adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3763, -0.0223, -0.0288, 0.9986, -0.0204, 0.7879, 0.6025, -0.3866, -0.0231, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0017 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4701, 9.7573, 1.7705, 0.0464, 0.105, -0.1587, -0.5402, -0.8274, 10.3179, 1.8486, -0.0464, 0.1929, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab7f1d25abd88260a5224e9bf2aff400e8f597af8073c90a49549600b425a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddf2c3d99c2344628397f58da942117c3aa3de868c7bbf615790176afa6dc4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87451aace5fabfaa09ce0c7d361c874a2a8a593a8e9d9abcaca627bfabaf0716",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-SlWs-6MgUYq2bTb8JWGQlLMt4Inv1v2JP2p5DSlBAWWZz5bevRwvf55zFdlvvWz8FABRgO-pfgKEHNd9aD7CVh7AUFCKQStCySZuRYjB4qpQMWgyfB23GnwROyPQT-8T-yJ7adrvoloC5rZxKVkue4sceLcTI6aoU5wHzM_c6EsuW2JVSk0pam6zYIMOhtw0ykIhpKVwFpYHYm6MOjgiV3iXdbXRJ_YhahTfZoZiLz6n74dlNe34FjxpTm9G2xkldv4Ddce5rUVpKSaFhKxWeWQQsOv4MZ_t39uMavJlQmFMPbPpluVJREbA7PJCPeQjgXMRkrVNmlMy0frVPwYcA_IahqMFY0V2h0aRNVD9e7F3ncF1ahXHWiHTEy84GKTAIQeE5AkhSB3QTT9B-uPjy0YfLdqXe1sgpwsAVok7w2ryK7Ued9yYuXMld-j1Iui4iDu2FiqkhLYyKBQuThwz5pxfSF8FMg4T4FrzP7zBFWkofJtLLaxHovuPkMPa4LqOk3rEiHVoQ7Gec0Pq5hRWvcmeEM55QoKD04WFE8p9f1JhXZoDDYtV1csP5wJovy_e5qDHjfjtB-6NJJGG8mQDJMihacoV5P68-LV-y1Cl53bIdjmnhiAP5DZ1Hau-dZSeNeri2gPUbmjEi0yawB2Rj8BHdBvlA-b2qpBzQW7kF2ppY2wpY0UZAFoTmVwHsXxhFzUiqDsl1CWZV5x8WE3JLpKNwgm1Ah0TcrEcDQJlD1OSwVEaEgxOGKTUq2ToYtL4qMicK-N_G2TpcHU8ML9xXAePWFTMn8g6MeLOByE134Dk_i6lxgb4HtJwE9T8Gozf_ONECOCjne0VIV5H7ZYaHOsF6zKR6wO-TDFCLEc-tqg-3B9UenKsojpyQxVCoFi1f47iO0XBbYgacBq1_51IfkGz7FjM3kAXNCQpOWxT190U7hRC9pZBbgJnTOR9CSUnWXg2x4nyepOFXW2oMqGWAKImUZnhrrmyuAusUEn8-0Nky9jt_AhVC3t4tmH6ml3dZgQHs7Ajs2-VFNs1kuiqWcJ8X-XblX_4ls3Bg9MtU8kIa1n9hp3SgNUYH5abzvd19V13qhOC2ToHlnQMeAnifvYvi0PFDY6Y1uLTq22-2MZTuS-iZXb_OccNQPlT8lUjCMJjwoqSxz5I_z-a6051rV7wzkWAHMTeNYLPoiceuR49FwzvMcyhjnW_DY8ma8v9RgQ7JBHd5fdpZjhsFWRK8NsMt2QZvsO3cuUMc0v45ltEfCTzLnc6Qfg7MhALNeBLE1lf-D37un_Xtr-VIlg106HGtkimWrQwV1djHrxirFQDiqv_oGHziqTuzFBQ2LPO088YXVoC9wV-hxgY0LLon-6PU1TjE6UNyw2S9vlHQjzr5U4nekdgtjOjW_4HVeEWXmv7VO92wSJvAT_1xAT36RHeHkfbcAC7NHxno2mw7y5ithQ9P-aa2YSnDMkyBUND3bwIZcNSv7INi50QcbjmkxpcTlheIR73SXOfxoPuFD5R5sAdgqNWyyyKv4MgBThS3V4e-R3MBx3xrXky7uJWcUgQGJ0j3aKa6QZFIS4SkTHcCnYis2qocbH91LOPsR-HwUCFzj2KftoEy1ItQQXo_VuFQlPVkiZlGJxLd3Wg33xWrzQTwboGM3hJoHPP6R88J0phBU6XHVxLX_fnSeP_vvCXKlKRpUgyqVSuVlWZ-zkqHYqUil-ptC6lWLMhTM4jyCeiy3krbOfuDCvKUOYX869h9pwUHpRETyOTwzRHEMLyQA5qXwyOy1lcJeYv6bMJNywpTmZCM3XvIJxMESyb9GcYYptrvOtoxD4V6E8Pfj5LF_93gKYxnPGzlIE1pxCMHPc5xnWIa1cbLyYIPT87hiDEmAh59xkJTjpwu0_6oxDjHoYUkbhPciRwxz3u4UTtMII15XROyS6LZOP8CT4uoeLd2I6GRauC_s1b2ohd_DRadGP05t9zs7CtgH2_z8fdiOM9jQvsAg1OCY5O7e9XwquJLH0VnAInihO7y1-Hh5t0=",
  "id": "rs_0ec81d17b26c8121016ab2bf89052887d0bdcb0ac9f2002c6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.002,\"right_z\":0.18},\"note\":\"All three bottles are lying on their sides, with their caps toward the far edge. I will approach the left bottle near its neck so its body can swing downward when lifted.\"}",
  "call_id": "call_5H2boSN9lrnJHQAHj7JvhXEp",
  "id": "fc_0ec81d17b26c8121016ab2bf9058ac87d0a4647871b327dbf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5H2boSN9lrnJHQAHj7JvhXEp",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5846, 1.689, 1.0653, -0.0814, -0.4797, -0.3656, 0.9987, -0.0208, 0.7921, 0.6033, -0.4046, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.1817 left_z=0.1329 left_yaw=-0.0041 left_pitch=-0.0513 left_roll=0.0189 left_gripper=0.9987 right_x=0.2912 right_y=0.0017 right_z=0.1751 right_yaw=0.0006 right_pitch=-0.0213 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -8.5402, 8.759, 1.746, -0.2466, 0.2125, -0.149, 0.1846, -1.6342, 7.0769, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164b8bd45f9d89267cdae85f572f37b4bde0e06fb6818f806509c2a051bd4cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa53abb350b0be630225c1a687718d3bfc2b700d07c4355bcf6979fb3fb9223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a7319099a2daaee003502171c2ee0b83c916a0e44d8d070b68809dd3014887",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3763, -0.0223, -0.0288, 0.9986, -0.0204, 0.7879, 0.6025, -0.3866, -0.0231, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0017 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -1.4701, 9.7573, 1.7705, 0.0464, 0.105, -0.1587, -0.5402, -0.8274, 10.3179, 1.8486, -0.0464, 0.1929, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-d9BsPAPAeX_KiEbOQGR9LP6Rf8D58atX7h92npO0DO9JUqo7o-gdCgwEtntwPzuOFMZitMdhcOxIREOqMhVlQBGGv1OBi0CyMa229pIW4s5sSUhZNv-fralAkz-r4-iTdCGiuYmkxbXXKynN1dEimFaePYM0BcoseP3z-9hccoSLify7QPuphAYf1jXlsrGY-glwUtrYv4uZ2TmBe6WHicVQB3h2SAfhTC8JLKwbv0mVJz6TRz0LiP2VfS33FnlGvcovMKC0rIQn6CnkScaeL8VO8LhWdIuP6as5IxPBSangwFri3FRyvlzYTXaYhYzgKG5rHPTcuaaBjcoRX8KrlsIZEai0W2CzSg78vgmYFuE19MkQ_togtVfEKTgLHV_dJMdt-8bPGBdIimSmSAhrOAehGdMVbYXnH_KuT8H_OyMla2Hg2zlBs5B919XtqeW5W1QBRluCEYV4PximZmPdDcdNMl0B1qLfBH-u0r1kEH6BZDqA-m8oCHV9SbmWRMyypc0n4GmFz5hOXmCHNpw38JvdSjnZ0T-h8yIo1hnEsSUSEb6NzFUot_6jXUcxUNxUyg-zFYiTGfm5S-t6S-JfYMXGtf4pb9alXRDI5ndd8gk25M25Wm4izDXxvfxgnN18TdZcTONQznd1Uy5LFUmb1ovBtDz39T31_Lbun4AFGMDIDqJhrq8hcnOwtitVq8j64j4PqXTLJLdkO8Fgh8tQiUDd2XzXB1qe_66pSKE0-kAXTQOiwIYFdT9vuR5l0WeOmcbYU6nCt_CDKIr_4vT-IAk1_4dfDQRpdFX24dczABBeDKRXESxWgOd-W3j8E_RBVet_d-CpGZugJNOUEmi5uln3whF9Z5P8IK0L4CmTFkRpVKUdg_pfFo8LEOsYW88z8aXZb87CRM8NypAu6UFh6piAUKCcj6bOh80ocAf1Mq55L4OSulImbxA6NFfwuXqpCVhYqwd5Dd2VXUtNECy7qf_OcJYH4pwgRf3WXDR0yXM2C3J7J6k50YEnrUOp2zPeCUZvemKbenT1Mf6IXxq4ArscYtgAAOirmeCZGZ8NNOy6M_vIJbZm5TSg2w1sBUeU6gsQroul9pRUHYX2W2UB1UPOVXVJDzJ5_3V5UZAUBsYOypNaNQnGY_aT6cvdSjllWvQI0W5o7j3dNO07kuYcDE_xFNHmhZIIzIS2e5b5rlXnjz1X9ufAEtcXeYyWZtFGZVKodNe_dIZCCsF6QTRnzCalgYjwKJDB72Fk2uVSbuLjgsdnnCHpo0brEk_9g2ci_wX3x_ULXrDxXCKiD64TvHKPyxRIK0YaxnA3O1ZiF2jUNScsDZXtRm0cceNoLVwNE1bNd1Q-Xi145V6fvmyjd3ciOymJHrVybugHAuVyisXncfjI4BbQXdAMcYog49w0QK7QnvIdGCgjm5FVvSJ5pdctcV9LODNmU1OxXXSQpE4a2y4Ia0JxtJnm2LhauAdPhR6hHsQgUjckj_3jaRAh7sF8_Gc_FLBd3Lw0Rev5BWiOru_HoBhj2JyrQKXLLoVS3vomvm5mej_ap2MoyM6nBZoumzmn_ExRVymQPDiDtWVvIGYJ_qUhT3vzKLwdjed2N3Te9FrphFlHg4NG2IrdVq1DIgRP3A4Zx8Zj7m1lpaDQ=",
  "id": "rs_0ec81d17b26c8121016ab2bf96459087d0aac98bc07b7c9c23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.14,\"left_z\":0.07,\"left_yaw\":-0.4},\"note\":\"The left bottle's neck appears left of the jaw centerline. I am shifting toward the cap and lowering, with the jaws angled to grip across the neck rather than the wider body.\"}",
  "call_id": "call_ty2bJ3FaTU1QMbPR3ZIpP81W",
  "id": "fc_0ec81d17b26c8121016ab2bf9b323887d0835568316bcce467",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ty2bJ3FaTU1QMbPR3ZIpP81W",
  "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]: [-0.279, 1.8107, 0.8673, 0.2848, -0.0475, -0.0566, 0.9984, -0.0212, 0.7856, 0.5842, -0.4034, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.118 left_z=0.0546 left_yaw=-0.2226 left_pitch=-0.0962 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2886 right_y=0.0016 right_z=0.1684 right_yaw=0.0002 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.335, -8.1846, 6.2427, 1.8144, 0.2173, 0.1197, -0.0415, -0.2803, -1.5795, 6.8034, 1.9219, -0.0513, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bf78c9325cfc0b27b831c407f6e0cbeb38977e086766947366f06975d79848",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b8af7266cd637bef81f875f824eb93430ce650ef8364e56be160872c7b0dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88927fea59994168c5044290dae4f01c2963502d4199aaed4191483048f9bf4a",
      "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]: [-0.5846, 1.689, 1.0653, -0.0814, -0.4797, -0.3656, 0.9987, -0.0208, 0.7921, 0.6033, -0.4046, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.1817 left_z=0.1329 left_yaw=-0.0041 left_pitch=-0.0513 left_roll=0.0189 left_gripper=0.9987 right_x=0.2912 right_y=0.0017 right_z=0.1751 right_yaw=0.0006 right_pitch=-0.0213 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -8.5402, 8.759, 1.746, -0.2466, 0.2125, -0.149, 0.1846, -1.6342, 7.0769, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-mxNdtFu4sU5OChQwgi-JScrASbtOdpx2wzWeQ40RcCIqA-7ZnLcdZJ-Ni2zGVtwpJUT3MNe260ZsqPzc2Muid0WVM6xSQepHpDd_yKw36Q4BEqHVGuOqcxsnyLp08-J6HrmUh7jkpEwrKE4yU-g_nhIHJ_x5zZNGc5Ixnv0OIobQXg6HZrPE1TZ4xfQeHtwDDWih-_St0Zyz8gRFgdB-228GUMYvIuQBjCi6WDzDyQ-8oxC5i_iXUJQLX1N3PrNgSjotGYZc_9p5W5SWjzXO0AZwZ6lkJerKY8QYeRqkwKZBNk6pmaJZ9LacqUqhbVaW0VfWVTzsnjZDrJc_kcAMvLtMSZZIQHSqjm2vOVoGcziTn-rqoIrA05lje0SRc5jUujkobrEMa1mZ8oRW9dAYtDVLdoehNLYW0soazZOjVJFFqew2X9OoDX_BYWho5f72UwcJPzHu1Tc6Waq2V77AqXQUq-REgLJwcE0SIrtC7stQzg7NGOTXqP8fNd7WQf8VNrtL1mTv-BSAXfLQLWZYZv7J9-YIZzIC3QzSH1VZRIlAEDDFu4ubam8ifupfVLYi0_Sxk7V2HikzujArM59hMRrF_k_pbL-9XHV0tkmjKLLao2Fod1NS4FwvIpJb7ztRPPRZJy3Nis3O4qVPNk1dvXynZISRrd31Xn-dzv8bXMXjeBFJ7KlY0OOE5pyHC-lCImnyVeOnpu2ylqdfIhaBKqg7oaOMIUP2bK6lZTLJlzLR6IIvf4ez_xvJYFLIDu06_-MPQSpRy9yaIrmNtS820cVOHztAeIQuZQ-bgrodF9qdfFOjtoyGl6dpn1rWGxnqFFyY4cWL8N3IhF3R6BBzXmi_0NGWvtuqxAZdota3OwLiIsOl6rcHI29QbP-Hxl4Ne4vbV9kUDvdk4xRWcsdbCGtvr4iRzIroX905sjIFG8th6LjjX4sWBdedM6P8L1KM9C_p8tN1II1WFL4m6dh6w881BxanEGWt2xzis6j5fc51kqEBXv2Iqy2fa4D1Y7A4jM19lUozwvaJzUGLeOhZWLHU7NF3RltxTVfyKixrOqNLoWs6yW9CSli4gJ6OPmiBeK3n5CuZicP7Nf9N_HnNloyG60cvPJDNKMNShLYY1cciNVOzMllv-Sa48CK11FW3rRQn70O3WhKPHt4WRx2ouyCyV26YmEoUWNg1cY6xdG6II4_W6kiGTqe_rZXaRlPQkzqB-4xdU9bMMUTuC6TYYA1h6nR2KVB-7naRPI0lbuAYlX4mMYNHgkAaHRZPlncAymdw9SnaxTbwbNNJ721LBgbL_NLQgWeKhJL2ClUwgEKm0lWqXvpxE6AfDeJaVjk5q1qpUAdIzOPY56VauML1j4Q==",
  "id": "rs_0ec81d17b26c8121016ab2bfa305bc87d0899be708f9c95588",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.10,\"left_z\":0.035,\"left_yaw\":-0.4},\"note\":\"The cap and narrow neck are still just left and ahead of the fingertips. I will make a small final alignment at neck height before closing.\"}",
  "call_id": "call_JhzcHJD6FF8hZQo50SYm8FN1",
  "id": "fc_0ec81d17b26c8121016ab2bfa4f6d487d0960215ea1ecc27c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JhzcHJD6FF8hZQo50SYm8FN1",
  "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]: [-0.1646, 1.9289, 0.8722, 0.4999, 0.1761, 0.0589, 0.9982, -0.0208, 0.7712, 0.5533, -0.3958, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.1077 left_z=0.0467 left_yaw=-0.3589 left_pitch=0.0143 left_roll=-0.0297 left_gripper=0.9982 right_x=0.2848 right_y=0.0019 right_z=0.1598 right_yaw=0.0009 right_pitch=-0.0416 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.759, -6.9128, 6.1333, 1.033, -0.232, 0.4176, -0.022, 0.1026, -1.9077, 7.0769, 2.0537, -0.0855, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfe18bf634e6927d1b3340ddfedae28df05c0d3c28f3f4b60f3a16a4b783f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb9d9ad53f3f81d6be76591ad21ee2af000eb54b99cde2564b1f30019608ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9de01f540406538e2bfbfdd9ad438ff9b45d6ee845fad36b1163ba87994331",
      "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]: [-0.279, 1.8107, 0.8673, 0.2848, -0.0475, -0.0566, 0.9984, -0.0212, 0.7856, 0.5842, -0.4034, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.118 left_z=0.0546 left_yaw=-0.2226 left_pitch=-0.0962 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2886 right_y=0.0016 right_z=0.1684 right_yaw=0.0002 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.335, -8.1846, 6.2427, 1.8144, 0.2173, 0.1197, -0.0415, -0.2803, -1.5795, 6.8034, 1.9219, -0.0513, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-sOcGOW46lbDywtYS7mxtks0OpLkrWNuwlUFc5d01tebHtSLeji23ySZI_eg8tR48zb-YYV8IuhQDLPSxNSm8N5aec-yDQUMqS4vha4mF87QW_nIKo9gm4vtRHtVcT8puBoCvUhJ_QzfHsMrEFZ9Orjs_zqJq_nGNNJyAp1SBGMlvHJ6gWRK8IyK3jtry_DLbM3LtCXO4jbF6TsD0-N6RX9STk1QT9CJ0tP5weCkH0EBoaKB8IqUHan476neJb8WiHz4epiGPK1rqHiWs5jz3Qm8Pi0vFhbd_AAoIgsiQcFq6kLi9ttfsxripSoVl1AtRpAFVe-BLshhQH_jwaN9qlEoDrzJGtQc2vKA6h5shRltwQDjEWyZgvAKnNhQczNgDWMKrjnRjjr0cgKNdJUwk7DX1CBKtkVTf29wZPN5zHjnS5zmyaG2C7qUspfN9UA_JA-hqgxe4GqZHn_w8nkaDOyBQR2n4NproFF-dT7foVbAbSz4X9E89-VA_doJiCQMO8Wue6K82hDO-gxI0rgNDa6GyWNMAJupqy8XwJdTrZUnG2ViU10VkX1L_yYNuRNnO4SZDJ-ShubjptomF4DlodSAXOCGsB-fqri3bENaAMZI7nVKyN-37PSXJaej78RgL3Gi65uQDJyuC-h6oRJqIVi010h_wl9CJZ-dQTurACdPH6p8t5fI6WPd4UyXv2yJqw9tCq6ZebAZEJR2uH5UmrOUPLzK8quoAon5gnq65Vdq7hr_M2doVHkR6M-wqETZ_xveMWMOTLYFVFSWvX69gC7X6May-gVP3SCGqrhguRJnQoO6XCzG57HQsfpUtIoUCR6Yel6FIuTsFRQ95tNjIbnPgUJKdzBYI6uALA4x7bFtIf_B76jEi9E7QUvq6Fw3Re2N5i75R3AUniT_npi-_U97pAYkLBvHnd_aAab1niSlCIEfJrOyU5EPZSi4O7CcPKpiAelZWvPcNrtr9aPJkYF2GEqELl1wSNZnY9Xgd1bwHNIjTgfI-BBe_zIiDBgn7vUjPXvoEsVWSnBSiwltjnNCWKJo9SILUiHtshytXU9SuKMjQpv9RIwQYZIi3jgdDqTIO_iIIOi2pt0ZqNhTxoLZ4evZjbjegF-a9M1zZ9NADFl0Wf4dd9RsavFcU0RIEs51FVsVdyRJM2-0KWZ0DJDD3JTkAUTLaTAGwl56L18K_54DhU9vURynFqgdNAQmArI14xaMMlILGfRWVI6l3_Aw==",
  "id": "rs_0ec81d17b26c8121016ab2bfa973c087d08f520be4bafd5d9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.22,\"right_z\":0.18},\"note\":\"The left bottle's neck is now underneath the jaw opening. I will close to a narrow neck-sized gap, avoiding a hard squeeze so the bottle can pivot under its own weight.\"}",
  "call_id": "call_MQ1rynFMGU8Ce0vwHTTf6aaU",
  "id": "fc_0ec81d17b26c8121016ab2bfa9db4887d0bdf9899962f53f03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MQ1rynFMGU8Ce0vwHTTf6aaU",
  "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]: [-0.1246, 1.9469, 0.8864, 0.5652, 0.2016, 0.1085, 0.2252, -0.0212, 0.7506, 0.5529, -0.4278, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4952 left_y=-0.094 left_z=0.0577 left_yaw=-0.3675 left_pitch=0.077 left_roll=0.0143 left_gripper=0.2252 right_x=0.2792 right_y=0.0019 right_z=0.1585 right_yaw=0.0007 right_pitch=-0.0534 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -7.5145, 5.9419, 1.2381, 0.2222, 0.1587, 0.0464, -0.3761, -1.388, 10.4957, 1.8046, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a529640ba6b87e34672e29c4298a2e39f2ab922d8b7f02e796a88da51f1108e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a9dbb144693ff65ed072e674ac25f70eaaa93281b02fd85a4f710bfac94592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ac326b98b154cb47c63984764a8dc73c7a9b00900959da0fd675372a3d77ba",
      "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]: [-0.1646, 1.9289, 0.8722, 0.4999, 0.1761, 0.0589, 0.9982, -0.0208, 0.7712, 0.5533, -0.3958, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.1077 left_z=0.0467 left_yaw=-0.3589 left_pitch=0.0143 left_roll=-0.0297 left_gripper=0.9982 right_x=0.2848 right_y=0.0019 right_z=0.1598 right_yaw=0.0009 right_pitch=-0.0416 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.759, -6.9128, 6.1333, 1.033, -0.232, 0.4176, -0.022, 0.1026, -1.9077, 7.0769, 2.0537, -0.0855, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-yUTXdUsTFzD4GSpLkNo7QInXWsAVE-XUUo5wA0Z1uUjKMpSspscdwGPHx3pJOvox90XjQ-8CZHBdZvbGo632a7P2tlFvdV9iwwq26kjy1HpN92xul9PmMNJcReoIrQDnYHIEe96QKTnhHxm6M3cslwYDBe49s64bvKD0RoX45uU67NiLZ2vfDsaq0gC0VsC_u_BMfCnHqR-cE1SMribu5e2lvnTUxlt54EUTCEMW3jChDOWTAM5jP9M5Q6b_KoJKmJ-eQAFcFWwQwYf5mqLJJLjp5g1AcMVXAN31ltDVp7IrRTYsH3HxnDOol8IeVH2EW6aJrr2-1QJ4HaHyYV-NdEueLv9HBWU7UW29QQ6VEmKjkhbg4inAUwyag5zgl1LikoD5pEjaUk_nnfzJuPneku-41JSSOXl7LTelH7_I9R6nYG6RvaMmxhmORIQXDoZWa7A8_cPqzgt04fzMXsvtc-5VonLTqVhfJ6Oqu_zv0dzjb3pOFjETOwm1QgXVN8We37YmKsOe4DMDOsaonB-zNRC88M_5Qzsl4mUnQgxijIDN22MvPwRpXOjE6wLn0f8tXPfIgcgbjEinPOXREan0EFZKyJXmk65PU4TpPIq5I0fG_gd7Z7c2O6BW3vv7UrEmw7rbRDqrXuK_BYVOwxpVVK6P39hS_Eot7YuihohAvymUKlBmGCHHIZlyB5HfF6_m_kb5LnyVnS0TXudPJadAov4czGs4RnzTI1_ziOBUM7zgkLXw8Po_6dFsreUag64F6i20Fy8IWYnA1HXMHXWsR0l7SnACm2E4GANwNbBoqWwQav-Jbe57TiQzzOPl1H9WElx7e2fZgexJI2BbcxgLORDxSj02IcXS7sQXMdjJtl15yOVvT6G1XmlO6O9q5-Hv8iXzDMSFZHI6sMpceVqF2XLgLBIPyxtkBobYEHUA0wX-bmWF0lOe228PU7Wom2dCGWMdlKop4DjzYtBKcashGgkYpc2gSWl_mOKhdntrNyUkAeyijjeq6LTKaxLSVc83PuHs0WMlkIKRT6ATIdE9nDMXomwMWKSP4n_-wiYOjuDfqv_T9W6cYJErFW9CHSUAzE6-jOe5EOQBeKBHSn3vQhxNrWZsMQSFZtiF2oFaSPkckskWjTIRMyvjmcwYMwdYjsxh7Y3uNzc1_aG-uwaYHkprqNGGDU8d7ApWKTDLFDaKGQ2tFmxHpGUW1ObfmTrzf6oTU1ZsXpJCn3HCjDZ2RFyb4p2GTvSyxw0BJUfqKQdc=",
  "id": "rs_0ec81d17b26c8121016ab2bfaf6ca887d09540bfe6d79032b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_z\":0.13,\"left_gripper\":0.22},\"note\":\"The bottle shifted with the closing jaws, suggesting contact near its cap. I will lift a short distance and check that the body follows.\"}",
  "call_id": "call_J9sFOcY8fhvTBTbyNM4wBuAu",
  "id": "fc_0ec81d17b26c8121016ab2bfaffa2487d0bb370fe2cdf35198",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J9sFOcY8fhvTBTbyNM4wBuAu",
  "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]: [-0.1337, 1.7321, 0.8909, 0.2893, 0.1852, 0.1043, 0.2203, -0.0212, 0.7151, 0.5018, -0.3996, -0.0246, -0.0368, 0.9998]\nstate[eef_state]: left_x=0.47 left_y=-0.0924 left_z=0.1024 left_yaw=-0.3599 left_pitch=0.0202 left_roll=0.0055 left_gripper=0.2203 right_x=0.2748 right_y=0.0021 right_z=0.1502 right_yaw=0.0016 right_pitch=-0.0408 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.6872, 7.9385, 1.8828, 0.1587, -0.0513, -0.0073, -0.2667, -0.7726, 6.9812, 2.1221, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1b14026fa476ce32751880746ee866b9567993c2f01710992516cafbff8c3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04f13837772868b465d09fa3d74db98b3ce94af91a1c2a35c005db3d3b881ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af7f3015cc4e6ea186885d314e3221a6c3175c3799193ce30ca2acc179f0d39",
      "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]: [-0.1246, 1.9469, 0.8864, 0.5652, 0.2016, 0.1085, 0.2252, -0.0212, 0.7506, 0.5529, -0.4278, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4952 left_y=-0.094 left_z=0.0577 left_yaw=-0.3675 left_pitch=0.077 left_roll=0.0143 left_gripper=0.2252 right_x=0.2792 right_y=0.0019 right_z=0.1585 right_yaw=0.0007 right_pitch=-0.0534 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -7.5145, 5.9419, 1.2381, 0.2222, 0.1587, 0.0464, -0.3761, -1.388, 10.4957, 1.8046, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-4pT-1Gv4lWM1iuyb4_a8wCTgjOv9OdQ2fXViJl6gTDT24MrFFXI_hZ1k3Rxg2Lzf1d9txRYxsNPUm-p1o0pzlQQQ3jWoswTBdEghs1DlgF4QJAMKFMeW2dNeD5vADkWec2LzJrDYHPSJ97kXYLz8kllO-Vv37xln8XxkPpknly8-iVtj2HGMnDMePzei6qJ_GRX_iBU6Uilh-E5vxKtN-NdM2ue3pi036WMBLoZ9eFntSD3q00TCQn-jN1IZL2PQiwkJb8n5mB0emFim9oKZWjIgwe-JqD08iTH1XjZhymNFLweJ1yIOA2xerFZY6yAHeXy5gH-osR8muWItE1_iX_WPmo4RsWd3KL2nlMpqj5TkP0bYrC9aFnv3OJ9vFRcxXOaSG9wYFfVDDzIsvh4_GyXcVBX1_CkA6DTufbqLbXDknNTdCl3_AAnQxsDuF7zrbi7hDWTnrybMt3VNQ05D-EYSh2rsWWkSH3Urosoelj9yH8RWWRzp3kud9eK0O_w65AITI37Tb4dh9gDa93rKKB9NAaNyxsItRPxI2HJoffW2AjLm0xeL-qJwD5YhsaNLM68O6FH7KgtxXS4XUGr4-c7Sp-h6VaiK0CYb7a9FET-1I7huUJ_ED8VlPo3Y9hOs7lI9wGk2W2UaZrXMfgTUHzebT4TwDT0sEBJ5KjVCVGAlJFVuS52XfpDvOpN7B4KUvvQY3LjserHO769YCKauHlYBvBRp3hCODywLEh3NhLPu_oZ63Pk-5rgeyDTVfBIqmPIvldxX3FSKTUP5XRlS2iPE3Hr91sCxl2GC6fCoPMO-EuOD-bHumOkLcHltv4UQ5w9N8qXV16AASO9C4Bfn_QLhLGs6EOPKBCXg-RSCHhWooabJc_U_ZDJcjl4b3DpL6j0g8fOVS9GaZnxMYmnSPtIOb9UzUdYbq2bregcFWulVp18czmBGl8I2BQTQc61xRbwhTvBmsSQ359RXILDOWI3GgQWH0nZBmGVuRK-g69VSlWtd_Aarb2tjWMAA6SXDm_jQTZhac7b2b3y0EHgEtWFH6-GXEnTW_tx2xnmUmcvQjyzvzUYXAQYB_0q-EypIgkDnFIpynVcSG6TtJRufi071ItRC1_DcdRTVp7WH9uBFu_ITm3AB4va0C6ZVgFi1oG-kUu_-8_hbA62WnbSFuwfS4YGVf8SyUMKfXbLveSmw6BczmFNW-E4UnmchKyeYsb3bZx3s4deUYOckhvsW7yXoFoE0LXtfldCcAmlGwEeWtFknapsyUTlrSA19dqzDiX7CsX9o1jK7nBui05W6x3Q==",
  "id": "rs_0ec81d17b26c8121016ab2bfb502a487d0bb7d5fa5402df4a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.26,\"left_gripper\":0.18,\"right_x\":0.293,\"right_y\":0.002,\"right_z\":0.2},\"note\":\"The bottle's base remains near the table while its neck is under the gripper. I will raise the neck further and draw it slightly toward the base to encourage the bottle to hang vertically.\"}",
  "call_id": "call_KEAtyLDb3MWX9SFlQL9Za4x4",
  "id": "fc_0ec81d17b26c8121016ab2bfb5d9f887d08ed456353dd5cc4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KEAtyLDb3MWX9SFlQL9Za4x4",
  "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]: [-0.1619, 1.3468, 1.1198, -0.3744, 0.1596, 0.0772, 0.1805, -0.0212, 0.7929, 0.6403, -0.4801, -0.0273, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4059 left_y=-0.0911 left_z=0.2346 left_yaw=-0.3523 left_pitch=-0.0311 left_roll=-0.014 left_gripper=0.1805 right_x=0.2852 right_y=0.0024 right_z=0.1764 right_yaw=0.0074 right_pitch=-0.0605 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.4325, 9.6752, 1.9365, 0.0952, -0.0024, -0.0024, -0.2667, -0.6222, 10.3726, 1.8535, -0.0073, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1e7782035da742ec96abcf437887c60bd4f7b2181eb7d25f208ba37aea5501",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd9999aba1f9a9eecdc35d1d93ac964dc82703f07ce37fcdc5865bd4bdfd8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8ec5359992fd7424676daaeb4c908cfea13e214d3b6e4a2b6f8ddc3f0d8b0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1337, 1.7321, 0.8909, 0.2893, 0.1852, 0.1043, 0.2203, -0.0212, 0.7151, 0.5018, -0.3996, -0.0246, -0.0368, 0.9998]\nstate[eef_state]: left_x=0.47 left_y=-0.0924 left_z=0.1024 left_yaw=-0.3599 left_pitch=0.0202 left_roll=0.0055 left_gripper=0.2203 right_x=0.2748 right_y=0.0021 right_z=0.1502 right_yaw=0.0016 right_pitch=-0.0408 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -10.6872, 7.9385, 1.8828, 0.1587, -0.0513, -0.0073, -0.2667, -0.7726, 6.9812, 2.1221, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_LuLZc4loagK22wC_FQvLiasqAPyXgThZWUOwZ-ZFecXDGajt9u9XebwixMIGLf5y6_m8ha9SV6XINjVtaufThtAAsEGtKOxucpdGyW8jEAuPJpl8wIbbBCISb8b4b0w0USM5B20UwveUjMFOJD9TVMaam8abDi7Usztr7kDIZgvNEYlZzgV4BoYs3vszI6IIopodOOccZjBtqNF2w84QRVXhJ3Zu_rfFslJt28Bcek45PAKf6pGXaqVqXJk33dgI2EGmhsc15jgthPi-FWuBbEqQ1vMxhxT3f_ozAgvITh3ksNHys64Rsjij71YSkPIhKB6BFzNdHajZNCVfUB5dRFBwfbVjnyAmPkH-R-vT5uL_cg8egOherzTQ5qWHpDTPPJHp1U1VwOfpnCHlWz1AKn6NdoVABor93V5Jklq1eFnrJ-k0RPhQboI5CHR7NY19YaRBizoLHyXgWHhkByHHfqqTRXrt6QajeKnKXFaPoVieu7YWZqqZctodSmqqGvkbvQaBM94eakkcZsFcjatvXRO3vtRZr4k-bEVDLCXX0g95n3Q80hIWkK4mW9yjAnAtuWhG-US44ukr1CdU8HEQoqypPhXWavBhOTkwC5tFlpLOSCoZwRca5eWVJv0wIIkgNDuWyfEf9jxV43hC4pYhKgFMn18bs-dOB4Pnqxn2Kw8lS7RPeiHWTv27FCY5LickPEqHb9Kb83Z73VYerg2pIUQAFWssrn_781Kv9GNJzt9IX12egfFTw6ebnMYIRVOBaKj9_wXFeJXBlqGZbIc39O9etDYX_ssu_J7pNX4M1Ngo7aFsNKiqq6F6oKCk_eThFSPMf0-grRAtNPZLWfxO1DefAnW38aITesS-rBhQjFRAHzpdjxEdlDgqUC8zan2gCpw4Xt8RXp03qOquXDBUb1Yoxd_zO4rCz9ASHmcveKgDA3cXpptJK8xz6C5vMJDQdVMucD4mxySSOkj-57C7gBpgtNgnw_zzf5Y4fxst8xLNbcSB8e7vLWij-g8qvxYBI5XNsypK_xfoOnnOnhj27zPK-CmKv_e9xY84g4JdRA2BohqjCnarE7Qm40SZo00Fpihfi7zy_tObI9x6ND6hvc2Khulqgw8AN7awh93tV3hr_BSAM9WdjtF_1ezYc20ey-uFGTZPCn_EKa8mb9b-gnQzyrbcaEUzpj-_OWu-ZS_frkCTwPQMb7pODE-Zg9Ku_46RUtIuY8kyhzlKiSvhtP0KO4sPJ_7ItNyAmJTIgWWB8mle5w5sDQ2X_FMCv5aLY8aKGCZ8M6c4YP9ozNNjJ6iZwBtey_qj-sHvx-4XQYiFipm9DsxhRr339yQz_wrA-PWydOiTdq1pMIH4r-LBPQ0vKxosGe-UgneAuHCMM_ndgGfYnhFDXwt9G_0D-Z5xSgNRButwU4fcc6Vj9wuJVv7wuD6vA5AibEQkNf2mW22wIVUT3fCJBJRsuDf-zq1wJSv_-MvFtAO3VTrpKb8Na2nwbEZrQS9uoVQcfxyu_8UG5a_fmm53_T-CPHesUgcxkkdR69i-LddIqRqhwRSdiSOABKamdOwDQTGx91rAniYdGJQTMfzkyqtsG2mbhC70CsH75NAji6ooOfJCb57e6Mz5-JWC5sgJdnOjaCw9qTFeT-Zz5QivgcMT7DdRu6bB7HWuHGg52lt8zfmxrK7r-WlQRAicw6AxmKFOaFH2EFYRxZTcV5VPd4F-RGKFiQJXcMwdcWrvWWYcANxQro6zLnc_exdatWFq36FBVNl1d_aeEgz9-uKKCZTuguRquQjY8eSvAVhKIfVxUE657jJawIgOE7ASSmjf2bugs487DbSxUJkBVTRY9S1PBh77jdrLvouv6zEQESaLzWy1WBYh3xfPVhhFTuN7kSi1lP48CmAWKdW-gZ1ljD9chlS3XB93LMnzPbvXTSevzhtXW9taVDEJGI-XkxNU4mB6-j3FQmaAdXYu3wIwWTGPz8HujMkF5PtpVB2pqrT1kVHKKW6MOlAvZEv89XVELLBpy7HqyRrBDovkD7VkXs6WqOVAVWMzJsc7HwHdPqzNyYt-f8uu7tCxxSyuc7FRaHvms4JJ5Ncax9AuAZ_VOhowjJeJuzI5leMXjxQjDcH0f68V3sxwwWNhfsWuvgVxxQRChRPyVZXVAEO18ZGjtqr43E3z73vdOKkZaLyhzm5sfp58kwyFMzHolLwzABYl5WOwE0Ni-Q-OmajEEgFPcFKGwSB6fPwGnUWW3-l-fJg2J3hFvHva9uPV-oyoMkGAv8OhusS3K8X_CpzvC3r0nwYbBXdMMrE9sJPeyNL4E2zZQH1Cc0F5FuqloJyexuUtVfrod38VhSbM=",
  "id": "rs_0ec81d17b26c8121016ab2bfbd2f0487d0bb747bdb1df47ed6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.145,\"left_z\":0.055,\"left_gripper\":0.8,\"left_yaw\":-0.5},\"note\":\"The lift reveals that the bottle was not retained; it is still lying on the table slightly closer to the base. I will reopen and approach its relocated neck, lower and farther inward.\"}",
  "call_id": "call_fVEWL0L6f1A9zsuEz4acNbSE",
  "id": "fc_0ec81d17b26c8121016ab2bfc8478887d0a2a2c7edd2168c8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fVEWL0L6f1A9zsuEz4acNbSE",
  "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]: [-0.2737, 1.6772, 0.6456, 0.4236, 0.1612, 0.0929, 0.7973, -0.0212, 0.7525, 0.5777, -0.4446, -0.0303, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.139 left_z=0.0556 left_yaw=-0.4737 left_pitch=-0.0373 left_roll=-0.0032 left_gripper=0.7973 right_x=0.2801 right_y=0.003 right_z=0.1659 right_yaw=0.0099 right_pitch=-0.0471 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.3385, 4.1094, 1.3309, 0.2125, -0.0757, -0.1685, -0.5128, -1.4564, 7.3368, 2.0635, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:153141aeeece2e1477a872de1162252aa3a9f2e46ba6246ddfc4fa5d178991d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5025cc3a518f5c37bc5646e4ce8e13b5efe0cb532f4f3bcd3e53b27ff50d9649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2493078c5b00033b972894cccd7d9f329cabd2681c5263215fc93729e6f508d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.3468, 1.1198, -0.3744, 0.1596, 0.0772, 0.1805, -0.0212, 0.7929, 0.6403, -0.4801, -0.0273, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4059 left_y=-0.0911 left_z=0.2346 left_yaw=-0.3523 left_pitch=-0.0311 left_roll=-0.014 left_gripper=0.1805 right_x=0.2852 right_y=0.0024 right_z=0.1764 right_yaw=0.0074 right_pitch=-0.0605 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.4325, 9.6752, 1.9365, 0.0952, -0.0024, -0.0024, -0.2667, -0.6222, 10.3726, 1.8535, -0.0073, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_Tw_Ybv4IjrZ6RUrffEWPxXe6XJhQVsOa8Szd7BMKoH_T3eNB5wNy5I8t91iwdGyX8VChJKN34AazfMvXVSOcCu8zFND1ulY__-GNMD1XqwXMECV1sb_tKO0VESh_hAZO10fU0zLSl-d8dXPaNUXvFC0zJ7GAgz4gB2ZmvghkfMlFsoI2AcXHXpL59-ISjZ4qdEK1iA1vJSTvCFVPXIFjuMBl6HbPqtJ4kMF03gKojCPI9Og1wAicIGh2TpgRVyYl6xow8EQkfZ6wIxrJ5Gt4HBET8K8mSKWMoBeGU_TB619KRWWk4IxS7c4X1RzcpY9DYXU5WBSyaI4Z9dZfgapuOpc6J3hF8GmzjCieR8ufJkMlvqKO19EuTyZAmMSjCX6ToXV47aXibuJKQhn1dBrg8_QTF_533L38pcJqweaBPZpABkr2znGJg-EtrVrob8jB2O5x4WX2f-LpP-SPQfGgIa2rYzFnndQUNMKtIPHG5YZh7XIewuJOQbMOkRSg2PNprGs-VfejFAXpRu9NhNS_Ag5r6lbXF9xV_NX0UDvb9o2biazHYLFF4_3tPnAdg7Nsegx0SSvJStBnR8egTTrDZr67UVffNYYqjS0-3KOZMI-epg_iuMRipHr5pLrvPCmHDIkxI9HiPVPkTA-WvnmzmFxYMV-Z1ts94_v1UJICZ9hOCBeDw1z3JkZ-3H7WkDbkHHELO7nBDH0Lm48KZ0pCLgTaF4ju375kIyw9hUbqvYZwly6G-kilS-U-SM8agLKNik0JnBSiKPjyThzo3Fsmic4yXXnGMoqwexKyreYHQdMQduygoOcRB4yO9BwZgctX0KDBjD2v2zfzRNbBRvFafSdYDa0XUcw6SdK6BFJWrsWDZh4J6F-skNy82P07oSrO_cLumV_PBZt4jv39jSZZh1uC9nTu8mQ8cNlbtQrLEI1QyM67BcFi2Nag7hvCuEgdkbe28c7Q0YZx_ymw9VsT-1KGBPgtrose7LZQ0nPjZ_EoVldC_fq-bTFJesRpjV33J2BHixuqzH-ucPFQffhTbd7hQ-y5my4NFjk9r4dB9-5IR8llEPqNfRaDN5tMEW5TF3bMeDk9-tzgC6iEQ2qtLm3upFAlYbPVwsFkT5w6dh95rdZWllOKtBCQ7vNUsyrXKy8LN_KSqsa-eWuKMJn4osOtz_cDSS5dlwnAbeiQ61PPC8d47N1-6C7bbThKWIVYZbZYaYuFjgHNiFGvnDzjIpuhiwuwbw39huTndP3u20BxPEOUPu5_oxBVXoVvZPHv2ZuOSCiYLJJNC25HpD5b6-8VPQ4Vr7qRtAxkxSraMKKByLy3Zvxp_yxTkVSvAAwWf1eW65qjIJ_B-YncXO6w52MJW80Q5iYes1CNduxVhfb9UXZMckz42Y4jELLsO_eHpAnKUO7dlxFxNEty08evBPwmsj1Y0FXLjV5E10iqut-Mlotuetg29FEucSPWKXLZ2usU4My0LiPbOZ1xJ1PW7gCfegkzlthwmS_cDQejno8ZUTgkzrGh8fdKwODZpSZUlX9P2zhfbfn9agcf6kyQKCpqP8_QX7RIjwHIUTt_oz5PUqfoNkNiGnu9nbHKK2oMsXSWmAy_90N3BIyTAydJV_w==",
  "id": "rs_0ec81d17b26c8121016ab2bfce493c87d0b53060414e7ac7ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.11,\"left_z\":0.025,\"left_gripper\":0.65},\"note\":\"The left bottle is at the lower-left edge of the wrist view, close to fingertip depth. I will shift the jaws left onto its neck and lower to the center of the bottle.\"}",
  "call_id": "call_9K1o8bxx3SWjxfmUchwfSlw4",
  "id": "fc_0ec81d17b26c8121016ab2bfd19a7487d0a7a834ffcdb8689b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9K1o8bxx3SWjxfmUchwfSlw4",
  "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]: [-0.1886, 1.766, 0.609, 0.6529, 0.2291, 0.1322, 0.6527, -0.0212, 0.7246, 0.535, -0.4255, -0.0303, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.1178 left_z=0.054 left_yaw=-0.4672 left_pitch=0.0716 left_roll=0.0202 left_gripper=0.6527 right_x=0.2759 right_y=0.0031 right_z=0.1576 right_yaw=0.0099 right_pitch=-0.0429 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.6564, 2.7692, 0.8278, 0.0757, 0.1099, 0.0806, -0.4444, -1.4974, 6.7761, 2.0293, -0.0904, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11eaae6a4add1856578efc9565af518d4479f4be47bf684a9cd633c7d527130c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5cd41c5d80fdd8420691fc6220d1121ebe6b2995157572c22bc346f28d967c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bef3fd38384171ecb68c97ca26e2a4c0c080565cbd40d105f21f6433a73d6ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2737, 1.6772, 0.6456, 0.4236, 0.1612, 0.0929, 0.7973, -0.0212, 0.7525, 0.5777, -0.4446, -0.0303, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.139 left_z=0.0556 left_yaw=-0.4737 left_pitch=-0.0373 left_roll=-0.0032 left_gripper=0.7973 right_x=0.2801 right_y=0.003 right_z=0.1659 right_yaw=0.0099 right_pitch=-0.0471 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.3385, 4.1094, 1.3309, 0.2125, -0.0757, -0.1685, -0.5128, -1.4564, 7.3368, 2.0635, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_af7y_QTzhqbiBtnJpxFk32N_WdBAVpJHtKoJ1Q5rUesvhHTHGikbWZO-RE73kq_eeWbyUIT3OZpa5h-ZlWE3-_clYLf1p6BiiZnMazaoQWFiX-PAHe4IKbr_eP8qjYIyFqRS-6oXA8anG8fKk-0kJRDCfh6ClcOTfh-8x8kvuhD7aeNL1qiUlitg1V1Mbl69GvAxf7dXE22_wT4lTePRUo-lEqd1ZO9GruRWOQFpAV6aGxl2dR0Squiqf14WetAOPZIpd3dFth6xGAspdt3buVc40BD1bNRRXEvPLf9ptgHyh6qR8G2MADoWLckoHL6P_facsk7duDX4PFw-fWZjD_EyKHkLtt54mMWOKFFAQfUf2Qi3Zg-XHdLlPJoIEWN0mQW8tuKaXu1vv_SsJWp6IX5Z889AsTQJxHRcdDCupG7XGgYwpYcZTBhp_KEDk9Tezii-Yd_YVs7-tXu1mrkN6ZR7G8z00jHRn34_v4N_mJFxQPerrDn4_s964yI9FcE7MX7CJWymYZDNFHKk-BU3U1luWNGV47pJI7YIi1gCFX4c5t_OhMuNyfxU5Wx6YTRJ2tiQ90V-X6gnMqAVxZSd-1nc4x54z4oUCvhTYoS1Y3iviJ2emRVZ8hCgNezIt0KlemLRQUciqgqU5lPoLWBj_eeIuJ0y8_JJuiTVjsQZm-hy5shVKvhyLV8TlpSrZTZbGCMdsOsx8W-OzzpO0bwftTQ734nwDJEoTr13nnqLlNm9ONL5tQrkH9JVAOVbrUNr7phph4V_jdqB1ETMcR3VvgugblhBBAST4iNt3SQjDwnOBAeAb9wkltjXFEJxlacQR4K_19O973x0cUgEwdmecY1EdCPs8SPG66CDvNPrYxmtNz5JkpL_1GkFqZCeT8AL_K84UGLPsqgNkagpjPVVK7bkijwUYbcxU7L6AnQEO9tddogVmZRpeRRNcH18n0DSLfmOIvxwDbHEHhfk0Ma0Q9EvCJNOsV-r_2q78jas48eSufaY1eEotEFDbf7hCduyRIfl4vSrV5C2lZSyC5eYDzO_Hb_2t3tGY4MX6okfYzZs1EOuiY8izMDSUL-KN19C928fiApUqQl2v45sJCQLzaSF8i1jxSrI0yHvhgCPcDR0p6DyZ41qGxN0BjWsNPeYIzkxMq-nqlY0j1JazPTaZXDE31bW0W8YfTvykVDj87TYEjFiHkvF3JyXyHcz4qpIEw2OZqBBXLoeZx2BhpIRahw==",
  "id": "rs_0ec81d17b26c8121016ab2bfd91aa087d098e903d49ead1609",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped above the requested height, indicating contact around the bottle. I will close fully to establish whether the neck is between the jaws.\"}",
  "call_id": "call_3d3nltDVcTk2tDHgIcDtscBO",
  "id": "fc_0ec81d17b26c8121016ab2bfd9e0d087d0bb9f05343658bcbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3d3nltDVcTk2tDHgIcDtscBO",
  "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]: [-0.1902, 1.7493, 0.6559, 0.5156, 0.2245, 0.1303, 0.0123, -0.0212, 0.6975, 0.4927, -0.4011, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.1175 left_z=0.0496 left_yaw=-0.4631 left_pitch=0.0001 left_roll=0.0008 left_gripper=0.0123 right_x=0.2727 right_y=0.0032 right_z=0.1502 right_yaw=0.0102 right_pitch=-0.0338 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.5538, 6.1607, 1.5995, 0.1245, -0.0366, 0.8278, -0.5812, -0.8547, 7.1316, 2.0195, -0.1099, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e32842219359ae797c2b5a9f044dc93164d27fb70056dc7f9e5d5e33b627d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1760d86223d2b4615932f10e8eab0c7a6c06b0f9ea9a7da9db8c33bcb2136067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2bab1818041911740e340234ef60e38714ef7f5c4d579804edee9f9d7bf79f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1886, 1.766, 0.609, 0.6529, 0.2291, 0.1322, 0.6527, -0.0212, 0.7246, 0.535, -0.4255, -0.0303, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4222 left_y=-0.1178 left_z=0.054 left_yaw=-0.4672 left_pitch=0.0716 left_roll=0.0202 left_gripper=0.6527 right_x=0.2759 right_y=0.0031 right_z=0.1576 right_yaw=0.0099 right_pitch=-0.0429 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.6564, 2.7692, 0.8278, 0.0757, 0.1099, 0.0806, -0.4444, -1.4974, 6.7761, 2.0293, -0.0904, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_hqD9FU2Bm9JMg7tSyS64Tes8-D6BCPslX1ZPCScuebEhtGIZ-slwTiivE32FU3zWla3KmeWOQIvUBfULh_Cel5rLUKyTX_u3jxzXlGJW8j3_qcUsoqT0jq8AU5vKObEUlZ0TApKYXNDjRYgMLz7YiGCItp263bTtlVCNObP8d3wNHguaJOKYBgk5hp4TSK4_Z0ZyGDT06PFznVlVfZtR-Ei6QdCJ8UZfq_V65v0Af0XaT1a-m847uLCt5tIOw6AKeaiRLg4nUfgyyPxtEkwLZ3qhiKawiLOK1kq8lAGiZ5h39XVa7rfiTw31j3pjnK0TXT-RNb-vS9t3AXsoqJDG7SxXRtnDj74Jq9pmrEZblGsNqSWInJ0y6rbBWUs-UAEt6GCvu1hOKeNrrK8ld7H4BiJl8PEHijlQlXtRB-kjIrHBUv6bQLg91tc5Cjz7OdGD34zogHn20ltsV3qq7vOUG_JBYgpqJPuTiISqP7q6OTmXx1NkreGi-ZjlicaoY75a71NWCtPuoMSj7PbqrF3mJsLn3XLQPAeTsOkGT4mRK4ERTM8Iz76Hb4JUjmGLCGCnNPgHb8VaDdOgq7BGc34NLLhzx8a7sdIPjwk0WkaBWT72WT0Vt1wsLG-G5vdHased3mlzTqNV7q0Dyo0YiqNqPCk9CZDNwXU1003E2CDa9hfjNj1U5CKCYyemS_HNndxO0arLpSHqspZGUyF0MruiggLpJ8W5Md4e0-kvT_iKx9AT-j43w6QnSGwdzMMD6v4ehIP6bRc9qTAtX9qoaxBZeYKS2j4cPErzRAbJBf00zx5K25TGC2THXtubOk7Z1AoF8x3lzxzNCfyQIon4uXs0dVL25ZzQNjP8z2Q56Ezgc4PcFj_XDMmMX7Hr-0ily1H5_EXJfojWE8-pofsT22VAFseeRnQEFUYBLffwNXW8ChM0FyA6EPf9A_Nuz-8WtzpFFU5PyWbqmIpKF7rWBULyY8aWuRDOJ6MnSSP4KKWKsGfX6GlWfJHAAAutDaaCJbcEln8waku50LFAMahHcyKY-gDbjCPicN-fwY00FyrjGizNnR-hzRqRSswy7FTGoasr9OcBgTVmZ3dwEH6BD2neSQYpERJlQ6rH51CcrcNfIBbgurrmC2dWLACcHpYcEZUf6r5YDOCoYpQtxD4xBTl5xOGs3nc9cNKirjvywaR5a-VHkK8_LOaS9-oYF7gpFlyBG8NrIBsBzh7TpHBusbcWx0DbXuDx0gJd73OZ3NyRLHOD_JYT5pDnUbjIxWAFOHOse85vU-PeFzL0uZdhLdFuhh6MYyIfIXjIaOyKKfne3Toc=",
  "id": "rs_0ec81d17b26c8121016ab2bfde30a887d08b9380eec45b7eec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.07,\"left_z\":0.045,\"left_gripper\":0.8},\"note\":\"The gripper closed empty, and a sliver of the left bottle is visible below and left of the jaws. I will reposition several centimeters toward that edge rather than repeat the same grasp.\"}",
  "call_id": "call_kVa755x9BjGfJV4y1IJA4p9f",
  "id": "fc_0ec81d17b26c8121016ab2bfdf44fc87d08769c75c17c23985",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kVa755x9BjGfJV4y1IJA4p9f",
  "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]: [-0.0483, 1.6241, 0.4992, 0.5713, 0.3447, 0.2085, 0.7946, -0.0212, 0.6785, 0.4625, -0.3916, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.3919 left_y=-0.0751 left_z=0.0563 left_yaw=-0.4632 left_pitch=0.0437 left_roll=0.0153 left_gripper=0.7946 right_x=0.2694 right_y=0.0033 right_z=0.1432 right_yaw=0.0102 right_pitch=-0.0353 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.694, 3.9043, 1.3602, 0.1929, -0.0317, -0.0562, -0.335, -1.0872, 6.8718, 2.0244, -0.0855, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6749c9d0240d9c50a45c42c40124ae65f9382a81c8908fb79bbd1ae0e18c81f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd31d2daa6a8dc97c88a015fc354f1eb6186c16fccd89916d56d0c34df26c00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d816d1fc10a6934133d00a79986a76ac119ed81ef416527c89dde9504ecc1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 1.7493, 0.6559, 0.5156, 0.2245, 0.1303, 0.0123, -0.0212, 0.6975, 0.4927, -0.4011, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4212 left_y=-0.1175 left_z=0.0496 left_yaw=-0.4631 left_pitch=0.0001 left_roll=0.0008 left_gripper=0.0123 right_x=0.2727 right_y=0.0032 right_z=0.1502 right_yaw=0.0102 right_pitch=-0.0338 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.5538, 6.1607, 1.5995, 0.1245, -0.0366, 0.8278, -0.5812, -0.8547, 7.1316, 2.0195, -0.1099, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_sriuRJD96pAvZZGtnnlyldPtRHOp1EPFwDZIpOkXaHbhyRxpR-dJ58aGFC1hzdKOOmVFDY4hB88XgKaHrB4wkRXIlrjmp1RvIAtiMXJ4M08iztIUhE36jSQeQBEbLgj9mIwJqx7vLwJ3iKsfsE_T9lYG9J4HbUzSShAbAHq_3ndCIs_ekSIwY6ZwhVGdjAMHroVReousnM-acSPgpa1IsnGWcPIuEhVdtYGzHw3Dd0P_R2Ahv4qnMyYgVn9AW7XorGNfd5JT_h3RmAoI12M5mpgQVJa_h1k8AEg8tIiqh6UkMbp4xZuXfTMuDHyYqgXLD7sM5veCVt2cCumwuwVbhGjbCSGc_qJJQLM01GiRL-Oen3Lk4P5TmT3paljlBrnwX26txvVm-9S_LrXWFbm7PK5ZH6G2sVRWNfh3ehfQKSk4RVmfAi8pgsE3KDIZnJFM6fec2Bd6637eMoZ8eOVevWlJ4XXdj6EsQuxBikcm_KHDaSOyD2HfE_LT1iXV2i9P2Q8_Z0lWbAk5hjybz0NN4dL2MFqM6MNGqekxKp3pL9UPXxm4DUjJnZcu-n7RncrQ5Uqfej1onXso-fAaFJR3uZIGVkdzyYP3D2gTjcLxR9FwLU3ErKqGOhmkHGmyqzWoPbQRldC4fkoePemcPRCuOnQ4CcEO7Km6K-rNfitFO0R7-vUi0EjYbsHlBJFqVVX0PKDA0PtJNa9Vk7ikUnhwlFN8cPULD_IPDh2PkbVPfjadqncxSIMjK-8Ba-9ji0OaRXNehEJaz_9pvl95jU28xe5kpNkT0W3VvT2mpDttm73x3MaMrTSdWC6JHMmAD2n-XwmhWkarjWnpl7oaJqXDt6X5KBdxc0SI30zHEMtxxB8kj-v0BBowLsAAYi5umJtXPv3kuFiPWRzz7JTwKXxp5VDouyr4R6mcUzPlUvxDtfbWSRteFn2Ktjd8f-iRaAtUIZV7eHvoq3HEgOQNNFMmzXKjVHYAz56Z3_hlxEXBwwq3AaBdGwAPIo2UBD_JBX2fEyP6vLs5o2tVbXwcC-Y0XxhBtT0rN1zi84s8CHvBGNI-VqQxiv7prpwK3l_1sJEAw2F4uA9yPZIpEpxj9tbNjnG2jNMFRtdqol-cvHxdD628Z26gP0_8C9ucDs9EHyoCGrh_hqtOlKSJ8tg_wLVgeSfR7m-7PWYELkBb8l-60p4qYU__PNWhKlf61Pe_0v2qL6ITTwj7xPscvArtKeBwgwyFxmzFVZ-gX4msrdQkuPl30i3o4n0dOSHGDAXiR8YwO11sb03uycMRS5ye02811vAFw8wt03_Y306_qS1VxE15XonlhJk9Ah7IRBSLP9bGHmNARSBGJOkSvzNRXIGBW9_ogCWe9wRrK-jjxaPbBs__1FgqacX7wX_WUGgYCpixl_JHgdCB6wod5ItBh63zoondlH1uAEA45f9LhDOyb7n6f7-rWvNaP_UYQD9zUYLXKkFUUXLe7arnMIVMFpivAdU9BoFQte83lC3ARuVaqjxKZstMJnWtWq4SoUZMOtEEg6EeIlk0iCIL5CjBa_iYRyNfq-fs23AMzzDn5O9UtxL0dIFnpmt7dBS0QlnGH_AsoMRUlvYjlvobI761tZq1_bPdjsDg4LXrNw3hh6r5vsVPbsrG1d3eXuhF1QhM0mYOqWdddtrnlRc5KjAGB-J5lwhmRJcUdMOevHdjnO9Z5k9Mw29c6kah65cAO-OQa16OKME9wZqEYoh2yH97NT6bUNYmsUai5V-5000TmD12_3tn1-AlPmK2ukhH-YCtoNcXB",
  "id": "rs_0ec81d17b26c8121016ab2bfe443c887d09f78a5cad4af74bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":0.8,\"right_x\":0.293,\"right_y\":0.002,\"right_z\":0.2},\"note\":\"The bottle is obscured by the working arm and has shifted during contact. I will lift away to get a clear overhead view and remeasure its neck location.\"}",
  "call_id": "call_e8d9zcpTY99HxJksKKPFCB6g",
  "id": "fc_0ec81d17b26c8121016ab2bfe9c76887d08cd1be514ea3a8f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e8d9zcpTY99HxJksKKPFCB6g",
  "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]: [0.3592, 0.9752, 0.8013, -0.5339, 0.6174, 0.4526, 0.8001, -0.0212, 0.7921, 0.6407, -0.474, -0.0307, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3028 left_y=0.0083 left_z=0.2082 left_yaw=-0.4027 left_pitch=0.0027 left_roll=0.0063 left_gripper=0.8001 right_x=0.286 right_y=0.003 right_z=0.178 right_yaw=0.0183 right_pitch=-0.0532 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.1111, 9.2923, 1.4676, 0.4029, 0.2173, -0.0024, -0.4855, -0.6359, 9.9624, 1.9805, -0.105, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8743cb9f71199ae2eae5e957f5fd5ce0dc9a45ddf14b51ec90929d761410b000",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ce06c9abe6454fb2a78288d3317394686be0ae86ac14dc8fa8825089d19d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566ba30d71922c375b0575eb27da97a70f5e3ebb3172dfe9f03e62ff4b5a747d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0483, 1.6241, 0.4992, 0.5713, 0.3447, 0.2085, 0.7946, -0.0212, 0.6785, 0.4625, -0.3916, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.3919 left_y=-0.0751 left_z=0.0563 left_yaw=-0.4632 left_pitch=0.0437 left_roll=0.0153 left_gripper=0.7946 right_x=0.2694 right_y=0.0033 right_z=0.1432 right_yaw=0.0102 right_pitch=-0.0353 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.694, 3.9043, 1.3602, 0.1929, -0.0317, -0.0562, -0.335, -1.0872, 6.8718, 2.0244, -0.0855, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssACABtElpSZRa05RcpQPxR2gb_cQs1r_1VEvXagtIblt9Xks2ouG1gAgewd-jkQ1M4Agc7w0PyAO2m-aLCSb1IH5q9Un71iELGa6hCAkFuJCFPXccOf9J4Zu2fppBJO8_D7zUzrA-7pzG4i27_Wc4m9CWNSv_fJHM8zfOxkgrQ01FqDP1aJ8jx1xbXKD7SO1NwD_jKIOXczyai34c8ckdz2zPaXU4Xvl_tAuPgQtSbRdeeOk3xqTeHwDChGG6maLPRTpoSucn3soEKz1Dkmi4Rk_Bbs0wpRUS2e76msLyx4YwWbRO5F8KG0nC6sPMCOb5MU1Nh3MJFmPeA-TDEGod9C5tM14usIeYwnf2Mg13C1aqzqb_edPoXV5muhm00AqwqhmhffUvMOEL7Hp_wSGdSc8_EyNFgo1d-Uef3JkYxBdV0amo6tCHn4vVwcQtESI5sN4EbyUbbsKAB5DhJrk67SnwFHtJUQQwqws6cPhyz8x4TVg5SoD2Y5DIMqr4BkDvaySeyk2Uk-dbYLd3aMsdU1NAvWWbKIKXE8Rv792L9eG8tVnPensUNEATx0DSOC06rt3n7qwSm_MBoQANXKONeY0YsKLFUCZEEGbFKEdarHjmKgwLqHVRwFxcCq56Bmipf-Y7srVOaShxAKdKtSlncMe-tnT3o77Pd_VKJFYAuJfg7e5nedqLhkDAg4tEPcCrH85Dc3sQVonhWHwmYpOnnOfmSCW41FLY0PhCD16Nl4pqnr7h90vXhl9Wy67VxEdTgotOsK5vi7LzFxbq4cIrgV-jmAcO4ykjlHn48SwHOHoK8SXmI-HoFB6OPkU1e7I4otuQrUjZdYsSSO5KF6wZ1ZDxKY4DgbWTQG_2qZlRXFdc8sh1tZEDXWvr8O4neQn_vsnSSDOEUTVZyCISOvO5yQhlXKTaIj9b2nyMb_ifsRF61zRHPKMEHozsThCBVlAphHzu4UyRypPLlGk6A60PdDK5JzL__CCUrrzhOccTaADlBToToy_jud8ldLUC26WLMtuxYrZEEHMuv8cWb9xyqQq3rTs6dV0Ph4Q6gFBCTGyXlITcfAsvc3s-lL-lL6r6Y8wIMz4dgQk8eOPtO-nlvEozX7ZJ_dkvwizktVb0YMJ7ZXo7j79VXuVwMbFJ8a41Ue1KUnE7yygKEk3u7-_oNyMr_aRS-u8YG5hskUd8pZtMcwvG_XFuzPwb5006TXRPmWQCvmbAa6ZmdBWOqi7bKIGAWSQ4z1Tr17eNV1zUc4GJGFE-nOBpbijegS5URbBhfHv1BjEP8KyunsdhksTVUukzPeWwAk4v20MRNXqQ3xR7lMpho4el9_aYKEJ1w15OwN-jEgnnuYw81BzvjaJtUgtHZb_H_KhkJCSXLEyUGji-1JmuEfuZo8OZF_4KHQlXEiiLuBBLvEBJ456mi4UtVzc_RSZ3aAnQtvR2CyLPPnPhlRkbltwYesjE69AsBYEYs9L98xgflfnB39OaylsLSyYJ3cKSVs-D3sprvqHDyMZScE2uB5si7_T_QbNqbp5n3_YwHNIlRpO_kvQs_6aruHOX4klFc6SJx4gnP05dziS75BT4vy1GpuTRAdJjkbtStxxt3VzEBPdHWh3VSuZ2_79Z63gP4R0Q91i2ydTVuJ4lPNJ2Q5I5Q-7JcEX2k1LeOloaUGxUoHMJJoNnjgrnTnXOXtEyJnogVcBSJhTZfyqftUzgDALvSx_t7_QE2EXGw2Mq0quYF5IakiCR2W4kgiJFnKCh4FNLm3zpj3lNDUTQLputU-uE3me7Is4jCCU6y3c3WnGq-pDiY93H30TzlmhUHBBADHcbAmSRu6JOle9VrwBebYRBN2_ORXlUvot8HetT3Sh1pzOMsYKdXqegEntZsVJPz5XkH-avUZDYb58Dh1hVXu_CqI4LUfClWe3cQQYvngqA_lbHDxxT0YhA2-C6SkvfC0x70KkofU2B05f9kgAaObuoo1H8EToiXavKesl1xFgNdqE1uPC7OGSxPPsEqGtLHraPW5lH-0dg9fk7WhdzdAyBk3PMi2T_l8fLFcULYaITEw0jknj9EIUiH89WJr0sJDOjEOudf-wbhp3JgYpBKVspeqIZj3W6noNWQlAARbIlto5nb563VDbabYZUte27iXADhOd5AJNQumpyl99dyeGuf3SMSdzzU2hXeQDSONP8JkrsLqlnV0mYwKQux0yucI2pkMw-3jUbblCHBc-MjBRE2AjaiO-dDTbzBksk-XGRIUkz5owX3ghAR4MBMLIMvOV9BtleOitky79bExn9oDwVZkDeCpLTJJ9AeeMbgsefiUCAikygWbDx_3FZXH1Q693LpgJKeT6cDC-vZ6HRo3xWihtUO67f-7JKyXclclbl-1V3wOGRIluHKpUK-ntDPOZuDP1mv-T29FsDZmL3TCoPQxRGFBrRgustWynhH-pHcUA0pGtoj3pXHz7g798kPyzRtDS8pUahB_JOi6Tj2CaK5CI9j9f9o26SIJrmnpnxEQ-P-1kQY-jwWzi7Wy4aG1nqpp9BZC5p7xQ7P5P5qUbde7mCivna5lLlF6QPkjXk5GQdqP7jt1t-RJilMVqNDYHT2AmyJZLbiY2af2_2opYTUthui_K9W4R8sCQFYba_y0g-cn5Ji1JL2C7DIJk31wFwqGlkUZ67I1sjOK02x4hyl23V0N1IxsA4hSlY8Fq7SW0JDWoXHO5PETyABhIdOgcMaVcglkP6qEFRIq3fVs4mUY4ISgWa0iuuTGZfMadAvXfUi35OntkWGeSSw9LUNeNj3CIpO8ZhQQ2GVpHEKoXEwzTRXdeJfu56xl",
  "id": "rs_0ec81d17b26c8121016ab2bff1643087d0949898c06cf7008a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.025,\"left_z\":0.08,\"left_yaw\":-0.85,\"left_gripper\":0.65},\"note\":\"The clear view shows the left bottle's cap far forward and near the left edge; the earlier retries were behind it. I will approach that exposed neck directly, aligned across its diagonal axis.\"}",
  "call_id": "call_7imsOCgLShOwboIdqPzoENV6",
  "id": "fc_0ec81d17b26c8121016ab2c0005b3087d09b5d54834fdac86b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7imsOCgLShOwboIdqPzoENV6",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2104, 2.0296, 1.2842, -0.1833, 0.7826, 0.6834, 0.6508, -0.0284, 0.7582, 0.5861, -0.445, -0.0341, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.0192 left_z=0.0703 left_yaw=-0.7939 left_pitch=-0.0428 left_roll=-0.0479 left_gripper=0.6508 right_x=0.2814 right_y=0.0016 right_z=0.1682 right_yaw=0.0141 right_pitch=-0.0447 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.7282, 7.7333, 1.3114, 0.6911, 0.3687, 0.0024, -0.6222, -1.5385, 7.159, 2.0147, -0.1587, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3cb18e3b29ad54a879830ddb94e7b82dee6cb914f48bbce2a4ff3b728a96297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d55d027360710ef33c6730a8c282680e7609b35b0436bedba73162d747f6068",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bb7664e61dcb2b28637fdb9e46b9afdc440bdefcfe3609e6b93463542c3bdf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.3592, 0.9752, 0.8013, -0.5339, 0.6174, 0.4526, 0.8001, -0.0212, 0.7921, 0.6407, -0.474, -0.0307, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3028 left_y=0.0083 left_z=0.2082 left_yaw=-0.4027 left_pitch=0.0027 left_roll=0.0063 left_gripper=0.8001 right_x=0.286 right_y=0.003 right_z=0.178 right_yaw=0.0183 right_pitch=-0.0532 right_roll=-0.0133 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.1111, 9.2923, 1.4676, 0.4029, 0.2173, -0.0024, -0.4855, -0.6359, 9.9624, 1.9805, -0.105, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssAMg_scI5e0kfO0GPTuttzmQJT_dC5rY48wPk8FLAwTVQEAolP22KO_WmXmsCQyBAy_HgLeox0Ve1dgCRLmrvqTWs4RUPUBFakr46949xrAHMq4Idfq4JCll8bNu9ipH5VFYYTVUhRWv4CSoQ0RQLHDqOgj_GEOFkEq4tFEPEVT0QQdgqdOhiqr7o1f-WFNAZLoik_tEGtRcdDmbPODVVR2asoC1oXlW60OMEtwLWAZspyhFcEQq7fBaLFw5rmrNKC_Ij5Hvn_suKthRhxPLoTP79lPZ36nfISvyDhMLA2NTqIweFFzMlsXSESgiGFM9q_e4zPwbEk4fEi_opL6U7xRF2R0E9BuhTswUXA1QWLcOrWGILaOIuTGqdAu4b8KB-OyX-EBUrcjXI9TglCRmihHm86sPCNoejRdJtWz6V1HYjtJzgNIrl_DZRfwNrYtVUB-JhDmwI9-0KdTlnjpE4C9K2Gg0kYyvZRi2ZFTGpJ4KGRcDq8pzcyELH9GF2Q1_TR3awYZDrsCOWze2qGF-LA1cHWuR4g8z7KOPHgBx56T4f57mBy3K_oh90-7k7CG8X0CMvNMrUw-v2eDEIqBZ5HetZVlDbj95EIeNmOsxUFXtaXeoKsThboY9m_adPYoyjHevErp1eZvL52oh8isqxV150kH0r6zzlBTh2WwWMgAjU20m1EORL6pOyK0AJqhHnweXpMDk7Ack5PiULwoKSOcc5J84Exi6ky-B0IrbsBQYozVR-v2FIOv4EwFqKj-5C_8Q9kXKeel6BwhVKkCDacKV45aZ0_Tk_mk6R-lnfN0PF_tk54fuwYtyvnLzE8Ec8AsyRH58OocPRhjQ2g_xttJB5c1CJVG0CHYUOlONSSC-JG6nYTFRBMpumOCbkwDM_z1DRa2XFSwTVcja-SayWXK2Fmlnis27csr5b48zEdibOxzW7iX6dUa5rI2LuDYtVV1OdRcghKymLnK2oS2yY_BsTEt5YkaKPwp5OP3o98z7YLoh9huhT9QI_ubXNijTGPqXiRVGhBOPZ6K11_tZ_7a_OaLV1IiXZcaXwJVUm7SSFjyoTO1xMyqEhoBiQibk1dbqtmDxNvA1fLqwxPPP89Eyby5h2cQmMq8MuFNBWGUWwk2Fm19aiIAsWa_Ub3IEA2R6eUPu_Q0j9MAPzc88qFl9bkzebN7MSWGhT1fZ02C9RfXv6CAvbUk9bDcdNp8z7Gm8gqDYWtOCbTi4UhWTW4V8uUyaWGzAmxLWGwV2fgT7RKg1WEfJXvU3Jr3_SNARIg9Tt-F9aPOb5xyyl-cSVJNmdHKDGXmX87_HgPJfHd0UguTwA07w_i5y2UA4iW-2xwg9fSSUZsvivTt4-rqm_n7rhfLTDocleG2TM15fvt0jJTtq7n3Fg7XMhCssWiZ88LkRE9tuh4NrIK7ybMHYr7t11ZGXRK46HDp_lP87xq75o1hjzrfNDY0rFPXyKumQc4UiIEClnEdnJxL7-g9k8S9Xg==",
  "id": "rs_0ec81d17b26c8121016ab2c00738a487d08af1f515a407fd00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.025,\"left_gripper\":0.65},\"note\":\"The overhead view places the jaws over the left bottle's neck, which is now below the wrist camera's field of view. I will lower vertically to grip it without pushing it farther sideways.\"}",
  "call_id": "call_KDqAZ84OJrKiyWhJuJ0ckaXq",
  "id": "fc_0ec81d17b26c8121016ab2c00a09bc87d0aa4c4979d0e226e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KDqAZ84OJrKiyWhJuJ0ckaXq",
  "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]: [0.2111, 2.0834, 1.1893, 0.009, 0.8181, 0.672, 0.6507, -0.0341, 0.7319, 0.543, -0.4255, -0.0391, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4864 left_y=-0.0239 left_z=0.041 left_yaw=-0.8084 left_pitch=0.0038 left_roll=-0.0354 left_gripper=0.6507 right_x=0.2773 right_y=0.001 right_z=0.1594 right_yaw=0.0124 right_pitch=-0.0419 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.5966, 3.8769, 1.0672, -0.486, 0.315, 0.0562, -0.5538, -1.5111, 7.0769, 2.0488, -0.1685, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8715a2608c9f52d9c878f521b552e1050525edc32b82a4e32cf6d2e75747a4f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36637d7efd4deec66881bfe5e286bc29b99bb77b0eda89b2669d0faf24e2dd45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a138c7d2e1d75684e205300f4f702f3be261556566a7ec460a1a5aec06dba4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2104, 2.0296, 1.2842, -0.1833, 0.7826, 0.6834, 0.6508, -0.0284, 0.7582, 0.5861, -0.445, -0.0341, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.0192 left_z=0.0703 left_yaw=-0.7939 left_pitch=-0.0428 left_roll=-0.0479 left_gripper=0.6508 right_x=0.2814 right_y=0.0016 right_z=0.1682 right_yaw=0.0141 right_pitch=-0.0447 right_roll=-0.012 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.7282, 7.7333, 1.3114, 0.6911, 0.3687, 0.0024, -0.6222, -1.5385, 7.159, 2.0147, -0.1587, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at the bottle's neck height. I will close and check the measured opening before lifting.\"}",
  "call_id": "call_B85vqw9ucCE9LDRl70vgeA1p",
  "id": "fc_0ec81d17b26c8121016ab2c0101bf487d0bde5ac55ba00830c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B85vqw9ucCE9LDRl70vgeA1p",
  "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]: [0.2089, 2.0937, 1.1805, 0.1009, 0.8062, 0.6552, 0.0116, -0.0353, 0.7055, 0.5045, -0.4026, -0.0498, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4967 left_y=-0.0214 left_z=0.044 left_yaw=-0.7952 left_pitch=0.0349 left_roll=0.0167 left_gripper=0.0116 right_x=0.2744 right_y=0.0027 right_z=0.1533 right_yaw=0.0202 right_pitch=-0.031 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -8.6222, 4.465, 1.2625, 0.3053, 0.232, 1.0476, -0.9231, -1.2513, 6.8034, 1.9414, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1480f909a1934bf6ab5d8003b008bfda0424ddfa9033f956a433f1751dae19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7132f11e6f22b535c010eaf2851411c1376f8403b57a60d649d020135b5ca67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f34774ca61e336cf02bd64b1ef5d016d2e5a4c1ce0a0985a1ec23cc0ec0b10f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2111, 2.0834, 1.1893, 0.009, 0.8181, 0.672, 0.6507, -0.0341, 0.7319, 0.543, -0.4255, -0.0391, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4864 left_y=-0.0239 left_z=0.041 left_yaw=-0.8084 left_pitch=0.0038 left_roll=-0.0354 left_gripper=0.6507 right_x=0.2773 right_y=0.001 right_z=0.1594 right_yaw=0.0124 right_pitch=-0.0419 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.253, -7.5966, 3.8769, 1.0672, -0.486, 0.315, 0.0562, -0.5538, -1.5111, 7.0769, 2.0488, -0.1685, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssAZC5asuiprITg5sKpRlqWHmSGSwTSb-NK1cKDy-TVxpiEGfrqcnB9fVnoezIXEGETBEbTUlJQWDcop60sjqZwA_Tnd7iVjqGPcpAKG-i7BXYLckENn-jmFYuokQeewK40TxIa_13qe1XAQQaUbIwUg3xlQpMm_Lsuee8rb8v2bjU-lwId0q0-5zXpce1VKXZPTq0rYBFnSOLUXspu3XFwQfy6ki6vSTLa6jG0PKxbil5V392MR08-G_NujfKIv_DpYP1-j9LX5wBvI3EHhp3JH_7dnbzVZZXQHewLB6_qRYYuVMw3jZb7VL-Ih-QPSePc6ViO4Nhd9-rooFkKc7BGLD0wvJLEGtIYNwVmH2J5uvvnjPgQ-4TvZXos97UakKodLRp9mfHFzDmGRrmlBsX9453ZpjKLs03rp01ZjLxYPkKMuKgcYqura9KG2S8VL7uzyjbS5ZtGwWg36j4qLHtouhe5bv--RIEdGXMmIkgQjmCbEo-ML5h-4sXN0qeaO6A401CQ0s6FBgGnxYDQhhvrRa0rl7SqAL-LbjUrYyt4e-LuZUPAX5tfBqDycTMsbcg0_aBH3REPubIAQwzHJS9s2vlNbk3mjMSnzaDABg5bmOl-RnMzOVD8sYl9gc99JasGMm5S8HYdc9D82Vue3ofUZqpCF3Yvfl1XTjN4gP0lb5SpUKxfUkNGCKmnNNCz8_VObwDdYDXajcn6iDBF2LC2IeMDVNVJViUssVh1ZRYyYfBLxk6hEJNiOBKSo2WggLBaV4-ABDc7yWaiKDiO5YhPaRQdEvJ5vcBJmZlFKumGWRr4UKlpbSq25DymIgk0kx2LFKeJP3TD5lvDycALQcq8jOo_1WDbJrFicmmvg5YH2M2kJWc7r7zVU-32GtCqUKTWB-FzPzyUmkOswt18LXSJCUru8sNYwqSTmxtyKxZpmNS5LEnW4XrqfnRFgLqs7f5gSahaQe2nr-lFBppjcWpryBZ_vg49Ry-K9bDy1gcJZjAuRF2HD5uJvtpVdg3WML67sst7X6fsTtFbfbhWb5x1gkdfrMigd42-WU5kRnNweVWziXbA7oVV-n35W_w-cb4fkBlCON4xJeNnDRuh3jKD2qEgsTY4TjvUz9uiGLBAfVqw6OkKgFma5Jie0D0fG1ejQgKaIo4raEje9jLkGT8X3LANY4wXsJhwYMVCTzOgLjZgjDaJHBlFdyXh_y-PDmjhc08KE3M8nhhQGl3BbTTvJnyVsgSkRb56uKnFv7pF0i9gLT3ZNMlKU4AwWmMrcfpe-w2BpZTqzDuHNBoXWdVWOyAEssvB0Ta4KMD3fhHP3t_QRV9zsGdRstNLZyA86oK6Iim9phi4GhK6v2Ytl5SyH79nl6Z8gUxE4FhQ2I3qPjbxiZ8Gn-5xNEIvbpT79B9vsBmslXZqWZloxNsHCnwJfzO3lr0b8y41t2t8uH4ap_iMUrsX9Jdz9xB-lVN03gMeJuSrXwoZyKbDQFqQPc7R2UEI6zUbhtQY202XQzL9tNMAZ2-F84wP1dfXnQZf4UsmDm7U9OxBhohaGFweRI1MTwg==",
  "id": "rs_0ec81d17b26c8121016ab2c01412cc87d0ba4adeed29af85b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.055,\"left_z\":0.015,\"left_gripper\":0.6},\"note\":\"The close was empty; the exposed shoulder is just to the right of the gripper in the overhead view. I will shift toward it and lower slightly for one corrected grasp.\"}",
  "call_id": "call_jbwmcXWdp87CnczYHkEqSCMc",
  "id": "fc_0ec81d17b26c8121016ab2c01772bc87d0ac2f7b4f2582a872",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jbwmcXWdp87CnczYHkEqSCMc",
  "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]: [0.1425, 2.0941, 1.0695, 0.2176, 0.7517, 0.6044, 0.5951, -0.0349, 0.6888, 0.4755, -0.3954, -0.054, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4801 left_y=-0.0494 left_z=0.0188 left_yaw=-0.7975 left_pitch=0.0058 left_roll=-0.0002 left_gripper=0.5951 right_x=0.271 right_y=0.0037 right_z=0.1458 right_yaw=0.0243 right_pitch=-0.0358 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.2205, 4.2872, 1.4042, 0.4322, 0.1587, -0.0171, -0.7043, -1.2376, 6.9538, 1.9951, -0.0659, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2960f6b65717caac2f0d670cfe5ef41c01020aa8fb77ef063aa54efb35b063a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7fe53b24f8d71a5d266f02c7b96474d2625e21dcae8f111bb3d0a9ac476a36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86363eaac1b32528e1991aad0fb634596854a9efb387c3e81b5ad384f2f5a581",
      "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]: [0.2089, 2.0937, 1.1805, 0.1009, 0.8062, 0.6552, 0.0116, -0.0353, 0.7055, 0.5045, -0.4026, -0.0498, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4967 left_y=-0.0214 left_z=0.044 left_yaw=-0.7952 left_pitch=0.0349 left_roll=0.0167 left_gripper=0.0116 right_x=0.2744 right_y=0.0027 right_z=0.1533 right_yaw=0.0202 right_pitch=-0.031 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -8.6222, 4.465, 1.2625, 0.3053, 0.232, 1.0476, -0.9231, -1.2513, 6.8034, 1.9414, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssAj--e1yXaxANl4yGUOO0EPlTBdZ0PXA7b3C-l9EZC6dSwGrUfycmlCbQkwL6PSI7mN2UoFOMRzGm2IX8mrTnA2i1uLqAd4awWnwzD9u8qxi79pen5hy0ejFPg1AWb2hCq0pvwcg8n-A33vOwz-iz-Y0BW4zfgIKXTau7_ugHDi5ZcaWJkR4rn3gvdfVdomt10yTtSvevg794nqFJOKo8X6cWaI0_e9S2grs8yX6eX5GimV7iznyP9FgWIneRTM6Gg_59dy6stCe1tLTIN3x8j0fy0zhcOok6sF3q7EQxJIUCE859SKIzpGzrHY6e8v6AqRyPZULjifEJNSB7rMre_UlKpY8RONXqlRuwoCOlPWwTtpYRvXLOQBTkBcItdNWCDOsFOzBTMJeU0fjqLTe1ZOmo60RIuWnd7vlX43hVCJEzOOZB-V7tN21MoXQ3vXeIMgY0uw5Gc5iAGypNsvM2YBYuvIesgVDXCKc3SupUa2Bue7qQnwgJEMiQ-PpILbAa9btibC48Y3EBVeHAIHpO2zXfIm11JkuIBC-sJZFLHKgfJc4H-yVj9InZvu3B9jJp0uwWOeZNzW96DGHuB6YxjyViOxnKLLsAwwWKgZuxbzyEYOYJ3ujq4qiFIxlvSkXtN6qEKXhxVrd5R-JcDWLQTtvNSj1ShXzBDoyfj9jy3TcXBr9Yq5p0P8L4XFTlYQqc3aJ4khq-Gp58hR1vTRyJ0qRh3j6IUeUEnDngAKAOdk30tJENtGFKmOqa20nN23lWUEm0MHGhjUj9NhnqIJZVwqMZG0CxZPyyp0rNugfwi5D7TS1M21k7OlDVa1eZ9BVEGRQzz27FyLpb3ETCOPoD3bQ5gFt6jOOxqbpMrFwKGgfmP-gsf7wLHLwSETHOHYzW2D76lbo-SsjuU0Bm514GJlUInDUnMIkBoE3PjlCrBH_m1a27XWJ1d9_tcp_FjLbCKCaXfs6JJSzGDfoi7xedyuHp37fQwXi6MygSDfjJ4fMeSWA_yTZKImmgLCIPJTefC8ExUxH_dQCbCYQi0xKWgs5TuhK4RuKfXpAaP_K6uyWLxgNh6C0z_s-HJbnpNA1_1WPt0q39oaev-pX1CKX6oWtKuFs0BpSss1sToS7D_JDlnDLk73AbnyCTKe9VxWipMpdsu9H8hgn5s7jGz7F-F1nxsZafKZwSfcXqj3yP_QbEmYwQXSQwATqqebrdksijgUIGE-HQ5OnZ42AQNHosjsbnNMCp__rXVrIrudzDYVesfPxvHMc1SqoY_iZ3WF4K0c9yc_SwxhVGC6tIK9XE6coUId_qKvvD9O3c0wQ6KdWUC3qDyAf8Dk9pi-8zUoE_h5DSeihXgAlNqxV7qaYLWgp8jykSROJrJvoM-kFOyWIdsViJxSshqHpZN5ecPRNQV4L5DX8zuKRal6ZQgmMVCFgRLUqwCc_gmwUN3fpeJdT1Fx7jl1hLUz7R80wHpWCrvM-wKwxPhQB13utX2n6SVTERIF-5cahCmNoWgEnOWHyKKeoq-IaoHbp1F-o-Ei4Ko9P8gJEMaAKshZaMhuPz4AlBW8ECeQBIuWT4ZN6D6yuG5RVkvxYge7ZYzpr3x2SasVkLCT7u2Jb0KSshOifsDU9dUUMt_JUCMaExdxmRXVKJWFbhDv37VE0L7HAy1NxVvkZ3VUOZr5ZuKp8iBhXn2fYpBQtG-uC7qYa9KaVgQ6wyjMZyBP2Mv7XZ0Smo2gWiRsFxWs91dJY3yfgDfHkkiTlA==",
  "id": "rs_0ec81d17b26c8121016ab2c01d141087d0b35f5447705eb439",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.025,\"left_z\":0.035,\"left_gripper\":0.65,\"left_yaw\":-1.1},\"note\":\"The bottle rolled slightly toward the base during approach. I will follow its visible neck and align the jaw opening with its new, more sideways orientation.\"}",
  "call_id": "call_yoCuXpmhBtZjOH2gzwDML91U",
  "id": "fc_0ec81d17b26c8121016ab2c0215c5887d094ff84322ba2b5f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yoCuXpmhBtZjOH2gzwDML91U",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2779, 2.0941, 1.1931, -0.1978, 0.8944, 0.9951, 0.6487, -0.0341, 0.6662, 0.4454, -0.3798, -0.0544, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4534 left_y=-0.0102 left_z=0.0251 left_yaw=-0.9592 left_pitch=-0.0301 left_roll=0.0153 left_gripper=0.6487 right_x=0.2684 right_y=0.004 right_z=0.1409 right_yaw=0.0254 right_pitch=-0.0278 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-1.347, -11.1385, 6.9538, 0.9206, 0.7253, 0.1587, -0.0562, -0.4991, -0.9915, 6.694, 1.9951, -0.0855, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c333d091ba3c525afbf0083328eac179b38f68535b1cbca02a3211b2627822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02671ee9ddd3d22918e138937816854a199933e158b66ee6cc95587f7d0a40b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32b73ed0d3ce48f103aeaa59d99ad8ca89555859f307821f154ac787f955f4d1",
      "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]: [0.1425, 2.0941, 1.0695, 0.2176, 0.7517, 0.6044, 0.5951, -0.0349, 0.6888, 0.4755, -0.3954, -0.054, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4801 left_y=-0.0494 left_z=0.0188 left_yaw=-0.7975 left_pitch=0.0058 left_roll=-0.0002 left_gripper=0.5951 right_x=0.271 right_y=0.0037 right_z=0.1458 right_yaw=0.0243 right_pitch=-0.0358 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -11.2205, 4.2872, 1.4042, 0.4322, 0.1587, -0.0171, -0.7043, -1.2376, 6.9538, 1.9951, -0.0659, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssArxX_EemegMQBm8ghVLwPYtEKiMa01yrNWCr5STUIni1zGIzysux_ru4-I4JGuWBI_98gjuXVmLMDyKgz1Dqn8thI8mm-BKVIX-ebR1UViuUD4uRXarFSTSbx0TQB8Cy5vg-nQ6aCt2jFMIV9SDn7rMysFmPxsA8WAeY0LAL0wjx_mybMWrFDph8PnpMETHI90CNux5YAc4Bo9V9wvYd1Llup5ZcB9r1qKt1bb-4dvY_bsvlRWutFIo-F78sDBwwxdpfq71IELnQo9Al52IeTAZEMnI34Akp1JEGzfOJoNJs6oEqduliNTjBqvJaFTsCwGt8doKS7sX7gZBRVCRifj_f2ghOEx49r6GoiOvgvbzGkKBEJ8XDnswmH0Tl13aEBPaD8e3LlaNoyQHOVDcnbDPfPdhGhEIPacXmJOWgLs6PzOjBRrQeRNtX7V-BPrDsn9V96mMmOkeoreq-diTiYvuQSQMTRYzMRgycILdeilW1r-z26SXJhw0tf2vr0MgLpGds9hI3WYRwfeU6AYjGRR5GR2Sn0KSTPXaij2-4fDS-H53h43W_nvyQVRDkQXQdW6_RVCRS7G2FKroZ7OgGqZP33U27lkwEjKH_I9hB3OT8lhdBnI1KESS8j2uvdzNhJzkrMwMYYeixFw97_3UmmxWigmehntlbJ0bcJNKPHvzVwvLNEh5EYX3mPWklMIKpPhQ3M9joGGaKYW0ZY3yehgZn2244hYlK2dcaNM_1NmeOqNOTXYr_K0HYAXCpAouZO599t3MNyXrGgBGBvEGNa_PsJlP3sTg9IuQDRjlMjgqkX1NxM_fu5jo7fnPVgKPUHb5Up12nr6AjmbEJBnZNQYge_SS_DKJOkLyw5X7LZhYylEtnTUnMZC8zY7xqUgxYPG-BxyGiq3BcUFVW6KMUeHJ-zlcgtdM243YWXm7gkkq6n90zofMsyLvZImiWx_UXvHcAXvzfO1BCogs7dCDUG78JIxQFCXLD3D589MEf19PxTHu9Jw1Ss0zEuQsaFzr9mDNvJFjudcUPHbn4QxN09qnudhUr6ix82QgACj2yPJSk0fwMcwq8MZBtMZ-gAe1jDDpon2zkXy4UDW-bWvtmNxEDourZRvP_7zV1kK6EsiiNHwe6UYYi_pupQUxDVgJ3V0YErsmLDZXIiMsglc1g-dxm7GJ-DLMlJV4A-UojBcjPM4HEjYf2Un1MBlbZ8RMdFe8PkuIBj1nqri4qQxp2gVeXbHT9y84KE5MXqmNQZy4O_QvUtRRlDghe2_OFkCn8igTQw7No1UL_ttSaWBC2XLKcQ-L6od57iYFRCWUR0uZ8HMnvc3nwBnp_6KE_aS5Pg6sN1M-UphL33hERIBHHPtkmE2rHA_LK0jQjs_DXs-pCM=",
  "id": "rs_0ec81d17b26c8121016ab2c0272d1087d0ae5bfc673c14ae28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.055,\"left_z\":0.03,\"left_yaw\":-0.65},\"note\":\"The actual grasp point stopped ahead of the neck, and the bottle remains free. I will move back to the visible cap-and-shoulder junction, keeping the jaws open.\"}",
  "call_id": "call_FLBePIJrXpJwqzAgWyxIKuW0",
  "id": "fc_0ec81d17b26c8121016ab2c028cfbc87d093233737a79cfc12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FLBePIJrXpJwqzAgWyxIKuW0",
  "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]: [0.1265, 1.8118, 0.638, 0.284, 0.7048, 0.5919, 0.6495, -0.0341, 0.6495, 0.4229, -0.3737, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.373 left_y=-0.0643 left_z=0.0068 left_yaw=-0.7773 left_pitch=-0.0724 left_roll=-0.0553 left_gripper=0.6495 right_x=0.2658 right_y=0.0046 right_z=0.136 right_yaw=0.0276 right_pitch=-0.0273 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -8.4991, 5.8598, 1.6825, 0.2515, -0.105, 0.0659, -0.335, -0.3897, 6.7487, 1.9463, -0.0708, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4530c1e0cc7d4cc5288f99d58c83f9ba9e9b44e8c0c4e07d9496814165d8d409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0e95cfb366f857ecb29a010e3cc7787e238a7629b392ba77aa306095023524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb6f9be038ed3d3310af23e3b2663fefb30c003873b0279d6e0f8f89d00238a",
      "type": "input_image"
    }
  ],
  "role": "user"
}