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: Stack the bowls on the table.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3794, -0.0223, -0.041, 0.9993, -0.0208, 0.7933, 0.6029, -0.379, -0.0166, -0.033, 0.9966]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -1.5521, 10.1538, 1.7558, -0.0562, 0.2662, -0.0904, -0.4581, -1.4017, 10.1675, 1.9023, -0.0757, 0.1783, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b088ee236047fdecdf0f01b9f36c59cdbf1eb84fac3252c9e58ed456470ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f143a8f94b86680a7546f962df6423103f9f10bd9481e694dd902824338a096f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa382804aa8257ea8b620612ea057be5a32dda031f7b88005e1a449d1f92bb3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssF_OCz08b-CsJDNWyVAAVpDUHdUH3scHSFjrsKFYYaSBZVCHv1-mTMqvOdVNZRhQ7mDX6Bi5WxXThM3eiNMO5uQiDLkW60pFSYRFlmNqjPoOMfaPKvkc0tkKhqrCSEHRLm_307Gzu6WbZk-YcSX47JCmKKQ2gt3a1O98gmdnLB0mizJyHVNLTXSb04Mm3I6yznHLGY4H6B1vtKpo4L5faMHs7_WAzwD0I2Vhy0fmfP19L21zjoyMEmb51FnC4oJ7pnLZ-ffa5jrBJlFNEjpVoWYisaU9pDkSfqaWe3ekEk_5Ub6-hfKOPuUsj4LnEUKejgd5RbV-mEEVMkoLVT3nZsKL84wz2eLhdG5ZGFaF9sYutBC2WRXTG8igKl86u3JUjIX4y4ggxi96J5L4trDBL8AP4rMf9_quyRkkjU2gzSlh6ehA63nFvFNK_sqVPXM6d3Q7Bs4VxaMTSyuZCyp4mXn7USBRaEVk5Px_qyTn8Mv0FVIPBcQBvrYiE92RgrvTdH5drvs7ro9UQDBIjiqub86DN3_vHl-9-QJ6rEAnd68SAHrmGr6o_35Hy5cHDrD5Myx4LDA7ODoKlD01kOMOTqleL_NwxesThM3w-qoQQLO7z3-ao7aFjhDm8_uiTSmb-deopap99BkmgcFrfor0tGzI9WOU0-pELsT1hCwRK4cuGMFrj6OCBFJD5Iw6WV6RTguxbej83KhfEEPupNX3qZMyyYsm7OBHTYMMMKEqRm7YpK0p6wm6cdeSuz3H5OydZNFfsSP0UG9yFmOrAIhGj2tBw1CYPEf5KmafyUWaKv_1neDizkLYLItWW0X0ac_Td3VbtGLCJnSFO70JF03qYubutPerKU6CtnJLzjFmdrttohTP1z2wOLdj8BjPA44JBbZZ0zVSTlJA1P9me1C2ecS8gr0IRkXYvEtOhY7nRBmK4QwFu0ZFyiZ72_pX1e8_swx4QcYmQpnoaVSXI0Mvd5KPJhXQvkYQgCy1KSvMhQvHWQc5Rmo8egu0Tt3ahuFDtIjUR_0O9AReFDI2mvBv9Xy3wUaYfI6WAODJIuGg85GeYIYVcwrB2vdik2BvNyXw-bYygzs7UnwpmdZUqYiblFSsd5AnN3uxxUeOU54PTuadkCUrDQoiQr8IUrv48NmlwJhG3H7LbXq_NIs1ziiJqeL-T97vgB8VdJ7uSxXpaizQqHdSJ22eERKuAMkVUJx5X3WiCHX47b4IvUh19nGjXZLPu29wTAy3dF9TCkGTjIKrrUVwYy3vInYUQ7O1PsXiXX-cepBB1iUwQpGHMAugp_2BvZiqWatfcBsISPeICp3PQmF4EexC4nDgdRs10c_ayXWvqAZcqpnMhixsxvYokTGNzr3S_Dv1s6j4YIr3LkxQi-3umulPa1vYFsKeLZXWO0M7Wv2M2Z885IEmoBPOzh5OjpznPR-ZWpp0FIa71eR4GtTQIwmI2QwxXZJVs-SAgv_XvjnwzCNbYRUE1LQcgBJwf7JXi4GFiQyKZwgT3yNYvgaR_s8tiavvjg91VQKFfXr5_yXvFKC9CRWC8QvtREHMC5MZEr8LZ30fP1OSCBGu_zcOMEZsRb6JZOlDng3TYdHgCY5wHbfQHuIyc9UDuturpp0Dl2nlPWvtaefsx20p9wu2VNcojLvVQcZIfFZSfeUWe-TVNH9jSIRJGtx9PY-S_O8_i-Ec83gK2HyCKgohzXzv8mvgvF6XxZ3ruTOyChZhaoj1qXpGh8kSxsQfvuIThT_SLLhEc4CtNtqAHLedljl-xhx8cLtNlYHoZhUbk0J50S83H8VUBIpqYCFNTyXB0aOVT5Ui2waqgQUmI2XWg-w9wjJ3tjd0IGY1YuCNJ9ncUMDWv8ygNoAF1bNK5fQlWNDaSl8iAupJKgG-zQ1w5idjMe1DuS9mdbz5vfjAmDXDtGz4-TkgEsBMm_SHy2Ybw==",
  "id": "rs_07077555c3518f03016ab2c178602c87d089b5a57c87dd08a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim so it can be nested into the middle bowl.\"}",
  "call_id": "call_Q3tFxMUPcMrgOSDxVx6sPSX2",
  "id": "fc_07077555c3518f03016ab2c17da26487d0bc2d0a44bd4245bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q3tFxMUPcMrgOSDxVx6sPSX2",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.564, 1.4288, 0.8944, -0.1734, -0.4496, -0.3546, 0.9993, -0.0219, 0.7975, 0.6041, -0.3889, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3795 left_y=-0.145 left_z=0.1513 left_yaw=-0.0203 left_pitch=-0.0571 left_roll=0.0225 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0028 right_pitch=-0.013 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.6667, 8.8821, 1.8291, -0.4371, 0.0415, -0.0855, 0.0205, -1.5795, 7.2957, 1.79, -0.0513, -0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd5fde6e228e0d0cde17ae7e6d8aba72ee1d7b6557b483aeb212f79d743786b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1542294d788f61a042e914f13d4ae3ace871ef5ecd2a535fde42849b9daac6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bb42df22178dd55a2582c6dabfaf177cba50357c2939019a9f47acb1911a53",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3794, -0.0223, -0.041, 0.9993, -0.0208, 0.7933, 0.6029, -0.379, -0.0166, -0.033, 0.9966]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2947 right_y=0.0004 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5402, -1.5521, 10.1538, 1.7558, -0.0562, 0.2662, -0.0904, -0.4581, -1.4017, 10.1675, 1.9023, -0.0757, 0.1783, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGJ0r2B4fgo1jAjoEGQtVzBK0lZw8-244d38E-crNo49-58rzXwit7yRxZdzTq2qw-z1jbbIR0vKeVmZqgbelr-92RNemrZxtUu6OjUJQnTdHUj_wypiZ-0paEQqKU34uGWEJ3hfmwUB5_-A6qLigibEO0nkpGx2-9Fty0R8TuN0Ep0at6aJ90Bjsnx7Dags4nf1M39gKdy0Jqg8g1C-VmUg_zgfTI5kGzVG6vwWUKqpPXA39BAkLVKlYkyUR4kyDobaHXbZAej1xpYLqUQ2SQwFjvUIpMB0JfR61EJBQD3sfPvSHVF5WFyAj7-67Zz3Q7ZLZ5xAbBq1yauN8RmERT2-8WJijy4RF07sCv3YkCDbPg88ivETVOU06FQANlYUvvsGXynsclTlcXZOM6OBZ-Q5gxgwS98YgNQvh3zkGJhGD6QJFs3r4Umg5vb4A4bmNGiDotfrXwKLE5c8_nuZbarFYinmwzuon-FOncFw_1kGEVTdulZZs82296sTQI6tB_GM99sQTtnRxs-0MFgcQzWiqAJoG8Gbx9AO4OosZKBO5z9XUL5D6D3zSwXW1a_uwrcHoAdHUsB6kIA_sRUH9-StIEfVvehe9VpK0tljoTgEBADcVc6cdqzACfogSJIU55nnqpaOvDg4FOc5ZxHfpfLSPRwDR9wQg93kmU9ciKMQBrJOTQBhWwLHhtE453viIUgNL-PnwT7wQyUZZaT4rmyE7FPn2UkiQxkoqWsobXnL8GgbuWcanOYksyWsOKJqE8uO4EUkvl69lC8fMTxz_iLjJ-OQs8ONzXnSr3jgOMSzF2yjAcgXUUBSXL-FH_OJ96s8I4jKSv4woSW4RTQjdCWwiS0ZETbm1C1OMwMJ3iPZ-OTjzzDyKHAHhn668eveM0BEuIEfkDnya_w5N_9Cj9amkwDp_O-GjE1tWWOOslRGF0kXadBRAHznAC1jgqQkSwNiurlIeQCzlFntOKDrHbcAd4I4wvsIIcWK-aqrCrUoKVb6925csJ5RNIbTqbNabF2tgff7pQSpHcrLH7rur_F5ZSWAxyph2hMav7QL6HZXZM34OznVi9YgbplN8KZW8OHPCbpWtdll9qcWMusKagLRC8MjeDPSdWAayT1wePyMGCshTkStcWpGQTlVcCJ_FT0DjV3AWRQRSQYKfPyeDpHoSxHYPwmblKZawU097mcSDO_y1S_OmhOMP9xeGrVZeZuGRx4t-Ji5SKtovOT7ntOru4tujEbW48oJVDOkrri0wamk0bEtfcoPUBm1HYiQRbP5OEsHOzCwGR--ywuiXgauxs96YqjqN4aDoJoOQ-kxXRH2VmaCkb-G7FE9BZwVGBurOf1-qobn9zpnySuX1DlncECr9ZCp-DY_vapoOqtCnHoEtAP90codQCHA2kGM6klJ8Z1ixQ6fyRE3Px6jaC-CIXEqGfVcTMA8vX2SDgkSxEMefAQ0yGlUqlpY6nGA1sKOcXXVYCh8nrjROZgediudw3oVL7GlvzCgZPY7uhFLnibICEMxG6ioZBxqMKu0DBrZZVDBNIEj6C3nf9WSFiLLJRe81npJT1_0vum8CiiwIch1nxrkC4ThouPMfPclE0bltbvATzLRc9lTSlc0zwMILH682nL_Wm3n5YiqQyYUyxirGwnHaOo5-OgkmpKEXTlbhtYPOIw9wBIocYGH3oHT6-PfmJxWkSilQFCjW7Bo-M=",
  "id": "rs_07077555c3518f03016ab2c184783c87d081bd49f670422f69",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.178,\"left_z\":0.065,\"left_gripper\":0.65},\"note\":\"The left bowl is beneath the wrist camera, with its right rim close to the jaw line. I’ll lower toward that rim with a narrower opening, keeping one finger inside and one outside.\"}",
  "call_id": "call_ul08fsI9QXpEpIGhF0GSeMyC",
  "id": "fc_07077555c3518f03016ab2c187c4bc87d0bb2dbfdb701d9eb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ul08fsI9QXpEpIGhF0GSeMyC",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6487, 1.6611, 0.7681, 0.0937, -0.4965, -0.4091, 0.6534, -0.0219, 0.7982, 0.6018, -0.3923, -0.0166, -0.0303, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.1726 left_z=0.0602 left_yaw=-0.0346 left_pitch=-0.1147 left_roll=0.0563 left_gripper=0.6534 right_x=0.2931 right_y=0.0001 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0195 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -7.1316, 5.3949, 1.6532, -0.4127, -0.0366, 0.0562, -0.1026, -1.3197, 7.1863, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:822edf8ffd7e4e75e3e28a0c4b17b41154c282f2f4e724d2ad00b922584b192c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90f2b75626c99944abe75367a630fb5f2463210fc03f16338f2821802499962",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbb6e52616b48b199df0ebbdd37db0aaa1dda2fdc13453ed215d38faf632098",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.564, 1.4288, 0.8944, -0.1734, -0.4496, -0.3546, 0.9993, -0.0219, 0.7975, 0.6041, -0.3889, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3795 left_y=-0.145 left_z=0.1513 left_yaw=-0.0203 left_pitch=-0.0571 left_roll=0.0225 left_gripper=0.9993 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0028 right_pitch=-0.013 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.6667, 8.8821, 1.8291, -0.4371, 0.0415, -0.0855, 0.0205, -1.5795, 7.2957, 1.79, -0.0513, -0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGUyEHLVECAXlkRjUP2Vmj2-UPXsXZHEE30scXFLvV0lYvvzdbU5ceLxqvzO7e9hsrEBtjZoRcuXf-W5ciG0f4vilFfm6v0pzvgybK_6ZibgMXRxj-BEEVrE06bUdHw9hhcP52qEVl12yfkagFBbWdlfhCidRV96atQNWyLT0Alk_cZC3_gqsSj5lM2HB5R8eG19xNpZEdB0pmqiTiArcr66Mk7dmRs2gzMwGP_Nfsu4cLQrkR48_OIH9onRU7uX_6IE3U7VynE_53BUPrZtDZCUUv_ILn5ekW77Wk-2xX3B84c85pvnhdZMOJLC5MDdprY-Is53Dir6nFCergYq7JmLe-s6ekf-NNZyVp3EFs2UK2oytMGhV09XOJJI2Qs3vJBpmZOAIusJ4PybhV31wUjW79d5M7RCiTzlF_4kjWviIhgHVqrpJPDhwgPyPFnxF1zi3PzAmYbv-OAC3Tc8umpRkpbeNcS9J12iq1Bq5ZEIR5SFNK1EiB1Po9Dog8it-VswjBITw3NfPJgQ160RZMnu3lbyWZohXXPzjdEetv8q67WImkJ3Nw-RGj-Q_HkztAGYeR6mrvGKXJFYqMheHWSbgdhm1kH3fubuIFNwwlM9XD8iMNU4404vMIGGZWxLpL_GURSHf0PAgukTt3aho_1KH23lC_acA344Spek-tKS-LmwQxiFsB04_QGEM6PIhi5UH9vJBskhWz8X5uE_AoYcIJXswjD2rJ5GhYX6tpq823b4MAOggC-yTRAyjIYPPdf4DCJyAzAPw9Y0KU1x0f0vz3SH60qbpOiNBYKSBH56T8ZXP0usVkcB6QNwa6JXfxo_7r35ekuezQraQirLXvGuwPvRELm_Jmft1rSSJYwpRc6Oux45Ud8P_6sfHdBBQQy68afD8tF2RZm3AeE9cnu9IPQqqV20a4nibaBzneNkaIFb173WkjHT-2_yVMaFBPt4if04LPiGr0dJx7hgYlcA7reFERvn4BLLsDX-g2PqZoaq1LMcMMnQ3WcYyywnwTob55uNnSZnx3MN-2pg79QqZ327VJ1NTNsBy4ETc_mV93yeJLGIWBapCU5NrwJB2Xb05A1-cxiyX3e3WmSCp-DeWQWlTIf4D3ZMSPP1h51m2sgaSaO3SRw3gw6rv4vBjdZ26Di5ST3lCANm9L5pYFzFuu2_ExPMQ1j3GCoBxPLO7AdiZqb_6kp84AblnwCq2meAzuNld0nH5YlVwcTdRYVewKTbAPucZhqhdODbHgoDAOTQLqQzQfSjhHb8rU8VeP9Na1E1c0cq4hOS69YRGm_tNLcYE0b9SayJ8Hhn3B9qzUMZ7P3O87tuPTEzEfsBgwb2KCbFtgaVftXLS_ySvrGtit0KwshJw8tAEhD52YUOxTDIg9R0oioDa37G03Gu_w-aeqhTZt2qv9WZKr8CWnoECojYJHqj-Uel3Sse5jEvADNZjGt3Hv0WGP9wbj_R4i_LbBd5WTHW26-CoI8137-VDwyZ2jc7REBt2aXfTPEvndAsOZvHOVa-EgzyWetciy7mJZvw7dBM_nfuCSEwn4BopR8Sb61TC0No_2UcwQGvV3lU9jIN-4a6QR0aSWNdgn-Cy8ZuQkM-SshoNs_SisxSc6pX5-yFjpBgeeDY33ffUskC7KTTaq1nABMD5-rhli1r7FEbyTPYTtewUvqvDUZcdUMq-XBSQpggm4t5HhCVej2YKcCLPK_f1lkxlH_M4ropXJeY0VOYNY4qZoVQ8D_zk-N0py_yYJBECCVBm1hgLo9z_tqsOUuFSohIRYUYkhOhmK2u8fWRF8aabHupmxkXYXud9E0AC7SRpP6S1A_3LlgR-C22lJIzYbgLxtJiJt-VHOy-mMDcz1CPRUkCIvlB4NCRunLwiYrUHv6Ces6ArP5PuU9A9ZxKbP6FfwyZgh7C3V6tmewiegmE6AS_qlRDPu1meQmIyfLSyJm5vuSgfoY-FfBql__qzDsHoGhkG-bqxY0xBv0ID-_YQQyEo2a2iBgVKRZM1WxjJVF7KgodS7y9r-P7dfVIT52aOdtWjDJqyyR1YYwgGl07yTbJrqFc9dlGuQ6afzf6Z7UR11mYUVKqVeNkqOeq_WJY4Gc5gfJBHlpNGWbnXotM9BC-KzvnlOhPj66ClsNoaFbuJghRGGTRWRDEjlR1x0Td6Vn_qzD",
  "id": "rs_07077555c3518f03016ab2c18bf76087d0a7c57d45e91dc96a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.172,\"left_z\":0.04},\"note\":\"The jaws are beside the bowl’s near-right curve rather than squarely across the rim. I’ll advance a little and lower to put the rim between the fingertips.\"}",
  "call_id": "call_qFUFp3C2kZ1UwGV1Y6loqGpj",
  "id": "fc_07077555c3518f03016ab2c19294d087d0b397cc3e509293bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qFUFp3C2kZ1UwGV1Y6loqGpj",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5991, 1.784, 0.8021, 0.1623, -0.4744, -0.3927, 0.6525, -0.0219, 0.8005, 0.6018, -0.3931, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3919 left_y=-0.1655 left_z=0.0337 left_yaw=-0.0094 left_pitch=-0.1411 left_roll=0.0672 left_gripper=0.6525 right_x=0.2931 right_y=0.0001 right_z=0.1745 right_yaw=-0.0028 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -8.1983, 7.8564, 1.6044, -0.2027, 0.1001, -0.105, -0.1026, -1.0598, 7.0222, 1.7118, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e6506d9b23c3472d5e33ca796cb360e2f896b69a7c78be073b7d9fb9f9d766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f07e3354d7dc88a07dcf6b54aaf86db3e97c178ff7187315e34ebb761c76798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460452e711b2366d1e2e898a9add6e6c0846a95919b7984378282b12e10e32ab",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6487, 1.6611, 0.7681, 0.0937, -0.4965, -0.4091, 0.6534, -0.0219, 0.7982, 0.6018, -0.3923, -0.0166, -0.0303, 0.9964]\nstate[eef_state]: left_x=0.3729 left_y=-0.1726 left_z=0.0602 left_yaw=-0.0346 left_pitch=-0.1147 left_roll=0.0563 left_gripper=0.6534 right_x=0.2931 right_y=0.0001 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.0195 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.6085, -7.1316, 5.3949, 1.6532, -0.4127, -0.0366, 0.0562, -0.1026, -1.3197, 7.1863, 1.7607, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bowl’s rim now runs between the open fingertips. I’ll close gently through the commanded stroke and check whether the jaws retain the rim.\"}",
  "call_id": "call_vNpf1m0xLEc8zaPQVbknoiX5",
  "id": "fc_07077555c3518f03016ab2c19789b487d09ea89c418f78937c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vNpf1m0xLEc8zaPQVbknoiX5",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5854, 1.8076, 0.8215, 0.1871, -0.4847, -0.3557, 0.0218, -0.0216, 0.8024, 0.5999, -0.3935, -0.0162, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4018 left_y=-0.1633 left_z=0.0353 left_yaw=-0.0092 left_pitch=-0.1216 left_roll=0.0906 left_gripper=0.0218 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=-0.0027 right_pitch=-0.0267 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -8.3077, 6.4615, 1.4383, 0.0757, -0.0513, 0.9597, -0.0615, -1.2376, 7.1453, 1.7753, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f146653b91ab4a15c92c4ff0538066c7a3cd2d9ef98d2675f2ae7065268fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc33ed7232d87282bd39f0ee6fdda57dd65d29f81024b1af1b7064eedafeb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deea9cb1a455c2aeb769c98840d0df1bc67204ee6622f28a5113bf685d86470d",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.5991, 1.784, 0.8021, 0.1623, -0.4744, -0.3927, 0.6525, -0.0219, 0.8005, 0.6018, -0.3931, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3919 left_y=-0.1655 left_z=0.0337 left_yaw=-0.0094 left_pitch=-0.1411 left_roll=0.0672 left_gripper=0.6525 right_x=0.2931 right_y=0.0001 right_z=0.1745 right_yaw=-0.0028 right_pitch=-0.0225 right_roll=0.003 right_gripper=0.9964\nstate[joint_eff]: [0.1709, -8.1983, 7.8564, 1.6044, -0.2027, 0.1001, -0.105, -0.1026, -1.0598, 7.0222, 1.7118, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssGhjViSXVT1t8_8_RNZqu1KRXlLG8_tmcszCoG-JHAEAuMx6U9fUutLbsm6FDwGv1yUqmB7X8D0BWV_FuVr_Q5wz_wY5eUxCnIMhGzqWHYt2A9xiKNWMaHZSdc8prc2c7hUHlEi91ZfRgWnqU64jAI19k37PtOLJ4q7nd_VzjfVtzxy1YGKmUtNbGfLqb48YNAcoWEBz0dzjfg-t2FbZ0sInR7792x-RCQJjfaBEOWvHQoJ-sEXSilULs20qXzaMpxzgj-m9UQWrwwyKxc_3Fj0byNrUduabG-B9KwyUcKZd5DXmk3La0_bT444RG5FAul5-Cqe_KRSAOOY1jcpl1hDpTTH55-8voYpanILpVcBEqhc0aVeE7UfMA8eF-pZMQ0ouBz5GRj9fzE41am85VD4CUaHCGPPN9zqhxinbXBdW9ZUkigV6TDa8N-RG9GzBepzjONXHkqetGM2GDlgWH8Eo98vrOjJmpK1oViIeJ0Y6aLI-_Bq04P18JNVHoIoawt9niZDIlcSH95Uv95QSEQiZE360Hl1_0hT-eA9ntLOprcj9iy6ELoH5tDJ-1TOKZdvEXJrOzisNhIigPE3NBWH_VyYGk3-k9W6UNG6w56VWPy-4RSL-zQ586Tar_A96FfhTpK1J9N1kD8Jv_rAz_D7YOK2tvYq4TCQHub_xkoSNnH_w1rWWV4YIjdcpYAKTR2xwxg5JWdawUQYFArwXUoXJIJkmBU6a7uPJRK8DlUTBUcrauwZ8PqJ9slUjg_qR8Rzvpvn2bkwJwuoPvbP62R6JVlDfReLIx61ZH7W4EKV0ZnapDD5QpRmJ7w22-Ndl6yvqgJchfkrug4_U6y4KHh51tHQFUfHBPxwnrzzDdquGTRf4_lVsRacQnF66XK1NgvWonUAIRvbA1WMG8ux5-tcGrofK6X7pPnvQgKPwoDogDxa793lFdV_lw4mNuyjLVpnVGaNsTnymGDYIXnIbQZDQht_stCd-LcGpRRSRf36V8Xl4iOGirq0iX4kF3w1LPJwoxicYgfVyPsXG5NgZocQvxvi-Uxr1sS_gdPdUXTs9mebMt-uP7Eqx9-cC6HIiM9OAeqnglhXpnV-TQwM6huXBZiEc25RDKtQja_nD8TV86drTlwUn5H5I9_cccg6_qcsv_vCwxD8pWQKZ5hIGvjn3-Fd7zNdU4xjhmrRtM4RAkCWmGA90iN5lUqfpGgb7USeu0rQ1G_4sMe4G9abmIFLu5Vi6_qwNGRdF0fi2fwYKE6A5WkJ_X8dXAH3MYPQS0wOf9K9d3UokxLwNvmZJLaY0iwz-H-RtiVAscdZvDPTBggfXvcbrrnr8lkr3aVtI_LC7Y0euJ4Cg3LKRW6fwf8yRxRvIwnkotWBZtnyFj-Htsq41XVCjuJk-j4P-6RAd3YN5XTZv4zIvuMkFU_6IEwhcMgUntFb3mWHphRNbLDpclPog83TozgyUOFlsuzA9CU1",
  "id": "rs_07077555c3518f03016ab2c19bbcf487d0ae4cdbf388568e8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6,\"left_x\":0.42,\"left_y\":-0.153,\"left_z\":0.047},\"note\":\"The gripper closed almost completely, so the rim was probably missed. I’ll reopen and shift slightly forward and inward for one corrected grasp.\"}",
  "call_id": "call_P7T68W1TMHCriig1evbCxi2q",
  "id": "fc_07077555c3518f03016ab2c19db9ac87d08266410e8f123dcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P7T68W1TMHCriig1evbCxi2q",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5343, 1.8072, 0.8455, 0.1585, -0.4507, -0.337, 0.5943, -0.0219, 0.8043, 0.5999, -0.4114, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4114 left_y=-0.1498 left_z=0.0373 left_yaw=0.0058 left_pitch=-0.139 left_roll=0.0865 left_gripper=0.5943 right_x=0.2906 right_y=0.0001 right_z=0.1688 right_yaw=-0.0028 right_pitch=-0.0465 right_roll=0.0035 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1436, 8.1573, 1.4579, -0.1392, 0.1734, 0.0171, -0.1436, -1.4154, 7.2957, 1.8388, -0.0513, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e87fc49a32a00e8125340dc573c16df0b8d4e7e1c5b223cc3bad4b904efcac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24975a6b9ca3d219677d0a76ab9fade89b430d1149a6047a5b14a66200997126",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcac2cd5fd33698af71eac18f4a8d857848499fbcd1e699c49f83ecf753aa4c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5854, 1.8076, 0.8215, 0.1871, -0.4847, -0.3557, 0.0218, -0.0216, 0.8024, 0.5999, -0.3935, -0.0162, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4018 left_y=-0.1633 left_z=0.0353 left_yaw=-0.0092 left_pitch=-0.1216 left_roll=0.0906 left_gripper=0.0218 right_x=0.293 right_y=0.0001 right_z=0.173 right_yaw=-0.0027 right_pitch=-0.0267 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -8.3077, 6.4615, 1.4383, 0.0757, -0.0513, 0.9597, -0.0615, -1.2376, 7.1453, 1.7753, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"One finger is now visibly inside the left bowl and the other is outside its right rim. I’ll close on that wall while returning the idle arm to its parked height.\"}",
  "call_id": "call_SYSPIhMb6u3wXo8NN0UoF9WK",
  "id": "fc_07077555c3518f03016ab2c1a4dda487d0ae903ca9eb29d72e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SYSPIhMb6u3wXo8NN0UoF9WK",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.8053, 0.8497, 0.1535, -0.4553, -0.3347, 0.0229, -0.0216, 0.8318, 0.6128, -0.44, -0.0166, -0.0307, 0.9964]\nstate[eef_state]: left_x=0.4128 left_y=-0.1477 left_z=0.0391 left_yaw=0.0122 left_pitch=-0.1365 left_roll=0.0905 left_gripper=0.0229 right_x=0.2896 right_y=0.0003 right_z=0.1616 right_yaw=-0.0019 right_pitch=-0.0896 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -8.1846, 5.2308, 1.409, -0.0952, -0.0708, 1.0134, -0.1709, -1.0735, 10.2632, 1.7656, -0.0317, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e193cea1914457c6e113e10725185bf0565f4d31f209d2895116cd5f3aaf3406",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98bf24ab5a85a42325b6076f4f425af690412be114ae3923d59407c1bffaa39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01a45c5f4431ec27ff75465662f3322e1633c20b7a29e42c64d79a2aca99249",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.5343, 1.8072, 0.8455, 0.1585, -0.4507, -0.337, 0.5943, -0.0219, 0.8043, 0.5999, -0.4114, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4114 left_y=-0.1498 left_z=0.0373 left_yaw=0.0058 left_pitch=-0.139 left_roll=0.0865 left_gripper=0.5943 right_x=0.2906 right_y=0.0001 right_z=0.1688 right_yaw=-0.0028 right_pitch=-0.0465 right_roll=0.0035 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1436, 8.1573, 1.4579, -0.1392, 0.1734, 0.0171, -0.1436, -1.4154, 7.2957, 1.8388, -0.0513, -0.0269, -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": "gAAAAABqssGsJis87Q1seOvMgZRcNHvQStSGyiUrS14cNOsUX3qLcPPqWwJw0A0EwGclZhKPpFh-dvpzZTq-EhiVSHxBGRLyGfmotMQZBYRs8dAOL22pJpnTAWcq4aoEi1Dx-C5-xMRFCA57I3d5ScUXkAMXVESWUytO3hXVeyjM6Iv4NkScr6_962eWLESYwi3_Pt28wEy0cvr31XBl8gM8YMct5kIQ5oNNeRS8iqJWE2KPse6E4vuXGJKXlLKLumMutba5rGPiXMe6s5Je7iPpbzqVHTop5sKGZhwnsQsZKGisvBeRjGdr4ZGaHOKQiPn8m1x82vqaujgsSql0qpI-lijsjagrU2TEWiu8icO6lSc4xBLECgVCNVulvH5H8bw79F3J8SoL-Fy5TfbhkSZF9Xsn2tbp4QAMmXphf_EBfOA-rORGRJo-WyZBiyqePwnos-IMvGL-ckwbZX16QxKlApIAMgDi3UwvMgzej9t-4uSoB11OWEAGHMEzMouaM3eca51rUBsmvLI7HQVKJOPWY3ETiDVadM_QCPh4fQC8WIs5OftYW7fs8T-0bS1L0FUmSByHzPxLsm6bQsFMPgaqsacIfdrxnHDoIE7WHVlJukRaCerTnoyRBWP3W9ta39oCiyfdVVWYboMdUorPYrU6hRRbGgJhpRPur4v6I84SJQi4CbyvTvOf276ANNvP_qz_FNdTnFD-D0CJvzP5-i9VGVnBNOvRDx6sbH2_fHj1voieSQuEqKVjt96YG5YVM5qh1cIpjHDeP1uKmtd-BY4eVmyb_bQSvHxoujnT9HCjoGE9Fk4zsP3vwPIE2UPbbHyxxE5jeeTF2AaVk7exSciI_bWZU9Im5xuX2l89ajjiyEAntb-WRTUVJzxObsbe6PBrWOQRX5LoPz2Tqu1EjA2OuhjR8ESwvABp6VPS5yXvDOlAqpZJkfb_s9h97I9SjcWTMYJWm1ehhIyvgrpGgtK23Pisq2-lSf_iv3xuIeVN7BxUYQ7LuITa4sjNPp9f9zFg3dyOj0NnHt4BgCFKnQS_mC12PyzclNGXiT9edTWzwCEqfBzn7uP4ykL01W4CSBgy-l5lp2y2PbY-PMNAGFdoc0sEIv8-NzIiGEG8D_Re1pox3nr-7ymyFgnfzbdipmjr8mfFo5bMI64yxV-b5Zs4BLM0wxMa7c3uZGQcWsmsnMsrZo5bhhbw60n2WkxO1JMW60XRIfm8kURTmoh0sEvsj11AGI0TzoDhTXh73bba8qBEyeE8CZ8ITk0ZeQUN6h7a6e0VejvhEnSbRHSfhQIjL942Nn2x_w==",
  "id": "rs_07077555c3518f03016ab2c1a99e1887d0b2301c0aca7ab164",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaw reading is very small, although the bowl wall appears caught at the fingertips. I’ll lift only five centimetres to distinguish a thin-rim grasp from another empty close.\"}",
  "call_id": "call_BJekMAiozeFrYSreL5vs9BxT",
  "id": "fc_07077555c3518f03016ab2c1aa97fc87d0b91ac4aab342a867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJekMAiozeFrYSreL5vs9BxT",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.6943, 0.9451, -0.0769, -0.4618, -0.3408, 0.0294, -0.0216, 0.8314, 0.6102, -0.445, -0.0166, -0.0303, 0.9964]\nstate[eef_state]: left_x=0.4105 left_y=-0.1452 left_z=0.0834 left_yaw=0.0224 left_pitch=-0.1542 left_roll=0.1025 left_gripper=0.0294 right_x=0.2884 right_y=0.0003 right_z=0.1595 right_yaw=-0.0021 right_pitch=-0.0969 right_roll=0.0041 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.853, 8.759, 1.4335, -0.1734, 0.0317, 1.0281, -0.1846, -1.2376, 7.2, 1.746, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91e7b0e33dc788e68219e181bf2f2cca7fb069941842c00cb244d553be24efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b219147846d062aa416662dc4fee2d171337e17de00b6588725f5e35978521da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81831bb32f7fee1058462ae104ba7c6e8907aab3d039fd203410f8521a14ee3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.8053, 0.8497, 0.1535, -0.4553, -0.3347, 0.0229, -0.0216, 0.8318, 0.6128, -0.44, -0.0166, -0.0307, 0.9964]\nstate[eef_state]: left_x=0.4128 left_y=-0.1477 left_z=0.0391 left_yaw=0.0122 left_pitch=-0.1365 left_roll=0.0905 left_gripper=0.0229 right_x=0.2896 right_y=0.0003 right_z=0.1616 right_yaw=-0.0019 right_pitch=-0.0896 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -8.1846, 5.2308, 1.409, -0.0952, -0.0708, 1.0134, -0.1709, -1.0735, 10.2632, 1.7656, -0.0317, -0.0513, -0.0122]\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": "gAAAAABqssGz6ei8c2Izek76KRAbM6X0b_SMvfZMG1hTcGxwSqSggPL8ddk3zPOLVt_xx0uGThIGbEzcN0M1FRfA0ZQgagT8s_dofVPNxQGVysJI4VFYzuSHsyzxS_B65FZmgsMK9xFbZiRVIgkQJ62QhDZXG_UQoL_A_3bFG0BVU8cg_gyJE9ofP4oSp3wR4d83pIzu0Y6P8Wz4tXt-WihH3NIsEwX7DEO--UPOHGIcbDgTOWkuUEEsAEdbJfjqkpR6HLr4-J_8D3Lg22Sk61-CocYo-wXR_d7J6BwoQXEmRTbPaM-oJzV-Wpo0sxbzEmaWG7mjyV6V6qQwS6vLMD3aRyo6IsC-8D52jhflknjQgLPT6K_83IFqomylSejoo0kCXDyDAH79kXoCTWon3GR2BvNqGMYmvSa7hMnAThKSOvKMfMRH_ZiAxCHiW5HEZpILwxb49rWWjptNg17o2Y5-7mOIKQuknh9Juzo-BFWIRLMebFoPDkHazmajVAde6ByR-aJYrOP-ej9tCBamw-SloNqChervEJvZmPtEqs6IjBa19yjaDTI0bCxx_kEZoZU3StrEZyBB8KWsVkShrVXtd4TbiBw7Xn6m0QkYZVKS3SZmbtXe8_wk3AoCIZtdLMfIJ5uHWbEt1IDDUH0WFbEIl6m30rabMNkZrkFSONTix46Iyp7HBiAImRT149PmPCitdM8GQG75pYOkLvT6Iba85ruOgw_8_Ugyrwy-fA10BHkqhynQMpLsfiT_j4C3UPbDpGLPAZEHsoePc5hpvj4ktl7r6WmG1vnRZeSaTs1YsPPsfmv_ZXiq8n7eGSukAOcJJKPltYFJiNjBQMk3O30wHAusBUih2y5hHnZlg1M8eKIb2wB7lL1WCH1hU36x-w7lqaNEqdOYXTe0u-NPP6phpJncqA5YbRuQY326ug_C6x-Iia2f_4FaV4kvL8-81TL9r98wTJXXR9cn2cRbRV9mFc5GW-bEbpYI7p2bf8Qpp_qifoDg7nGMxOHHLyNhcXwNlV-lXxw9JjICtJRmYBsnNohDmNy3kesxMqJHid9osr24MBGRgguAikoLJDgvWiE3U6K0jos_myyZtwnO2XsFoNmuVKcbIArbJHAOKCQWs7oDzpEcGJ_rs4MSrd34fCeHAiDbr8VHl7w8wXhMol5fTUjbDCkUWmlVl9zShqxoXIdVRKDduMg0YBoqDe3LQosGXBjuAmExtPTv5e7KVyQxTCOzO1wGjHVE438HWPA6-OhehDWdac-1Wx_GMNcIJ9ZFAG1iehAAvG-VsA-Mc_-vUUbuRPo5slfQc7UQXx7vslD79gdtqw1OXodoG_L6Yw9cUwhFqKOxjMBV8lqd2wH2tbTBy-Wn43NL_D8lThLUiPzWM8-Er3UxtzOFBJoR6YjOsIF4Cs5Gc1K-H3ZzFgPDwkCXYZCeX00ILUG7-kzZx7NZ5OKEzxXj37n4dviw-FBdl5s-4C3vGMkd9mGffAzNA58t37J-lqezoYK_2HXY9D6GSXIPohfj_pEbvn1BuL0mp-9DZUn3W0DRRQkqDZG0oILEiLd3Ig0YOUCngM7eRvncAzuo8bykAzXxlU0fqicWPktqDdoNDLtRWNjv_FHQj6EADSi4xmM4mZvRbJu0tyyyR2egOc4=",
  "id": "rs_07077555c3518f03016ab2c1ae3abc87d08af12c5b1467e33f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The bowl stayed fixed against the fingertips as the gripper rose, indicating a thin-wall grasp despite the small jaw reading. I’ll raise it to carrying height before moving over the middle bowl.\"}",
  "call_id": "call_Mt4fXhqfxHrullUzNTyIlPGb",
  "id": "fc_07077555c3518f03016ab2c1b1b5d887d08299e80e33d6c7c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mt4fXhqfxHrullUzNTyIlPGb",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.6028, 1.2129, -0.4576, -0.4545, -0.3412, 0.0294, -0.0219, 0.8314, 0.6086, -0.445, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4115 left_y=-0.1471 left_z=0.1669 left_yaw=0.0188 left_pitch=-0.1752 left_roll=0.1089 left_gripper=0.0294 right_x=0.2882 right_y=0.0002 right_z=0.1588 right_yaw=-0.0027 right_pitch=-0.0984 right_roll=0.0045 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -9.4427, 9.1282, 1.4042, -0.3053, -0.0366, 1.033, -0.0615, -1.0735, 7.0769, 1.6825, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43767fccabb58bd9456845ffcfb9e72cb66a5ce2c4d28cbd77f810a4bcb87816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec7de054414c30dfc469201365d438b839b767e1873237cc68c65c99d393a50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b158a41da9b84e62504706a26f95de297c405e8684fec97c2d53a0c92379f6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.6943, 0.9451, -0.0769, -0.4618, -0.3408, 0.0294, -0.0216, 0.8314, 0.6102, -0.445, -0.0166, -0.0303, 0.9964]\nstate[eef_state]: left_x=0.4105 left_y=-0.1452 left_z=0.0834 left_yaw=0.0224 left_pitch=-0.1542 left_roll=0.1025 left_gripper=0.0294 right_x=0.2884 right_y=0.0003 right_z=0.1595 right_yaw=-0.0021 right_pitch=-0.0969 right_roll=0.0041 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.853, 8.759, 1.4335, -0.1734, 0.0317, 1.0281, -0.1846, -1.2376, 7.2, 1.746, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.393,\"left_y\":-0.283,\"left_z\":0.19},\"note\":\"The left bowl is clear of the table and remains held by its rim. I’ll move it rightward over the middle bowl, preserving its upright orientation.\"}",
  "call_id": "call_MIonWu0Vs1PnHLeQhrLxZFNL",
  "id": "fc_07077555c3518f03016ab2c1b5db3c87d091b5138ae3e76f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MIonWu0Vs1PnHLeQhrLxZFNL",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8436, 1.8942, 1.6466, -0.7757, -0.6159, -0.6334, 0.0294, -0.0219, 0.836, 0.6075, -0.4484, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3898 left_y=-0.2792 left_z=0.1776 left_yaw=0.0027 left_pitch=-0.2076 left_roll=0.1096 left_gripper=0.0294 right_x=0.2877 right_y=0.0002 right_z=0.1564 right_yaw=-0.0027 right_pitch=-0.1076 right_roll=0.0046 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -9.8393, 8.9504, 1.1062, -0.5446, 0.0659, 1.0379, -0.3487, -1.812, 7.2, 1.7216, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be1799808ebf23dd76434e1c7c34260b57f7361e24ee9c8bf84a80f1892da168",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087883b832d82c5407ce0a713a76a33f270226036ee47c5be7f7e1f1dcd3e5d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493f2f2eb601c1a9d3c733d9c3fdace604c35d6f625d22e3e6e2b5eb4ef6ec17",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5301, 1.6028, 1.2129, -0.4576, -0.4545, -0.3412, 0.0294, -0.0219, 0.8314, 0.6086, -0.445, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4115 left_y=-0.1471 left_z=0.1669 left_yaw=0.0188 left_pitch=-0.1752 left_roll=0.1089 left_gripper=0.0294 right_x=0.2882 right_y=0.0002 right_z=0.1588 right_yaw=-0.0027 right_pitch=-0.0984 right_roll=0.0045 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -9.4427, 9.1282, 1.4042, -0.3053, -0.0366, 1.033, -0.0615, -1.0735, 7.0769, 1.6825, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssG-vUQRNBtJPX6gBf4A37bpzo1SCoFl23LMD9rAXZpdAg1P7U-dAyIxlRgOfd8SAHkBE15mYb6SfUJm-hs9xB2cwZ-RQz2WSDOK167McGdid9HrZSpOSe2vn0Au5c8bmJGJvzDVebjJxq0uTLe_DcdJ4FaYcqh2zw_o6GA2xLkdI0n3ywidn8ho4fNbBye_WNvGjA7f_kaR61Ww26aMXfak7_HGLBr4gxkL-AkE7kS5Bi5C4tcyBbmDhKzbDpXjKmEod6ChmRRdxGtw995X8g961QHPBf8zWHxR2bctmXUuWlIEI1b79KETh1bnmQOa5pPr-55wHkXuTLcuHoBvz9cFpZUv3WeFmgq6F7g6-dxmfUgtxfb5lnuho5KbnbwWiKcAf_0Ctx_O2ND4gLoMybt1ojysSa6nu9Q_xFw7--9X5_WzPxv_gfNJhow3m8nOTOZVdbsIyaqzydjOfAGbwnUabe3YRU_sBv6RBNIkcQz8mLBSzI2BboNwT7JCC0EToNYTaGBI2DFzRUYt7UtEW1goRdJynS5qes9eL4qE7_k140EIlgq6RVoRErsoWOcG8rPS_OJq0affQm6CZiw3eRNGtCyHn1-3YHzECW9flVQV4F5UHVnyLKGhiGB82P0bDySpZmUl5M_aR3dpG4FezWLoeLmwe6o5MiBux8h4gR98j3nMaUd1JcT84N2-zMxYgQIlRSPGU0GzDlJNpkIASd_E8LRSEybXk79bCoJ0AhSabDhI2tcDVi8nCEk_Ggb_k7111GVtFD-oSejnclwJEjT1z4SvdBjYccAaFnuvLW0qXfGLc6pJd7qWdbpSkrEASqzGsQkFtowiTBtPmc9-ziUV2z7UiIdo5JjT-bkznERnVCbaowy-jdi0FUXv44qArah4zv53bvviW5H5XkcXuFEwIVHBZ4fzxROD4IfIyBSA4u4TQ-xje35FcyNqdtYwfbNdMJzSGBV7JVyevIRIwuc8hknhbVk3it3xkunF0Fq0jLWlaV2Rz41yUTJy47ltg4OUY0GpzG3LHSMwQt_IafJJCV7ZNhVJ2ojUnZW_IzeXmR7aQhe8xDKnaH1G-klzdyPt-aZ8csXV2itqhe1mE3VvDNmxS41sap4-p-t1zq5VuXZ_24NzoIV6U1SS_a6LV5MXKIgbP6h69D621B1A4rpaKzFe9tQkxTbeO8CMdfuXlx7zCedyivvNaGNvY7-IxMVRTzq1hAKkA-_D4a60j8gwR_1n6raLKrLYjSQqkRuqTWCYzXj-XPij4VR6BfjcnhGqfC2N1ZdkdJgHr-VsFOIYeWpZUPIBDZQOUZB8x7jusFQTU1VDDomDE69X_vTN6fxYOTkIQqJ3MwIB5PzyTyhKmHRL0pd4hcdCiC6LGnxCeL8CMfK_fMGJ4_Q9-MtilUZHb222j2VZWFugvxMn0RboMd8voyeoefo5ey708vdG_XvUWYffAfZrRq1HT4dWdaZ9T1byxAJokDBfA_mDQ72lFNZGDH8hHgi40vid2d0BchYil4wbcNclfec9cRCwIr2y1PTfyh5njwmDKyqvdDyvbeJPZYRlXfOYsWbUSaykpVoFiXRuV4BVwEs4dHPk04mhvKfZL5KJx3fDmyDfF3ORw0dYEzgeq-Pp6hEGEVJwdZ--GA2VptBFWa7-GNqpiF66rx5RCJtkUMAr4DtDX4sCGqxJiX-fWbaF1y80uLVQoLBh3jjyWGwZyaDa9jK8USfBL-RDqf4Q3jaC5G7Y-l86OGS_vzgYGJLwGiYt5P_ufUk=",
  "id": "rs_07077555c3518f03016ab2c1ba845487d0a33bdb53b9e0643d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The carried bowl is above the middle bowl, but the wrist view suggests some lateral offset. I’ll lower partway to assess their alignment before seating them.\"}",
  "call_id": "call_pcTjYV3ZHptodZ3wh3SpVxad",
  "id": "fc_07077555c3518f03016ab2c1bd800487d0a21c5c1441f8ab90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pcTjYV3ZHptodZ3wh3SpVxad",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.9247, 1.4181, -0.5774, -0.6025, -0.6441, 0.0294, -0.0219, 0.8364, 0.6075, -0.4557, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3791 left_y=-0.2732 left_z=0.1028 left_yaw=0.0064 left_pitch=-0.2556 left_roll=0.1409 left_gripper=0.0294 right_x=0.2866 right_y=0.0002 right_z=0.1549 right_yaw=-0.0027 right_pitch=-0.1152 right_roll=0.0048 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -9.2239, 7.159, 1.4286, -0.4664, 0.0659, 1.033, -0.0615, -1.3333, 6.9812, 1.7314, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c567e7bafbfaacbfc88948327b033e57a854125722182deac5be80773dd82e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f50910ae455575b26093b6b35fdd0161d62a1b13a70ed45b98ca8360828cea9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaf0285324af52f2628d3e360a94c3500cff5dba155f6e6556f9cd460e5fa222",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8436, 1.8942, 1.6466, -0.7757, -0.6159, -0.6334, 0.0294, -0.0219, 0.836, 0.6075, -0.4484, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3898 left_y=-0.2792 left_z=0.1776 left_yaw=0.0027 left_pitch=-0.2076 left_roll=0.1096 left_gripper=0.0294 right_x=0.2877 right_y=0.0002 right_z=0.1564 right_yaw=-0.0027 right_pitch=-0.1076 right_roll=0.0046 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -9.8393, 8.9504, 1.1062, -0.5446, 0.0659, 1.0379, -0.3487, -1.812, 7.2, 1.7216, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHHQpMiEp_8Pzi6u7Jbd-W_ac6bthzpMPikBUwOaOY0VASuci8BKt8svdL5RIw6NT7UhZkNyroGa6Mb1r1t9oEZk4z_nwVUNB-rDcF3s-JCPXu00JzI9IO_EYQBfvY5dlD_S2UAWfUavP86b9TsYv5reu33Lb95T-bwhObGYhlK1J2lRZcnKDkbsom6Sl5t8ovtvj57ntAzL9Zndh8oENU4UcVaf59O2vTSMN8Ut0Qve60EAfBQmngKJ51bB18FkH_bEj11i4jtEodZaFa2rUu3DG_1e9X0BUaK_h1m6OzTztlorWFhFtPD8j1GaXYzE4aqBujuYkTxZ71Wr_9yQy3P7cyprmDd8_NC0DqOHf6qJcPrrtQoKN6nrbdt5hkYypugjL0Dg4bINZBF-pn4msXoZTnPrWENqk4DjgbKso7vCvsUmi_wFvQRI_4K9T49iq4MDgXRp2O70VTkqBdvtVTuCLJP-twWUHYMCSQpca9J5yWifGEbePf_JCjFadmUaOvV9nk4GsU5wQGmfq4bpOATP1CA46Ds4kX8nh9WcNSvdmLYw30DV-F_fXp694WPa_JtVKw5EFVonoGl8OOqPmaCEm47d-ClhI8e_TzY1mlnyXEDlGp0kG8ebGeiHMS-WDzslgsEDUE2OcErNMgPYzxRMU8VvU0c2iXoKBu8BiFrqHzXqbAGnCrPWhPiGBd7lGtL2TEqyk_K2uqJAOiDc5Vb4cfYLLsUWlK-XrR5PQ_mLAMiaoeBJ7LAQey4ORjqNSnvUlZn6t9cQpTDvOP99Bt7ixtn5aIcXrHiqW1bMebJzkqIDc6Ps_g-sGdwzACcEeGRJvG60DW9IPmx-zGGxU-RijSMWbAw5l0I0UnGK6hHD1Gq1xAmmRWJ2bECf9GcEbDypPEv5D8PTU_t0-g6OHa5O4bMX68w1N3RmlvFgtzho3M4ah5GuqZ1-wAJ76qXeGLBvH3ARIPEsFDIePyFrlhW7koltLlLz40QOlzlAxDhupVPh1agJm0glMAAuBmNvaUHZfEpcPUWIWWCfFGQ47Pa-Hp1vnsqB2WdQdLbflxCtaGakykdBZG4W3fyHeuAKvnTe5XkeomxYy5rbgZlS5a8nDBxayy9US-p15iZLPfMOPe8fiI2rSTI-07ymHUpE4-nwiySFZClfaL_G-1cOQ0vkugVRUqhUlAkJTgqBJ6nXObizSbJwY_UM-hDr7IX5kkV6WDx9ErN6P-vam1Q_onn2u167oh5mK6cTwAncVihC5ASbxkIQV5Y38YZNne2ZoFrnoiv3ojnnmN8hq5XkG50KLXffCZFMB29M-jUZEpd8oi1d8N0krdD8w7SlPAJ36_SaRu4PfMXfC7mGnhLqHejlFG-k9_DbNWOLnU6FhDEa9MMmP59yOjkEriL61PA2htK2hRdavnj-ddIDzj0vtrLdYZXKFfXiZW_9duITPdZ2dK0qAc6T_OlL69VQL4h4hfMHgBS0EGybwwoTp1wRswsxqXvDY81_EtaktjBpMBUZwyr_Sgg4mjRgi0oOxJNdbtsa6PBGljoZYkFSNtESPYH2OVKcrRoZlEQ92gOVQXaypEtJF0yo8TGUffq8zYLHqNcR4oZzrQsk-Lx98shHxKXCEfveHIP_5ApNrywxMGZRHC7viM5r35FqEoHo8dz7bzFMvV81f-NaP8YKBloPzjF4GfqcQRurGgc-vp4Zv8-MW7DzY2x-u7-X_nsJqEKIATN6OnZUYZ6InBEJGIuqaZmj8KQBeoMSkrsglKd8prKiitUHM7Jzo-tIGipMyvcgdf4fgdlvb2kkYc9B5blUd3kNg==",
  "id": "rs_07077555c3518f03016ab2c1c1510c87d09056bec1b8de9cba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.355,\"left_z\":0.125},\"note\":\"At the lower view, the middle bowl is clearly to the right of the carried bowl. I’ll shift about seven centimetres right and slightly forward, with a little extra clearance.\"}",
  "call_id": "call_sBbBbl7vSFjzeDTIxItu4IgE",
  "id": "fc_07077555c3518f03016ab2c1c5beb887d09efe76bb319d8dc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sBbBbl7vSFjzeDTIxItu4IgE",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9085, 2.236, 1.9575, -0.8478, -0.609, -0.7258, 0.0294, -0.0216, 0.8371, 0.6071, -0.4679, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4068 left_y=-0.3515 left_z=0.1161 left_yaw=0.0039 left_pitch=-0.2717 left_roll=0.1216 left_gripper=0.0294 right_x=0.2847 right_y=0.0004 right_z=0.1523 right_yaw=-0.0022 right_pitch=-0.1285 right_roll=0.005 right_gripper=0.9964\nstate[joint_eff]: [-0.9094, -12.6017, 8.4855, 0.7741, -0.6227, 0.0757, 1.033, -0.1709, -1.5111, 6.9812, 1.7167, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddb37b9b78894d7692dbec2ab84b37b4ed59da22e0ac83493d86ff6b0b37205",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc19ef45a7f9cc5d5c87773941187ed5cdb163bd2ba137dc63fa93b3113f740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce387c0cc92d472c9ceefee2296ebaa9d9ab4b0d588da0f7953e7651e2c51f7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.9247, 1.4181, -0.5774, -0.6025, -0.6441, 0.0294, -0.0219, 0.8364, 0.6075, -0.4557, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3791 left_y=-0.2732 left_z=0.1028 left_yaw=0.0064 left_pitch=-0.2556 left_roll=0.1409 left_gripper=0.0294 right_x=0.2866 right_y=0.0002 right_z=0.1549 right_yaw=-0.0027 right_pitch=-0.1152 right_roll=0.0048 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -9.2239, 7.159, 1.4286, -0.4664, 0.0659, 1.033, -0.0615, -1.3333, 6.9812, 1.7314, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHNGy2IuM6Vlb_1-fjHpqse9v26hHFYYNF7TwPvhzIwPxFDFWfaD8nJNYi3aQv3WemJNyHws_qwE9_ch3D6mb-7DTXC4hCBmoVrk0vjJV_6LuO_mITRfgZYUKS4wsFNl_dqI41mTNsPPI6S7jdRkcYL1yauwbhqfaZZY_KQtq4qgESLaMnjdAiQICfsaNlIqmsCT0TDyuUnLrgLH5haVQoPyait0YgHAbRldOfErFHnpIb100VDqnWgVBY8aua6dXENdbRxcQfxEzTSLjQiwmM1EeuF6vUmnUVKV6yXLrerM-Y3G6ztpMPoQ4UlVWk4ZLSyvC8JR6RVQYUMYx4_fe6-6UFe0sSDYvQ5jOpaUSksa4LaCU_zvDBAqB8ay-Q2wwv3KuAIhBC8eUa98YKqfwI_ID5j8bCsQTFEkuR_II5-kvWtw8rsPZKuBSDqbVEZqm6aYC_kKZsLrjMcs2kXnar407Zf-Oi7v-IF-WRmT5ALLNkmFBNxdh5GfXdmr5Kwna8SJgwbJpfneDRIARG1_ylTBmKPVREy7er9-b5sBfUdmnjy11qIYWc7wmnhQjsJQ_bpjIewH1FPWAdedcWy5uLgak35uXMtaHvQZiJsSdqJXmb319iIQ0U3mGXL7ULz1saP4b-Vns2ZxKSldWHMsgPJ6_l84RxykIjo9urLQ-WXl4MxHpMVGDuH0zXtLnBw4z6li_Z0CEPBPmU0Zmz4WH26id0lrnZ0PpFgt5ZgREC_0hbZ_sQqx5RLcXZo5WsWAsZSSoIDUNqJgaFqeiBGDkzwFUPDiKZ0S__zwz3370jAgQ7qnvkm59a5Fu4agU9gzTlQczh2ebrGgUceloiCrimzBA-AXp_dPusGuLK6L57k8Gxc1QdFQK4J68C7lFtpLNXfHl-FN39wa_6K16O8ZBMjc386Kv1G_tysPviPNj5hvIli3wV1kIYjvJWzmuixcWmM7DWZp4XQV6kxYnKolYvquwnmKlIvS_rgYTkpSeAZegnr_4GjiTBRTbwpr3U9X4e8mLTwaXlhEr-Z8tCZ4s4eUQGXNB8GLh6ptYaBCfbXDAswqWC3-imb3Al8iBDXxRQI4DNMTCP-aBZjAmDzvOOk_IOIxghj2aXOrXVjCAA4ucmDq6-FWCOKOElVyrhKHxyy9Cx4H8-NMuh246JZe8FXkytsaASJBQ4Ii1AFxRjoCG5VXxTzsGa-hEekqWbRocZnkglEUtW5hOr8ch-eITrlZh7lKrU8iNaHliBRNtw7tCY=",
  "id": "rs_07077555c3518f03016ab2c1cc4ac887d080391742226bf382",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The middle bowl is now hidden directly beneath the carried bowl, consistent with aligned centres. I’ll lower slowly to nest the held bowl into it.\"}",
  "call_id": "call_Z4Wx9jN9YBXFUZTR7bmi08VQ",
  "id": "fc_07077555c3518f03016ab2c1cc6ca487d0b098f812cfdfc3b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z4Wx9jN9YBXFUZTR7bmi08VQ",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9134, 2.2562, 1.8111, -0.7288, -0.601, -0.7258, 0.0323, -0.0216, 0.8371, 0.6071, -0.4706, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3981 left_y=-0.3464 left_z=0.0662 left_yaw=0.0056 left_pitch=-0.3066 left_roll=0.1564 left_gripper=0.0323 right_x=0.2842 right_y=0.0004 right_z=0.1518 right_yaw=-0.0022 right_pitch=-0.1312 right_roll=0.0051 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -11.7949, 6.3385, 1.1941, -0.3736, -0.0171, 1.033, -0.0615, -1.4564, 6.9265, 1.6386, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d07a9fd3f5286e4ba9757293d34d11df7fec656ce8def9860b8ce25ca85a86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648fb461aa369e46dce43fb917ee8fe2642d5ba27089095eb353986313f8d73d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b46c204d5fa3e0fcc6e175dd84a357ec59b4781a3715393a27649faacccaa15",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9085, 2.236, 1.9575, -0.8478, -0.609, -0.7258, 0.0294, -0.0216, 0.8371, 0.6071, -0.4679, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4068 left_y=-0.3515 left_z=0.1161 left_yaw=0.0039 left_pitch=-0.2717 left_roll=0.1216 left_gripper=0.0294 right_x=0.2847 right_y=0.0004 right_z=0.1523 right_yaw=-0.0022 right_pitch=-0.1285 right_roll=0.005 right_gripper=0.9964\nstate[joint_eff]: [-0.9094, -12.6017, 8.4855, 0.7741, -0.6227, 0.0757, 1.033, -0.1709, -1.5111, 6.9812, 1.7167, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHVmnDwau8JrNMWrc-XbTM9C1yW_DWoTVD-GOc9DzRP1aBs1sf2pEPrhilJA3BOAPY9etm0LKc00OHE3ox9P-BDXiACapPm8IM9FFuf0dwGKthOfLiFZO5QfQRM-3-vYgNCYkJnv5KMGPiXklKyRI_O7-gM3rfbWixcjf38pvGoagAAby2MRwHA_Fhzy_4YX0es-r8EVHZMeKAGbBsSb9MYLn43NWE-hj8YiUma-JHxEvKv4V28iqZWlWdbSrexCHQ8776QoBY7q0p63adis9I4DX_--wUJzw5F4qh9gDf5Sqr5L45AQ6iOgqhh4Pq7WowyaM9REYfgyHFHiNBYSQDIQzVloRKBpNV3rcnCdwaLOUTAI2Cy5dRc_eyMex3baIA1n1ZzD80LFQc7fpzQ8GNcuKqR1T3drIenOgUzCtTWgvzWfd_ONG2glEm6c-qr9AUscxZSSKd7PzjSPQObr3s39EKCPH3neQtIBB34B5OGchn2pvFg9KGX4kKUR6C7bA3Rr6I9CRS8oFc6qRDxFnsapVSBSf99DjygWA4zZBdS-vhzTzIEcEdnF188XIa_EBYtkw0_EwtbPWZgWWdw06Qzt9SloGNAgNADojxu7ZT_8ClVkR4hsFlF0LddQrXE2MVZXJQHcZ3ADnTgEx58jYMbYQoUOdY5BbPiJE_jrOT_ybVuwqlw52Nx0Bo7bKt1ia2uurwSXP66iVnO7isW-jh1nGvGDyaKIgK0ycnFZq41m-eyt94vplDB1BM0TRqTny8YwNKU69ODwkFHg3VjszpcyE3NCD7aPs1VIPjHfxNOpGRrGcHnhIEhWMkcG9VHlJhOBDHLk8s2c-lVbGCoyL-CMvBzWEzPaDVns8cCRMn0IwsAVhyPs62ZX1q_x9ncICbxo0SHRI-gyL27MVKKhyEM-KHonszeiGr9JPmhVhA9vLDxB3T7L1loePPy6eRfEcf-tSXcqst-JM9P_KE210zK-JJym4bsRTz9j8w19cloY7JhNK75tKrZqcmXJplDGRjvVclTjllbxGH-a6xh_n887JLXntSl2O4Rm7D-pJVOy3pM34hYV9qvsiQjnzQdTABPvHJuD5CcxOZiq3HQG45LL2F0l9n6iifT2XC7SLeYzezVOMKdOzi0-6yTa6aE4cQfrddYZ3B6vWkcFLEGH5ADfRJaEpzIDGNXJrogicYDf0uIF-nHm_wXo5ygtKHVY3bL-llRn5-qt_Dx3YcVvxildhtfR4xNmUqumNFM72pbEM3Wpj7hLfuVJlIQ39_FjH3wED_9UDQFzrbLLsmVaHDN0NO2vsDg8S9dIO5hKXS0us3TjQ8iaHvC-RUDrG8k6DpDLb9MUB0c5iXZ6thgzRLUdAo8S5qTZR9PXh4NZ2lJB4s=",
  "id": "rs_07077555c3518f03016ab2c1d264b487d08a9faf57c66ed740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The purple bowl’s rim is visible just outside the held bowl, and the held bowl is at nesting height. I’ll release the rim so it can settle into the lower bowl.\"}",
  "call_id": "call_GET3qqt4zFO3shhCpEjyfrzj",
  "id": "fc_07077555c3518f03016ab2c1d3c3c487d094f68c198c262e12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GET3qqt4zFO3shhCpEjyfrzj",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9115, 2.2578, 1.8069, -0.6735, -0.6022, -0.7307, 0.6449, -0.0219, 0.8375, 0.6071, -0.4717, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4048 left_y=-0.3532 left_z=0.069 left_yaw=-0.0008 left_pitch=-0.2751 left_roll=0.1126 left_gripper=0.6449 right_x=0.2841 right_y=0.0003 right_z=0.1514 right_yaw=-0.0026 right_pitch=-0.1327 right_roll=0.0051 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -12.1778, 5.9145, 1.0965, -0.4127, 0.0171, -0.1001, -0.0479, -1.4564, 6.9402, 1.6044, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14851c10313bb799057a732bb34844f49cc6edc9ceb9724b554fbbf95fe6a28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633988638573fa99d21f512747ff811dd366223db0631a924fe9fa2996daeccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad663b4158b58ea8c7e0a5b79ee2ee0b3055082a1c26e0b1c90578331509a42",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9134, 2.2562, 1.8111, -0.7288, -0.601, -0.7258, 0.0323, -0.0216, 0.8371, 0.6071, -0.4706, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3981 left_y=-0.3464 left_z=0.0662 left_yaw=0.0056 left_pitch=-0.3066 left_roll=0.1564 left_gripper=0.0323 right_x=0.2842 right_y=0.0004 right_z=0.1518 right_yaw=-0.0022 right_pitch=-0.1312 right_roll=0.0051 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -11.7949, 6.3385, 1.1941, -0.3736, -0.0171, 1.033, -0.0615, -1.4564, 6.9265, 1.6386, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The released bowl remains inside the purple bowl. I’ll lift the open fingers clear before parking this arm and picking up the remaining pink bowl.\"}",
  "call_id": "call_zh5H1wZ2j4vPQwGARHtsvRj0",
  "id": "fc_07077555c3518f03016ab2c1daf9ec87d094549b521bef9ff7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zh5H1wZ2j4vPQwGARHtsvRj0",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9119, 2.2841, 2.355, -1.1336, -0.5964, -0.7486, 0.6459, -0.0219, 0.8371, 0.6067, -0.4725, -0.0162, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4107 left_y=-0.3625 left_z=0.2001 left_yaw=-0.0075 left_pitch=-0.2402 left_roll=0.0465 left_gripper=0.6459 right_x=0.2839 right_y=0.0002 right_z=0.1512 right_yaw=-0.0029 right_pitch=-0.1335 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -11.4393, 7.8838, 0.8083, -0.3687, 0.1538, 0.0904, -0.1709, -1.306, 6.9402, 1.6239, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c643e4c3144fd60847dc3f2ce9e4386b615a352359d82900cd8a474c711d7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4daa4731cf8dac688a486a67b5e88bd8cf3b59952cda5015645f65a22b42227b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8334a9b94b8e58d1d1c8e8cb2bf4e00845a5962d4cc638aba08971b1615a4d8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9115, 2.2578, 1.8069, -0.6735, -0.6022, -0.7307, 0.6449, -0.0219, 0.8375, 0.6071, -0.4717, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4048 left_y=-0.3532 left_z=0.069 left_yaw=-0.0008 left_pitch=-0.2751 left_roll=0.1126 left_gripper=0.6449 right_x=0.2841 right_y=0.0003 right_z=0.1514 right_yaw=-0.0026 right_pitch=-0.1327 right_roll=0.0051 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -12.1778, 5.9145, 1.0965, -0.4127, 0.0171, -0.1001, -0.0479, -1.4564, 6.9402, 1.6044, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHggACXdxi3PumobRN_W8DL4o0bjFZ4gEB8Dd6eP8rvAPDsoyvqzkGqZ8M2m2G4a_UA1Ld8mBlyvKBjOxFVylmMlYuEapu8sixQT8QOHQCBvOgiB8V3wl0xkOSi97C8Ca3dEDz87lj-V2qJznryC_RQzHlaFBXclRCrDVL1Qr91rzPVmThxXOaIn-FLcLx7qmdjbGYrKzNXbAgxaGWIFSioxfCr2z-jWUBpu6I0gYPz1_Etx9u1vb2oEGs8wZrHyKiLcvg0vLYp5Wx2RYHBQoXHXABLROVyqXc3IqkMOaFKxb2fmKDPXuT2ecJT1MxqYMOM-eEzkvLBN-kmfcstH7eQvUp6qI1SPzAVvYLa_QoP5IZbNWNaNNpYuT8pHbycUyUXxL45Q-TWaAb2MnyL_xtSCDEzqszqQMbdORy5hH947zG9SA_zKdBg0FwO07prnf7TawiDrcYa-xh8DPt2491jfoQpNE6iw5aU2AydGh-EYJHJj9edRqX_6OaehrUFODrXpFxmV0dPZCvvMMTXXkb37ZlC1w-sqopfm323SS0fGu1GevqVjPLIfxEYT5NFhmv81jfDE58xOnITemGOy18P3pzT06rn0xhwXPCj8vkqE2akZaHXVCw7YU99tD6WwbtsT0SadZ_lN-8O7uXOi9kevsoF1ud7mIWZfs-kmqpkloA3Ie1k9EdXuc56-7eFlXNi7QZLgn8kwAb0qnIgNCU_c3Tifw0iriqqLHufT_R0DT3rfDylq5588XnTe31wOcgr5e3CpCcLT2W5aMjsAaX1TzwanRqiys7uOtqa5CzWlTjs_3Tvae-W-FoCGhsJvTeaYIKL3udIPrdywAW0bKtE_BDrCHOl7LhSPgT4ZXZC6wDtfSYX7z06iPV0OfgOhKXWiIlX-zyPcCZ4FkI0tkfyQ5nN_qJ2Wu_SRFLQbP4nqk5ag2PrEsHDgFg3Du_bZGY1VOwqLOoecnynZgfdPYCr4A3QX_EU2SXm-I74NGE6jLz33AsnHTR-eQE1wYPIOXL-lePv7Ud2Y8oqzlfOdwIKhrUClaqLSv4dtP9HkXPjnesmeQCb1mUahskDF-mLRJo3E8FzqjQGRL4Hvlz0pd11zE1MrPXfnNFvPF544_m2iUqerIC_SdtbN8fl9E_V5VLgmEG-cGRzDjTTIpqCCUw3l8XdwCyacMFR0q4-5Gr35XUk2LclYMZbgvdDQrIgJ964uq0sZqBorQkywFwCClbg3EP4QwwvYvyd_Z0XIdGtFHw=",
  "id": "rs_07077555c3518f03016ab2c1deee5487d091f5f01008577a35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The wrist view confirms the first two bowls are nested. I’ll park the left arm away from the stack to clear the right arm’s path.\"}",
  "call_id": "call_m3PxzdxLW6BISbgbtIuNDtz5",
  "id": "fc_07077555c3518f03016ab2c1df673c87d0affba959d2b452d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m3PxzdxLW6BISbgbtIuNDtz5",
  "output": "executing move_to over 33 steps (3.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0715, 1.0153, 0.9401, -0.7441, -0.1085, -0.0834, 0.9984, -0.0216, 0.8379, 0.6067, -0.4747, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=0.0014 left_z=0.1984 left_yaw=0.0471 left_pitch=-0.2451 left_roll=0.0399 left_gripper=0.9984 right_x=0.2835 right_y=0.0004 right_z=0.1506 right_yaw=-0.0022 right_pitch=-0.1365 right_roll=0.0052 right_gripper=0.9964\nstate[joint_eff]: [0.253, -3.3162, 6.4615, 1.5263, -0.0269, 0.1441, -0.1392, -0.0752, -1.5248, 7.0085, 1.6142, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfb0e029ed0c5fa46b9a6691767eb64368f59304d1baf2b2949facda55decb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3bb1e11041a9cdb5b5394e1a1a774791abc1b7979eeb50e511ec0098be88b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d6646da6cc79eac7078058a89ca65f0ed39f26e4883d706a6f426ba88adfbf",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.9119, 2.2841, 2.355, -1.1336, -0.5964, -0.7486, 0.6459, -0.0219, 0.8371, 0.6067, -0.4725, -0.0162, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.4107 left_y=-0.3625 left_z=0.2001 left_yaw=-0.0075 left_pitch=-0.2402 left_roll=0.0465 left_gripper=0.6459 right_x=0.2839 right_y=0.0002 right_z=0.1512 right_yaw=-0.0029 right_pitch=-0.1335 right_roll=0.0049 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -11.4393, 7.8838, 0.8083, -0.3687, 0.1538, 0.0904, -0.1709, -1.306, 6.9402, 1.6239, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHtl5CQJiZIHLRXK9VVE2wLrqNDKpLVlio7pbQBjMMiDr2tDHXJHM342s3Oy1xKjfDKxtJyiBpuUKP_yYRhbHzJLltB-i4w5Rh8ij654cTasS3yEHK23AWYgQKWV-l97oljAxp51WgaMfKaIGnGieLIevPKdKMgM2zpnttiXOxWB8JpAiBpLuedZWaWoUKj-6NXLX-lq3Bw-2OgcgWOjcBDWxsQniUDo7KeXHwggning1dsHl-vt0rB-WgCWS9wgRh7wdmyM-1dKvHcim3Wn1BsJQ27JwxZ6cP_iqQUpr8t1ncevMaZfm2oS8rjj-tZ45HsVjP0ItuBNqZV4_xAeqfowDtvafYVy6Va1AR2xN4Fv4XYcUqkxqB16O51wPLjyd9vVuFW2dIveekSanNo_i-cmQCK2dTSgnbBcAJIHTe2pZA1iJtlBXDG7z5hUq1dzFTm33m9Rd6EccOSm1eRREzzYiQp9i-amPNyGfODI4dZOXLbg-ihcmlRoVlv1bqsfKKPOF2a9f_UnZo2x5Z7LKN7sNdqYFDK2Y4yOZRNdoelrKVdDN7SwNrfGbuUIrePIs2szJk-RvO7dne_h8TJnYgbGwdKbWNUC1z-QZFF1XD03pe5FLfGfpiCqgbhG8FTuI-FnHk1wmilxmc3Hq8t-WOvarDe6jzqhRYhTKETb1XUpr_ZTTKYGwwkF2SRe4otaW3G7UoGP4A_omfeziE7XUxeRCVTt8BOn1ZYJtddg-0QbgzrcVppuDw1XBEB8k8AbuxUwcM_07x1DKjOnLJJoD-t9JkQJlss-Tc7ZJGK0YVtRDb9sFXEHnnzMPOtbXiQNLfkfM-nSdmS1959ozHVoDODlMD70dIHRukp4kiHNGe38-x4W9uVxYAkMc1Blw52YTHI_N6MpIc4Q1FOP_NSLVLirO4eEN7fT1kJ2b6-SeW5y2hnrMiXL_QL-PcgeeEZQtrLzKPvIc91jcJvpUxK3wO8FFYv5jEUQ41PmMIetFV4fvbiAnKl883SG3qtn6iW7P5G0qQGjwfp65DBUHwaoRpwO9QpnSwrjTQuRw3_msfo2sYV05I90Mh_X5Hbw8LyPEaQnQsWtEYCTb-qBKX8BD4i1sSqC5jf-8NnZadwJB9Y5NjAU_FXZufm9mae7F3FtHZ6gFpAP64gXT_azVS7Qs59my4Dr579PzOLeyTkl8iE3jzCY5JVAoQsU1bZs6MJ5C_Q_ObXsmy_58wWHkMtEoPHQ53ieukSW7m6tnzNuhfXBn4-LCgJQbOjI5wNRgk-OgR3ru-9V0pCFSh9UBIYGaTqVm9pIQxsD29xd1V1u_6QcFZsOiBtUZbbwX521rXE3kFG-mPUK1eMhytrcWFnXBCCWqZ_decXYBbdX1zJo3oJ_Tn0d53cEhL_apW_708KBFjCvyS9589C_HMSr0ypez63rjPWX1U7zpbOcJBmvCqDq-F-a4ok6FzqApCbabxEDvINH8-BJ-vqduJCUC7eKCoUP6tsSnK8lIdrE2SMRNm2aJYktUe-4ctS4Y9WF5drOYYGngEfc75rDwejbFUjnZ5YvRWrS2Ok6ZDpjg0yap2j2U6pO0PlwfKfs07OZF0MFi0hchmKi5759XNw0hE_Qrh5Jv8ZZRNGkqnl4dPSq4B88hSIjfpMfAhKY2EhNKMUvXVvIXJsUBbWkgUTbugtmGT3uhLqEebUJpMs1BRopThtM-Qe3FSV4XkbeYZNO-BAiiaHeUdBGTnr3p2mLEJm2e-2WYCYOKbN1Z0vDfFvKqBGO7mJL4Zc5Je463-GC3UqKgLZmBLaX-Mb_xojmUUtvObe-A==",
  "id": "rs_07077555c3518f03016ab2c1e61ab887d0bc3fe97786c798e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":0.65,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Two bowls are stacked near the centre, and the pink bowl remains on the right. I’ll approach the pink bowl’s right rim with the right gripper.\"}",
  "call_id": "call_UkUCb275tEsu0G7pvwBQSepA",
  "id": "fc_07077555c3518f03016ab2c1eafef887d0a468b770692e2aaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UkUCb275tEsu0G7pvwBQSepA",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0191, 0.9363, -0.7544, -0.1051, -0.0788, 0.9985, 0.5472, 1.264, 0.6842, -0.1623, 0.411, 0.2703, 0.652]\nstate[eef_state]: left_x=0.2962 left_y=0.0008 left_z=0.194 left_yaw=0.0417 left_pitch=-0.2633 left_roll=0.0427 left_gripper=0.9985 right_x=0.3331 right_y=0.1245 right_z=0.123 right_yaw=0.046 right_pitch=-0.0997 right_roll=-0.0461 right_gripper=0.652\nstate[joint_eff]: [0.0205, -2.7419, 7.0085, 1.5556, -0.1099, -0.105, -0.0024, 0.1709, -5.0256, 9.306, 1.8144, 0.3883, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bee09e7b91caef8468533fe5c3ba97d6d272ca098aa1a1ff51b9d129b68318e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa72974faf4c69bef994c20697cfa6a16cfe617935780e3a69e3429a08194239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6213ace0ec22818cab06b490a3666523e893f92c4af2d57d83d046a1abbbb302",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0715, 1.0153, 0.9401, -0.7441, -0.1085, -0.0834, 0.9984, -0.0216, 0.8379, 0.6067, -0.4747, -0.0166, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.2983 left_y=0.0014 left_z=0.1984 left_yaw=0.0471 left_pitch=-0.2451 left_roll=0.0399 left_gripper=0.9984 right_x=0.2835 right_y=0.0004 right_z=0.1506 right_yaw=-0.0022 right_pitch=-0.1365 right_roll=0.0052 right_gripper=0.9964\nstate[joint_eff]: [0.253, -3.3162, 6.4615, 1.5263, -0.0269, 0.1441, -0.1392, -0.0752, -1.5248, 7.0085, 1.6142, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssHzkRWSSyR2ZNBJVLmuhTn2CQQ1yd401MjstO9ovPXI_m2oZYrp_iY6Wjy6SglmGpBOkGm_YR_5ceTkpB7S2oqxqAaoDQm6nz4LavuEN2KXEUVIwtpsd9wdIHiy2-r_UVlyNI-i-Ufge9LhUVzwzgVWPT-PGXinLxbFvQjYJNCCEXnL2Hg36FrCVZitYyxUbRhGEQx9TPSqqbIACwYm8GDeRnmeWjCXcdC_zq8Blw94TUKStjq8Aj-6kME6eSDPD8COXqi2IVH-8S__8PHqLHx_OOtRuWZHpU-6T1tcHrP5itEY4bc7h9bDRRuxN6pe9r3OIjI7ArXTfPHhawNXW3g3ULMg2o8Vb9XTGqsz_taNZJczzSYvKtaTmdMqEYjfA-g_5W197KwmLxTS9CK2o7OVVGyN80IDHKGnATVf5iAwrYqrEUgMeDuyVRGfzNFkPseodyQ6CRDbZCCiuNo4PLYsAMOQHIqtD8AWvcl1PGHgLUMi1cPYqEcRrgh3RQhjhtgU7kljwYMjKWc9Ecc3ESCN6Pzup79DxDLsC78wVLJShyFOt8aa_-YXkNzVV1WZVSGZYFop8VwNnguERbx45656t6bYl-wTdePvmmbLt65eBUPmZF8Co3FZOdOzOOnvjYY-1Y7RaUvrCrvD5CxwPKnIwyI-9rZ0iDYR2aPAa2wzI1lN0-2pKxt4ui7LLYnll6lI0u4KMUqQG-Qb3AE6cfZIly0oTQO4fmw-00NUswqJkQHF_ElSigJXvjje2KHWdTRsrNYVvFFbgS1DRgZmp_jTGajY71NUeGKySpEqtR410XVKl2HAXm9fV-Qa8PdtEvDUqSzBspAe18IRI64bncWU_egHOo80l3dcDK_KohyNUFbYw4mGUb4yz40rnPzWCoWVcrwX76g6OWdPKdy1FjqF3cTQBcVOVm1GgDQOCRRWj-j699kd8A4btRk5YtmowBPDYZVViWuFzTlM-lzT_FtaPVXgkrNy46GlWprNhVFBC9WQjaCcrNnfmGfTsNoku4bzWrGKcrdLEtlyqsL-yf3UIKKiaA-ZvAqy56JUV1hstzdj9sjFPLWv8ODqtgcMU92Oxfd535PiF8FH2oEbrYlQEPODsh1nmk1c6HoDeDD8P65QT8u2qe-la6HXHJVGM8GPQ5x95aU8WGtr8IjAQr798RWcLrg1bdOk3TPRAzJOLUrl7kNzHPlm7u5hBmHATcpYnSv6mM79HBlQT1SnSTc6-G2n2Cebo-p-PKtZkSX8csutvhGyQEfkFI0Kc-KbWFq8",
  "id": "rs_07077555c3518f03016ab2c1f0547087d0a3f6403d4e95eda6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.13,\"right_z\":0.045},\"note\":\"The pink bowl is centred slightly left of the jaws, placing its right wall near the grasp line. I’ll advance a little and descend to rim-grasp height.\"}",
  "call_id": "call_2fT5r9kdxSPLYfkFho68hcqV",
  "id": "fc_07077555c3518f03016ab2c1f15c9c87d09a1e728755a0be04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2fT5r9kdxSPLYfkFho68hcqV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0229, 0.9363, -0.7551, -0.1051, -0.0788, 0.9985, 0.49, 1.6047, 0.6163, 0.1795, 0.374, 0.2298, 0.6514]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.1928 left_yaw=0.0418 left_pitch=-0.2678 left_roll=0.0432 left_gripper=0.9985 right_x=0.3602 right_y=0.1231 right_z=0.0347 right_yaw=0.0361 right_pitch=-0.1724 right_roll=-0.0849 right_gripper=0.6514\nstate[joint_eff]: [-0.0889, -2.7145, 6.7624, 1.453, -0.0904, -0.0757, -0.0073, -0.4171, -6.4752, 5.7094, 1.5897, -0.0024, -0.0171, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7db072766bceb4e9626dbbf90b192d6064e54d1d2d154e20ee59ccd6f99b01d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22fff8f951c4fb1305c1a92407a9b0646bc0b6a07cfd0b14a7ec29c65c52aee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7563df15d1b1845df03ee2bbb55aa6f03828a59c667b812c2b3315fa674b86ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0191, 0.9363, -0.7544, -0.1051, -0.0788, 0.9985, 0.5472, 1.264, 0.6842, -0.1623, 0.411, 0.2703, 0.652]\nstate[eef_state]: left_x=0.2962 left_y=0.0008 left_z=0.194 left_yaw=0.0417 left_pitch=-0.2633 left_roll=0.0427 left_gripper=0.9985 right_x=0.3331 right_y=0.1245 right_z=0.123 right_yaw=0.046 right_pitch=-0.0997 right_roll=-0.0461 right_gripper=0.652\nstate[joint_eff]: [0.0205, -2.7419, 7.0085, 1.5556, -0.1099, -0.105, -0.0024, 0.1709, -5.0256, 9.306, 1.8144, 0.3883, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssH6MAQd8Bq0Vl2MjRtOIXHGpuuaEXtmO20oTisnk52R01c7MkViitZdxc0KaxYcCHbchYRuKMvdErRbwtcRPj-RO7tGewSOOLqrwrv04aCVJNqcEiQvwgmLVspunEGqxcdsFZhv1muxZNoxtCrOMVKaHwZRKmNF8v9PO33clZ2tElYViwt8jPjSX5QKvQm4EnO4HUtxhCULsLWrHWOBDNpOSewCKJ0Bgz5CHRduTbFiQmNstqV9KsfnAJuUPF_8KC38JK_bx8rmEXU5RjVL3kGjTygyHi3cZ5_UB_7z97F8D78yhhqxgtxUm8lCMFPJwk2m0nsw5wMFSMg0zzqoepfeLveViI5F62A1ycCG-mnJOmq8SUvdWvbJFVp6U3Y3CUp-bzgAaj69OtdzzNKKgB_kIW3X-e_E3y9jxRjcfOb875lXwmOT9yIBKSdALdzSmiCURNk-jlalIZMS573dmkuTvfUe9d28n0-vsBhQjG1VyKfKouJCKw0GM8qAydV03PpL-kIlqgTw3bpzQgBEqxtAkH6d4QPaAVkOk8ApDuXnHXyaRfixx0aWNt0SzNtCqwJzb531fKH_tADogFjB6RGd_Al2SnPiAJPqKXZWT3aTvC7l7QepRHQY5VDO3Z5NHhgNTwQ_5qFTqf0eIdNy0Ud0FoK_dMVoN8Q92uq-rNM-6mSNAdlG8JJIIjY6gUSj9YUV1O7XWoZdjcspuT8zEipoyzOiHvKEY22WDSPbaUGONsJOQvgaT0Nq5QToS8uXUJNksrLYm11nF1GS6CMx_rY-yndSn9fERuA1UnwcwqG1DF50gjSzHeTg348cSO0OxUNxGSc6-PxfRn9NfKCU4N58EVZYqyHkDyzQsY719RqK1Ubgf3E60JNUMYSIZOqPdyiLnNChqZAM1p1rn4F4RM88a6HsTSmYIjv6wY-tMKpo1NaT1IeJuauKgEXDPaDr1Zi8gp0UuZAzzllujVEOpkBLWLf5nVkTBgNulmr2IihyF694duZGuQowpD3OT2reTsY2ICgYyncE-aGt7xVBLgPfN04wibzx5OTOZ1hpAsmvWN_55e1soNO3SlI5obu1CJLAeyxPnbfUUn4mYDTyEOI2fBLNNM1zt_OFWaVURC-KE_cQgNi6ZYvS90hjqv6wTkSpX0JKI66PWdxo0oifDFLS7ny0OrJZJA_owl-NKoqxqGQ5R5y2g5VtSJ9Z9kk1Uc0shtpKqNvH0qqQ4rABrmW9xhKjrPCK3IlHi8VSolJS0A3tyK9lGoI6QEO1nmBhPPu_ofaRgTXeGEq6jesFniyb_550gkOAM2pFcDkFT6D8htgexzOwS032LONP7gvpCl_WvXp34Jny6tdpZgCvljLJuNAh7InhuhdmztdoRMvyfv1HiVog6Z0pQXtjhfp3ekoZevP5dvth1oojaDZBl4FxbtdjCdl1RBN7RHPfQhgn0Td3Es5Jdb6vWjKk4yDeV4LzVu-iWgAouB6N5u6kpQh46lCutBFJq5HCHxm0MAt8XPm8zyd4lF4-_KWahwZLOoHpKNm9koCtQICM3KN2DJs9eQ==",
  "id": "rs_07077555c3518f03016ab2c1f66d4c87d0bcd6e0aff09a3b2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.105,\"right_z\":0.045},\"note\":\"The bowl’s right wall is still beyond the middle of the jaw opening. I’ll move two centimetres forward and slightly right so the fingertips straddle that wall rather than closing inside the bowl.\"}",
  "call_id": "call_8d51SJuPeXPvEvsgv53ElhGH",
  "id": "fc_07077555c3518f03016ab2c1f922ac87d0a515a50ce8f5188d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8d51SJuPeXPvEvsgv53ElhGH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0241, 0.9363, -0.7551, -0.1051, -0.0784, 0.9985, 0.3916, 1.647, 0.6773, 0.1711, 0.313, 0.1665, 0.6514]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.1925 left_yaw=0.0417 left_pitch=-0.269 left_roll=0.0436 left_gripper=0.9985 right_x=0.3839 right_y=0.1036 right_z=0.0366 right_yaw=0.0226 right_pitch=-0.1835 right_roll=-0.087 right_gripper=0.6514\nstate[joint_eff]: [-0.1299, -2.4137, 6.7077, 1.4725, -0.0904, -0.0171, -0.0073, -0.0479, -6.3111, 7.788, 1.5458, 0.1832, 0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addddba318be58c47275c9bc5d66a31964e53a051e27cccadc8ea817a9bfb491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0861b750636b18804b41116b0d47befbcc5b2883cb191a9122022f2eaf6d4367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0af450f9d5c70d56f23a16fc66e81bdb1b9904492a115ea79e06c49fd48c1b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0229, 0.9363, -0.7551, -0.1051, -0.0788, 0.9985, 0.49, 1.6047, 0.6163, 0.1795, 0.374, 0.2298, 0.6514]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.1928 left_yaw=0.0418 left_pitch=-0.2678 left_roll=0.0432 left_gripper=0.9985 right_x=0.3602 right_y=0.1231 right_z=0.0347 right_yaw=0.0361 right_pitch=-0.1724 right_roll=-0.0849 right_gripper=0.6514\nstate[joint_eff]: [-0.0889, -2.7145, 6.7624, 1.453, -0.0904, -0.0757, -0.0073, -0.4171, -6.4752, 5.7094, 1.5897, -0.0024, -0.0171, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s right rim now lies between the fingers. I’ll close on the thin wall, then verify the grasp with a short lift.\"}",
  "call_id": "call_xqiV6StxyL9VECtnP7XXTDE7",
  "id": "fc_07077555c3518f03016ab2c1fe69d887d083240affde128634",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xqiV6StxyL9VECtnP7XXTDE7",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0241, 0.9363, -0.7547, -0.1051, -0.0784, 0.9985, 0.3729, 1.6512, 0.7013, 0.1627, 0.2939, 0.1406, 0.0196]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1926 left_yaw=0.0416 left_pitch=-0.2686 left_roll=0.0436 left_gripper=0.9985 right_x=0.3912 right_y=0.1019 right_z=0.0415 right_yaw=0.0345 right_pitch=-0.1787 right_roll=-0.0893 right_gripper=0.0196\nstate[joint_eff]: [-0.1846, -2.5778, 6.7214, 1.4676, -0.1197, -0.0757, -0.0073, 0.3077, -6.6393, 7.1726, 1.4335, 0.1099, -0.0513, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75acee58d5d63032568db498b405725a955271ab57754323fe115b99badae9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc6132bec111d3e095226c776862f31678a29b69e380ef087b4f7bdcc3dc5ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c993bd653bb3aa867e0ee60d3477f6d982e30237cff0f054c95a699adf8a0a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0241, 0.9363, -0.7551, -0.1051, -0.0784, 0.9985, 0.3916, 1.647, 0.6773, 0.1711, 0.313, 0.1665, 0.6514]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.1925 left_yaw=0.0417 left_pitch=-0.269 left_roll=0.0436 left_gripper=0.9985 right_x=0.3839 right_y=0.1036 right_z=0.0366 right_yaw=0.0226 right_pitch=-0.1835 right_roll=-0.087 right_gripper=0.6514\nstate[joint_eff]: [-0.1299, -2.4137, 6.7077, 1.4725, -0.0904, -0.0171, -0.0073, -0.0479, -6.3111, 7.788, 1.5458, 0.1832, 0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The fingers have closed against the thin pink rim. As with the first bowl, I’ll use a short lift to check whether the bowl follows despite the near-zero jaw reading.\"}",
  "call_id": "call_7TTtihmfLOHHipItYoJPZ6Xb",
  "id": "fc_07077555c3518f03016ab2c202bf6487d0a084374983d9cd21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7TTtihmfLOHHipItYoJPZ6Xb",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.936, -0.7547, -0.1051, -0.0784, 0.9985, 0.3729, 1.5978, 0.7597, 0.0364, 0.2798, 0.1368, 0.0201]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1919 left_yaw=0.0417 left_pitch=-0.2709 left_roll=0.0439 left_gripper=0.9985 right_x=0.3913 right_y=0.1045 right_z=0.0617 right_yaw=0.0474 right_pitch=-0.1959 right_roll=-0.0873 right_gripper=0.0201\nstate[joint_eff]: [-0.0342, -2.3316, 6.735, 1.4628, -0.1148, -0.0415, -0.0073, -0.0479, -11.0838, 10.4957, 2.3272, 0.1832, 0.0562, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ddf2d54f1a3fea62c58ae63c04f374b69c60422eb054d6da1eb7943814b0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9b92fba5066cadff5f46f4291e771d2a569a7151c1d2c54318c6f2c6f70d07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0f51bb8389d21e164799579d1946a48f560cc91c72c3539aaf83c84e12ae66",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0241, 0.9363, -0.7547, -0.1051, -0.0784, 0.9985, 0.3729, 1.6512, 0.7013, 0.1627, 0.2939, 0.1406, 0.0196]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1926 left_yaw=0.0416 left_pitch=-0.2686 left_roll=0.0436 left_gripper=0.9985 right_x=0.3912 right_y=0.1019 right_z=0.0415 right_yaw=0.0345 right_pitch=-0.1787 right_roll=-0.0893 right_gripper=0.0196\nstate[joint_eff]: [-0.1846, -2.5778, 6.7214, 1.4676, -0.1197, -0.0757, -0.0073, 0.3077, -6.6393, 7.1726, 1.4335, 0.1099, -0.0513, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssIKp34a5b2DjSFE6Zzmm-BNG7qx5c1Yh6xy8kU8MZsYf-8t4SDBZ1oaDHj2CA4-gjKmcl9rGRIUJ9GZkWWVRJ3OF_hxiPmwpU-dgpfbyusswTxeQQgwKtVXBiT7UKL1cEBhavBUYa23g91GwZEjMl7NOkX02Zh5RCzmSBjGa-KTgjiHO4OqQqOnw2zIYaHSBew_APMQHnieoYObQNH2zCQZfV6mpFiykYUeIj5EtpIOk4qEeDWPvj2VrUIbBU3UzFpu3ZfYkl2fkI_EPtldnoLPeRGXJ82zJAuiplDLWT5GpyA8DF-ylVHVV88abglU-LoSYbbA26ohBDyldwOjGg74UqwFhkJdMY_vHOT1tofA-pIFBBGaXbXgu29osiOJ92vmJlYRNOSf1vjW642ZewUi3XmL0rlUg6DQJJ6HelrtyO9ndkV_Znfj_BCbkPe7YMUCxBdnYOS-cAWILiLxg8gMGBh_QmTMJo-PtpOvSQI8ypoCPCvGQ-qxQU2i1B7MWdtSm9QOGwhtVaKSFpbpkUPaqzVxwceT9JhhQsYGp-A0Jz7TZGLzZaIzo90j41NVUnDEWGQzj8HyFjflky3YUN4-Yg7GdIXvoLrU_Dq5r4QkIg-NzlHBxsDDKLIqPSQn0ucqA4LR4c5vHJ4W9o61QGT0nUIen-ThYT5HSQgJ83TAVms5UpIjIoNNbtn7VZAuCJP2GJXG58ofG2ncLb_rzxEZsIU3U0JkjrbMSFvTUsSwLJjzyLw2YHyt0Gb_udYOkWEIhio8CD7b7oD4Mzsg2_CmiaPKjIDHq3Qr5tKotc3cpFU0E_k4Flc_9KqxfLPY2iwa3xGErseryt8A3Bqbjq4iRbV6CTWjApXdv_FhUEVW-MXnOwD5gNNtThRdoQ8xL7ksroxhPbRQQ8VAY_7OsgZgxVUIk2HtRLUujPY2xY8vbpYAbpL7FYvjEts8ABjKIdnm4SBzgBCTSM3g_vDHnovKr4iw1iFjEcELsjP-TL2Wegw61CQJvNHaDDC2UfGx2K-QlS-fE5_lLekpsfUeUhskQwSyfLvZKE-eCHxHysGlTcbnkq1MX9pTMXlTqU_cbgLPomXlT3kPjGVmvarKC1GAPQl6LEAvfVhzOJcDYwFR_w4rrr_AKbs75GLpwJgERJ4bmt54wSQR7V6UMCK9eN_MX1RUtR4xaWpw1shMvpSoUS12e03yyqEnCfZ2msaKjJu4xCl_rR0PKqCCbvpVbZ4qHXpOX7_WkEJUcK4kcofaqgcpjz9yvrtYIx_5wIg6q_OPOYEe_fn6MLHflZB5SgdqOwqI4gwSgyacOiaLElinA1b-TlYPT_-UvntQ-_V-qPB4",
  "id": "rs_07077555c3518f03016ab2c2070d1c87d09001c1dcee66fbb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.185},\"note\":\"The pink bowl remains against the gripper, but the arm rose less than requested. I’ll raise it further while drawing slightly inward to improve clearance and reach.\"}",
  "call_id": "call_6dFkWcwi22ugBlDx0tvQTZ1f",
  "id": "fc_07077555c3518f03016ab2c208561087d0ad92a3f25ccb7f1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6dFkWcwi22ugBlDx0tvQTZ1f",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0267, 0.936, -0.7555, -0.1047, -0.0784, 0.9985, 0.3862, 1.4174, 1.0435, -0.453, 0.2794, 0.1341, 0.0218]\nstate[eef_state]: left_x=0.2965 left_y=0.0007 left_z=0.1915 left_yaw=0.0414 left_pitch=-0.2724 left_roll=0.0437 left_gripper=0.9985 right_x=0.3803 right_y=0.1059 right_z=0.1629 right_yaw=0.0608 right_pitch=-0.22 right_roll=-0.0972 right_gripper=0.0218\nstate[joint_eff]: [-0.1709, -2.7009, 6.694, 1.4628, -0.0904, -0.0513, -0.0122, 0.1573, -7.3641, 9.5932, 1.5458, 0.2418, 0.0562, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb341ddfd573de570b4f287701d838c401862f041658afc073de4eca2f8efe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae4bc5bf8e984320c5f1eaefd5e820bb3fa1eb498199ca706a51d97c056217e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcafda24f9754497c5077fda170be23ee24d9994190889b017c10dbc386f4c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.936, -0.7547, -0.1051, -0.0784, 0.9985, 0.3729, 1.5978, 0.7597, 0.0364, 0.2798, 0.1368, 0.0201]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1919 left_yaw=0.0417 left_pitch=-0.2709 left_roll=0.0439 left_gripper=0.9985 right_x=0.3913 right_y=0.1045 right_z=0.0617 right_yaw=0.0474 right_pitch=-0.1959 right_roll=-0.0873 right_gripper=0.0201\nstate[joint_eff]: [-0.0342, -2.3316, 6.735, 1.4628, -0.1148, -0.0415, -0.0073, -0.0479, -11.0838, 10.4957, 2.3272, 0.1832, 0.0562, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssITbwVMGv4_vhwowpgCW7xmlXMl4fnioIYlxPSkpGmdrQ1PcL399APYQdmPaU8kJpFWx9ALoQI_6LRFW_33y-qCCWBef5GERKQUySKWAxgyCWOGb0rwrF4bjG4cy8g2Q0QbjkPlKLZSNGZtybkFh8x_HGYWGnubWitDhaDIIEDqM9yRM8dVdNltKyD3N0JHEaHlGKAe7UccW7AIHjg9q3F1iG6WnZZTviaNx6DN0JzPZjTiNoRhkUD-YCWqmu33s-UHohBrBgfu0bVemjJY2SGZ1TueSn5oohp3jhzJN6hrUzEL8S_aRKgvo2AwahAAHU9imAL8qrLfcd5N1s59ZhnFLfJL2--QhlNSOhWMmzL5jN7ZNTO1tntUtVvxysxmaTgm8JEOVrFwdEpSaHYTuCvMskkwQJ6l188gs0g5zmQRwPOJLDAlR54h3tJAHqngZKda76p6oZl3SjdvhLUUlWy6HMIAPDMm4OlYAiPNTHI9aTAxlyfK6L3swrJqt6-MOGkYUnryDGpaqAJncOjip1gv-nytLJTGXbJmasrRGbAh0VIHTaZhky7Lmr2_UEDQj25cYUiUtOh7Cf9qx4gosaUhYUsQI_hx5d3DcDIGzvzql5wrJ6R2fL8fSY9Ah_wAPRKhJGOW8PXXFsnTHerYbd-kiyM6Kq9HerUt3bSFunfIp9FG9qgyt5ogOQZS7w_cnWfduRZL4b5AEdHdmJataY77vB1mgGeHhBZZzQk8YZ5l4u5pFVEt4SRjtL1tw96kHszJBpkSf0842FnSVh4lvcjWuqVpgZxMRDfbtp6q3nWL1TEbr3V--Qp-dcCmenF0BRJlcNkkeanwbpCfT5abO979zi77dlx6NNqAxqboYtnCkUmFIqe6-k4JLFfvCr3qRU6fqxj6AKwNXgq4ZPsjRx6mxY6dCJWHLudauftp0PAdgslpyTMcYXM9039JsxUkXRdwr5ez7lpI-T8Nw0-xFCa2v0TA0r-z-WtTqQ79adAkK7x4O1I_hkXaeZgIKAEgBhrUFK9EHvpCld5umyzGc3ludFV78hndMN1OyGePBmjrl0mx0SKrv_wxKwvLMlQSpBIhR2kFTWRa7hZi2FAFGvp1ytRFK7jWExVPwZZRHJ5DSriFP1zHW0vBOmBQ5oKQBY-lxmvwTEiIX4R9nbjNEuVwXmRDtOe_bKINATyXGCuRntDdL3k0TwpU3oh_CGRvrMzhaRuWhmU2l1K7pKc8ZZTP7JdlhPxaiU7bEgqya9J-bxuDyMlurtjQZFJoczHMYpMUAIlVJl1Ia1VvX65Ovq8bNKYFOdZsjsw9xtD_XSmlui8mfLQHAoqV9qzlcRL-gAsYI4lQfoJvVSCiUi-cGATXqgOHOuQ_Y4mm3d1srl1br-PiZD0CtbZFEAHZuhy-7ujjss-BeT-OwT2cGLHlJzPG0Q==",
  "id": "rs_07077555c3518f03016ab2c21054b887d09876c1a29b7a8a08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.285,\"right_z\":0.19},\"note\":\"The pink bowl is visibly lifted and secure. I’ll carry it leftward over the two-bowl stack, keeping it high enough to clear their rims.\"}",
  "call_id": "call_p41MGgneqVulObfTthnUT26H",
  "id": "fc_07077555c3518f03016ab2c211e69487d0ad7d91cf348d3279",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p41MGgneqVulObfTthnUT26H",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0271, 0.9348, -0.7555, -0.1051, -0.0784, 0.9985, 0.7742, 1.9171, 1.6859, -0.7635, 0.4938, 0.4248, 0.0223]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.191 left_yaw=0.0418 left_pitch=-0.2739 left_roll=0.0442 left_gripper=0.9985 right_x=0.4026 right_y=0.2816 right_z=0.1735 right_yaw=0.0979 right_pitch=-0.2679 right_roll=-0.1274 right_gripper=0.0223\nstate[joint_eff]: [-0.212, -2.4684, 6.8308, 1.4335, -0.1148, -0.0708, -0.0122, 0.2667, -10.4821, 9.2513, 1.1893, 0.4322, 0.1636, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc088b65bf1893588b83d3b22211eb979ea52498ff76769e652ed23a4c5b74d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117e88ffe2075fd88b4c2c1e313101c5e7e833d603354d7410628af7e8001872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa140f92c3b0135cc30d11569b3b693f35159c438ddd314898860ac2bd823bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0267, 0.936, -0.7555, -0.1047, -0.0784, 0.9985, 0.3862, 1.4174, 1.0435, -0.453, 0.2794, 0.1341, 0.0218]\nstate[eef_state]: left_x=0.2965 left_y=0.0007 left_z=0.1915 left_yaw=0.0414 left_pitch=-0.2724 left_roll=0.0437 left_gripper=0.9985 right_x=0.3803 right_y=0.1059 right_z=0.1629 right_yaw=0.0608 right_pitch=-0.22 right_roll=-0.0972 right_gripper=0.0218\nstate[joint_eff]: [-0.1709, -2.7009, 6.694, 1.4628, -0.0904, -0.0513, -0.0122, 0.1573, -7.3641, 9.5932, 1.5458, 0.2418, 0.0562, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssI235HS6-nQVbvoL2Adir3DCBN8dMfL_CPqPbgwDPi2Z5dftHqEkNwI1V6BM0WzspIn5b3qK4b67Y5ndm06efJYmSpZihWkyChFWc-qKoKxkgniWJqePyPOAcofhVn5t9j7nxroozrpCompylDaQTItPrIej-FVR7MsjNTYS4daLO1mKQ1F9VUcG1UDF-XQEtDFBEOfGmDa2lyGSSnX3beLWccvXW4AyGTjbmr1F6UscDUs8kbBmL-QHc6TuM8aMa74mJ3z3kPi40t4vbJDjqM7x2mIGHOe6_wKq3JTBCjbRGU03bvjQgeqt3EL-tgeQm-mWsXkHLWLPvr0O1PpIGt0lI8G_-kgvXgqrskXIsFHqmrliEopmiBVnzcDqoGg0cOOzUBORZY2JX3H9HjzLJyqbc4gNSBOKlQNwB_wtgepw0im9liveC7-dH6noV5Spkpmg4w72YjdMJUsdmCWS9Uu5s2rSaOCSP8MXae-CTDJwoAFFG0qSiVi_bHPZ0Ac0J8x2PMsfjX74IAv2B9V0sG6RslpE6H9J4d6XJZpogkPb3z7dr0aaoEO6YRfbk0q6FUrmMOfZcGUBoyEwX-vHoiJGLMkKt-kZef535ehsvRINnfMVaMFxC6pAYPnh2T6CVhtS52bmX-KD5AjwTXB-E2W2LOR8Sfxir-8KMQjZKjEL7T3hdfWZkJu9tYc5BXKz13lzkvF8-2ZaZjYiaKLxShGHDLy-gpg95p2CANmuGSWhoBnVmN8X9pkz6V9OH2UBuf2Vjkf4ivgI6GkM1NSHi0Yw7Z0PprCqJNqkUHW_8VpbSqySY1qFOiZlHt0tv0UnUkmLInFvIoqUIK1dwCY8CRw0X1-DcP3CRUeS5VxeKKEy7qM2Ibw7Yh7vu4oICmN_XteamlUleH0OvtWLGy2hM06r6Go9GNaXekI9g2HHfeRL4H9C9XKF9AB4PbzAZEkMsfVdlAxaEct0vXpg-HBVlIdOTHhsXgnEako1A3497SnQAh1SkKQl9_Uj-SYwPpfXw0m4KHYszSBcmQTxzTELkR9oJ33F8BkkMKgBgBd0vlG1Wo5BJwHLmyF2JIbKVe2NKXq9xBVonOEnCTXfx_ZhUEkrN4WbExBlCIP0dA57VkQHazENSBye7uhxCeE41GrpEZDMoS8GWyhXx9hPCvTGdUUO9UCLPtqqNtO7bAB7xx7aDpH8LxfHh-MKQ1zge7-GEjfgHVdkeJmqL2ctKxAQlK7NQD1E26rrceXGFvvXte2RqEnelCrxlwhTX90HgZbvOd1mLcW4CS4EZ7RTr2mrqWk1vkP9C53HdpFiia5S3Rl1-cyPuKWAvLdTCtc3YD97qPiF5UyLhL_NaFjiAtr95ibK2rdHJCbqya1TnhLn13fmZP9PZd53EvkMnKNtkXxTQVkbEvTyAGV0BGHdtQfwA1VCgNP1s2UM4BAumNlNWZcGqq4qOLZNwlpEvOJ6msKulTM",
  "id": "rs_07077555c3518f03016ab2c233e3ac87d0aa466305641263c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.26,\"right_z\":0.115},\"note\":\"The stack is visible slightly to the right of the carried bowl. I’ll correct that small offset while lowering to just above the top rim.\"}",
  "call_id": "call_4IO8FDK8mO3TnhbbycVMqcBh",
  "id": "fc_07077555c3518f03016ab2c23595e487d0b9316acaaa2e5c26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4IO8FDK8mO3TnhbbycVMqcBh",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.9348, -0.7551, -0.1051, -0.0784, 0.9985, 0.738, 1.9018, 1.4166, -0.5861, 0.4686, 0.4038, 0.022]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1906 left_yaw=0.0418 left_pitch=-0.2751 left_roll=0.0443 left_gripper=0.9985 right_x=0.3912 right_y=0.2528 right_z=0.1007 right_yaw=0.0766 right_pitch=-0.3432 right_roll=-0.1736 right_gripper=0.022\nstate[joint_eff]: [-0.253, -2.7419, 6.735, 1.4628, -0.0952, -0.0269, -0.0122, -0.1846, -11.3162, 7.241, 1.3065, 0.3297, -0.1001, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b99c530548c4a9f1bad84e0631c35fefbc39dd82bbf5dc06374a64d949c9c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44c98b005f6f4fafd2e2c1a6bbf497324af9df858996b8df4a43a6f7f29b8e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f157f6021dccbf6c39c913b93a39e7f144bf8a9ceb322cde74150dac6b37c498",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0271, 0.9348, -0.7555, -0.1051, -0.0784, 0.9985, 0.7742, 1.9171, 1.6859, -0.7635, 0.4938, 0.4248, 0.0223]\nstate[eef_state]: left_x=0.2964 left_y=0.0008 left_z=0.191 left_yaw=0.0418 left_pitch=-0.2739 left_roll=0.0442 left_gripper=0.9985 right_x=0.4026 right_y=0.2816 right_z=0.1735 right_yaw=0.0979 right_pitch=-0.2679 right_roll=-0.1274 right_gripper=0.0223\nstate[joint_eff]: [-0.212, -2.4684, 6.8308, 1.4335, -0.1148, -0.0708, -0.0122, 0.2667, -10.4821, 9.2513, 1.1893, 0.4322, 0.1636, 0.486]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJBYtcUsYlNt8Gsw3jnZuLUZdR0b3a3uVVYick15bsTSjfaLY666If1ie9CS0KZUkcRf7EFwSXGOm76CfKiqekjE7sNbY3fcX7sln0HeTOoOLh-7dXHb8mNVYjrS3DPOiU59iwXLFbc2E6qptWUcltFWj3s_FiA5WA2ZEAh6rmk0ShLshoNsq3LFUe3rixNN7zPvDtpRTxcy64pdkvqt3k_3e3gbI8XrTJiJC09gCxXN3TaRVtmMz19rsW7GhHAbSd2dY33e7NAnSidOzkUqqSnGLiy1mULyLyEkRbYzGhGCiPd8p8oGzSSnEUpoEbOj1KqHtsP_2oHRKOxaxXWNOdKxjBzBaAXS0n647XGZHWOl9Y_pMwmeNF7TuDsmsXxKEuWPyyHkSzTMBPuYnVQ7eneb3GMWU-W0yR8oRTlSIqp-JDbVSQzf5DKXU24uk1g2IArTsceUemzHbQ4OWIaSnrGydGSgM_WbmnT2C0wWrooYz8RIpTVeOb9ajehH_2nl8XCdFNiCJJbkmzdh3yI0Q0rZjfB0SNuT5tHM6d2thHMZHMl_AVWRYSskQkfr5sdUvrLiqwe4AGJ1XplQUsxOP_ySD321x_L63m38GIJNpFOJL7Tbd3BlyGrerXFqLNVq2f9zBRmrFLSz0EEu0mpGrHPZ-Q8DidzRqChRH1EMjXYQ2tgwvY8-yd_9EcK4Ra1RKw8SQGR4K8PWTsMRvpWWtP1wxKEKIjYoJnY28TEZKy0z1Bma4Gnnn_qy296z4GHdlcP-4iLADC9AywFnMpJZXvkNJILXKu0rEU51lgn2RjWVeaYzKdERrp0KXMY__xzgkGNKT9JjyIovDtweViWHcUmp-N9GYvK9bTES7-tavfoXqgyFwKABQZvAWNE8QO6ovIbyFu8anMVA4Pcpqkxo9C8OpNYUnZa_T5e_EzXV0vWFeTVINxSezrX0FkKLn84S2Q2vOp8VT36DUM5gX7sGfBcjNIHXvA-teNKAuxsLK_GHfmavU24rfdLFODycW2qcayHiaSu2kWL_kGBCTIv4RA68QU6Mcn6cGKrbtH6e1QS1_q9zDmH5H06bboGIWk-6ASSeVLCpsK78Lm2i6E9JWjZKwE8SIfYWPinD05yFISf3G0RkXaTZGObGSxtDRWaykZY0qN5Byyuk_bX-__C1xxUemG9nxvenjLyBpiQYX-A15yGT5NgIjIZ16HYV9ZPxIP9i53lLektHFK8uJUUTKCcYs-e8ywC2YIAiCSWULfu6gu8WNQ81ge8Dmb3HKub-tmS5mDOtWczKBZqmwN34vWNiYxqH_Xc4h0BJTJPZpSDplsUlKQ8IJmcbqkvkSZ3idLxVXTl59SJT-RZvkTPWBX69Nsaio7sv_if-oqqNaj0YaWEAvmSHH1ryOD0ku8KIXgr7cQZBbmJUQjcLBBQHsolY1KHNGB3ww45qw1kQ9hx6_c=",
  "id": "rs_07077555c3518f03016ab2c23c8f5087d0bc1602b0c5ce08a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.23,\"right_z\":0.13},\"note\":\"The closer view shows the stack is still forward and right of the pink bowl. I’ll make a small forward-right correction before the final descent.\"}",
  "call_id": "call_B9uIeriA46rLGstzQoqBQxf6",
  "id": "fc_07077555c3518f03016ab2c23f7ac487d08cf8c6dd34712694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B9uIeriA46rLGstzQoqBQxf6",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0298, 0.9344, -0.7555, -0.1051, -0.0784, 0.9985, 0.63, 1.9461, 1.56, -0.6495, 0.4103, 0.3077, 0.0248]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1901 left_yaw=0.0419 left_pitch=-0.277 left_roll=0.0446 left_gripper=0.9985 right_x=0.431 right_y=0.2315 right_z=0.1215 right_yaw=0.0744 right_pitch=-0.3517 right_roll=-0.17 right_gripper=0.0248\nstate[joint_eff]: [-0.2667, -2.6188, 6.8171, 1.4188, -0.1245, -0.0562, -0.0122, -0.1709, -9.5795, 9.2513, 1.1258, 0.1685, 0.0806, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cb0523d3ef79f4461fa5fc10788ebc4fb5cb94379d533367bf8126b2c022f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a09ec7d46e5e30cd0d008717bb1ae60ad5227b5d0082e2da5d27a5d76932835",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d567e59f380954a504719b0c81a89cb731f0b938670ad9b0c96258bf7bd2b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.9348, -0.7551, -0.1051, -0.0784, 0.9985, 0.738, 1.9018, 1.4166, -0.5861, 0.4686, 0.4038, 0.022]\nstate[eef_state]: left_x=0.2966 left_y=0.0008 left_z=0.1906 left_yaw=0.0418 left_pitch=-0.2751 left_roll=0.0443 left_gripper=0.9985 right_x=0.3912 right_y=0.2528 right_z=0.1007 right_yaw=0.0766 right_pitch=-0.3432 right_roll=-0.1736 right_gripper=0.022\nstate[joint_eff]: [-0.253, -2.7419, 6.735, 1.4628, -0.0952, -0.0269, -0.0122, -0.1846, -11.3162, 7.241, 1.3065, 0.3297, -0.1001, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssJMXF6g4ga4XSTyNnXf2UCzdJaN2pHAEDKgNyphaousVng00hykXYxKd1i6ZLePruDbZkR_NKDK8KNDaqRThTKRpPbcvlogf0VoT-ew_hzLW5kE8k4b_tl-_nO9Cv8ShOLSA0hi3GxYK97L5DfTdOji6GiYHI7SpfEC4lYdLonlLGdETI1BlUJWXJR_9z-bafsUWyEjKRa-ebCHxB79nWcANBB5f5YgDgHO4mrfnoNxZQeRqJq78QWgXK6KEnGM2kSGJWxbV4U0vAKWuGlr6iurqZTaaAy6J1OZ-YPpw3-uXi1tIfAFeQJFEHYnEoU114qhvdc_NIhxKhhBc03PXg_LtuxQTD-sysFS3F6eyhFU2soXg1w1K5MEzd0YsoY_MkrSqfwEZA5wojHmrxhyX8ur3F9P8WyzjudNjIkk0yzwbFRz3cuEy242XtV-OBz4W2bx2lTr1R5DReABzCid4GzJSylYN7Nj3JsGUsR0eiiCNdfmPU-tuIPtTSs7RrgbO4sz5YtiC6X8-crpTqJXGP0xVnvzfRXIQFegMfYLIIiKzxJuogl3avZ4BIrfU_Lg3rthIwcKoENneXvG8MMcDy-TM_N4N4x-zZ8_YNn2lPap-NEcq0RH8Ubno-yMWNUWe-Jk8l3WRPB91aEp-sKZ3lCv0oSaHmCNGbuYbpOcwyR0WeE9wq4szG7HRQPTu0oY6MuQ_x2_OKNEoa1jlM5VoPsWAsDdDpVsTgSI9nQ1cbc0dqRawCEmPv0gF1OLEtkZrBho4_RkfD43Uyui_S5dbi7VuK20BNDiGlc3yOAqwFNjAvbLmLsTMkjMIxLiOR5HVKHu41R1JiwsR8hEretmsIUCVPvicKQqk58N_0W9P7WxgUarceN7cUPw2h--ePXOysQGymcNKaICSSYVnY5ZJHFfRJKmVxDlDcg3o1cdnRJxcn1pyRXROv9ZUS3aYFL9jJ-0EVW-P2V4OPsoxRL2NaAIGrL1HQQ-AWDRlIYMLTo_8q8CgM0rKFnMi9IbF6IWD9hSY3zjAw6qzKigBwqV928kphDiBJ4PDdD8ldLEio8yfVvORLLHY_dIVMPfUARoDcRg8Il1cMAWInOW86xaZG-EI7IpUwWxXb2CSMNYXzzrIz8x3q_yljKdRVmg9_2vxO8ovW6E05m-WJXRpSrLHdbuSsp6uDmn-HtvJACrT_D6bmKf5CSzSZLz0g1qEUy_oZNs_aIk2oYk6hOTYl0jOP3aJ6Kxyq6BZD1bInQwGIlqQ0VHSj_cCYBA7c1q_NW2cUEMSaeXsLMvvDV-TuGRmQe6Admpp-UAPF8q1QCGmCO378noEFF-UlJpCEOOyDGfcP3_-IiPA-WAI798D6KE52oPq2jX1QJdgjAM_owp6_2iFbU=",
  "id": "rs_07077555c3518f03016ab2c248701887d08cedac11c6ba1a2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.218,\"right_z\":0.075},\"note\":\"The pink bowl now overlaps the stack closely, with only a small rightward offset remaining. I’ll correct it and lower the bowl into the stack.\"}",
  "call_id": "call_Alnv2j8bzvGruHOEMryeQVbp",
  "id": "fc_07077555c3518f03016ab2c24a14b087d08ab6f2e5448b3e79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Alnv2j8bzvGruHOEMryeQVbp",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.9344, -0.7589, -0.1051, -0.0784, 0.9985, 0.6086, 1.9472, 1.4055, -0.5316, 0.4023, 0.2871, 0.0277]\nstate[eef_state]: left_x=0.296 left_y=0.0009 left_z=0.1893 left_yaw=0.042 left_pitch=-0.2811 left_roll=0.0451 left_gripper=0.9985 right_x=0.4222 right_y=0.2143 right_z=0.0783 right_yaw=0.0633 right_pitch=-0.3896 right_roll=-0.198 right_gripper=0.0277\nstate[joint_eff]: [-0.1026, -2.5094, 6.9812, 1.4872, -0.1148, -0.0513, -0.0122, -0.4034, -9.2923, 6.9538, 1.3846, 0.1392, -0.0757, 0.5592]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f52f41a169da8a7395861fc60a45af7062a2bc1de8f484d705908f7d43e2640",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16491bebdb7c70daeb87a766333e006737c22a1f27d614f94fff17643ec4671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a6f403f93c2c02a154cc42cf5c45aa4d7688f41e1ae043c5dc1d2be6843f7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0298, 0.9344, -0.7555, -0.1051, -0.0784, 0.9985, 0.63, 1.9461, 1.56, -0.6495, 0.4103, 0.3077, 0.0248]\nstate[eef_state]: left_x=0.2965 left_y=0.0008 left_z=0.1901 left_yaw=0.0419 left_pitch=-0.277 left_roll=0.0446 left_gripper=0.9985 right_x=0.431 right_y=0.2315 right_z=0.1215 right_yaw=0.0744 right_pitch=-0.3517 right_roll=-0.17 right_gripper=0.0248\nstate[joint_eff]: [-0.2667, -2.6188, 6.8171, 1.4188, -0.1245, -0.0562, -0.0122, -0.1709, -9.5795, 9.2513, 1.1258, 0.1685, 0.0806, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The pink bowl is seated with the lower bowl’s rim visible around it. I’ll open the fingers and let it settle into the stack.\"}",
  "call_id": "call_6MsZIdTfGKqZexnALplYbrci",
  "id": "fc_07077555c3518f03016ab2c250875887d092d25d0d108561bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6MsZIdTfGKqZexnALplYbrci",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.9344, -0.7662, -0.1051, -0.0784, 0.9985, 0.6064, 1.9488, 1.383, -0.466, 0.384, 0.2714, 0.6457]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1881 left_yaw=0.0423 left_pitch=-0.2883 left_roll=0.0459 left_gripper=0.9985 right_x=0.4272 right_y=0.2201 right_z=0.0761 right_yaw=0.0927 right_pitch=-0.3633 right_roll=-0.1705 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -2.2085, 6.735, 1.4823, -0.0659, -0.0757, -0.0122, -0.5128, -9.6205, 6.3658, 1.3358, 0.2808, 0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cddb5275446647c2578cd1d8460db7249880052c9e8fb1a6dc970c0eb0fb652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1f6989e678a934615020c8d9b8aebb07c9fb19259eca62aabb922647094701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6931e2938f58b3ca3627f583746ef0839975fe558a7be0a5e8513359b6641be9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.9344, -0.7589, -0.1051, -0.0784, 0.9985, 0.6086, 1.9472, 1.4055, -0.5316, 0.4023, 0.2871, 0.0277]\nstate[eef_state]: left_x=0.296 left_y=0.0009 left_z=0.1893 left_yaw=0.042 left_pitch=-0.2811 left_roll=0.0451 left_gripper=0.9985 right_x=0.4222 right_y=0.2143 right_z=0.0783 right_yaw=0.0633 right_pitch=-0.3896 right_roll=-0.198 right_gripper=0.0277\nstate[joint_eff]: [-0.1026, -2.5094, 6.9812, 1.4872, -0.1148, -0.0513, -0.0122, -0.4034, -9.2923, 6.9538, 1.3846, 0.1392, -0.0757, 0.5592]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The released pink bowl remains upright in the stack. I’ll lift the open gripper straight up to avoid catching any rim.\"}",
  "call_id": "call_DAUrOkPdn7tqpYNqE4c0XLzv",
  "id": "fc_07077555c3518f03016ab2c2552f5c87d093196a26d5c5546f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DAUrOkPdn7tqpYNqE4c0XLzv",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.9344, -0.7696, -0.1051, -0.0784, 0.9985, 0.6075, 1.9221, 1.8168, -0.9241, 0.3767, 0.2638, 0.6465]\nstate[eef_state]: left_x=0.294 left_y=0.001 left_z=0.1876 left_yaw=0.0424 left_pitch=-0.2917 left_roll=0.0463 left_gripper=0.9985 right_x=0.4304 right_y=0.2245 right_z=0.1931 right_yaw=0.1044 right_pitch=-0.365 right_roll=-0.1684 right_gripper=0.6465\nstate[joint_eff]: [-0.1846, -2.6325, 6.6667, 1.5165, -0.1148, -0.0317, -0.0122, -0.4171, -10.3863, 9.4017, 1.409, 0.2222, 0.022, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebab7c0b84f76639cb5f89949bc47e1c41b4339353abd4973c6dc39035d3db87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c384fba59dbf79eed1d290ee4502cced0caad4cee5120f61d0306d76ee3c4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c555a3a47383f4c38945d5b8e13cad035ee9e8a5c0987738f77db7d38d1315",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.9344, -0.7662, -0.1051, -0.0784, 0.9985, 0.6064, 1.9488, 1.383, -0.466, 0.384, 0.2714, 0.6457]\nstate[eef_state]: left_x=0.2946 left_y=0.001 left_z=0.1881 left_yaw=0.0423 left_pitch=-0.2883 left_roll=0.0459 left_gripper=0.9985 right_x=0.4272 right_y=0.2201 right_z=0.0761 right_yaw=0.0927 right_pitch=-0.3633 right_roll=-0.1705 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -2.2085, 6.735, 1.4823, -0.0659, -0.0757, -0.0122, -0.5128, -9.6205, 6.3658, 1.3358, 0.2808, 0.0269, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"All three bowls appear nested at the centre of the table. I’ll park the right arm to give a clear final view and confirm the stack is stable.\"}",
  "call_id": "call_EuDr4lzHgPoKcwMurPSzyc6o",
  "id": "fc_07077555c3518f03016ab2c25a6f4c87d08886689b7633e9c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EuDr4lzHgPoKcwMurPSzyc6o",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0309, 0.9344, -0.7731, -0.1051, -0.0784, 0.9985, 0.0296, 1.1145, 1.0576, -0.8745, 0.0792, -0.1898, 0.9961]\nstate[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1869 left_yaw=0.0425 left_pitch=-0.2955 left_roll=0.0468 left_gripper=0.9985 right_x=0.2988 right_y=-0.0015 right_z=0.1976 right_yaw=0.0553 right_pitch=-0.371 right_roll=-0.1743 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -2.441, 6.653, 1.536, -0.0806, -0.0708, -0.0122, -0.2393, -3.6991, 6.7761, 1.453, -0.1294, -0.0952, -0.398]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f531d367939bb6775a829dc2db242969a1bb2843ec571cc438137fa6026ce68c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7987286fbfb2a8890e55268b0d11e77806a7e1d0d3c41ac6e785d1917975f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986668df065d82c4d2414c32c335cbdc32090c29b9dd5c02efe16af2e3da1731",
      "type": "input_image"
    }
  ],
  "role": "user"
}