypfPvNeFBMtqLvZAXyr1wbt22ZH4ASIkelhD5Eqs0cwUPygm62Ts7KHynqI1bkKeHe8SNZcIcDH3At2X9MUD2KYr2MZSJDp1cL8dDz6wctU5KkYhs1ifx0A5wks-R1tOWQNXmQuJfP_6Dd0tPPX3UzeYfw2yG2Pv0jcUbG47U6UwK_WTuTve2G6eCsEVmtat2gg-Isgip4H18H75oIUGS4dcO3QqucaZX2UwW7zDeoV_c_dyKtvi5AO6KEep5wjAafIZBQBoBk1cuKZ7sAXs0_Y_44MVr2uNwdf1cP1teWG5vJV4G1tZ3JhlQZQMocJ6B3iCkUKui8AcgYPLGWSKMwj12DZG2hpOohEY2Ks50D3yCtt_4dE39kF8RRGA8O26LLfuvJOd-bYQSWQo2OaGSQynguKBPtJRA_KabWUDYXM_P8XU6AA3X2Jc42pcg221eRQ1Xz49G9nI7wyd-PxMDOByM4aU_sA3CgPx4r2LsHcM-w0YcVY1TvMufBwpv7NL8DQW60I6AUGyQotAtBKhay1OHALt_ew3ayUvuwzJyCEJe2tMeHDrcrPp8G79seDHgj7beavDYIkH3eXStwEIE4a5nlGwxTqBL-QQEZ6r0gNM9AC-DFAefNDtKlbvxTi_CJM9rk7eEwywEJyiyTZ4cf2ocLKe4djlHDy2k4XYXKJ11uHX-oPtCN0-PXG_PjrefpoHOOQtvH6bDfTKkkx-rCKZgtFmS-yJA663cTzFeLJMPfqsL_XEIgnUR1UEs4Klf79DsJ8u9Ww8oEnCAWWnww==",
  "id": "rs_01ed96e286105a45016ab2afaec87087d0b598a507683d6ff2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.08,\"left_z\":-0.005},\"note\":\"The neck is beside the left finger, and the long reach is preventing a full descent. I’ll shorten the reach slightly and move sideways to bring the neck between the jaws.\"}",
  "call_id": "call_fEwTaouLIpQs2QdcDBoT6B59",
  "id": "fc_01ed96e286105a45016ab2afb7239887d08c197baf4847fef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fEwTaouLIpQs2QdcDBoT6B59",
  "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]: [-0.3061, 1.9972, 0.8482, 0.7452, -0.3378, -0.2008, 0.7475, -0.0212, 0.7311, 0.5373, -0.4191, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4975 left_y=-0.0921 left_z=0.0606 left_yaw=0.0789 left_pitch=0.1811 left_roll=-0.0408 left_gripper=0.7475 right_x=0.2775 right_y=0.0029 right_z=0.1583 right_yaw=0.0029 right_pitch=-0.0441 right_roll=-0.005 right_gripper=0.9999\nstate[joint_eff]: [1.1556, -4.0, 2.3043, 0.2076, 0.232, -0.1538, -0.0122, -0.7179, -1.4291, 6.9675, 2.1074, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1306c732480e836e55e51a84d5076e1aa5616df018956cd8020c612ed9db6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047ecbb32c0fac04065abde59ad1485d359daea3d27be830387130087b57b951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0b91418f4ff4101a8ab88daae86ff7ad7fb0d7f3922738f36e0a27ad3d9c27",
      "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]: [-0.3985, 1.9999, 0.9459, 0.5636, -0.3965, -0.2581, 0.7475, -0.0212, 0.7605, 0.5842, -0.4416, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4968 left_y=-0.1312 left_z=0.0591 left_yaw=0.0618 left_pitch=0.1116 left_roll=-0.0344 left_gripper=0.7475 right_x=0.2818 right_y=0.0028 right_z=0.1674 right_yaw=0.003 right_pitch=-0.0491 right_roll=-0.0049 right_gripper=0.9999\nstate[joint_eff]: [0.9231, -6.2974, 4.9299, 0.9695, 0.2466, 0.0366, -0.0122, -0.6222, -1.5385, 7.0085, 2.0733, -0.0904, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-9YvheebkNH10ATJcaeMOIw8mlW6GICKp-P_fI-QkBtetf9djKfbmnEKhXGVBAieVuJ4FeHWj_XrTWGhmArAsMBYSQjvTpKgRo080Z3JFYGHO0zMiqjmYnYKXUm823__iKlVP80-a42jYW-G8XVD6-KzEKLBKm3LOhFy3dhU_2ja_KqivWp9_AsEYA6fGfXfXVeBlHqIP5aDjb8edr9rcTAtA6C_Gh8t0R1oIGW6b4A7owN4vl7heCQMjBxuGqsuja49qE_ADiGfk7v4f6oEdPz_toIdqK_lrMGhiMSeUTzPnRODM8ISi6c6J8uFPzRJR6JS52yaLZVm0GIHbhGmZFQZowtTL6OVCvF-D51xcht_Wtbw43s6Zo-908xu3OgMxsCb8YAm7ds1q4VQORrIbrkhj0n0f5nYCDo1VYaEvzmZISYZfvWskFqHn0K5lFVGAv_fSey5pvcUPmy0X5AjykIea9oHpN8iUCpkmtEtc_5W9YNOjkrSw9D8LzV5m-3wYUKov4ldSKFnvxWP-LY-9bkIjxhaK8ocBBMNzAof-Nk0bdqcSsNjThRYsd3YxsfHZ7qQfeDUxNpuv3X5WZDNdgfm4aiVFGDu0xpiJkKdlGYetBtKCJSnGXG2uGNyjkyDyri-fc6z-ScoyERqxTlxZMDmR71-zUD6sJsgKdeT5Wb5wKMSWDAaR41LUrU7wvXVtJVhcrya2m-J_WI_Us_JGLIW5YeQO26_xOWlaceBbAP1UF-s6IourCCUB-Sb9r6r2J2Tx3hG1OqF2fGtZMV3ftTHLKxQ-xIzZjAMgjkH02qYTHuLTe_EGADZIJiCHx5-XA-q3-zUd22LYDGSjv-Gs9ErgMPMvBVapP8ghmBYVfwDDeUtbww74Jb8AmhYLWxyp6Vy7an6e8ErYtOhL4BXUaOV_ZIsxFv7YuDubx6huWL-xXqlxvddtigh0JuPtF5_rITpQXMWP_G6h5kAxxtStLdYyabnNo09rFr1NM5ZVjwu6T1yYlH2JsZUvzep0GAjLMqHTkeaZcZUnkH2cxalAeTvX3y6mBrKBa6hpW1ou0CTV2PgzBw9uYRYyWn1sacf83zbHZgYSecgaqTAnJRpR_8ejKiCtaw8CQ7YlXsikuyYxK1NTuD008bkopJBjX8pYK4izLEphUYlXgBmWvZcmmdO6BLc1fPW1dTYHHCeNz_HjRo05Z3UBigcDWsL3AYb320eqNX78BRu3ZurwW_tO1ew==",
  "id": "rs_01ed96e286105a45016ab2afbb531c87d08680bbe08c40f158",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is now at the fingertip region, out of the wrist camera’s view. I’ll close fully so the gripper readback can distinguish a secure grasp from an empty close.\"}",
  "call_id": "call_QNH8JWeBlGD8qIOdlg9Uq7U3",
  "id": "fc_01ed96e286105a45016ab2afbbad7487d09cbff7a8cecfe7d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QNH8JWeBlGD8qIOdlg9Uq7U3",
  "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]: [-0.281, 2.0106, 0.8288, 0.8143, -0.3256, -0.1898, 0.02, -0.0212, 0.7044, 0.4927, -0.3962, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4996 left_y=-0.0816 left_z=0.0618 left_yaw=0.0903 left_pitch=0.2133 left_roll=-0.0482 left_gripper=0.02 right_x=0.2737 right_y=0.003 right_z=0.1494 right_yaw=0.0029 right_pitch=-0.0391 right_roll=-0.0051 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -5.1214, 2.1265, 0.5055, 0.2808, -0.1294, 0.8669, -0.7043, -1.1829, 7.3231, 1.9707, -0.0952, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb5e8a8ac143670f36b798eaf4c44ff86b035e29aa9a4cd54386152dff72214",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ded6f8233d28dc2d78934c408c55619126196200f00750d9e99153bd23d399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:162b1a82e5ad258e3e8e28f6b7642559e3fd930e82118ea22a3fc5a02ed659b5",
      "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]: [-0.3061, 1.9972, 0.8482, 0.7452, -0.3378, -0.2008, 0.7475, -0.0212, 0.7311, 0.5373, -0.4191, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4975 left_y=-0.0921 left_z=0.0606 left_yaw=0.0789 left_pitch=0.1811 left_roll=-0.0408 left_gripper=0.7475 right_x=0.2775 right_y=0.0029 right_z=0.1583 right_yaw=0.0029 right_pitch=-0.0441 right_roll=-0.005 right_gripper=0.9999\nstate[joint_eff]: [1.1556, -4.0, 2.3043, 0.2076, 0.232, -0.1538, -0.0122, -0.7179, -1.4291, 6.9675, 2.1074, -0.1197, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_G1pdvL17ZOCvv5z3c2Y6OzXeGPGlthClpUMKApDvJO1XsvWjHNOZEWc3cufeL0Qtkw3kCpNTCAXaLMhbPsM5HD5PSw3fYKFtVELMxHCkCdhwHyw5GLRl1W4ET_GHfi2M6ZeyFu7y3HdBiUHKLZHAaA4v59fYkRdBtiySvYT6T2X3wy8GthpREzdqgJHRsIKt6eMNJK7wKLSj7tT_NFVzur_LUeSNBNBms85mMlWEVcNL0NtscKRGBSOavrqTrgL0IgoKv73li4KvTtr3_WWm6SIj4KqOplJb_xl1ggzJWTNgzVicXLbxH3VbN_3_L0y0m6qgqASmSxqNwF6ZizIvUQF2U27aEdz1IIMSskKD4IXsMn3pcMxzBL1UHG5EU3jBiLyGufPOevEnGYnVI4n2Ku8NYq1lGiru9a-yZDdE58Roqr_I1DDq_J2d-uscSVEbp9WEkE_nxS7B21uioicT2lIR-FLhPnelqOVMnfYOfw-TTdcBBenZ2FQHiqrojX2SmMQDMQkgHZo4MkJEMoV56ZkJxIsloYxmthJVRiUGYaPW-YIrLrlzh3kNsoRzbfKKuOtYUEix4BUOz7Ov1X202i75VJumQt_kESjW9DMVKplv-D-YJNUxSY-Z3ZbJHrF4NOP-3wuolztdM5ZslL26HV4KImt8rNf7RMlDVhKxovii6j0ClFHxMydVewYS9T--foucRFxOD7wYLSDXkRG7e6wdK55b1nJugRyHTDxKBOY-2-qm2imFpqpJEDM_3ZvD_yDJebetZ2ziFQBeP9rml5X8x2Bmq2tMPfITby2ildTeGteUtPbAdqYr35n6KtaEPcYWmuVAHuw4Koea0MWMPkBNvg6EbdbTfLmG6XWbJIxk8nY6xq-AlWTNNgAP9ar2BwSl-tVSeAt2IlGGmbEkyt6-TpTjcNgu-0Xa1V6v6wmc6UCKPChvkcXkv0Vab9UWuHJB24djYU1YsaIopW92z29Csboa6RP-w1JxOW_4uycUskT0MC2DzTd16JbZGi0_grMoMZeMDO-4Mq2XXG-bjiT6vaFQKIZ3LEKvAXfHxaSsZkeZ0L9bX4Kdng4UjTnmTn2tMGZjIQZwkkO9QrakQ5Y782WgulmmnjgoMLz9A1-vwh13_-jeSm8TzWToR3v_yU8gIhoVuhP0dZy969IbzwqA4n5ew41DYtNEwTkau9jpN6i3DgGVzZWzu0P-EI8oOjjzXPfWGuQWNx7FytsHckPGAW5dYrehHFBEiVKqgdtemwtlwBkKDpvwPXmjKXgnSU_cZf10lx_oTwQl5ktJCYrJz7JYiWoTHcaT0CunsfyU1OIZum4UJczCma4dUAfY9lHXLqJqVy-uZuibaPxnWbboOEd_JmPs3ZXNDMGjP_ecp79H70xZn7Cwqp0e2qQCz8_Mw0jbw2QaiNeni3cBPdrrmqHx4AJvuwOk0lV9zcB_LkPU6svBzP4EhZ23DYbVCNvOfo5jMedFCcy3bbPCLuEBTOWxQ5jx9ZRK56vUgGkph8ibQjgli1S_6iJIc8SRm7xtKXYNn5sTTxNBx5gI1Y1r5Zd4ZUSaBgd5GJwKkiTmPHnEAa1Ao7A63Dgip_idfEwV5N7Rgcjf9j2WwvhhXZ5sWL03WdSr1w6C805rfw5zJga64lt6EllI6O9tbVeyW-L3kJGevrcmmTOa6riLKPlXUzczQYvqluO1Yt1EHb7Y=",
  "id": "rs_01ed96e286105a45016ab2afc13e6887d0917ead6cf4705274",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.04,\"left_z\":0.07,\"left_gripper\":0.65},\"note\":\"The full close was empty. The cap is visible just left of the closed fingertips, so I’ll reopen and reposition directly toward it while backing away from the reach limit.\"}",
  "call_id": "call_2j1w8cg7uVfWK5COUhdYwH4X",
  "id": "fc_01ed96e286105a45016ab2afc44e8087d0afe4fbf0a78cf9ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2j1w8cg7uVfWK5COUhdYwH4X",
  "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]: [-0.1955, 1.7363, 0.7483, 0.4656, -0.2657, -0.1833, 0.6449, -0.0212, 0.6788, 0.4553, -0.3767, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.458 left_y=-0.0398 left_z=0.081 left_yaw=0.1143 left_pitch=0.0589 left_roll=-0.0147 left_gripper=0.6449 right_x=0.2705 right_y=0.0031 right_z=0.1428 right_yaw=0.0029 right_pitch=-0.0315 right_roll=-0.0053 right_gripper=0.9999\nstate[joint_eff]: [0.3214, -9.2786, 5.6, 1.6728, 0.0952, 0.0366, -0.1001, -0.3624, -0.8137, 6.9812, 1.9365, -0.0904, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd12d3c96030dcb5963ab059ffa08337b5717e904eaaf084f5aef572d04ea9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1c3f26284e825919c3a759bc64c3140cbb33fb5b1809df95f413c3f3175f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d64c0f5b65d7163e6e4baa26f5ea54eba1ac6d3fc85cb7936aa7b453ffa3d4",
      "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]: [-0.281, 2.0106, 0.8288, 0.8143, -0.3256, -0.1898, 0.02, -0.0212, 0.7044, 0.4927, -0.3962, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4996 left_y=-0.0816 left_z=0.0618 left_yaw=0.0903 left_pitch=0.2133 left_roll=-0.0482 left_gripper=0.02 right_x=0.2737 right_y=0.003 right_z=0.1494 right_yaw=0.0029 right_pitch=-0.0391 right_roll=-0.0051 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -5.1214, 2.1265, 0.5055, 0.2808, -0.1294, 0.8669, -0.7043, -1.1829, 7.3231, 1.9707, -0.0952, -0.0513, -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": "gAAAAABqsq_ORPssa0qrftXilw-wfE_a-_HdtXGBqcNtOBLMzyci3NPYZ5dCja4LUoHxpi8JihWSPWB6yrkUQdWKaIzHr9n0DAnw2HgRJIVSy6nG-fhYRhrPJTH7KkxJKi2x9AhQOYZtD3NpfPS1nUloTWxZp5i14HyNX6q4qq9pfb0cO_Rayf3MGXV3Wokh5J3RSjH6axw1QPXoqrcHo_byEW9I3X4iaulzLKSKn_r7PBCNRYtZON4sXuFy-yW8sFevceJ14PQQxh-6wo6S9h2YLYOJICvbG42VdIXTNl-Rkzc5e3cXDzWS9C_5MwvsmrVunCRaRvZr0WFuK785mDJXF_IO3cFtbh53jb8eXX7HOzz4SlolMQuNK89bdmmF-nZMdkQUbzZlW2rGYp1pb6uE9EepjZUwq8jydS6TqtkOR3vCtkHFah08fcPwcXwCza0eiB3CHAfIahNIkJaDViQoufPlFAv5F2SmVhp0Z5lMrIu7b23MUo6f0yh7iRjie3LqQH164be-yK8qgXkEBWXcuJcCgtgs_cuyCQ4JSe1xKJSB-H8VRgpuCqY7sSS2gWwQ-dnU0-NYHKQEn_5MhAgTNmiMkOlD5kkQzs4SeM6CdEuKh7m65Ak32zWEqA1Nj5cFHPW0H1NQDn2oNjYj1yhu0Z_2z0H9R8z7mfGV8h47q2zFsLIxUpFPQYL0hcEkORiGIuNevZfqjxhzfE42u89cKzcdup2CnJg9RrjJsRQ_8oifi17eSNRKLfs7d4ihnTn8yfBuviwT_o3sXIwjPrcU9XtfP3K5FAHxFjbSVNdmm-wuTGgFyAiktM4FYB2TDTS43s5LR18AN92o7AFtvXtpwxhf5Ow1wt_rTjcsRHYdY8N3wIKwpTH7BbSc9fTwgmlwKR-1bNhtI43OVJuotmMq8PsA7Ni6twy46imuXcdHror0lRaNs1wAaQVUahodn-ao-5M6p1FDl8D9gZWJLLL3BwDTHN3PRLPy8feBu6xNLKAjW69p4ZAsCyx-iaIoEVGBjOOONRByb_aYSg8Qde5dyGVjJ_8I6Z_8HnRyxeZWgxUhtDI523r9WbybFF1_Vja1EWWsAjQYCu0p7UWi4Hf8O2pi-hT4b6coy8C_Ahz2d-cLCST8f69W5VatIhj9PQXGaqzxpcAFpkpIdNSjSca2kIqbtOtzTdMyekbiSibK2LMww2alLZw0Fje6lvN3fnyoUmqAx1ASWtT1kV4FTf01sMxRi4kpXfjk8OANX8KlErZFKKI5cIUE0hl5AfHT6o-vZQ79l5TQoE0DIBGKcl0cxl9oTY02X-fTSwMNS1k1xIlKWmW5PxLg8_ieilsVRZfovFavios3mNieAprTcl9QZcd8vcPoVhIHysfP1SAQVOyGQtm61DWqy5bB8S0Npo0QYba4bwyJcBSePEPe056anysyiXhTPRlvShlmYqiC6Zve-qofDMHevwok_5wg6ed4SRmSg1cwYx7gY7G78MOATa2NbCQ0q3DyQ26Ib_-clOMVufkFM71LVWZ2n7kI_XsFFwzGuOK6-UEE6xatA8ip_wZW_l4lyLwEDHsgKdjPgtYZ50uux36a1D8YyB5Lue9aeiZXlPvuSmURtOSNDHhfKApi7k7mtg==",
  "id": "rs_01ed96e286105a45016ab2afc9b85087d0bda56119427bfd48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.04,\"left_z\":0.025},\"note\":\"The neck is now centred between the visible fingers. I’ll lower straight down to grasp it without changing the alignment.\"}",
  "call_id": "call_A4bvGFsIjNpET5xPY6HyFbiC",
  "id": "fc_01ed96e286105a45016ab2afccd9b487d0bad0994f09db0704",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A4bvGFsIjNpET5xPY6HyFbiC",
  "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]: [-0.1967, 1.7477, 0.7406, 0.4133, -0.2543, -0.1871, 0.6463, -0.0212, 0.6605, 0.4263, -0.3656, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4488 left_y=-0.0404 left_z=0.0621 left_yaw=0.1051 left_pitch=-0.011 left_roll=-0.0022 left_gripper=0.6463 right_x=0.2676 right_y=0.0032 right_z=0.1364 right_yaw=0.0033 right_pitch=-0.0311 right_roll=-0.0051 right_gripper=0.9999\nstate[joint_eff]: [-0.1162, -7.2957, 7.5009, 1.663, -0.2076, -0.0611, 0.1392, -0.7453, -1.0462, 6.9265, 1.9756, -0.1197, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa469fe21ec546ded29f5bd025193bb7a7ec2a027216233e635e1241dcc304a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06cec3e3e3137b074920f93091d5925767a3bd9e3ffb323a0186def63237b4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bc5c20404c7b55f572ff56a7907b33086d79efe6e4da2e0d8b26701ca3d41d",
      "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]: [-0.1955, 1.7363, 0.7483, 0.4656, -0.2657, -0.1833, 0.6449, -0.0212, 0.6788, 0.4553, -0.3767, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.458 left_y=-0.0398 left_z=0.081 left_yaw=0.1143 left_pitch=0.0589 left_roll=-0.0147 left_gripper=0.6449 right_x=0.2705 right_y=0.0031 right_z=0.1428 right_yaw=0.0029 right_pitch=-0.0315 right_roll=-0.0053 right_gripper=0.9999\nstate[joint_eff]: [0.3214, -9.2786, 5.6, 1.6728, 0.0952, 0.0366, -0.1001, -0.3624, -0.8137, 6.9812, 1.9365, -0.0904, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_cYn8dvmBk9upKznJwqyCnggMts6v8uomSRHeC8KcieGbwqQRhu7xaZ3k-K-1KsVW77QHJNAwslPzU8DvSN5wGW2fAwf0x9KqIG1zPUw2ChSRiMsshdm157qVlMENLDubhOD2C9rI5yW-Xv-9HrQordkhQUgenCrBFRuCso7cQKcqk21cdZPB6k5J240EJdEisIHdR6JYsMQq0SyLbLKg4qEdA9hCIasUvWaLhlKjbJwIVAmJIm6RgvgejU-NIufKpij-3GCHXpRzx_cybGYsiPAf_RkInySAHDYfS5Y7xDrB4MzvImxoZ4uBFgGTV4TLvy9fheDd9gPqwMmOk5EkJGB7-N9tUhQG1LiuYXBDX38lF7MsvkcQ-PTRusySYfViyIk2w4HQneFPrs0uZUjKuoupr2BSp4_z6YP8XtwdtPx6ryxf1eJxFgm_xdjvdUQ0lOnc2noASTvbEwjxpwRmbmBf6gIRZ6T8VPPhspnXEqIySAkHlDuENYQmGHyrM290gn8d-a0-jhAILb0lfo9ExYKH1NcsjQfpGL3IHacqgl8mcWvbHtaeaNHsK-E86Xdp2Tgqi2VmzdSnqMDCLvSYOKS5Ehj6WAVYr8bzZNOX8QEb84FjqaDscaTjysl0XVM2uw8ervb1SK48eJ3uaZocExOWSn_PkNNdmZzm44ssCOzv0IIsDZi7fuHfxq39byr82EiFwNkEoD6GAiiKp21p23P60dxf8u4b-czsMV-ijOmoUJ18wLqixjRRtCDJQ7wFeerMm2HojPR11s8IybJN9wIfyJC6C4w_tMRcXUlSZsmKeyg94UQEEhqDsLsg7eGkgDge4eHBfMNOxZe2K78AOpA8a3nzHzdWMYW-K5KampYUFVyOQcP-N_p-HcRFlwDoBgbj9-ZysIp6f9raKz5KpNR43irmzEYjrxa9rUA-5BvqbA_oLm3WjILKwMQax7X-gUPkJuGtH7KgNcesymBWl7DtR5ORwDLGPXbbKjsZvxXKAv4jbHR5RyOUEuArifx6t9DPpt8WO6DxpjyoZPHTeMNtbufgj9oeGyTWGq0bFDhGZa0vpnIpuOpVj49Iv3SY1LnJyLYQVYDuqDeI7MATV3hDzIrfoQZiHzjqcUXpTifUMaeSAjD03iG8-UJW3rWft73vK6Zm6Bwn0nT1fPXQ1-XNAfK_dPVPmtRI-E5WNcjA8OkEYzfAHzxiCiZfWZyqwx0b6SF66K44liqbdcIQb8WdL5dBwJaWOaa5oxDYHjj31jisnqDLapwxtlx4ybF3KGSmC80lerQAck1VbslHnad4i3JfTSHHbf-ooCQQCHamkhbOHkDSiFugrlqcsxLkXeVbP6vtCpvfWSRY4nVQa2a7-OxQDPZ51Bgf6-MxvtkA2Yre3kis2IrbGeQIlat_5rpPnC7cJvMc9GLceGsoqNbwuYWlMBH6qppgt2K5yh0htnwwQouMBYZXVzb8giw92NVwtlZEun5lpZl2NlXrHBPt7BqsQoP5JuJBqpWho9q5lcRwTlXkXmviDf5VU8kl7dYR1wMHgc7DsyPlBbrSkk86JZRvEoFHiUNN1MCJrbgk3IKqj5mN89M-MufNfSLkTbrMeOZsvHCVjTl0I0aDX02of9aoQ7ZBm-6f8sPtSSR_7coHTEfAAe7duExaIrxHz5Y6DdD0Xqpj3axdmiJl5Ku7IDxH_HrTyMnMJzorqglnzsSxA3k_pBajw5N8xc5R_dY-8HXvnZEkW6PTE7bjYa-AWST794AkOKU_72Xrv22z6ZxIBtM8loCOqTjg3yNXmtB9Jfh0U34Yj_X3g1dT47rAsjoyFKJIADmBMxWAsxdoakAVZVc2py2nX8ufFRzbRZM1J5VVElKw5-yd8o-Juftf2hdVMuhtzEnpHJ0temPnPpqCaqbqDX7ytF5atK8K-hDOlWTZgniMORDwHhBpuVmomMS29up-qIiWotT0ggOWNV5z8dEq0EDAyFX7jtMH5LR1PqD5wY3EBgsWhusItRBL4PmhT_KRj0acePiq7zjQPNJmT9ch5DkC3Ccs3qPv_10x2gVQG7kijc8ZCXs5nj3D2OuotdZ3PZMiLymxdYtI1FKM6Sk3_SDoSgCKZKXlIpQIF1rNvRLI6dxq8jf6sE5XBmGKEgPg-nM7zCJ5yUxm1PW6xIBtQc8NUjzeNuR8uBgnDjk2yvhWiIEittu4T6W2NJGMp60WrRKhqu0aioHl756pKlStkc0n9obDsVrW4M7x7Y7-_q4aSGRdrKkFE-wP0RrqhvW1hCjK2U_gLOCruMh4BMpGsPun248q9sLSuiA-tk6FMb2h7HBZP2MQmkLSyqw4FW0Y4W9lARD48kCwGxyokxByWbJA4Ib_PbKN8VP1kCmh3FP90-R2QQWg4ghWFB8jPRn18-Zwok35424EQ4MJCTPwUIjTr2wRi3ofpuHD7Zatkn9uZR2j4QPpqGcbRjzf8XPkBEFQmEb3dnRh-UXNxZnlD0uunU36MuKfeKCMYBpcgfhySQibLVLb627OCfbYu2OIfRRYdGHGfblsAYSXcKwNbYwyMS4cWgH8cz5UqcV39ujq4Ms0Xx6bs2sWbbVA-4s8L7RR5eWgdgvgIe5-5of9mU8ozgAHbicP6Vol3r1BN6yhg7S-OBf9vjMO3esKvyCdIA9qS_b2m0AcUT4EUReXFVHDvNxIGjAwFgS9eBvOnkK0KTqR_X6ENvQ==",
  "id": "rs_01ed96e286105a45016ab2afd098a887d0a16c49d3083f1942",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s shoulder is now visibly between the fingers. I’ll test this grasp before making any further positioning changes.\"}",
  "call_id": "call_Uts0g1dA1ql2wYphr3x5CxNM",
  "id": "fc_01ed96e286105a45016ab2afdb9ee487d09dd857529a67317c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uts0g1dA1ql2wYphr3x5CxNM",
  "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]: [-0.1963, 1.7557, 0.7528, 0.4217, -0.263, -0.1898, 0.0228, -0.0212, 0.6403, 0.3973, -0.3504, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4532 left_y=-0.0396 left_z=0.0653 left_yaw=0.1142 left_pitch=0.0025 left_roll=-0.0037 left_gripper=0.0228 right_x=0.2653 right_y=0.0033 right_z=0.1313 right_yaw=0.003 right_pitch=-0.0247 right_roll=-0.0049 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -8.0205, 6.5573, 1.5263, -0.0952, 0.0024, 1.0623, -0.4991, -0.7863, 6.9675, 1.9316, -0.149, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ab20108cb86ddff8373854ce0399587dde4b665c5eb9a8c949a8e8d2306dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c625493f9a9e828e83581c6572c5833562358d2ae4ef7d9c188aaed7a5aa807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb01ebb366116fcebe97f81cc491e297c9b04e51eef1990634c4ab506368a1d6",
      "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]: [-0.1967, 1.7477, 0.7406, 0.4133, -0.2543, -0.1871, 0.6463, -0.0212, 0.6605, 0.4263, -0.3656, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4488 left_y=-0.0404 left_z=0.0621 left_yaw=0.1051 left_pitch=-0.011 left_roll=-0.0022 left_gripper=0.6463 right_x=0.2676 right_y=0.0032 right_z=0.1364 right_yaw=0.0033 right_pitch=-0.0311 right_roll=-0.0051 right_gripper=0.9999\nstate[joint_eff]: [-0.1162, -7.2957, 7.5009, 1.663, -0.2076, -0.0611, 0.1392, -0.7453, -1.0462, 6.9265, 1.9756, -0.1197, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_q3AlBIp1CDwQBm1sKSch0r3ydgRWEkyBeVeDcSsdjASn6rDbHb967n5TwkiVRS5DnfEBM1pA6VB-1NkCqOu5LBmijMpaz9OZZeWrJ4WhiN3tYCQiyRMZR2cJBRvpomQm4V-LERtjqYFgQciSt12b7CpatWm40_Ujjf9iZML4NKBmoPuXYMgID1PJ2b_kVHiCIawxVYtDNiycEqQIdbMXfYY_0SqC3XZDG6udoI7wN_5wMOlis26ORRo5B9q0wqH9BYuNMPWUDjfWRYCBsJ2oG1uNWV-vOpbaGF4mtaXlQB97rqHyoMlxfYWIRATaT1_PjjZA2_TjgrXb96xNPqDVwCJvOC11LHQHa5Z7s0A1r8tQxvRZHei1QSiZljtsMFCwoBn-jH1KTH9Vmc5erxUzsPM_Ll0qZInioGMfi04j9LBL9iEo1XHtCJ-uen5FRCEUIq_okzf4sppuSFkA44mNYUOUczhcPW-6R0P5QjPagt3GT6hyYONfYMwGP0SGv5xnNCBYYahwcR6tF747BA03sMRwVLoSVcEyLbrcJkioyx85Hc6LLKT8mMZhHMrdWUw_E1qnpfdrj6HDu6ZXELdKkLW1UKfI5hdx0CMNAXhjZCDjztPUs_c8j4Ec5QuFFi7H4ENFsaeN4Bagt5xtew0uu-xtYOzXOx4M9qv8BnPLpdw1OMJAwNnoaNiYO93-Ay06o10gmOThx697MBa38425MvwuKzJhe7gftPAR3tFXnS80dnXR3oCT6Qm3nbHuaW1aDUcnnbdyfEubVfB4YjD2UuUg9ffB-2RPmQVflqxhArNpe5h55_ryj9tFsMrhcwiR26rE7QF58il21smbaIDyD6SUW7ADmixNTrMfmlBSNgNg3tkv2OA37SmXNhoCZfdM2rY00Hjt9jCsEzq_9vtjVp_z374FSCF0wwCJx_2xP_OTt1rlm-jbEafz9vyDlfqSHJrglxQ9md3atP1-ZssbDAqwD8NxUit6jUQVLtVt1LP2d-182qxAWB5j7pk8ZSYKPvztV_rIY3eEnr89POfGj_617hxV_shA93LZ9wvjlGLlmtOO6fweifdYBHBhnBc7eFHMQi15tAUcorZgYvc_HXl3g03-9gzRkHqoTC0zPkwo4Wrl3msl_DjkGoYTfz_ZYvzO4Kt8cC3maWzs15lYO6utyww76-itToayfHkpVPVZAhJDsUIsqPM_64SMDDN_LRpkoSw1I5egBJVjjRIX_4CirUfmEHsxhazdjFcLz4Y2n5hFLfiryelCwRdHEdtTdEnWRWgJZ-IfGBVRl7udMZcDL6_f5z-wxM-1FXTHQY9ERE76I8UkGD3HD5cQ8YHnq9fugHLC7jvdU8xeOm2mvmBgNtY6zcyYL58KTbHKX9dENzAm2xd44eZSaIc5JM4D5W6oKEVxDYLqxl42fCWQKfvxw7-R2A51ul-gA30tuhrFfEz1gsLjceaxYYgpRbr1QlYA2z15oNMIg0ckNyqyAxjN-ErjZKHoFMDIad7cCEPq-7_A_7dVRngFsLn8Y-HzARoutupbE29ewJFt4gEq93DlnaOBQuaP8APRwdaClg2Y1Y1gsaH6R_C4D7VmP4wS7GnLcQYea7tW9M1_bDR8vaIpqoks6caez3XIMsrXTxEN5lkswjrjpgJZCtrANrXE2EtsG03PGbriQXciK7_9K8GvzDR_fXLrHbLlSsbIEKsbyMPiL3veUaZgd3Ktrjjd5SZLloqtDkpsFhclulRrPgWscapwk6LK-DgNtmONMqAU=",
  "id": "rs_01ed96e286105a45016ab2afe2c18887d0975c494b76dca996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.025,\"left_z\":0.035,\"left_gripper\":0.65,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The empty close reveals that the actual finger meeting point is above the neck in this wrist view. I’ll move slightly back and left to align that point with the neck, rather than using the bottom of the image.\"}",
  "call_id": "call_cuqmubrDX0iXNEhdnMDkrfPO",
  "id": "fc_01ed96e286105a45016ab2afe713cc87d0b8fd3645f10e3f7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cuqmubrDX0iXNEhdnMDkrfPO",
  "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]: [-0.1688, 1.7462, 0.6003, 0.6567, -0.2672, -0.1867, 0.6452, -0.0212, 0.7921, 0.6342, -0.4522, -0.0299, -0.0467, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0234 left_z=0.0606 left_yaw=0.1449 left_pitch=0.0907 left_roll=-0.0272 left_gripper=0.6452 right_x=0.2884 right_y=0.0028 right_z=0.1795 right_yaw=0.0053 right_pitch=-0.0414 right_roll=-0.008 right_gripper=0.9999\nstate[joint_eff]: [0.0479, -6.7487, 3.6718, 0.8767, 0.1734, 0.1245, -0.2125, -0.4855, -1.1145, 9.812, 1.7558, -0.0952, 0.1099, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecbfc4386d8cd4b199e94453da61c643bf084e9f5f9cbf41df044e77ce1fed35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5eb526bfb820e6875dd0f148f53fca9d803efd0c0ec4d82ffb054127ada06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b38d6b8c91156bc3aab475085e72128cd64b9904d9fb817181be098ef491b41",
      "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]: [-0.1963, 1.7557, 0.7528, 0.4217, -0.263, -0.1898, 0.0228, -0.0212, 0.6403, 0.3973, -0.3504, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4532 left_y=-0.0396 left_z=0.0653 left_yaw=0.1142 left_pitch=0.0025 left_roll=-0.0037 left_gripper=0.0228 right_x=0.2653 right_y=0.0033 right_z=0.1313 right_yaw=0.003 right_pitch=-0.0247 right_roll=-0.0049 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -8.0205, 6.5573, 1.5263, -0.0952, 0.0024, 1.0623, -0.4991, -0.7863, 6.9675, 1.9316, -0.149, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_wIsRchsETP2NDFKV_uCwq9SVQd7SaVBGxGu6hOYLSSGkPXdOvzxmGMkFiD45gntyrC483LgrUemIVJVmIT0Cik4lDfnqf1XfFMvc7lz2cnwA6KoHzsn-Hx8HYtBuqN0AG72fQYuFvVl1EuM6z23-w-qCtB-cgnbqzlqk_XRD-enm4ozQBPFBM93W74hkjv9YhsPUPg15AwTeIUJ5dV6rh5J0IW11jJWEkxuDibvvAmhrQehybU7JkTnFJQ8X6FPIHfX0BxXal8ZNm9tV_gfwD7n0x0KR3k0KuEh4xWqEOd6j5S_KDdSSIBZOuUVv_yHAdYdhKP_hEJJ4O4f3CrWaIzAI2c-DrwBXVm-ys61lZ8TzE3vs8n6AVCtxX2dvevo3L2IHuzIr9uK_XoGladlJXKdYZwCaETZh8JXKRcWHqRNG6JN8X7UBeIGE3CS5PjrGI_ScN_FpuCtjUIc68uka6ys6kdZiHp8S45EXCj7_kSBg1XDXtZhWtRS_klUVymHy6eKUnHa9E9Ax7pHUL63XUlru-19n7KNRR2OB-Kc3e6MSu7MwGBcFcZ0a_Y8bghQMS1cYywU7F-dTE0PhA2FToNta_5uMYX5PoGjzzeH4sW0U9EVT2RzyCHTIYxF8tIoVzFTHFvks5gy7MdGQF1Rp84oZ-0KBR3vdqBIZ-FykuSQUdPcrnCtxAYvNDeyYTs3yTVjKPtToaKT31nd3yvp0FYDWKNfrjkP0IHW8KhXP31_GPjR4fcM9ONDiO0DTQ69IwzioYyH8erH1PZ47tIsFIW4ClkJaJbZqC0HnTHkhv08hXQZNMz1HBWx5SkRfs6L82PYWMMji8fX-aK0bgUD6B1mY-uJTHwsBhMOHkHdNn5vFCQd6aw75nXos3SrHz85gSxtyYK0VC4AuxTJDyM9VJAkMDw96wk3Fn_I-LFaCN2gr0XRB0Kg_PCU7RaoQlzGmitWiSZRVuKJRPRcjr5E63iWbcMwjISI5ujc64Tek0lCSVQejntUc7UScJzzHI_1II-OmnKRk_faE1HONppBcalfwq7av8IXEgVSa44Cn_7kGvxpapX3s9qnUPPiaZvtrHLKwfWTzGhELGWHoUtdjiSEoFQlnfZFCy8qOD_B0seDa9bFzEMjQf9FBgbqF2YiUpdLPpdzdG3pGxwwGqIVb1TJN30u3iSRd8l2jhrXWT18cSTuxI9BC9u_iwUR1JhC5ak6J4qNYdU53PLGzVlCkm9aA66Ohw1GOUylDiLRS5ZAHQoew4TTR26HgUGUDeX-5WyK_Pf5cxaamKbWisgN3WZQ==",
  "id": "rs_01ed96e286105a45016ab2afedf56c87d09c97a92bfd3fe5c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck now lies at the fingers’ meeting row. I’ll close and check the measured jaw gap before lifting.\"}",
  "call_id": "call_jVWatXHMHZS7dMsBD6qKso42",
  "id": "fc_01ed96e286105a45016ab2afef122087d0b3860194869d6cd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jVWatXHMHZS7dMsBD6qKso42",
  "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]: [-0.1696, 1.7264, 0.6666, 0.4614, -0.2699, -0.189, 0.0189, -0.0219, 0.77, 0.5915, -0.4408, -0.0299, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4341 left_y=-0.0229 left_z=0.0533 left_yaw=0.1462 left_pitch=-0.0127 left_roll=0.0059 left_gripper=0.0189 right_x=0.2833 right_y=0.0027 right_z=0.1683 right_yaw=0.0066 right_pitch=-0.0505 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.2667, -8.7179, 6.0923, 1.746, -0.0366, -0.0464, 0.823, -0.7863, -1.7026, 7.3094, 2.0635, -0.1245, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e0244183f0216343022d8e91528b9fb87640c842c760fa09a88f8c73da3deb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2241a24bb1f7ebe804281875cddc9d2f5ae059c3810ebad34ead3605dc3962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea0f341a7bbdf1290e0ae0172a6fefc5ffd9c1dd331d6032999577c0119c89f",
      "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]: [-0.1688, 1.7462, 0.6003, 0.6567, -0.2672, -0.1867, 0.6452, -0.0212, 0.7921, 0.6342, -0.4522, -0.0299, -0.0467, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0234 left_z=0.0606 left_yaw=0.1449 left_pitch=0.0907 left_roll=-0.0272 left_gripper=0.6452 right_x=0.2884 right_y=0.0028 right_z=0.1795 right_yaw=0.0053 right_pitch=-0.0414 right_roll=-0.008 right_gripper=0.9999\nstate[joint_eff]: [0.0479, -6.7487, 3.6718, 0.8767, 0.1734, 0.1245, -0.2125, -0.4855, -1.1145, 9.812, 1.7558, -0.0952, 0.1099, -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": "gAAAAABqsq_6HQsm0--pnQbdBJMuZA_C-SQhMpxMWAzIFy2gu3FieabdBLxEF49A_yW7WSrC9lk80bL1dzK9MPE89bkxcnDKWx-ecWvbc0TcT_ReyJffWOscJkQH2tLcJVVk05V2Cde08inSSQFxp9lhP7yzqJdDfWG6EflfuwVxvTW4d-qdpBZEqF_KmBQ_oIqmu8Zg500GOUtCs_j7kZv0r_lHIueaqIEY5BOinD-nDVKE_Zbb8YeNgqma5XOXvFKVRUsRZqU6pe8hrqOa3Yq8g3h6sfl2090qO8KClIvbGpP33oBR_X79YjBwzRQblPkFXnf68FJq7PKIx-iX2LhiFjEQhLDtgINwwzHrQVayCDxFDuhe6IwQcc6XSAmGVNum_jfOOEjlUEvhFBhe59Vk9Om3R3UkHcsc6y4d2ebJTetRB5uj0opUwdtvTxDklVGmA_npur5CR1KBWN6dd70Wod3E00xuiSsXPJaKJxeR5Pq7bJTLrr7eLPTVxG_B6Wu-3CEOd-pT1NKKatXFwvn-CyOfa7NV8vjI9QIYYYKYvm0oB1WBNaJOtrFnfbteZOQ8YlmKqySPCM7XVo9arT7MxobalJY9JIgXg5IcwO2FSW8g_OmuQMXs9Ns_kTpEEFj2KcJcs8xR4j2oJNOiUImZQWBJcguH2mFRwc030WKHiTqN7LqVLQshSg8aDw970ktmXVvdH46ahm89-WqW1OLIWvLVhsOBD7ofRISyDgtKbpofou3BioroBUViMaECvB3Udsd5GstObW6Ok8FckZLeC7zIobqxW6D0fz3xAWxOxY-iyU-AviEe0g0RvJPrNE16x6s19sH5NGu27Y8m62ZMHUT_x-bzIRheBv3wTJLSO_xHlyLyCSmZcEii2x3XncKa1Wyh8xHtx6Q7O3suu-mwdEFZSD2UcDhn1g6XTKrDE3KqqIkZ2WyIBPpPjZp-nF88s3vKKxR2sUlv5Mv3arC8Uwr2sZ_9ex4PIkZCDeGAlVG7AGu-5g7Gnlb3xCfYcfDCWIscvJ2MGrzgl119GYan0yz6lZ-s5G2QjXLMKIDynoWq3s2Ywcq0W3zzCGBEV01E-m73WJOphgePDkQTMbGChe57UOvz1AKHsZjqypWtkNY2pZgXpXqkn8Cd4gp-Ll07MlW2x_Lcnp7dCzcDA4S5dP4N-o7H6U8IKv8PXSeO9M-bsDf_2NmEjdIn6TTaYVs6ndrq5_wSjPJRj-ZKfJ7KUFQdhmD7cnZvFNr7kd_chp_2Chjowmmgiwukd944E48ku1-QpIO42NkhJJDroWkIDbp2umeje2tZqiiE9cTlNI_-clxAziwWxjh8BPAPPJY18S7c0dZo-tT6NYzE5EWkQRbiJ8mwMsD8oLDvIUbw0dGrcLtACrJpcto-OlKAGXnWwOgahjnN8BHqmhX1BOcCiksCw43A9IOKFP_-5VKKmNxaPUImTDrfVwZsgAJQw9tVudtLOooragJRcOOR6hI_zPtO7oJKSL0AhHpw3crZooVIm7BsOTGPfB3IR-MXSCuOpB8O_d0yHT3MZIXqVykHwTll1Kb1H0GgioSFr7BrHoxodWk_zjP___gcieXTCjLcmK1RyXECyQx9NaS54BnrYwo_ZEFRTJZaPEot_n5aJaKFCRimIGP00pt0pbBMuwtllF85l2UXvYd_Z8lRPN-vcapQx-fLA9fthkq2WLiaGHrdgpOk9ES_cr8fccgezSmogxTF0LSkvouAHn6NeNmrOaMWVg4lADh9CqY2O4HWf5TVf6QaoKrlUP6tPjqeCiPD1EbifTQIgsrTc3GX-gqBf20s4cd-gtNqGAXTrtqL8ro7AV3FyWmk0_rPo-exGop54NPCbJ-5",
  "id": "rs_01ed96e286105a45016ab2aff3bcfc87d09f71a8a4db761108",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.09,\"left_z\":0.02,\"left_gripper\":0.8},\"note\":\"The bottle is still on the table, just to the right of the gripper in the overhead view. I’ll correct laterally toward the bottle and reopen around its upper section.\"}",
  "call_id": "call_NlH5Cpuu83c9j3NGcsIATIGB",
  "id": "fc_01ed96e286105a45016ab2aff9743887d0beee6a629364217c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NlH5Cpuu83c9j3NGcsIATIGB",
  "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]: [-0.3672, 1.9011, 0.6991, 0.54, -0.4129, -0.3004, 0.7946, -0.0277, 0.7387, 0.5415, -0.4191, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4308 left_y=-0.0859 left_z=0.0124 left_yaw=0.1263 left_pitch=-0.037 left_roll=0.0156 left_gripper=0.7946 right_x=0.2784 right_y=0.0012 right_z=0.1582 right_yaw=0.0012 right_pitch=-0.0475 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.3214, -7.706, 6.9538, 1.7363, -0.2369, -0.105, 0.0366, -0.3487, -1.4838, 7.0085, 2.1123, -0.1978, 0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3b50d4a0f90b7e3fbc33fe011154a2cccae5a7f32390a743427e66c6219213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b072f464798c7be8e6e947c7f02421abb1c12948cc22515a2081eab18c8afed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:738444a02f5e455a208c479bfb1fcf66ad1dbcc7530337c3119dcca7c7114646",
      "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, 1.7264, 0.6666, 0.4614, -0.2699, -0.189, 0.0189, -0.0219, 0.77, 0.5915, -0.4408, -0.0299, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4341 left_y=-0.0229 left_z=0.0533 left_yaw=0.1462 left_pitch=-0.0127 left_roll=0.0059 left_gripper=0.0189 right_x=0.2833 right_y=0.0027 right_z=0.1683 right_yaw=0.0066 right_pitch=-0.0505 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.2667, -8.7179, 6.0923, 1.746, -0.0366, -0.0464, 0.823, -0.7863, -1.7026, 7.3094, 2.0635, -0.1245, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrADONAxKpvdnbXzSG9iNw7IMlTg41WorQCfNDCw-vHtPW97K-5jY-2Pr-ZNhqfV4K8Du8PVYMXt7GbmCm0tRYl44o22PXpFLE1CBmRC-goJhVCUc_RJXkQ9Axfe5IyD8Wk5GWSS-tzKM-rGXb_FkL8SclKUYWWnOXpLjs2GmFsZXTaoZG4SwNNPmDNWVAM6PBzQQs70OIHymaBKZkA6iYzTiEnRRNhrp08ManJbotByM5oPlJ2vyKSB_WnyP6UB1QGMx-QFYCt_W5f-Q30ypBoDG0-stqJnP4PZRk2eBi8X4XxlfdZ2fP3cnUyXCVewP010rLCFUEU8BDv9xOTQyMFGT501DaBV1mtSd1ze_-OBRxWAzt94Yf_R6tC5nWJ5OX73DtGml-V5fQyp3FuHjxxgB0977bMpxsp2uROcUnlqGxIE7GovIGtlHTv4XvVYUeMkBY-Mt_Z0-VpHpKXu9oM2roNvRvw91QvG-ypv8VQxWn-XxnaqBqxHNh5840d7Xp7Aje8C3_yUI3LRu5A4M9vOwCioJ2thFEurNEqJ8K1ZoFcO-a25nlzX2txpHBZdqTL42Akg6ncgzTedOtcumobNWF38k7x_MrCJxqAmFyzna1iYqiktpyNsPJUj_2ws2qSHghMQRp7QSXgSPVOMxnSgDiLkBFGS1sYWKER4dEiJrgP9a3nX66LMUu6gQDiWFAQbUznkvOw5pynWFK6pse5COCvcie9uKIsZ9m2zhdC2wtXOCfMYdHUs36Ymz9QHkbOhXesbEWpgd50ORV4L6nGgJC2H_M-V8s2erBVR1VrSnbcJD7jSRvUEGKe3a1KvEGiFXMOe9kEaD2nx2HGQdKuiM8_vFoVEQlVrp8BPcUVusbYqM_N7MEWsoBQv4WW4n3cpHt5b6_aEo0QVSIBg4ZRKh22BDT62gMBhCMM_iZVXRbx5RURg7s4cG0MLZgfob18MftDPHRVaLN8TNPyDKQlRm5y4yZxRBQ6pqW1Vc3CzRGgKzrHS846hvKvpD71wBi9s_-0AGMz6ZHZTWsUSzSNcFD9pSmaTmmhvZnHML6O98TqCEl8pXXTXkwzQUccRboHvVoiRxFMtoDE9d9qMm6UST-FY99e8PdejLLfLPZX6mi3xrxVCIKbxQc95etDVBr3X31jPjl7ZOV49FNNZSl8RDCsg8fZxKUWAdqI2b5aS_ZK8bVKGqGfTI9Dcc3dyRTHgVg5rdrQi0ud6me1fVu74uNXDLy696TMyY-l8RhuCUxw8tk2AYC593_7D-YTJ69IrO7sNdHr-TmLQLKMCZIVF8QMrggTmyehyJp2JAE0zV9AXkSCpOPICSUPK5phbIzFRZ-abZ1Q2ace0yXxY8uhRTNBNYhMe8mruKU9Im6asdPtVlhxxCP7f6dXeRCE8boWv2sBtEHxLkk987JinjnaIMR-YODsqZej6R1_fohp1RNm12rKvtc9OTcU5jeyeKA_-vCQ4icWKw7nc2jlAHpEBWQ==",
  "id": "rs_01ed96e286105a45016ab2affd8e3887d0b5dca3c71f4600b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.165,\"left_z\":0.045},\"note\":\"The open finger nudged the bottle farther right, so I’m following its new position. I’ll straddle the body first to gain a reliable hold.\"}",
  "call_id": "call_rTHn6vPEx9FqA8Kl1qfYuglU",
  "id": "fc_01ed96e286105a45016ab2b000f8c887d0930845a98cfaf44a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rTHn6vPEx9FqA8Kl1qfYuglU",
  "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]: [-0.5262, 1.9713, 0.9588, 0.3527, -0.5407, -0.4038, 0.7953, -0.0341, 0.7109, 0.4927, -0.395, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4615 left_y=-0.1587 left_z=0.0435 left_yaw=0.1241 left_pitch=0.008 left_roll=-0.0064 left_gripper=0.7953 right_x=0.2741 right_y=-0.0004 right_z=0.148 right_yaw=-0.0053 right_pitch=-0.0444 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.4855, -8.6769, 7.7197, 1.4188, -0.2857, -0.0464, 0.0611, -0.253, -1.4974, 7.1726, 2.0635, -0.1929, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff2584aacca2df8c37e9b516a4ce1069203bb7af033e54266614e2e41b37175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099af683313c3c1fa724dd5e4a58ec39e24d6835e94d174ad9966f8d6002324a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83a5424057ce77b9f9f8ac0c1d376a55857d13997e318c1328e8e2d42a755300",
      "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]: [-0.3672, 1.9011, 0.6991, 0.54, -0.4129, -0.3004, 0.7946, -0.0277, 0.7387, 0.5415, -0.4191, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4308 left_y=-0.0859 left_z=0.0124 left_yaw=0.1263 left_pitch=-0.037 left_roll=0.0156 left_gripper=0.7946 right_x=0.2784 right_y=0.0012 right_z=0.1582 right_yaw=0.0012 right_pitch=-0.0475 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.3214, -7.706, 6.9538, 1.7363, -0.2369, -0.105, 0.0366, -0.3487, -1.4838, 7.0085, 2.1123, -0.1978, 0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrALy-I5mQXcgxMUTQZOf1ZAlTrxQ-MltU-_8En1eE3WBt2rUyeJYyh_5hjP4h3o_lNWoIflIl0ZBwtJ78e2rj9XV_7ryVIUBjTRr--CSU1_AaEQtZCHrstOxz5sLu_cL47jyctHqKIq4yZT18FA6zJr0ovOaD2vqr0J6XvhTvdq7KCBpBo-gGpsYyAK-8GhefBVrSGYm_I72n2piHTLfPSv5vqNhhT70bptYIr5jadQ0Fgih7bJ69XK7uBZ-YIPr1BjvQsUjgeAZPxl_5b9wEWqhrVzcV8g7um43JF621hbj_4D4nTRVbvoAKzHqj6wsK7B978LKoBoSb0ntsmPTAnZOJcRgg3C8PYVVPumDBkPsbmHnf-FzJmDLVekO9h-mgtBzhgKGIiBGF1l0uA95DNbr-c1FSxvoAaM_7vyde9IRD_47I--e5sZdUIpiEdFjYY4gX3bQIwLnZCzIolNW3JCNU0vRZBqig9m-pewaGiBWcIJzCdf1mIduKPdYdTE-n15tli45i6hhZOsyuZTn3EfezP27Xtlxu4oK1uGvoCXcORNwdm_aYVkzXCeQOzPWkW8EdHJfCiEm7n2NiqUGjhbZvYtcuwFSUsm8yCQ3ix9RHQK_HqNhBzGFVot8DgKIrjX616VeHNd_FoCW83Uc-SS4k8eC4BWUsBzTjeqL8htoZPFq91sTpDKeI-0MZmDvi_-pDunnrFLsyzbXz-yRMNLPu1NCRDrqPHGBwdGiW0X3I0rPFym0vIVMEw5JF3L3L8mpfDDFIBwpZQ45aJHFy82xuFwUFlmCGaV2Tm9pFLtjQMY_t1qYHLpJpW_d-gdX3NKt1ZB9OeSJivCJ72T8hJmOdQispTfu44AJJyTXQtERLlJaMtd0aHDuXVUqH1cc1HEMbg5E4xyZpRY73GVgEYKKWvQwJQNLBFgiqea9ATzFESauYbNJrN0mNlB-3vcxded8QId4wlaZqFAR8lzcD1swci3TWULUaZ3wcUZxUaGQ00KP9RVKfKqxJVfbSGhsQkRX_YUUnPipdJ1SdsLCKAs5HWHIEOY68h5xslX6aZWcwJs8Zp2d3So0kuQaAijuqPA7uIcruZ9-61bJqqoiC4X5loezaf6tyhQZ5OiKtQF-Etp2pNL-sKNSJnrCeyoKGicf9b-VfQ4q-UVuBZ47udMRLUYgxRdvMW8yUF7m6k0uXwzohkUsDvTGtKxzQIcPkx5Fq1FB_P34p8kNLs5EuVYImEY0W0WepK28QkBteeQNxhUI8fwRIiOhmIy17k5DO6CWUsN6iko5S-g1dnyknOTgxDZ5bK4XLZJR5CDQXOeN6ppptaPlavrgO6t9UW8ehUfuDt2G_EGuINQcDJHzhs6wA406h96Kknt06d3wxnikEnCLXlddSsvrm9OJ0IU5Kz_IvjobZXNTWDOCGTjii9fwkZNIyKe7xTxSHDuUId8zBhhTkIhCGLrK0TytN1BmjJz12A9pqZXnZjzU5AWxX7BRVPHhLMfWLgIAx_Lz-1ANIKQapfjUADPapxMwUXavy6tstTy-DaOIfpDbETAM-Cw3A==",
  "id": "rs_01ed96e286105a45016ab2b005f43c87d081554df54efe4dc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.235,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The bottle rolled away from the approaching finger. I’ll lift clear and move above its new position before descending, to avoid another sideways nudge.\"}",
  "call_id": "call_9ljKszvS1uA6gnK50yS8DvXp",
  "id": "fc_01ed96e286105a45016ab2b008afc087d08a3c6d7491bf3b4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9ljKszvS1uA6gnK50yS8DvXp",
  "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]: [-0.6598, 1.9633, 1.3876, -0.1398, -0.6292, -0.5095, 0.9975, -0.0158, 0.7914, 0.6365, -0.4568, -0.0292, -0.0502, 0.9999]\nstate[eef_state]: left_x=0.4767 left_y=-0.2337 left_z=0.1334 left_yaw=0.1149 left_pitch=0.0022 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2879 right_y=0.0042 right_z=0.1798 right_yaw=0.0119 right_pitch=-0.0429 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [-0.4855, -11.535, 8.6632, 1.4921, -0.4127, 0.0073, -0.1343, 0.212, -0.8, 10.0034, 1.7021, 0.0708, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403ffb57420b4e8a7402de102b9d1325a769c1760ed8caddc8fe890f2cd78f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08db4521fd391254df1cf1b1f1349824c8a35957b2d5a2f7453c25bb8430afb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e54da582410c3a4e4e4010e357fb51c24bcec1ddcb6923fc0e3fd738d8ba16",
      "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]: [-0.5262, 1.9713, 0.9588, 0.3527, -0.5407, -0.4038, 0.7953, -0.0341, 0.7109, 0.4927, -0.395, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4615 left_y=-0.1587 left_z=0.0435 left_yaw=0.1241 left_pitch=0.008 left_roll=-0.0064 left_gripper=0.7953 right_x=0.2741 right_y=-0.0004 right_z=0.148 right_yaw=-0.0053 right_pitch=-0.0444 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.4855, -8.6769, 7.7197, 1.4188, -0.2857, -0.0464, 0.0611, -0.253, -1.4974, 7.1726, 2.0635, -0.1929, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAUu4MqYlpO4W6GaXiSqx5y2X4GyQTzU2Tp8Wo7gzfzDw8OiVVZSMUuJ3FaMfBvvmRwMntm7r5VoWR28tg-wKlHgpELVakydRNcfTyiLupE3HPS9xCZ06Y9t9Zyw5ZZo4w4M333U977tgzt1ArF-jj8k9mXDuefixqMsdB2JTjhyMVPRn7k1Lq8bxX7drZzPovTJAOn37id3ePcbfa1Jk_snpoiOWTpfAV0kWtJ-ntO0f_g_YSvTM38kx1Y93FsZK8bklx0P9gaK5ZrHApD9pXlgKU-EThjDgEPH7bS9xmiuKdINOdKOWz8pUMdbNqNn513L7tprlDby_hW1ayyNmqY4rb2Cz-zQdE_Nip8OiEVPy81WBJVLYnXdm9FfyMjyjqvsaW1FhHdvMVfWr6RFc8-c6rbtJ-KlEUQD5Ds9agCDzm1aPTIBWia-ONhQM9KJxhIQt-_Qq62NPJy-HrmId3nMVPtrK8NjvVIh1lsueUMGXxjHr2jUJ4jxqoBzPY5PW6Fsk1FQN_WWQE3NHuwHUa2P-vj_rmipy6Us0N-T_nrYciGILkm9HrQCPCMr9vmEV9q6TCYzZJpe9RvRC_DXzlKQbos_31Ho0RAqw2WUjYrGVaCclthQnGnHdJdMt8E7T0oDwwOtFma08PkogwY070OlZV8xWIQMFTayLQGVLXozKMlRpEAwsDFHVVKvvP5i3-PJ3gmCJQ_y-q3mbcTDrlmc9vrGqNtbMucTEM_94KLUnSQaNVjol8h6cP33GUPN7GKxJPBYVxywkupp_a6iJNc0aFczlfucg1e6S2yOqoH5MskyKJunoLqAiywC1yusuQK8-BwG5RwUoII-QzPz3-pAqqqxdN7_a6Fdn28kwSkfWkSUrMdrNGqf-a-xpSUO3fpFCZgz6WOQ6xAm867lK93PMoEoS_W718suG03POFUt1OXkAPIZeHh52N4SHGci9sKSd1ScwLACMACa_PxByqkvD1uPSxpjIn91UwC2ha_EnWPGbQ3ro_rmCPZ52AEAt-KMuBFLCdsaWmxRAm7mmC2IFmO9Z7kTo0NHZeh90NF0nSiF4p1kUOtf8sJC065c5nKgeQyTIoYdG3RpBlmYHHPY7_Ec2VKIg8rmZMZVmSY9t5F-HTKdvUY45TRF4v7PyUYQZ1ZpOvSPkZTAOQASw2MI9vDa96hAsrH-Vyqi5dSz9gVQUDwrJf1_jgOd3NEDHvw-sbhMi5q5WJ-Hrv-OtWXLA_J4Fjs1_JZDKeDGhkNg2FWFayzNlqB1Ru6rJnuDq68oAKM6eVKcS9hK-9kO1BnngCwBoPzQcsKVCjv8yqzcXw_H1zSS3M8rHok6mESo_uUekJfMa1_6by6yHF0NmpYRamrE-3yhwXVug_dupZYo0OXOzVq8914W74pCtFWeDB8xorZc44c6jA8pOy2tPYr5c50G3VO1gQEPv07FUk3kT73V23zPQ_8fCRjUXhu0Ug13o2UOvnvuDSNM1HCKz8eibl4Bk3eaav1W63R-EghnFlC_h3nAikeoPobGGY6NFZcR-H19fRV0TbLuI7YTZmdvfiFDn_l_Zx_yTRXxQmFVAuRVOjKQo1ilEDROpgvezdiLhJnXyVjLc33WYW9w3WuU2VKk4Fo0GEjeKl1KCKmMUE72NRxdFrAG-fMVN5VgSI66fY1lI8aYuU4oVITU0cA4-UQC7nmaAmGGjE8Gg83RQGqqwTYoXKQGwR9BLo7QLZY",
  "id": "rs_01ed96e286105a45016ab2b00f179887d09859b1e1a66226ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The overhead view now places the gripper above the leftmost bottle. I’ll descend vertically with the jaws fully open.\"}",
  "call_id": "call_IwaN6IjhETzN9T27xPvJTF9T",
  "id": "fc_01ed96e286105a45016ab2b013607c87d0a3396149692e8a25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IwaN6IjhETzN9T27xPvJTF9T",
  "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]: [-0.6662, 2.1265, 1.2476, 0.123, -0.638, -0.5213, 0.9977, -0.0212, 0.7673, 0.5938, -0.4446, -0.0299, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.473 left_y=-0.2335 left_z=0.0406 left_yaw=0.1215 left_pitch=-0.0224 left_roll=0.0054 left_gripper=0.9977 right_x=0.2829 right_y=0.0029 right_z=0.1693 right_yaw=0.0074 right_pitch=-0.0494 right_roll=-0.0109 right_gripper=0.9999\nstate[joint_eff]: [-0.0342, -10.2359, 4.8342, 1.5263, -0.2125, 0.1783, 0.0024, -0.2256, -1.7299, 6.9675, 2.1026, -0.1783, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9d33238819ff144cb428c84b2141a6c7ca8d92e8750a26a68918dd85a9b4933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c7c05ae09a575ac809f8ae42e1228ba8a85f2d631eec4155b5e45c1c3d3546",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0641782bb89691893dd2c6ee4035b8355095cea2799161bbfacebffc6a271f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6598, 1.9633, 1.3876, -0.1398, -0.6292, -0.5095, 0.9975, -0.0158, 0.7914, 0.6365, -0.4568, -0.0292, -0.0502, 0.9999]\nstate[eef_state]: left_x=0.4767 left_y=-0.2337 left_z=0.1334 left_yaw=0.1149 left_pitch=0.0022 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2879 right_y=0.0042 right_z=0.1798 right_yaw=0.0119 right_pitch=-0.0429 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [-0.4855, -11.535, 8.6632, 1.4921, -0.4127, 0.0073, -0.1343, 0.212, -0.8, 10.0034, 1.7021, 0.0708, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAet3zGkXeCMKTGfYi_k8DLl26ZxcIi2WzyQhNSh9byeRRbVXHflx9X2ec3fKWuJfy-ztOd1-tdGneWGyqwfV7q0WZ8PUGZIieYctJuPqTeh76bD7UBxyFPnDbAIKb-ZZFL476n5qGsDFbWwsyVn1MCNBAwjw_7EufKJQjzj61jFcKfGCzMzrS3AGttZJsWASObNFM_uBzroaokfto6BXcA3mEUxaP2H_XjOJU3oeqYkY6WurZtVcue-klQPgPTxPMTrSTC7Zo78xszZGKUdc1L6homJkCVOxB9Gc1Gxop1pL1cXeH2oW9f3pSE7HvJBRkRCRqax_Pva5cZRGNiJZXoeaVWNVew57WmzJVd498ijxvpmxyWyPznKy3O02mKmbrAe-JK9oSo_Nf_LkxYF7E24oqCuXgckU797hM8gbzCewuYXT42Ad2mvnEJoGIJDc3BhKzX3f3zQcq_F6t-5dsl0xdqChmqKUSKqoU3Yqx1oklGpzx-tX9jU0ovPrydG1EUkn1f58JKaACtDvMD_cFGBKOPEfJDs7l1YNKCm4dQ9DfKMnVNHcG69Ry2pmugKjwjxAgsq1RXOLKKyRba_JArC3wmkD3EBe6pSaDbo43RWrLOlh1K_XEiV-PJRDdkveY-_RDcnCErOIqDgDkPDh6Npo60BWP8vPAQx0TrYWGtcMHUZ0irXfyZjZKHVI6iEOBd0o687huoZWW5-NPq0i-fX41DIWRUy4cJoFAzDU4sQNUqXvjQSH7RSSvnaWMEAzTOy5nbOCdWZ-p4-YexzdZ_35RoMgg_FhxtU6tCtWeUUAmT1tP4Nbm6McDigQnPteMbHXDg7r4_qgyP-698yHfNUZ8jRX7Fn-K9Qr2KaYyDJrmRueNV_nM1iJnqthwtfNynclHe4rvtZd8WsE8RSR33gnVlu4nBUpjK7wtUxrDJtVIzAT4gZg_sR8HvAXeF-mG_j0DUWYBP_lcWqZ9S7nn6W3OQrcJLBo9u05uVqjOcOvaoWeECqaYbQudB8AEYA7NnEpoFefJNQFT0BPQhOIlyhQXOlPMCxjWePySqJHmMh7GjYF_22mulyxOeHmOJVCQj-hOEjad5Fz0mLTezghOPgOVSjLyQ8XzGy3KEtjJpQx2bUGR3VpfIvpg1YfMcMf9rgAhpE8Y073LUdT1s4twb2-Rf-iDdRCfVxOoUmQ1UrRecaVdXp9v_UgkZkT__yEDk266b_Il5NV6ntkv3kbfgj9WvH5qLU2kRzkNhIC-EYbjkKxn-pRlUUEvyqBkdcybDaqUe_7zWiqG4GGZAVqfc31Soo_WdBJzF9r5tjlOP440EQvhp5VxGIZjOSxoiM-OaZNS58NezlQY_JNRp_j9cyNuQC-fKy22MZJKoeM63H08ehkM7a-nMLzIDYejG85oNcsE8r1cpSOM2K6PDWcU6lWmyUJRElqRnmKK8IS-0aQVs9OMc6l0lXHJthCmbhkaVZym5JedtIgM9sHGR80r84V0eQa7MxIwu-v2bnUkD4FB0_rH65mZyvUlLEEwdphxh_M-mONMNLNaqOCT_FfrC6e9zVE44wkPDqJxHm34zbKYRLWb4zBwOlrgJERL4s8aHdNJ8svNXHVHV13S4jw7DfJLcMfntHJ7n8n27Rf2JJworMdsTx_X2l0g5T9nN4Oyw-ZUb4282CcoDWgBANtjpCx8hTTWtl_ZW8MWHMmPlnkgSXtmZCJ8IRThCF7Ma6IrJFj6OQ4dTsDSgRwTmJL64ZDS9osbomgrR_7XTgD85lvrlePaHvuhLqK5hixg4slwfVYyd07bVqxHiWi7zeofu3Yx70xUnf22mQ0eenW_LCJmjwWkGzV8YT-bDh2_AaR8moi8ztm-3EuIcpfG5dOX76eg6OsGFYiUO2Nqyvvh7ecE0P60snlvxr7ZBnqGCtjqguN5gQboKFOf3bd7XDImZgi_nPpzzEehQ6o2eQ_qg-GA=",
  "id": "rs_01ed96e286105a45016ab2b0182f7487d092d2f6a7501c01c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.285,\"left_z\":0.1},\"note\":\"The bottle is still beyond the right finger, with its neck too far forward for a low grasp. I’ll align over its lower body so I can pull it into the reachable area.\"}",
  "call_id": "call_ANlla9atoXdAlLXScLqk5pwW",
  "id": "fc_01ed96e286105a45016ab2b01d0a9487d093f4853d15c2f986",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ANlla9atoXdAlLXScLqk5pwW",
  "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]: [-0.7536, 2.1418, 1.4651, -0.0929, -0.6971, -0.5831, 0.9977, -0.0277, 0.7376, 0.5446, -0.4187, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4731 left_y=-0.2835 left_z=0.0846 left_yaw=0.1103 left_pitch=-0.0015 left_roll=-0.0087 left_gripper=0.9977 right_x=0.2788 right_y=0.0012 right_z=0.16 right_yaw=0.0012 right_pitch=-0.0429 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -12.7932, 8.5265, 1.37, -0.486, -0.0611, -0.0171, -0.4034, -1.5521, 7.0085, 2.0342, -0.1685, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2422d61817f6a6965c2ee486a9870b6156ae5cbcf429df1f76f24a103940d8d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7fe5ca563530d995c74d6f3f4650bd68e4c1196e92d41d21057fd639b4a80c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d05e2adff55ece5e01eb335784198ce2fe73fd3c1bd785c25639a98d8f057bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6662, 2.1265, 1.2476, 0.123, -0.638, -0.5213, 0.9977, -0.0212, 0.7673, 0.5938, -0.4446, -0.0299, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.473 left_y=-0.2335 left_z=0.0406 left_yaw=0.1215 left_pitch=-0.0224 left_roll=0.0054 left_gripper=0.9977 right_x=0.2829 right_y=0.0029 right_z=0.1693 right_yaw=0.0074 right_pitch=-0.0494 right_roll=-0.0109 right_gripper=0.9999\nstate[joint_eff]: [-0.0342, -10.2359, 4.8342, 1.5263, -0.2125, 0.1783, 0.0024, -0.2256, -1.7299, 6.9675, 2.1026, -0.1783, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAneSnyw6KrBEJlx8fM9yi0lxqWIHip_mOu9N42iQXzbj4BUE5EzpdL57RYS7xvRjCdlOM9sXQyO3yKYZk3UDNqBjyBWOm5-0_tOwOg8wzqGDHnrLvCFwkeRW5IyadwWGBUPKE87M-r0dkMmDJ31iJ6pA9eZrQWFixg_wlnZguJoPZEfDBV1mPBtt3nKiHF0DFUtFf_0japb01myIB4wMN7li1kQT82_colJROoEGiTCC4ngKQ3dU5NFhamJ_6kmZ7MHoYe_x0073nD-6A3k4JwLGF-uzpq6Ja_rWV9GqWIfB6PVPfUvFKwjDT3iZfLqhZWR6TqY2N5UPGXfcKPPTorQ52i4b17CLb_KOgSERvrCxMwgWIFTN7J8Vvi33KM3TLxqCy91z1klliWbCTUbXHNTYs4KBbLy2Do_t3QSAGGWokg3ZtniMC9Yo3NONggNTcAJrS8xt9oofTTLvih2Umhxs918x4vv1xzi87WA7WLVwuhY4QVlY-CEdg5J7lOnMT4jG6qbqP2m2h-3PG6MMBbWgqq-NlUliPuW3i53Dy9JW33ZyERFf_9Pg36nm-G8dOtpggWYk7YYY1Vabqo6Yox7_2KrFqmJgVIb98e_K1rq5t0BBDG5iPRGbr9KS3glX68DXPa0_qvNUGWnPqQERMZ2FoC20xF1oQBwpIqX7TBjRZK0exe-jBKqioOIhX53qq02KzykBZdvjcowo2kdWkJ7pvbWmu_XM5gwVaAhWuYU5tecpLdAP7taUXTje9g7ywORxYsQoREIijigPC3Rj5dTi2VM449DjDt3MY8mmq2cwU8ytEo2-joOkvX6p5IpmRmr4YVnMG5Lw8rLQLoOXqYY16nLHDbss9tZeYW0H3jii0EDbz41Ms51Vuen_jquxY4z84ch_Vixt0SLvT3ilSsPPj7ZaAbqaFaHxZjhAyCotEJkh2RdbMPdzLG1meKKe6vsFdF5Ib5eN9F0kleTMTqFB5zkLmHmZyWNsJzDvLce50s7Fla1zkQG_jPw4N5Fizj_DuCLRINhI8ZnzxDTUHMB0Rut4jslOfzOEX9jI2xdDOOcq4GOHzdLJgJton1xfECnRX6cpsrTEcLT6LzeqgeHsHIe7B5k_BEyRmWpccTKNGb_LShM5paHFiKxTE4SAGl7nrw0yZ6_pOr5GXL3Uf1UHyTIhTHe45CE819B-_MyvOZ3yw8EIXJXeE0r1wHnz2Xkd2KeIciPhxxklQ9I7DV36DRZ19ZsLFH3B0OJsTBst-xTvKdnR9979Oolg02nid6zbQQXSXwkpwFNxfgYzsO1OH0nEQYKRT1i84mwA1T0q4bHDkRj9OjQHtymENfowzwHJaPK2vZXx0Ai1buNkWdn-x6ktMlpJZ0SXlZjPDsOBE=",
  "id": "rs_01ed96e286105a45016ab2b023dcf887d0a8e08f39adadeb76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.325,\"left_z\":0.025},\"note\":\"The bottle is closer to the jaw centre now. I’ll make the final lateral correction and lower around its body.\"}",
  "call_id": "call_jzYCmEJIjfVKsVBRNtkRlN56",
  "id": "fc_01ed96e286105a45016ab2b0261dd087d0b0447a1a559941e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jzYCmEJIjfVKsVBRNtkRlN56",
  "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]: [-0.8112, 2.3245, 1.536, -0.0666, -0.7422, -0.6239, 0.9976, -0.0341, 0.7116, 0.5045, -0.4007, -0.0307, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4661 left_y=-0.3122 left_z=0.022 left_yaw=0.1067 left_pitch=-0.0293 left_roll=0.0441 left_gripper=0.9976 right_x=0.2749 right_y=-0.0004 right_z=0.152 right_yaw=-0.005 right_pitch=-0.0391 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -11.9043, 9.2376, 1.6728, -0.0464, -0.0757, -0.0171, -0.4718, -1.1966, 6.8855, 2.0391, -0.1978, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a755ddb5fddb689c8c688ded0380f0982e84e231b243f8da9225a4d1eed215fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af7c4260a89933021007c5366d98aba1f349f52c30120fdff1b5a1641650bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1566994fa3ffa15b3b7f9f5e9382c4c7888f4fa6e4ad671798e38935294a716",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7536, 2.1418, 1.4651, -0.0929, -0.6971, -0.5831, 0.9977, -0.0277, 0.7376, 0.5446, -0.4187, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4731 left_y=-0.2835 left_z=0.0846 left_yaw=0.1103 left_pitch=-0.0015 left_roll=-0.0087 left_gripper=0.9977 right_x=0.2788 right_y=0.0012 right_z=0.16 right_yaw=0.0012 right_pitch=-0.0429 right_roll=-0.0108 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -12.7932, 8.5265, 1.37, -0.486, -0.0611, -0.0171, -0.4034, -1.5521, 7.0085, 2.0342, -0.1685, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAtzqjfjxCWrkYQQTqojyWRPwSQTSSEnuYH8CxZxsJbi42MhkfhCRf7vgzd4yTDaJ_PvCN5mcmtFf2BfCXXVVZ5VCb7_t-07X0eMJlPNgQK50dFaeSihKKL420PieUDGkGF65VdxYzuS3DcvcEcnVmxfUOg5gGWG8adZYf5vPDhcx59Sl7dhjNinbAotUCZkJVzKWHJ0V04pUmVJJzsN5wfnpMPfPZPmk1j9Bm3Ej5ZPqGUPWEVtTZvjbMJOtrbJR7eFwtgaiQrk1P9kPxvAo_s0gP9mt7O1qwlMUGkbJupJeaqhOjwhQDp4jtMaUutXkEoTtGntStLtrFZ4fAZW62ZcCFxG0lMeBbu4tvF85WxHoZ279VpJhFj_E_OAxlpx-nHEcLihHuqHVtx1G5tWKrquOyXS9rMlsV5ZwyBEbwO4KXnXis__QOZ2syfQ08wIGcE7n6YFt3t8lbTgwYZ21maFOqZi5f5IW6DUutlwW4BOyJ7aDmpl8H90SfMABD4WllNkUTWdE2Jtwyy0FlMeH6_wP2ff4VCMvkwAfeD_CT6Vt950s5qiO-CQUbUNIVa2_DKDJ2fXZiEiVlBK9ZiuhAboH_LL3xkm9oiLP3tvH3YfGifP4TbzpZK4R2gnv9a67OXwfxPXGpq3ynhxPKDWFfQhWzLAhxgINclbG8FGY_jDXsc-VCYz4GBF3MsItPH5S22YW7fYq97UD5oKuRpFmYcOZv9nU8YZ_1etFAu0PCwg0g6rJmQpL4WNt0cfkawDuz-i6Cp3FQSp9AtXz_RtZl3m0tvr4JtgA95ZawJ--q5audvPDbOC7LO8dVJM93i1BifhNnDAbOhAkmkjcinVjNU9m586nb5ctvi7UY8ms2NUGti_Hf2ICPaNJIh-evU8_NC0TF1j6OqACJ3X8Yw9UqeAmfZriyqrQWZY8fX1WwtzDAn0cENZ4O2G_wgmH7piTu7NLhN3NPLP4VaQWQEygKg1O7Sr9OhIQ5UDa1YAD5hSfTGAjAmJJjwBZzeu9OOollyY-k5xQ_AR6EDCm2E_HNgsnxd6QHVL_RjoWtNT21q7ax3BPw9yg4McNyhhfNbVFbxve5T2uzZHNAAzqaGbyTFkjP6h7iuXJbToBNSCBBPQ_2RMg0FJEvjNB0sOLD8jVwVvjTAGqX9bT-kFtYro-L_y-_3fPqN8oQPgOlaTWJGdSB6MgNUERR98I8ksWRkbZHW",
  "id": "rs_01ed96e286105a45016ab2b02b7de887d0b741d685dc7db632",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s body is clearly between the open jaws. I’ll close to secure it before drawing it back.\"}",
  "call_id": "call_VYnUK6dbRKS66UQxg6fiV86L",
  "id": "fc_01ed96e286105a45016ab2b02c4fd087d0ae9cc5c118621ce1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VYnUK6dbRKS66UQxg6fiV86L",
  "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]: [-0.8188, 2.3566, 1.5459, -0.041, -0.7448, -0.6369, 0.5401, -0.0349, 0.6888, 0.4683, -0.3801, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4663 left_y=-0.318 left_z=0.0121 left_yaw=0.1077 left_pitch=-0.0253 left_roll=0.0318 left_gripper=0.5401 right_x=0.2721 right_y=-0.0006 right_z=0.1455 right_yaw=-0.0062 right_pitch=-0.0318 right_roll=-0.0117 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -13.1624, 8.4718, 1.409, -0.3736, -0.0464, 1.0281, -0.759, -1.1282, 6.9265, 1.917, -0.188, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f7543f98b0dd6de3230d1478a14318a1bc30cf98b72dcffa80059c67087d08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18644b4ddf4031758be4344191d8009fd289b6d9adffdb0c278f8ec7e6fe983a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a20044a082d59c40e251213c728167012f2426d06fdfe0eca8121b2bf5bea53",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.3245, 1.536, -0.0666, -0.7422, -0.6239, 0.9976, -0.0341, 0.7116, 0.5045, -0.4007, -0.0307, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.4661 left_y=-0.3122 left_z=0.022 left_yaw=0.1067 left_pitch=-0.0293 left_roll=0.0441 left_gripper=0.9976 right_x=0.2749 right_y=-0.0004 right_z=0.152 right_yaw=-0.005 right_pitch=-0.0391 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -11.9043, 9.2376, 1.6728, -0.0464, -0.0757, -0.0171, -0.4718, -1.1966, 6.8855, 2.0391, -0.1978, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrA3D5R90BaNq851ysZ_TtB-oQP-MKy2I0Cj020RNuTbYczAJNHkdVkvfR6XitoM41v5SutLpDCnuCRHMeU55omghqbQqUyZXHOzjf-MI4YzZVI8V_Un4LWqV7KBXw5pLWlrKgB4CYXZ3NYyVKcxdABZy01ZsZMmFZgO-c2dEgavKwFQHsEdMN_e9Q2blkOIT1-h2jtyK0spCaTHW8sN37FLI4Q2Y5mN9LZcm_rgopaIAnV4cPbrPIbdz3SJEDLoo5bmHyuUoyEpKEKuOP3gDVKOENQMqes586WEVr4hFZDwALghRG6I-lfb1Njwoba8g77U341gIcrRoy6BEFYk6Ki11V4qltz24I9yN6CIofg4I68Uu95EZQTN_8ajZ5Ws2sgnhn6NPgTfrUW86yncGuvJ3ymL-BzfPbUyxt2tC8et9fLc2cLlyqtfFcjOf-mbCi9Es3BbeJ-1My53Yf1IfxRffwb7NMHHMxANplhZPuCVhUjgs9SYyXgS7Vq-KBafsZmDbhWVC6053ebDwGPWRGQWz7dTjPY3EEF4H3CmnnwMO7OupZR9To4sxv-FokkQr6560MXeTP02tqFAOEReJyL295TeUpTFGd69RgbiTjUUWuvD-TItoFn0nw6deykdaEbvyf2B4lDyIzSOjdUcMVGljVNx030OPmZulKgEXURYPWXTtXwIGg_fqmbRW-UVs0i9AgKSDQRyvDoUPyKO1hCRXCGUIOYl4WB7OXYcXsB_SH0tiQO_5RC5VfU5-ghYYzPTam_T2t-jb-X_VCsRGudsb_BpVqsV2cKd14ad3migBBuUQxxFAJXOagD_RuBzbZEZ6G-0bajjMCa_AsRA5Peuq2FmkhqqcuU7nEoUmY2-xKJuvlf2ct7ccn2FRbdmogm79OVMLpwL0d3BPJaePuq2V-RtW644nHglrLO_fRJbalFb0x-574EKsV4mhwixmc2Q6fFL2uqaJLPprE2qcjvdr4QBK58WN7lnKh5UV9LRxzKFoQJgk_7tcuOdlnmNOMcJudcd8XMgzbRcRnypoPKLnejkXL0kaTEDec12gHeutJwhT4XLvi3Zna3dC3cObFavR1pVxJPC8KPFeA2bz4OI8yDuKQTFnE9W1F2SC23bM_RdCIJjIdnTPL-w0vmaKbjhieYlZyqRKGS8p08l1Wtd-eSm_Ud8RbNhw2qTfGnLi5-3lQTe-9eGHhNsA0-gGMdje3cEIEL4-L91ioYhbNHCdL6EKRkUbg70ZZcoe0zwd0noxF01zMZYNw_rm1LHBLlqbH_QVQMmp1Pnr-CbHJPEIKIj4zw5O2v_P21NR17TD8t8dXDzFAQX3mWNiXyVh_5brzW35CTBoJ2V_P3vNartVIEWqDagZ23ZVDfsrXISX_9tRwCogOIVSKkgXNoqIv2QXN9cKFN9_K_-HKxS1Wyy_kMs7dROzhwJRTodywV4S3rFRLjNaWoCLqTYOW0-wsKzTzb7dta6ZreuRkFZHNKUCfW8WmpQQKszjYTtbrxX7fqXqYc6NRdmWO65pxjuCrmyxLHolRgOdBd85o1ha-ukXG4pean3LrpeKFO4ecucr8Y=",
  "id": "rs_01ed96e286105a45016ab2b031ba0487d0b42dfec0061c7b18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.095,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The 5 cm jaw gap confirms a body grasp. I’ll lift and draw the bottle toward the front, away from the other two, to make its neck reachable.\"}",
  "call_id": "call_qAbzklYkET0UfmUjn9ZGiDt2",
  "id": "fc_01ed96e286105a45016ab2b034d57487d0b4f31becc2cd5659",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qAbzklYkET0UfmUjn9ZGiDt2",
  "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]: [-1.0023, 2.0888, 1.3041, -0.2958, -0.7692, -0.8192, 0.5443, -0.0189, 0.7933, 0.6369, -0.4614, -0.028, -0.0502, 0.9999]\nstate[eef_state]: left_x=0.3538 left_y=-0.3189 left_z=0.0371 left_yaw=0.0516 left_pitch=-0.1282 left_roll=0.0879 left_gripper=0.5443 right_x=0.2875 right_y=0.0031 right_z=0.1785 right_yaw=0.0079 right_pitch=-0.049 right_roll=-0.0117 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -17.2786, 6.9402, 1.7021, -1.3455, -0.1343, 1.0232, 0.1026, -0.7043, 10.1675, 1.8242, 0.1001, 0.1343, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ef06bfec643db4558b6e1e32110bba565abf457b556562304b541eeebf167d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f629bf191bf60cdca976f6d50b11ac70f00cda2f222723f016258a57fb0df03a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b3b21d6a908dab92ae5460537c36fbcd5f6a0a6b3f0f9be5972e0277eccc11",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8188, 2.3566, 1.5459, -0.041, -0.7448, -0.6369, 0.5401, -0.0349, 0.6888, 0.4683, -0.3801, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4663 left_y=-0.318 left_z=0.0121 left_yaw=0.1077 left_pitch=-0.0253 left_roll=0.0318 left_gripper=0.5401 right_x=0.2721 right_y=-0.0006 right_z=0.1455 right_yaw=-0.0062 right_pitch=-0.0318 right_roll=-0.0117 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -13.1624, 8.4718, 1.409, -0.3736, -0.0464, 1.0281, -0.759, -1.1282, 6.9265, 1.917, -0.188, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrA_3SImqb9xOCw9X0s72OfJWyHFBcTqtQYeZ50QkGIJBnU1vf1zzwoh1BnECxxz2jsJ9uTEzBrNVK1rT-bD-VzIWZHjaJ8N1VKl83s9JUasqXJW77CX-JYal_uHHElqtfhawck8ASZd_3_QpnGEeZ_i457xXmTinXwcG8gikV0eHfUgPQQ3qz6RfubSV_K3JNpFXTMesjDOkpKA0Ur_swgo16CRRDYBNMz38HHASSntV09stcTCNk20dnhVsQMOmEdiZzDHKiZErB3ZXEr5wwFVy0yTG535YDCDFvWhSQlBgNSjI0JrFp5-d9Cul9O3nBRI4GJ7FXXxSmFclz7Bv_ZfTdKNKMLcAKupyP6aDc1UPdCAeT8Rjt0LdlEWjdCDg9n3Q1b3LZ4uuMvcaT7hVIKy4xHlXQeixEX9e2I4tx9hWwfiDQnZRGEIXINTvDvQKBAGXkt5MJjbIz-QkqPYpF27sB7DppRn5Bdq3XbBuYN0vmIJJhpSwWmNye_s91jSMbPnDWUuwqShlfrhEMdiwaD_FU4g4IF6WJ8XGsYLQBQXlwFdbMzOPmrfWgi4D1OR0BZ6LDMjbHa7VHFxdvy7w5iSO4YBRdpmRINzXLMdlaVgVMjaMS98awa_OeN5ZSfXjxGp6eYhcECL5G3ONX5Nlv2gJh0cY5XYr9432y--6Qn3lsz3xOESUvIenXsQqVQJoxMfS2MnDy3qWx7EVcQ_CTrRZfe_6QMUh3z1hJNMR30tWfmSIuBSbZLJ27g1MX4jrj1zj4E-YZ015hER0iwRMcoBZ-f5DOhZpV5M5w4ViXPZCLnmCg5DCtFWUZPHC3yGnbNJ_TYzUKbvWnILP167mTywOg56NFve_kjjOm-i3CxwEP8UmqM2yjWcAXdwq2Q46cIsRip6fM9c__SUYyXYUq-7g3aPluds7a9zTKRf4c974fMLRJm8kZC0Oay5XoMVMIeAoNhsElp07ekvKjKaSDJrYhrA2xTW8hV65mzsWL3ktTYn0ss_vzGFz2FWh6PswaNvdiz6vAdf6b0eaOZkCMMmRvmIYNF13myJCj5mdNIkTsLl_-fDdYlBsOMnuSLbm2XRjM9dx1rePXcTBfqoo3PF2t8H95eSXJJXIZmD-WTXMQldYdg-mgii8guN4wXB-KKly5wyeALITsiH7ws53QpkE3fD55oSlwMf_skChWpEl_iat_rpfvmDCc6WV6Enj6Cj9-Uwi_NEOJ9h-3MGSsGX7wkWD8SCPLPRFIVDaELLAfyK7vYiFlwdauoum-irfdsO2i2tck0BEgq6LkJjkyj7eRr8gG34e5oW2VSnMgZtmGXGoxXGmRD6JF7gatq9a3u--iL1swYKVQKaEroA4eHibxoH1uBjV3wes5rGMIvwmbuISzICth_hb1SClR2U16Du6iu7QfyD8Q-ybVDRxhdUZeMBbEf8iX4VxEAgOZsu8Ow=",
  "id": "rs_01ed96e286105a45016ab2b03a6ee887d0a9fb9e1e9acd815f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.27,\"left_z\":0.055},\"note\":\"The bottle moved inward with the gripper but remains horizontal. I’ll draw it a little farther back and left so the neck is within comfortable reach.\"}",
  "call_id": "call_cE0Yxlrz7dbfVNiYpyuFIgnJ",
  "id": "fc_01ed96e286105a45016ab2b03d7a4087d0914fdd96eafb2bd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cE0Yxlrz7dbfVNiYpyuFIgnJ",
  "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]: [-1.1473, 1.8542, 0.8551, -0.1551, -0.8215, -0.9344, 0.5478, -0.0265, 0.7635, 0.5865, -0.44, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.2666 left_y=-0.2679 left_z=0.0179 left_yaw=0.0016 left_pitch=-0.1139 left_roll=0.0854 left_gripper=0.5478 right_x=0.2825 right_y=0.0015 right_z=0.1679 right_yaw=0.0026 right_pitch=-0.0482 right_roll=-0.011 right_gripper=0.9999\nstate[joint_eff]: [-0.335, -12.0684, 6.5162, 1.6532, -1.3846, -0.105, 1.0037, -0.212, -1.6615, 7.0906, 2.1368, -0.1734, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76837f12da619388b08150d629a774a752e7cf7180e773531540ef1d77ff93c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a7201492cdf6353c40a4176e512181855fa17ea18b91bedeb24ce4f996088cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dc5da553ec4309ef1b513c4498e0e58553689dc2ee0abe8b2dca1792edf5fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0023, 2.0888, 1.3041, -0.2958, -0.7692, -0.8192, 0.5443, -0.0189, 0.7933, 0.6369, -0.4614, -0.028, -0.0502, 0.9999]\nstate[eef_state]: left_x=0.3538 left_y=-0.3189 left_z=0.0371 left_yaw=0.0516 left_pitch=-0.1282 left_roll=0.0879 left_gripper=0.5443 right_x=0.2875 right_y=0.0031 right_z=0.1785 right_yaw=0.0079 right_pitch=-0.049 right_roll=-0.0117 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -17.2786, 6.9402, 1.7021, -1.3455, -0.1343, 1.0232, 0.1026, -0.7043, 10.1675, 1.8242, 0.1001, 0.1343, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBFl3NndlYNBZI1Pnwflh5pmtHvZkUDzNEkjoKYws1oGTVU3AlhNFVDC0ZbwVNAksQtibLMKLgG2oHLjQN-AJQzRwkIiP1eWfvF0hL0D1HYWeCRYFsAetCd-aUUp4xL1-1pYmD5kcpioxogXU1zfRrCl6Urtj5rqCJV1pyI-tPn7vxRMIaF9dsy_etBfoPV4tMDV4SS10LC-bdrOgnnnf2_nUoMVElo-_kmFqFrE8vRxXheXWXC90coSzzLhMYQ3J1BCbPfN5aHC9uuSe6HAGwGsEmRb2Gs30JJh2teitOTAPO01TDg99N7eeD7-kgkZ08581wV7MZkDRBrLsfPzDtsQGu09aPmdycA4IuAoyySq6U3zuC36mvVJ7sNT9zDrOGlfrTgDDV6RwKCBxXLBD-9cpk-t8ba4GD1PEXl80eELd0op3izFCOF1Bc10VvxmoyqCeD8VlLLaKaijlSodRrdZXPznKreEKniMDIajwkm7o8-HlFmcJX8NIb5bKezR6YNZ3KiOpLKc4bZUXNOmmZ8VS86UAb4qn21eCdt1NXIG8XCoqF-zmaCPlWETwk803mdEFnDMZGrbIU069V5az_iAS5G-1XsdRMZ0R2blQSnmhbrfqpruCXJKzaTvEMAlqZFrx_vEYoxXmvcqVEOAE_OyJzSwoUPppgo8ob8bJs7rEu0W1VBhvYP1t9AmHVs84BGU2NTmyDuNeNctU0K-G4qylEEU0ZmgndqQSfWtzc1wI0SYGjQt2W8D5ki6WhyMQn6aShmR9GmXy5oyOzTZ5diWU_Z-AncUJxcmM_ATDiVz9XmymUKF3I6k9DiQk0pvL8PimKLLZoOQVH5GtRdOdnrpxkoeRnoMtdivw2gHj4AP6lrQ4nwIV4YrZjSb5I76JLU8euT0t2ObWhxKBxw8ItQrwIjxB3DX9vJw1sKyiwQ48rjsweTlAZmDz3kYGV59tw_P8x0H3-7auWNU8G0Xd5qN1tBiMUBs1KLaHslEscG8z2SwZWtz8TTNdqm-PPTOTOAgiY0ChLsCwVMifrHJr97PmRZ-kKBPv0nOzBD-jgGLW7ECnMj-ln_spj5ogia731fbtlLrRWcIXzzjSjHxoGVUCfYd1neiqzbH5Q9qJ6qhf0CZyeHHguQL05U4H9_gGmq9VPp-I_C0WXJiEUFjiru-MXLMo7hu-7R3SJvy-T2sEqv0TQ3fPQK50vwc8KUB2_Jt03KLGqSDqvp9SbO4f8TTULm2byEh05RxKgA7hbNKTx47ALPZkNAcEsRm7Q58TFErBeMc576h70U1rOOhCKYwQ==",
  "id": "rs_01ed96e286105a45016ab2b0424d8087d09ecdef04019c528a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bottle is resting nearer the front with its neck separated from the others. I’ll release the body so I can regrasp the neck.\"}",
  "call_id": "call_ypXRIHSEL8Rv0BQIugE05YS1",
  "id": "fc_01ed96e286105a45016ab2b043a03087d09d21fd5e3b3873fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ypXRIHSEL8Rv0BQIugE05YS1",
  "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]: [-1.1721, 1.8542, 0.7406, 0.0628, -0.8757, -0.9424, 0.9952, -0.0284, 0.7345, 0.5392, -0.4187, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.263 left_y=-0.2656 left_z=0.0133 left_yaw=0.0002 left_pitch=-0.0281 left_roll=0.0032 left_gripper=0.9952 right_x=0.2779 right_y=0.001 right_z=0.1583 right_yaw=0.0007 right_pitch=-0.0452 right_roll=-0.0111 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -7.5282, 4.7521, 1.1355, -0.5543, 0.1343, -0.0952, -0.841, -1.5521, 7.0359, 2.0684, -0.149, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26917f22c4945b1ff1e83e076a2b216fa65d69c71376bcab873d2556662d68b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131f6f65bd22cddd45f5ab6d731df9ae2ef8d0cd0e2876b09585237a0ad8ef83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9790a219b01f3ddf17cb243850fbfa36b7c55bb5e62bdf4a3d0d7748853231f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1473, 1.8542, 0.8551, -0.1551, -0.8215, -0.9344, 0.5478, -0.0265, 0.7635, 0.5865, -0.44, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.2666 left_y=-0.2679 left_z=0.0179 left_yaw=0.0016 left_pitch=-0.1139 left_roll=0.0854 left_gripper=0.5478 right_x=0.2825 right_y=0.0015 right_z=0.1679 right_yaw=0.0026 right_pitch=-0.0482 right_roll=-0.011 right_gripper=0.9999\nstate[joint_eff]: [-0.335, -12.0684, 6.5162, 1.6532, -1.3846, -0.105, 1.0037, -0.212, -1.6615, 7.0906, 2.1368, -0.1734, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBMi2pDiogpQ71EciJ3nbBza8ZgCrbctRQxB_lx-dVyZIrHdGDQcSoe6xqFrP71BGLBf3vXMbWuZQ4dPn5uVb4IQwMKrUskAHT-GdayoScaSSUPMVqMuY50VUxpkKOGUr_6iljUYA9nnJ2qlaYcHwdZrIuifljfFX2MqAFecFMjFHpLaLVqOjWNtIeep5VdisFlvgDnXjUeU4U6ztFyIEt4Gx1OgUZexCZpaqOnnnYS6AR2v20JORS0rlbCS8z7zEeDtDm-cwGIacQi1m8HHreJlFnHtCnqlRKrOiPtFsigPtvkATCG82yR31FaOytgKGtlIripU0KULakqm37dYRjJ5sCKJyfaBR7vNYUXk97rYXSyWJ30yMAX1GP7xna0I4boNrhDKq1bYHnJ1xL3hUeN84vbjVIYBkxsQYlqIiwaKhQNx_fkfVa6BgJxodnMYNPHe-pDnsWF4ljEfkChKxovwbm3Xg-6MeLFJDnibhQrq5D-Q7sDgSOXemJ1BpVjwcEFmAUJCujgP8nepvirSL12jt_KQfUmZR1nt1iHgJisT8p-Et25KNgnzJKDfSaGCAgSUe38DHC22jtHvQ9R4rk9cLjkYfMXtg_EK0iJhZoYWCZ7LZ3C7L_kimlUQ4693j73mL4LOrsnVMh-9ZvznMuGRWBe2grAi41x7vq8oFwdIrOaVu9Bjsojev5UirwfNmVV-EuDy7tBoKhy9TdcZ_lttlhYgvcgiMMl4eW2fJqQhtL8vcP9soUNE5w_hCWg6nAjounRASXkCOMnj0Mv6ANzc1CMbzVRxu3SokQMMiiBgvwxEOFR4lzIa3Tc_pRGfFIxkB-0s-Mzxyiptn0TONBxDjwtfFnyU0rKyS1ITX1i9penH_GPG7KNiMArHW9FCMXwVwqivbD3QgTOqciUS3VDQW2_oItgeiU7LBwIrBePvC4obD8ijOBcGnlG6QmUBdhiPtnMNuY8AFAJC77wiaWyiXNKR72rLQSHPFfbjk3XfcBG9H95S95lD9Ec5XAQ5DVZRb6K6rpp6DPls1s1fec66EuEXJeEbhSleg56NUkbBwq01gTgs81QiTSzYF2es-ZrsnDxU-ThHmaPJXb1dVRSOOpINApm8QGakaFG1T8k643cmQKrfqcuHXTfDYkERnVWx02I_DGG-Ya4EwLVJ67SktTxh-AHagt0toX9VRF5GISLwU_863zvJ_fQF4E5xtTte-l6y_S9lW-ugzGpwSHC402J9_tbZCnHwLFK-5oAE2Cs0ZUDgGBKlYCfqLolGrROhlGw6U4I99vwE0QEEKygRsW21m8KaTI_tVVmB5yw_jA=",
  "id": "rs_01ed96e286105a45016ab2b04990bc87d0b3b6504cff97138b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.27,\"left_z\":0.15},\"note\":\"The body is released and stable on the table. I’ll lift clear and approach the cap end from above.\"}",
  "call_id": "call_lnjqPGFuMXfy1OAB3326OXi6",
  "id": "fc_01ed96e286105a45016ab2b04aa12087d08e93e5e23a98b2e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lnjqPGFuMXfy1OAB3326OXi6",
  "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]: [-0.9291, 1.7306, 1.0912, -0.1993, -0.7624, -0.6857, 0.9963, -0.0341, 0.7055, 0.4942, -0.3954, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.356 left_y=-0.2666 left_z=0.1276 left_yaw=0.0351 left_pitch=-0.0067 left_roll=-0.012 left_gripper=0.9963 right_x=0.2741 right_y=-0.0004 right_z=0.15 right_yaw=-0.0053 right_pitch=-0.0379 right_roll=-0.011 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -10.6735, 8.5675, 1.2674, -0.1197, 0.1538, 0.105, -0.3624, -1.2513, 7.0769, 2.0391, -0.1685, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5fb857658ca7e08ea295e2e9dc8c757749e761a1aeab42590fc551348e7725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e079b9029f44cd3cd0713fbcbac8bd5a8fe71706af8ebf8d2fbe73cf59ccbd44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2441cce30ec4e432cfc74977c3a9973cd713949cdc9e6a05a85d57548949a864",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1721, 1.8542, 0.7406, 0.0628, -0.8757, -0.9424, 0.9952, -0.0284, 0.7345, 0.5392, -0.4187, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.263 left_y=-0.2656 left_z=0.0133 left_yaw=0.0002 left_pitch=-0.0281 left_roll=0.0032 left_gripper=0.9952 right_x=0.2779 right_y=0.001 right_z=0.1583 right_yaw=0.0007 right_pitch=-0.0452 right_roll=-0.0111 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -7.5282, 4.7521, 1.1355, -0.5543, 0.1343, -0.0952, -0.841, -1.5521, 7.0359, 2.0684, -0.149, -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": "gAAAAABqsrBX3DPhjZhBpZs4xJEIRfPdFuis74UTpde9JvUgnqUYmo0RYThz4eKDFOxQfgt_M6tJJ_T19E0hlP9vUb1WMIjcsTTMBZUaYW-jXd05egD_6tKRD0yTwqLe8VD954kOOrN1mpVEa0XQTlRE0gSVOpKyZRLgLhfG8t6Jcj6CPRV6U3B7aDSqghO5XF_ohTx8SSd3HBNAY1UI9GhynLKpba6YgpaEo80z6HZ9G8HfdqBQFp2FrNPOVYlHTwG0ZJHmSZdM02TcE8ftqi4di8XVXDjpsmBlOwN4V6HErJE1JISJH_fojErUvnLTc1GoH4RLZpjdJBROkjJgiCI7nsGDzgCQVbIMVvMMS6jXd-boa6pH2e0olJD5APNbw0JrF7rTZp76-p-xuzy-kuQvI8Md2hsdhHf1y8Qu9217n0S5gCHDJCh-2SGL--scDGOTZUIWHiukUV6F_oeXekcC8V9yIkk14c6qPdEiUg1qKTafyCrWMjGYOg1EyV0NuZxrOfGX7AnypaeLGuJxSEKc-DQuA-vJZYWoDY3Pk-tFNAPVh9Mg2VeTdYYhN46J_HCYuufodo6CH97VT0BmwPTB3Lrf94kTyb8GXjRJ5aKAQstu4ycO0PkYxKltgKiGDfnxnbd7pzAT8gU6vxDQF7O5L3rFn296zPwjiOyYuWwzY-jSl5_aHxLI3Fz6JDdv4DBa0tEb9eTYy94r6YY3ks1BEiNXow3aFXBZRguLbO-vFGwj9o52kz57OZ8_9xmK-FrTMW4Vrw_HlMF_fj5jkR4jc1J8L9oFjj-6wuget4BPUadx2RcN2YUqVbpC4sxrWXYJod0NwA4A8Fc7ZdHY9HiHeFCWOVtlkO2ZwGQrGHY8AfZLqLh1vGl0QbCdtShkJ0J-3Led2DrxTPE618gVlNRenBL66o-xZpVoLfgKKN4tsF-MqMj0Ra0vPi_y9KRS7H7La2W7U8hE6tzF3ST8PcjRXN_8vPuDqiK41sm3gGdWsfnFHqDT0XG47G58uPJpYw3s8xk7NNCmzUy9GE4LFRVFXwy0hxXKZpQeb86hVrJPIShTm_oR0LExaoLvLHpHUAkg7mSn2K-mpAdqYgXnbGVODKSf2KA614lDyAdWyNzB5XyqCpNuDqQXg7_J0VLB6f2evxyapTGraO79bjl1TJfccGTEjQxBJmbixnhrPYaKH94r7pfP3Tp6CopaPGU7mBu_nDCB4W_ydU48EnxJWfG3RJ6BrE925SWql5tQ9Wpw5oHcV_Ho-GaNY4ypdJKzZFstkNzCUPEtQwX8-3kbUXBn2L-qyR3st5hUJuY-zkoZTN90JzOUmQQba-QgFIvHuNxTkjGjrNZmcYOjs8-73k5PGoxH04BDCVJ08grrCsfQiFKftaAiYebhnFYgyiU3D0aiC7UhDbi74_ayGKjtQahEb_cgfaehzCoEB-7m9MBs92lArfGyil6CIkgoWJ3kLgrAuFNWJxrs7yWi60fWnqifRrb5Av6YMA==",
  "id": "rs_01ed96e286105a45016ab2b05233f487d0b5e141568ce7f5fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.27,\"left_z\":0.025},\"note\":\"The neck is centred in the wrist view. I’ll advance to it and lower the fingers around the narrow section just below the cap.\"}",
  "call_id": "call_DKHu4RTlFdBQ02gcNqIojnbv",
  "id": "fc_01ed96e286105a45016ab2b05577bc87d086695485c1b33c30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DKHu4RTlFdBQ02gcNqIojnbv",
  "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]: [-0.8047, 2.0613, 1.1107, 0.1837, -0.7044, -0.5819, 0.9964, -0.0406, 0.6811, 0.4587, -0.3771, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4199 left_y=-0.2663 left_z=0.0385 left_yaw=0.0638 left_pitch=0.0041 left_roll=-0.0065 left_gripper=0.9964 right_x=0.271 right_y=-0.0021 right_z=0.1437 right_yaw=-0.0116 right_pitch=-0.0307 right_roll=-0.0115 right_gripper=0.9999\nstate[joint_eff]: [1.5248, -7.5829, 5.9145, 0.9939, -0.1099, 0.1538, 0.0073, -0.3214, -0.8, 7.1043, 1.9805, -0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b06df6ab5ced0efb24caded5b8f15aa385a28fef8b7a8030a28387eaa9ee04a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27a5f2ebc1ea4dd15514f41f5e93bb585158c5f3a081c613c5774d0352fc4713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea03a5affbf4635ae9ea25a029cec57b2137bd0a4ef67596d3c5da13b65449a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9291, 1.7306, 1.0912, -0.1993, -0.7624, -0.6857, 0.9963, -0.0341, 0.7055, 0.4942, -0.3954, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.356 left_y=-0.2666 left_z=0.1276 left_yaw=0.0351 left_pitch=-0.0067 left_roll=-0.012 left_gripper=0.9963 right_x=0.2741 right_y=-0.0004 right_z=0.15 right_yaw=-0.0053 right_pitch=-0.0379 right_roll=-0.011 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -10.6735, 8.5675, 1.2674, -0.1197, 0.1538, 0.105, -0.3624, -1.2513, 7.0769, 2.0391, -0.1685, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBiKGnhOy-GtFUesO7YLYf9czUK0NjzlLT88TW4Bx6MyS55-Kz1k2AbvNMEG5FA9SLteAg_mdFKbbxVyAeMyAgv3f8aD_TFwz31vSSvlHwHPA2wZBLpBdKaForCmaUMz8fmoedkR5AVTjX4ECt0eFj3sZQU2ZbiVEHQjj2pN-ct6vZbnP6wgt91BZR3VRLZ6oiIljK2QOh76tfJRyl36txOyj_XfIFlx4g-jv2AIT66Lzoy2MFMmE_KASWW2wzQ2P82q3NBobVraPhXTaaDyfHqFDyyBDo1C01Q_NJ80cXKtiNdSpwOSG-XNEnroqlWJb23YTF_WmBLJtVrJ2tWt1F41Rc3VqQ-RDZjpue9pgNxO_4sSj2JUewR2o_eHI34GWqA0OqqUM8Hn1kxJFNojhkJ78qs4ac9nTQsxuQz1t4wm_Bi3rEvp3w82XZJfeyuaOvpMWrza-6YumP6qynNq_3_ysUgJXvCSQ-eJx2mGL8QOHOvvisya2BcRjGqCykpKkL9TkKKbFOTYZWCOGXfqdtwZYx_1cjQIBBIRN6_QdiUZCEs5Ez3CnUafl4yZpdB80RRXmo0eKULBFr-loT9bv_vY00X5jyDZudfLxfnaWhn10EDT7vYiO6UyafM4uZTM-Ec3Tru0v5FyoeyK-vTrt1LUnFAEcVEx4RbSE45dHy2GwxJ0Fz8KuMj0nV29pfXf6dEHCuqTrgaZBsX4KSOWJGkroWFZCz1NGtI6xOM0jGpMASGA5-6M6ODLMBXSgeu7omMtceDbewMa-ucKuBmFuHWcMqbqBqD-6z19bFPqpYKaFAzipxtCgUZB0E8kvKdV3iK5NZCzP9AO3KLthkEOEj_0KzqeEuRtt7SHNMl1xlM8Y-AJAedwamNBuN8Mr_KJgkEwVdPylDY0ZalK0elx1XEeR67cEtiD8SXKsRvPThruzdvLAw3A4umLDOjehX4BEoD8_rmcZSuBsZ6XxtgfGLgvDM4HHtDJOvyCUAxqzStujb-mUwi9TkbMLgeD_iWhRe27n6SmDc1OUzAef6hJT80GNhO5BsZ3MvJT8glbXcBu4nseR8gjIqa1lMQc2mc3PxQUX45-1RNOfK1aDXer2GMEY9Xd2VU3c-wOeaz60f3eG-IsXRSUc2mCBPAIEA-vnQttcaxE5TkXJWnsQQuyXc_NvHgg7iD8U_Pu3IfI8FIUKPjD2Qc8XVugBw78SPhfBvBkI5Kafi8H639FfXKU7L_Ds92AkAt-ZHgKlgIpxAoj6jtXZTF8RzAsbj7uh8GUnyL545L1StR0j549R9B5sK2nVttCCuWqcZQwiJce1Jq9CEVEy1VNktaTdNCH4OGYvgtyD0Y-WjQ3CcLiowdLW3rRMEFJHo_L7j4Rpt3WCNd2kpgavAYck2OlKSDdM8a19KsQPRuN5BcOLBhnOoK1wmWnnasX4jM5A8c-IC4E5tFwazJEGJLC2mO9dZJUoojAOAslMtzyOkeCnsns9lvXCY87G9R95Csc8Yupg_FiiKOBS36l0QHnsvLHMq16AZUpY7nAsKywOPZvJqKR5OihEntu8ZzVgYFRJRkWub0gBUxoHFIPhIDs4-R3GkfjZikfykWofL7Sqpfn-YeRsW7sL31PbUoFxNj4ftHLGwUJ1FAE_D8jryaJEjBy4hf-yUUajjxWuWlzglbzaFJCh4B4Bl4OAh9cirTBTMxIm4SXVDlzcg=",
  "id": "rs_01ed96e286105a45016ab2b05bac8c87d0aeb06c0936c87566",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap and neck have reached the fingertip region. I’ll close around the narrow end and verify the grasp by lifting.\"}",
  "call_id": "call_alAFqPJp5cv3Q61HV4d0CFtU",
  "id": "fc_01ed96e286105a45016ab2b05f888487d0822069a04a8b5dd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_alAFqPJp5cv3Q61HV4d0CFtU",
  "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]: [-0.799, 2.0586, 1.1259, 0.2317, -0.7406, -0.5819, 0.0206, -0.0418, 0.6647, 0.4324, -0.3656, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4305 left_y=-0.2664 left_z=0.055 left_yaw=0.0976 left_pitch=0.0647 left_roll=-0.0421 left_gripper=0.0206 right_x=0.2686 right_y=-0.0023 right_z=0.1381 right_yaw=-0.0127 right_pitch=-0.0292 right_roll=-0.0116 right_gripper=0.9999\nstate[joint_eff]: [-0.841, -10.4274, 5.1487, 0.8962, 0.0757, 0.022, 0.9597, -0.7179, -1.1692, 6.8034, 1.9707, -0.1734, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f839756d62c874848fb518732b4f9102ee62930a189b57f6e67e8dbf6ba90c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c47aac5173986627123d8cf7b590f687470455b5a47d98ca27d016788c7c04a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e2634d5ca1db4bfa2f8664646f7d748298c2c1a685049c71db68e8a8fc6e41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8047, 2.0613, 1.1107, 0.1837, -0.7044, -0.5819, 0.9964, -0.0406, 0.6811, 0.4587, -0.3771, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4199 left_y=-0.2663 left_z=0.0385 left_yaw=0.0638 left_pitch=0.0041 left_roll=-0.0065 left_gripper=0.9964 right_x=0.271 right_y=-0.0021 right_z=0.1437 right_yaw=-0.0116 right_pitch=-0.0307 right_roll=-0.0115 right_gripper=0.9999\nstate[joint_eff]: [1.5248, -7.5829, 5.9145, 0.9939, -0.1099, 0.1538, 0.0073, -0.3214, -0.8, 7.1043, 1.9805, -0.1978, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBpPNnQ5e9roTcOqkgg9gM6DfMImcUK4uh54NS-4y7nWkZeIbai1AjQahVkFDiDTiPCiX8bexbU2Up46JDbpPMlU9dW0aPLRXAXc1IFxKKekPFasr0khniq1jtYnbVh4HvHoWjURTV_5OVBJ3ZoIzQXu6rz3f6DY39BeHc82Pa2gICQKll_zT1ot88AZysO6iPLqq-2ZEnZkLUcjMH_cRA1wtGXAjj0SVJEeDNdXK6AV2tZ2a-cyDbW4e0-ySpByWTv9E32Gw8cC-zUAvIHDYDpTgKTFXyGN05gdnHrkQXJc2ho9f6KJUgqpXmtA2bD6VVmRqjpM-H4ItZ4J2H8TMZhZNuNDy0lugv5aDn1RMWEHUyqS7XDENPNXTqj3O8psFcRtSKaNU8x1hh7wSnUu2AsXfAQFhhaNmQ70YubT7w5QfqNSSruxZazAhwKJf8JAzn897YMFFZ0vwulu-o1_eaJFdOv7XAU_Q_KHO-6GwIOCUON0Q8jT-n9rgPj3R2DhMIkM8XTsPCtIvMm_yGuqSfv0_8YUYVp3-_n4pU1zvpT1pqIBGJMA09mYokH2YlCnvGSOiQ7j_KVc3y3NecLWML1DveBl9yOpADEMiJSQOELh7G4zDmtKn-UsekUGt6q-RwaYLRorGFS8YaQ2QKAWl4M0yjDgaWxNzG5kP6_1vCvU75bfkkHGwlTlwnsGcP05ancq6TEYhSFE2rCSL-9NdodZQfKHZQXKnfMtPm2ux7ryA-sTLcEsbc0TsAdSUL-wKgY0gYZzYQppDRakmMxjgdRAlUBkI_ICEdpkpQLlUoy_rWY-Am_VctUqWeoLVfr4sEzQF8b1Zff-OimykCruTPRtaHNI_uWCk3MBvaFRv7gpBfSjUhRTAkhx5ICxUHeA5YLSz-e-5metHPPnFQ2ydtEs13G3xizFv79CPrjiSnxLaC5U3ZPiGuVrPU8hEDN3T1SwR5vBrC2IlmItvOGpmt1mHS-ZBG0FR8UNkvHjMAySSZFP2Mu36CQn9wO3erOt3qFTajDP5dObyY9YBFBMXLTrx7fpE0_UrWl970spYmGXk83zGR_EsZj2jm2dfNGLF-1FKSan-PVsquQV76KIZzUgGRsEPmQQiazsw0WhMFGbQHMuMAKw15Z4yJFS6wzYMIce7EVmfZFy__xZVAsePs0vd5vNbfSsvBB26o-5jc-bAQxcsmuWNpfto1znP0N2c9J5ZER8QPl4Fzwg1UHVSkI9sgF-wW43ehiZ7j5jroIs3-kgJmJ3tbBVg6R58tkM2_M_3RyHHJ_NUIcfqPitIsBoz3M77L2-GaO7ibwBfwMjPtQgVWPXOVAKPCZDg0gJLAaX_1Mh4d8cgIwnr2g97zFvhuH2rFnmsJHb6yvVCL7aO0LeHY45wbY5y8GLNCuZLXJyXra7BD8kPY-Ccra9TW5To5ajbymNRiKkCCsEhFzMQY=",
  "id": "rs_01ed96e286105a45016ab2b065934087d0b6f39864161312c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_z\":0.015,\"left_gripper\":0.6,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"That close was just beyond the cap and came back empty. I’ll move back along the bottle to place the fingers around the neck itself.\"}",
  "call_id": "call_u9wLfinIKt1MSOO01vq4USpC",
  "id": "fc_01ed96e286105a45016ab2b067634487d0b924ead4c4144f2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u9wLfinIKt1MSOO01vq4USpC",
  "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]: [-0.8902, 2.0357, 1.0409, 0.2558, -0.8085, -0.6891, 0.5946, -0.0116, 0.7906, 0.6334, -0.4496, -0.0223, -0.0498, 0.9999]\nstate[eef_state]: left_x=0.3942 left_y=-0.2781 left_z=0.0459 left_yaw=0.1106 left_pitch=0.0758 left_roll=-0.0796 left_gripper=0.5946 right_x=0.2885 right_y=0.0042 right_z=0.1801 right_yaw=0.0101 right_pitch=-0.038 right_roll=-0.0149 right_gripper=0.9999\nstate[joint_eff]: [-0.7726, -8.7726, 2.906, 0.5299, -0.0659, -0.0366, -0.1343, 0.335, -1.1829, 9.8256, 1.6825, 0.1099, 0.2222, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377a2f9980a56a56b544285fdb908ae42ce22b528f4c5dbb8b65af1f7193ba0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea85ea6bc763d2d22ccc2764481390b8c343819990d651617b3f569870991cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b7559f3922f3f13665932ea87bd55464d0a3897e437e40324031afdd0d5ca9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.799, 2.0586, 1.1259, 0.2317, -0.7406, -0.5819, 0.0206, -0.0418, 0.6647, 0.4324, -0.3656, -0.0303, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4305 left_y=-0.2664 left_z=0.055 left_yaw=0.0976 left_pitch=0.0647 left_roll=-0.0421 left_gripper=0.0206 right_x=0.2686 right_y=-0.0023 right_z=0.1381 right_yaw=-0.0127 right_pitch=-0.0292 right_roll=-0.0116 right_gripper=0.9999\nstate[joint_eff]: [-0.841, -10.4274, 5.1487, 0.8962, 0.0757, 0.022, 0.9597, -0.7179, -1.1692, 6.8034, 1.9707, -0.1734, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBv1AQnecMhBw-NATlssblH31kcrMhq0wujU44z2U_3R-pvCWEsuy664ifJJoQNIeR2XD8TplqlWlTnS9qYpUhS5PDYpKUOLWEQo8EueaKJ9RzeVcGP5RfpjQj5NCZfxW9eG_wmKyE9oLD7B3AQC-zHQrXKTlQi_ttxtNbC726WDPEY8KWZiT0HMG-hlHnTFsqmOAnmsci6W7EicpI66TKeYVPD6aPFVY16jrUW0wLcRO6qIKJ-_rdYc4yDd_w9Kh6k90KZVoMfsTURq7SMRrkEGKN5n4uesJh0W3RNoUM3u30hWsEu23nxfLapWClJ6OEgGbicfg9ynTmrTaYdLzwSnA_NrxijOsPmifivM8DWmyBVTDQ1EnXmgIIzti5NjEdUlTd01lQEXxICOhqbW3kXfqtSJcEA-1nxm0ns83RcEttCzfNg-M1HBb5E_XpZalhUa0nhyHAAX9AvCe9Vm4F8IdcPypVrc-MfRsIxM07_TF3WnPhcdNLzJe6eJ1DNMETdGQIi6o3EYfFAbSaa3JC617-ZLUKalNpbYPQw6V9M_zXfojB8DhDzztKRUZjzDsm4PQ5kuvx2yXb0Dk4cD07olqHCdF4sgykZdJDVqGmSzgDJUXJBMqHBiN5QuDIEA1Rsb1bz_SNf1ULBrfmabF-X1vVD_ZNPfdkSNj85bWr1PbwdVbPDVF4R9wNEXnvBoh1zTMzAlDuIfug6fOSI0C0HXAtgs7OSA5qAsz4k5DvNyZmWLUppVGk3vFATZugZvkRLk6PXyGlUbOpZrizMRe0K72X5geiwGdfvqVzKjW8O7hmpmMBzFGYaGkepWSGjOXme_bSmMcNoW6OCTCd9lFmVU7LXWmP9eJbCmd78oVtm325u8KpmZwdo_lNXvb_q18FRnRiuJtc7YzYC_2d21P52c0FT4H9Qyj8-omCjW3vhklVQ-7BEbSkUqGHm0NdJsmq0wZtzf-q4MmtP1pVkkFHMwEx14hLeC3sLWSBh58iZjErVhUJ1OtFT-7-CBk_UBaS1kXcIHsAKIZP_Pc77MwnFfGnappLDA5JDPtKqLiNa9UX3J3D0TNQJIiYLeSNCj5f35gkyqCWdZXwxK82NjCQ0LRNMQDH7mCkU4A7mqPViVmFqrNngMH7spbUAiivz2g29jDZdMYO8PZjgTflWbDUv8mQoTP5KM-XPhpkmVqGeI4VAmu9z6T7QwK7P98v0YczS5CQsQ5jtUhRKpq6HJQMYGWTDNho2Ziqe5hUkgVXJBo_FWZMloHwrpK3-_EHxjGKY",
  "id": "rs_01ed96e286105a45016ab2b06cccc887d0a85729f484ed9230",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.285,\"left_z\":0.015},\"note\":\"The neck is still slightly behind and right of the finger meeting point. I’ll make one small correction toward it while keeping the jaws open.\"}",
  "call_id": "call_dPHyOCRLurXPAQIDjmsil533",
  "id": "fc_01ed96e286105a45016ab2b06e2c7c87d09e0bcf8512b2dfad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dPHyOCRLurXPAQIDjmsil533",
  "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]: [-0.9733, 2.0342, 1.0691, 0.1516, -0.8772, -0.7849, 0.5949, -0.0208, 0.7712, 0.5957, -0.4458, -0.0299, -0.0395, 0.9999]\nstate[eef_state]: left_x=0.3699 left_y=-0.2958 left_z=0.048 left_yaw=0.1207 left_pitch=0.0766 left_roll=-0.0758 left_gripper=0.5949 right_x=0.2832 right_y=0.003 right_z=0.1689 right_yaw=0.0018 right_pitch=-0.0525 right_roll=-0.0018 right_gripper=0.9999\nstate[joint_eff]: [-0.7316, -7.9932, 2.7282, 0.8132, 0.0464, -0.1685, 0.0269, -0.2803, -1.7162, 6.9538, 2.0977, -0.1783, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ccb72915327d15ec563b2e127e5c945fb6d41bd916c31368414a8b86110dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cccef6ea24a257c47228b81b795e19a3aa7b75f6ef79e090d297b7ae9b8bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd1bfcd90d49bd6a75cb2cef6fc1ed7150c691e8adc0ca537c2c083290734c84",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8902, 2.0357, 1.0409, 0.2558, -0.8085, -0.6891, 0.5946, -0.0116, 0.7906, 0.6334, -0.4496, -0.0223, -0.0498, 0.9999]\nstate[eef_state]: left_x=0.3942 left_y=-0.2781 left_z=0.0459 left_yaw=0.1106 left_pitch=0.0758 left_roll=-0.0796 left_gripper=0.5946 right_x=0.2885 right_y=0.0042 right_z=0.1801 right_yaw=0.0101 right_pitch=-0.038 right_roll=-0.0149 right_gripper=0.9999\nstate[joint_eff]: [-0.7726, -8.7726, 2.906, 0.5299, -0.0659, -0.0366, -0.1343, 0.335, -1.1829, 9.8256, 1.6825, 0.1099, 0.2222, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrB12zcQmtb9CIN-Eq1IpkchwUcKB9EjegCY6Cvt6wAlbXd5iZH4EEmAKWRUzmFIYmwoLxivJwn4yzw18boBpnMyB1hx18ANnIBgEbn4VwA2YFu1rjJZXNvtyYUjCle8aC_7jwGzAoBu14kJS74-27kOdVCtaF9oImikZRL_4J8rSPgCV8DMVZ2Qr312Zod7RxoB1KsOTt2Wa7aXp-LFasg6TFm3nK-r69sheaF1-7xgZIFHiL7nIzitJP4iU9MfgCBn_r6ZlZBILL5eeX3NPhPmVxxO0-SOUPcf-dWDlCeAFc4qnyGvxz8hQ4SQ4JfzWRjfXPatpHeJnf8r5FbTdosegBnsWKu3u9DoHaAT9O2GrFjcDD56D3uKMZS8td5INTnpOUJY_a6PQQmqB2VPI_nkgzL5DU81MvxD4gLWVMXnQUADKCjMsUN5nbkQFJVz6ZVJNmMCQWVbf01QkVml1rvri8pH0eR3vG6vcGAm34_atYlTrfduWkpOx9mx7ZHgXPYzUo2yuMRlwI_P6ViAkThv3AEHMRsERUyUftIpuIagZORxvYIu70jdEsH3dmx5i-ZdCS23HDGdF5O6Y7XlFL5c0ZYH06FTnQiI15HeXyPjbUwmbzWEECNOZgImhKVI7wxi07poG7ND-7VYfuVHa7oyJhI5d7Aw-ml4OrCtSWFy0MaM2V1XkYeb5B45CGoLZt8ITrfFce1r_YM7vv3xxaLWoWDtujLkbbBqeyLP2jzp6hvx1k1Jxx1XMupVjrDIYKBglRJLhqfMofTrJOwRuHEUfjlnjzvuveZ51-US_wkuG7yj-dyHhUw97weib1MR-IawT0kgNfRbk1PrsqbynkapkppD6H9KpZAf_Yxf6HAl-EI6yXepbo3Zr3uNi0DsEGXtJFCCHQIxObkoPZ6cTm-7BsSmDrsAwPsxEy3x1X6gdv_vFHZYIQo1v3DnJKvye7Tm-5XjWpNzBYCpbcCjmVwY3YA_ai7GLpNRtHDW1s75V3ojLVAghseCmMLMWfiL8KaVsit2bzstILaP2cGx5HBW9wqGd1xnEIcI_Zz8sGtklqICuDTCNsQduc-5ouIp_4HAeEyBQDSzBdwLzSiy-MwhKl55sz5_7_hJspzBxDsSll1niLGhzd_6XGmddBkuekZ9bKirtAqJM6XodlMWQNnuBgpK9QAs46OF-uOzRvawDPFrrzHsQpBolcUNjp5KujaSDLL9sFgc2xCftE8c3Beo6y2HpM_IhbtVXs4NENmjWKw5qy5ocX839Ar1nWkoCQvBXJADymjeoclLX3fvqR2V_Z8Xqv3H0B7gJDT6YSMa0ByJRholyKDUSQ1k66_qGzkDQCvWqjI5Nz98Hf_ILMtY2gGQBL_6jXqqWD8EI4OIZ00Rt40Pp4id-rlkWM2V__bE7eswR6v1zSpKrHVFB0AQAQ==",
  "id": "rs_01ed96e286105a45016ab2b072b86887d08080c0468ee673d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is between the fingers, and the descent has stopped against the bottle. I’ll close at this position and check for a nonzero grasp width.\"}",
  "call_id": "call_X4Xs7wLmf7imNZacOIlj6n1Z",
  "id": "fc_01ed96e286105a45016ab2b0747fa887d0bd0a51906e92885f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X4Xs7wLmf7imNZacOIlj6n1Z",
  "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]: [-0.9878, 2.0323, 1.0637, 0.1562, -0.9371, -0.8303, 0.0204, -0.0212, 0.7383, 0.543, -0.4187, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3674 left_y=-0.292 left_z=0.0538 left_yaw=0.1699 left_pitch=0.1144 left_roll=-0.0988 left_gripper=0.0204 right_x=0.2786 right_y=0.0029 right_z=0.1591 right_yaw=0.0027 right_pitch=-0.0453 right_roll=-0.0047 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -7.8291, 3.0427, 0.5104, 0.359, 0.0806, 0.8718, -0.4308, -1.5521, 7.0222, 2.1172, -0.0904, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5be6840ea6be9cb15a608e66b1ea7ea61cdd25c4841192b0e8fe672c53ce26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c8f45c68c53f96020160bc7b624aa2986b402deb29e5094682300f47433fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2ad57d308a8e4666e0af878686938187f052ca1f954a684894a7925a8270f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9733, 2.0342, 1.0691, 0.1516, -0.8772, -0.7849, 0.5949, -0.0208, 0.7712, 0.5957, -0.4458, -0.0299, -0.0395, 0.9999]\nstate[eef_state]: left_x=0.3699 left_y=-0.2958 left_z=0.048 left_yaw=0.1207 left_pitch=0.0766 left_roll=-0.0758 left_gripper=0.5949 right_x=0.2832 right_y=0.003 right_z=0.1689 right_yaw=0.0018 right_pitch=-0.0525 right_roll=-0.0018 right_gripper=0.9999\nstate[joint_eff]: [-0.7316, -7.9932, 2.7282, 0.8132, 0.0464, -0.1685, 0.0269, -0.2803, -1.7162, 6.9538, 2.0977, -0.1783, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrCAGqrTS-E3B5OZ6cnxgjx4o5Toj3809kHsoVvwaIDxXqhZh2bQ-VjAWDiQh6pg5-OLhETQW7DBIBbNfLQjmY_QtuVMr9VKMIAk9gZQqMKQ1NB5Ar3YZ35kzZkDb6FNPgoNFZacfCsUgEAlmtLbXUjH4iSj_nl0eLQJCAcX7U9o6xuUkw5NLhtZplWBnVbdajs6w4lpmW5kKK42oTNXIMUef3bDp8gi0DAXXbPBi9ohJmZ3yCKvkh_QN8urJjUqjF3c5Rs5TdRRjpZmgUYI8jOS3dr177alIO_hajrG55gaVf2gEvB5W_w-NQh9svUtl2lZvipFu27j2F4JC9jycMrrx8UVghX2qAik78zjgc2Wgg5fQdmxg-j7aK3US116l1D5stM1ObZW0WBnDIA87-xTiykf1TEddzRqUrsZiGw4TZSv_4m-qcP6ltsR0xXOXKWekrIK7LdL6QIEFEwIbknUxBDfSMLziLsa86vFOF9lTZEP1tGaBYqvYYBPWjytrPOewIp5s6fbhp6tNZP-aGuZmWAi65_t12uKhbmKUa00oel1Vc_jKXsVEKVlxuGoLwVG5uXgjXtAW188KTGC01cTJM-V2DcBKeTasZgJxjfuYB2C6zN343fn9Z4dX-qqb_wOxLYwZIG06PpPrrZdFmnZwutjlzeLH108EEKNtju9VC1fQRBfT0i-Huyaf4U_fijmb6pXUC6yn4PMh0e83affxJa1dRpmZSJ3dNWsGyGCgYncJ6CH7LMy_LMKMINNLoN4m_2tMsCPyeLWKWNvJKhwXEHHOgZ-ox-qIYSXWCY3jG2OZVbWSD-z6ctscBg90Ub2_G3KKUy9te8dqXfS26Oul89ISW9rEDNpx8QPfjLsg3wp_kDV_oICN2LYOgIWNLLVKZHg5ELDyTvzndF3uMhJc0r5EaeZpGiCkHXNrSZi2sx0PZnwTlIly_JMWqdANnU0m4pCQTpX7gPnd9xi_cqAPjRYA3Ex35MApBEwEjyEMeg85TV5rwgPyiTkV1s4AARNaqTdbGdx1Wa2PAmHgJYawwczgJ2ZDU3q1yL3og5eeRIYO1hdeb3ubz9TaoKHhxqkvTxH5VGRkkPRD6TAhbztDsBUjGKkAjK-RdXeH6ws9G-YinzeeAtDEemDLfFFaIb7iy9m2w7uVdXhjtifmgWld95TtlqRHqnEPXmnvseQuqWr13zjFzlBEaS8y9b93LAnZta3f-bWjqMJD12RbyXoN5R3v6wmhkjliqXx-_aSi1HcCATSGJ94qZHURGVDRMKBClm8eALkNm3YS5hpdf1VWO9lD7hYbrX07gaVp_eAdl2_ICix3QDueTsYDns5PIpuOLMCtn6suEDjGdsb9bLXgtCA0lw4RrRjj5JtiZUfoCtstL0xqD3afmIL9-o6Qjr1oWSv4SdC9GWU5MG67RvgLOhg7lTH8zWfR-ZQ3BTKnF9XkfK69PUKPalcKjSGCQnFE9HtDSxxLV5eV-DHYRNi_pH7pAkdEnVksvTTfyKEA3oXmCNd5aKYfrjrzjmibIqMj-fEjOBQFxDuNcDgAf88YJGIYhXjzoa5CqL-untUgDqxoL_le11QEDvrHivMWj2r8jkI_kOiW5yRsvnU-rGaHlxXpzv9PQJI0kwiJ-VYfoWej4CnktsObqavP8tplkED6UQ7EwIyXop9hieIr6U7gdVvSeoMDvCySwb08C8HDHAXDuJAbjOmyDdbp08_ZE3sGzVep1B9Dx7oL8bhVC5U9sUf6oqm4miRaqNVeVeTs70w5Ms8-kWGdaNzThjX0nUa0HO2QyMpKnIpdBdL9Z5i4tIeTVYJCTX2IpoZ50SIcwwJOmmFmUwU539Pen8sBEZrWrywptNh_BHtgxD1hxG_FS6A0OzYDQXMoKJHpF7ZsmaMveaT4O49GvdRXCzpsfmEPkmsjf4zPjOT11MCYyZy6GnqgjRLAPw7jkNTeNIGpYmRZThPgBe6MW2VNAemDtr4rMayU2WpRwKkJ3H_yA52dQ==",
  "id": "rs_01ed96e286105a45016ab2b07903fc87d0977db0039b352069",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.32,\"left_z\":0.025,\"left_gripper\":0.65},\"note\":\"The neck is still to the right of the closed fingers. I’ll make a final alignment correction toward the cap and reopen before testing the grasp.\"}",
  "call_id": "call_uOzbaDp6SxiHiuLjAz6xSIPh",
  "id": "fc_01ed96e286105a45016ab2b07ef74c87d092e1ee09d90b5ffe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uOzbaDp6SxiHiuLjAz6xSIPh",
  "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]: [-0.9516, 2.1872, 1.3445, -0.0166, -0.9199, -0.8429, 0.6449, -0.0219, 0.7059, 0.4999, -0.3935, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4053 left_y=-0.3204 left_z=0.0505 left_yaw=0.1976 left_pitch=0.0832 left_roll=-0.0722 left_gripper=0.6449 right_x=0.2751 right_y=0.0028 right_z=0.1529 right_yaw=0.002 right_pitch=-0.0308 right_roll=-0.005 right_gripper=0.9999\nstate[joint_eff]: [0.4855, -9.347, 4.4103, 0.5153, -0.0415, 0.0562, -0.2173, -0.6085, -0.7726, 7.0085, 1.9805, -0.105, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9375a027a13914db1df510598824c0609ff00df01f51e9effbb6113670998cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ec6ef64ab64b4232664d5fabfec66a7425e5ec2df2c5ce5a82df7e8a88383c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5cba8ef8d40d836d0a7282d845703f95b06c0458ed55e7644e7351b6d22241f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9878, 2.0323, 1.0637, 0.1562, -0.9371, -0.8303, 0.0204, -0.0212, 0.7383, 0.543, -0.4187, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3674 left_y=-0.292 left_z=0.0538 left_yaw=0.1699 left_pitch=0.1144 left_roll=-0.0988 left_gripper=0.0204 right_x=0.2786 right_y=0.0029 right_z=0.1591 right_yaw=0.0027 right_pitch=-0.0453 right_roll=-0.0047 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -7.8291, 3.0427, 0.5104, 0.359, 0.0806, 0.8718, -0.4308, -1.5521, 7.0222, 2.1172, -0.0904, -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": "gAAAAABqsrCHMCXOI4HaL9vICPgW_hLRjYi6B_G1SyIhnhVsoRKDedJKmn_NP5aUUWKoUQsU1mfeAIyiFJHkGAP_dHvZCPBklXSyGbHqaf_hrwQO0oPnkwklDwf5WBTzVJRMm4fxuCsJRz3zdTxmMHHec5CIJbxeXxjK2AceN_rdd09KAvSemvte8Ms19ce3gx35eTNI7jVh4AqDqr9WK8jZzSinp0-IfPYXoC61spUKp5DPEepxjmQiuf8z5oYBI64p6x5DIWVUWozBCvFSdG-Z9SqMthauTa1-iPk6GfLDXhygdg_q1iL6bXkefhBGHmaBXx9ka4f6nvA4uEm2AuQTa6So6FBg0T80cN3Kv6RfvBkmlC3583ZBFTjrST97MVKQ2NBjXRSNZURGqOU3BdDPkpCDHV_0SJkg3J87eTKNwq2YpuUIi72ZbIBoGbXzPeGaa_xheHVLMDidZtKc0bjJ7l0Ad7L64-TC4oAeZZH2Jg7whgF3Z0KHAxwlq9MMpr9Xb6rmY8tf1U341zPxTAF7PPhenGIA4RB5RZ9Fw19RTHOPVJxIsb5sfzXZZ8ZpWQSWwY5WJcdMIrxnoNz_j6jfPEq0mUcBIrp-VjnroKZawktZG8aUW32WSEkDBtbt2SY_MTK7ZVRSM6H5f82D97Q0ZT2pwFgmtwjpRsAnOzjLWnCHYZvklzNkl8sreTOlnW2uDTtJsfH3Elf6eO7cUoUgvf155FmkqhhQ6RLrJn5ViK_R3iDmIq2aNdRWi6-YOt1QSFa-AjYdZscxAsFWD35EE6v5HOh2Z0eOMO-UEHmbTN3BmExSGj9N4foHS8Mc5_cEW62OtgPIymbL8z1shdD2oUYDPKIIGecqdd9Pkn0sWlII7NNRL8nTQQVaT9PJ96FwKdFELYKBcZ7APXmxMFmGmhnjCeVP9mhj8_O6z3bh3k5dskDTMb026_6AsnB34sa2NJJxsuAMuI45IJ87-dsrQA0RXCiRdPsEiTxV6GKpz8uv6LmE6Xo78jcc2i4PlN0lsoWX-wvFhxlRtpBIN1uwFItHf4Ngos0ahiwtodcmL4u8IQPXifrCKJoM9KTMZDBD__EUnTZa46Sjw6Y2CAMNF_DnN-nEEQdOEyQoN46mD84jaEctmcqsP36JKqZktHLNjln4sHlPDZ-alwcS_vUF2AQcaqlGfQYup4I0AUukSWAYSMkKXf8EklA2vh_QFS2YSEJhyp1WjKX9GCLBssYsEhLBN9NyMTsJvCB05m6dRON4QsMjoPjmA_BMwSA5sIDg-2QQPKk4cWnbK4Y-6wDUsbIhXkcHmqEBa9Pw3nGB1Vr6AdKr9zDt9_0XMIbNRKwW30n-4DNq",
  "id": "rs_01ed96e286105a45016ab2b084774087d0a32b5a8e1e122f8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is now centred at the bottom of the jaw opening. I’ll test the grasp once more without moving the arm.\"}",
  "call_id": "call_qAEhUmsR1knmLVRwxrp1H21E",
  "id": "fc_01ed96e286105a45016ab2b085702c87d08b10b66b8267feef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qAEhUmsR1knmLVRwxrp1H21E",
  "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]: [-0.9363, 2.2086, 1.4548, -0.1936, -0.9138, -0.8909, 0.0186, -0.0219, 0.6907, 0.4717, -0.3798, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4124 left_y=-0.3183 left_z=0.0558 left_yaw=0.2298 left_pitch=0.0422 left_roll=-0.0356 left_gripper=0.0186 right_x=0.2727 right_y=0.0029 right_z=0.1467 right_yaw=0.0023 right_pitch=-0.03 right_roll=-0.0048 right_gripper=0.9999\nstate[joint_eff]: [-0.841, -12.5333, 6.7487, 0.6911, -0.0562, 0.1099, 0.9353, -0.4581, -1.1692, 6.8855, 1.9707, -0.1197, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f069647d645d4ce7e70cc18169b2d9bc86d9c0553e49dccd5390f8d7f74440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74779a77e1b3e256744f60d8d4f7462f4a05f6364db3644b034d1d0ce7a1d817",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bc83e719725ff29843efbbdd8e08f221ebed5c10ee51100a365cb0ab33310a",
      "type": "input_image"
    }
  ],
  "role": "user"
}