adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3763, -0.0227, -0.0261, 0.9985, -0.0166, 0.7891, 0.6033, -0.3862, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9985 right_x=0.2935 right_y=0.0039 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -1.4564, 9.6752, 1.7558, 0.0024, 0.1245, -0.1685, -0.8137, -1.1419, 10.3316, 1.8388, 0.0855, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d68d0e51bae6dfb015d98694518e2b999ea11f6d35fbe557991a6184c6c0bfff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b6242d9f72171b9bff43035776b815102621b4e01b1ce84244f98a40d395e0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e9fd84d99f47a4fe8d6624bda0b20a2c3581a4e4d81b9fe9f254163e37ea843",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5Q7RFtbZXSbEssVGvMIadoazwsyYjB3k5DwXMLn_bqsccr8S5I30g42phf_ckdGHIDzId4Dl8xeXPQ_bIowL-ohYNP-NVKKKBB0IvY1WzzPeZskMW_orWQypsop7HEH2BCVwCwK5XM85t-ogBxs5w8XdBzWm7tDbq_E9Dbk2C3Qav1nikazI21RRz00J6TS_YcNgF4maGa9pUVRpQ4XrhTngYdKQ_4SzYW1iaDLFsDNt5pTkb1yQYLLApGTJu4DUEboRzZbbrq9opKhvhprGfVtEZ_suOm_4L26GtaW6O45qXJi4Rk_3TkGy3u8SSgPuDdmpheZzFHLbdSM07BXTz3MPDnjdFvGrT_9L16B913bTgotARnNm5UdTNg-EB9xmSeeyhsWYzjuKQZPTYropyP93CYvvQL336EPmYmVPOGXMCnyHhKSBgyDI3s-q4mQhAFS-m9YGc-DUb-p6x0U3gd7uh0QnV29V5tqZidQdwa7tYqk87K1xTq8Hx47n4f3i9927SiRpJBbsfftO0zkdvdQ4aZTBpeeTyITk7vmaE94JvA2kGps4FRmxoc_QA8VgDYeGBsXZv65FxxfcmiejOEnrVCLvChyYERz_9O7ZgFdGdnqE3tUAPKdYdpHUntBHGViqVrYhl_yy-n1cCcK-qwZiswHpzPGnmmB0ydq06zOKBSccIQCRs3V77D9DAsYJSENqDMne-v4czVO0g7QJfQISN1om9lJxcqpMTXLG8LvIbQwn2Pg6oQk2egUyr2y31CflUwAmb86VbF82-uDAHxfT_VwoVMYfwj1jz8m3lKtSxa9K3NDLqAoyWw5ZDcCEY52ww8wAnbYtzxpgPpFQeNlQhGA-szsMHL2XdlgeaamUtJGMJBtG_pmfzDWDa8kc0EpcnHWRwScYRrp9S5sBJ3cHnL0g-fJ1w3XoeoQXTfQ82ICMQS2ScLL8GZGVEnI-LlgXUfXiAQSzVHOKzywpeHyiMTO8qlTasnyHqK7njxrl9Huhi2LtYFnjr82Wv3NI9HmPf3iulMSjcxgzbso3SwylF0kaxICyplpTvYd8wETBqjf4F7zrZmHBTe0qkHbbB8v1daHb8PI9dqs_LggCymLaAIRtAuNu6U3b1k31oVqHjj7ElLMfz2LIyZyQq3yyUVDs1gizN4hk46QdLPnBR9e-i75R6qWA9kkC1D4Mj2lee-6GJWN_e6cG7ImU7r9mYvTCPcUVpSXKxB0Z7w4pkiIrOhaVan4bCb2fOYPbMLlkZX79ea4csDs05fbCgkw0Khs1Eb_Zx5XOuK6VUvpRuJy440Qjpc15AESMcW2qJX8sKVznIL9MZ6WmcanfYULseqcUzdkto_7hIuzK_RsrMgu-E0OteOWKOpC0oU8XKnhcQSG6AghevC8KiE5u3GdkbrXXKXtMW03wAlgpcRnHab68LdEXCvmL4QPzbwpVK1qnQMVv-htu9WItaEH66wMoyQ-J0Z90eaxiNiGdqvP2MgNTw_F9WC37BlqJxZ7xGRiLEZZPDDpBSGK09-mFGKHWJvMiGSP8I-2uFdg86maTf31hTZQZ1Dk09DR6WNbVDqB6PdjyRbGj9l7R2akTKcYVe-pf3m4mHo89BIOgkLk8sBT05wllEXsT2ypf3NNmCslTi31NuU3kddT8uxxLInOvDMyhVLOfv8vi3VWw3ni4A0Q9RA995Z2BFzwXytHIBWYSygFQl4yn7kgdsaaaXyb1nsNuoqcXx0d7hSrrS0aUdrOnx9_X0IesjaWPvB5a_Ziq4-tagLR3wfGMBZLRGSpr3Gu60apZCGh76rpfaLuheS98em80XKSceOGedXhIPx_o0G8xFxxil_sOwyh-taNulMJxw8T2Z4uNGcxI8c8SGavg33A35ZKKskQk9hgBcHBgUDRkiaSdiacFbQpitPn2MkgTpfv_M2MVMfCe7vcrAQtw94rpgY8fUN48dn-tG67KUuSGzDqqm3_3-afuqo6EPAFKw3JfHipazEBO8uBuKjZCdhhxOW-NSickfqeB-8K4abNbhEESO_QdEqofpqp6bB214Ae6fdNa-GZvOo2T6C5wiBp_qxxXu_Oe_zvnR9DjZ4eEYo7hznSsZMdPewghTp5R3Jacw9B_h74AktKri92GYAVUCL9V-iNkBq8dbJeJFn_td4kBjUUbj82qm86M4F9sfIAAHH6gI-aO49cJoMZWjLAKckN23b_PE5lEjQDbZaaNyvhFY3Y_ZBGqFzFrrT",
  "id": "rs_040fe02a51ab0618016ab2be44af4887d0b2bf22584b27a2a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.185},\"note\":\"All three bottles are lying down with their caps pointing toward the far side of the table. I will approach the left bottle near its neck so I can lift that end and let the base swing underneath.\"}",
  "call_id": "call_OhAsm8Mstz3SDb5kx4W1D5OV",
  "id": "fc_040fe02a51ab0618016ab2be4db28487d0a83d7afc3005520d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OhAsm8Mstz3SDb5kx4W1D5OV",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5247, 1.5974, 0.963, -0.0528, -0.429, -0.3164, 0.9986, -0.0193, 0.7982, 0.609, -0.4053, -0.0303, -0.0357, 0.9987]\nstate[eef_state]: left_x=0.418 left_y=-0.1529 left_z=0.1328 left_yaw=-0.01 left_pitch=-0.054 left_roll=0.0193 left_gripper=0.9986 right_x=0.2922 right_y=0.0033 right_z=0.1759 right_yaw=-0.0022 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9987\nstate[joint_eff]: [-0.6359, -7.8017, 8.9778, 1.79, -0.3199, -0.022, -0.1587, 0.1709, -1.1829, 8.4718, 1.7265, -0.0415, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4618c5e243f16e1e6191554e64b1d1b5b39669dc5708958277087eae9913e4c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3809322268c79a0212aed22dae384b65b3c397b2ebb0fe97357296fd4e600daf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6884fdd37be170896012b6061e5c3d8296c428e4e7b6a881c21271d0e784f8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6083, -0.3763, -0.0227, -0.0261, 0.9985, -0.0166, 0.7891, 0.6033, -0.3862, -0.0296, -0.0349, 0.9988]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.183 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9985 right_x=0.2935 right_y=0.0039 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -1.4564, 9.6752, 1.7558, 0.0024, 0.1245, -0.1685, -0.8137, -1.1419, 10.3316, 1.8388, 0.0855, 0.2418, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5btC6C1UnT8eZ2f-PX8-StMY15genVmhtChOGmb2ueGmBMRYJyAX5iqE12uufLk4qx_q9kG46CFLoR-zWqZX52JE5MwDYG0GcBVteZu65kOHHYegG0w08qYkvFv3zsjVPTPRk22gX3VvvkJLR8PUtkPCk6Jba5RonJinPKoLNKFnEbohUDp5jjO8sKmhN2HMaxHs-UbXjQCuFBROHrWS46etCAPKT_YHP_u2uoLxr-P2B0CjyvaEj6_YKDu80ybYBZ6GobJVh7WXiVCOuMtgmx8rZx5vyPM98GkIAJnoSNuRXV80iXLQLKlY7jN8VNHQrgbkRN91_yHnsp2ilmqz8z9KvOskFhOEn_Xu-GN1x3MWhHxvCUFn1aMbp_0N8lGwi2ehPZ3r4AnIJ8x5Ea-7DauAsferKpW1m5mDjALLXLUDA2f3bKjXYgMQx_OqlR4p8zj07AQ9CQybdbw9XzPuoDSkuVDx6gpJyFw2C1apZ62cJHsRlrrxIQdc2N2xvW2RIGMFEyOcuDvG_K3jeql2UP_mmxssn-zTuqsCdyEcgymeQp_WUvpWf2Y0Rn-uiJcfJvP7g930N0qloEn-vqYwpzanw2ao5n23-ptXb0_NRQ-ZfTfD6DxD-UlHHkhIQa9t66nKzqD1KKZsVmSukfC5r3PQKndhjBp7khigflD8-i6zmOnwkHE5GCleW8EE761xlE8bB42ai79ktH49DMvtEoW6Pv-mEKcYgzmygIo7uHjMIQwm8ylUPgduipCB5paD8D8JSo_899dP_HT-UYnD84acEeWQ-xwkrMoLt3EcN1KUmtID-AWu66ZJACSWJxeOHomtCNOkuHBdY2L1Ds3JP2dqQ5Jlkzsy2HQFdowTdcOMh-jrMQcUHWbg_lpEUUvl9FNzJ_pp9nkf2Xi42CH1DdES6ZJtxh3IY95jF-eG-Ph-a38c6CXeV1F6aU9mxvEcklR5GClR1WdBlVMXtLOowwg9YGH9RcESo1vzIcM7FmYrZvI7AybLLl5eQpt48X0kzvkHtl7PebHIxjOOTWNMkj8OXL9g1JqoUrU5GlWXQPsK5lMs5ZoYYmANsrQtuZYSHzUeQXRROHLtbcWWz2gdpIts4pSvIQQqdRLHmhPyf_gXG9Kwv0lugEtvT6aga2O8AJk-Ewlp9zXWbNGhiEmB4d0QTJ8kL1-qzgV1Ak6-8WuOZmyY8eZLz8neIqHwumPDRMDYpXzNRhT0Uy2v13MaGcWgjDz0dCUH0F3cTpkcY04I62BzJzi5qSj-NJuZ2yISk6iGg8yVU8nRyXyg9ocslPYL4E7Wb6g-6KGRp-dGVr5MyLlSgk85nONBkrc0HGJqPT4xGINQyJSBA-pD-K3eIqUbRfyDB_AGbab8tf3BqM4PNkqGzj7f61k0DJjCWRxHcGtomfLsH9uCSnH7JwAnjUscIqMuffHNJbYgu5hCUdRP36vcFDjAjweh6iPwRaxjO1fp_RPevhf2g3NxUIoKgN4v6TnXWH4MEfuhGbJEia_C85LMJlEWUVczJw16MLoptKyLUeulDSm_nZlkoT5tADvsowIspjw_2vZkcCaUBNxYx5tIUVPo_HDZLC2FH8H8pjE0bAJ-914hKoamkeBY3joNOW6jECa6iPJET9fuS5dSf13uoQ1rpK-W72B5796I764bDYlrIuNKnQIuxqrTYmOvuxhq7GkGa8RQO-JPv7tSJbIABGfDvUX8PYVlBlKlIFDY72h70DTvIz0zLskUghOuSrJ1TrP1ujSaEVeyxShncEZH4eBm-1Tl70a7ZigUOiFzRGsRQi_xguQZFemBTuNxrOi6_TuLdrYTrLB2jzrLxk08QYfOY4GB4dvhjnUPRnqwM1teysltKuFMp5wOjv7w==",
  "id": "rs_040fe02a51ab0618016ab2be53f0e087d0a9d64058add5ead2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.12,\"left_z\":0.045},\"note\":\"The left bottle’s neck is left of the jaw centre in the wrist view. I am shifting toward it and lowering the open jaws to neck height.\"}",
  "call_id": "call_MkaUvmp8RbF3LqHZ1ll641ON",
  "id": "fc_040fe02a51ab0618016ab2be59532c87d086f185aaf3121293",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MkaUvmp8RbF3LqHZ1ll641ON",
  "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]: [-0.3973, 1.8347, 0.7959, 0.3748, -0.3614, -0.2581, 0.9983, -0.0193, 0.7918, 0.5896, -0.403, -0.0303, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4408 left_y=-0.1133 left_z=0.0413 left_yaw=0.031 left_pitch=-0.0534 left_roll=0.0188 left_gripper=0.9983 right_x=0.2897 right_y=0.0034 right_z=0.1693 right_yaw=-0.002 right_pitch=-0.0332 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [0.2667, -7.6239, 4.7795, 1.8095, 0.0757, 0.3541, -0.0366, -0.1846, -1.9761, 6.735, 1.9121, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf30ccf3efd620c907988747b276f61b1854dccfa48d5e433baf1b995a3c67a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6626aad2c49047e4bfe6bd4c04778d13f60230120a564c41a9c7442ccfbcde61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161615c61c53aeb5c005a6fba217f6a7493619c94ce9a3ebf3ab2500de00d74b",
      "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]: [-0.5247, 1.5974, 0.963, -0.0528, -0.429, -0.3164, 0.9986, -0.0193, 0.7982, 0.609, -0.4053, -0.0303, -0.0357, 0.9987]\nstate[eef_state]: left_x=0.418 left_y=-0.1529 left_z=0.1328 left_yaw=-0.01 left_pitch=-0.054 left_roll=0.0193 left_gripper=0.9986 right_x=0.2922 right_y=0.0033 right_z=0.1759 right_yaw=-0.0022 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9987\nstate[joint_eff]: [-0.6359, -7.8017, 8.9778, 1.79, -0.3199, -0.022, -0.1587, 0.1709, -1.1829, 8.4718, 1.7265, -0.0415, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5lHoqGneEejlFsdATk_YI5AMJyDA5bMUIHZXM5qReH9cmxthhSRYjuTRROmOh4z3_E9laudhPcJw8EU-Rl8JTGG81ftFwynwU_YbhhQqdm5ixwda2E0NFCCl7dgLie8MA7hSWJKMiTAg9_gSZgECcnHj4avIYe-0Ojz_gk-7tHz1tp2dTLgWGJ4dZvaWaXhD5vImqJKqSHGFfua1SjYP2--xPB6_bEFW2x1AO3c6RDHjKiWzLSP0oeDe0lEDSlDIlYGpsFviHQ4x22t1sqj2JQGdhRABEFLCDo-0XIE6Jab3ojyN38Hf1g3-zRBJFXIeT3t__UO873_K6xvIkT7ZTwLXg1jkzME10MwQnMWlg3pJ6FfgZynECvPaiEZbCUDjplPIy0MDkHcmXmPzx_av1Ki9vPNk_RFEZtIk96HBeM4ccVb-8iM2b-8SPTaMCZQA2RCV16rWUKiypVYmdYNZCbaj_cwk4V2Srt8JRoHs_FlIq1HeSA0VopmL7bgEDKocxeGt2hVXlzEU7jDn9gUZl-6UL_jMapYlcGY4c-igb2OeeTENQmXShDILpC2huOGUWygxPWBtkXCGbGXfM-1eBcuOfkEcA5FZ9qTKboeSjQvn39Oi5ivkFnHlFnez1hSr-j7Y0FPDezPkLt7bpvwFcwhvvnT-dy_usYLTDN4QBoDF-cmN_WsyB8k2s-fL7yrgJmIPRwZM-SVTjiP4AcN_XKqxUPlivAwSUMrQbBnvF7N3ao-V0CQ75-_CEd7h4LsxjIq4ABOmh2MinCWLwOOpTSbYXmnZH1nXnmR7EEUNvGQfSK7bJZoBd9lhP_v-qrm7dsxrqNPQfl1JuL0E45Wpq07JkL9qMdiZVWVf39Z9su2YwDCZgWPX8onTFDfzGSFccxfsUiusQqdZ2DA8S6oLyLwkacwOQkas9Y4TOuoKpku6PBUOQc8XKwpmbF48Y-c3zLi95gy6K5XwZSz9lsmbI2Qk047EtPdWZgxz1H7e7B8PN2CBEdS0TdkKBLeDDzPK6j5v3YeogWkeBMMzYmu99xvSkCwsYekoXP9RNeVVVaT-ZUWh3Kz1xOpzJ4Z0WmV4vRY35oEqCljVkNBP-m3q20jwN9_m5chNuYWrfe7HknHa2BhrqUwjPX3mwfJ8Xyj190W1AoxQAstzR5FGB2X67L0LX7dzbQq4vV-5uXKX2rAxm2AXiSFHF7fc3cEFH23Yp5FyOvnIJxJrCgW0t-UVVS_Uvrj3nnhBjjKnrUn3pCgOknYw0Rr_69Vg4UifQdViGuBVi5zEGq0tubrDlY_O5RT-TYKTfO-75sM8weM1b2mnch0R3lu1LM4n07zxKpuxS4UXN6HK6XJykcUgJ_dev4c4hcrSf2rP6yPc32i4C5GvtKxSVnooCA8_-3O3GWLbdaQtPblP4WjbYV3B9AHZ1wlsglzk5Ak54eLkJSLe0KUXuILFCDt8wPRzE08jvokfs8NIuJEfPfIHHxZgE_3mLgE1TCWZQBJTHZRg3kjLV3qHu6jxkpg3k-M95N9vEqYM-Udzf4_3tiyC7hd140TVxh69XZVgF6k664O6W-omTXjrptGfldLIQ3lFhSYpxxLp2inaQja24WAtjMt_DcNxI8fw==",
  "id": "rs_040fe02a51ab0618016ab2be5f647487d085951373104cdd61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.10,\"left_z\":0.045},\"note\":\"The jaws are still over the bottle’s wider body rather than its neck. I will move farther toward the cap while keeping the jaws open and low.\"}",
  "call_id": "call_EojkMcgrKee9LNKGEaYNzjrj",
  "id": "fc_040fe02a51ab0618016ab2be632d2c87d094990850e3f6b62f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EojkMcgrKee9LNKGEaYNzjrj",
  "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]: [-0.3187, 1.9369, 0.8936, 0.4431, -0.3172, -0.2386, 0.9983, -0.0193, 0.7769, 0.556, -0.3935, -0.0299, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4801 left_y=-0.0966 left_z=0.0428 left_yaw=0.0621 left_pitch=-0.0053 left_roll=-0.0142 left_gripper=0.9983 right_x=0.2857 right_y=0.0034 right_z=0.1599 right_yaw=-0.0023 right_pitch=-0.0423 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [0.2256, -7.9385, 7.2, 1.6532, 0.022, 0.1441, -0.0171, -0.2256, -1.7436, 7.3368, 2.0537, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d159d2b1f66aa9f268fa701a703d9f6977a1583880d4fa92d766cb8b30c63e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfc72162e5f1ec249292b6a0c5ac73425dbabe45ecf210cfda19141e9a4c4e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d599f8ed8cfc8760197c9e372d51b9af7648771752ba154ba741d0be8293b10",
      "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]: [-0.3973, 1.8347, 0.7959, 0.3748, -0.3614, -0.2581, 0.9983, -0.0193, 0.7918, 0.5896, -0.403, -0.0303, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4408 left_y=-0.1133 left_z=0.0413 left_yaw=0.031 left_pitch=-0.0534 left_roll=0.0188 left_gripper=0.9983 right_x=0.2897 right_y=0.0034 right_z=0.1693 right_yaw=-0.002 right_pitch=-0.0332 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [0.2667, -7.6239, 4.7795, 1.8095, 0.0757, 0.3541, -0.0366, -0.1846, -1.9761, 6.735, 1.9121, -0.0513, -0.0659, -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": "gAAAAABqsr5sgZhNbWA7jxc2d99cNt4Q9Y2LtFvVMqJ9jc0b6nHcZLsLk0-t-Q4hnUr6SjqO4BIResjQHiYrT0AqLJVPOGbcgJMrGBHiYAB0KFaxAM690QtT-A6KnMa3UlVFe45Ihre1Mz4cSb-9i1j0MQTGrUAY4GwiyKmRXpGvlKoKcHR-1xkaDSRDSGCTTDzuLoMk7sTwZ3hl9rB0H9OAGOe1FC7s2QOhG4sZMWGBwqWoBMUtrRRBUGO3hJ0ekUubgv3lCw1VWgzFCBuzxAeYVSpBPZjkkMTBPKOKTPrXCW2N38z1DePR8yYIN3rZwcWi3shuzy4dIm1bQqEEoaTQV-vPTL1SjC-uDFk7H4ZubhsOX2aJJ8BlmqYaBTUoSq1Hg3TD_qRj-glwcmu7elbrcD8fXPkyEizNLihfIjH1p6of7UTkQfnd44-S8NCFFQwagA69zn3MXHWklgGlsU_7LE2FgbsD0dTB_p3oE9f-odaIkxCCQTnU7PYTW3RD1pKwKa9hwVPTngbZh0mITN44lu5JoXQvCMJbDtmw2fLAcA7iROuUEApMyszboHqYJfRgGScF3qWr6oip_ZO5NSTC4JbfvSccNFrRpmcsRp1kxcDPT_0UbhvrHW_xieR2sKwOv5qU_Wew9j83nsfV9uJ9vRGvOSN91CN972sPhKszIA_Y_qM83K1RJhac6jucX234aWdUDPMuo-CD709SBlvzaxbjx1UUfd29DDJrOagw6AmL0nkWoEX2uyfLv2G1LEXK-KjqnIUr4XM48dfxm8l2awGHfQ6h4nUVadJnwM9Gg04DLnjyFGzXHqFqUrlFidLPC4iTAQc8rKscvF7pOvy93YXl5CqLiJFeVda-7XaY-6Zo5hQnXGKCMdryk4YR-8omgSj6E2AydoZW-6B0KYJbbfpXR9CUygOLAv7YgvUUSm4zPLhuDvgZRamC8QwkT1P8_X2Q-9--n1AFwywCCFJy8-scNpYmxa1DsM4MEuumioN-BsnT2WUhrxI-LTXUvs8m85YlohXQKZlUs0dpBMAYZ5lXjtxYdTzndTI73BvY87dXrBOwZp3l3lOGgcvcplbBvOEYqKuo2Of0O8DvEHSEb2sviW3MBTkNd9_DSAh6kDrw8QQwi4p9MRuug4uIAIFNZrU9TZTwlwEHheq2uo1BLgkx-sDgv9WoOWRJ7xG00HRoFt_A8daIkyWzJA08rZdMYAAWujL9YdIqV3ihmRFHnVKVl7oUG3uM58P7s0PAQEbGu1g1am4BUis9yz_oHcPJEFgIo-3DlLwl5yaerM6pZ4ZeI-3njTPArFX7xsjOaDtJ3ke7RsWIsLQ94KTyr9JzkCCUuLFVSHbeGlo6wkyLvGDfGi74BK08daPJPcgOD4lg15QXJCSMPmSY2KBDk-OkDPSqXuLgyConS9-KNk4CjH8yOK-5AA==",
  "id": "rs_040fe02a51ab0618016ab2be67d5ec87d08d0757ff9701d766",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.09,\"left_z\":0.035,\"right_z\":0.185},\"note\":\"The neck is now centred laterally but remains ahead of the fingertips. I will make one more short forward adjustment to straddle the neck.\"}",
  "call_id": "call_0LmSBoiAaGpH7Sy8QdXDwB8Q",
  "id": "fc_040fe02a51ab0618016ab2be6a389c87d0960636fd60002cbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0LmSBoiAaGpH7Sy8QdXDwB8Q",
  "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]: [-0.3088, 1.9469, 0.9146, 0.4366, -0.3061, -0.2352, 0.9983, -0.0193, 0.757, 0.5732, -0.4335, -0.0303, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4857 left_y=-0.0953 left_z=0.0443 left_yaw=0.061 left_pitch=-0.0033 left_roll=-0.0188 left_gripper=0.9983 right_x=0.2813 right_y=0.0035 right_z=0.1649 right_yaw=-0.0018 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9987\nstate[joint_eff]: [-0.3624, -8.5675, 7.1316, 1.7167, -0.0073, 0.2955, -0.0171, -0.3487, -1.1419, 10.2632, 1.7656, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe985cd50e3f1345c333c4b6984f44721e6997b9097210c856a0c57c852d3f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3290f0699e9a9d86bd3ac0403d528060d829e103b393511302e128f68f7faba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e262f5c7d2fb660e5fadeb96ff403a4861cf094dbf1d7e2886b5810a5b2c7c",
      "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]: [-0.3187, 1.9369, 0.8936, 0.4431, -0.3172, -0.2386, 0.9983, -0.0193, 0.7769, 0.556, -0.3935, -0.0299, -0.036, 0.9987]\nstate[eef_state]: left_x=0.4801 left_y=-0.0966 left_z=0.0428 left_yaw=0.0621 left_pitch=-0.0053 left_roll=-0.0142 left_gripper=0.9983 right_x=0.2857 right_y=0.0034 right_z=0.1599 right_yaw=-0.0023 right_pitch=-0.0423 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [0.2256, -7.9385, 7.2, 1.6532, 0.022, 0.1441, -0.0171, -0.2256, -1.7436, 7.3368, 2.0537, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr5zZ0cx5BGhKGAMyMYrn-9MuXEm8kiVN63WoWIM8LK3XxozKCcEcWhsm_60QTr9YNGU88MPA8W5GjjBw-2UhauQU2zrKdbDBpki0c1D3R3bgj6o0MsZ0DqJPg_NSQRLpw0Y7eEilr7QXWpP-BGOAKPz1Fha-jInSZw4nRKn3I0sTSUj94zZDeMl1cVLfdWauHKq6tCTlH-RIhbzB1ILljxbuqTNlZNInMrlr1p5YJ0c6isL0z-4pNG-ZdZEdbO8VXgxDE5jVvxu8QTeKTCva69ILimDE57XEeKEaowsDr-QDtd7-sNF3E1ancYOF2tQUZWLwEMwWG5tBfMbXEXeWP-JZIlRzEhk7LYkDJiuKKJ_EYbCGsB7xadnm-BkTV_XsNLNlDYpBjpSRF469gtqYqs7lH1mdQlujsep4KItU1KqIfDt9iqFOV5bISFU-K3He9pyyLN_gAnQmFjpCoQ0EsN20VJ6I_y77Bg1Q66GShdBaj_Mf7t2fybaVhem71tr34AnWIAUtmYX57GrNttvehpOq27oPns5OMktMfkD9KSSf3Bmtu3fCALoTtEcY5GpLn2NkI8ZSQHIOIhoGKEFRfuP0voW2NMPSTOw1NpoG-PXKP4tiV3gl5P-raOOlWrsUTBxAK4-OYq7VU6JyGYbJQHfU0v8MpQFi-9Viu5xVhVnpm3TC3Hs0QZ8BdLNUBMtaqW_nMBXSwJ1ftgyitw2FqhxbaLe83zoBmDmrJVNqOAYteBMk2GCkV9K2BM72ZQc1nZiKLl1DZfiOkDtf3dEtcmekJKw4cUR5QRWp9EQ0-zXWJe4YCLCPLLbw56M4CFv72lAodVKamjbamcL-vqwg3Puf9Fsd3mkRuHywM3Ybj8VWGqtnISCvf5vSivbj4BZ4Fq2q0-SVrXT2bvRhXa3eJw8iSpVoqCFioJ_DOu84cyqxsnTKl3iQ5c_bluh5oalCv-KYqykO8eVEUHQAAeYS6beMD5_y-rq6b8tTnf78G1d74VAZuzHPZACzB8WLP5MzQ_uBSe9uqDyM0jlUMmo2QlMBhQZOuBfTQUJqi38f-oSDPPnzo1MmYBgeJ4pogpajeyZPm-K3klnFF5sjA8NJsDaBXQg96foARXPKc7-8s1NdUKLryeeOu3GTsLOAgG61ZmTSaXXtC_F-Mj0zNysdcsV2LAsT8GyIVmqtG3BsK-ZJ8_0rEDvXNNAzNlF0MFwhxsytU4IWFDZ-vvHh-kTX3kMpe34V4DmvE8ZEtxuTFCz_ih0X19q_iDs-fTiuZJ3rmtQpUMgCPhXB7tHZMPxFbBC3jVmex5ykfXNGrVn-_DSQ8MSdDuHRvJL4Kxpaza9oG_ROiK4BMiEO_bJK3vwpCmXEQ==",
  "id": "rs_040fe02a51ab0618016ab2be6fddd487d0a84b50ed92c85cc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The forward reach has stopped short, with the jaws around the bottle’s shoulder. I will grasp here first and bring the bottle closer before trying to stand it.\"}",
  "call_id": "call_m1yjA3OvF1LjdulxnK2PMA7u",
  "id": "fc_040fe02a51ab0618016ab2be71a98087d0b7cc828b45e90219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m1yjA3OvF1LjdulxnK2PMA7u",
  "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]: [-0.3126, 1.945, 0.9215, 0.5007, -0.3359, -0.2359, 0.0121, -0.0193, 0.7303, 0.5297, -0.4187, -0.0303, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4953 left_y=-0.0951 left_z=0.0617 left_yaw=0.0832 left_pitch=0.0702 left_roll=-0.032 left_gripper=0.0121 right_x=0.2765 right_y=0.0036 right_z=0.1551 right_yaw=-0.0018 right_pitch=-0.0473 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -9.2786, 5.0803, 1.116, 0.1392, 0.1441, 1.0672, -0.0889, -1.5248, 7.0496, 2.0781, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd543520a26a79f7ee99e01c9f4f39de3bafcf8fbbfe7f30878b929920dc07b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4745b9d945bf2e041b590de246a84d87e19ef9e68545f84a0a35665d1c1ccc76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d2c3fdb92dd6fc2fe7afbc0ec4c43ecf4f2314945812d3ed6c5613a11c7ad27",
      "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]: [-0.3088, 1.9469, 0.9146, 0.4366, -0.3061, -0.2352, 0.9983, -0.0193, 0.757, 0.5732, -0.4335, -0.0303, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4857 left_y=-0.0953 left_z=0.0443 left_yaw=0.061 left_pitch=-0.0033 left_roll=-0.0188 left_gripper=0.9983 right_x=0.2813 right_y=0.0035 right_z=0.1649 right_yaw=-0.0018 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9987\nstate[joint_eff]: [-0.3624, -8.5675, 7.1316, 1.7167, -0.0073, 0.2955, -0.0171, -0.3487, -1.1419, 10.2632, 1.7656, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr57uIRQ_uhMdYHXhRaVCqt11UbZ3ERYInqlo2OBW2fw3euYWZxxhdZaQlEHlGQRlhHACePk0gzZST11OY_2toElkXtiU7CIi8KEM9Jl4EfbyLZokwJ7t1gGf2rZdn2MeaOUoTTGa7Cix7pBk0J-n9CgE_M5SQdTq8VuMlWmZSSGRmWeOs0GeBxelzMl7D6PQdaMXWgi01hAqwGxq7-Sb51GM31YXBkhjryt2dLGt-aaPf2D09aCvDd5-AJnyg0oc6WgpFcINxzF0yRQfCS_bbRYtb4lOH7XCrSVS871T_ai_HLSb_gTTdDiLz8Mjsh4ORYPC2NYy1W5DXsbgBXln413RdMMQZx7XcCU5F7SF8nnFkzq9MaS7KwpcgY79s295PYFQyK4H-zntZjDHWGfGPa98vOYb-ursoL0_ufcCQrKWrWpmcFvCe3TUGIzo5cExeTvj2ljpR-k2TP2WtRkh2kvyneNiDAvCiGEohZ-KO21Kvo3Ii_-nVgZUOtvFmGi3hd5Al7f2k0I_kVBZ77Cp04IO79dt9Rsn1ea4-MYr77v7tskGu5Mq4swhXpSqg_OVQeuVMaFQAWmt2h_FqIIQOPXWlCorgwzAotkinI4EdDaQRDSFmDG9BUwTf2o59Zr5D_8dW8kQ8wqf40YzPdRUmnV8iPu37l1OArx_Gfu622IGfN9P2t8yUpEaXciwMgoi6vMHKb8GbRQ0Lh0QHl6-B2xYXEzltALxMdTle7xKiURu-oThpk8VmxkHsCjS8zBZI-Du549zBr9e9CxfcOmO02CkMUK3bpyJ9j9Tqf-60PFFSX6JRkNNFaqkgISP422sv0eVZgDAbEF2qDkCrHKqXW12Mih7AuSsdkD3hhjb8lzG2_r-_55Mvgd2uc0FZQAhN3kocClzPi0ewUth3FCU8Z1_qI-wQTIg84FkwDlDFIKAJuUo-ZwHZpFdiQNXJki6wcB8oy-DBrgFj73hG3CoAz3OOJ4bsTxZAvFiNixk_vZNldnAlRGSUFHGd9s2GuOY9bmdQNcSyEeXKwgWwpqSnMaXEi4KtrDy1ppUcNniJAMiTA6WiJdCXyfJsrgjJQ-h15a__2XrOhtoXNkmkAbreES2THeBnbz5mRlIEmhSybWoL8qklyBLydnPaGOecvENbIwU9keZpncOF4yoh1mTtZNCA89JaG5imT1IYNWYRKNt6tx9OXlHkvOXnLKPAl40byxkRThySB4lSgMQ-Iyc68tDZTV9nqPU3X4jVb3MSr2PzsqKVRsk4Kgq75jewFrz73b_UJFFZPiw3EWPd6FusUWnRL0JJNfVNa_ova8-6_ayGQ-SC9zjMAwyzUadR-52uirgaOO8r62JVujKH-NBAKHSnBIo8sBn81GvDsLBVu6ci8=",
  "id": "rs_040fe02a51ab0618016ab2be7780fc87d0a91171a0eb0aa15d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.105,\"left_z\":0.005,\"left_gripper\":0.8,\"right_z\":0.19},\"note\":\"The gripper closed empty, so it was too high to catch the bottle. I will reopen and lower to table level around the shoulder for one corrected attempt.\"}",
  "call_id": "call_Nq1nTlaHuNKkGMFrIOHD20Tl",
  "id": "fc_040fe02a51ab0618016ab2be78e8fc87d0991bfab338b2298d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nq1nTlaHuNKkGMFrIOHD20Tl",
  "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]: [-0.3485, 2.0205, 0.9157, 0.6178, -0.3744, -0.2684, 0.795, -0.0193, 0.7067, 0.5865, -0.4896, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.4987 left_y=-0.1086 left_z=0.0483 left_yaw=0.0982 left_pitch=0.1099 left_roll=-0.0587 left_gripper=0.795 right_x=0.2721 right_y=0.0037 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0377 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -5.9419, 2.9607, 0.8034, 0.0171, 0.0659, -0.0708, -0.1162, -0.1846, 10.0718, 1.7558, -0.0757, -0.0122, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10598b9ee9af8524e9ec49e002ec5effc1d760e2f3f65f875fdaf6a1c0619939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1776eccbf7cdc95da339ae246e0edc6662562e18a5ea89549700a6a25a59f041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cec6fc730640074dbd3dbff176c04c741a0ac95e7dbc355367eac2b40f34118",
      "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]: [-0.3126, 1.945, 0.9215, 0.5007, -0.3359, -0.2359, 0.0121, -0.0193, 0.7303, 0.5297, -0.4187, -0.0303, -0.0364, 0.9987]\nstate[eef_state]: left_x=0.4953 left_y=-0.0951 left_z=0.0617 left_yaw=0.0832 left_pitch=0.0702 left_roll=-0.032 left_gripper=0.0121 right_x=0.2765 right_y=0.0036 right_z=0.1551 right_yaw=-0.0018 right_pitch=-0.0473 right_roll=0.0003 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -9.2786, 5.0803, 1.116, 0.1392, 0.1441, 1.0672, -0.0889, -1.5248, 7.0496, 2.0781, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6BbDiZY7cSXo7joJlTmNFA0h-AsUGh39ttrQScKPrsfbx0leGOcXQLUJGJUdYDf6poFanM32nBfl_ZHAvXBaw740l6dy-sRO_aT4W4mYlEPCBPe-ryGGkCi_JFXzSEiU5KrGBYqUevYsqRGyxkpVputkXfkr3xA40ecxyJkDE_pNmNSjdA8nc4CG0puL3ZyjDkJ0e7t2vRFAir6H5Z1YzYT5r47Wq--VA8T3Lj24x6ndPpuv6HXfdQ7yrdNtZcjmcjboA_iuW3PJmjdO3MTa44YdsXO6AbhBiLKC_5dIOuT2OGInfB8lPVHngbLFZNO0E-TbZbWbxG6xl3XT-fdKj6_2Q-_bA5hrXPu6RdmulZTQv8X-jRD6PoZ0a5twW77oJoJfaLODr6NG1DbO8nua6UOq8EgubV-xi7aK6CR1P1tUAnNVY3lecxl-KSq4rBx3O66LdQ-WzhkybR7ds9Mr6UtV9ApcbtY-3xyRqqGYvAU6bRm9ctLJVxQyFECgXiaQT3LNDXRtyfVpNRNAdEjI7xJgdJKAWq6J-GnxTa3dKZcpG-DvrlDR-3Mfe9mDjlkg1_gATTQ04KIjzH-POWD57EPeNiTZtcs9Fn4VdwswJEypZm7CaOv4ETcf5uRmaQGt7vRUuknnqBFJVVt7tkgPlcUTwRvJQugP8-PGp5yo02LcI9n21AMfWCQ40MeDcf7EpdNNscFsbUHKwBQbu_yRqEHYxrNnZoXunKZkAgZwhKWEs2x8HzeBS7ncfpQSzapmGXEQ2TrGEw6uoOXiKcH6097vZ9NeCUkV0pPU_WXre5wHNJJAp53kWvNLAAQFOjL21i5CGqB1_gku0QgEIJg701x0OxVMCIufZ-cogE2zGTL_DESsg_5PvaB2CSoRJpoEkqAMWd7dlrf-ijdrkWyeYmrXfKI1i8ze7HKqFp4NVHBa-Rdqqgy95WOAfP0pH0FmnBAPaddrx4a3fO12v4R-5Tq6iJpHsDJyDycxX0kR_SBunAJnfrZNxV6OftKbFJoTte-GYF-19LUo775JBvqrLTXKZmzgg1ff8HHbUBacM2glwnbx7pN7yigRpbTmL7UtSm6ntGD_uv6NEIPy_pkOPwHaETE3CwAMuEIsDzQePWMDzggOXrrIzb1fgJaU3QaPaVqzC8rjCEiG4PEaQyi-N9OR5R-0DrwO4Sj4a_URdkH8lfviHBzfHWw5It4Z6eSBx6wEwj464wgAfEkSUbiPKQ7ay8xMtCpcv8UHhRMUT80uS5GSelj61wP1OscII7jzEKFJ-znyxfT0tCWTIExXUS2-LGdZhqFbWEeYWLLpbS-lwcDCKl7NyNANbK3wYVCnwcGyq-QZLwDlqN2kRd9pXEjoEfWXiAcR46eUxqSPut0qY=",
  "id": "rs_040fe02a51ab0618016ab2be7e3e9487d0b983ce50ae9d10ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.11,\"left_z\":0.015},\"note\":\"The arm did not descend to the requested height at this long reach. I am moving back slightly onto the wider body, where a lower grasp should be reachable.\"}",
  "call_id": "call_PaNsfo0XiIBkigHLh2suW4De",
  "id": "fc_040fe02a51ab0618016ab2be7fd13087d0bbf0def05bf2a8f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PaNsfo0XiIBkigHLh2suW4De",
  "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]: [-0.3977, 1.9644, 0.8242, 0.6239, -0.4156, -0.297, 0.796, -0.02, 0.683, 0.5507, -0.4778, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.4713 left_y=-0.1167 left_z=0.044 left_yaw=0.0973 left_pitch=0.0921 left_roll=-0.0533 left_gripper=0.796 right_x=0.2684 right_y=0.0036 right_z=0.1646 right_yaw=-0.0009 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -8.0615, 3.2889, 0.6862, -0.0415, -0.0611, 0.0952, -0.1709, -1.1282, 6.8855, 2.0586, -0.0904, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56de7f603c6d6d36f002ea7c8d96d347e46e4ee47734f5629f8fe6ecec1eed6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9762a0a3c485216290569efb21ff85d503bd4b680e7129989b872d7038b144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa8a378e085be24a88f2f1eba43dbaee54eb4a238e8dc550555a6c31048a901",
      "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]: [-0.3485, 2.0205, 0.9157, 0.6178, -0.3744, -0.2684, 0.795, -0.0193, 0.7067, 0.5865, -0.4896, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.4987 left_y=-0.1086 left_z=0.0483 left_yaw=0.0982 left_pitch=0.1099 left_roll=-0.0587 left_gripper=0.795 right_x=0.2721 right_y=0.0037 right_z=0.1725 right_yaw=-0.0001 right_pitch=-0.0377 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -5.9419, 2.9607, 0.8034, 0.0171, 0.0659, -0.0708, -0.1162, -0.1846, 10.0718, 1.7558, -0.0757, -0.0122, -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": "gAAAAABqsr6HIBGHG53nrBZGYOhA1z-5PqyJukHL45bFzXXPpl4W5AbVfnueOCCVSdxEa-K7HRbj9yd1fK_iqsQjlpIu1CrSWJJHs-NQzILYijyFjOq9E8Ffi7egnXkeIeVOkNsJH7PrSt6KGYROdJDWJBDA8NLaJWR9MDFaGce_b7H9GiE5o0g6aghhbPGq5OEliLJ6VFtTSTqfsTUojYRtbO4QJFUUspBmDIZ0F54p-2IoB17D-jeMO1T_pjCsOgrJ3Nwo-Uns06Xr588e9_lkW0lHmANDT9y-kEu6uo9rp6tYzegcA9Dq9YmVDh6bgGrEw6ykQdwIhotrLNMXqpq5QefoVgYGb6xvttyw0KC7SDzwNPu1ZAckw5SKOv4Pwcey-Tn4qm30DRWvBDncMl0hvInhd7V6nuFygNki1__NJO0wsy-qlrVenoWDthAfJ6Dydo8J4DzhWGIu3Txs2bJWvP5kyVsXrSDtDVnW6cWgvOX-R91AtCAkPFezbtYlmWk8236brlkGFevtvg0JU8HYdQeAa7QvEH2hCOy48JYqZxqdBXVG-4MMOVfst1Hra8HFmiSx3jxrr2qP23cMTHVjMKxh0pD_1nza5NXjjrWqHlU0I_PWo4yW3qd0r12uHVYwYt7Zs30zwkYNN6S6nRlB95MQfWxfiqYcMdZtutneHyZsJq2v22gatMGhiXehl6dVhepkU4bUYvLeutpPVUH5Rb-1fWqfHlW0Yyo93r3utrArtfifhiBFwy-JfYP2ZGiP3SWo8h4SMoyQ7imn_KyVZWXBML-GeNGoCCdXEMni7Rux5rkGtzoOwmaYLiX3SJhE6cLcWmuunf1Fq9Z-JK2o3VlZBXrCYW-dQGWOsM8x8ealJ0xmcoqEpmCrybJ0d5m-aKIi9-85UzSP1HTudAVedEM6Ns8vlWuQKo32U98vICdj1WFO0rJ-o0RecebDAG0CJvThdzlvUY267GEWqPvmDYjBSA9Vjch6kEiB79M5JKyX4ju5a0eoOfh4kEBtEGdccFco_pYsdr83kHzwKEOR1vH16DDayigtllGHFiVX_loLrDeKw0ZiezYzHuV1DYyBndI9iUX_b-3scJjnyXXfV8TMgEWgI7CbdqB0zBTjsqLxlSsCBK6KF9XdvbyGaFNSaN1ofHhGqT3tIJwTGZL2cGw3VmF4_PRN6zGb1DRygzBe9S0mAdSnBDl1IohpbwV3RXuYNnO-XvG7Tu4JcOYW_C7O7uYT1d4O5zVrkY6mDPoioEBUjHc=",
  "id": "rs_040fe02a51ab0618016ab2be855d4887d0a3b4adb08626197e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle body is now between the jaws in the wrist view. I will close and check whether the fingers retain it.\"}",
  "call_id": "call_U4YlgLYrph9tIavBcA3G79dw",
  "id": "fc_040fe02a51ab0618016ab2be86115487d0ab9de1ff762c57df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U4YlgLYrph9tIavBcA3G79dw",
  "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]: [-0.4053, 1.9499, 0.8066, 0.7002, -0.4538, -0.3153, 0.0121, -0.02, 0.659, 0.5179, -0.4637, -0.0303, -0.0391, 0.9987]\nstate[eef_state]: left_x=0.4738 left_y=-0.1151 left_z=0.0613 left_yaw=0.136 left_pitch=0.1638 left_roll=-0.0912 left_gripper=0.0121 right_x=0.2654 right_y=0.0036 right_z=0.1585 right_yaw=-0.0011 right_pitch=-0.0327 right_roll=-0.0022 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -7.5282, 2.947, 0.4322, 0.1734, 0.1343, 0.7106, -0.3897, -0.7043, 6.6803, 1.9658, -0.105, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ac0f1cdb39d2da3a7ab79d7a72dd033888fb6ce298dfe245fa043a78030cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae992f97b814333b6af0efb925265806c43d7de73988030251197e1a4085c01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2a6ab3e434d6ccf04dd90fa7b17890b7bfdf4eea20b8f18c950d07a6f402fe",
      "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]: [-0.3977, 1.9644, 0.8242, 0.6239, -0.4156, -0.297, 0.796, -0.02, 0.683, 0.5507, -0.4778, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.4713 left_y=-0.1167 left_z=0.044 left_yaw=0.0973 left_pitch=0.0921 left_roll=-0.0533 left_gripper=0.796 right_x=0.2684 right_y=0.0036 right_z=0.1646 right_yaw=-0.0009 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -8.0615, 3.2889, 0.6862, -0.0415, -0.0611, 0.0952, -0.1709, -1.1282, 6.8855, 2.0586, -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": "gAAAAABqsr6Yeniwwu17B9WTVO5C49tPwjnGLQ3XNztsYeSq3vS8IVv_vQr5fOd7yNBhXn7FS_k386SMz2ck7ZcV9bnlcjbXOZ9Nq_s5hvAessRMArwDMvon57ZOtJs5OvdfZUj0aR_-FN7Q-Rp5cSiLCINSk3nTW-v1fX6ohvbirU13sk-k_caZaVVH1hxlR_zOKY1h7ao3iKGqU5IlRHehKDjwM1LmptEfvBHmr3Nv5SK4DAv_A0eTh9bfBRJt3jX94O2ABcnUnH8eOkfTiriOltYycic6ufuRlvueGGfQ--mN0CGEvCu0vW4ZIlevDoP6_kXQCDvMWCsQ2gPTuoKsxFh57xwKwGqIMqNy0c5c2wNbwJU2qXhh2uKdeml8fu9eCcmuX8igcyysDg_R00kdJiuhQF1IcC34yNpSL2m8WbPEsTrR7qPQPdu3VHb_f2387jM-o7t94f5fEA76DJRNCB8KEdxIUlr1lYTihp2dAsTRn9hcIhPuaas97X5OV6aV6n9TQ_ONy1TxC2xYB_grPlab2BL6jsokr1z2rB3ZuwC7Yy18AQ8-XAyg8PFhOCTg9VrstxShclC9vLnGLJfYeNNQTxDE788W98Z9UA9UrbjXwbzC-g6tccFq6U4z-BVP7fOZooRUAojs-aYlvPNGzWAXtD669ZVwDZLlpAY__uUtvsSpLm-hRW0l-33Sisa_q4Y-EUTTERvT1kPbG7ueSgdzWu741GPArgVD52dtaTy1cz5zc5swtYa93hOnh2fed6sJyAYH2gcoTYufa1WNTw5CScZmARrNkVKQzsZ6kfYMUWbIl25OR7yKfRoGdU9Qbvp5MItFSYLZgH1PNCaqnzon28mAReLrtYx8L1Ia4vJCStvse6_9CkEwU8sVtD1K16bV7PeyU-VDUwwKesLbIF2Xslv5xx5ShPOVnP0UF98HfkWutXfR7F7cKqBkqUxTWBQOZM-ARHGQzYbtTVDPNLw6-YCTwfWD8WqBoffOQ3zRnNZGfZy8394-JyXf5FB5UI1A22fALadiB8QP5nhPjdT2j9pA9d4Rk4zEgyYgPuzuN3XFcH8FS6B67-Vg-bBPxY2SytJzhtrwAF5km5Cm8bTQ4PpwRKS2dzrOFphNNRBCXLgrVHz4q4w0f5ysuF4eSTsWwwrLfTbiEEP3qoC8KRM4N1wwt_YsAdMqhusNI_pAYwUIEmxR644uPTomRfsZhlyg6eBZQANWwpE6d94131yjgRKtyDSLETZM1R1GTtxXfCUYZ6eljJBPUI_RpvL9G3PxRX_bXTlisWHjQYuVaipzMGgNu-7EyBG5kgqwhlocYILC-l_cRxE5Vz-VY-rYHH79jF6uPt-_IGGRkjSGmphwILGEvtLL8prbf1tHlZMzq48RVL9msY-bLJ0DaNCTKJCX2jqMfZAJb2ssfX8QNCWrrzL_qTVK0tTqvU0cDPEUrMPBD_r6x24eyzpnwr2scM1mym-RHnPgJwfMc-OJFU-UTkZwjNFrtorPN3p0f-umWz373B2akcEJDUs-TMvwFg8KlDU5sBPTlk7GKb0oyGDMcAPSFbtrLbD44gC6KtZVI5tGIwSw_AbMJIMwujM9rWQQD3FFXcFk_lbs6GmS4SPsYyoQIf-vVC6GG0uVsNaqBpSWbowJj_3sxzKiK8IMaQGjjfKtVI7XLvoU6fBqOSf-d5oPE32Yz2vq3IJ-MORUh7cF8HFrKWOMuh8C4QnZrXf5p0rOJcSp7ck2P20n6oPAE5gVkwUkg01g4neE-QvEc1cWgRdc_smse3hcYMnRngUJ_kOOR22x0I_tF0c84Ws7EgA0JdBud2Yd-SxuG7JHF7Sb0xsBdP5z1O5EnsLQxmqv5Rxdq2DOScnVF9OVDCVd--fD8xAtC-lFiECtJFqPHBjfZ5Nx_aNXh5ZAItMhQ-ajGnnIOECi2LGCCQs3gAa-SOe7RGpr9O0Hgy7L7VwPCM7XJdR1vZhB6uT52CS-oj7PzagmHSiUuF54eWxcfdeFnDeDmhyW2HXTDr87ZeBCVWxTFSROj8yDXR9b5rKsTFY11WcuW3j9wh8alm4iE5FET0_YyCFTk8X2oUTATwuFlxd7FFu2_c9ma-SMMqoLGuSwCUh7KHUeOwg9WKMZYXuJivzvFzSx6sxekUUpdUBmAS-5XUFJ8CdcpCK6v5dgGVffp17E6mI5qN_KGlax_p6bnzesLy3mCfnjlvecuVSaxpj5Yun8fhFY14zrLIubz9XiJeg3j19gu6x1IYIDosDo_xVSeUwEyz6DXjYjGxIYVOQw_dekupyg-yRcPytQq4nG6U_n6hH-T5yyrb_2ZsKWY1jmkRon7EiuIFiP1daCDp4Gvuo-ddMXR8Yh3uV0-4nZIIhPv-vGIs6Oc_Vd7hSBs70Qeg==",
  "id": "rs_040fe02a51ab0618016ab2be8ac79487d0baa3d7656ae81809",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.185},\"note\":\"The second close was also empty, so I will stop repeating that approach. I am lifting clear and repositioning over the nearer half of the bottle to reassess its location.\"}",
  "call_id": "call_KnDSly6A5c1iP5oupcl2bUYF",
  "id": "fc_040fe02a51ab0618016ab2be95997087d0b97e317b5a9ba2ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KnDSly6A5c1iP5oupcl2bUYF",
  "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]: [-0.6109, 1.4956, 0.8822, -0.1013, -0.5922, -0.4629, 0.9945, -0.0189, 0.7925, 0.5877, -0.4419, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.3853 left_y=-0.145 left_z=0.1414 left_yaw=0.1102 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9945 right_x=0.2838 right_y=0.0037 right_z=0.1604 right_yaw=0.0008 right_pitch=-0.0747 right_roll=-0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.2803, -8.0205, 8.9368, 1.5751, -0.3834, 0.0952, -0.2076, 0.0615, -0.4991, 10.3043, 2.0928, -0.0415, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430ffde99036e2f5c47bbcefc00643fe66bea264026250842e6e5fb976238c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45b361acecc45e8a703f0a7f7da23bdb88c97049581281e207f9cbbca700e66d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6178b873159b707db292646a6193370ebe082c1cf0a0d6d4e73ce5add898f6",
      "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]: [-0.4053, 1.9499, 0.8066, 0.7002, -0.4538, -0.3153, 0.0121, -0.02, 0.659, 0.5179, -0.4637, -0.0303, -0.0391, 0.9987]\nstate[eef_state]: left_x=0.4738 left_y=-0.1151 left_z=0.0613 left_yaw=0.136 left_pitch=0.1638 left_roll=-0.0912 left_gripper=0.0121 right_x=0.2654 right_y=0.0036 right_z=0.1585 right_yaw=-0.0011 right_pitch=-0.0327 right_roll=-0.0022 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -7.5282, 2.947, 0.4322, 0.1734, 0.1343, 0.7106, -0.3897, -0.7043, 6.6803, 1.9658, -0.105, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6fbadQ7W4xjRFKlWrBufBlYEoZ1Of97VoWmWsvTxc56TB-1jJwWbpdpWGL7fNheZsUiT7xsv1sRlI74kd7T7_HRlgnBXW5VNau5TLwNcdwAJU9Jw55sKHUi0x6p1YcipAyjAliCc1UAKBBfHc3ycIIySqcqx31bSUAa7MSA9K5fwcxEXywvm8gPlxOPzDMuJj8futQ9u6Ac3m8_Tmnjj0VyC3-zNTsklxQoQQDakJKeq9nQmf2mMIh7V6i0S6eL4JTi21tJivrEgG2LbAoN9rNRynPWGmaabL8cHCP2y3mIr999XVrN9qejzog3ZT7S78Yjh_MfXM9uZYHPKRV_RowvbVXdsT3Dk9AIzToND8pyUq6LT0QeeF3POwtBzvmZN7GWHtcTpqcvFPzYPxr-PDGFbthMIjsSRdQC-rZsfMoB3PAhLk_1wJyTlHN34zr73xc8QdirliQ1nokDnCsKtPeJZcqqS8sySqIMP9TQTQjXFk7Hwwwn2sMCwjT-OenEaJnsN6lAwRDM7JCNbTP8B-ZsHqfNH8bX2zhCZ0W2m6eoEGzS9qaplj7GWShwRZ_HZmHuS0MjAve0mrX8ncc4nTFHDn9JEYMEKG5GWDLjDlNes1C6ZxTnx4miL5OElZZcSfg4OZroNKrSNsMuazjI8LQllw1lKW9zVRObv3ErK5nS60tRcbrkfxqynR9BjU9_ps_i5-bGAcRBj6EgtmflKgeC_Yqo3DHHIDfoYdIUttye2ctX0b83e4jw49StUB4ftf4Fro3EMcexzckEwURWBA5-GYI9GIeQUrJj36CvofbYTXeSmyJ4pgLElo6NywGPOgOfQTXVdtmkzxErIcApuVFElcHTBeoElA7tbYT-AyqYxpVqB8CwDUAYBUy1BTBSVKrkcR9IfgRn1nDln5MeFWc9zjeVvVDoR9suy3hexrd2tpGOIKhPbPAb0Xw_Wb8CBa1k-Dl_uAaZyyYguqkhRMxkhTJk0DvBuoFOK400rBhp7Bn1QKKXt5FDK-78enKj3paP0Z4fNuSRH9FCOyK5Eq0vuPV4YGrAIm5v6TAJzNQ5d1TULXdbD6XqEm2lYt8C-8XgNscVtjkFdtqQcnHhOytfIbfpnVKw3QztlJS4V-3ulDGgQ8APAJRBXjWx88CEENzAeXd4swg0QaVS7vYtSM5dSrvN4Bfq6lMDqWcLRTCsDTTMhcCLh-1OO1OT5wMybxYxDixsaewwioDYI19CvfCyiSJUI7rs_cb1NoYC15i5bd0-FUxlETg8PVthIYHHeio",
  "id": "rs_040fe02a51ab0618016ab2be9c952087d0a5e3bce26a8a8ff4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.015},\"note\":\"The nearer part of the left bottle is centred in the open jaws. I will descend straight down here, away from the previous reach limit.\"}",
  "call_id": "call_EeFfFgtAkwJIXDxE7nEy5A8f",
  "id": "fc_040fe02a51ab0618016ab2be9d491087d09ccaabbb9211eaad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EeFfFgtAkwJIXDxE7nEy5A8f",
  "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]: [-0.6033, 1.8, 0.6209, 0.4801, -0.6483, -0.4465, 0.9961, -0.02, 0.7433, 0.5148, -0.3908, -0.0303, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.3841 left_y=-0.1308 left_z=0.03 left_yaw=0.1517 left_pitch=0.0221 left_roll=0.0299 left_gripper=0.9961 right_x=0.2789 right_y=0.0034 right_z=0.1506 right_yaw=-0.0007 right_pitch=-0.0472 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.4342, 3.7812, 1.4286, 0.0611, -0.0806, 0.1441, -0.1709, -1.6342, 6.9265, 2.0928, -0.0806, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0adbd7494f4b588c91a9a5dfbcd7777636bb074b009e6adaffd38671f74878ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2c9b7689bad93d6f7fcd9d486aa456ca9a85efc2971bbb5c01f957778a1a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de14ec41f684aa4a53e4ce6257ee6117913d401600a6f318b54d6e1562ca27be",
      "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]: [-0.6109, 1.4956, 0.8822, -0.1013, -0.5922, -0.4629, 0.9945, -0.0189, 0.7925, 0.5877, -0.4419, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.3853 left_y=-0.145 left_z=0.1414 left_yaw=0.1102 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9945 right_x=0.2838 right_y=0.0037 right_z=0.1604 right_yaw=0.0008 right_pitch=-0.0747 right_roll=-0.0018 right_gripper=0.9987\nstate[joint_eff]: [-0.2803, -8.0205, 8.9368, 1.5751, -0.3834, 0.0952, -0.2076, 0.0615, -0.4991, 10.3043, 2.0928, -0.0415, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6l_cK4BMFzYLGh2QBSsqvVklS3NbcyqwME1WJ-QrEnf8kJl_RSBhdxOoHXQa2gEBKJAE92frlKQm9Xf7zx6ICpdh5tK1YS7yAZdNIlgC5GUyLg9kVKu-CXwsl9GLCw6038YlSm8R949r7r2NE60dm2zkSS7o_JNB7zWGwoHyefylMw6J4hBfhmuQoOgosLc3kHlNitY1n9EjGbg4cuGw-GN_8Hou9M4dw_Q_SANWAGizh_CT5LtktCKieJ77ylRPOqlREa03sj9afbLX1VHFgfrnPFgXoAu8bY-Ly4Ms_1ZuR8Wh8n4EnKomD7K8O9cQd1-Ff2OYHD_dHVHTlh80OiLFWDQRlSmKSrTMAkkISSHkST4LxnHEN1cSpTtM-_eD6yNvdT33BrfzOSQ82J5-unT4gvdnC59jH1kRq9DaYKmTDVzGYAHpnvoqIcydqFZ5bWOqQ0rRTiBo2_sej1R4NktD-t1UHnEmdE5Nq6wL5Ovnq8qs1Dgf2VVoa48-8P780Hkgoy2roRpZU0QOURc30SHFxGPG3mRsrllT5GDAImYxE66S0HXwRgr57qm4I_PWFxiU52OPeIf6uVAtMntzM0IcpFX5k1U3bPBWYvpL858d3WnVkdIbeE67whw_ZuXy4Zl9voeWKfZXCu-2N7-UM3txxvmx8Ghoo4UiSOSpPgFawdgYtXIvZyxtu8w95_v_fmCNiEtT6tuL_LQefV6eJ63M6LUcNmvY0Ar_x1p60CqmT9-lKws4hpFS6DSbthBFIFzxiDfVuntL6J6Foozy4Qj1RiQzfQKvdOFDDpHskf5jT4IGCfwlvh6YCQ_5Ark2bwhNwlmPlCiZMS1NfqvhdwNnhBFtOP8JwNIWwpWBq8ghoI-yEzoal6nmudV65ph9I1QF4_GwkuiVvaUQQzYokkDX0IOv25O9o7tcpOVMshUGvw8vBGXf1fq-zR3Q0SADHMnUYzO1x73hrLGbxv8e5Y9ivQXidn4-ZxJDr576o0KSgd07YMYAbn6wMpgg2Trbv1xDgoBCW1hW_dOi_x_Zk9MMHAByZB_kmbKfCWtSnQ-xdEs609rqEUcbrun07gTZk-NoqVaC-vpxNO-PvQBcdwi2y8e4CQUwDaaHfkdpd2I-2Ve2ixubNo-r-nxHaPy_Ez7HIsUZmagjqoFfpQmGjxEtgfP2EsxS14HnLMk2rxAXJ7tP6QcXWAtOXChml2RC97soCBrbmXJGGfjepPLK3dmJQyJymLTYCuVkQmO7OhSlQ=",
  "id": "rs_040fe02a51ab0618016ab2bea2ea9887d0b36cb8e7f58fecaf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now surround the lower body at a reachable height. I will close on this wider section to bring the bottle into a better working position.\"}",
  "call_id": "call_vCzRT4IH5U5uMNhAUlzvTohj",
  "id": "fc_040fe02a51ab0618016ab2bea3781487d0bc99b252b3a38763",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vCzRT4IH5U5uMNhAUlzvTohj",
  "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]: [-0.5892, 1.8061, 0.6071, 0.4545, -0.6102, -0.4736, 0.5756, -0.02, 0.7139, 0.4709, -0.3649, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.378 left_y=-0.1266 left_z=0.0168 left_yaw=0.1516 left_pitch=-0.0278 left_roll=0.0194 left_gripper=0.5756 right_x=0.2754 right_y=0.0034 right_z=0.1435 right_yaw=-0.0009 right_pitch=-0.0358 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -9.1556, 6.2291, 1.4628, -0.3004, -0.0269, 0.9744, -0.5402, -1.1419, 6.8308, 2.0244, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b42a456ea52558bc5e0610be53d43bf5683e3288930941d4262cb6ce38fcd002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14806ad1415f9a583eac053107b9e3decb0422785507ab066d5bb93f7b762e91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa158f6e228b27d08f0b9fa33499d23c986fab1f34410e608b05247e8ca513c",
      "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]: [-0.6033, 1.8, 0.6209, 0.4801, -0.6483, -0.4465, 0.9961, -0.02, 0.7433, 0.5148, -0.3908, -0.0303, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.3841 left_y=-0.1308 left_z=0.03 left_yaw=0.1517 left_pitch=0.0221 left_roll=0.0299 left_gripper=0.9961 right_x=0.2789 right_y=0.0034 right_z=0.1506 right_yaw=-0.0007 right_pitch=-0.0472 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -6.4342, 3.7812, 1.4286, 0.0611, -0.0806, 0.1441, -0.1709, -1.6342, 6.9265, 2.0928, -0.0806, -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": "gAAAAABqsr6tZHftphR_vrdaz9SHhgxb41eCJm7JUS_Cm0l_GZ1h9EQwJCmYnELAVmTWmhJyGbb3JMGWzFQVbmf71XdfHCS5M9LAqa12OPHa2kKzAu2jmeNk6Pss6YXNHfZ-ZmETUDTsU4p17s_SnDukkwICA9UUth-fs3Bn7Zu_G7J8v7hLppxIoXytHOnZ8iFAS0xHFDXUMwQYDtbvcDnMKsIiX8nUyv3HpVTIzjENxreItGgLqe5GBE8j9MYNTyS7ujMcj67oZvMOkBrwu4HwRA36rcBGlz2lrdEMUaHgw5AIUfZ-iZdWSfEt_J52LnD2I-Wpta2uIr-jD3245W7AtdAxtV8rXMMuveRhgwGe5sMH49tVBvEO3LoQodRwdXEF44qp6RohTPXobUDZcM8cY9sehhoJq3WydapPfkk-R2-zl3iFN7b0dzKoUrIn4kFHToZx9HXIwMQ_UPl5iETG3jcfq9P8pzi8O3ux5cKM0s_SYvNkYi8v63x5wZvURzw6VR48mS9EA6IeoXakaRkh3CECgVSWWusQhlj2LBFyzY2zOUoLl5lgbO2HLcOqLDQvPZajn8Wz2ZtZT_MPH_1aPx_qIDR-W7z_zEbtp45gU-cbN45bl7MhIcVl72x3CW8lWZ59IHZ4BEeE3stKK6QEbSWgGovOCcUVzg__mfLf8n99d3mnFicY4gwDXyomQ_6Axz9Bp0KQBExzyciWkNFNTWXktAsVFnIlGvT4CcJgAie0c17gp-dSUshqKHpHP3qLSZMkLEu_7udXdQrPwqk000GLsxEXWa3UN2wIVx6fS-Z_33mUC76U_SRDiC9vWWNsznOXt7j3PWIhr3rBgWOhQymvLRE9o7L1v_dJ46MC2OAPQ0yD1qxq2fCcI8Olt2KXa9nlIQaYJ6F7nj2HqrBr7ESI-w-NrixnM-9-IV3AdQW9dZ2wcQIhaXvu8JE6D7Qpzw-2EZUAyF50v5M8sXOk9Vrx9_jJ5muOFRVWRnXV8qepCz5QE8urSArAbZZnWZDVFur-myl-nwDAfj9fc19bh6fNfU2BCWs5AAW-FbeBRIO8v6uMv1NQ7pB3Ic0Eiw4cWvyD4IEELiXQ8cbjA-DFyNUeR9hXjMdm9C9w9vxhLs2Lo7sKJvC5LTw95GaJ_y61DppJOG3sqjQm_dhpmewecpSIZDqXW0ktTFXAUdHB35J0FsBOc4eG062roOAndkWjyzgTrVHdtusw6_lLsp2fgOGOuaQQuKnJnfJZlbZfUfbZQcQXGzlGSSMQUOWCzVaRwjvV8HCcU3AJSzoUjp4IivDtcWibrxkzW5jd-T7LgDA5MJxIMk8=",
  "id": "rs_040fe02a51ab0618016ab2beaa40b487d09437ce233d3ca7a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_x\":0.35,\"right_z\":0.185},\"note\":\"The fingers stopped at about 5.5 cm apart, indicating a real grip on the bottle. I will lift it a short distance to verify that it follows the jaws.\"}",
  "call_id": "call_mvIHfAZOLj45QofrOxgnLDFu",
  "id": "fc_040fe02a51ab0618016ab2beabc91887d0827ce970f06679b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mvIHfAZOLj45QofrOxgnLDFu",
  "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]: [-0.6479, 1.552, 0.569, 0.139, -0.5945, -0.5068, 0.565, -0.02, 0.701, 0.5564, -0.4576, -0.0307, -0.0402, 0.9987]\nstate[eef_state]: left_x=0.3367 left_y=-0.1263 left_z=0.0437 left_yaw=0.1036 left_pitch=-0.1077 left_roll=0.0521 left_gripper=0.565 right_x=0.2729 right_y=0.0035 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.03 right_roll=-0.003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -9.0188, 8.6222, 2.2589, -0.8181, -0.0659, 1.0281, -0.3487, -0.1299, 10.0855, 1.6728, -0.0806, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158652acf083362b72a6447a7d4a2fa8bc4fabca1d9be60ad172693efcf0b55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4c2d292d4035095ae3f877a7ea4bae2a1449706e4753522ce0e86fec984f56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e32aaf10e97ee226dfbb64c8d048c48df5cbfff70cd1415dcd8e831f8d3716",
      "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]: [-0.5892, 1.8061, 0.6071, 0.4545, -0.6102, -0.4736, 0.5756, -0.02, 0.7139, 0.4709, -0.3649, -0.0303, -0.0395, 0.9987]\nstate[eef_state]: left_x=0.378 left_y=-0.1266 left_z=0.0168 left_yaw=0.1516 left_pitch=-0.0278 left_roll=0.0194 left_gripper=0.5756 right_x=0.2754 right_y=0.0034 right_z=0.1435 right_yaw=-0.0009 right_pitch=-0.0358 right_roll=-0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -9.1556, 6.2291, 1.4628, -0.3004, -0.0269, 0.9744, -0.5402, -1.1419, 6.8308, 2.0244, -0.0415, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr60OyVAl88Hxl-RnxeA1W4SPf3T9s4hY5ZtD56t103gMPba1oPLtNVWgGXsb8cX0KZ0amRXDT2DAE-bnfpL493qYzVppakMfoQgMxUHtvDM6Qk8Va2MFa_uLs4EJ_3ZOW6Irvl-CYgbeiXzfcjpuhF7sBar72IYsNN90hK8JbtdbZ6S4GoR4AcvSVZuUAR-r-U95hdAEZ-bGGajC0eC2tkMq__Cdi9PCNYG4J9gJBCnM7qtbFn9Bk2tdIVcVWxoMZ9gZU9SwvBhRoer5Zm5z6KYHI59Y58XwKLqzap-iDqNUN113by9ELM6SR01-EEHaPKGk_KQxo4ZEYQg_2OaL9xSZxZgcR40IDt_yEGQN5nEWNjRevQmqrAJwBjAXEOcIGmW-qUxlHPpv5SrkereTWwwxnR8Zg9q2-n-a6sIHdy6dtyX4k-uNtkSG7mYuFlkij9uZy9xASByAsxkmk3-a9I3ou6j1DB4l_KnPtrdozt7Vw4dNezrNExTs4x8ZJ4NJkqH88boTnHotAQPrcEO1DKa-nC1InXqdurad0k4uNmy5xm01GUmsddZ7Tv9sc7EsMS0az-jCFLGOTShPZuxvEDMNv91Sw7NYlXebVpYMlvHqxrV8LLn42Hq1oXyo8Hx2YwkdyEPo2PmToaIJ-fb5c28KDrPc6dfCCWK_wkGWsY0yTQCByu6YeRmf6hZyWWqrPw1QkYsOk80OyUmP1XVbtqIvmNDpnBdoazHhTee9DwHHcPZuquRINnHL6dixSXxUN4gFkruXQHWDcYErT5FW8Bx_9ZsNEtU_sSPaAAfa1o4qiuiZngGvyn2rKL7BPKX1kKZjdPsUcsg6qJWEVNpnjLNTv8GAHLJJNuJl2OR6X47EDSR2YJ-UAF1KDoqxLPTVIxA7LoqXDuv2nB1eWcvz24dZnmXFkMNuwy54ywgR1os6HpppdM6XhwidqDsX1nB22WXnxFbjoXX0WGwxIgJAQh4koOd_7v1OnNLDY9SvtuMRHF3Q7K9EVIbO96SKgvPhynt-uXGQGupB7weYygs_annlKVPJtViKKNG9g_A6b8fq9exjueQgssSIWsULlCggvIcQwUkKqYwb3KCwSKg1_PSHjxgvHN6j7xaquSNzPirN4bzE_g36w63RNInSVXgebjmJn8DcWNyf5fyDeegroG-M8UEMOSTpBMlEiyGUCoHrl0SBTjt70zS0neJPNwYVJicj-bA2Gq3xPWKn3nuMGPS8Q==",
  "id": "rs_040fe02a51ab0618016ab2beb24aa087d0bc5e1c6af90c1952",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_z\":0.065},\"note\":\"The left bottle has moved with the gripper. I will bring it closer to the base so its neck will be reachable for the standing motion.\"}",
  "call_id": "call_5SeVosziwIYcQtmuEEEYGRzO",
  "id": "fc_040fe02a51ab0618016ab2beb2d62887d0a875f6d0fb6ed33e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5SeVosziwIYcQtmuEEEYGRzO",
  "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]: [-0.8711, 1.3125, 0.3672, 0.0303, -0.6872, -0.6525, 0.5654, -0.02, 0.6842, 0.5274, -0.4534, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.2628 left_y=-0.1326 left_z=0.0401 left_yaw=0.0279 left_pitch=-0.099 left_roll=0.0378 left_gripper=0.5654 right_x=0.2692 right_y=0.0036 right_z=0.1587 right_yaw=-0.0004 right_pitch=-0.0381 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -5.8188, 6.2974, 2.0879, -1.0818, 0.0806, 0.8718, -0.3897, -1.1692, 6.9949, 2.044, -0.1148, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c6d98d245fabd4a4e44cc3306dc2a084b38087ed7428e463a50c58688e25b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde35e49a01166422704c9e9f010fc6de27d960ca84eaf2ff7198e42fd0f675b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6e123fa4e0300ac2370740a54ce5974e56cf1dfec9f73de30b552553c552c9",
      "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]: [-0.6479, 1.552, 0.569, 0.139, -0.5945, -0.5068, 0.565, -0.02, 0.701, 0.5564, -0.4576, -0.0307, -0.0402, 0.9987]\nstate[eef_state]: left_x=0.3367 left_y=-0.1263 left_z=0.0437 left_yaw=0.1036 left_pitch=-0.1077 left_roll=0.0521 left_gripper=0.565 right_x=0.2729 right_y=0.0035 right_z=0.1668 right_yaw=-0.0002 right_pitch=-0.03 right_roll=-0.003 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -9.0188, 8.6222, 2.2589, -0.8181, -0.0659, 1.0281, -0.3487, -0.1299, 10.0855, 1.6728, -0.0806, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.025},\"note\":\"The bottle is now closer and resting near the tabletop. I will release its body, then regrasp near the cap.\"}",
  "call_id": "call_jZwDQVOpRTBlPT4W0B01jpwS",
  "id": "fc_040fe02a51ab0618016ab2bebc34dc87d082f85089b800dd73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jZwDQVOpRTBlPT4W0B01jpwS",
  "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]: [-0.8982, 1.4109, 0.252, 0.2993, -0.7357, -0.6537, 0.9956, -0.02, 0.659, 0.4911, -0.4408, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.259 left_y=-0.1291 left_z=0.02 left_yaw=0.0307 left_pitch=-0.0354 left_roll=0.016 left_gripper=0.9956 right_x=0.2655 right_y=0.0037 right_z=0.151 right_yaw=-0.0004 right_pitch=-0.0365 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.4171, -3.0838, 4.0274, 1.3944, -0.4225, 0.1441, -0.0464, -0.4444, -0.9504, 6.9675, 1.9805, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e167cddba736f37fdbd23087e4ca6f497e5056daff998c0f8704d0b482c74ff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f1ec0caaba1542aecc2e9d05e71db84d3472e947457830089b78ad977022ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b156e1124faf9218bbb89ae9e3ea1e060190fb6bb3420f6ab9b0b7942c5ac5cb",
      "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]: [-0.8711, 1.3125, 0.3672, 0.0303, -0.6872, -0.6525, 0.5654, -0.02, 0.6842, 0.5274, -0.4534, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.2628 left_y=-0.1326 left_z=0.0401 left_yaw=0.0279 left_pitch=-0.099 left_roll=0.0378 left_gripper=0.5654 right_x=0.2692 right_y=0.0036 right_z=0.1587 right_yaw=-0.0004 right_pitch=-0.0381 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -5.8188, 6.2974, 2.0879, -1.0818, 0.0806, 0.8718, -0.3897, -1.1692, 6.9949, 2.044, -0.1148, -0.0317, -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": "gAAAAABqsr7EEqN3h3pzy4_6yTv55CSpJ0CH0vtCHv8swBjc6WnpC2w126__pfk7fNWoe6yEkMFIPLNYZK2ZzUHKq1yyxffxI6_50-H1duUsUmGPvywkNiMarN7KZGMpWp3BXj5yZsQwMHfxFxjRfHoR4L-_p1nB10dsBlLfWHr-qP8V4IBudvsBbpPnjZgQ6lafRTcfz1VUayTsXmua-i61AdCY-QPg5OGiUK5_EYP3gmSW8IZBfGpv9IMxzHc7cKwgIBPJwUS7sYFQHegIXlpsf9JoSUHIUOtSqOrSTZ8cz1oib94MesokiuBUFHnhusExhhrw3gschA5HG6R5IThPZJUmROakDTYtlXtd5dU4K8LvvH9NNbZiuHz0ke2ZS8ohcT3o7CrUoasVl1ULPA1ZaA539ATsTWAZGPy42MIZlFfGHNIMy7PgMaYOBoqRkAA9YHAdn589NMavPHKVQjoplQn0JQsXgVe_PnujxuTMjRANcr7pvkWMwFyXQSMRtjJFWipT4KBY5LWFY4pfQjnh6YJ6fhDDFhaOIAsOdUoNchlByJ-HJ8BywLjZTeB6JBGbCZSAhDiV2AAacCiEdB-g_3uTMJbALuToJJALQMMqR33EfShPN9wbtqMpA2TeXK8sZjcEY4xVr2aqdxkdGv1226mQs4Icu4Qt9ff_bNk-UvvUBaEzQ-ycKjFKPn4HJRbYu4mOSRX0VmjhxmGbFShYHETgqKqCRQia9yT1wXgu6bIzKcEVJrhDLw9D4qK5HdqiC37AKgG1N4CUaXGRteF5K8tp1eCrIwJBx_v5cGW_bze7cdsCrSLjHgdv0ubtPSsdNcp9tT8Hx68lIc6dPMgJ3qs-O-n0Bvsw90eiroyBUtIB-sMx6qIbAuMFiEYfGScrKtsXRzDs8cCSFRXLxVN3Xu3D5FBgityxfZBq0G59TJq0DAQ8mpL-O-8Wca76cNJnBDJfozYh3jHpgoszzEE6y-EuXPZDA6apaj-vC7jNw0u3D_2gAiiDXX1FIski65LpjjVG3FjdGesxfyjzNX9U3p2DifNLVP345MLpPHa40vB-uvqollNisvYGGwLe_Zw2dcFusk4MNB2AAsCpoy3AmnFPTw91SEUnHKdVwB7-Fip3BfMEljJ0b3sEaxZ01VqY7n6fxIatGC8fL4RHunuVRhDlR8hEyOha4SX8aYfTFp7CVUViYF4zv2JFei4zl2OysAjVdRLH-DuEABTmV7Ef2-WzQwozjAxkSPXRQwHMn92CPejwX8xKgQic5XR6yWMhwAxpFrGMt7Cw96-9HnUsryLwq--OU5-ktSWeJbGfdFlmw6AgtQ0=",
  "id": "rs_040fe02a51ab0618016ab2bec08f4087d0a6af16b5285d7d65",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.12,\"left_z\":0.095,\"right_x\":0.295,\"right_z\":0.185},\"note\":\"The released bottle lies with its neck farther forward than the body grasp. I am moving the open jaws above that neck, now within reach.\"}",
  "call_id": "call_0yTjYtLHh1ZwuZGdxCiqg76H",
  "id": "fc_040fe02a51ab0618016ab2bec24e9887d095eeb15ce08f7019",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0yTjYtLHh1ZwuZGdxCiqg76H",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4339, 1.6653, 0.7765, 0.2584, -0.4187, -0.3107, 0.9967, -0.0193, 0.7929, 0.5873, -0.4255, -0.0303, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4246 left_y=-0.1137 left_z=0.0862 left_yaw=0.0686 left_pitch=-0.0075 left_roll=-0.0092 left_gripper=0.9967 right_x=0.2862 right_y=0.0034 right_z=0.1634 right_yaw=0.0022 right_pitch=-0.059 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [0.294, -7.0769, 8.1162, 1.6679, 0.0024, 0.3053, 0.1001, -0.0752, -0.4171, 10.5094, 1.9658, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5f9cf28a49e41d2aeb8fd52d0ccccc9cd92a6527c93c556ff5a6187a79c923d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdac010151ea006533791413e3b4ee486b0916a99e59b9f84c53c57d3c287d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d998e6b3625f17bcc46477ade9722e4a19c8986405dc8528068237d30e3371",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8982, 1.4109, 0.252, 0.2993, -0.7357, -0.6537, 0.9956, -0.02, 0.659, 0.4911, -0.4408, -0.0307, -0.0399, 0.9987]\nstate[eef_state]: left_x=0.259 left_y=-0.1291 left_z=0.02 left_yaw=0.0307 left_pitch=-0.0354 left_roll=0.016 left_gripper=0.9956 right_x=0.2655 right_y=0.0037 right_z=0.151 right_yaw=-0.0004 right_pitch=-0.0365 right_roll=-0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.4171, -3.0838, 4.0274, 1.3944, -0.4225, 0.1441, -0.0464, -0.4444, -0.9504, 6.9675, 1.9805, -0.1099, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7P67LDw6EYDhPRuTSmIIIF6CfSUCOQj3FiSZjIu8_sIn2XYlpNZ-4_wwFV4WWssbUSDjnyySPng_qmIyRnPNbJgl_cOcPvvh3_7o_CsOG0XztQ1RdnNwWtQlmSBaAS_rldaaKPLjah3Vo84wqizgkC7w0hb_4BiFsze-dlbxIhQ5Qousu1ujQqfrXK1qE4jmrGnJYng0fjgmneOiS0ywfwa8XuzlOqyK63oKELm4wqi_C-kOhAwvW-QbQ_wPIgXf5B5l2nfbCDVHDvQdytqMuZfQaLnAKcTNtkVLnY3Tj7ZIuuhpw9kld0gTCbBQfDm24hq3jgi6eM5tKuEuDmYpUdhPDuJWlxp7tq4i21s5UKDm3JO-FDzvFwIQ22CRiSQyY-AepR5yxfwgqTaoxBLHQbgN5JA0jA1qwMem71-A5FEqM4kwRs_nTOuA8w89ymuS43TzFX0RcSUycURBZLC6j_TU8urtkR1MFt8kiWGme1uBTjjm9Lv-XxMtHAc1JeTFvm-gw8pYoEmfBudN0fGMuNKbr75nfTqy1QEudPCdAMpecpdD9OlCjulF29UAkJL0zv08jS9OcAfGIGLouBHmvPSjISvb8Q2BgOiLlQN12ljaV35fV4gp9CVbInSX14UycPtNupU9NQFuHWMS2KR16Y3OeQoJwnnfNMFkwSiToo44N68WFGW43co_rW-3IO-Uq7HEZnrIX6tJQPmMZx6z0tzNW16Sg_L2QyXaie5Cym7R7Cja7HIETjNInAQDGHor9GCe8Um9_hDiPuuTYG_s7_DFs-1obsC_-bc7kjLGbEcNXIj4Id5rW2KkBa7F8njRBCczaM95FNhM_P9EDtPW5OCQYp48kU0tT9TNfkfOli_ve5JVwYEDZ7iRmUw65Abu2vba25EXzvzTTbEF-4pTRsnx3NFNS2H606uW0PqdPbMrAoMblGxas46T5JAKGfNBwL-IojwA4usK5b_r3iZmZIDnT24PsjPe3TiypTvFJe35SS9WDfIDCTmB05OYRrRs7_UG2iJNqtlP226ngFjS6wHHmH8NFxCTkwx3O70JyGau-316O2viQTUmrJ5g2z_Tc0xBdirnz3juxe726ExnjgCT2-o0zF-ySyL9SWHlj3X8XyImRmKDY9ysb8srb30AuIAwLRz0uaOJEnxdYsCftVtoRBLGcz2WNFD8CzssgaPG_3Xh4OhlvXJmUPUhh_1OT7blXW57pxb1aUfNADqN1Uo3Y-3qNVmdOVBcMXXu9rm6KDq9J5pogDKDRbID5lyb6bE44YnA3GDP0u-13RSTWCoKxTFEAOxRfrCngVq4lUv4x3HZrUGElbYFsKhZfe94dj",
  "id": "rs_040fe02a51ab0618016ab2becad09887d09d445400f23623c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.15,\"left_z\":0.025},\"note\":\"The cap appears just to the right of the fingertip centre. I will shift slightly right and back, then lower around the narrow neck.\"}",
  "call_id": "call_997xQaPDsQH5Gpj6BJubLGB0",
  "id": "fc_040fe02a51ab0618016ab2becd07bc87d099fe17e8a6d18bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_997xQaPDsQH5Gpj6BJubLGB0",
  "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]: [-0.5652, 1.8519, 0.7242, 0.4339, -0.4961, -0.3584, 0.9969, -0.0212, 0.7567, 0.5301, -0.3943, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4066 left_y=-0.1541 left_z=0.026 left_yaw=0.0255 left_pitch=-0.0364 left_roll=0.0246 left_gripper=0.9969 right_x=0.2811 right_y=0.0031 right_z=0.1533 right_yaw=0.0006 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -7.0496, 4.041, 1.4725, 0.1001, -0.2466, 0.0122, -0.5128, -1.5521, 7.0769, 2.0928, -0.149, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a14a051eaa5d0ac9f526a80973a312730ff88da0c89c158add6f2a283c89be0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79a3197be380fda2695cc9c4bde5ada8723ee4089390fd62aee257bfc24141b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b52866a3366b2fb93480ab989c5c6967fbfd797d55ba23c6668d329dffb6435",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4339, 1.6653, 0.7765, 0.2584, -0.4187, -0.3107, 0.9967, -0.0193, 0.7929, 0.5873, -0.4255, -0.0303, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4246 left_y=-0.1137 left_z=0.0862 left_yaw=0.0686 left_pitch=-0.0075 left_roll=-0.0092 left_gripper=0.9967 right_x=0.2862 right_y=0.0034 right_z=0.1634 right_yaw=0.0022 right_pitch=-0.059 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [0.294, -7.0769, 8.1162, 1.6679, 0.0024, 0.3053, 0.1001, -0.0752, -0.4171, 10.5094, 1.9658, -0.0513, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7U8BTVMLhtF8w9awAYRHMcpVAOJL_mAcqXO0fEg0FLJErxf7FH3wiyEEaQZj53BfnaARFDmzqqLwI9gvzbfdlKaioQTDTyzHy172N-v0NsucEZLwwDnPii2cjB70scdn-5Rr-usJXwaJtmA41lry_oD4A3lbPVI6gsYIBAujmoODtBPAAaIjIiretjwXM_8J_ygtsi8FR4gZyt-MOpuS4VnmqC7FePZz1dBs9ouuYke3J0b1V4oGVbvH-OG0FhlOY-okAXETDDHMDnGtDAhoziPiBw53aotBziQHAn4rrOzwIO4m5Txyom2pKT32f12AWnau4fTwpeTpzsabADpY2sJkAbXpHKT6JFbzKtOnU8icjrsfogaCZCxThdMrWAbs6nY1yRpOIfAr-dpDiEWkPxA_3l7IMuSnL7jkKvWe_Wq-J3u6SVNJEBQN-z5XyD0nruEIokfEdPIUVrfVWIFy_kXiwWa2-fAygqqYMqZ-dlI2NkRSKj-WuseJARX7rTyawe0iY0Url_bbFc2Q4cinPQK7xTXkw-x_9VoNpA6qSRjdIYCJNlr1Em4Oe4cLLfJa8uHGohexPy0n9irhe59HvvrbzsXPGvzLhFb7WGZk6W7gXz9nm1mjmSJk6ufhHv-xcNi4YdlgYkbWZxXV2NYDwkK81kxWvbXr_wfK__VK4JjeRbu9RyVxsrjUgoaEkL4eLzJd0U6P_telxIkBC6sAmN3-rQlVm_JvPNdJGZj-qlchQzx2qSS-CluaUlsfeYKhQJv42QXIZgoZj36t-wY843CitjrPeGub6TWMBWoBJtOpV-qXqOd-RrBTjOvqNA9B9JfrTlGysELvpBlR2K0geOBl6PyWl4oqYosqE-EgP3K3zH2Jeh9lin4SVGqP3NsErblpCK69yUDAqeE6-ReTveCP46G7o3fgeG_pUMAtr3Pb02AnyPznA_P2nTJlsk3e_W3MGcjXPQC0i3j4D2BEhv0SMWRMWPaF2RdHYqiexxkkiITMvtVnOEYFJ5Zn0mA84nCGT_4C4mlKVbiCnasN7kl3OTIW9bju32rcJDGntieaf1lIKyI8SGwZrb8Fou-8D4DKQZqv_TqzgGXkEnQe-igNvB0VZhl_Y045k1ntIPtCC5O3G-ETA3aSeYJKjxU4zP30KvKmU_bYOulz0Y-CQ1v1VRzlOVWLXr0ZcvCLO5XL6827nZwi17CHVquEEBNqa1Mu3tgrVbYyUixdeyHtYxdjdUKYhUBCdCfkuDORm-50FR6FkSWC8pynhiBTU_UcRU0Dbq-JS4JC2Y_RcoNupIohyWLncOjBSDvknnm2hZIaI=",
  "id": "rs_040fe02a51ab0618016ab2bed1d56c87d097bf68a13bee6346",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is aligned between the jaws just below the cap. I will close there so that lifting raises the cap end first.\"}",
  "call_id": "call_uv26UU7w96hBZH8jndXPYmaC",
  "id": "fc_040fe02a51ab0618016ab2bed343d487d0b3ef0472dc2ea1ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uv26UU7w96hBZH8jndXPYmaC",
  "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]: [-0.5625, 1.85, 0.712, 0.6033, -0.5323, -0.3668, 0.0128, -0.0212, 0.728, 0.4831, -0.3656, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4231 left_y=-0.1565 left_z=0.0555 left_yaw=0.0649 left_pitch=0.1061 left_roll=-0.0565 left_gripper=0.0128 right_x=0.2775 right_y=0.0031 right_z=0.1452 right_yaw=0.0006 right_pitch=-0.0384 right_roll=-0.0056 right_gripper=0.9987\nstate[joint_eff]: [-0.3897, -7.2137, 3.453, 0.8767, 0.1832, 0.0513, 1.0867, -0.6222, -1.2103, 6.9402, 2.0195, -0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ec08d942766eb14bac054153aab315807c1d4f2c151c0cd7a3c4b17a4573b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c88200c5a41d86f76db7c3bbd2d93f56d7e826c59ec86dbcfae6adbb9a7636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a4018dd976a213e48dc6edd0ac00f1d4c0300dbf343ea2293aa4e37ef341c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5652, 1.8519, 0.7242, 0.4339, -0.4961, -0.3584, 0.9969, -0.0212, 0.7567, 0.5301, -0.3943, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4066 left_y=-0.1541 left_z=0.026 left_yaw=0.0255 left_pitch=-0.0364 left_roll=0.0246 left_gripper=0.9969 right_x=0.2811 right_y=0.0031 right_z=0.1533 right_yaw=0.0006 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -7.0496, 4.041, 1.4725, 0.1001, -0.2466, 0.0122, -0.5128, -1.5521, 7.0769, 2.0928, -0.149, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7fAb7ax-a1qRvRF794NUcjdObgrOOtprqFo0SmFBTBxYOOPFdqSnVrMf3J0DdcUEaQaYno2mmUdeXtX_-9kMaJ8FCdJ5uvv2jfM5ctF8SMXo0YuHzPI7nrOnSX-K4zkFKhyPvFhK4-w88F83I1Ter2vtevUGE9sz51_gn9IGGPM1zum7It_bgSDerokHvo6Q5Y2BGjLCYErYIrIB6a-lncCopezNiX5ayXzkCiY_ShlJrkV5F8WEK-oJdZchJDzrZEM9HKvPTmuItLYnamPhiPfFuV0_cUXtER7KVY7-JGz4Vd4oCMvdJa9ehh-AlofOFhdq-Qjo3D_4JAunEF1y_-1S-GYd7fOxjzRCtdgyMCt2cd2QJpYSYaBqsZnjwCms567Ak9lCXnCuZ8lQR7gkcAB8tiSyh7ZID02fyHQ5jfJzFlgvqu3KylEtWU4EMNIYyhacb4CdyvnmA4l4bQWgBc386QmN5sAUeBFTucd2Lvehtyz09LH95ykO4uRhVNrhDUNtHL_nnXWkLWB8mLAy4vxG-4vVvioKDA5qLUB4FGDIibfWoP_xOdufmwTi93zMn4ScV6WSwPmWuDxpVy9zzCkWSwoDwavzWL59Sc4QcdJpRAcV0mVi_wqYRpuNvvnX45jMdzFiouk-0sd460cmfnqtLDO2w7FGRddjWfd__tVoV2_UE0hKE9D_qUYC8xbVCIgNo0SmQzEm81RaHOeKPS21m8EIrfsJaoIyiJMs5vHdvuBKnteEJT9me0CHqCBW-E_3_A7j80-9jvCiKcEf9MnGLoNZ8SCLIBcx7QwfxDPMJbfkAv5r31rl3SSXBmHUdwlDL4Ig_EXAK0hFkF2CHwIYhnRsm2xKMApwr-ei0Em2TbrjWJyHlMaY6OMgJPwsQw3mvirtBRWF9Hoea--T2kd8A_7RL23ZZ7fUUmyph083aqLHSx2A3Pg5WoSBTOMX7eJPpUS0Rr-vhmp_tRiMhQ8kqG_ao-1japtsyXA901F9niNzwcvyUUJXr76QfSeFqx4vwWcnhNLsLBOvuQli2YE5SL-ICFBob9VuAzC8Cf5s-3KHBQhdHDAAlQUJ89Kja-BR9SSqQDo4oCuEyOmyL1m2ntxOGth-OFzrdJw6DY9VpW2LGF21GsdCfcQAuQKInj8D6JiCj9VCYPC-LErSUTI_aWgj3SnNOKzhv84FAgwDq9rd4bSVAGTi6FL7TtL5OqgIgLcHdB22-mAyM3a2XdALVIERRekZEu0NZTjG1ws40GhE-8MNoStKEp299i6QTNdh3bdrArYzp4VwLk-H1CxaJwmwgvoMjlEArv4x9tUgjwCq-uAUgn_FpnkKW44Zk6xmfO6zTSJzhazGTX9EDeP90EoR0cKUBJ48dbehUpgOy-3xxM2TdsI16o7xH4MFJN1b0cjgHpXWePE7CiSM-I9mwJqdGNPEOeNxa1qJRVkvQvitsAY37mw85Qr1MFGu9F_SYeppORoskGCQG8CYFvp0cT4Gm24f2BV8UESpMFI9tCGxYTpsSfQisKuPDQQ6VUbLsyFVbsLAzql1m1MkzE1GgN3_ys0SVhybjNaECxN38bamxYUy9BA2M22fzBrnR5_dFx02X_AufqWXe-1lOxL2JXx3NhUDs5pvmugLm2bFfKed88QwtjIJGerYSzoi601nJZtCwzLiI9p28vf4NYrjp-5lhOsu5WCX0yU2F20DlBtfGJM9loMFENbao4WBRgXYags3dWMAXpHuGs-aC9ffEeTQC_WL9OoYcxcDjVwB_yyUhbHUym0z2gLMYSFG6AW8EmaKFfrL8qKLs4EHro98LGkoEJu54G4Wu0TH0nwMFdivnNN-zcvaDqHDhF5mBAqLykvxlzFtQn7f860jqWZaGEWl5nbAwnM0X0wGxUwfOr_JBU2gCTCAPOX-2xdQVc",
  "id": "rs_040fe02a51ab0618016ab2bed82a4887d0baf6c84c3b506042",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.15,\"left_z\":-0.01,\"left_gripper\":0.65,\"right_z\":0.185},\"note\":\"That neck grasp slipped out as the jaws closed. I will make one lower attempt, slightly nearer the shoulder where there is more material to hold.\"}",
  "call_id": "call_fiaq2lY3AB14W3x3mLxBeo5N",
  "id": "fc_040fe02a51ab0618016ab2bedd4f7c87d085af5acc94b540e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fiaq2lY3AB14W3x3mLxBeo5N",
  "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]: [-0.5884, 1.9182, 0.6815, 0.7517, -0.5697, -0.3977, 0.6463, -0.0212, 0.7105, 0.5617, -0.4629, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4214 left_y=-0.1624 left_z=0.0466 left_yaw=0.0902 left_pitch=0.1554 left_roll=-0.1006 left_gripper=0.6463 right_x=0.2733 right_y=0.0032 right_z=0.1657 right_yaw=0.0006 right_pitch=-0.0395 right_roll=-0.0056 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -3.2068, 1.5932, 0.1441, 0.1832, -0.105, -0.0708, -0.6632, -0.1846, 10.0034, 1.8584, -0.1197, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6ea1059070c5aa5515e17d04df684590362a61388aada6865b4aaa49a549e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d13c42495d6aa472b5c4d61a076cc8b19b10c4f8c9b2910d859c32ff1b6d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed55a17ddcdedaba8cff2a6fb37e911ada5033921223f43859baa79d8edb46e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5625, 1.85, 0.712, 0.6033, -0.5323, -0.3668, 0.0128, -0.0212, 0.728, 0.4831, -0.3656, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4231 left_y=-0.1565 left_z=0.0555 left_yaw=0.0649 left_pitch=0.1061 left_roll=-0.0565 left_gripper=0.0128 right_x=0.2775 right_y=0.0031 right_z=0.1452 right_yaw=0.0006 right_pitch=-0.0384 right_roll=-0.0056 right_gripper=0.9987\nstate[joint_eff]: [-0.3897, -7.2137, 3.453, 0.8767, 0.1832, 0.0513, 1.0867, -0.6222, -1.2103, 6.9402, 2.0195, -0.1197, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7oaj5zkrxB1Ut3hONL12MpWaxRJ3s3NJV4FBXQMGXEMuOKTfK2xRgrp9ITIX48yuEEw2KqvM6-J82FeQisrbhWV-YjPlWgOo357sbFQCJ-UdKbfqk8iaHpYFhuivZN-G3cp7b9au_StjEr-WBRs0niLiD1hlWRA1PLxhKW2BNE-Arlg7RXXXEa0DX0J31n62yt6tBXC5-Rv9WK04wceAVd_NzSmivsNQO67o_r_0WcMImuuFaxfVU2MqO_ZKc-3rzB9qZ1JAhv9aW_sTpImKZoX78WLnwkPzVGogOsKT7GAMZcNF9kcDrKk1empo06rjyB_TeZN_IoWy-oeVLyfGQeFGc_qmxvCqcFF2Pcebv9wpkqYuFM5a7YnFDGHdDu6tEaAaphIrmveu9cM7T2PqUS7O6i6bSoKSo0ykkAe3Ph9fTKBcC_ebX1jwJKgyuXsJIltIL5-tyJtAoDIzsXfWIF33CNOO9Q1hP02zBsBKlo7dIGpu2Se3ERrVU7xUnYtu_wIICLRp4g9Pql-SqfZX9riN6WyzCsyDYAIvX3aTtpBDHuIfPRywEemjtOs7h1lVLZNudFZQe3eh0R3yX6qZdoSuPOG7PELih2Fa0HzU7pmAieGIlfsEQHouophRtVVorDcJTUdzDUpMxp9ihCiYKEdV6-mqJBC-dbNOS6KZX55ypEzsbf6s3OjyfdgY_NMbljjDPBuQyEGgtcwYBqUfW3K2Vx5uiJ8pc1RjETQtN6A1GyJ2Fv6_-Vzx8nLpATc5Nz5MDBGi42_PsdRd4supaG6POgjMjayOzUd3rOEfkwhv27UETA0rN30u22Alk62yG0fsjiENg1MgbdtEh2padaiPvjjOYBd6dsN361BLUs46-AFtOslOpAf7GwL0yqBbM9OGHzXNAUmfoGAARnQqqVC1fr54ScEA-NJbt6wRpNnwdCqaL8X6PvbGYAMAkNgnqk5cZFp_e827tnHIPiUKYb9Ys15WenghHMYnMhynOStfyivQV86g7_881cyCs_q-nzXIaj4tkUhXz3SeSxQCA8M_WsGfqOFfLP6bBPxv1LdRdM6wk4KIqT12QcT5UjC_3SsElyLXckpXcdCkO7LtFiGOSAbIaxgIktTmBJWMNjjHgtA0LhUh_WMou4VfgKPMbPUG9um_YTXIIvMN5Zc6BepUyr6la-RGz4rywtc2VX7oIP7hJ57lm2mkGufDxZIqQJxeI1kEq9b18seND4rQiGvSjb6a6nfCTbsQfPY4ZDGgx8_k6yqWMaSecluLrXrH34bEwE4n0AM6qOy8zww8Uqc8iSo0CAmaJRCbejf4JXCrKcYScqDetkRwk4EZ8x_PIVHcpojGMisnHhUyefP-NR5TiCCY69sS06a7EEax8JuxNL8e0xbLP0dsTwdGehI2dOTE4DB__nmzALmn58zhvDl4YREww8WDBrR2I0qGeDW4gJuUKVnR1FQSPJvEKESIbBSyJmXrCOEgwkxTHpMYGmg69K8ToDm_0bb9WgcmjP2TlTG6GfAm1S8M-HLG0ESd2IIn94ie9vsZepPLMbnw3drKBxqitIVgko7cyB7sOowoHh9ebU7r-XGbEDG-HQl_8GYoh-cAft9tjY3u5Mua5_lQ==",
  "id": "rs_040fe02a51ab0618016ab2bee22cc887d08960f9a0598ee265",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.17,\"left_z\":0.015,\"left_gripper\":0.8},\"note\":\"The cap is now visible at the near edge of the wrist image, indicating the jaws have gone past it. I will move back toward the bottle’s shoulder and correct the sideways alignment.\"}",
  "call_id": "call_JuNbUpRkdwFQmc2BCmRHSmok",
  "id": "fc_040fe02a51ab0618016ab2bee64fac87d0983489adb5b60469",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JuNbUpRkdwFQmc2BCmRHSmok",
  "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]: [-0.7513, 1.7985, 0.6102, 0.5385, -0.6899, -0.5285, 0.7985, -0.0212, 0.6857, 0.524, -0.4503, -0.0311, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.365 left_y=-0.1822 left_z=0.0396 left_yaw=0.0807 left_pitch=0.075 left_roll=-0.0585 left_gripper=0.7985 right_x=0.2693 right_y=0.0034 right_z=0.1574 right_yaw=0.0009 right_pitch=-0.0399 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -6.9538, 2.7829, 0.7106, 0.1245, -0.2564, -0.0855, -0.6222, -0.8957, 7.1043, 2.1026, -0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00092571db9bff9a8b1f4647fcbe228807cd436d0ebc08e5108b8d079b452f90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa7bd2eb2329f788dab0a69441bb6f914d889d4164af9d86f2377815ae580cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5987f8ae9b7175bb12d79bb65e8d0395350162c1a1641b8a6872ac6e17d7cd3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5884, 1.9182, 0.6815, 0.7517, -0.5697, -0.3977, 0.6463, -0.0212, 0.7105, 0.5617, -0.4629, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.4214 left_y=-0.1624 left_z=0.0466 left_yaw=0.0902 left_pitch=0.1554 left_roll=-0.1006 left_gripper=0.6463 right_x=0.2733 right_y=0.0032 right_z=0.1657 right_yaw=0.0006 right_pitch=-0.0395 right_roll=-0.0056 right_gripper=0.9987\nstate[joint_eff]: [-0.3761, -3.2068, 1.5932, 0.1441, 0.1832, -0.105, -0.0708, -0.6632, -0.1846, 10.0034, 1.8584, -0.1197, 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": "gAAAAABqsr7wc7HQoDlNzYJpaI4koBnz5zycOTkMpPvVamKmNx5TJrPHa17KOwBlVtk-bsV3Nkp3gKFAd65GyYG3Ar78m1WRx99yv0Fp8QGf8r-hEeyT4XQwb8zD3H5K9622Ty1i29g_XdwP7zX9gnVxVUh7PPAqsOmpPo0WeiutZKNfg9Wez__aiCx3m1hwBkluMyhbXds2MZkMon9eGB3yu9QNIZqY_6fzLtJUoFt0sy8yja7g95QApJjib6sGBekldUZbMKsR7R5bD9ucVr8rjpuY2P929B5BwLi-Tg8rIJxg9dsqxW4B48BGScWTJb3_j78jHobi5KjGyMpXQmbMyovlXzyGvdChkOZoixNTq3TjT56BVIxvJRZRWXLWmrbKhhywUrCh7SRQSzOHjXfP2xMG9FDG8eq1t-yfS3nYj1igXDweFc7NssOEn91HNGAzz2mT5I4Zswsaq8pxZuoMx9NCdwejMydLMN8MJC7_2CBNpbv8e2DYYN1eesqeaQfFZxsJyctcFNtLx009ftLI25FTaRaxQx96APlDWARm9ccFqA9p6N1VJ91g2mZ-52olpVYotaW5T9Djnrf1AKtWizU2XZ_HUH1XUk6drhSCrE7r41EosiX2Ge1U7HcthaIfWqPa8J5fyy4IXTOuy5bJZ8CrmCMNb7Ro8oQVGLZNCdP7QDJS_69zSHQMjo2NSoW0seHPU3-zx9mgp41kSwYqou08PnyYfu_lrI3F9NgufTtgySRSN4XnFzAHu_BH5GewdQp_NmpZO_ErRv0m5kx5O3A62zLjMkhRuIKsV0bQ7OLMYM_T_h0R13hka_2kPw5wnesMV6EGTrERRt7mr6NHq3cHFOWqsnbqbPnYx5_Ygi9hOcgS7okTETHXH_YaOnGXb0-WEdvz1vWixMK8hw1_zGECI2ij79heuL90Ke5oTvwGN9nCLeqbstNYTBMcjxj5xSnt1i2oGNDHAsWElSJKOBcn9YM9TgQZKMFnH7fvjD1q6szSuVDHoeWOAHJHd6KZ1DgHlwqdDhGZIR9PRATsw5nhvEjtlMcEcmgdoTbG6Ho5SJ60N3rHSsRJKMkp1ELbXuNZ94tmS_Wky_M9DjnJ5D_jUGe4mZ8iqiaQNVLYnU6o6-tjK_QvMelmowa0TK6rMsfQ58y3h877XMd0BqiduWFUtFCBTstVzRPleP4ey_D9amJrg2XsQw4FR_yf1-o6k8oji6ARYfCkCgIy0c3PLwcrl6nX77wKaQHY9d8SVLXStObl4ec4CGfxrT7geFYy470QNelXK1hQXVmTpzFCJ8Yq7QzAMHMBUkmRH7O4tVyaMHXJP1Kjtkv1zk7M8QEflKjG6-kNmdSCwwSEie-kjhHI0288MOdtUBH1pp-h1xlsMLFAotO3xmF0ExXV7TU7htopCaoXZAkeWPDig3ivkbKUHtDnqYHfhSXo9xOMjLNmk8IAks4ioMznblv9w49nktSuzK2QtwR_MVbeRKythVT5EbFWQQ==",
  "id": "rs_040fe02a51ab0618016ab2beeb7c8c87d0b8c38bc6a54feadc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The shoulder is now visibly between the finger tips. I will close while maintaining a low target, aiming for a secure hold below the neck.\"}",
  "call_id": "call_EyN4prvt2iUkGy0bFJRzbCUP",
  "id": "fc_040fe02a51ab0618016ab2beef482087d081f15c946744fc73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EyN4prvt2iUkGy0bFJRzbCUP",
  "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]: [-0.7448, 1.7702, 0.6762, 0.4446, -0.7273, -0.551, 0.0116, -0.0212, 0.6598, 0.487, -0.4362, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3754 left_y=-0.1815 left_z=0.0586 left_yaw=0.1277 left_pitch=0.0917 left_roll=-0.0639 left_gripper=0.0116 right_x=0.2656 right_y=0.0034 right_z=0.1499 right_yaw=0.0004 right_pitch=-0.0369 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -6.3658, 4.7658, 0.6716, 0.1929, 0.0513, 0.696, -0.4855, -1.0188, 6.8855, 2.0537, -0.1343, -0.0171, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99db93305b1933404cb10568ec618a6e49760e68baddebd7db90355d4498548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e27825c43af536e7590d036703ec5424e4bceb5ef22262989baed919aa2f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0d68c78951c0b8c93d907bedd19f0a9aa77f004df902fcf09839f7c1e9f5825",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7513, 1.7985, 0.6102, 0.5385, -0.6899, -0.5285, 0.7985, -0.0212, 0.6857, 0.524, -0.4503, -0.0311, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.365 left_y=-0.1822 left_z=0.0396 left_yaw=0.0807 left_pitch=0.075 left_roll=-0.0585 left_gripper=0.7985 right_x=0.2693 right_y=0.0034 right_z=0.1574 right_yaw=0.0009 right_pitch=-0.0399 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -6.9538, 2.7829, 0.7106, 0.1245, -0.2564, -0.0855, -0.6222, -0.8957, 7.1043, 2.1026, -0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7-zrLS73_Zd4PfIIEt6gL6DV1Cqy8LPic1ueGNGRRUiwgvqAhMX3kH8yeuGkKC7btWZiMk5Sy9ThbUD745a0dTvUwvxvQlAtFW_3lwRi37zdBjbnIwMRlfvFLukMFbNL5lihaCdUdCab_UriRAK48wil9as1lYxjm_AvA876rdPQA2Viumwb9V-oHw6VkSLddGi9-9kiWdjRxV8kRUHCj4nJigtwxPBOB3MpO9IdAI5P_xZqB_D8F5nYI5r-OekDZ0ccHvQeixBFry5hVRBG1YKME6yw-gT0CYJULdW8kikzUERP3XGt3hJEzCR5g2_HeYL0RoSIeQ2FhSigDgMoEdwqmh9po-fLeB_5idzTdlPtCO5ZlL4QRZ-aGBUnMvzQe6Qar5UHiEvYMy3aCCLUSKZMSxJA_maFQKCYeN2sgGE70WJhh-WUGgAe2CSnBtKp9B_uEFI8jTknrq12MfYavSs30kz9fgtCMkPe0pqFnREJteQia7vNNmq-bi6jx3_dcdYobbiuQO6xkFRqNIrINrsjiN5wVV4kVO-0BZcz6clmDed4sjpeQ06vEAfyKgOBjHjqgyMwgXUph1TbVMq8hlfPqCL9ttWXQXsDUMPGcyxkwJqxRq-2A3kxFBiPfC2C40g-l2PLP70E0CsKLxhH6-dtNNb1wj1KXc5WuZPkcPL80tn6YD4B8GXbGB4nw9nGSGWFE5YyHEHfWE_RIiATASKM4inUwg9uDZoOI-YGz-Ql25bUDzi2FZCBL8hnG0034z3ri1IU6oNvDPKyb6HUEDQQbz7x-j3H-5kP1ki8uUs6-hjIJLrO_bXUmY9syb2n6lhaleM8E-chZ1Z5iH7rbRmaR1fLzbqd74kvA5puQS33Z_7lYA7O6LT5SAgsNjgmYaCd1v0I9seuALmYHtLeUItAarDTkXYrzz9yy9MFiUE6In2Kcapprz6Am8CAkw3f9whkSy1dQNq-xjefaxZ98_fGQEAFi5HxIDTjB4jepAkZjrSlvR5hpm4lvj3v41PhRglPoLYHH7CGl9Va4b3nSkzhbQttGZQ8xISMl6Xi1XYRaWqrBAnnBX1xK03XU4A8dktOVvVad0XDceEfzpD3Tapxh6L835joOFB-L85GEHFu4YhEHKI-fjH6r8Me_xKus6BOGUwUUgu3UH7kL27an_ogmn-VsCC_4fBF_EQdPwwieJt83CPE8lNoBKkoNIxzv4pUB9TNI0L6K13-47cSiU5wMbUGXFa7IEZj2fN_2YJTkRmGgp7j7eTQ1yYZj7ro45isnX6gsI5nrI3knQYfl3Ir8BGtpAlpjH-GPKZlSOcOo5oEGk4JGixLOCUg969xaNr0ILXTmbdeFMXaOZoRXuqgTYy-7jwyaHzkKSnDi_hPauTw7v0bwPnD4a-970hjyL8jK4-Rhg_cJk4CTdhNzEnupplleCgqv7awMWlXmKrEjJTSWHIGHu9EQtOhsCWTqKjVCmQgYU-IyHMSnsY158R_h760Zb2wV3fJfn6at_xnJK2Md1564-QVMZMPDLB-8QQa935_3kqvUBjEX-qH64PVBQW7-OkSXDDTbvm1pexOuMxAMMBfBEmZ8y3HPwPavNtyb16hAX-nmSe4cD4uOJWU8xzoRu1d4oajGr6MX7jhS8khmshZC52Z0-1ESVabq8KUgGjDsHer_O8BQ1iLXx7rSGPZlxQqGs4RKli1Q1I4gPiGhRi0-HuhV2QaFboK5UojojGdb-5HyWWXWaNCp_xH8mrfkQNK3mf_T2_k3x10e8T7zM_aaNrR1wjX2MBj5VTWrHAzzixTkKbfYLZPwyV_Rs9zjHl_T1KXCKlEfbI1ngCXgD6OsJGWLKb08zqKuG-ece0BlZZIsCh6AXiPGqrpyMn6DsoSHv18vkTKBCEeE=",
  "id": "rs_040fe02a51ab0618016ab2bef51bc487d0ad9b8cc339a93c4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.16,\"left_z\":0.025,\"left_gripper\":0.85},\"note\":\"The closed fingertips are just beyond the bottle’s neck, which explains the empty grip. I will move back to grasp the shoulder more securely rather than retry at the cap.\"}",
  "call_id": "call_OTXdu8tNRFNbLVKa9wantryr",
  "id": "fc_040fe02a51ab0618016ab2befbe60c87d0a15e89a2a8304897",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OTXdu8tNRFNbLVKa9wantryr",
  "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]: [-0.8692, 1.6482, 0.5076, 0.3489, -0.807, -0.7074, 0.8452, -0.0212, 0.6338, 0.4553, -0.421, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3146 left_y=-0.1691 left_z=0.0409 left_yaw=0.1369 left_pitch=0.046 left_roll=-0.0558 left_gripper=0.8452 right_x=0.2629 right_y=0.0034 right_z=0.1449 right_yaw=0.0003 right_pitch=-0.0273 right_roll=-0.0055 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -5.7504, 3.2479, 0.8083, -0.1734, 0.1832, -0.0757, -0.4308, -0.4034, 6.735, 1.9853, -0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8b91423cdf7239742461e00d8c06ebf9827943683d117e44c45b7715b140c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dfde97205a9f55332c2ce775c8fd49dba677cd0a001196dbedf54b7a73c203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24abd203356a59ca3cc4a482dafec59b33b79bd069f7d20f7ab1d7453edc7c24",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7448, 1.7702, 0.6762, 0.4446, -0.7273, -0.551, 0.0116, -0.0212, 0.6598, 0.487, -0.4362, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3754 left_y=-0.1815 left_z=0.0586 left_yaw=0.1277 left_pitch=0.0917 left_roll=-0.0639 left_gripper=0.0116 right_x=0.2656 right_y=0.0034 right_z=0.1499 right_yaw=0.0004 right_pitch=-0.0369 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -6.3658, 4.7658, 0.6716, 0.1929, 0.0513, 0.696, -0.4855, -1.0188, 6.8855, 2.0537, -0.1343, -0.0171, -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": "gAAAAABqsr8EZUn33PjqLj5TMUKwkUf920swGGkGmHzP6yOPX9rGBRqXqdK-pJhWEZPdjyx-wCRYAkIgVO00i_Es5QVhqE1VSypKR2QKQNp1JCgZGxnerfRverdqAf-aLf7UFO3IiOZrcCVeU45Wjs1l0KoqhOShd3klXj7X9gt7qBBm-hSFIhsPsgxmYQcIG4QQek7vlM9etJ73Y4W_hZufL1OYSJMuacpEIJuWYiLYdggwWWVN43EQ8tWZbKX-LctHdgSiX7OrbQke2aZxsItVdBYw-4UVdP6XR_viCe0-JUztKqGVXSap91QZY11hBpPQIGxknWzys997pjR_ijTXDT2KtXxj6c5jYuQK8LLJyfuxtF7gu67L9D2EusuhXsfGQxQC34LtNBozIruNgTVyGhSOtOZ2t69weCW1Inv80jToGoNcvuRzLzC6Rtbjj4TzQr8IYHNd6mMSmOHu_gFsfiQDFbalNS2s2zIeMTEBK0YKASnMJPItK-s3OLPX7xTnj-4cQgpclwLV9e36m-MOujWL7GZlM82mQPq9hdPB077RhUSGHao_jQQPKyFr8w3_4yZzfJE1RGSolcmHbkAAULaYzu58tR6CcTMQJMvXsvEogAUDfSkD3CKZHrdRxl1vfzB2oAZbmOoIy21ZuzXKhzttjucokZohdU3mf6HA0GgGEfM40xxnduc10e0jQgapkyT5t4qJgwBFHMvkfUevhiQortNwV2WYicLbhngRkvM84rK6rB1EwuDkFsRtFxUYhcS0J4YgmIjJo5vVDcCHTZ84_xIrVJh5e7OlIV_pWJq10-gVblCzbopb3FmUv92aC_FJruXEBM9aDa3awigwSzBMjQFGay7AD2mBC7Q39G5XXDQoMx0DCdhKdJ5Ud7ArDlmBmDo4GFHCA7a9zzI36L_nxGpNrkEs1wZueZ3pdmr0sc-tG6Fjto3P5GJOmy0Sof929iIUzB8JCme0HgO3NJydKTw9djWvWJIb5262Zzqx8CRzUHty1neRgdPOB-NEBIdVcqea_wJeyk00Bc3AuDZ6VR-X_cu9QHNI65DCtZYtQ_IntyAJUd3FflrWn8y8-gfcdjcQDeEIyjcTNpD5IKKpdsbVYhg1q106eG7P6bsM3-x0Ala_zkHfrRhPhp_P8ACnZCeNXDzr16Bns5cOos8dbBeBBlmaZ9b6Lp9TIaqEecc0EXzZw2mPeFLhIhpTtwadfmjJBVx6efgQQlIf7liooyy5-lLFkH392L98b5WYdC3_-gyKHTdF73R2HpCcfInxzVqi",
  "id": "rs_040fe02a51ab0618016ab2bf015ee887d0a22359c8178404eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The wider bottle body is clearly straddled by the jaws again. I will secure it here before attempting a controlled upright pivot.\"}",
  "call_id": "call_iwN4RmQ612ME7vBvoIsdkiYJ",
  "id": "fc_040fe02a51ab0618016ab2bf027d2887d08ef4d12de531da59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iwN4RmQ612ME7vBvoIsdkiYJ",
  "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]: [-0.87, 1.6356, 0.5701, 0.2783, -0.8524, -0.7311, 0.0121, -0.0212, 0.6189, 0.4328, -0.4191, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3235 left_y=-0.1716 left_z=0.0583 left_yaw=0.1799 left_pitch=0.0754 left_roll=-0.0639 left_gripper=0.0121 right_x=0.26 right_y=0.0035 right_z=0.1386 right_yaw=0.0004 right_pitch=-0.0331 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -5.8462, 4.8889, 0.6911, 0.188, 0.1148, 1.0134, -0.6769, -0.8274, 6.735, 2.0342, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9011102a9550d8dba4122e7615452fc4656132956dc23fa250ab1e4666f5935b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee20c1e7ee4cdc134ac3805cd54d90efde5f60350deaa12ed7c1482702cd1d01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13d85d12bb2229f5baeb2458bbfb0c440a642bc9be20b14cfbd2ef3eabfe6ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8692, 1.6482, 0.5076, 0.3489, -0.807, -0.7074, 0.8452, -0.0212, 0.6338, 0.4553, -0.421, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3146 left_y=-0.1691 left_z=0.0409 left_yaw=0.1369 left_pitch=0.046 left_roll=-0.0558 left_gripper=0.8452 right_x=0.2629 right_y=0.0034 right_z=0.1449 right_yaw=0.0003 right_pitch=-0.0273 right_roll=-0.0055 right_gripper=0.9987\nstate[joint_eff]: [-0.7179, -5.7504, 3.2479, 0.8083, -0.1734, 0.1832, -0.0757, -0.4308, -0.4034, 6.735, 1.9853, -0.1538, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8U44-nvzYlZiAetYDi7puLYXzEFG_p-VENe-EoRCi8lM2kVUCGvy42WYO_VDCUlmWObhPgoKgBtR70jGZ5rp1YE9Mi_Cf0V3rAEFB8OmLDGosQpdw4i6SSyBehezjXLi661Vci0hKFYjSsN8drWdxbf0UNyQ-BlNoMGszsF7m5wsxRo38SciC_rofv3FPM8pVU7LdpVaW3X87Hc0phPcwuBjDKAPWzubmYTwln9edp-C7qvAx4ZdiF3aYpmUHdOyZrKc_gfxVZyQlLMbRRexRKJWVle8o1EseAnqHS46ntSEhxovKNTQYrft1XYqUMGGvJWxWEF1gnEr0KZ7lXIuGMQqydcLxJ85FGLJQobc04KKeH-rgQiRt-4SIWDudV1Ys4ARMTS9MSdrUkPkCtiu3pjVUzhFiGVRrTkNXJNibdqjwXUcDpOXHOQ6I1kHsikODc2fPgJJpPIq1Yd3srL-7dimq3aPeVXxnEhCQB6JbQcWZ_aVnjZ43FC-0PWtsNYa_lU93XI8MwGMa_mpXtFCeRHFXlM5KQkq4IvZ9RfvhjwSb6xamUzHlI9OaXrXt01K9Da4YnPzv8RfPKrZXZ2TBYLYRJyxMrKW88ww45ke5WqkOtFT56Lyth6Y82erWCK0HM5T4aYTh3O7oagE8BbL4CDObXlWKpMsRL-d721xuxYAmCPd9wj5sB9wIeRIr6nb6KvJt9vYEqH6lbHqrDrwamu6UyIWP1YeTNKPPL3b4fkQgxZeqWN5IQBV04efCW-Cr-2ch0EFdRdGu2qxR9MUbRZJaz_Z1R6-5HqfwnbP7UUqT4FFn2obi1QCaoR19OJiDlUe8N3wVqkqo67XBcbI_2g6mKxIjdrsYzgI5QAYkCQfEjR1nClq5bePcboHErNjTkcSKj_PsQG5CvKQm5A0xzSYwbZuA4i9nHzQPvBnP86v1WWfo3dWqki4yPG5OOd2OzJciDEvidynD3CS5mQzkSLG8qFYfsCbzYR3bCJQoFlOOqHiVbjd8oH-lzqLklG9g_WUUkYjLgNTsbPrSeFu6Z4fXoOrZreYO-j_J5s_azjOJ06ODqfvTJvIaViVwD1VG4s0csgOmhTT_GuhYJ38L7PgWSwQfDVKa7X_C4mL4GBM95iSNEgnqTUg4_VjuGoJzU6FsmvFY38_393cVETN7uGo4SJiM4Ana3rF5C-ngJD5tS45YdoGR2hT6e9RcyS7pyoyCejraV5LdCoX6VJxkBvQ-Gp0ECqXs7IVlpUgSklum4ihXwDg_P1huqDoV-uxoslxFPNwbpdYYXPrC1dZlWAdChn69U8iN5CjGD4vFdsrZgnW_VdZyCg33zyEUcT-XTeXO6SLRg9Y6vNX6GBtRsB0te5x7kBmMxsw9JStneDT6s2MykN-qXTovlv6a7kN3zzbpGMbKAv-663q6Q8fxY86ysFEmfuo-drmO4j8T_wknF3ubMa_HKLxwyu6OpMhrlBqfyL0FiR9iP6F9vWWuf4AUMXZfmym1Wz3aCm-r0Sj1Z_qFGrRNAkB0HMPv4drmUzLAzzu2XO1cotE8MIRjPUiATn-If_A39DhTVy8EaVtU2ZkI1mcxUJ6amz6fBOm5Hpox4JBPTMv6-F1-oHjV9NSMqY2FfcmpnGRqNVvMw7252Cmhox7-_o_JdIsjoBhFlKffByzWLOjYxkJRt_2dPnzqjV3HPCkpoFX5_4LTeZe1ls27_QjUOc-BEYCFoJH8FHZSiwH7j3rO4xOB5nUtQm1zVxL66wOvBPoSMD-dZXYb1LYwiEVh1lK2b_7R-IYb3Kz2J_8VMaDcQmEiXvXMYDlDikxTSTsXu3RovVZxcbT4wXDY6v2Jg7FhU5Hc64rojZsJBZzR0lJL59TMTss0kPYn0GoFsC1uUJoH-Tyn8G29iwVUCMI-vWxZPecZKzYOhvtwvj9ybS_4iPjgwz2lqy0RG6ch2cAswidMaXPETaiMILozvcgaPKKoiMVQlFytxtRR-9mh6ycIgXGn-ltlXN4p4BIbX2DN6dWTEAX1B5lwCL6IKeIu-EJQ2RxDoh2-KgGqZceIINv8vihf8VW0liiys2YNCcZ5Ei8Ddo6zdgPRplZCOvy3XckT1C5XIzUReR7T0zfpGDxU28DJnYIaw3Z0DWLVrXR0qMrlLkAapfINM9UWmoIK0oO_oCnBi7OzCfSHcEXCfl6XodcWSnZmxabl2Y0_C1NLt9qRL0_wfXyE9V29l1EisWB3Gxx4YajAcBVHMb4kWoDARuOKdawKhYnm2Gs5JRq449anX5MrYWStbHyXl23ObIr_lo2LyaLbt650S0xkQqqm5nuXitpC2KA==",
  "id": "rs_040fe02a51ab0618016ab2bf0930dc87d080042ab92b59e3f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.125,\"left_z\":-0.005,\"left_gripper\":1,\"right_x\":0.295,\"right_z\":0.185},\"note\":\"The fingers are riding over the bottle instead of getting underneath its sides. I will reopen fully and shift toward the bottle’s body centre before lowering.\"}",
  "call_id": "call_qFeBW4zhpmvfEQop5yVUYohd",
  "id": "fc_040fe02a51ab0618016ab2bf1268ac87d0b4f06b6780dc79ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qFeBW4zhpmvfEQop5yVUYohd",
  "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]: [-0.8062, 1.6985, 0.4049, 0.6132, -0.8242, -0.7341, 0.9947, -0.0212, 0.7933, 0.5827, -0.4282, -0.0307, -0.0441, 0.9987]\nstate[eef_state]: left_x=0.322 left_y=-0.1432 left_z=0.0352 left_yaw=0.2338 left_pitch=0.1125 left_roll=-0.1689 left_gripper=0.9947 right_x=0.2852 right_y=0.003 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0666 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -2.0308, 1.6342, -0.1148, 0.0806, 0.3883, -0.1929, -0.294, -0.841, 10.0171, 1.9707, -0.0708, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a3934fea771efab907b225b36663cbe6f779e9d995ecc131586911674e4771",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8055de5f93b703ed7ef6f539940eae3a55afd3f3c7b2e973472afea0df08de49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8f347ea12d3734b140ef6e4574c2429b6ce4a1d1ec039a8b990dfb4bf8f011",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.87, 1.6356, 0.5701, 0.2783, -0.8524, -0.7311, 0.0121, -0.0212, 0.6189, 0.4328, -0.4191, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3235 left_y=-0.1716 left_z=0.0583 left_yaw=0.1799 left_pitch=0.0754 left_roll=-0.0639 left_gripper=0.0121 right_x=0.26 right_y=0.0035 right_z=0.1386 right_yaw=0.0004 right_pitch=-0.0331 right_roll=-0.0054 right_gripper=0.9987\nstate[joint_eff]: [0.0479, -5.8462, 4.8889, 0.6911, 0.188, 0.1148, 1.0134, -0.6769, -0.8274, 6.735, 2.0342, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8gzRHjc14V_VOSCfc8Vy_NR8jwXRcHgzKx7UQUa05AX1ytKo4CUk4-rE0WqSkFAHAUWfnfSpPOJ4zSyO2kHVGReH05cO_qbDdjBcEZPHHdksnoyqTjlhUU-SPg6pzYCEXQw9caxSeEMeADqyXvIwGqRO2rqH3BwZ0QmEPAibLLBv4dXvJHP4nznrQFJtXOxCeheYLxphG_f5l_O_Dd33hg_ecxkMQyyfwIUzM8E6osXavlqyhUVRHlgXl7UDFqybd9a14NmkLsZ74kgHf-aYnfE0WJgM4MQzqJSEBAGhdnu6h9IRW4jIQMpAfgQzQujR2Jdkw5D_FxUQsARx-z14rEp3xsgIRiQLuPS3K93Ke7kXb5Qk8mgKJ6tNsnI8DfyWzLTYcuf0MdFiqSpxsb6xKnT4p1LK3xjLsMkG4ouxWn1pXplTuteyVD4H15vR8yrCYjYM3Cb8MKFlViYmn294_FKjdlrqBGJmuhmI6BZsMr4DoEyzUr_UeNZD0mxVz94zki2wkZNkqz-5g87M14DcMj0EgglgtDQ-KFnv3oDoSXYAjQtOboZj_thgNOH5fmBruYwy0uzhirX2BuWZ3wTzrD0QgynXgbuJEw4YU5jBiCkTeUNgDbNp704rmNoBxVpFbdzC9_T9VQ0LY0oT55WE3y-R1_noLPQswF_iMcHDHRJs_tdTVA2XwUzbdlJL-EbdICUMaVLiMZTGFO2WXA0aYsb-SchjcS85KKks3lWJXreexCdk_dHk43jYHxSIrzw8TSCYXPRPfsv7vnbynqYafVS_ijW9UkzeIgz9s4d9YjOimCNtdGYtINDYbb_GJyZPCrU2_tSI4e2epkHq4WwW7uq8_2fLyqDnveTvRFhJJVJUCKaUIXXbp0je3B0Bx_l-73KlWfCdh8aZc0tgRaYnzd9WxZ1Ler9s1H9QzM9Z4OlpR03qh-u6TtBap5AnSvp9HA14I-0-8GyFarcWVp08Qp_DIX4rgL-D9GJMBuO_ovysxJ-_yPZaVhcarh8otlEHl6V6v-K7LpqvEBZzgwRIbtOFXKf-nEBYZtBagGeciGo__rKlGqSdeILmolX5uxXo1qwmhLDX4WDW5yjegnJLa0Z_Q3fVBnBDMNjR68juOU-Z-woxo2Gbpi6b7DRXxww0Doe6HgNsWVGBvqMoAw8ca7EcB9xS_MikUre5P3-LkpLmlvu8A0S5VqIBMXsVwfxVLjFHdgoSyh53ZnHbqmXzbGi8714FtLlkruHAC_a6jGBffLnVmP-adYGTnSb6AyytL0hsFc1_GjL_bl-Fz2flPX-sSq93YQoA8339leTAkhEgV-o9Y1LJC9c6sDFRtK3L1VPjRJEKNf17w0rheF2JrLg_I_ABFJjEqxWmgg9-sT1-npIxvPeyVBhp36R1z-mCw95kSKZZmfQQt-ONf4E7p5z-I83Vs_cCxtj8rJjJ0qf-1U114Z5z2itOJdSzIaxAfzjog8-OhV7Lyy7YPyz4ZKn3cx8OMbaxpNH1Z_fH01nzSYuU4hhyua80GSl6ElSrPJNM6tc2QzgfTAmrccS8cvYyhK_VJtHbx7P3Ip5e2Qo4aox9v0DphIer8iC_g7wMwQAtO7gUuaDZOArFJ7WxEN7I_4-rTyNT5j5pGUzCcwB31U8nRDqJpSy6NdfyFVkywXa_SImo0g2ReeDVVQV4L2xhRnbBaCgUAvkbNOYFAJCQs=",
  "id": "rs_040fe02a51ab0618016ab2bf1b400087d08baae18e7414b4a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.125,\"left_z\":0.1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm has accumulated some orientation error while contacting the bottle. I will lift clear and reset the permitted orientation before another descent.\"}",
  "call_id": "call_sNBvIsNIdAh7pMUNJsQNmhAM",
  "id": "fc_040fe02a51ab0618016ab2bf1e9ddc87d0bbf38881df1fcc6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sNBvIsNIdAh7pMUNJsQNmhAM",
  "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]: [-0.7246, 1.2186, 0.4629, 0.1253, -0.6571, -0.5377, 0.9961, -0.0219, 0.7502, 0.5167, -0.3832, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.3121 left_y=-0.1274 left_z=0.1118 left_yaw=0.088 left_pitch=0.0735 left_roll=-0.0943 left_gripper=0.9961 right_x=0.2806 right_y=0.0029 right_z=0.1512 right_yaw=-0.0002 right_pitch=-0.0445 right_roll=-0.0055 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -3.494, 5.6821, 1.5946, -0.105, 0.2515, 0.1294, -0.5675, -1.1009, 7.0359, 2.1123, -0.1294, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883fc08f4b92c91b93c1713808690ae2b1ef820585d1d7e80993aa4bef28436a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61b94122fff8a2ca96edb084249155cf8e13b3ed91dccc6441043f9ed4f85e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8422d4f3951eec548a1d782287f60acbc73ce183502a199c3d5a3e354cb22a8e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8062, 1.6985, 0.4049, 0.6132, -0.8242, -0.7341, 0.9947, -0.0212, 0.7933, 0.5827, -0.4282, -0.0307, -0.0441, 0.9987]\nstate[eef_state]: left_x=0.322 left_y=-0.1432 left_z=0.0352 left_yaw=0.2338 left_pitch=0.1125 left_roll=-0.1689 left_gripper=0.9947 right_x=0.2852 right_y=0.003 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0666 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [0.2803, -2.0308, 1.6342, -0.1148, 0.0806, 0.3883, -0.1929, -0.294, -0.841, 10.0171, 1.9707, -0.0708, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.125,\"left_z\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle is centred below the open gripper again. I will descend with the orientation explicitly held at its starting setting.\"}",
  "call_id": "call_xTCT9K2EVZd8sb4niBY9nfhV",
  "id": "fc_040fe02a51ab0618016ab2bf23d64887d0b34ec4be315fbdf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xTCT9K2EVZd8sb4niBY9nfhV",
  "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]: [-0.725, 1.6222, 0.3004, 0.7662, -0.6125, -0.5003, 0.9963, -0.0219, 0.7242, 0.4721, -0.3588, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3202 left_y=-0.1432 left_z=0.04 left_yaw=0.0372 left_pitch=0.1107 left_roll=-0.1317 left_gripper=0.9963 right_x=0.2768 right_y=0.0029 right_z=0.1426 right_yaw=-0.0004 right_pitch=-0.0388 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [0.6769, -2.8786, 0.7453, -0.5788, -0.2271, 0.5592, 0.0122, -0.7179, -1.4564, 7.0769, 1.956, -0.1294, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8977a4fc6a11535082e80a6336826cea517a8679f6c315e82f744a753773891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678bf85d1a61fe9d05f8eefb0cb79acd4ca7ef4627f3ee0ffbd642b9532de7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8432a2a21d5a6d1a574de8e230dd7defa757b41d0dcff794bb283bfb29c803",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7246, 1.2186, 0.4629, 0.1253, -0.6571, -0.5377, 0.9961, -0.0219, 0.7502, 0.5167, -0.3832, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.3121 left_y=-0.1274 left_z=0.1118 left_yaw=0.088 left_pitch=0.0735 left_roll=-0.0943 left_gripper=0.9961 right_x=0.2806 right_y=0.0029 right_z=0.1512 right_yaw=-0.0002 right_pitch=-0.0445 right_roll=-0.0055 right_gripper=0.9987\nstate[joint_eff]: [0.1983, -3.494, 5.6821, 1.5946, -0.105, 0.2515, 0.1294, -0.5675, -1.1009, 7.0359, 2.1123, -0.1294, -0.0317, -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": "gAAAAABqsr8zlSd8OMhNaXd7KOPqqiK1q-wcma4UbmnldVr_hZPltPOuXEH_Ln0hfNi2Xn4KDETKW5g2AKTCsfs_VL4rIN-tqRbq7izsGbRtkLESHPZngSobAJ6nl8kvedA9N7J-kWClIqiP0zQi4rNaQRfLqdvhsc7xPdlS_s89xzDGtU31-C5Vv6zAusb0kEvEJigd81ivRWJGMIThLXqNVdB2JA4bDAE-684BvaA5kSWfI4kOKnastU8XmvQkuqqyTzOjZYmQMJrcddrc6I7RV9Ly2aFt_NLxYrJxbhAw-Y13dvTBB97TX_D6qUiNN5ZbgUF1A7oYUWzbsqHLUlVnLFR0wWL-bQ6G90uiLW5VtlTeGwO7pOqM7PV37-7bchzr3ExvNR92dlEiWQpx6x9RfYgFLUNm-8pEMLW7cjpjmwJSGM5M1qO0lIDGWE6y-TnjH6qms5eurazu7DPNd2xVuxehKIdPitwOJ5P273szpt6XBc8lmNE52DVyoLXPNL2Wi3VMuAMu2Z2yMLqrzyexkndn364QDuAsENXtWqUa0T0lMfDRG2d5f2zvk8ct4Sw5gs0bCcYhH-9duyjybxuqPcpuThzKycmA7GJ53MbgOIr3teBBu-CJqpv33nvRQ-jN-UKffpnxf_xAXoFUUc3gkV4fXSoqNSmQ9hsbu31c5Ff-vifZY0FSnDHRJ3V8FGwj79c_PYbMuG_URemFPsvtMG2UPa_3153CF5koQXHjd8ACg8PTes_TC2js9N4I2Bh_97ZGDiQdWWacoUtBy5_01-F20LR_kM5Bdx8yhukXbe5hsd8AOe6Y6zIgu9FcrajFnE4gmkEaDusYkhnZsG4JTUv3S2F0iX2tzHfbhrF0egtTQ-bXt5GtDNyZH6GFBYhjYuBDtCBVZTJ-lg98zNsUNdhwc7yRGT0wj7642vR-fIytLcVB0Q8Rga6XarBLZiIZ4r5owcr5ZqdXz3_DYYsYSyPOUUiYpHZ8veAf5I6nQxd828CtVZhTJfLKoGbFuxhs5KuyaTAYLHUelZfo61pBLRJZY29lMulA_dKw27g66QZd1t_FYw3wH-U9vOAosiO3fSfcgAhUlan9E_6b20PLqKXBhyQxr22sNtb9NQnlflosNHJWAZ1-hRzRcjHV0jmnGUvur2uzqtz9EcBo3suiOICEdoltRWtugEz9Nqs1VIX_PdJWunBS772CXu7x1JNrOOnEVq38m0hnsSRi-gqoAJD95beTEEQl6JiseUKpIiSq69kuOvmd1NhQUGsmqyxNfEY_FfF9su4b0P3w7NczkgnXfBgTgn9B_N6PThZonuZQOkf4437SYy2KitMi2jTxojTNr6de4nQfSEvrUdN2IZuDsox0NoNA3OICDqT3X1x6ZpGQRcaS1y-MwodNdAIRDMbg_6ZcWVBb5FSyrXAJgoQOnceZMK4L2hE5VgTrShj1DTfEzk-QOzaljPrOGTXgsPh-KIZJpuQG-KMnGn5FJOO-ABC5Jl91URQEmSo8RST1p0y0hWz9JV_63uyAnn4wMk-XrW8o_BKviX08JDTAOhKDtdhtOLF8Fz0_9RKy-hbIhrenQRDJEbbmI8Boq6pIXG9xRirMsz8_KxeqEtKEbfdktciZz88-3L-HKPgqSuIsxbgahtQmfNO83lTVgKqjNb3-FARbkRgH_AYAA6uZpwOGsDUfN0Bqnc-iDBbieL1SdmQ5tyoQXDNrIzErjRKA4NMxGn_v_tqkHqm5SidcNwojgTvHM403gFTQ6OiCQzfICHkQIMP4t4m46Zw32Pq6iHebu6BYSvyohemTijBYV1lDtiSHlgHM81BkwCOt3ENa4kenlMPqUQxXy2TzBaNgjAZSu-YPY13btfeDmONQN0tJC2BIiCID0vCUqsOmataov6uxP8A81SNvXXC2nz04nTfgNbLEvXtqwCCp706Rg23ZteBSsjohsz--Opk0klKDqnMiS_wKO53Tb8vYspnx3qeuCMVa",
  "id": "rs_040fe02a51ab0618016ab2bf2942dc87d08568d327a5b28b66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.105,\"left_z\":0.085,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle lies diagonally, and a finger is contacting its shoulder during descent. I will approach the narrower neck from above and farther to the left.\"}",
  "call_id": "call_hYGUcF2sieyxAyBWxe7GVb52",
  "id": "fc_040fe02a51ab0618016ab2bf3067c087d0bef8710abbab9f44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hYGUcF2sieyxAyBWxe7GVb52",
  "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]: [-0.4725, 1.4815, 0.5262, 0.3653, -0.4496, -0.3382, 0.9963, -0.0219, 0.7017, 0.4385, -0.3424, -0.0311, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.1002 left_z=0.0822 left_yaw=0.07 left_pitch=0.0362 left_roll=-0.0375 left_gripper=0.9963 right_x=0.2736 right_y=0.0031 right_z=0.1364 right_yaw=-0.0001 right_pitch=-0.0334 right_roll=-0.0052 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -6.4752, 8.7726, 1.8926, -0.0415, 0.2369, -0.0073, -0.5265, -1.347, 6.8855, 1.9707, -0.1245, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb5dd193f5bdddbda1d7358a52f8240debb1dca4f02d9469ded7d184f8fdafa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca23b463c1250a8f678c782e1cc540702ea72bed138dd10757a402b5e455ecba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07eecc76989c40ba3696ef689888eb0c6e75859034431c07d36585935779b045",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.725, 1.6222, 0.3004, 0.7662, -0.6125, -0.5003, 0.9963, -0.0219, 0.7242, 0.4721, -0.3588, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3202 left_y=-0.1432 left_z=0.04 left_yaw=0.0372 left_pitch=0.1107 left_roll=-0.1317 left_gripper=0.9963 right_x=0.2768 right_y=0.0029 right_z=0.1426 right_yaw=-0.0004 right_pitch=-0.0388 right_roll=-0.0053 right_gripper=0.9987\nstate[joint_eff]: [0.6769, -2.8786, 0.7453, -0.5788, -0.2271, 0.5592, 0.0122, -0.7179, -1.4564, 7.0769, 1.956, -0.1294, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr85_9ECiduggPKMiqhbCkN24JqPXXt8pHblKc8wjbI-c5qEZfeihkc4JF82cWUSJ1uVZbDjF9uM7nPeKk26s3oiCcu5uAjXK_t5g9C8UUK-Nfm__oR-svAcIZe3uRSjG39fDMjUlN3FBG8kLv33_JMIxp7QnT4XzmrRG5JJcXNgzQirVOzo5Ij7wln4bh4Am9i7AQweoEY0t36AA45jBP29mH6sV1Zfs0xG_eVtclmnPmyvYa3jG0nftW1r_1eVOQRas4fuzoMcu4qikPIldZfBd50Rs7WKpjecgU72POG9tYwxlA9w5XUcTxyQxgx8tpFsAhqq6YhTEg_huX5E9bQCvGzvs51WqeVfqvSa0vHegHZoBvHvg4tf0H9M3rM3HA6xaGnTBJDj_99YIPl-QYT0f6gK_jvt1vmjjMwXzPjQj03XbdiyPgI7Ut9TSru2Pr98U7dquBtEoqcocnm15nX06Iv7Qzp0zl6B6f-R24HFlUqnV_iF6al1E_32-KH1Kgs4tXIS258UXIGG_xno4Imbz7SqJ2my_EotpiNyhOuG8YaClKr3jxmlR8gvAo13fzR5tJZFYgOrqQlzGg0RLn72h2H-bSMY_UdeZdXAbtRvStjCi6FvW7sOHy2TfoCqN0JNLZVDAjx7ZkIDUxJdv2RdWPJJJD0Ft6avjRlI88OR8-ldMk2Y5u-2lWV4FhhVHHfhHjWzuVAnu2oo87eWFXQkS-lwnW5JMawi1vpPFm62L8XIJjOim7zyAFg95-BGOEnDbTaUVX6n_zvsQZPg5uzdYvl14ygv6RmAMXqVBXyqtCKWdSN_M3e8hc03z9UaovJrDEL0oVgussqc9K-q-Y30HPTelHToVZVqzwC_yQwKrcKkjNDo5X7D9wlZ3pEYB4rrXPkl63_Ncd754e5NvjoMSdK5YAFRwxRXvD5KwR4t7-jRtUJghzsi1vPVZEzJ09l7fiOFVCJtZmmcdX_8S0PkVpHXGPILmkNfiOzpyyDwmSf_ESzGYMTt-0dFFsL-6GwcmgOQ_EOLO9XN7-WMRvTMiGE8bB78o5LRtmH5X8TRhSvvzsP3PRvtHrnFF5wYJQEvSkmY6Ga5Ud0fgxD_vXmFsDym9VldH52ds1d5lodo1xvh63WNsHWae8pjXmHWUv11U4txa8m2-ta28EwQHSmZeIfdPc9fTlv88zf03EiG7UqXaFtrAPg4ENOK_0UKOXpBZZyafTkm6bq4lfb9JsD7xp1_KzZJbgODl3pLoxb4YcblnFjONpCXQZDSJgiB92HyMajjYQI-XiQuUILV-Udpkdpu0YBHlDuMC_KEIJ_L0fIW4GTKktKG5vQPjwwDprxC",
  "id": "rs_040fe02a51ab0618016ab2bf35fa9487d0bc8b80e261338287",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.105,\"left_z\":0.02,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap is centred laterally but lies just behind the fingertip point. I will move back a few centimetres and lower directly around it.\"}",
  "call_id": "call_nFK3qWejhHw7uE262S5pRnjw",
  "id": "fc_040fe02a51ab0618016ab2bf3789c487d0a507a97e948e3130",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nFK3qWejhHw7uE262S5pRnjw",
  "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]: [-0.5308, 1.5806, 0.3626, 0.6304, -0.4507, -0.3252, 0.9963, -0.0219, 0.6827, 0.4068, -0.3313, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.3464 left_y=-0.1099 left_z=0.04 left_yaw=0.0057 left_pitch=0.0386 left_roll=-0.0269 left_gripper=0.9963 right_x=0.2701 right_y=0.0031 right_z=0.129 right_yaw=-0.0002 right_pitch=-0.035 right_roll=-0.0057 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -3.1248, 2.5915, 0.7937, -0.0611, -0.0073, -0.0073, -0.3761, -1.1145, 6.9812, 1.9902, -0.1441, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f6d2249e6939dd95b20a93d7aa47cf6379523fc7ab7003800d24d773f439f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960483098b1af439e9734dabe44bd5116c27724f9004bda430f4b02de2e22bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25714a8e3c217608485fd14cd89aec57f55ffccf4d953621bf985141ac8028ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4725, 1.4815, 0.5262, 0.3653, -0.4496, -0.3382, 0.9963, -0.0219, 0.7017, 0.4385, -0.3424, -0.0311, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3727 left_y=-0.1002 left_z=0.0822 left_yaw=0.07 left_pitch=0.0362 left_roll=-0.0375 left_gripper=0.9963 right_x=0.2736 right_y=0.0031 right_z=0.1364 right_yaw=-0.0001 right_pitch=-0.0334 right_roll=-0.0052 right_gripper=0.9987\nstate[joint_eff]: [0.1709, -6.4752, 8.7726, 1.8926, -0.0415, 0.2369, -0.0073, -0.5265, -1.347, 6.8855, 1.9707, -0.1245, -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": "gAAAAABqsr9BVrvokwaGLWGE0dZC6CyngrhEynW-oMWqrgQXRg0gzwVEM-8-FpnnHRCns2pb1fGXEp43AxMpBzEBIi06YRoDSfJt4Kifez6gkqilaNoj1sGwLPan6VEHlyh-_2efRmP7xh58sQJFSQnDph7oOz3P-VmGQRWBx2Nlt82byYS7XdXxtoq8XAJEmhyEG1bl8_qbvzBLFlcnsn68CWBFqav7R0tmYwv5oTg8Av6Rp3wvZxsWFEX9e9zElwEMe6VBJFVfBHrf-aux8JQBA_pGoc-Ea84IbqVf-PIuzwSalDI6fgP-Hli68e5PvHr97ti5F_30A5q_MheU2j4JjCpPY-LcPvrQ4E5w8UHNaihetuH0UVI4aHp2me4xVTH5zgL_6v-I7dPgacYHTEYDiOc1WUoGyLxhLiTWvRvW7vuyFYdE0-5fhqzGy8FDYp7GgnIuenHTLN335gA8iJ5BAgLn5QQBDVGafkdbnRyO-ea8DMgKjpPm02kYQiy4cx2mIsTOwWaT4LEupfZy0xm1-zGPo5DCafa1CRjn_iMjljMxt2TQoiyTIjaTH_1l8NreL70X9sjSicm4x43cYUep-kW1oWNvEglXkY1yt7lWctyIbodkQ4S3XbfOEE55ObIoHsNdkiFDjqB1l7ubTDwrvWFQtA3T0I_ZEurLhFI6LY8XUumHydwH-iLOpGE_nVvpTJNeioDe6N4u1RRtsmvdx-_KLOReke8UUS74_3-oOzV39INgZNLx_-44j_n_yam7ZN0eL1hu8myCbMFEEi6QvhK4XppdueSEVdnqBeipvatTZA8XGx9nFDwyavbe9RYZ8g4W5h76qVW4KDlFEeYxOi0K4BFjDwPG_zfQfV9bpIM-u2wCRD1LLF-X87qimPTh5qAtIgPFPnU5tUFlOAM4720mASXHNgVJ744adVp2SBnmTzhMsvGgQfA0bOGaOYER83hZY4xkGgr2WL_t8jPH1FHdCAPoQlVHnliitfZyBKPsfXMrsSnafcDWraTVIViFBCnru-noJHgIx3eI91nKTcWCeb8C-swNqlFgTg-fQv0Q-5Qn0zjeJXGp8QelF-I4Aowu39TbV5y3RvNj0n5NCA4aLu-VLKCvopRupjBurzIF4_FE3ZJM6aTtcPNFOqPD6ctnLqzlWF5t3KmvaTwi4VfUR_yAdcYWVhR3vwIMQP76wp4_KZx9tt5y1tPIxd3OGIEq2LnuT1mxFMyqkF774usV0L-fpPN0OJc-7gzrhytm_KGI9-RNoKSQm51Z4wOeFf5wJrA15n6zLYBMMU5NejqTNBJv6a_U6_EDmpbl-hGZWw0ZpPxBO7gXaW0SRDkm27LV1qpxpzpVXpk5SRS146h4sfE4fsxQq8kd9bXyclj2CUwUd9hxrcGUd2e0_Se0ml17lqX_2JZV-ZUpAnY_wp_-y92UcZv6C5YT6aNX9pjlh9eg_CE=",
  "id": "rs_040fe02a51ab0618016ab2bf3c969487d08e7e8ec91cfea46c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.085,\"left_z\":0.01,\"left_gripper\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cap shifted slightly left during contact. I will centre the jaws on it and close with a low position target.\"}",
  "call_id": "call_7UqHVzRCZwBveTtZaFQbuodl",
  "id": "fc_040fe02a51ab0618016ab2bf3fdd0887d099b41ba4f724c6ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7UqHVzRCZwBveTtZaFQbuodl",
  "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]: [-0.4484, 1.6413, 0.3222, 0.8715, -0.4103, -0.2867, 0.0131, -0.0219, 0.6605, 0.374, -0.3161, -0.0307, -0.0433, 0.9987]\nstate[eef_state]: left_x=0.3629 left_y=-0.0924 left_z=0.0527 left_yaw=0.0405 left_pitch=0.1517 left_roll=-0.0788 left_gripper=0.0131 right_x=0.267 right_y=0.0032 right_z=0.1227 right_yaw=-0.0004 right_pitch=-0.0304 right_roll=-0.0055 right_gripper=0.9987\nstate[joint_eff]: [0.4171, -2.5368, 1.853, 0.5397, 0.1441, 0.2173, 1.1062, -0.5949, -0.8547, 6.9675, 1.9609, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c95c6980aa71c9e57a5705d105527acf85a3db38e536efbec7983480896d4fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299614212e617072127a565a596b8c7ad2dee4f42bbb02068b756d3ff69a520c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1b3c44dd35866bcc2b0f276762d23f839cac104c1261c15fd5d20d25e0ab826",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5308, 1.5806, 0.3626, 0.6304, -0.4507, -0.3252, 0.9963, -0.0219, 0.6827, 0.4068, -0.3313, -0.0307, -0.0437, 0.9987]\nstate[eef_state]: left_x=0.3464 left_y=-0.1099 left_z=0.04 left_yaw=0.0057 left_pitch=0.0386 left_roll=-0.0269 left_gripper=0.9963 right_x=0.2701 right_y=0.0031 right_z=0.129 right_yaw=-0.0002 right_pitch=-0.035 right_roll=-0.0057 right_gripper=0.9987\nstate[joint_eff]: [-0.2256, -3.1248, 2.5915, 0.7937, -0.0611, -0.0073, -0.0073, -0.3761, -1.1145, 6.9812, 1.9902, -0.1441, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9JjB9oqUGuZn08yyeqjNXVNmEJEM0iihQaCs-fe5m3ea6CsH5LbVwabRRSvQm9Q7z__Saa6vxjHin0puYR6FbcD4boUnR5gomEVyTFIimv3AYtsWLkFFzvYAhAQ7M9Qoh1PhmkeRkvfDaZzknQ9cTkjuxP2fheZSNsakqO0Ck6EvqzS_QufgQ_GkddCMYLYUxYDXPF1M7Q8zzfuBqQ47n3KOt4TquBbKtNQXy2laq0tzoMZF6rd5e7psyqN-dRh9H9Cl8sULGmWrqY79sHqz7R6g46oO6mQWV66h46-Y6m-KXLxdERCKHC99SeQWfBDvuRFXL2QOC2Y6F8eKWrz9egY9_KcvAB8vuLveKFGXsMa0sd1TgVh8X70BTskvbdcEfOJtohuQaLNgjnFio3kRyE_fUs7BaUru5H6HQuqmbVIB-RyBIsqN8G7O8DPdM4PqGJX7jnAQxTLT96qF2yz9h7R-KwFkz3Wv2-FOhWyDa7W5SwCpntdQ1_8EjAI1XYMjrwqIbA03FxOJjI5IEcLYiLa6t1y8-ts23Lo7Z7Fws8hRuClekV1zLbYqqPmFzbD_wmxEW5kV4I9zGwSarjCP3WQ76BjDmv56RnX4NoAJIXbUiRsU9IBDyxkHIPsYmV3RfYIyYKVQZFinlJOInW7eOscAN58aSfv892b6GZTqBdqlfDDqJOgwacdt4UxRMizdIYrymXmjfa7hKgAsE6CvrCa8VB8rWDVxYIoOq253yIkWsqkIUKt2KD6qWNeXSu4K2i2NQfPuF_gxz2kx5KlPrM_uPH9t8VKM_fPhBsfeINQNcZXRs5KUX7O8Q0gE7DQalODxrlauP1HOayeCKFAJJEp5ONPXhnNb99C0afL3b15gUhKY06u9gIeUzdqAq30sbl0Oelm8_-Hl0p-9qfr2W0KJ5IET0fCJMm11dHgVAR67S6S8WPiSFHfnI7YCT2FOUN06Ou6WM_vjWKww6T8qZtaNf-o3V5KEioGcd8WttMvpnS0nBM1tmUSry8Y30a5c4idm7SkIsapggqp1rVRpnA45MUcWgHyI5Y_wpHsH5FBrQxa7YvSRaV2QvgpJSR_kk4g9Nir6SDKk2FFN0mfHGj-T8M0XBSc6qhM7xARksRKwbwUtx6SWK7EJjUQ9juP4qeUBA8AXGfWz0TFTLfEviD42dCPRwolylEfzAuA-BwH4jh0cu5xpGRNEVQmRuRkA20lKeoAeEGhXMoOCoP8Wnz5gCEVB5gV5qeEdW_LMtrWrIszKbLEK989s2E6E1uSz79VJ3zynZ9GR1BRhIOI-e6gv-Ps6Riz6DbMIENkM-5IYSjNsiUkyKJ8_S1yMPqz5Vln3XVanQbmWqSwJMicCk3p_bnVpTqCXZCVs14bkAa6xxTE-J5Qts0St6syfGaRQZFyl1UVG2SM2Y-J7Y6Jmph4_hKPLkLQmO4HivGrPmzNS5nLQR_v1ckrd71BzUCvVPG",
  "id": "rs_040fe02a51ab0618016ab2bf45832887d08dd0153ac2883845",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The cap grasp is still empty, and repeated contact is only moving the bottle along the table. I will withdraw both grippers to a safe position rather than continue unsuccessful grasps.\"}",
  "call_id": "call_gpvnQlNgbSgrrwvSBfhDHPUj",
  "id": "fc_040fe02a51ab0618016ab2bf47119087d0b1ee16d8e291de85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gpvnQlNgbSgrrwvSBfhDHPUj",
  "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]: [-0.0547, 0.7906, 0.63, -0.3672, -0.1017, -0.0914, 0.9946, -0.0189, 0.7986, 0.6392, -0.4599, -0.0307, -0.0437, 0.9988]\nstate[eef_state]: left_x=0.299 left_y=0.0052 left_z=0.1961 left_yaw=0.0671 left_pitch=0.0364 left_roll=-0.0178 left_gripper=0.9946 right_x=0.2883 right_y=0.0036 right_z=0.1785 right_yaw=0.0029 right_pitch=-0.0472 right_roll=-0.0054 right_gripper=0.9988\nstate[joint_eff]: [0.212, -1.3333, 8.9094, 1.7558, 0.1099, 0.2466, -0.149, 0.294, -0.6359, 10.0718, 1.7851, -0.0171, 0.0024, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040bd8642f78eade1fa5ee9ee0e3a266fe34978b0f53f8387b545aff1863af08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152e30cfc8d9ec73705f77bd75054cecc4b49f3e779d05f0da837bcd515fb121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0520e87e6b912d4dfb3ca72abc42e08f3d8f0da303bf46ccca41604c88d81d2f",
      "type": "input_image"
    }
  ],
  "role": "user"
}