adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6094, -0.3763, -0.0189, -0.028, 0.9986, -0.0174, 0.7887, 0.6037, -0.3862, -0.0296, -0.0277, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0037 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.347, 9.6889, 1.7558, -0.0415, 0.1148, -0.1685, -0.7043, -1.0051, 10.2496, 1.8877, 0.0855, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f66527f19ba31f56988a74b0c9f5ec182d9ce48052cf54369a95f086749249",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f64205dad4a8d4f59b858b9a229953bb5accc711f0a7cbfcfbdcee087cc6b63a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378aae7ef83ddd351ba138c5fe469de3ee783a6e638bb38ce74f3b69edd33986",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1nPEgUgFTwwinUhEq1Soz1ODBvlMRJ-0tP8BonMw_kPrlu8QcVhefYo_Owe5GljIAePczPYNFWSEsJC1dbyDCeXQ6kTwlLxGT1mooSDXaHcY8XWlDjUpM6EPiaX3gPwsDC08IIKp00O7Ugvo_yiBrrDOrrLNpNJ-ct-7NicqR-NbWvOTx6uRh7ZHwbTPKjTsMFHDgmIgeVSbJv6YaEdJ5j5K3MCDxJjUTMTtZvpXzMNV1sB2-8T3zsswa2Xi-Sz6SsKIzkxDrcAlVj1mHxK0i_wBlE5oY2vmEjwVk-R_utOaDxypXZOc0P0eSZsiduL1c6CL10wkr-0SprES6EYPgYx3eDGDVu8orrZpMUKy3rrMmDA-ppFaIbxSjD5GE1nl6OWW7j1pxxta3eBMLuF1gKzSP40B7Kqwg6TUHT0SHiUMEdIh9IUa-Tr47tHp3gS3-2NOJXtuwrNcXuYA4IEXRl9Bg1m1KztSQpU23ta7X5egezU2h40tl0spYxHK3F0P83bgSFRPAhe-soR-aKoLcbsVdbr-rW9ve7EeemyCvtMlqBqR5GOVyE8uU8Mac69l4HYcd-SMK8oRWkJTZ42k2wdI2Z0LpTihIEikWX3tKb0D4WTekLYuS2NWNvwg7z208VddRM0Nec7hiAZplmFSB-hioFotNOMt1qlVAIZwp1VXKFfS4BGBjvpddnXuzuGVvJAg8nI2V5PvcBV9gYie7lyv1ykZ4GHRDFYXUoPkvqtoqGk44Z1EQQN1gqftrRrKFAU7TJpi8SVfZK4xNnK_HwBRbcgJpA3T5H9bWKiN7a2ARIlOw2VNAwAKyUj-7f57IReM0QvK6n--jxxiQ65l6z_YbBjov_PYQiJ1lTvCuC5teIUwWxxb-l014dBp85nDWZNz20YyIYTUuseSHo40XoGmE4K-PsmSMBM4NSeY15K_zkNJOOCqyWV96JNh6kqCT59SGiO7BHw39CxAPRpp0UNADehjylXDf9hURYFdepCWXVw1LFgaEkDUFEKgnoj2JOGnqnQKhJOqdc1geSbYh5oPGCYvPRqRvNldJGYLcvBMkHERzdKD0T7qvDRVMFpKp5IQ8opyHL63DxeYkYR0ETT65_jlRgHLfv-zhIlze_1EpML5yYlObNSFrHgdr8_j0I4CWxIS2OTKoDgyBAFKFoA5KLKLJXS1l2CedtYnssMs0Zw3N3eLDP1bvrfb8KG1hZJLanRzg-MpTF5UwJLKMYcEvUBSzFCpcBgRESFuSteEQ_mg9XSlhh5P4FElkZD9r0cwjc7y48HX63-Jo75vlWMUYI6QVSbTbHad-FehhwORsLUZQ5Z7o7Ps5_U5j1x6b5-HtGG4C2Osu4Nc7EqzEqHacyUdMhTlNHtcUBuZFuKZ9hP6ewRPqBHBVLNvczlB6v_LGgsLhOjEcnXNrEMXgE-RoA7IJLQV5uprfaqAbmYRAAICjZwqqGmlzTfjH-XsJrh_ghOO2wWyqR86or0Jzreb1mrt5R7WgLqI_JYz1nM3cTQ6QedPiJ_Ly2Yv3Dpuc_elXxcqJplAs7t0SsLmvziQyK6flSvHrQYQNZjgKminwCjZu95SqdhtraXzB2XHDkOVbwrJ0gu2tXj9dnZ7l7wR6-dE34uSQ-S8Ci7Y6yRfoFOtARP6t7PqaqpeudhwvwNylbRAq7oJjLIVzzZfaBRXEXorQHUgqf3b1EtCTtbLwFiepqhnIVAr2b56_UWq0ruJANkohqdtXNyofLEFhTwE6jhsdhOiQJ5I2HBi3p9LciTi75gkSHxhf8Jy8twDyVEJt4NBz-RFjQTlcHAGpWwsp70TkQyPwsgDnl4MSqsmkXeVP-Byrn-l82RyeGYkPE0Reho8df7Y1SNMJmf2D0zrgTQr9m7_eNgHcGBdEDC0LmBLtYUonEQRp5P5PpmYZIy1tQgKrjRx7du_u_U7leoONgOpFPstbwslClaLAW7CkJJiv5-zpR5V2oDwnjIq9y4IxYrige1dVJ0BvRVBq6uh0jGIz7sNzuKXwCFk9NKuW5hSW7NVUrueiGYnto0qFiKainUrLh6XSCcE_UfECkWyLdSzHOAK9pKJME7iM38Z9lWRIHXnRRuTx3cQ4utv1n",
  "id": "rs_0ef8d33d72e54b96016ab2ad5d6a8087d0848a1ea360892035",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"All three bottles are lying down, with their caps toward the far side of the table. I’ll approach the right bottle near its neck, aiming to lift from that end so its base can swing downward.\"}",
  "call_id": "call_cAc9Vo4V1iqJ1VhvnCCQnt9m",
  "id": "fc_0ef8d33d72e54b96016ab2ad64b76c87d0b4a787a4d9d92e1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cAc9Vo4V1iqJ1VhvnCCQnt9m",
  "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]: [-0.0246, 0.8021, 0.638, -0.4461, -0.0231, -0.0296, 0.9984, 0.5037, 1.7145, 1.0992, -0.0799, 0.3737, 0.2386, 0.9998]\nstate[eef_state]: left_x=0.2904 left_y=0.0005 left_z=0.1798 left_yaw=-0.0009 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9984 right_x=0.4434 right_y=0.1749 right_z=0.1308 right_yaw=0.04 right_pitch=-0.0678 right_roll=-0.0401 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6752, 10.2085, 1.8144, -0.0806, -0.0806, -0.0366, -0.1162, -8.4444, 8.9368, 1.8974, 0.3101, 0.2613, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff2b8983e91eb63ffdccd35036880e0c9ade19e8e267eff7f022822ac854258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c7820fdf3a36bb7c455c7d0aaa1036fd9b1c5de8fd02a2ac2deb48d5d57df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843e96b48de503694f8a243f37dfac6ce5e1f41b68c98d514d19933645611df2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6094, -0.3763, -0.0189, -0.028, 0.9986, -0.0174, 0.7887, 0.6037, -0.3862, -0.0296, -0.0277, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0012 left_z=0.1835 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0037 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.347, 9.6889, 1.7558, -0.0415, 0.1148, -0.1685, -0.7043, -1.0051, 10.2496, 1.8877, 0.0855, 0.1148, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq15EINay7KeHKEXd7qW_cpnuWljIoWMuMeFqBFuSOQwuOXujlrdNGfo15prWuk3JLTySWnBxatQyYHgdgGrOd5vOIvhyrHX602Hiix8y8_9gPNeDvdPO848b22sSbZNROuCBduub4Ji_kJGWHwtjHGIBVKD4hc4c98CqCbqyhITdLwJ8zMVm6Khblaj4MRvTFXBx-WZw2W2Puy5rCYlU__zg9YWYM26MkeBSTuJZJZQsVTXjBHT_FrsG9MSO78Wpq6MTI90Kcmho20xad2TOpc9CHXRTazDscu7fk5Tp1f-NiktbLWaHJi_gVQnYl5AiAcCoXl7iNVVPdoLAc__xGkoAj3V5UVyY91by8UmpvWPEgK4bdGW1x7FkAA_c2AJJWmz0idN_rtlaA2SB_xdFnqWyVtOtvYz1b-lJMv6h_m9hS5Wv9nbDxYavfcL6XjmjkC3j9jqtBvnB714lyJXhygrwWEkKDgJVQmkfrSIPWz9XsQDWxijCsTee_TT5nHUs4zqm5yao0RD1Btt8Do-JG0nm6T4vrwnAyabZXJ2W5DcyDe4uUwecVy4uhFU1xLW-8yWvsYZ42IkCUY4ERSCjsN1FFEbklcBIk1W3Cz1eYvTWqTtooD9AkS4MPDH3Up9jWzCuQtXGWGNvggkKyrz1EogRt0qvPEKYwurWZU81TP54TFBLTRgXwsM8HuFsmn4O9urs2S6-2fhY9HwMRM1AmgIsu1AiEDrbOfcLWOj8Gw8j--Zk1ruNP_CKnXta9Hz7XvUAJ8vhwR8surMFmC_NGQheFfdRERE9f9x3yH9EFavFuxiJMWgKNn42RkPdWDd0VS_e8GKghTFe-KzkkSy9cN-F5xGWnSlgdHeq6LikvXX_xMa83Y5RvW46bfx-42TU3Qt8kU0x50dCaZwMTYEdFvHJh2DzSydBDS4x9VCOeeg5rV8CrPpG2cL_OBj5U0j-Hg3pJ4aJcIsfwwPafkqpa6Zjw2hxbhWz59Ydc6RPkbWGPCBusBPqQyQQbd4AxlY7-t2Bm296bOb6socTB0em41ubX3OLVupJCb8kDHM-D8OVRV7vz6axI12yJSUeJrDGiWnrd8IIM7bM0cJjzqkXuVkSM_yfwLl5b_ac9isljZ4rfGObFqE_b_av85t8k6t1TysxfOZYFtB1rxdeOtQc_-qA_fkkU2sYqPuf1NpmMnd7XRG-XP2CU7qLhLcjfA0IYZ_IfRvhyk_wR4Jn3HgcEkgyIAR7qldXh-lkdYUp_oev4RpEDNijrQD-C53tCAxBIFFP9roplq8UAvSoglyN71x7Na0J4ie4AGQSz5ebL8aMwPhhlJXaxBZv3gC6nYm5aAaMgGcXbMhRGcuYFXjlsoayMmpJv-ObZ94fFuoF4muPfmT29gZyU2FbCOtnI73PN25tSPAhAuwvAb98M4nar95zcJ3yFLwQus5U8aoB-hxt23gZBf8O9Y1Kt8Ya6ZP_UToxvNYUaiu-Mw2ITTxjNLzMbBDvp5Duf0peBvADy5W6Dp8XiqcvKl-RVVh9rEA_co1DUHhZZgtUWpgZBeW3lzdJGOSrGQF12S9zN9XjKAkp1hQj2BplhLPuugDh7hd68Nf7yeh8skLuyZbUpB6w4LGdW9kZm73IzA1m0bKl9WL8GsWbRVWE1EUnjlfuqD5ISnBx4Fff3oqixLc3JKpNMjiepk1pQzvPkWO0JjeLVBVwbNUm83g_9OGBfrnAGojh6Wk5DLIFG8WV26FSAfdgMTZ1SW0Idz7DObu52P6ozpn9uFs8WuJrNK3jESilzYfWhsAVIayZs3qf3W84PXyePYFi0Dkl1gngf_dz364C2fycOJcohUBwjBxew3-zOLikKH57lnh5GGiE2oScKzDMjbhHqSELyc_UyiXhZTpYA6yZN4i6mEBnqmym6xXWR4PWKkBxlVUoKbJZL0P0aD8qXX5kEufFa7B85hfJ3rk67oiaw0CSrx0FZQk-tH1zShwbEwPKZOMFt135S1SFC048bB1Ifcye9VIa4wR-7DHyJKU4gjGh1FDyOgeZvobBBnKuAA_JobX57cy-Y5JFe2g9uRSeVhjk67lhr6mSIMqSOgW1yoPk3o51NDOK8kdzgBRiPZX5O7hnJH6oB8OhQ-brIu0LWq82eN_BbLE-S12quj9FoGhLbh8Eed70EhRmpac5vlpmzfJHc81VswASZuWYcPfBdL91f2QTZx_JuBuAWXzWta8jx98_7BdSxKFW5bnGViMw8mQmB2BvIwCPMjjl9EjvHuwXW5TdPRxvgZC7ChmS69IQmH3VUHT0QTmAGW2AWesQ1WGlUwtAjmmxebsSzJLAXmgMlYZzgNvn_UKDSgMfacpHi4_5NRVzsG6LKk6rKlzonuB2-AlAqWEOelF_dJRTgP2MRSE9efSEymWOZ4-tQK_GEhtZ7Tp1bvjlRm83fhMnAn8nYsVaCHaVb2XFl58L3gVRvTx-rMnAW2FfT8q-sgwYex9k1RLT3X_dH-9lU013Qh06A26UwSFDyU9QakPqGrf6x-NR6TjpL0veC1TPR2wrY7ZeCYSJ7JPYZadzNcUjDxl5_ahSG1PUBn5ks3w0MnaA1YZi0iA3-Q5bguq4akLMhmO063IaVJPFPAC69VaBK9nLqzjW7WUYSmLGTOypdlDChjXVwaXDjptDokob-6LXaI8r_8-qAGb_LLqz8m_NjQG8njl26vi78gZ2z6GKDStST3eXSBoT4eKffgS5V3uXdDAVKRBlaBjrmcEng3JTQBkNpm8QcPG44Zjc1C5xhQnXGPXhENzAl1q_OX-ynZs8rMaSIFMld5RphlMoN35ZLCaLyUQoOYwR4FdklvWdzzB_JMUVJvc3MnhDijvtOVzxnwTprOg8WfRw2Ha93JsNj4Z1qIMMntmqmGc2Mn2Q8Zg6OhwVK30osMP2I6dtCLc1LGznnZ6oGYpFK1z_4Wd",
  "id": "rs_0ef8d33d72e54b96016ab2ad6b666c87d0ba8088e1f93921b6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.16,\"right_z\":0.05},\"note\":\"The right bottle is aligned near the jaw column, but its neck is still ahead of the fingertips. I’ll move farther forward and lower toward the neck, keeping the jaws open.\"}",
  "call_id": "call_QbESWtksNC94rP9bTkq3TryV",
  "id": "fc_0ef8d33d72e54b96016ab2ad77fc4887d08ebffbd83db03c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QbESWtksNC94rP9bTkq3TryV",
  "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]: [-0.0265, 0.7719, 0.5877, -0.408, -0.0227, -0.0292, 0.9983, 0.3817, 2.0659, 1.1561, 0.2371, 0.2745, 0.1616, 0.9998]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1727 left_yaw=-0.0034 left_pitch=-0.0324 left_roll=0.0018 left_gripper=0.9983 right_x=0.5094 right_y=0.1567 right_z=0.0383 right_yaw=0.0413 right_pitch=-0.072 right_roll=-0.0353 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.6615, 6.9949, 1.9609, -0.0415, -0.0562, -0.0171, -0.8137, -10.0171, 8.0068, 2.0488, 0.0366, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c16cd25a93ea05a390b282b45b3eb299f48604275b3c3d3149c12d0dc44bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668bc725ddf3e79daee8eea9dc9ac9ad50c9d9235b9397f8ff2eb9bac1c7ca71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a9ccc9a78f75ff4e59fb84649eb846e1e1604ff1befbe5034ae1e7303364ec",
      "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]: [-0.0246, 0.8021, 0.638, -0.4461, -0.0231, -0.0296, 0.9984, 0.5037, 1.7145, 1.0992, -0.0799, 0.3737, 0.2386, 0.9998]\nstate[eef_state]: left_x=0.2904 left_y=0.0005 left_z=0.1798 left_yaw=-0.0009 left_pitch=-0.0503 left_roll=0.0021 left_gripper=0.9984 right_x=0.4434 right_y=0.1749 right_z=0.1308 right_yaw=0.04 right_pitch=-0.0678 right_roll=-0.0401 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.6752, 10.2085, 1.8144, -0.0806, -0.0806, -0.0366, -0.1162, -8.4444, 8.9368, 1.8974, 0.3101, 0.2613, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2B8E6B0Wtk19SZFTmphDLSpm_ITvnBIzn9mIr5F5Y2xh5b04MWGZuQpCwiRw1GhqKq4L9hFYIh0-_q4Inh_8XZSJh85SI9JDoTO6qm7ABsZNr2PMGiWgj8HnjtP-jSP1bKGiK9VVZXTDQGslJPKVTZ2z0ZJlKpbNHeYX_XWDlZesm22p5yoXR-qWkmIsW_B2nyGQhMED23Uja53Vq_oQipTTmO3E9iMKFpiGxcTiDV0Np9BQGQnFJ_ulA8G-jCbC6a8bgtXxEPY6shWCOCHgxiqGhYzLSiOFvSooMG1YcCIivy-K1Q3REooXY6zePGYojmgd09cBJEqHJYHy9mFbSp5zHBooZaLLlR6IgbDbzhKiD8xC8syAa8teUbpLjIbU3ldKT5GAdUi-PbaiAF8D0pxBDg-GVvbrYLOD6HyOnxBO0AeOJdtCuQYSFXSBUc0H86mTikYbn2sl_y2ruJ7HQPtnQboOmX56xbb27zo2SRSQwf-wMxBJGtKh2a8h867Tr8twUxGFc4uAq8rXlfN-zEuA_DNHFwfgYM0ohG5wULYSdVIyDz200l0x2VUViFCqVLQbDol_cFeOEyESLGRbfU10AhUcJrVYUyWSiilF_e2HyH06aw4Nq87e3ZmfSvM7bpiRTkOQh-SubwL2CfWgtpLeUJYywZ9La_3yUbWxKbvwlkDRIHgBxjsTUDFF40i94fNege9MMNaJQtGN370k3cm9t0ZalypKePNhSJofo0q0XwNy8xvzoyK2TLewppg3Rfnbv0hrvkENph90MIa3R_69tVz7QDfskJCw6IQ2ocn7HJfTBsMPsNXjX3IsWfFoTvPV1X50XvdKQFb4h4nurrw-QnfwuarTmGxBJcLhz_OhXm6TxE4VMtUE80TiBT3ODwKF-8IVOD1znQp3dmNWB-rVeR48FtOHgdrc7yYFh7x14t1pkjYIaZZyEGpi-J4wLUMDnaVe9OpbeFt_C1Dp9AFMejYLYEMYQ0pFRFeD0Y8dt4ibQDKzpmYiKOR1wPCpA5tlYJE3Fqq7kTBIN6-vHNNyeVzpZOXJGiaSHt1_1zdjIb4k98JrcZqczls-ME8o2IVYuI7wFemizL41vsVyIS8_u05uNd6jhLVpmSAFwa6Eb0RasA5E04WmrDlHP3KZUhJcLvI9U8kb3Dx7qCncESBFfnW3p6CoottgWun9Tlnkc3OSG-SVWxJPLRV9nQ-Cose7dNzxfYS_zPK7r5VHII4beFuh4xei7gp3OsK7SjE3gz1i9ba5yB7o1X3-CanHoF_wqIkS6ewbF0qxhc6-OGgtrDbSoi-YN8g6BkEjzWjiYjSK1Gcyt2Hv0_Nz-uhL5ShYBecQXLCiszV8TnWDuDYHDKu2sKohioa5Kgj-X9VP3pnycHIY5bONSszWW6SQu7vJQZYQLJE5v4u2Zqi8I3NWS03Yd5mjvV2FWbWQlCGGsmWKQAyK3fHXHVG1mpL6NEWLtCzC1guyKkdA8cLoBeZA==",
  "id": "rs_0ef8d33d72e54b96016ab2ad7c3f0887d0be40823eaa6b9a48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.16,\"right_z\":0.045},\"note\":\"The cap and narrow neck are visible just ahead of the jaws; the bottle has not moved. I’ll advance a small amount to grip below the cap rather than squeezing the wider body.\"}",
  "call_id": "call_XHXI4DVnhdJVKNBooyNZ5Bfw",
  "id": "fc_0ef8d33d72e54b96016ab2ad7f890487d08c93a64f68ddc959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XHXI4DVnhdJVKNBooyNZ5Bfw",
  "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]: [-0.0265, 0.7559, 0.5632, -0.3904, -0.0227, -0.0292, 0.9983, 0.3553, 2.1796, 1.3186, 0.2665, 0.2333, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.286 left_y=0.0 left_z=0.1694 left_yaw=-0.0034 left_pitch=-0.0232 left_roll=0.0016 left_gripper=0.9983 right_x=0.5536 right_y=0.1657 right_z=0.0465 right_yaw=0.0659 right_pitch=-0.0052 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6752, 6.5436, 1.9121, -0.022, -0.0708, -0.0122, -1.2376, -10.5368, 7.747, 1.6288, 0.1978, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1744309a43bdf81bdf3b14246fa78135ac2dcdd3f6e598fe8dd9aed45d10e5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5d6e84a35330e85440f1acbd72f36024bac251a50e951138f00f538cf0a9bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0139d45e4a38ea80877a395e5f1298330e76b47e226baf7ec93d4d685da947a7",
      "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]: [-0.0265, 0.7719, 0.5877, -0.408, -0.0227, -0.0292, 0.9983, 0.3817, 2.0659, 1.1561, 0.2371, 0.2745, 0.1616, 0.9998]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1727 left_yaw=-0.0034 left_pitch=-0.0324 left_roll=0.0018 left_gripper=0.9983 right_x=0.5094 right_y=0.1567 right_z=0.0383 right_yaw=0.0413 right_pitch=-0.072 right_roll=-0.0353 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.6615, 6.9949, 1.9609, -0.0415, -0.0562, -0.0171, -0.8137, -10.0171, 8.0068, 2.0488, 0.0366, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2G8ugUNMS1H1XM56yRF67izPRBobUIaX1tQLliRlensFCMxDgKuiey9VQoIvbFhnbOTgt0gvJxyOO50Pa4kA8WbDhVzbQSse_S9NpG6YyM1tl1PTqTnNjoS0FF2LsiXaNeGYUWh01RJTnvWAnm-8FBZX7X8_z06_arqH-UPLU-LAxYWhkxibu2Gn2u5JEp4HM0Mh4SgAMcPgGTu-drAR4--xQmaMmTFLHwn_X2HZKCdKGCsxXmUS8UEjwpeSByy0eOFc2C33Ptg88GryjRn5DDvXYPbwQa45MlsUMLslXAT5yNu9_YgFp-0gAJ44XdM7j9yfgyahd45q4hs208LJyEB0t_-U5mRSroKQ8_AwVFnN5-CAnpaljKJFIOtGGV4xkxBG3mgNP00Qlomxt3cNtFSMg9WQ9qAR5qKDUDAgqjbSqBrocHIJ1wnqJoziPHl984GXYYI5rWFTBjDasj2FWN0WchB9odw-i1iVwbxBoXYD5DNrxI9bAtBbCUgp8UeHSXbeMldZnHs98kjC8g2bYTVG7IddIc6QmfzyMr-lqM9TJRpsrjGlxIGyvgRuhzv7BnMGk1UmCuE_Sd-QCyNssNpWzzOZtY76h1HL5fTzAD8Jw4ZCtmvmU_8CQw-KTgxbXpy_8gO89YZgBcj4G3hq98RjdjxR9SuxAtbZ_98759YuRYPPapm_aGth7AlvWcqDM_Q2ti8wh8qR__BEOstd0z_VW9TpMoScyS_qT9h1gZki4j05vmW2Q0urEtffPEs7IthR914x1mBGdRWcDTbwAkLm0EhPM_cD2KQ-xpCf0gmC26ujQ5PHXVrmMmgtz1BtLXDFmih0X3x1tTtmSf8IitcRBSFYbAepjEaWRnMZytLubUQ-ciTf4uiaMkg2SkJMSKSskcgJ1LEl03QPjn2CAVatjwWDKOeQeno5A3egPypDFhPyLYFVnW4hltuUzlMlaJ5lU-GyAle1OEiz8EfEZxJwR3C0RSQS1H-jqDKTsZ9PBQ_eB0hz6ClLAHdvVIVZj3U_Sn9yK1gs6p3do8l9N_MvjOoOlZxILsc2Gcz4u26IWE-36BaXMOCy1sAP-O6k4Xks7UFVyUGhEFm5c628DxknIb8oFrYdpriVFdf-X692vMLBds_h6T6yanyIUte01cJFv5i1GgNb4T2daMpImbiCJWybYUU6N2qN5Hih_3kl9PdoY6aM5M-uAzNJFuqjKgciYR-4lYkW4LqQ2LACMuoMgN-UiK4r7ZI3VimgTFBG_pfLfUInhKqkD6P9WNs1RHd-90QXMn6JcAiTmUBT73tg==",
  "id": "rs_0ef8d33d72e54b96016ab2ad84211c87d097e37727ebcedd5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The neck is now centered between the jaws just below the cap. I’ll close gently around it, leaving a little freedom for the bottle to pivot as it lifts.\"}",
  "call_id": "call_UrOiaY2mbEUDoQCzcPHIHijp",
  "id": "fc_0ef8d33d72e54b96016ab2ad858eac87d0a26c6bdbc406e582",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UrOiaY2mbEUDoQCzcPHIHijp",
  "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]: [-0.0265, 0.7456, 0.548, -0.374, -0.0227, -0.0292, 0.9983, 0.3458, 2.1948, 1.3487, 0.2787, 0.2302, 0.1249, 0.2554]\nstate[eef_state]: left_x=0.2858 left_y=0.0 left_z=0.1685 left_yaw=-0.0034 left_pitch=-0.0118 left_roll=0.0013 left_gripper=0.9983 right_x=0.5636 right_y=0.164 right_z=0.0526 right_yaw=0.0628 right_pitch=0.0204 right_roll=-0.0089 right_gripper=0.2554\nstate[joint_eff]: [-0.2667, -1.5385, 6.4342, 1.8681, -0.0269, -0.0806, -0.0122, -0.2803, -10.906, 7.665, 1.5409, 0.1392, 0.1978, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddf76ebcd3fb3cad0137f7010d9d054d3e85e7e7348d1edab8edb4c07668f581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6f0aa48b7c4e527894d4a29a8603430d223c2731d5841f85ed95ba7df359d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efd691e8668f605fe1e3f91b493c823c72360f1911a917ef9c6d65b7c4c7937",
      "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]: [-0.0265, 0.7559, 0.5632, -0.3904, -0.0227, -0.0292, 0.9983, 0.3553, 2.1796, 1.3186, 0.2665, 0.2333, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.286 left_y=0.0 left_z=0.1694 left_yaw=-0.0034 left_pitch=-0.0232 left_roll=0.0016 left_gripper=0.9983 right_x=0.5536 right_y=0.1657 right_z=0.0465 right_yaw=0.0659 right_pitch=-0.0052 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.6752, 6.5436, 1.9121, -0.022, -0.0708, -0.0122, -1.2376, -10.5368, 7.747, 1.6288, 0.1978, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_z\":0.12,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The jaws have closed around the neck, and the bottle remains beneath them. I’ll lift the neck a few centimeters and check whether the base follows and begins to swing down.\"}",
  "call_id": "call_1gjQdM4Nrp4hGTZKVbxVPENk",
  "id": "fc_0ef8d33d72e54b96016ab2ad8a485487d09dc145c62bbb7911",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1gjQdM4Nrp4hGTZKVbxVPENk",
  "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]: [-0.0265, 0.7952, 0.6327, -0.437, -0.0227, -0.0292, 0.9983, 0.3565, 2.0655, 1.3472, 0.1146, 0.2302, 0.1295, 0.2556]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.181 left_yaw=-0.0034 left_pitch=-0.0396 left_roll=0.002 left_gripper=0.9983 right_x=0.5458 right_y=0.1641 right_z=0.091 right_yaw=0.071 right_pitch=-0.0144 right_roll=-0.0152 right_gripper=0.2556\nstate[joint_eff]: [-0.0889, -1.0051, 9.7436, 1.6484, 0.0073, -0.0122, -0.0122, 0.294, -13.6957, 7.6376, 1.7411, 0.1099, 0.1343, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5a2bc0311130aeb2196682127c817da529b672e8d905c9ef7a160259fa3ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aef2fb6ad007963845709c28d3c15da907efa6544643ad6e62cbd3a7ec842b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a17681c2a1bf7a2c112d2435e716f13800199808b8f035405d05b75560af287",
      "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]: [-0.0265, 0.7456, 0.548, -0.374, -0.0227, -0.0292, 0.9983, 0.3458, 2.1948, 1.3487, 0.2787, 0.2302, 0.1249, 0.2554]\nstate[eef_state]: left_x=0.2858 left_y=0.0 left_z=0.1685 left_yaw=-0.0034 left_pitch=-0.0118 left_roll=0.0013 left_gripper=0.9983 right_x=0.5636 right_y=0.164 right_z=0.0526 right_yaw=0.0628 right_pitch=0.0204 right_roll=-0.0089 right_gripper=0.2554\nstate[joint_eff]: [-0.2667, -1.5385, 6.4342, 1.8681, -0.0269, -0.0806, -0.0122, -0.2803, -10.906, 7.665, 1.5409, 0.1392, 0.1978, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2Rikc-UuZF7yl5_luM6SLpFRSDSf2lKflHwhh1-MjlB48NwFQ0_9e8QzI703jpzgXGZ-E4hEBv3MsIIKaZ4p3GJYDOWPiA2SOGgte3MsTYuRHUMggDCH5mbg46Dlah3FY9yDHncbACawdE8Gm8ETGH55XcZf8U9CnMRSnPYzNooJozkXrln9KZjdS1cGvdP_3fTD2MtAt2fShZE8hWE85LfqATXGnMv8OS-soqUP8bsXo6CV4KdcNe0ILOe3j2u3gAFvSvI1Ta2t2eqze3pqCWXVVWTCY9fs3Rjcn11Xh2Rqick1xuvauoOYTrCaONW36OuyNfUU1EJ1VJW4kxBPglZ4x-s6yquZTZZXqq5c_P9C4qB1ka6CdG2j_vuUpBwaV7uYmXdHYZp3mGQABwC8Ue_UeVVi-qcXxOlKFqabg7bYDcuc_s0U2SIgyiDexzHQ8jbLjDvxaph8vC8sKUNZUUPkqbq6wOJWFyCsOJOOL_uGGMW51UoJ_gilzhlLGJl5gtzZTSdCV6pnlbgH-g-DAI4MaNjZaxrjiFVzJiO9RK5G6MhZMxz3Ovt8KFTz4tV_4GOPA6s5UFirRvAtPCjo7mGIiuDTdafEGZ9-eY6aV4kG9yqz0j26x92krqd3JTuFA5qyznym_5zW_XRU_ul4-DBzT1pQZ3XS-hbblJlrZ-NwgdOGtw-YB99cPS_8AFO_qQbrfejA9qeWel-Npq-aLQSg7g20NRdxBe-DH1lwBoiqR1ixVgfDXaI5ClLlZ26WzTASlUrYYtu-PKF5SaFqcksu0kPkHzFLlpCCrOVxNVLxylK9R--oDhkA653ZaOau_CePi2f_9dd-JVt5gT9yaz0FSoCLssuUCeVjTnqLHZUkNRPIivdNOdxGeUk6BLIvpseK9fFSvb0RGHzoAdqGt2BoYfbs4LyV8E0r6t2SVs_HOdd9oqVjp1bGxrK0w2SRTRX4vdxNS2zPTvgpIuJ5x-Zkhg59lBLdx4Bc7L7-pGhjqxAlr8XUWKNd-C9uPqWzw9Iqzc77kGip6OGO4wVz4gmOKaFy1zLxjLvIoax31Aytf_XQeh9LKfwRBJBfZ1DtYcRHnByhjbsaHoWy3-usAigUBDDj5aN8e45Zt9E572Sg46svBvdeK98e84fcU7wS0iuDO8qOSces7AZR0-F20lVKhW26vaaEHZ8RmJpMg7IJmU251LhVOparjRVnJX6Ehudvzzln2KRVGotjFchGBrgPDwmHI6iNprQG1taXXetno=",
  "id": "rs_0ef8d33d72e54b96016ab2ad8ee5f487d08c25ab89d58527d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.24},\"note\":\"The bottle’s neck has risen with the gripper while its base remains lower. I’ll lift higher and bring it slightly toward the base, allowing gravity to rotate it upright.\"}",
  "call_id": "call_Kuh05XviVctxS1gjGzKopXeI",
  "id": "fc_0ef8d33d72e54b96016ab2ad8f87c887d08d9bc487d4d87ec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kuh05XviVctxS1gjGzKopXeI",
  "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]: [-0.0265, 0.7719, 0.5953, -0.416, -0.0227, -0.0292, 0.9983, 0.4133, 1.7519, 1.4143, -0.3183, 0.2539, 0.149, 0.2556]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1745 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0018 left_gripper=0.9983 right_x=0.4832 right_y=0.1674 right_z=0.2003 right_yaw=0.0971 right_pitch=-0.0603 right_roll=-0.028 right_gripper=0.2556\nstate[joint_eff]: [-0.0752, -1.6205, 6.8034, 2.0488, -0.0415, -0.0708, -0.0122, 0.1436, -12.2872, 10.5231, 1.9951, 0.2173, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb8c8ba4ef623e240bafd80ea9175528c3af06ded8e8c4da768a653cc826b43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b4d26501a547ebad2b15321b413b4870ff8d42450650a11cdf172f0d65e790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590a19b401f9183d54f93bc9cfc773840aeb54bf01d3d2fc36e5352ae1298d55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7952, 0.6327, -0.437, -0.0227, -0.0292, 0.9983, 0.3565, 2.0655, 1.3472, 0.1146, 0.2302, 0.1295, 0.2556]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.181 left_yaw=-0.0034 left_pitch=-0.0396 left_roll=0.002 left_gripper=0.9983 right_x=0.5458 right_y=0.1641 right_z=0.091 right_yaw=0.071 right_pitch=-0.0144 right_roll=-0.0152 right_gripper=0.2556\nstate[joint_eff]: [-0.0889, -1.0051, 9.7436, 1.6484, 0.0073, -0.0122, -0.0122, 0.294, -13.6957, 7.6376, 1.7411, 0.1099, 0.1343, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2ipe_a520doMtWz5oGV34hBwF_v0v3EFICxKGcBv6WgQt7mlJp0GAn301rL1txvjUdunyN9KRqbChau46Q4okiTLBJohR3JqVpwMGurv3_DfNLpIulINUUNWJL1ktnSdghdmgg5DTjOa3Cc92s2qxUxvLxZJyJoKKxQFOhazgqeR1b_4ODXRofxE_oY3dU1nElOMCbhX9U4pev37QiaTx0zfIkBToxCs4s7vFuw_KwXzivhZscFvqkqP2f5I0u23x7grDEBwMn6APUtJQotEyq1nQYrspcnoeC21cJahHxg5UQo3V31jCPJsoFGMJ7xmYXcC2sOYb62MJDb4AYbYTXX_mpmYy_KvVzYeaPCE75oCw17_FbaDFOshrc7zAnWdVqig7Id6VB49bskeN45JRNCobJe6bOxlyLFv3kazut-d_9vk4W9vveAbT-Eodiu-t-ok2PRi3k9b_vE4sLCuOTPGUSoMjAzNhX0MleK1Zl-WOWsAt6W4qrNQPUbs_YYdOmdmyEteZny8eP34Po4DhSAcPCyvsI0uosqKWRG8Y_UYq3oPUuI5kiK3AhyhBBCSe5I_Rq7qRbwt-BJDDWivAQlusN9x586JBJUg6FXr-vH7IT-vPmbWv1vvUDuho7v7Y5V2RNTaneso-l2U_Tmv4shd6xjO2cMF0ON5nlqnWQmQUrsDT96QwUzlCUX1CAv7ij7c1IkKHv8MTtjN5uaxL5vay_7rlOUYs2R7xEO79JfsQex07ingvkl4W6cDAXrsxmSZ_zIf0vSVEXC5wU1daK3TuB624ie3jFOdp-hhf8vPr9JekHApAT4LiqQy8dORNc-yyqfw_2zT-rWRrvL_lUhZLFt6VF_mjnEvfkRNzvYZsU8evryMtPBw5J2njIxchKP7NqAhnypN6WI9Wt_oj57QmYTHnuL8xNlooIGyNfEeFe7wcGBdpqmJWNJI0EjGd2CZjMTRz_UHHq3_CtwoHAfJ-bwomWbCoJkmR6F4CdlUEaJb_HPflKfVaQdxrfh54C9uFZVBmFAqifb9V1lgsSYtt0FSIAZYqIsTTjnrkxYwtTNiCJZ9pI9go2KnK7-LSsb4OgQF1Qy0y7a4-8Ee6Fg4zTNUSbzROW-oua7Ikf86WFT0rXlZi6crU3ykO0PT9wIyGeMIJELvC3G1KExIUjz1HVsf30MWHp79A5tfarD1fJpqqBokLyF2s3ak4fljHJkhcVfgS0Q_hgONd1bAQAiI-xTRIGKvFeWgcmuUxTFCWcpRtLJ0MoSwJnXovBK-byTcmCGzrtnwJzLclL_LrD6BUcs4S5qnY2wavDLD2q8ZcyN7tHwl_xhHvkQHTYDPMOAdzXc3s8EPiFowyCB3xkYk7udIc9ZK8zDtbAxqkpbaBXRaYhR5jEauA35vnRKrfgIQcRGnBpD_nTpGYzRmSdaoXudVZlkpRy9zloZOr3JF2IXq98BxZWm0vUeWE2l48bbrIA61qQd7Z9oiWixKZt_bZr4eRNx1RiWo3oJNFe9m-D48yB_gcro7ydPEg6vdLt8MFQcWKT1nwjBtN4Z2txRl1JnMDoESrAQKm_dbmw2z2mDZ8jl6-0SPVcfvtyBU0iDw8wN3XMG9l9bmMKKt3Eljay9LkbaZBM9NZvkuCy_WkbJ5sQVREnLN9eFMQQWYoC1X9iC4sgxWQ6ee_EySdi-Q2jJy4R_M4Ue-KcGMctNL4T434UArRTxfkukZO0uh6B2CHKB3wrZdzrBvnOp1lA-jtRPeZBufaH25DxUK_BX8tk0Pfw6j5DArOQz_Ek4O1bxVYAAAe7PRpZKdUC4h9Zf8bqyR-dvhrm_3GkpHsaAutlhKTcJb-jqS1QHlPMecZJlm7CksoqFjJPBDZQbpUoa3QiAzD40DZWyy_b3t_-4VjWWm_C0l1MCl-_oJ-Wd6PJaDeiAzZUOT5YW3U-I-x9fp12e-i9-IQAZHBgNxkh_yIYbxA9jX5YCQQtckhRiZHCY9GdsSxp1YBfVtsHxP4-Oe-AC9Or6SUZEexVKbxkhvFgpG0UfEHwBiquSQqB5criAiWLMIuYmsEGtIHcl5ZtuRZtBZex0aLIznU-r6n8bYx7YkKTQeYH84Gj1PaTlrkS1xVDGY9TkbZgyGOJKJU2dv-w9FTpCFu6UfJ5CDyOUctLKOxEaaKzAKHGBT1wboR1hnWi0KSpJMX6ADx37lfFYHnbJAkkvps08DqshA1zGgkhM0upXnwL7ic6et_OwWi0j-CPKDea-rgockpSIIRI7Ri3X07jZxii8LZKZT9wy8A=",
  "id": "rs_0ef8d33d72e54b96016ab2ad96fd8887d0bc2e28b943badcd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.17,\"right_z\":0.025,\"right_gripper\":0.8},\"note\":\"The bottle still appears to be resting on the table, so the first grip did not securely capture its neck. I’ll reopen and approach a little farther forward for a firmer neck grasp.\"}",
  "call_id": "call_rGyyJtlRSW8kaP1qKY1r1wnw",
  "id": "fc_0ef8d33d72e54b96016ab2ada01f9487d0ac6a14b559801342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rGyyJtlRSW8kaP1qKY1r1wnw",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7559, 0.5671, -0.3935, -0.0227, -0.0292, 0.9983, 0.3397, 2.2818, 1.4826, 0.2043, 0.1745, 0.086, 0.7978]\nstate[eef_state]: left_x=0.2861 left_y=0.0 left_z=0.1705 left_yaw=-0.0034 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.5826 right_y=0.1772 right_z=0.0417 right_yaw=0.1242 right_pitch=-0.0135 right_roll=-0.0188 right_gripper=0.7978\nstate[joint_eff]: [-0.212, -1.7026, 6.653, 1.8779, -0.0269, -0.0464, -0.0122, -1.7436, -9.1145, 7.0222, 1.5018, -0.0122, 0.1978, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd77e9e1f1bbe8c805bdcd3604cfcd208fa7c0cbf8ef3db2ad593fe2c9465511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b86e73ebb9a7118ec16efac7655a880120b59bdf12e7dc8146c077c92f36fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd664241067695fa37bd3d9fc02c5b92c852f198f74bc447cb69eb608fba514",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7719, 0.5953, -0.416, -0.0227, -0.0292, 0.9983, 0.4133, 1.7519, 1.4143, -0.3183, 0.2539, 0.149, 0.2556]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1745 left_yaw=-0.0034 left_pitch=-0.0328 left_roll=0.0018 left_gripper=0.9983 right_x=0.4832 right_y=0.1674 right_z=0.2003 right_yaw=0.0971 right_pitch=-0.0603 right_roll=-0.028 right_gripper=0.2556\nstate[joint_eff]: [-0.0752, -1.6205, 6.8034, 2.0488, -0.0415, -0.0708, -0.0122, 0.1436, -12.2872, 10.5231, 1.9951, 0.2173, 0.2418, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2oxrJIXHJIs3U8Q5MLFcDhiG8kCGyI0XpgHMkZMbC63sogBj0NZfALPKigZ1BuEyYaqiOeItAIu3d_TGzPEwGfOJT0OJwcAGLTHqe3uExw4ZecDWgHR8VOAc-o6BNoBxMKZB_eD3Bf3V3rlhevlPsoaTscbbtT9pAdotMPON98CUjSjgu1EzXHmWLN1bR02TmLlGiJBbaNXqlLM6wtb4j5qIotlIzI_YSq4o1cBDwVv0rMPWqsfQuzzqFzs6-3BuvH8xq-wmkio0bmm0Lnb46xHw6B4gZKHPjMse6IVa64XpmcsmNBDo7ktRf2I-kw11EEn8aFaN4bxyA1EdU38lM4RPrexV3oydXdOdLHfW-X_kQ-_fRr1Op7WM4z5k3tlGDgzKxje-wPK_rp4MeHl3UqJZi4Bdj20eW-3OE9DrcDRgWsXJJo_hcvopuxl-XPmlJx5VIMVSy9Vl8bAjJHNUkQq4JiKVwkkwtNaYErRXiv5T00LTZWO3ZpQ9YwHQvoVj9Fqip_ZB9UrmAmFJiRr-Z4Gr-4Igoywp9C-5XYJeirJU0m7T1A3-U1iblXiW1DBR0UhRyAde4Uv_yrPJikcQq4OnBezX5JERSPZKpvx1boNvovqMnoQBfLsau3_HlNiAW76ZOrTYmbE84_2hVXjeFT9I40AUtHoZUaMAvhcBl8rf7pI76xavKmhukjkpc1PwLwWDrMU9qRBH16gkthdMKo6Zv_izyMsV_3IGLJ5_eD5VuSW91a5VdqvZygv0lK6-cgudeZ7-VD8oSCssQBy7KGevR5ab-Q_IYc2aZMStN5hrvefxotG0q-h27VtQeXWVn3i3N1gseUCMGno9AhNHALxOirPMaOJLUL1MtE2ryCghfhb7SR05vwrGfLOSiScXIjBtwn-lqLvHoqKVcK67DGVUztD3bNE_l2ela-8BiiKQhHWCTiBGQX8kBHB-uuv0UPi2JxmkYMEFd2P3nER5CrTK2Kns_BtE1t0Ua6rc_I52udnpwbPxOWVTE0EmQK07gOxlujILloqbId9xgHJQH7hkDTxhDXmS3uv5FXlKLnsGj9HNT5W_i6ugbGCRFJG_Aovtw96-Ze0flAtglVfk7tYWENqJCS8_G88j8q9sD8PDqdtf4JJkJJhQv4FQD5G0cbzwh7PhaNkUOzFXg0_a5c1lLh9BQ8noG9xrjIbguuMQeAXIdB4LFESA7xXCadit1I1Iww6z-FEA824uJEv_d-K88F4rb1iymj95f1vOR0CHI=",
  "id": "rs_0ef8d33d72e54b96016ab2ada5cc1487d0928ba51ab57b4e31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap is now at the bottom of the wrist view, placing the neck between the fingertips. I’ll close fully so the gripper readback can confirm whether it captured the bottle.\"}",
  "call_id": "call_UALkavOWqBqhm1Eh2ihGA3i5",
  "id": "fc_0ef8d33d72e54b96016ab2ada6997887d0a947260873b611fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UALkavOWqBqhm1Eh2ihGA3i5",
  "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]: [-0.0265, 0.7456, 0.5495, -0.3805, -0.0227, -0.0292, 0.9983, 0.3405, 2.2875, 1.4864, 0.2855, 0.1528, 0.0772, 0.0171]\nstate[eef_state]: left_x=0.2851 left_y=0.0 left_z=0.1679 left_yaw=-0.0034 left_pitch=-0.0167 left_roll=0.0014 left_gripper=0.9983 right_x=0.5922 right_y=0.1851 right_z=0.0564 right_yaw=0.1475 right_pitch=0.062 right_roll=0.001 right_gripper=0.0171\nstate[joint_eff]: [-0.294, -1.1829, 6.6667, 1.9365, -0.0366, -0.0855, -0.0122, -0.212, -13.5863, 4.7521, 1.37, 0.2076, 0.1685, 0.7741]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a45cc01b668840ae233615a024e4ccbbbc2d05e19d46ef22d1fe25374ded19b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00690bba6df39aad48ffc1c0190302395d2836c3875cf0bd66f966e8ad32bbb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca59cc5d2ae916879e6105ec63bb18e12d144d45b15396eb76c77cdae6c8587",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7559, 0.5671, -0.3935, -0.0227, -0.0292, 0.9983, 0.3397, 2.2818, 1.4826, 0.2043, 0.1745, 0.086, 0.7978]\nstate[eef_state]: left_x=0.2861 left_y=0.0 left_z=0.1705 left_yaw=-0.0034 left_pitch=-0.0225 left_roll=0.0016 left_gripper=0.9983 right_x=0.5826 right_y=0.1772 right_z=0.0417 right_yaw=0.1242 right_pitch=-0.0135 right_roll=-0.0188 right_gripper=0.7978\nstate[joint_eff]: [-0.212, -1.7026, 6.653, 1.8779, -0.0269, -0.0464, -0.0122, -1.7436, -9.1145, 7.0222, 1.5018, -0.0122, 0.1978, 0.0464]\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": "gAAAAABqsq2x8zeqpM8jbFYfGBVKG2oEEkuwi7LghlCelD0BIm2DdaWHKWrWcCc05q21SKjXaF7Uhmz7zFO2Hg1W5mAlERu1CqUOyigicnhPbggI_cx0uU8D3fNL5Q3joMyPNB7mybfXyFzVElDxlPjS0xfV-_5UGZCGkGfEQtuVkswoKnHE2wnIrMQjmxD7WbclELSSh8BVpjT0byCBCsoKWzagbifikXRpVsCtRTCIE8oXMsRYFjOk4FXVf5uYotSm6O37eoPTboC4L6V6g_ZiGdtZxLVio1o-uTaCFaVHvrhcqeoIF5QM-c0l8frVO91KwpJ73jzQtCKSTPuf728khWZO3ayUeV4jVgNfzUKoWuu8R0Mo8YPqAKqeHt-oyLozcaSzai9jL-ImvJJfwQl7fsZU7cQtYGPteATIJAZDMWparpOPN7MYL5QZ6eVAVSyTG_vOr4NWttVZDPCWsosLdsAgg9geK2vUkrp8D-n1eDk_kN7R-6c1bz-0Zlgm5kCZjQQRRPc3unl27XWGIoDQILtQQzjzOhFxwQ4O_duM2_qToG2Qljt3x9H6KaBZwzCZO4ICFqhRGmPeCS2fE1eE2WSdsRDrew-_gYFa-Af-bnDWk6vyJNLed0NDrAMpbCYdotZ9SKwYAWMZuVhDQhsFt4gK0T271TD0yZKhMzVhfUauxokZsWU43Mq5oQSrS9QwbQ3xffeuYcEO-I2BeRGhIlqaz5FZJx2PWNL5Fk9Cxwdpl9jbTm8-Pe_BE1e8h7LoKQg-HCEDCxsGbI3FyicWICuBEa7n43lWQW-H_I7qIFURoAT-4mzKsD6Pp6SN0SgQ97EL15r_YO8MwSmGrXyYKZlGTbvlbGkKF0rqD7mvTSzt8BWo5HDNkIg78W_gzdAVklqpEgIUk99FjUNV0w1P-NVzLaKOjZ6Vw_yY_rlk9tHWhawbt1vlFRn8VBuV3HccsOWzU8xNbPRg9xmzdkXuKjxmGgdHdO-v-vEGtWhL0oEka-8PCTGiIvu6igpZel1vUs2KhtZHS2i304_q9SiWKtvkVEOdwmq8lL8FnUnxnwB1nSNZ6XuRqlmw7Xdb7FwyFF-IQy6gDwq8yhdDJFmkZEILCkH7LUvO6jc6Ah_TzF8iVzvizwgV786EducP4QGQVzUqG8d1-QYUbHeHG09bmlutvkIXV_7fSaBHdVbWl4ipmcDYk_KFXbeDctjC0Uy4UvA5gHnDoELLbtyl4UKuqaXhecu1jwBjogrdAepD8yMVdAIdZW2ymRch5V6NO2mHLUP5xQ5Aef9WbLpPSZV3U6iJ1BVFou6m_v1vQfm5XX85k9U3QhWmX3PpQMcVi5GDtXmprSRquiFSk3uu8UEdANLMWwhHKlwk01tT8vBBirQX4fKYuV68WaDLST8dexeZmAeEKhnACwR_c99nzOqP-nAZRckMC2BcuW_rofU5cNROPhlzyyYUwKO-j4DOv2GjJ4cPcdApcZnXUupuUFxu7Daw-plBFWUxBQ4r-7Cmkge1FbYuq1QuuNt-Ws_A3wtxmLaUh6A-E-LaZIjNLx3LDuCPiKLapQEUgbs2P8hPIL2dGSTuu4zIhrPJbsK0HWGe81foZBfZIErDoZcqq-yhaqM8b4pe_USHYxm0oogoGgs0xBpJCPI6s24fg5mLha5nFEsD2qHZ",
  "id": "rs_0ef8d33d72e54b96016ab2adac5bf887d0ab1842d8034b28d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.16,\"right_z\":0,\"right_gripper\":0.85},\"note\":\"The close was empty, and the arm stayed too high at that long reach. I’ll move back to the bottle’s shoulder, where the arm can get lower, and grasp just below the neck instead.\"}",
  "call_id": "call_BZCwVecW95KQY6Ch1tzP2JVL",
  "id": "fc_0ef8d33d72e54b96016ab2adafba8087d0b7914bd9eb4f690d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BZCwVecW95KQY6Ch1tzP2JVL",
  "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]: [-0.0265, 0.7403, 0.5476, -0.374, -0.0227, -0.0292, 0.9983, 0.3389, 2.1975, 1.1908, 0.5774, 0.1452, 0.0677, 0.845]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1698 left_yaw=-0.0034 left_pitch=-0.0068 left_roll=0.0012 left_gripper=0.9983 right_x=0.5537 right_y=0.1719 right_z=0.0491 right_yaw=0.156 right_pitch=0.1462 right_roll=0.0121 right_gripper=0.845\nstate[joint_eff]: [-0.1983, -1.1282, 5.8735, 1.9023, -0.0024, -0.0855, -0.0122, -0.9641, -9.6342, 2.9333, 0.6471, -0.0366, 0.1392, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b05b3d803758d5530e36e783fe01e43a243583128d9c90eeaa8102b3cbb45cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b1868ac1a210f1a8908239ce5d8fadcbaa5ab5fcde173e822a557544408a890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6179201e5d24d6d287f8832989f33b5bab7e2f64721a276f727e36904eff98d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7456, 0.5495, -0.3805, -0.0227, -0.0292, 0.9983, 0.3405, 2.2875, 1.4864, 0.2855, 0.1528, 0.0772, 0.0171]\nstate[eef_state]: left_x=0.2851 left_y=0.0 left_z=0.1679 left_yaw=-0.0034 left_pitch=-0.0167 left_roll=0.0014 left_gripper=0.9983 right_x=0.5922 right_y=0.1851 right_z=0.0564 right_yaw=0.1475 right_pitch=0.062 right_roll=0.001 right_gripper=0.0171\nstate[joint_eff]: [-0.294, -1.1829, 6.6667, 1.9365, -0.0366, -0.0855, -0.0122, -0.212, -13.5863, 4.7521, 1.37, 0.2076, 0.1685, 0.7741]\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": "gAAAAABqsq2438-tSHy41XCvfUF8e0w1tZxsph8cd3BOeVErV90YORxfcaPa1nk1MxByTu51NNRgzclMa-KCFHFg1AlQ-I6LH2UnmnRUwR_z_UEEyAF7ospgwGL0sfmbtPcMsG2O6X8J5PouxHv5KSX8eeRH9LgvddQY_Jz7TosG0EDA76exUwaEEyO0oC229zykojdK-V8SdXmXkzB0JLR5S4o54vdpEe5XxhT_AmN9khX4PBCbFKDy2flwf-h5HWdDMK6-UYiz7Ddosalhkx11u0mvOiAfCZs-YfoOSCy5goYkotxgBeK4dHBuh3TMwDEkw2sld5Orx7ns6q8FWZV17CYfogzk3TjKLi0SDpHxYyTx9X0IH-FfeVL58sl7vnrQBwgLCBEx1eXrcm1651Ghhv7lGAnKzggXu-O6WqavO1OK_c0YTLwvbSqpzlm4oXC6Fpl4dAE3u0vlEalk48wz5ap6lVASdd9BODzWnAWyB-ILcj2toM7YNCgWzCdRiS1w2bRaVbiH0ds9HYlTYnZfptS-scteDqttxlSGaFn-TGSK_AtFoMSeuPGRylluX0Nnp3TKwNKWWfsJHHQxJUO7d6CvlZwlI-mvcfshDU4RqITuT42ukj74fQ85TMIASzWqYC2AaYhonr8Dz3Ki6Wn3i9lIrErXJ3AkVwLqHNKh8AYldTarFe_-HjDLAZFBm7-v3chzVLfSEQmxO_Af5iEHiGE5vJXi6ZhuQWs9toclQu5OUspWYCAZhxTBFeFuWy5RVk2wrmpuoUjhAh1E_Ir0S8ZflsdTLtOJuVqrXq_qk6Th7SL1Y_5TLGSknhhMS9JmiVN-LvW0kumPI6rT443RHkNRpphVkpUaRtauVv4CcHNibrgnAHKCO0MfsPFidlfp2O0BXt5suG3terbBrY0T_YsnYas5UBhBzkYUmnYYKFou_f1YHJIz7PD2MGgOF5YwWz6Z96fvaRTT7_EcSbLSG0r55nKfAsxyz6hchsiXhU9D4h1Z_OBxl57DtvnolA2r-WOocHyYISITlLmbUJgJ_11zZKJoBfrjaVJNrGSc2VW4PqYW7oJULGeWhMG6yJWkNirBD3PKpAu1s0hS8rc-f0Md3RgbvCdCrG2uSDwcEtB1Utj3P-1PqYA4soBScjNylCWMuft_IsIew-01IQCtYZF10FPCzOwpJDBTlk-YHU8MeR2JfmC-rYAFiABeXi11sDuNETowe7IpHKe5ABam6jwtcpIfrzLcJqWRjlS7_qPqDhC-ufcZ46GCvPZrsIBWFxCpheExFG_wHtjDftioMkSXNFN91TW3Do-rQuLM4H7ytS_pRYp-IdRq5wwpBqubno9hJv_JKC8psjs17txmD7DZAo4ZAXeu3C7kmEhXiY2eEQJahm1_1eqLFL0a3Mz55hvQsaBR7Do78sP5Qe1PWCEajiUL3undR-PA8BZvTG4eoSlWMgpdz9pLBjPsdR3MH_gcfVJY",
  "id": "rs_0ef8d33d72e54b96016ab2adb4fd0c87d0b47c7ff3bf256188",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s shoulder is now at the fingertips, and the descent has stopped above the commanded height, suggesting contact. I’ll close here and check the measured jaw gap before lifting.\"}",
  "call_id": "call_2OLPbaZsP47FL8UUgqHtBs3y",
  "id": "fc_0ef8d33d72e54b96016ab2adb6c9a487d0b1c5cc26508ec801",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2OLPbaZsP47FL8UUgqHtBs3y",
  "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]: [-0.0265, 0.7399, 0.5373, -0.3737, -0.0227, -0.0292, 0.9983, 0.3386, 2.183, 1.3048, 0.3561, 0.1265, 0.0662, 0.0185]\nstate[eef_state]: left_x=0.2842 left_y=0.0001 left_z=0.1652 left_yaw=-0.0034 left_pitch=-0.0164 left_roll=0.0014 left_gripper=0.9983 right_x=0.56 right_y=0.1774 right_z=0.0557 right_yaw=0.1738 right_pitch=0.0535 right_roll=0.0031 right_gripper=0.0185\nstate[joint_eff]: [-0.212, -1.2786, 7.3368, 1.8193, -0.0122, -0.0806, -0.0122, -0.1983, -13.1077, 6.5709, 1.1893, 0.1734, 0.1245, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3cf7966439be9e88293ee52711602860f4a5459c0b6be4a4da2dcf33778815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fe5b892ad8ac80204b97a64ae26945fa0c7e5de2fe12c086d70165c3d7c7242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b05927a9f00adda67c3a4c0ef910f51e273222c04b53e3ea1a168efff75f936",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7403, 0.5476, -0.374, -0.0227, -0.0292, 0.9983, 0.3389, 2.1975, 1.1908, 0.5774, 0.1452, 0.0677, 0.845]\nstate[eef_state]: left_x=0.2854 left_y=0.0 left_z=0.1698 left_yaw=-0.0034 left_pitch=-0.0068 left_roll=0.0012 left_gripper=0.9983 right_x=0.5537 right_y=0.1719 right_z=0.0491 right_yaw=0.156 right_pitch=0.1462 right_roll=0.0121 right_gripper=0.845\nstate[joint_eff]: [-0.1983, -1.1282, 5.8735, 1.9023, -0.0024, -0.0855, -0.0122, -0.9641, -9.6342, 2.9333, 0.6471, -0.0366, 0.1392, -0.0904]\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": "gAAAAABqsq3AgAn4KrQi16q-8mmo2ioTAzmhaYb6zaChwa-WcAbGLpHog_PfodpTSUK0TNjvybDXyZOidYNi1SBagQWGLZsxypYX-R2Z6dvyBqjNzpQS78PrOOFN0Uqz-KKVGCpKKydE-DSgl7lPtWUNQkPUhKRS22fv-9DE6b01EzcnrQY6-WMVQnF1sbZwhOJiDkG_SqDT-71PCX7PQE0vPTNek_-H5rwer-Mt4T2wcPStgtv3eDFmxe0PrS4WyWRsKfE8YpMwuil6S5WlVtCNJy2qxTeUubJV5LpSv3Bp25YDsJNgJU4swdNy8clZtJt_X_HLh66MvA4yAV4ynLfUuw_rKS25NezQmRoSU3abZau6BTzSeq6SJPcUn4Khfj8ZH3RJMInSktOszpMcGMgzagHxuK-ZuU__xUhtsOpABBAte8fjuY5RumKvdIT2oN6ZSALbD0ZeoTXUGers4sa3-owNBBKd0t9fet5eJ4S4S9m3d2deGIJSiI6wl-DiIZOSxDqTY77hWaugCo4q9-DeLhHPSQixnDMxywLYAPxXhQcKSgdFGB-aQXUCNBVIPuKtPA5r7EKhqwrOIkgL2irLPeHFAlwZPTEF2fKHQgE41R7jUnd1tLiHFb92NrUUHvihjnL4N8LsmVzLKSc-zwZDA8o3Fe6u5d2NU4yJORtfzJH9vNG7vz8--LKkZqDH6mWvR0q23uoMw-RojbS0LfPWNzQjMKUYHTRr_zXl5LAo86tI64-Bka01ZAXuSzmL2mMne-OTZmmHavQsPnyuY02DBDi8nJBj7NTpOtGNVhYp2kHWi6GuuuaYemxpNmckij_X8mnqo0iPj_a3RgilhwURrZVlENtKMgW1D2PLuBUsAZend805ybVpaFKMeqaWRiGMC4bySampViCk3z_T7RYdaBB4wVdzKHB2kN7mTp8pf75xT6S4gRAUxnS8LDLO6jn8-2fBD9hRJroY8cmFjt-1mRKaRij-WtVveXDvPmo3olG6P-Xr6THvtmNn4FereieTkZDQZsK6bUI2xU8H-zm-zkQWjLwhRs45okxQ__ug50RsB0Y2YAObKIySoUGrIBNq8ejEes88LbTXjrwGji4DeO41ppHjstFQpOYdc60ZyLRTdCqvhFSb_5TL5Q050d3noagVhdOi4TL6M3rc9s5hHUoK5KKdFbIXLmfbGo11fkuCKxK5u2FRrMtx-5NWrVNqDpn6oMVzPAMfgnDvuznBt7IiiIJ2-WXFaTKFay65lojQL8fpe9QLEZzs95DbQ0D-TtV9-mfHJX9a8KC4LreLPA5QIr5U7iZtDxSX6fsGzzdbLPM4Y0E=",
  "id": "rs_0ef8d33d72e54b96016ab2adbd68e487d09ac1d33e4ec4a42e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.04,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The jaw gap again indicates an empty grasp. I’ll lift clear and move aside to locate the bottle precisely rather than repeating the same approach.\"}",
  "call_id": "call_WWeVTcsHGCMqxKshJLIMI3wZ",
  "id": "fc_0ef8d33d72e54b96016ab2adbe624887d08dd86e8e69c80b73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWeVTcsHGCMqxKshJLIMI3wZ",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7338, 0.5297, -0.371, -0.0227, -0.0292, 0.9983, 0.0563, 1.0615, 0.8371, -0.3252, -0.0895, -0.0757, 0.9967]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1639 left_yaw=-0.0034 left_pitch=-0.0152 left_roll=0.0014 left_gripper=0.9983 right_x=0.3518 right_y=0.0392 right_z=0.2182 right_yaw=0.15 right_pitch=0.0241 right_roll=-0.0102 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -0.7726, 6.3385, 1.9463, -0.0317, -0.0611, -0.0122, -0.294, -3.5897, 8.0342, 1.9512, -0.2173, 0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58221edabe413c51d938ba454776e2563ae63924a8d47a1d511615050ad6ba5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fdd0508eafcd4eab411d7f2058e242b93b703f268a5657ab9d710d9217b1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d09c22de39796f9494b5985c3898d264ce42178eaa0951dfd2f234d6684f4a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7399, 0.5373, -0.3737, -0.0227, -0.0292, 0.9983, 0.3386, 2.183, 1.3048, 0.3561, 0.1265, 0.0662, 0.0185]\nstate[eef_state]: left_x=0.2842 left_y=0.0001 left_z=0.1652 left_yaw=-0.0034 left_pitch=-0.0164 left_roll=0.0014 left_gripper=0.9983 right_x=0.56 right_y=0.1774 right_z=0.0557 right_yaw=0.1738 right_pitch=0.0535 right_roll=0.0031 right_gripper=0.0185\nstate[joint_eff]: [-0.212, -1.2786, 7.3368, 1.8193, -0.0122, -0.0806, -0.0122, -0.1983, -13.1077, 6.5709, 1.1893, 0.1734, 0.1245, 0.7839]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3Msg225PrHE6zzsTqfhrmNhjLcqBmX95C3SQ5s14sA59P_kl6eU0gLDyU5Z2U8X_zpg9JiHRIpiCO7OwD-irMTPaN9R3nFS1bGXI7nFpU5ZyQOLfRQ8r7uqNe21Q3t-Yet9tJJfpAxDnStBMAwk54fpJupFQqZ6QViOKxhW-IxVwmQWPcGKVNh6451pUPc3MnNAccpw3AAmQJxEnY2BYEvekTIxAOBhGpfv3eleWhgibs_e-025sd-FP_z3ioY6EJ3H6404yHuiVFFiTJLpO8YOBqgi0-ksD5Z0a2MMc4UMcnNZmupSXDuqawkneMtv8hVxX_wmMaasklu4GTDHwT3ogOOVjjAjQ111_n5KSCnV2edVbMKGB7xNqkgBjFY7-xuFFKnJyc3JhuyYtCJsMgv9REZD-FvBV9PVoUGqq_Vd80OQ9tjdWZl6S9hLCpFdAntJZExRKZxwES-uWg7rMwCBXwGcBtglXCvj3EL4j2dXLWmqEwcv-B70s8sMlbsf7U5HduQElxrc3Ubjaug79dndH5hmQXxTP1dtZCsoFQMfua_zRmnyK8sLNEDnNyfJ-PA3JLUIM-0f6muf2jKnkVW20QMS8eveaxWCgn9J34GttRo-DBVbVsAn23d8_ENmLmQUYn_gDmRZefvpFUaqNzUALt1c5MRKqqIvjTtnUiZJFw16hwtia5Mj8GmAetgBu9PZKcMN_ci_RJjHRZGReWSG3-IwGxc9nsppSzjm04iyglLXrotxYPlBs8yV8hA28GRuStqZzk6cyGYZcqkS94EXN9io4sTYtPSta8VvwCXDTOTEhHx1SJE7FVdBJyDlLUfra_yTm3cxz8AEyBWNTaC2zicRIgs0rErmW8yFxGuVN4CS4ninwTSWFXMdw8x9f7RUkUhcXtEHy9PjL3mzniEhv2PnrVE7HPRf751uS2jXumFaNMX8aaCvlm3ZAyhJVGzYcHaZzWDzaFC_R7vIyv0ewNws4AinC8_HTR-5T47FSg7lWS0nJFHMD6LkK_UnHVp0aDetz1ju_yfhLX83pmZGx-tbJS5qiJ4_PGo3vOwPKP6Wh7Adsj6DFvRqoY5d6t3U9j7F7UaMY4_VsXIxlzqsWqt8YhoEugPBEGS5JId61bo4UOXqljbj1Y5TCQW8YyIfBnADshuya2XhYCAa3cIuAA_vo1cgWnt0s3oiE6ZJazHvL6eZZlFnETWEkS7piCMVFTex76tFG6v7AEjZewyfFGRDmsGTM-0HrDzofaP2bSduWvyJ7zEyzMB-XZXnzT3bYXFhXTGq7d6LeTTCyk3kn63NBG1fgzxQ7IDtLrPYhBnwq4lPjNOI4p6vu9tMDT9e9097TxcGVBwFy31Bt7L4qm_KMsUymg20zMzfmyE9E7YgQt9jaocaKgasquCLQsyMBFvXFdLbvjwzDdrZMjGvZvBUn8g2oW6EZ8hgZ2eTWgq6jH-OMk1lqw0gXDKeB-H8rxA303eznziiIgkNAXqJV_P1cHD7qaSW_94WJm4P4UuFVb37KpRtAxsTpsvokoY80Zhj2IputFg40rL-2grffs11WwKp85jmXOkH712YxDDZrLGPltyBG5XPFgDbkfNzrQY_CUsHEnvefApyztsHaRqTrXbMVG69HKqw-wzX9Whpsa525QVX-aTWhM9JBWADD9H7CrfJyRyo7vV9cnOqwQSHii8W-ZfuKvvjduHdLpaF_x3baq5uh4XXP5QiI1TS3II6S68S_WX4O8ARciaj9VE1JWUIFW2e-1e9RysqQXyHbGoM57kIXxDnSnYfg1m4ZOwq1Kh6e0x5zWfTQtCPWww_muNtrUmatW7Z4XQL5508_LdzOCMH40I9t3KHLDm",
  "id": "rs_0ef8d33d72e54b96016ab2adc4854887d0a15593c67a7fa464",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.145,\"right_z\":0.035,\"right_gripper\":0.9},\"note\":\"With the arm clear, the right bottle is still lying flat and its cap is at the far edge of reach. I’ll grasp its wider body first so I can bring the neck into a more accessible area.\"}",
  "call_id": "call_dttZFtNVB6AQy5XzL2E7X7zR",
  "id": "fc_0ef8d33d72e54b96016ab2adca068487d08e678fd9f466601d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dttZFtNVB6AQy5XzL2E7X7zR",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7265, 0.5167, -0.3714, -0.0227, -0.0292, 0.9983, 0.3218, 1.9621, 0.9085, 0.3801, 0.1085, 0.0486, 0.9011]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1598 left_yaw=-0.0034 left_pitch=-0.0213 left_roll=0.0015 left_gripper=0.9983 right_x=0.4661 right_y=0.139 right_z=0.0197 right_yaw=0.1811 right_pitch=-0.0976 right_roll=-0.0245 right_gripper=0.9011\nstate[joint_eff]: [-0.294, -1.0462, 6.9949, 1.8828, -0.0366, -0.0562, -0.0122, 0.4308, -8.294, 7.5966, 1.917, 0.1245, 0.1929, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e593a62c2788f87c04e7ca981c203b461abb4d2ddfa893d8edab2859d692d49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9a4d5580e91db212e355ef739206c72957df37866d28fe5c52b04b3b72a3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f976138aa8e27e3aea3819b19665bd268f93e7f4311d76b5da1124e3e55b4d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7338, 0.5297, -0.371, -0.0227, -0.0292, 0.9983, 0.0563, 1.0615, 0.8371, -0.3252, -0.0895, -0.0757, 0.9967]\nstate[eef_state]: left_x=0.2833 left_y=0.0001 left_z=0.1639 left_yaw=-0.0034 left_pitch=-0.0152 left_roll=0.0014 left_gripper=0.9983 right_x=0.3518 right_y=0.0392 right_z=0.2182 right_yaw=0.15 right_pitch=0.0241 right_roll=-0.0102 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -0.7726, 6.3385, 1.9463, -0.0317, -0.0611, -0.0122, -0.294, -3.5897, 8.0342, 1.9512, -0.2173, 0.0611, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3TOXH-5pV6bp100mjiv8lzFXEP-0i0jJTU6GRvjs52sWoWSWqVgu71zJ2s-H8o95EUR-8HsoB6fan6upeXBDYj8I8FD06PGVDKBof0ZC4VtHEyibdX47F8ygd86YPrMmYOzan49LYhpyu6S83t8UAib6Vk-PKCBbdxxqrkz5-Yfu-45N4t_ybFZzUtcoTnJ5KPhjbxGg08DnIKPPqYmym0lbAEg2ErMbETEb2Oree9lCvIFHkDXPWgeSe99nIkPsn-hUc5Qz-9EIJ7M5u7MQoiA_AeesEbKsiXm_Mndi9BYUF3H4oYGSb85r09tcveyhKIvqrDVbVadyfO1pE96GPvJpGdRRmF9rKKCjOgqUrGWKrDuJwsvHn5e9l_uqw6E30T9Z9SoQvNpp-k8r9vA-v_0ueHgA7jPf-gPOqU7vQ_zwah5tIGjpYQ0KL2QAvnr4lGfHklbOs4gOxXSmlP3nXPIoTJUeP4k96VtfU4mAkFJwgENXJLd8E5XoX88e0a5gpDstkb0zA5Gx6mjj-DJQIoLg-K-N0DUBM_Vnc9I8zvfJdA9YcWnhaOKySQJtz1PRajWb9bubyeZJdxFNO2E2ec1t_dZhOEyzEpavLuo6sKksJ2X8cRLKbN86-LzXaV6ciT73pL4-chMW9_-ozkN_nWI5NzKuUitQxJQwhdCJRzcAsfaO80M3UMx6BXrsyC5IAEw64XJkpReIvcxuu_qpekuZcJWAA4ocdJWaNC9Ly2Y9GVyJQQaLEK-wt3_dYvfGry7k5YIYrd_uP0B1lmjhy-kvBpbdVMGzqA8Fcz-d2wOyPE-RbxZ8dK6zbOpC9d5gn2ADn35os_MtL268lutfiKkW5RZ_-MygBIq7EoLmuXpmnQ6vtjd2pgUNBCKkDGjrpOQn796pCJ_tgqxo2fTdCHGnidK-b4Mi5wVZP0oADHzwu_PKHx0gJeZRepfDrSFifPXkqVU0aQlBOhAxNkLqpNhLtHVxjyN8Is0aDVqujcI8ruC6RFwlDf-K21iqgWS0k3BFIUZgIvsrDkBiUZ9dpYjy4iJgeqY4j9j999ue-SdGvGgKUS3StAHYeHL8Qe3ivC9LU3aN5T1FIPx6zgyJLyggJJTXOxr2Ili7YZpzfZYJIdAdAbUnRsRJyO2e08plptZ-jJuiA3S82ANNm9k_3eKP_OEIZfPIXoS_gf6N7_iJPrI27kkQSyJ9wxV9UPda2HiM0oevBFMmK482lAyutwtA==",
  "id": "rs_0ef8d33d72e54b96016ab2add1547c87d0969c558bcb8cae72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The bottle’s body is centered between the open jaws at table height. I’ll close around the body, using a moderate gap to avoid crushing the plastic.\"}",
  "call_id": "call_GzGJhY9I2X4BniYZzknlGYWh",
  "id": "fc_0ef8d33d72e54b96016ab2add25f9887d091039978a12e4cfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GzGJhY9I2X4BniYZzknlGYWh",
  "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]: [-0.0265, 0.7174, 0.5026, -0.3634, -0.0227, -0.0292, 0.9983, 0.3252, 1.9945, 0.8337, 0.5747, 0.1013, 0.0513, 0.5672]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1573 left_yaw=-0.0034 left_pitch=-0.0183 left_roll=0.0015 left_gripper=0.9983 right_x=0.4652 right_y=0.1418 right_z=0.0161 right_yaw=0.1898 right_pitch=-0.0117 right_roll=-0.0061 right_gripper=0.5672\nstate[joint_eff]: [-0.294, -1.347, 6.4752, 1.917, -0.0122, -0.0806, -0.0122, -0.5402, -10.1265, 4.6291, 1.8535, -0.0122, -0.0171, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480eb709936f6b2bdbfde9a55d9a506f5ee64400e0da5668cf14d5488f3da5bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1b6671b56fd8fc441e8fdf793d81ff8446df50c1397709d45bfdd68d2ede64f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:564b800ad837d4c09bfe02fb3de513e4a3a904c857f06434bc5a9fec87acbe18",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7265, 0.5167, -0.3714, -0.0227, -0.0292, 0.9983, 0.3218, 1.9621, 0.9085, 0.3801, 0.1085, 0.0486, 0.9011]\nstate[eef_state]: left_x=0.2812 left_y=0.0001 left_z=0.1598 left_yaw=-0.0034 left_pitch=-0.0213 left_roll=0.0015 left_gripper=0.9983 right_x=0.4661 right_y=0.139 right_z=0.0197 right_yaw=0.1811 right_pitch=-0.0976 right_roll=-0.0245 right_gripper=0.9011\nstate[joint_eff]: [-0.294, -1.0462, 6.9949, 1.8828, -0.0366, -0.0562, -0.0122, 0.4308, -8.294, 7.5966, 1.917, 0.1245, 0.1929, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3b0DzuXxbOei-cNRAjGJbyA8-aa5f62jcLpqzDQ5fILggjJxUFESkywyuCmafQlRbaxXsFGZo5-1dVq22nasmRMjeUMFNVKjdVqARqJOJFqYxaJvy95Tfaz1dt_eScDbeW47UE9PsJvrWSO7GCrPMe3FSpPkZ2Z3x_RpGKbdQ4PtHVyOVXV819VjLG2N1WRaIO1NR-51vwTJW_I03qZkKmqZzLdINgI2Pgji_wTO09cPrJdsboBST29u5dYjdLZmGqyeJU1prmQ9LOaz9T85IqkPYcwi8vDYNLlleSBmMZUA7VMskZzaTQ6DbVxCpZxjxqnSWCFVBz2p_Jr76vbW1oQxhqNit3X3z2TgWt7ez-GPOnTOTJZFvx4znAkpC59lQUFaRXdIyw6rJIZj6iJk4TeYmTqGBfNh_TDbw3SKJUsv3KXQ65fQCHrlZdyOuO_JkxhADiJH9WZAqvkDQ0i0VMd9u7radAO8syqqG9wzVzAlHWEIKLpdKlm4DbupWE1omQwm9KMSr-0hZANVwwQcJS-bfd_dVFjscvI1wmhs7lAZioLSDQO5WOShmdhy2BOHmlfB3BnNMJHkKtWXZGANFr7HDbCtHbluu_wE6TPQQQAsyRLb5fO1_vNvKLPUyc6PWJFrzHWHjXZjhOuK8PBmoF121XdZQep_RwO7SpNPCk9ouISULLhGFyOblNsEiwgGyt2wTLMe61Klg-ldgAbiNes6Ksl3u6nAGoH0KSjw_0dlQV6UiOzJgmgNJUoNdDlnVomJ27oGKvFd7k-RjqS026WdSOuT7_dNOLMlx9nY9BcrrkSa24GPPT3H6p7Hu7hOdrRwNeGLBqp8NljsPufthrTWdCkzyIkWidTMn28frNjOcVdnP62b2U-2mGpk8Z2ROR9VoJROKdwZlG07cAFbnyi7gyaSE47WDYtchxhhLykY2ZBQSa6MoO2Ge0NozhpfvFWki-lthCtiHZtSLmZDk2wN6RNGuoy29BQrWCWXiLvuQ33FJ9ucOsOjmfJEK7RXHumDGFotJea9GYdPAKjXzZiKJULP8Khm7mPBmXUKZ2QnfJDtm310nz7Z0fbdoCIBKjsXYbXvCLvQDXr58azBkh0JVPyx7lEDlWEKere1rY7xaziIM4b550nD6GaOEpNa2xUBrRJ5uk0Gy68N4Uohc6fShuO5pcsAdWZj4EkQvw4npAXtVoJCx64HDj6uFmg9459uhjRymo3Bo_mV5-InTdYKGhOSVMy0myKwmzaKx9-kL-ymPGNwMjzvWq3y9pgfLHuAKlcZOuTsv0eG-xfxUoTlIjypKzYg0FjMvH8oFPs7k3IRC1U0SxOJqg1t5e46gcAzUtHeCgznmnCh6ARZ9kIQ==",
  "id": "rs_0ef8d33d72e54b96016ab2add8caa487d08454b07a2a078b3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_x\":0.47},\"note\":\"The jaws stopped at a bottle-sized gap, indicating a body grasp. I’ll lift briefly to confirm that the bottle moves with the gripper.\"}",
  "call_id": "call_x3k38w1VLOrgeEWGAuIwIJd6",
  "id": "fc_0ef8d33d72e54b96016ab2add9d14c87d089af638b2d7fda35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x3k38w1VLOrgeEWGAuIwIJd6",
  "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]: [-0.0265, 0.712, 0.4973, -0.3553, -0.0227, -0.0292, 0.9983, 0.3252, 1.8099, 0.9188, 0.1181, 0.0937, 0.0475, 0.5699]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1579 left_yaw=-0.0034 left_pitch=-0.0103 left_roll=0.0013 left_gripper=0.9983 right_x=0.4394 right_y=0.1345 right_z=0.044 right_yaw=0.1958 right_pitch=-0.1976 right_roll=-0.0291 right_gripper=0.5699\nstate[joint_eff]: [-0.1983, -1.2513, 6.2154, 1.9023, -0.022, -0.0855, -0.0122, -0.8, -14.2291, 11.7538, 2.9621, 0.0952, -0.0073, 0.6471]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27da4489df3b184b97aa622c42b87b587fc77fc6211f2b6ac1a09291e4037b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c053d4f9af151caebf4c5248a98b7781f8e72281990842f73b6175aae822cef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7a940b8907963fe609b937fc90945564ef2d413c1b0cadc70ba74bd1d7ca23",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7174, 0.5026, -0.3634, -0.0227, -0.0292, 0.9983, 0.3252, 1.9945, 0.8337, 0.5747, 0.1013, 0.0513, 0.5672]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1573 left_yaw=-0.0034 left_pitch=-0.0183 left_roll=0.0015 left_gripper=0.9983 right_x=0.4652 right_y=0.1418 right_z=0.0161 right_yaw=0.1898 right_pitch=-0.0117 right_roll=-0.0061 right_gripper=0.5672\nstate[joint_eff]: [-0.294, -1.347, 6.4752, 1.917, -0.0122, -0.0806, -0.0122, -0.5402, -10.1265, 4.6291, 1.8535, -0.0122, -0.0171, 0.7937]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3i9hJ--keWcf0ck3_ro0gbeuk4ho717dCaAPhLtBVovyLL9P7mLbtmQK2TLkinavr7-4sezPuGLPbew1HCWjC9aiTzrohlzt99AE02u-9sbJhyKKlw6TdAqBOmhuq9WCIXCoWAPZHIuET9nyn-pinwu5JMLKVDACBt4T_VqeWTsJvQu6IXSsokdHNh4r1eZ-3x-apIMhxoskBznxzi9h3U7gw5oDxSf_HteAVei3EV0iZHXeIppKp7nD0EoPbHdT0mHFoQZmxFev7mb95EPnby4zXDpBJneTaqZB6VI02X3fqW9NR3Yv3Hqhjk5tRzjo8gWTak0EOfP8ZsZN8Tokvz4S_5wRcTjVeyoepACWU8wUJr6zzINpDHapH8lSdepwNGJLXLs3h0G8m22dd8bdA1RRejxfW2P8lAuoW-QL2n4DQdY0PHx6RjMTM-1X1ol94JVY-LakNq8et5B7LwrzgPxrXKHPheQLA78sCvo-BxEP_AISA7nZ5a867MdGaqmLyXIiXpwDTzci0BNRqvWZsg3EkCLc4-RJHZTJHcb7dGnSG0k7P-LjBtTOC0bLnFarV7vxae6MMaQWBD8aa368ejMoCHDDdQ2jeDHq94Qaja_iFbH5nPujWjOnlObFcsE6wETAR6TtFPs1TJ06pDvbFizRarN-LV8F8JXfSzCI4kUUBRksvqw2ZtM4qW9wgjOlNNMLKCS_wMgQFrYqjHZI1r059pyeZBF5eg_pCbv1KVe0rWfU4zt4-XdkQjFxR8hsazRvLzF5gmpHhQw0ESPGhbItdwFPPZaDO2x-z7xWdXxAF3GiKl33SxyJ5kzC2zToQAshOvFzGS4KeA-uxxqarCdZwXBAhDV5waiiXq2vvOpdvAjEoi7UxI3Kgb219TxlF_UUoHI52G6THgqzNuFejaqFexKwv1y-vvFdGtvPQfumzvnCAMLE4ZmbMki11NoSPzMemQTW5L9HN7dRr9-pOZp_bGdztAeTLIPJdgVOSrmFLkvl2wCZ7rg0SN3vTS8QXeaAdAE7G9N8hY__7HCgEkuIbourHSwqMFMfLXedDcpOM_vnNMDkJ_60wGNV-OTBKnWJHXoIgCq_YqJc6KG3gh-4Kgxjn_O4iOkMAzdQJzh-CdWw5q4Y3cjnZvrkwMbJXhtG6l_ZuPkkDGRTsojYeI3HT9E_nY10nR6zTyEP7IXYJgS9_MESj7b9bmnPaaH5nOG-ApZdvTv2EJimcC_AutBHb57t3ScEsss_7HedkCdZ6II9-v1ka6X2ok1Nj4YvNMdQUDg-G1_BidU1VZeAIHR_qPlvRr7cOVBTCG5kG3tdE=",
  "id": "rs_0ef8d33d72e54b96016ab2adde87f087d0b63247761d5cbd2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.18},\"note\":\"The bottle is caught between the jaws, but the arm is lifting less than commanded at this reach. I’ll retract while lifting to bring it into a stronger part of the workspace.\"}",
  "call_id": "call_XrsQEXdG0dMMUH3uhpVvIDRC",
  "id": "fc_0ef8d33d72e54b96016ab2ade0572087d0bb950d501252d127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XrsQEXdG0dMMUH3uhpVvIDRC",
  "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]: [-0.0265, 0.7105, 0.4969, -0.3553, -0.0231, -0.0292, 0.9983, 0.4412, 1.2575, 0.696, -0.215, 0.1638, 0.0967, 0.5696]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1581 left_yaw=-0.0031 left_pitch=-0.0091 left_roll=0.0015 left_gripper=0.9983 right_x=0.3294 right_y=0.1277 right_z=0.1124 right_yaw=0.2248 right_pitch=-0.1923 right_roll=-0.0429 right_gripper=0.5696\nstate[joint_eff]: [0.0205, -0.9504, 6.4205, 1.8681, -0.0171, -0.0562, -0.0122, 0.4991, -7.7607, 13.0256, 3.177, 0.2906, 0.1099, 0.7302]\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,$blob:d837476e4cd82c70f7750f8e13591f86ec1aca2b9525c44a5bd0bdda1a75985a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d9d329a826e379d7a20c851eb87a2c005f5c9d6c48c6ff57a1178e16939efe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f826b13d5996a5ef97242ed4d89692dbc2d18bea4ddb5a63155917039fcbf87",
      "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]: [-0.0265, 0.712, 0.4973, -0.3553, -0.0227, -0.0292, 0.9983, 0.3252, 1.8099, 0.9188, 0.1181, 0.0937, 0.0475, 0.5699]\nstate[eef_state]: left_x=0.2802 left_y=0.0002 left_z=0.1579 left_yaw=-0.0034 left_pitch=-0.0103 left_roll=0.0013 left_gripper=0.9983 right_x=0.4394 right_y=0.1345 right_z=0.044 right_yaw=0.1958 right_pitch=-0.1976 right_roll=-0.0291 right_gripper=0.5699\nstate[joint_eff]: [-0.1983, -1.2513, 6.2154, 1.9023, -0.022, -0.0855, -0.0122, -0.8, -14.2291, 11.7538, 2.9621, 0.0952, -0.0073, 0.6471]\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": "gAAAAABqsq3o2GV8jGCDuwmUAWusaQeqXv3AHb8JZQqKZSSsN_TQBy_zndHa_p_Q6gk8CfnvcxXEVbA9Qhlre2_QFyy9Lyjf_Qb_AK1gDqEf2h4SzirOGKalxkprsRVhBCXoznYMpk4RfubbmYhIU3FwJkkAqELhmynWcEjVPS5SB6AsSs0WZhf2Qg13nwN8UokV0QbcIdOMMAOVJ7QT9ND_VUFytmZzx8nRWZ3ZFx2WjhIRXlfZUfJoMbpcLvG4pw3l1YuDE1hi0bFUdePTa52tWipIvefl4ykhvpA4UgbdA6keWcRqOOFP_FPQ_4bjpwT2H_vcRPD1Ztujk-xEjpI3G6dMcS1wUlGpOUlpJLfbTUhMl33-xcfXRxJC5TVYaL0KH8Bai3FkNVsZTHE9ODB8uaMrsORQc1EO7ZJFj4iIAT_KcElFFtsZqhbv6ktr9iL8SBS44N9_CA0w79dFxwbJab5ZqtyFPgc-YfqC4CBVmvhg7O3BIigsHUybWMVB_gJ5yFWt6L6_rgueL5mo7nZnd1EAUn4vMiwhbaJVt4naK_EdUCqj0L-nOvWTSCMpSQEABaX9XECFVqMS5QWC8TccXF_x5oe1LEpde_ZVsijWzVPxD5SIpcB6sktPiXLVRya7aWLh4OG3-CNE0tUiwcrigNsjo2QGBse9Z0cGHuGTfAzUnTU0S8AkC0Ds0RXpn0oweI7daU429xX6iObzMjn-0h5S3AINwTs8084_zG78HDTFLkGX-2QBc_-p5JG4xwFEoQhCDhFRaWrUGXN1uPKr4uRnkxnbfmR2io7jf0g4sLbvVifuU15qifVdubG2SQgdW_2CRPvdjdQn6nnDdn-ffHLjZ0hjWAA2M0iCw3i68XiKPTHk8GoI-BCsjfjrXCeHYB6I2iumY82xz3e1-s3WFSwQD8SKftwxmD-mmZaaeyq5_KESVYz5Cez-1XMGvI8LXZdNGm-RaLlTPzwAJx7zJCL7rGpgWYnpFZVUTVRQkVH0ky3Hh9AKA-Ku5wGs__mPRBUTAnY5WBrj0nWTkpjHKhePcuE0UYp2j9gdUOgyHeKXcwBter-quHm85AqsZXVsIl69whOJrEu0jZDufo4N34zgiBmA7zDS1MihJUs_zUuG9uupC4nfXmAB5bHE4qCLSsonjUd58KPaAqawLPN8DHjWEpNbSes1ABYTHNv-9XiLepHDE4aQw1M27V5iyyphl2ahSvvcqGxvD7wP9ZF54cKFHlbPic-zU8svQXbo_LTsGyS4mHhrPZs7KPiiRxoGXoK_YXWouQ1go0f2bOpaFMwjtPDPIni07ccBYHE2jgHI_stVqVU=",
  "id": "rs_0ef8d33d72e54b96016ab2ade61a4887d0b217b4e414d79b5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The bottle has moved toward us with the gripper, bringing its neck within reach. I’ll set it down here so I can change from a body grip to a neck grip.\"}",
  "call_id": "call_TQux4kSNm3bptcCMcBJG9fJv",
  "id": "fc_0ef8d33d72e54b96016ab2ade6f28087d0bf934743b263f92d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TQux4kSNm3bptcCMcBJG9fJv",
  "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]: [-0.0265, 0.7101, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.4446, 1.5307, 0.3092, 0.5213, 0.1581, 0.0975, 0.5713]\nstate[eef_state]: left_x=0.28 left_y=0.0002 left_z=0.1582 left_yaw=-0.0034 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.3144 right_y=0.123 right_z=0.0087 right_yaw=0.2352 right_pitch=-0.1185 right_roll=-0.0222 right_gripper=0.5713\nstate[joint_eff]: [-0.2393, -1.1829, 6.5026, 1.8046, -0.0317, -0.0366, -0.0122, -0.1299, -4.4239, 3.7128, 1.0672, 0.1197, 0.0757, 0.6618]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d396acea32f70be08f7bdf4b7f22442b710182dcfa54bc1afc2dec983680ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30aa8db060daf68285ef9783b440cd590f9059590ec845f9fbc14f117584de92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5029d8f61054049f1179ea8cd9e0ce07e1fb5f910412a4ea90c9b104def84a29",
      "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]: [-0.0265, 0.7105, 0.4969, -0.3553, -0.0231, -0.0292, 0.9983, 0.4412, 1.2575, 0.696, -0.215, 0.1638, 0.0967, 0.5696]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1581 left_yaw=-0.0031 left_pitch=-0.0091 left_roll=0.0015 left_gripper=0.9983 right_x=0.3294 right_y=0.1277 right_z=0.1124 right_yaw=0.2248 right_pitch=-0.1923 right_roll=-0.0429 right_gripper=0.5696\nstate[joint_eff]: [0.0205, -0.9504, 6.4205, 1.8681, -0.0171, -0.0562, -0.0122, 0.4991, -7.7607, 13.0256, 3.177, 0.2906, 0.1099, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3vTyGG6F7KYSdJhddXKh8xKVRpa_O_CIaprvuuMFQ7MNH4GW6eWzgjVUTNGGMftmOI4TQL9QHjF8as_TPPcKQux15i2kcsA_6a5VRH54o42zUAvyzSVSl9vMiDKTEL_O71PML1k6GaXlQPkNy8I7kuo09FctsqQBecT5ntTJ17xu_JhneoOLppjFY8_U1U3ByAcjXYPHkY0C5KcsTCEvY8aZWOAYV1tOs-N64al7Le_B2ZOILl0D9IaicU_PiMIn3uuLpJbdWX8jTQxIpoECdBA_wO9ys6Tv723a782bTIQscCBAiIVnGYbuC9tkdnFYh7x6xuUvm8I4-7CnViNVzb8k1jf4ET5qjBWrqqzRKe-7q9N6rKFHq86VOrmxguNGR-QEoUkYhjD3_dTwg1rmiysMrpnZkuzzPy9GEcaeH7t5OyT8tXBEubM4YwKiP3JQI2rKSDsFy-h4UA67apyVZCank71gaL1LW0YkNjimnqtW_lyIaH_aaO9D_3hQf0zvp72yixtKWESOkw6BubTtRRdCct889Nb-4hnRnsprWV-ByvwlAgZzAdwxWG8szDOVxl7iyOIWRWkKSjSXjQdUlNqzFnkVsTfEP5hOfBTx1VwoWtMmc4nDoyk7TgrcuTzDbYn9NCYg2y7pNhsdIcZqFXWcFTdNWY3UC9RxtjvuUrEz_wLE2ikpSDt30b1PFflLtfwmU0vtSYqqcsLgLFf8hBJSKasD1z9hjjjewqEXRbhSilJNODYAVOjL8EMg8iKgGAIsPe1QVq7-9JoS18cJW3HZcTpSK0pJUx5SIz_135BlfSuVRovPnEd4kkd0sLGCaFA23_gcY6V2qBxXuRSjgdSFGJNg3SbA_Y8XnGSRLdnnKoUpXaT0J4j_dYQOGbHX_G2WV91K1DOJMQWMaSOC-JDXgH4mpcIobgPIJ1TRZZSQdWPulIB0rNKjK8ePaeEQK-hZeHrKhdrtyof_DrrJT_UMPWL3ffplSK5_U4rwo_HJ9IaGtbcfrxtLuActkqIbHt8fD1PTQhymPz9Bn-bBt8ba_K5oTUled1OtNpZ6v80srHdFsSvjOG6GISNwiBEPrG4eVWjOlEUA7zOH_1hdc6H8tBMMXc9H-kbZAxyqJKspf5jNCt7Cr1O6DI0Mvt2f3hiFH_Y7AnhI4KpHcgqAmfl8_3_aCSnocl-6--lZCS3LWMmEks4AcNF8EMkzzqnBzHR7kbtl6U1uktmVxYBGWl8fdMML1Fuh0yjUEy47Jfn9V9gU5PfqM00Xe4NA7AXQGO4sgq5YulBzwBy_Q2Gp5ucTkypSsdzbiJzHHyn5386r4e43RFbsUOqpwp4D_svXD6zOz9zr0F5MoxlAJUvq7xkAdX-eWR0i3XJMTnPiAjcS66AWusI2r9edb85qaiFUd5IpTQFxZrVud_r9JhQiW27-6dLNhXVpxvpNSa81R5jeY=",
  "id": "rs_0ef8d33d72e54b96016ab2adeca7e487d0ba0bc1287a7da1a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.12},\"note\":\"The bottle is resting on the table closer to the robot. I’ll release its body and lift clear before approaching the neck.\"}",
  "call_id": "call_TeS3TD8TZvkIRySorksr872h",
  "id": "fc_0ef8d33d72e54b96016ab2adee8a5487d0b533aec111107913",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TeS3TD8TZvkIRySorksr872h",
  "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]: [-0.0265, 0.7101, 0.4969, -0.355, -0.0227, -0.0292, 0.9983, 0.4458, 1.1137, 0.4248, 0.1143, 0.1547, 0.0879, 0.9968]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1583 left_yaw=-0.0034 left_pitch=-0.0083 left_roll=0.0012 left_gripper=0.9983 right_x=0.3136 right_y=0.1236 right_z=0.1067 right_yaw=0.2458 right_pitch=0.004 right_roll=-0.0023 right_gripper=0.9968\nstate[joint_eff]: [0.0889, -1.0462, 6.5162, 1.8974, -0.0317, -0.0611, -0.0122, -0.212, -4.1094, 9.4427, 1.8486, 0.1441, 0.0611, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99695fc44fe05f2d2ec88d931195207e00b4025d0e12ce240460ef85cb962d95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b92411d39c8ebccf2745c7f86b8a1f275ea547e26266ae9e59af12414e8587",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f022e339e53d119803d842eec57fa3c48a6c49fb8f335dd6077a7fc72b97f0",
      "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]: [-0.0265, 0.7101, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.4446, 1.5307, 0.3092, 0.5213, 0.1581, 0.0975, 0.5713]\nstate[eef_state]: left_x=0.28 left_y=0.0002 left_z=0.1582 left_yaw=-0.0034 left_pitch=-0.0091 left_roll=0.0013 left_gripper=0.9983 right_x=0.3144 right_y=0.123 right_z=0.0087 right_yaw=0.2352 right_pitch=-0.1185 right_roll=-0.0222 right_gripper=0.5713\nstate[joint_eff]: [-0.2393, -1.1829, 6.5026, 1.8046, -0.0317, -0.0366, -0.0122, -0.1299, -4.4239, 3.7128, 1.0672, 0.1197, 0.0757, 0.6618]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq322CmEZh1daHvmIZkIw4y5W1fc_eDXEs4vyx1jvN-lPKNM7B8EvCnmFhIUTOjkhEXX5qgHrn-sfO8PT_dbYECnmD9SnDQ5WZ8IL8qQ0tp7qHNDuUaqulNrcq4JGhRo21fBIthLcBLfC2OhrWnS90fDl_owIk-4nPYwHyq0f3y3C4c5U2UD5b8hSs7U7EjPnQr1bcP1jcUOkdoXZ8TdM5P7-A5UzMXmV_N7ruUBEXGM5pofosE1Q5D60fkYDAXqru2wzMvTyAwCJdBnGjz78Qz6cWRVOr-kDCKdCK3t3m63IjX8O22lt7X-LUiV5fSZhAPk8tldY9WK_TqJdt3zywHBh0UacW0OKMqXidDCgw6nn7WotGdSmdMpleA6TKnn_bh-azGw-VrXXDUBcQzQVoz9V7j9nEWx8UbTvAAu1H26-dBFYZZy132vRHiwhTcROcUNH8N3ERPIf_99BGxfNnuxtr8JN8utOu7x60P2sfi2HtPlRvY0-x7u1ui1IN6dP_b8feSbtygfN-5QmFmR2rvUd5qEmh0nrwKnNiirnGQLHa9cy7g7Ne1epZQPq_LJhy837Ek9f_A-wtuc-zdATbp3PUraSI3qxWFsA73jhAXV2ni_kfVclPNJGppo0wC7qfkS82HgGRgJaxwc8Bl-66A5gIC8d4D14g2zY8cyTfv1O1qC-ka-2NC4WGoWP-P9zswVAFhrnYsH9sDl_V5pcjJZCbyjoKdpJQRE4xRyqL56a4CvV4LaeX6wc_PJPGvF8uo9JmqgzYRxK9AlXtS8x8xXUQQAZukfXELgxEEQD6pUBPShRN-HjwGuxDTRotRobDTX_YFeNXTg1TpfVOOkAMKCXk5BaZ7d1MUjnq0-VfwXFbaJj22HSl8HktfsWrU0XL0cSIldoGAdOBKJHCJi1eNGedmJD77FCz8JJze4W_a6FAmFIpMJcwoZBZjNoV5tCIllMhCvTIFH7bAMSdmH2bCzoidDBL-a8g8t4aJvv45F_lFE6YmPJmW1WBfrImN2vapdHODnd1iVTVAQZCQbPufh3vOobHj1QHIckWS3QZN665WG_pS0pmhyFZGjs9A1A8seXWZIyJrf49qTg-YWGEQAgI79ObbT-qh1TCedOH-ssRIFpDrmcJj4YtIimX6Ozb056m7ELqnySIxSYWSgXdekPQU9_j3G66tmNJ4COfTWkUIEJmlmK9tY9XmoHcwwxS5SSwqJbF0XGPwY61tNBfsEFKZVX9YhbmsvXQC6v34AJA29eCbXLJgIGfnon18ANR2zRauOvF6aDYgmZQ_ELiXX7HpVGmhB_JPMOAaWEwH9QzL34HQ_qG0H6FZeJOyxFhhzRUswOYBxS89Ru8hEaOrihaenvamuvMxLiP_W22uYHUL46IeOtDeghCcyQu6SrDTVDFyIhUZPBaxuKpri2OjV8ixzcfB00fQYbfpZpYPc3A_x0D_QkSfkRlaUH7d4aXlN",
  "id": "rs_0ef8d33d72e54b96016ab2adf2aed087d0af12d69085b3bc4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.18,\"right_z\":0.02,\"right_yaw\":0},\"note\":\"The relocated bottle’s neck is now well inside the reachable area. I’ll lower the open jaws around the narrow neck just behind the cap.\"}",
  "call_id": "call_1Pcrm7N13QE51uSlOCs3hk8f",
  "id": "fc_0ef8d33d72e54b96016ab2adf4c95887d09d406c38e52558eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Pcrm7N13QE51uSlOCs3hk8f",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7071, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.5037, 1.9919, 0.923, 0.4755, 0.3809, 0.2173, 0.9984]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.159 left_yaw=-0.0034 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.4614 right_y=0.1834 right_z=0.0363 right_yaw=0.0467 right_pitch=0.0254 right_roll=-0.0164 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -0.9504, 6.3932, 1.8242, -0.0269, -0.0415, -0.0122, -0.1709, -7.0222, 5.3265, 1.4237, -0.022, 0.4615, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16baa1c9db8f48679e27b1788524e8e821193cd2bdb1358a8b5e03ca5f1eaea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dce71a2d8ec590f5c9d1fc92c6ec9d1ab5561a68a596d4ad649f32ccf077d2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d23570789829f38acc6a0871deb9a13f51a3b4e8b383ff51a26ef0705e1e30",
      "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]: [-0.0265, 0.7101, 0.4969, -0.355, -0.0227, -0.0292, 0.9983, 0.4458, 1.1137, 0.4248, 0.1143, 0.1547, 0.0879, 0.9968]\nstate[eef_state]: left_x=0.2801 left_y=0.0002 left_z=0.1583 left_yaw=-0.0034 left_pitch=-0.0083 left_roll=0.0012 left_gripper=0.9983 right_x=0.3136 right_y=0.1236 right_z=0.1067 right_yaw=0.2458 right_pitch=0.004 right_roll=-0.0023 right_gripper=0.9968\nstate[joint_eff]: [0.0889, -1.0462, 6.5162, 1.8974, -0.0317, -0.0611, -0.0122, -0.212, -4.1094, 9.4427, 1.8486, 0.1441, 0.0611, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3-_YEuIgFaD5pOZ7nUbb9QZTD6G-i7Ked0YVi-jXdfzbQU6jQ7f8S0rkoM3SAkwdTLvKkZZXO_AA0puriw2pdryfHiqEpfCZjRvo71OmJwa_1vXyNT5o3gwCeYUI4haxsD_6KByPIKCafZkqyFFi-qaZMQir-eqsf0_ozGk7ZpqZgYhto20Qsx00JT3XamOBPqVfhOtS84JdrmCcd8pjgiMtI-WXUi0m9JD0KdGGaSvU6ZfchEZ4_-yyDpfxVCve6MoLCcxZuuhL2FPllOjW5jIrUYYhrE_Z5KJcKaVoT6Eg7lLVFWpYi-G8kUzpfUhqExUDWtpFqxVcovsbDIvJv6TtSmb3pUvME66Cy9REVe74eaVdrM5iepx1JJ5-dzQ95QKllEimpb-Es72vgLEWr4LjfPGQuS4SAWcYyWDI5ggiyYIMW6Y1h_SNY4HHuynFbzHKWJR5UD-HIDBlOe9bBbL5m7Et9dhimWSt8QIy9O5m9zXnRLO-eCVeGTbgEtACVNSFaVBRkE9vj89AAhaadDCiVmWGS1HNhCqP7IoONDUvR2jumNKObgScExPa15KiHCqFRm6arVfFiYRQ6rLKEZc7D4AnjLWS5RIdVK6TPM9_jcxT2kT1fdW0On-IzudTxGpyS9zMMlf6ZjiCVao0-xnBEebITprv0ORwuaU-f6bU4wC8JqjBzxHuqIvLQR_JRflehYHj0byhScBOuuxpOGvwpaFzcxsXGtcUo1L2Y_UN7bYWDKN9Cfa27VHalSYZUwNr2HlzvFfi9MyKrAQjFpnG-L9F8oAoSpNk_XB0GsbLzaVZRErjok4OyK57J8LJc_9nCliMxVb3fNmc53CcGpVy2vMnzd1T-aSpMgiAO5Ozk5ZDgirbeeSQlBsTvnNDdV_-7G408IWizTYxcZq7mWJohSUc40BKSg8eMespfaVnVW9rs8oR2TL901baO2ANPOfe0OQAQlOgSYuFVHNYUCU62oH81m83bwBq9QP8jFLm2oWYPJlHt80wuIwatYzlvxypBRllhUF6KLT6PGbw8oOXGl4Lpz4y09hEdj5N6JD_mK9KvDgB4b-fZpm1NaKoZkn2J2xiLCvzBj_0LK0k9Kp3_41ohJ9qVOqwBp9-P2yZwcwOwFGBrGeUrOXz3YdaQ-lszUOppy2IfJHINnd6sIURdWZSostVwjfjUACFyy70ZRfoH63IFa6Ugq2FkJ-_Q2ci2MgQBvQp9xQ-uWvXCA2I1JNEOLhWxUeleW7TtL22xFJQRl0L6pNhdBJ7QDK7lMaVHdqHUEdnrvVdM6RGzbhgBrPnq16VOQGxCnf6kbFBbdsdXwmbJ_5zCxLXSZGSeDbMglraJakm2fnxBtOaZz0Q==",
  "id": "rs_0ef8d33d72e54b96016ab2adfab95087d0a6319d9907b0e0a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.175,\"right_z\":-0.01},\"note\":\"The neck remains slightly ahead of the fingertips and the gripper is a little high. I’ll advance two and a half centimeters and lower to table level before closing.\"}",
  "call_id": "call_ILtiG8u1iZ6mAjeEylwGaL0v",
  "id": "fc_0ef8d33d72e54b96016ab2adfcc17887d0aa1c96dd7b6786e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ILtiG8u1iZ6mAjeEylwGaL0v",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7071, 0.4969, -0.3561, -0.0227, -0.0292, 0.9983, 0.4633, 2.0975, 1.0119, 0.5938, 0.3569, 0.1883, 0.9987]\nstate[eef_state]: left_x=0.2798 left_y=0.0002 left_z=0.1589 left_yaw=-0.0034 left_pitch=-0.0064 left_roll=0.0012 left_gripper=0.9983 right_x=0.4982 right_y=0.1839 right_z=0.0404 right_yaw=0.0388 right_pitch=0.1123 right_roll=0.0127 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -1.0325, 6.5846, 1.7851, -0.0415, -0.0855, -0.0073, -0.9778, -5.2581, 3.5487, 0.6032, -0.1832, 0.3053, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b710b4a5ed225ede0d676095adc6a60a9e6bd645977d32063816de2b586547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800ad0d9fa5dbad0ddfb69c089db768111dca24344284136a2c591736f8f4f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b38c34ed5343f7fb69b251c18fabec53760278bcc2ec801e197645390ff8f7",
      "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]: [-0.0265, 0.7071, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.5037, 1.9919, 0.923, 0.4755, 0.3809, 0.2173, 0.9984]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.159 left_yaw=-0.0034 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.4614 right_y=0.1834 right_z=0.0363 right_yaw=0.0467 right_pitch=0.0254 right_roll=-0.0164 right_gripper=0.9984\nstate[joint_eff]: [0.0068, -0.9504, 6.3932, 1.8242, -0.0269, -0.0415, -0.0122, -0.1709, -7.0222, 5.3265, 1.4237, -0.022, 0.4615, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4M4GcHBOFgi3rIUtDxNENkgqwJVBpMpQobYOXn13ZqyyVFVZKhAw1ii23JcJSnp27wmW_HRkeC8Xd3PibNdQYl8ETLqnFVrcmmzvkLh-CRmhVeiB6goy-S-QGDBsE9-scCNv4pX-c_GZ1pYKt_bW06aSDBsvtMjfTbQFHxh_AYhFn0HSxrdH-HVk6Hs-Yk-Ch6dSPyYWABfB-52dChTiJq4ZxWVRdTFs9lNUfK05b4VjpVquT3YcCniqHJv7f1JahXuk1nO9tdTJqAm5JZsmKoyRFPudsiXBsbDTjaamLFHyoCGbXLtQh4-5Kf2jfuz7RoyHqOEc9AGVOyhYE5hKn4wqNf_xqWjYcBp289u_mHqvOXMuYdUa6xMiPHJEUO138vld041vCmmulc59rNlGPNYezx8Sf5AuuI36gTMZkKe3MYkQwU0gUDHx9rZqHCpwFCU0f3esnKm3OMavi5wvISaTlTxMDht6Bl3e-mYQOLLveuVW6TL25o6p_C8NAK3GS_FbAAB-_D7PeAndNcwP5RJ5a8BJKC1Vgx3TjOMYaUQ2HmSG2h2P09jKE5n9ByaEQeSCsa_0lATzzbI7Pkccm-Pvf7x7mTKXFjP4tUuEZJWkbI9hlFoL6Z-LHQP78LjJfyX8Fd4uMn6_dauoyfGMbtSoJwqPFpVNan5l_OzLi8etTrdTB88P-MzzcAQx8sPbolf561M4eiopiWVjqjhIqt3FmBK1AEurppbFOiRGIrUC__UQ51yEZ-ccKFvyzj6L_CjL4_2Ob-7aPWw68gEvsXatGO76JDP2pnthP7q_qBmdSkKDR07d0DZARpCWGeiKbHTiklxL9Y4WwDW0fe2JMgKSXXWw1P2CFgzq5KmzRRCMmCwK0JVT3qXJWmKL2PRR2DC7kSDkxEidb4v8xySnuZUqaCHHPsMWVJ8l_VwAHBZMACtSS1Skwb0SdrqchkXzZJcVKThLRdAxgHJ6WSLNrnVkHNy60DPSDQvipLCqO5TxVzEKOYHbjjfeJNNgdqg6Wm5Gcghmw1ccpyhIzmPAXHk7rBnTRPS7NZ58wENY8F-Uyaf41mci0zsJAN2HOgTPOVRjxy34UWutgXWCyLkXo5i4Ggt4SYHsr_T6bULfZZ7Av_cvEm-lhdlqcDm3eAuno0tlFxET5MM_JYoh5XHBV54Niebgcn417LcS0RkmfNKgg1c512qc6IerVoPHfwr3BQfQLFTf0LmehtRuxFvbAkXT8h45ihJT1gkwRY5ashgqi-AYKle472JJ9VEloYvsuu-Q4eE2RM2c6s2ZVktjnNQXKvxWFO98CWFwWNB4Aq91oGaf0LeLDxT5hbyQ2MckBQCZqIxQJ46g2KZQ8SRMtOIn_FUfm3mRZI1ERDES1lN8lNpXbP5xCcKWVS5SGZerRa3deP2RmDrruygJzeXCjK7NzsqAbdsBwEBphuInjnQMhCajhmepJdGI-Pm813yCvWs7IHQHkYHm1CCDkarPlBi2LUveA-UDwQ18lu_7T0pU4e3N-sXh1mo0uF1Uwr1SjS1vN4dy3NPUznhYYcd5stZQ_VKyX51LicKJ-DuEkKZteYCAwX8Maetc829v8xFVH7WVn2BToS95Yf55fEnyWEP59itiYFQXCsZb83a5j0zEiAj_FfgVwQ_NB03k4dTSGeCUtXAi3vJUmtfOpdLGIocPU-mJ02YrzuxgWrUVtM7yB6avtYla2tzlJtPCNnu7QYJhJX-EYBd2tfoYplm4-F8Gt9GGl-ToETYm1g0Om3_f4kSN2jxr6fNfl5fB-9sdPqm1NXY0jdCtCbxG0ku4eSKin8XvehxNcMHHs9V9UYVs61TOQrZ5K4qS2buKwHbPCrsSKV5bPV1_Qnik2PtuzCMdXjX3ASsHMCPXLBTsBVkd0BHXWOo-ar8LgJquzDTYjDLGkbE3JSzsLU5ljxsebjaCq-T69S0ybsVvZLH9CLscXlObLpOZy1yEwjY1vi6j9Au3f1e5323gu_riGXu4xIFDPBtaVyxZ6PDbX9kh8SG2jr2eJ2BWc1N81F3gofL4RkuH8cwIXlzefhbwlVXlO1jprMum9auKPJGYfMru0YJJ0XzhYS3ctwvouwkAgATTUuUXy0Pg4TqXlraooNTvBPZOC-DZQUROON7pvuF6NWzu36ZJQURNB_3m0bv7ZLAA1JxNlUOXqbsTcAh3LIThso2fhPTIybdafnCHPOI-f0U0moYj93wtg78FdvwxLBv1to3vgTmAb6_Ny37qp9H4vl3MqCgxZII5YAK0vk64ehqWSppF2uv79eQikH56IKggsoXFJgELUJD5VUvFd8kAoaHMx_E8DD0dfPrIf3d_p_-Av-w0_wKaQD_fRTKYVTojpoZMdbltiPquHn6_DOZetAbwm5cp5FRpoMFMRqXzvyX0y4W--QzPQ4KOWkj0fCKz6ujh-Yx3YKtKNrJv7BohaRbHLep23jFQYElWQ5AiEMHIYUObQCtv999ijsl9sGo6MMDOc2sh63_QxPpxS0MUMBiy4vCSTvDfimcpIfdYYgMRPYzpRafXefIun5uy4kI_tvUB84QLBnOh_whA6fYmTVUaimEeFb4Uh8i5ze4gGexfc655NWGKHQdBH8D1taijABIImlI57sQ_tq8x4_qWoZHLMF8cVf65LyKBCg_opl3NpdespwPpMxw3rlihhDQJM-Rc-C6m9w82VpMcv55Auuo0XfH61MIgATO2qEypgoOkHr429iA_4kQPcfNYRaQOXI",
  "id": "rs_0ef8d33d72e54b96016ab2ae01151c87d0a943d117d4246183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm has stopped descending against contact near the bottle. I’ll close at this position and use the jaw gap to check whether the neck is captured.\"}",
  "call_id": "call_fCWTwF4zFJqEH6WfYKrX9oFB",
  "id": "fc_0ef8d33d72e54b96016ab2ae0b216c87d0adc630a5c9022d5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fCWTwF4zFJqEH6WfYKrX9oFB",
  "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]: [-0.0265, 0.7063, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.4587, 2.0659, 1.1, 0.4362, 0.3305, 0.1974, 0.0169]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0053 left_roll=0.0012 left_gripper=0.9983 right_x=0.507 right_y=0.1905 right_z=0.0572 right_yaw=0.0525 right_pitch=0.0723 right_roll=0.0174 right_gripper=0.0169\nstate[joint_eff]: [-0.1983, -0.759, 6.5846, 1.8144, -0.0269, -0.0611, -0.0122, -0.2667, -10.7009, 6.065, 1.0085, 0.2076, 0.1343, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4516cc26acab7ff100e538dbfd084c90f33638e853517e514df6de57a3cb6894",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89d1705be5da052afe4adbafcdc30346470b3a93e8400e1ebcb0f5cd115cf89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ef201df9230d89a13b1a132ef0b630d4249df37297dbc8a4fbeeca9f96d7e3",
      "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]: [-0.0265, 0.7071, 0.4969, -0.3561, -0.0227, -0.0292, 0.9983, 0.4633, 2.0975, 1.0119, 0.5938, 0.3569, 0.1883, 0.9987]\nstate[eef_state]: left_x=0.2798 left_y=0.0002 left_z=0.1589 left_yaw=-0.0034 left_pitch=-0.0064 left_roll=0.0012 left_gripper=0.9983 right_x=0.4982 right_y=0.1839 right_z=0.0404 right_yaw=0.0388 right_pitch=0.1123 right_roll=0.0127 right_gripper=0.9987\nstate[joint_eff]: [-0.1162, -1.0325, 6.5846, 1.7851, -0.0415, -0.0855, -0.0073, -0.9778, -5.2581, 3.5487, 0.6032, -0.1832, 0.3053, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4bKlZtW_gBC_TfbawSiMVvE4CAxBEeX--8tNnli0Qplypon0QKzL-IiohLJSS3VH8zAh_zNYXlPOU93z0Y0t18lb8jhwwIJCm3yytubd0IPLkf6lYLMcEy4V4Arlq9aa0TGqGr3w2tms6zqkblO5ldh0ote9yQokKWnyT574RB5xunxMc2ENmVOr705gueCPxrF1ejPGUm9R6Y7JPCJvw0v548sfih9qkugyykJCnTeItZFfPVLZ013kBrAfrDnBgM5Aphs57uFLjFNfz7tOBra46g_C7qFWL8nNWWWWJaQmXfxKwP1-xt9ysZb_I723gzp3X_Az1rWITrvIj3LR4iX4ghGbOCJP0RiLV_J3Iww8XpM8I-TZNhNRIJQbvlpEyN3PrzW6D7oRp7Gi1kJa4WNNoIiTXe-h4bIse6XTqor3Hvz01tYaNzuwamlr_KCu6E6VitGDFclkwB2JyUg3sy4KN1C7t0eIwvnST8aoM5uTwtlm9mhcid39m1FzkXTVuQgrq8gvVlmdM-S5P20AQG6ZIlgJXW0jffoTcbEiYJs99zspuAgEuMkp5WWF74M1TGsWjT35LMT47tb32Ifze85erz6HOGT4Ln5OjlDFEJiX6YBujlHie6FBjQBNPwJDRyfbyT5lbE0LTEA38SQeBWHKsUYbkm-qH0mECFCVED7u5aKAtp-hK_yNOU6s6ohEuEcv88kc_mcybugpMOpowi8Ofh2p4tTkYrtE5gqzH0KrzR4XRylXyrI19DWOGZ7cKU2h-v-ASsUdEj29Eky4d2-W2nidRGk7BOF51r2h--8xW6hP4E9KEG7kpSx-_mnE2-ZeOOKbbsL-t9uSlHn6OgDUr4e_0nAgXB4HUSxraKSRE-cAFgSsRQYtlwveMDpawMZiznBehybXXgIDTpCUOxWRin7VEmVpz8PH5fvCBG4zO8rRDBnpSO0y_A-PfPZC7Y2XtUW6i1ld8JIn3f84zlZr0bSZeOZTjoTevruy3wDohe8M7uTAdLGOQ-L8pqP4OFH_dOPcnP75RdYWmcHyFgqUXyFo5ugcqUJ1fW0-wF8a8584BTS7DxQmo3jZlLxCF1YTYVnSi7HyCAAKUkAhGd7vjgR92Kxz9GDbsW-6KfmuQQjy0HGoepA_vOaQ3mbn4AAMI9YyfApQa9t2QRjPsvY17j2IUOEV9cRtvC38epQAsxLIBoR6oww6HzH3FtsjulIrjCpFuKsIDJhILrKcUmfU1VifRdqTdqAZO3cQX__ObUhdVmfa7MxkZOxI2_P2uoiOKLiT9fCqCZ2kR01B2nnNjAoN6h3VpyHfUnzGZYf1btznKRp_hRymQzTu1vKnHpLkc-XN79ZE4AzDT11GkOAJb1PRXgXvfhGL0oGII14AxYtFxBnS1-avGE0jP_3zmo-pEtFBqa0maWOxcJVn2B6BcOofmN3TOULVGN_2GE6aXYx3pp9C9xzAFN65KERyRE-BO3hLEjpdsB3XdL7VBEjgUyrgatacrWHyf-RAPMeK06biczKde60TepKa-0OGovizfSlqI8pK2I8E1oz8uQm3X0lG2Fya3nRDL6C3wxxMX9ww1WUgWpIYMADwxJ7Bcs8JxcpLcNMWZxf-ieAJjloNQ6YVgVjy0MWh4D8CvTZQ4eW9k7n1bMaFNeylJiVjvLBcoL6jQajrZd9Eh_CQzrg3lsTsXFH0mm4jxmaENp3020f_xeISWmhT76M_yec7znxMaDNm3SVTYamyzL8JgQsCT6kSKKheGvxVWCd6mP7V93PwWXnoqjwwWzb3Bft3r2fx3YU43c-YZNWyawe19SBY6L_omqYcReFzcd9B9dALZw6mHw4H8JU_XR21d63cSnJGYNwQqGyFpW1mGYjLT0YzqbxbLzGf4kwtbth057upp69eRcLZjebOtShQeO1QEKFm2cTEVUlZd99Jid6VraCAHCkpc9_w2r7Z33C9dAS-ZXIzzJuKewaQrN8eX0MCZNQZMfQNhf7i02-tubztArhk59N9ipLIjjRO6nZLAjQ4nZaeoaVkf4rlt8rgO3zrpZBf2t_dlboRHSyvzLynfcsYe5yAhKQ7xKci5-Pgbk6Gh31aUJxBfGwn6jIRSlpP7eiFnUNI9tKf5KVtVKrO44KSu893JEmeLQImaPJvhiWtvy9LslBR_uFm0EN-ccW2IJDmXteoLpG0qfWVwbsLcKFzifqDntB2qchyXr8NN166qnK6NZOt2Zf0TPF3cL8BAG-GiqaRytb6X3dyU5qFaExix4HPgiv7u7rm3T2q_ok0_PnUVuti_ErEXMruknY7IFovuLpFlTpU__0dYOJIsSnVe8BDA7V2vX1A7cYNaPV7MGKZ5gXwAiD_zk0GuOrrMqGc4f6SVjFk1iL45ELKC1kGg0TBfjtcb6v56zV23gX7yaErcAKiAkqZoV5pkZHkLblaFKc8tqkF1b_XF39UPuY3wIiyBDug6hGXAxk3FPELaIe0qXD_tzVXIq55uFRBL36Cos4sI2sFkbUZyQVBB9WPpKPSEf_Cq2gmevwgEvZ-IUfqyHLpVxoKK8z8DQ0JLDgVF_vdp4f4Wyw7Lz3PrF8b8jnoqTpc2YwdqrRHWOJH2JxTorNXtH2FvkAgMgvGrPF2s85Ag77JI3ivk0F88mN8zpzHM-3unAVomqAXRVD9nrTmAzZ3AdCo_5GeSZob7TV20ODSJNHQm3yzn7T76L__o2-FwECthfukqPFcwBe6J58mTAUhHOEvECDNozbtUUVJNQgd2RHhM6yBL2hMNMLnm85jUTMSnSkYnqYmhO1WeJtL-87QStLALgBNEB_Vo95cVzKvQonodIjOJCPbMEL2i3frrFhUSdcdw06g_WC-VO5sikVioykieyLFwKE9dEeSNObff8S3PF_zVDbNVsjtv8sYAgn__HQsBGbQXb6kutvBnIjcdt0mhspn48joChPILLfkPQCNJed6m9tuOWQA==",
  "id": "rs_0ef8d33d72e54b96016ab2ae0f711c87d0ad115e02746b8ec5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.15,\"right_z\":0.025,\"right_gripper\":0.9},\"note\":\"The neck slipped away again, so I’ll use the reliable body grasp to bring the bottle farther inward. This should let the arm reach the neck without working near its extension limit.\"}",
  "call_id": "call_0aHW57M1AWVr4gm5yz9oLvM8",
  "id": "fc_0ef8d33d72e54b96016ab2ae1a259087d0970a615830f0f2fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0aHW57M1AWVr4gm5yz9oLvM8",
  "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]: [-0.0265, 0.7063, 0.4969, -0.3553, -0.0227, -0.0292, 0.9983, 0.5049, 1.8046, 0.6262, 0.6174, 0.3477, 0.2302, 0.896]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0049 left_roll=0.0012 left_gripper=0.9983 right_x=0.4041 right_y=0.1586 right_z=0.0399 right_yaw=0.0675 right_pitch=0.0466 right_roll=0.0251 right_gripper=0.896\nstate[joint_eff]: [-0.294, -1.0325, 6.653, 1.8437, -0.022, -0.0757, -0.0122, 0.5128, -7.1453, 3.8085, 1.243, 0.2369, 0.1294, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b501a0b868e4238478d742c727bf85cdb968bba9e7a65386564ca7ad5f8c803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fb7fe1dd85d5b654605259c04c1a1f46df9e4f3e3795cf887ebda0904e2589a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ae3527e5a2b70c8f537cb68b002e5c352849eff10f7951c649c5819d2d83852",
      "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]: [-0.0265, 0.7063, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.4587, 2.0659, 1.1, 0.4362, 0.3305, 0.1974, 0.0169]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0053 left_roll=0.0012 left_gripper=0.9983 right_x=0.507 right_y=0.1905 right_z=0.0572 right_yaw=0.0525 right_pitch=0.0723 right_roll=0.0174 right_gripper=0.0169\nstate[joint_eff]: [-0.1983, -0.759, 6.5846, 1.8144, -0.0269, -0.0611, -0.0122, -0.2667, -10.7009, 6.065, 1.0085, 0.2076, 0.1343, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4h-iQIRFH_0g2zxOWdTjAl2iwfb8C7Leq_06WpRzoMvUZBwjRDRuUDxlijYi2kQ6hrM0Tj3MEJRE4uOMlnDVKKHcmPjygUzJM8Xcp-TAqGT7ghA3Av4pVHVNzndKS3S10llhCQ-MDxS4Fg_izLmCMlKp_hHLJ8oqMhKUHwfq1d-UbgW2MOC5LC5Vg23M6-vDMiHlpCJAVCsQ5XwPM8R4s5hSLT3Ei3acyxka57twEss4DdT4oRbgHMxsuAOsCM-6PDKNO_Frryy3JkkYy4LvcSUENs3ZZPcM932yMbU-eSyY87NwyTEUNAap4XxFIwEydsWppu-37S6gh4Fd8irmFJs9B0msC1TTxtSCvuOWmnSl2tl4LryAWt570HKrJ0WEhUzeYlPy0YJY-wP5vj1GhzUpLiIWloLAinhGjoNbTTsjvKSjyCG3gYiOMHVxX6qsqiFa0LNtksWSj2CJUTufTBkot2dNoKP_QNshx9K8B-CkUaoad5Id1-_c4Zyque_ujfHO42Ai_B3HJe287MngIT4Rn_LVwjj5xV_d_W7U-2Tgm9lNpcIvR_IbXUHlAxNiFnSPHM0Glmh4SBJp5eZHvMUZCYv8UuJJZVD6Dsf3Pf88KdUOeJa15ZL2Pn1GgaxYc2jP9hvDqsjXDOStRGIxQj2SeC2k8jpdtRNwjYAJUEJCqYCnkqWpGqoNnCm_faBq5HOMKhyPhs-8mtAtvcvi35igtWFfU2Vd_o6kvOqjmttenXCCGXxkOuz7M3UYOIHxIcqLEREj5I5T0xfibjdhLbXj8I_q3Q3mw4_X1j74Z9MQb53v5PDfu5XouPXv6d2-yCGiEBuGWCJHani5sNtk6zFZki-i18gJv92e_0uSDehbAv4dOVXJ_3kDLNTSFQoP_lGbBJT2laO_llrc9P8k81c4WFZb5EeR-17ibA29qWnNT9YuROQR0k_LGe8SXheotRUi324GkAPWcXxfFL1FbpuAe-7Qpz57QANjY0fxgHDKX3fIuu4d7pn8wQ9J_Q8-ucCDRCathxE-vxpSDBKitNHU4n4WZgAL-qOdCfNa2K-Q3OIuPSrYcCDJnRkNE71jcwL4Loesv2TSZVaHNtzr7FVLZOcMkdZ7AuBTAN1P5aBWf8qFZn4BSG-UOsUs6S2lYvfNTTxc6wOHTM7UEjQ7NNVZU9Fn6W_h4X6JBHx4etUdsyl3vqdnL71OqU3PlB_rvqHc0YhM9jWdcpyAL4C7TeMQ==",
  "id": "rs_0ef8d33d72e54b96016ab2ae1f2a2087d09d73724380bb5646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"The bottle’s body is centered in the open jaws again. I’ll secure it for a second short relocation toward the robot.\"}",
  "call_id": "call_gmWrXtYYav0j73JYhil1Vnac",
  "id": "fc_0ef8d33d72e54b96016ab2ae1fa49487d0a85b8f0e22d70443",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gmWrXtYYav0j73JYhil1Vnac",
  "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]: [-0.0265, 0.7063, 0.4969, -0.3561, -0.0227, -0.0288, 0.9983, 0.5106, 1.7901, 0.6579, 0.5671, 0.3481, 0.2165, 0.3196]\nstate[eef_state]: left_x=0.2798 left_y=0.0002 left_z=0.1591 left_yaw=-0.0036 left_pitch=-0.0057 left_roll=0.0015 left_gripper=0.9983 right_x=0.4075 right_y=0.1633 right_z=0.0471 right_yaw=0.0804 right_pitch=0.0432 right_roll=0.0112 right_gripper=0.3196\nstate[joint_eff]: [-0.1573, -1.0325, 6.6667, 1.7851, -0.0269, -0.0415, -0.0122, -0.3897, -7.9795, 5.6547, 0.9304, 0.0904, 0.3834, 0.7253]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da5d09b21bba02ca4beed5d7037975b9f9dc7d1882286763692523f1547b9f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d254ea8bf753711bf5d38ffafcf05cdc2d784cf069d8ac878c83359089bb19ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d397c1aca968489403e9ce6dfe1d90890a8ee96d34fd46fe35c81158bda28577",
      "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]: [-0.0265, 0.7063, 0.4969, -0.3553, -0.0227, -0.0292, 0.9983, 0.5049, 1.8046, 0.6262, 0.6174, 0.3477, 0.2302, 0.896]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0049 left_roll=0.0012 left_gripper=0.9983 right_x=0.4041 right_y=0.1586 right_z=0.0399 right_yaw=0.0675 right_pitch=0.0466 right_roll=0.0251 right_gripper=0.896\nstate[joint_eff]: [-0.294, -1.0325, 6.653, 1.8437, -0.022, -0.0757, -0.0122, 0.5128, -7.1453, 3.8085, 1.243, 0.2369, 0.1294, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4mmM8mcwLhEBrhYEb90F51kSEWgBA9LlSXs5xQwBc1Bva1rnWzdSsVF2SvAUinl2nm5a4qTUUqFUjX5wmgtkDPLTLRYN6Xo6H-XkW_SARxtdpiwXtf0RKyAnsqDioL_pAgQ0CqJ2tcY3TMYlW2e3hoJL-kA-WeWurcAfl9pTbsOzsLZShsh8KmB8R4jKWBA3IEcvxWLjuOG2s5P1j3ZK7NW9brLkTVU0Cqdwc1pifyV8kN01gjq9L4XN-Lac2vPclg104-MjnHymHs7gEJouZ9a713gu9k3-nYzXsCDgLR_dy_8BEYnJEiKxKw-w20ElCYqCxgFG3oDvxJZwE9QwLUeKZNRV-_Y9jY0Lgb7uuG4y9V5IVyu8A8MFSp2v3ZbNH6GRDmCfgj0PLLrrqMU_1UOIEfuNj4myPdWuSA3ZmLQfWHoUnduzB17rwL7HYom6a0_q7uhRNxq6kbKKb5rXuou6BkSQ76tdaVRGxsNJemIz-Rd_21gh465aafBmq6Ro4yp7LDgu34qWpJWZqxKLY83jZoNFUL-DF1FpQVasrOuR1SUuG824DWajjEwnm2MW97j7e3H4VnOpg6_LYFit72HNr6wNArJTuMeD7F38SqWsA5TYu0E8bz14dLiCkDfgPD5oXGOBlCsQx8wEu0VkbcnXeb3vYhcPHKObhGPDJF_sk9Tpe9pWlI-Yy9c-dAEHDnfX3zMfySc9r2r8IrC6btZOtZqRG2sklfbolVERlPYDntjQOEiAqaGQaAutHDZbfQgHQle8zUaAvKfGpdoLe0eUfRQOMF9z6JYNhd6AFrNVPYlbRcaiKlD3NqF9YBww03PD7VeNmh-zp1Eh0dNdFoPtoCd7eJ9LoDSUCvk0zitoJUvOdHdar3OrHgzt5hSTNjgUYs-lzZxBqOSBFJytqanrzickO41dgPRy_oGFmxJbLSoVrcYrTMljBxJJjlny5SszNdDbwcTRKGJ8GkO_3m1jZUqjdQERZj6E123-TSpIk9puTWaKaoqtVbuguFAwZKuDgrDg69nxKbl0HTtchqsOnbcenq-qP9jWhF9RXoxA5KAyJ8P387Qxu_vixB7JvCGn-fX-9C1Pjc2SCatUKnojV1k-QNoBaL6mT1VB3gdz8FVUxvlLBj453zIshlcf-e3UPm82DuD9HDMaSklVUNW_Pjkz1XjBY_ir_4AVmq5Xdz8-M-9TEs2k3pC91bAxpT4Bst7PEDfIW3CaHNRvm2Bg==",
  "id": "rs_0ef8d33d72e54b96016ab2ae24907c87d0ba1bd90302b2328c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_z\":0.17},\"note\":\"The jaws have met resistance on the bottle. I’ll lift and retract, then check that the bottle follows before placing it closer.\"}",
  "call_id": "call_edni33BC1prV7EgLVnbiDWLC",
  "id": "fc_0ef8d33d72e54b96016ab2ae257c5087d087546bb8f63a925b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_edni33BC1prV7EgLVnbiDWLC",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7063, 0.4969, -0.355, -0.0227, -0.0292, 0.9983, 0.8459, 1.0859, 0.6537, -0.2737, 0.5697, 0.421, 0.3196]\nstate[eef_state]: left_x=0.28 left_y=0.0002 left_z=0.1593 left_yaw=-0.0034 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.275 right_y=0.1721 right_z=0.1556 right_yaw=0.1292 right_pitch=-0.0069 right_roll=-0.0013 right_gripper=0.3196\nstate[joint_eff]: [-0.2667, -0.7453, 6.7624, 1.8779, -0.0122, -0.0562, -0.0122, 0.0752, -3.7402, 9.6205, 1.5067, 0.3541, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309d340665d4aeef1891219cb4a29d44ec3d39e29d38d8dc00160e00170e0fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2924c87ab4e6f5b26bd8ed467f5474087527e74cd6aaffb9ac3b407240a7247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846d6013d40d7fd16e97895af022f239b0e15214361b1fce44dbfb43114bf2de",
      "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]: [-0.0265, 0.7063, 0.4969, -0.3561, -0.0227, -0.0288, 0.9983, 0.5106, 1.7901, 0.6579, 0.5671, 0.3481, 0.2165, 0.3196]\nstate[eef_state]: left_x=0.2798 left_y=0.0002 left_z=0.1591 left_yaw=-0.0036 left_pitch=-0.0057 left_roll=0.0015 left_gripper=0.9983 right_x=0.4075 right_y=0.1633 right_z=0.0471 right_yaw=0.0804 right_pitch=0.0432 right_roll=0.0112 right_gripper=0.3196\nstate[joint_eff]: [-0.1573, -1.0325, 6.6667, 1.7851, -0.0269, -0.0415, -0.0122, -0.3897, -7.9795, 5.6547, 0.9304, 0.0904, 0.3834, 0.7253]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4y6Btg3W1Glxs_l8U1yB27X-QjzBBCfAfNAAXdZfDKCaYbG5dt3WrwgheOOnuHI7q6rgO6zCX3k8PlElJrmC3Ae_vX4fjl0GElTGKbEOvXtdSzfK3KvxlmBeyM5HRyx0v2mA8hEUg5w_KPWmz_UEmmq2QMCKdbxqh-qvkT8aRUMUtE2Edo_SL6_oTl08hyBcePabdooDxYX3dez2Z-ujul3yZOkKKROo3A2EMZTdDrVvk6yIx_0NDre4HgNZPOvn0cWp4-E74Wjr7jmsg6W9Fjk0Dr5qFWqFwzYEhg6DVwnQ_3KkpPkNE0u_Qtljqr-FyYHUmAt51N1pTrzwqx6FV2VgRIeZuaLzX_bqV8k1xvgfEp3gpaWqeuKojMWEQEmWNMJH18GGTjsQXxBz_7oMxZf0wNBvJ1INsvduj7AAMf7vQWzjFUwCXxXAkuWQBSyRfqk4KxhsGdSrIeAo3lIWrxGVMSCYFuBM9gVTjA8n3T2prjuGAIPZrRAqCaXFZpYj98uQH58fmdFU0XRMBfASEo0bLSfU9bchIyNso_dkXrQHdlqYRd7HyFFth9YrRa7aw-Vpk7q_Esi-KdEgYzxNx1VIS334hPNQReKT-QVuAUCQcpM-FncfmV0yM4bG0jTMaydRTb74SKcgdw2qGse8KCzJFsWEHEnHM61tEzgxN4QZg0TmC99QiSZfGkAe9sA6sdBWcqwt-92D8BHMKz9FD0c0XWLxPUp-4hxrB5P8dVtc6igye7C3Hy7afJjnWfiuuR1p-Xq1_LX3K5v5ioZadf0wW9lsGhe2vSkF13G-13hD2mhm8S4k5TAIHBISaVP2mAwcwaofanITbb2HegVzGt1Y1FTAzXGTEe0EOqB8RAi9MWXHYo0FuW_pB88lI393W9_lDbPxGFBsLpqYqSw02fs4TBgQhD3mPDazzedqPoE_rXOCTn2PdJkBM46J5VuCdwxodfXICJAfbjJwOMo34DMwTpWITVojJneer6sfbBWQ29qrGKGcWXUnv3mBEU1ELIO72NGiRbYKmN9JZ2RftuAlX-xZYYKM3W6aPBVDOVoKR1zthOo5vlMeh0moGxeuoPOQ-Fs7-Ssu29CBrk_h8zG7Bmlys9h2qW_WkGUeiW9_g6b7Cmxnr2A-s6SZ48bixDyId1-woCWW3kVDa0ZrIxiOCjBrXwBZpeH3E2xk8YLs3teOCp9W7ZijrXcWnkyLvZPpkH2qIMr02LK85iIp8EAp9RvzfM6X6nuE-0kd4eJ0abpkQa6ja9cZvjoha9g5jZfR53fYbIFnyeHP5mYySUQmOT0LP_CLIDs3E8r7Mz6ALm7nZ7nQVcuGAXtNj-xS3VMMnPhsBORCU4K7SA2e9x1sdFfQ7jgpM3f7wLQSeTNHkiHua0ub9aQCmBIELKSKnOAswAFPGFouS3uN27iTZl1f1ag2KyV-MvuMj2lF2Gb_GO5CiNYEiEk8VEJIw47hv6DQHXUyh7rVkbdV7FTcVe4fAZtHNdP0gFbLya17GRpYbs54p99nyn136I20dFxUel2yI8uEgiIQQ0TqlJoqjU8Ut2mtGbeJwqrdJzT_tfeCRzV10jMhRcSMy7-p8TyfpLBGk3iqqCaKGdq7LomnhexDqrUwcbqVpEkHblPu7HoJEPdMgjfR3cw6RnguGUcukgi_zI0R9f2aPZNDkFmUeaEhkLl5mwPWem2ve1QnVK-1wA4p7Fz3brsOqG9GzKKfrbSEN0SuKZH8Ij8LwbaIcR6Q==",
  "id": "rs_0ef8d33d72e54b96016ab2ae2b02a887d088ff69b31a434c05",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.16,\"right_z\":-0.02,\"right_gripper\":0.9},\"note\":\"The bottle did not follow, so that grip was too high. I’ll return with the jaws open and lower farther around the body before closing.\"}",
  "call_id": "call_KWKnXMKvKGcrmUpp6rPyxrt5",
  "id": "fc_0ef8d33d72e54b96016ab2ae30df4c87d0ac321a9ec1b02c42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KWKnXMKvKGcrmUpp6rPyxrt5",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0265, 0.7063, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.5049, 1.9675, 0.5865, 0.8082, 0.3023, 0.1921, 0.8971]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0053 left_roll=0.0012 left_gripper=0.9983 right_x=0.3982 right_y=0.1641 right_z=-0.003 right_yaw=0.1258 right_pitch=0.027 right_roll=0.0099 right_gripper=0.8971\nstate[joint_eff]: [-0.294, -0.9231, 6.694, 1.7656, -0.0122, -0.0269, -0.0122, -0.9231, -5.6821, 3.494, 0.7204, -0.0513, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c0b6c6b9327aa48c1204899779536336930ceb2df423f45a4ac90c4b1f5e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372276cd3f54475a997f59ec82960cbb0617ce1cde54b88da8fc901a240828af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf697fcb0f72ae80dac71492dece553bbdb06317b5a4b3d74c74414be6a3a19",
      "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]: [-0.0265, 0.7063, 0.4969, -0.355, -0.0227, -0.0292, 0.9983, 0.8459, 1.0859, 0.6537, -0.2737, 0.5697, 0.421, 0.3196]\nstate[eef_state]: left_x=0.28 left_y=0.0002 left_z=0.1593 left_yaw=-0.0034 left_pitch=-0.0045 left_roll=0.0012 left_gripper=0.9983 right_x=0.275 right_y=0.1721 right_z=0.1556 right_yaw=0.1292 right_pitch=-0.0069 right_roll=-0.0013 right_gripper=0.3196\nstate[joint_eff]: [-0.2667, -0.7453, 6.7624, 1.8779, -0.0122, -0.0562, -0.0122, 0.0752, -3.7402, 9.6205, 1.5067, 0.3541, 0.1978, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq49TZLaPG9-SDPkKd9pZttzFBnAasabb1cK9Rmhkrzi-VzU7NkfbJ7xSBqNgdxC57wMZIl34KQGjgtj21SNUHnv1qtQ9rCioOsXjLQjyTWPyOW_3KJVzCHygabED3Qg3KDyRNZ1p4I8hp33dZ2hz47Nkzdg1zgJkIDd3fatotpfBRqPM8Jy3IY8GitMPmOJYcvdP87G0YHjdDz4HfBZHWaK1I5XiyA7U8ekA3oBmRK8jiGljea8RFxwJ4vIYCZMIwrbkjzN9GiKtImKvWK8skAJdAVCvIt2uh0qNRO4wI8HxkWw6hQv1sQpz9F7-vzWtqgSMxPj4hWAx6EyFEe2cIYzMhts88iOIBIyWprnlBJv-7ddP3-iZeNgijtdrjNOcjfs_h6bq7-6KoY89QD-qFsDbemQeR-ml8r8BHOFnLkTyg3O8tSkegbJSAXTIAAXetw6ATvnDv15xy6xfKZVWdk3yyp_myjyNvMuqseUkGQETaifPVNYHPhqhg0eMJxY2JhchJbX2HeYfblbJImRx6hTJy9bqiUPTPmtIZOER9QxvvLaH8p6Quzx_FHcIiGoQfwK-HmOO5hGwZXE0Sg2JQAr6g_Tl9u76Td2_mpD1jO5CnDmKmExqMMmM4jXomYLE6k7JXQ0Ppu5kLrJWtAmqWiPX6T1ZNMT_-sUrf-tRoPhs9hWg_bB5xxjvZ0zL6aa5glS65nDCUGWomQmfPLXp7A7-1iuasgX7MtpZrKdCr96Zrv1ABdTcQcmubppwwK1tafSNxWRlQo3G7y4sKNyHTn8oPWZu5B8szGQZxa9OFApTMl6bE8XPAzadO3qnvS9wKK8Imdo_tvw4jf9uz8-WregPnkuZvFmWcwsF2m0MY3yYzzlBMKIdrdQD7xlgOdEfvKhtkiEGDuWM7rQUk50Jy_DmJM1SFm5zbbuy-_FV4RLLBTgOgDHXOAoRW_2o0sJyHhow5KWRowacSa4UPONwql4i-bimx6hooY1Gg9r-J3MKhlI-zeUnXcdr-BkAIM5YTFuXEwvbTlO7z4KoRRX5iIS31y7AksQk5LgGkMUwu5qC2EeMT8-pftK15cOb6OQSbo8U6fZZB3XXtflpvQPpj2GFz3XUXLMYiK4m4QIbm-_Nr3Nf4XWcCkpwGXtg5RwZrSrjqAUIjeb1mxGW2wFqS3VTMajldkSp6M6kf9hfEk20D4uBon7Uak5_mnw5G-PYnFwIhOMcT0q_hrwTNK90hEtoOva33q5Kn5DTAIXWAVy3_BFKrH2_2LtUifQ_iwBoWN277aOI_ZqDKyTJcphFSb7HcS2FY8ZnxIt-tbq30zN818ChKQEirQKjjPy4IeVO4jOurUcJqNyEEPRPtqONkGoqJSqV8oPUuFLY9eQqdnDiVKIbCPVScT4fGDtavGXyxVBZGNFOpcq9opu42RZZnZcR42mO71n0BIRfxL4TupyyGxexfyjqmP8Fg6lUuQ7pYeh3iyE8ZoRjolAMr_F8UKMRLsNdj_fmwV3T9PweS24D41-jfNPfj_WPVWmfpAEy8yGo-ciBt87LsQB2ztCgcnG7yXsXA7N2e77bWxVDLhO5q3IoKdHjEaOmtKnuvj8nOMJr8lRy9dRpQzJSEDbR1acZiF2j13bt5x7EyHEikjk_1OKfkNKpUqEwemWxhMP1LrP1cw-U-PKP2NSj2Dttc-2c65rQmmXB58fWq0bG8ctWbpQZmR6z3q2kPYfbVjcYPHZ4hzHjpuHpsB4pfC88m8DWhVKOcgAhFO7P5U10_sc_PvFtsQxobULbNpzJ51aiLYt",
  "id": "rs_0ef8d33d72e54b96016ab2ae364d1087d0978a9b5c83fc2c40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":-0.02},\"note\":\"The jaws are now low enough to straddle the bottle, with its body centered between them. I’ll slide the open gripper forward toward the shoulder to grasp above the bottle’s center of mass.\"}",
  "call_id": "call_smD9rnCWXcPdXuqJK7VdDePd",
  "id": "fc_0ef8d33d72e54b96016ab2ae3ab93087d08da3990168a35e36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_smD9rnCWXcPdXuqJK7VdDePd",
  "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]: [-0.0265, 0.7063, 0.4969, -0.3565, -0.0227, -0.0292, 0.9983, 0.4023, 2.1323, 0.8875, 0.73, 0.2054, 0.1223, 0.897]\nstate[eef_state]: left_x=0.2798 left_y=0.0002 left_z=0.159 left_yaw=-0.0034 left_pitch=-0.0061 left_roll=0.0012 left_gripper=0.9983 right_x=0.4797 right_y=0.1689 right_z=0.0031 right_yaw=0.1408 right_pitch=0.0677 right_roll=0.0153 right_gripper=0.897\nstate[joint_eff]: [-0.294, -1.0051, 6.6393, 1.79, -0.022, -0.0757, -0.0122, -1.2239, -7.241, 5.3128, 1.2625, 0.1099, 0.0464, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d2f6317d91a4a9bc1d1cba38e0e700e849cf5ddcea4c384c7db59e031bbead",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ccdba05fb4420b51329d35ad05e2d891766e4aae2b0015adaec099e89ba870",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d475218a76f92f93914f9646d10137d66ea27338d27cc0a8c3da4cf8a48a171",
      "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]: [-0.0265, 0.7063, 0.4969, -0.3557, -0.0227, -0.0292, 0.9983, 0.5049, 1.9675, 0.5865, 0.8082, 0.3023, 0.1921, 0.8971]\nstate[eef_state]: left_x=0.2799 left_y=0.0002 left_z=0.1592 left_yaw=-0.0034 left_pitch=-0.0053 left_roll=0.0012 left_gripper=0.9983 right_x=0.3982 right_y=0.1641 right_z=-0.003 right_yaw=0.1258 right_pitch=0.027 right_roll=0.0099 right_gripper=0.8971\nstate[joint_eff]: [-0.294, -0.9231, 6.694, 1.7656, -0.0122, -0.0269, -0.0122, -0.9231, -5.6821, 3.494, 0.7204, -0.0513, 0.0024, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq5QlorbVK7SgKjGeEjShK5omEPmKahtHuTa43GpsdIjzqfAQMjQt6i1ii442T0F5iKlCGkRN00jrLJY79FvQbfPwxyOynNktTz_5X79fiA8M6G5Z33WN0m2XL9_VwiHuRyBjZbYLeGSuH1GUEShudICcC1MwWS73hZP95L49FEI8VHDXHDWaoJ2BCuLX3yZ2FPRumclG9wZbGmBMx065-qP7aukX_CANbw4TavFor27v50hy1TLM2jpHnMxtkx2kzCO_qBeW4T7n53uAqfxuVdtsHaUCCyM1tpK73qvxAGJT4SE1mpp4r0llXYTL9fCmuuPmLFEIqp2OzAFTGxaFQG69ZTNKh9vPi5X0s_4rGAvw7dG10vVlXQH3d00WA0LtS_j9lB_bdP5E8cX8ucvNzqh8EPd0tgLpUJVGX_SUUQTkF7DBHu0puYAfrLBPkWB6aTYaOKQQKkVW6SatrEmEaKWDrkiSjKFFVY5T1eVWFt-3TGHm3RRT1r0Zjvjsw-PDHB9sgu0x3J7U8Md9NKrCmP2vfw25LOUtad8qmMMbQURXSpAkSnEY0mS3yJ1VIumETd6c86o7CkujyDWC4-6pDUzLIgfp71bmCw-5hCr4QBBvpO7ks7zc9nBvadRZr63liX_TLycCTkj65SfyQutYJIspMqgQTsqkS5HOd9hNuCskV8a0BTWK9riaLsLx6GDiRd3mDxvqQJteYnWQH-PxshGxB17SL59Ahhnbr63axgE3HdhkHUKs7J9xP9F2sK5err9ZViFTUfiz8yBLIobrZ92kGM6QEFpdWflTpKa6751kLfqdcXFXMT2XkFN1gCr7aGtf2iplp4O_VQu6H6PMQoTfw2bhA4Z_eU-l2fb8WxjMfdmOSF-You0LRh4Pi6L0HaNFKUAuVcXL6ijxoGVWe5FAQlmpU6hp-nl_z8dRL8MvFiqID8l899r5rtHHIynuwS8krC9yOD8k2OpH_KPZTvilBsL8ey7-HQmCET6mV3FM8LI8o4EXcIASD_VzWlfwzd_Ms6rwhi18C7WryZ6FO76BbIjHueHs3Cy1ru0UtS6FVZ8ln1Lf5h0h0QqyuR8xC0iIPjXutEDQjiU48Xuo3hDkvh5CNlNIjPo4SYvmVFOk0lguuXHtNTR3GjskjK48mkZsujACvXUo0FSej0MObbtElKpyBoC5luEaXAp3VcMQx02wbS5B9QtJvddFsQ06up2bYNYUluzA7aKuJmXyYnZBib1nU_SJFw1LT1nC7otcg1SllQzvWZMV2zd-4ZazGcRKO6kU9-f5pRElaZJrAgTJuIPCDVapyfgPoQcOHYg57sS_odnjIRQ9aK7iS51GZdAfNVi2-LogJs3YFM88NLiN8Iam0yHxnwl_kAek8qpGdnSph6XfxqgjLD6RyKwpzAvo8ytX0eaa7lHknUPIHlNSNIAWlDuMbqaANeHf9fOiPjjyA4b5sFsXXiPx3x-mywR00qduziwEt-Na_l8jM46Z9ApneNjYAUjJrKENuBsOySKklbNQBQwoVY1BQgEwyKmuVPZfDyejPg9MFIkbNa2OVRwedKITN1O2huCidgtB9oBxiWSLdd58BEVVaf0yqJuBwoiQB3mYb6cWlNu1Qc7QRQWdkPHBf0inJRno0jVSasBliPAROh80W7tidFwn5Zfx9O7hNNYcuFraCYtA-cBGF53HgoFwPO0nGuDHyffFUe_tltIvPQ9Az33tefDAmkAn4xLT1ki-gwIhe3lHjdtMCgAIoQg0LYsTL26pzLYTRQxqvtMdbW85NiQszDEd05IEtJ80RHRAPH3dAOQKg6Dqrl2eN9WDu7PgJ9GYCaWTcNxvW9kseLIn3AN28W460l4NNtc4aBC1rPlYUD4jl_A4ASofiy6GLyuCC5wb5d8_FkStmh5BhD-nfLpRYl70bK-XyyXixLl-qA9NynXVUMkToC1ZaSjmHCiK-Yy7Cg9eH8TM0Iqhih3-gIQlkLA5St0ZaIiHcucj6dGs1ka5upbjqU_lLGjL_Jdt0DU6AUeToruzFt2LT5Hgplx6XR0K6GT7uGNMNl8ir9utym2wHolGzZztdW7BizE9MMMcAc26_WhtvgCg92UGM5_k0dMH54Yuh6-qMWqKdWEI9l4JbiT3qbq7tZSw50gfQteSQ-UGyh1wbMBKd9E1lwAZvFrR5OTzfFdOTDnsiXjKrke54heYJG59a6pO2O0-1vvwrPhLJBVF9UJTinHe4_jZzlfHnI_kKohm9NAJ5dGbbd2u0Dx-lKwiuJ-cuzny0w56eofjBCZNhKuvyRwufT8VaBQdrnrD5VAemdu7QpsStXC3aY73f4cCkdL6AQf2yseis4wQkwPOGrJoi3NYl9bebRG2GpPNMZqwkSfxSiEV4sq9XC2ndyIJLa3W6-g7IF3yrtIdRnppY2gHr24Ro7r5qPHriOJpRfAVAZqmnOgVQswb02IAR5xhbdRavdx1Muj3yPWXJA1RGTpxCtl0vqx5Rh876JRDtwyUyJu5rZgCjglpSaYS-4d4uwioqv4-4zGdLOqVYAZQAWSX_VVM4M_SfJmlsYRmpAC03MZhZXz6_U6AS9C9OPI9xTABYjM-nac-FKSA1dWygcP_XKYNL_fdhcblRCpVyIrqqcrVaUilWqDpPbURg==",
  "id": "rs_0ef8d33d72e54b96016ab2ae4398c087d08fe2e29f39235040",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The low forward approach pushed the right bottle farther away instead of capturing its shoulder. I’ll withdraw and park both arms; continuing this approach risks pushing it beyond reach.\"}",
  "call_id": "call_eI1lDVxPbtViq4U7xk0z9n4y",
  "id": "fc_0ef8d33d72e54b96016ab2ae4ed62487d0bb357cceab350a49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eI1lDVxPbtViq4U7xk0z9n4y",
  "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]: [-0.0265, 0.7971, 0.6361, -0.4461, -0.0223, -0.0296, 0.9983, -0.1455, 0.8803, 0.6548, -0.3569, -0.205, -0.1532, 0.9995]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.1802 left_yaw=-0.0035 left_pitch=-0.0472 left_roll=0.0016 left_gripper=0.9983 right_x=0.3097 right_y=-0.0054 right_z=0.1857 right_yaw=0.0868 right_pitch=0.0025 right_roll=-0.0094 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -1.0462, 10.3316, 1.8339, -0.0024, -0.0659, -0.0122, 0.1026, -2.4, 10.0991, 1.7949, -0.2662, 0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf3f8667b30a474542129f67ceecdc7a40ce5017db7832256d34b87daa644c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd26169aec7fce9a22c2d78ba846df71fe0a2455c97174fcd00df03eb0f1749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383d547bc401eb0f506566362a359cdb7d936c2dbbac8b08365f554500e24491",
      "type": "input_image"
    }
  ],
  "role": "user"
}