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]: [-0.0196, 0.7944, 0.6048, -0.3786, -0.0227, -0.0257, 0.9996, -0.0196, 0.7925, 0.6029, -0.3779, -0.0135, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -1.5248, 10.1265, 1.7851, -0.0708, 0.0904, -0.0611, -0.4171, -1.3197, 10.1265, 1.917, -0.1294, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c95bcd34e3e63d6e1208bd71f308e747a5c1f720c4228c2a4a1d89c3cbd56e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f4b7ff20f200735c6a9cf99ea063075036252f2223f885223047202a66ad95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:075a2ca65b6b00730e7938c396d0bb7241609734cf982f4fd4a38ba1c22da36a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9c16QQGZfr8WBboWNllFcsu5SWEA5eZHmK0MNa-Z1tkKFLBgLfDMNMz2B9wNB6K2n11r-8aZdEzWntLrZI0w6mgfnogol5ZVm3stV3ZbaELdOdAr_h9Ve-hAbx4n91wBhTUTWk0bia8hxKToARDXI4W74PLP_DHlQ8-8QIJjf7ufuMYBSGZYdkzEmQFcyQKPZEI3yrj3rPPx8j3Isydtn397nru4Z_RubRY1DD7F5HVadpFtfDzegW_Mp2JVhsaZX-OyIV1nE2cykJb2EJW3my50YCi4_fcZFvOOYlAAS1ONfdXnnPolgj8wuXyoJUhPx-uaOk5KhM4iwphl29h3Q9B9Ls7OPIpUH8xztFettGZpf3Ht3B1Yet7lAM5xiCOF6D5wAIR5qNePFNFiLKQP1K3jtGgCjQho3uUL7vZU_J4QPoJS0hPwENtNYH-1_fmRzWdt7cqlQMluTenjEv6cKfNJwo0X41pXuHj58qznsvwsJSSbITeRuwI4cc56OFG_M2kfOxSXamPtyPar-tbcPTtcqoeVKj67rxipnxJKq-ROd1XfrUjuQqZnyzxHgWJ4c_h30GRElFi1hNAvBbpINlZQjb0trKc2YITnkkQgWYEP9KOjW4qHQMGjPV5WkIivu2oaCXvgpuCBb9f-fg97FHAeb8jF6sZbRAw9NcL-uPQ-obZw3nvSUdTvDvGGmeht-DwWzhcpaiDgoFgmFCUVM1Aj0eco9buFfT8gDp_FpPPQwiv2OXGFAJYEd6TvTthwhbp96vE8T6efFiYWty8re8Ux0hC_BWXHJxkrQ1RbafSx7AZTE4E7AEyzxhpbswuBrANOlI_7L7cpUNylC73BVGoI0DEVVUyWpxgKHFMOgoKT4e8vORTrou9rLehJnsuIC_A0MPm12RY_aMdIYC39FpAJm2KjGJmLS1n5F74DSH-WskA_QwxlLU54irYFolvxUPpkLlwJNoqjFDVj5CuZ1Uf0rwy232LQWAoaziRcLCe_Qktxd3usXJ2J9_YWN_jeqRscjGoaPPYTn_bE0bTsPFowJctANSvdUrriNgDlcQ7iGRlOiG9xkxU5_Qi-Q5n6sNZ6wzFQZ6ahOACbjIe_FqegctuVuEAFEnIAjSAxQBTgrVoUk7MziDF-ggPNAxAfjlTfqRgSEinEIITwvl18fDAUY17UHawSYjeGqP-sCn_t3QfEuqaS-jse3XwP3t6D8HxBXLbpUZjhsRQiXjtOFb5wgWBXdA9ItP0DsbFwgCU2_0n0kEaVXSKEnm-NSR5XYAKSaqqqMyS4BYWSjFFuLhQJYTFql4dOFj3seOJqdBWg3o_T_tugLMkLFlXrF0s92aWOuC3fm6nJ4EaxEjNZQjfYmsLwuUrvZZBQnrQ5ZAkKnRppNLA_KxD5zuaYVKkfwfeNWyOoVvMBnBrlVTfLzWqlIKUGLDdRvIEGQpQFI2gz2xuMLp24pVkzhXD8V1paQTe-xj2sqYbeTOjDx9PDEPKBbCHtlMZ2Ro30stZu5gcrMT1kLEIUIZ46aHRIyFtvUQwopzMWw0xK_mn11bMC8WKr39OZPp4jg_jswYWMlsOHnJgMkPUTgnq0nUcA5ZGed5ryo9TSsEQdUAEjZovQ3gWCJNWUNTiTddXn3wcZO55cyCOzS4tfzUWKCAwxcUQPJmEydWJZZf3XdcdYTpUoj2yLlfSFIqZJohGmhJl8YbSq3D4mYelBJRwbiGJCFQftiv",
  "id": "rs_03d9f66a21ce645f016ab2af55b02887d0bbb1315f9abae72c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"Three upright bowls are arranged across the table. I will approach the left bowl with the left gripper and aim to pinch one rim so it can be nested into the middle bowl.\"}",
  "call_id": "call_AC1df8GhIaLh8vl3QvHDZB0M",
  "id": "fc_03d9f66a21ce645f016ab2af596b7887d0950960cd0de2219b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AC1df8GhIaLh8vl3QvHDZB0M",
  "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]: [-0.5343, 1.4296, 0.8131, -0.0883, -0.4267, -0.3161, 0.9996, -0.0216, 0.7967, 0.6048, -0.3889, -0.0166, -0.0319, 0.9991]\nstate[eef_state]: left_x=0.3776 left_y=-0.1343 left_z=0.1312 left_yaw=-0.0216 left_pitch=-0.0632 left_roll=0.0268 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1778 right_yaw=-0.0002 right_pitch=-0.0133 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.6393, 8.8684, 1.7949, -0.3492, -0.0806, -0.0611, 0.0752, -1.4427, 6.8991, 1.8339, -0.0122, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604e07414559713cf5e866e441f4fd206cf7ce9e644c6be8dcb1ce2b0f3e8e2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5835c53cb28fcf638cdabc29b5a8f41d17c2a8dcd6ce0150dcfa2e34dfb9e69d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b4da09581e70cda2ecd3419248998fdcc9417e53bda6e9af108b820f75fda0",
      "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]: [-0.0196, 0.7944, 0.6048, -0.3786, -0.0227, -0.0257, 0.9996, -0.0196, 0.7925, 0.6029, -0.3779, -0.0135, -0.0334, 0.9992]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5128, -1.5248, 10.1265, 1.7851, -0.0708, 0.0904, -0.0611, -0.4171, -1.3197, 10.1265, 1.917, -0.1294, 0.1685, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq9lhTEpThZZ8Z90mR5CpOX2h8xC_J9ky-GdPyaUF3G6QtSQNMd0dsTltOXrhn6tfIQ8BUgqLXmlqYnV36CByEGauZ5LYe2Wdm5N9uxq4w9g9jry0Z9R-xmwYMqM67Koxm6KY8Uh8qX--MY9lXuq53rthhhyRAP5RnGPlX0HBVjxI5z4xwoYPXfsfKksF47xka2jijUc66u0BS_NRfAaFEyHZZZb9qLgTyr6yOgUJI7d3yZOjfWeSzkzJwgXz55XN10VFFBKEd855GABCXfU1DIioZhaKMEdV4DjXB0oPes7BVP5iJikCo1Rterxg5xF8QnHRdn4NfQ4JJef1YDkO6AAn0iQi-lhdEl0EEXMyWX_6FvE0-J68GnePGyAwnNJzdBWuEz2lhpwrq3KaH8Cp3xn8RXA-O9lic89HhNVU1HCwvvMnBWt99BNs_nh7oUh3RNSHHUpMqM22UL4Cf1E3DAlEHLDB8VaHoFZBjBjcP38D1Bc3SZIenUZmNPIzxeRIRDiM52pPFVa3HBaXKiG4yR0xvS9Kh88BkfcqZkjFrMxdIOzNAjeI-vCtA-IkGzBcVAM7YStJ-_L7HPRjn0d2UkhAPLalVWxMxGz2toE2k0CxQKHxq0AgPPJVTJbFxYkovLVxHjohPbS9v12JQv4X68OzBGrPPc7_2-se4yoXWyN31qjwDheUyUAEyk4T9s8IZXFhe7PRF4deRomUN3SA1httML_Ush2sIscmqHY4t3YbjH035_8txNc_cscHxixFIxSLmYDEhziCFZzocZ90kHh26O9WUdl2d4ICYoUKeY7dcuec5QKQkz9K9kY-vdyb_aBKXECCY7u33esmACwVL4LTRYQKnLGAN65BzuzCAwxe8ZcCMhdV5SNwKWwZKiwqDlc6WqNYs_PUHUceMB23QBAlOcVauM1AJ8pB6GXLv7nP_rshU1ojDbejHZ17aidzSfw3S-59hGxW30hdIwEB9lPwWPMqX-WnFos10UmCEaNyh7_Cy6t-9Kh8j1Ws70bdeo5zuoRrFWAOGvlk2uORJ0HP87SE2Yi2DpRtwtdAMfjSp6wIBdSzquUi1QOU13lGdyjqLTCSM_5qir0paCelZGLFK4r8YVLSzchKumkmBhXHEHTyXkcwFtVXhwYo1CnO5fpNM3kb4cPFPHkfZjhYtOq3LJhVpW_8g2KG4qp13UDq4yNekPIXUvVKtA6o22gDhrY_8A4NCmBnuRqmAWmDpRny6s710QuVLXP3-qU2nfjgcgQ4myx_PulFT_A5rwBV6LlM3KNJGHoPFZnqsMRGARu0rWsM1VRpzxgGd3oWhENvilrdnj-luh8cFElM90hbsNAqjy8LFQuhE6gooR5o5EPmOP3oVJhbNBp2O-TeUl4xQfWCUT_NmOgXK2hBTekl7M_qOJMVglAoYhiB0AGXwD0cDLJzburCy4csnU41IVg32evWMY7vMyjpVTLZkWJ0SeCE3YS8lWDCgYF2_Km-gKOAguwTeBI5iPo2GSfEv2YFCGUs7wRU0tAE9Tqn4TvJCXNV81ZrncGrZ0VUhlLmptadixJrmPtvch-O_NSksxyyttNQzWkldI6AGa5luwgFW3v9sdmWLMj-FQNxY3P48Ds-rJOmjlaP8cIZYdi8NEGrgTIER5WImMwNbJEbTvzKhUP07LOtKSWGYroq3Bd1W63hmfLw6wVjwcb8wjHUy-7me-0yUczxPyjo4lOLmIu5W1GeQo8y6YR3ZTHZ1IRT1ltHw==",
  "id": "rs_03d9f66a21ce645f016ab2af601cb087d0bd1bdbdde1717559",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The left wrist view places the green bowl's right-hand rim near the jaw column. I will lower the open fingers around that rim without trying to span the whole bowl.\"}",
  "call_id": "call_Le8tL3btzkX1EiRyaJj6JYNe",
  "id": "fc_03d9f66a21ce645f016ab2af64178087d08ae439276fcb4db1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Le8tL3btzkX1EiRyaJj6JYNe",
  "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]: [-0.5396, 1.636, 0.6266, 0.2329, -0.4358, -0.3302, 0.9995, -0.0219, 0.7975, 0.6041, -0.3931, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3685 left_y=-0.1296 left_z=0.0388 left_yaw=-0.0088 left_pitch=-0.1219 left_roll=0.0568 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.019 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.5846, 5.135, 1.7558, -0.1099, 0.0904, -0.022, -0.1026, -1.3197, 7.2, 1.7656, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5790564615ad7690239148ec0eab42670a8b64b72f6acb8750a7dc8d530cd516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cac7a1d94bbea31acdbc4371cb02ed1c820cd5314968bb46aa1303ced08a6a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ad84a8933bb99c42147671e942975f5af1ba6f64f0dcb38b4ce2997e059189",
      "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]: [-0.5343, 1.4296, 0.8131, -0.0883, -0.4267, -0.3161, 0.9996, -0.0216, 0.7967, 0.6048, -0.3889, -0.0166, -0.0319, 0.9991]\nstate[eef_state]: left_x=0.3776 left_y=-0.1343 left_z=0.1312 left_yaw=-0.0216 left_pitch=-0.0632 left_roll=0.0268 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1778 right_yaw=-0.0002 right_pitch=-0.0133 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -6.6393, 8.8684, 1.7949, -0.3492, -0.0806, -0.0611, 0.0752, -1.4427, 6.8991, 1.8339, -0.0122, -0.0317, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The green bowl's side rim lies between the open fingers at grasp height. I will close the gripper to pinch the rim, then check whether it holds.\"}",
  "call_id": "call_oUTbXFwwyyhATMu8Howh3918",
  "id": "fc_03d9f66a21ce645f016ab2af68c91c87d0bb0bc0df1ec2749c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oUTbXFwwyyhATMu8Howh3918",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5407, 1.6341, 0.617, 0.2554, -0.4442, -0.3382, 0.1153, -0.0216, 0.7986, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3691 left_y=-0.1289 left_z=0.0404 left_yaw=0.0002 left_pitch=-0.1058 left_roll=0.048 left_gripper=0.1153 right_x=0.2933 right_y=0.0002 right_z=0.176 right_yaw=0.0011 right_pitch=-0.0202 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -6.5299, 6.1197, 1.3309, -0.1245, 0.0317, 0.7692, 0.0479, -1.2376, 7.0222, 1.7558, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986489957da2d43136fb02b5a2df7ef1744d47925140ce0771fa3aa42bc2b60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0796174d10d7593adfd762be3d87f123a0b6e228d6219215699adc2cbc9f4bec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9a7c4359ad55edde63212795b125f99275c34a81cf3422ba53b49086366d7cc",
      "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]: [-0.5396, 1.636, 0.6266, 0.2329, -0.4358, -0.3302, 0.9995, -0.0219, 0.7975, 0.6041, -0.3931, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3685 left_y=-0.1296 left_z=0.0388 left_yaw=-0.0088 left_pitch=-0.1219 left_roll=0.0568 left_gripper=0.9995 right_x=0.2932 right_y=0.0 right_z=0.1763 right_yaw=0.0004 right_pitch=-0.019 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -6.5846, 5.135, 1.7558, -0.1099, 0.0904, -0.022, -0.1026, -1.3197, 7.2, 1.7656, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper stopped at an opening of about 1.1 cm, consistent with holding a bowl rim. I will lift a short distance to verify that the green bowl follows.\"}",
  "call_id": "call_QdI7l1v7lTlYUaRv0KpFthaw",
  "id": "fc_03d9f66a21ce645f016ab2af6da15c87d09485ef575d52c0e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QdI7l1v7lTlYUaRv0KpFthaw",
  "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]: [-0.5407, 1.491, 0.7174, -0.0078, -0.4438, -0.3412, 0.117, -0.0216, 0.7986, 0.6041, -0.3927, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.366 left_y=-0.1271 left_z=0.0853 left_yaw=0.0027 left_pitch=-0.1229 left_roll=0.0557 left_gripper=0.117 right_x=0.2934 right_y=0.0002 right_z=0.1761 right_yaw=0.0011 right_pitch=-0.0198 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -7.665, 9.1829, 1.5702, -0.2662, -0.0073, 0.1587, -0.0068, -0.9368, 7.0769, 1.7558, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d277ba24f30ef63562415f83fdcf72e85d47356a32a810b1064063d5b5803766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b75d9ad6b899db5affc977ba9533da3d25443e0e7e2e323c861a1d41895d9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288ba0b5b8c45cc7986699c837cf38cd5eaf50ea4bb5ec6f0cf00629088ec635",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5407, 1.6341, 0.617, 0.2554, -0.4442, -0.3382, 0.1153, -0.0216, 0.7986, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3691 left_y=-0.1289 left_z=0.0404 left_yaw=0.0002 left_pitch=-0.1058 left_roll=0.048 left_gripper=0.1153 right_x=0.2933 right_y=0.0002 right_z=0.176 right_yaw=0.0011 right_pitch=-0.0202 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -6.5299, 6.1197, 1.3309, -0.1245, 0.0317, 0.7692, 0.0479, -1.2376, 7.0222, 1.7558, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq936ts_cZqafoD23DTheh-v_I1iEfOE4tYZRUN5hbfZ9VmYLZIZimL1YHab-joqTDwHhL_CwknJG0627JUacYNpLROtb8lrv_gsSmdD_Y26J-vC4kAwFIIqA0Iq3B6_Ixf40IGPkAXNl6r89K86I3uU5hfbozd46iaTG9FI0sNKjnJ60OGKrqjzpfdEKG8yeuhSx6I-wm_wkZqZPdduZWwjNTKd34_Cj0x5gmmRrNtlwiFMB2JB0jOPtCHJ9QVgyYyMRvPjfolTqSjrv1HKfs3gVCImcDzwouCM_odiBKKyxgY22XBWOMGsi-BbfhmFB14UrcXtfM6vcMFab-qdSeg2CgwNltdcJHqkWyO3Uw1ociZKOBZXm8NgpfqfgcASBTVFc5Ay4to2jIw-UiZ7Ywp6pwNGkY5tMbFQGrpQOKfaoRrC90UNH0ZXk3nlITBCFacioly3Vu2mX2fTG7KID7nbSLOwaRW8OBcOxwMRoJbaD9C5uYhL3zbm9uLuT9Od3Q8RG_GDr66HtuPAXfCYMSQYMLoRDysI7CaLWB--9-DTs5LSXVLRSF6W1S-h6GY6iLnket4LDDeDWNnsoTzBtzdVxd6TPVdpeheMG5yKvZrxoGHSaVVEy8RIMVOSQkReF9gxkzUN_c0KUgODe-VqdmERuxkKqqCCMbLVcVn2uIV96UKQx6WmY1jZnVwN_gR4duwjEAXZ55LKNflheJs8ion7ea1QQ8rZtTWZg7aLC5ZwSaBOwZ7tsRA_lx0gtJ1ZPTDB3vtz3PsvCM6C4JjpeoOM6tB0SHBXasmK-yH_6X7gGP09PeOD7KbW3QOhDu-iJV98dO3JMXW8mNyiE-FWmfxCfvAMY_2KKalSzZwhuG9R5GIyFzigt0BrMh454vdRbZJ0G1coBj2tolAuUJkDbUHOlA10VT3qO1_j3V5783dkZcqz6OZnauKfgMxu9zdQpIJX-SLhimwF2FfM7qwDCyrq8pL3g2O1weon_CHk-nnlj0s9bPlimiCLq0S3AaK5e0NLtHVrgY6XrpfDz9dmRUP9ftJPSMx__vpidQunmyVeABQnFiIgbezteOOH0miu2KIXU7R8AnCICcU85c8GmXcMiLgvN6BpSqSW7WPPlTdNaPoJXNW_2rhJZqELOv3fApeerfrz9kdx0S2AOFK0Q8x16Exf_qpTZhCH0EmTIYyvSGVVDpqS_Ib3_qmpRHceJCwzU4VJ8NwQTbOivczGtd5JUiYYj6gSI20pgqXHyEWg_HralMPtxtUq4sbCiDwcedbFli5ewM-y-JUKjD5EWJwwFJgxutmoBaYG6gvrxpRJ-UeZLQB9pgcflp24tq3sLu4I_1-GNl-J0Hx4enEk6-fdlOiM22LC5NxSmIBL-V0ADhr6bxFDOOlTwavuud3M97-AzLktOXabrpNjTUxrYMgBqYWwVYnbTXUcTDb8Wgw_OOxP2wmOotdAEONTOliixYSPgTnTVD7xHhQ5UNfL5LeHhi7CUreqPpKAVg78GHK1Y_mzZ3B5javyAEHpSeCHKTAT",
  "id": "rs_03d9f66a21ce645f016ab2af72d47487d0b50403fe20aab666",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.20},\"note\":\"The green bowl remains fixed against the fingers while the neighboring bowl drops lower in the wrist view, indicating a successful lift. I will raise it enough to clear the purple bowl before moving sideways.\"}",
  "call_id": "call_FacWeoT36yaO5muc5y0CzfpQ",
  "id": "fc_03d9f66a21ce645f016ab2af758c0087d0b9e582a21727b49d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FacWeoT36yaO5muc5y0CzfpQ",
  "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]: [-0.5407, 1.383, 1.0325, -0.4603, -0.4435, -0.3416, 0.1183, -0.0219, 0.8005, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3664 left_y=-0.1274 left_z=0.1773 left_yaw=0.0047 left_pitch=-0.1481 left_roll=0.0705 left_gripper=0.1183 right_x=0.2934 right_y=0.0001 right_z=0.1755 right_yaw=0.0007 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.5966, 9.2786, 1.5165, -0.2369, -0.0269, 0.1245, -0.0205, -1.4154, 7.0769, 1.7314, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33747dbddfcccae69f13564bfa75b25216a8f9b54e7a438c390bb81528b298f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebe19e52d04f1f1892a6451cec3d174bc44fd1a337051d5d77c405e476c1222",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b718ff52149bba39ccd6cc4054cd8425641bf84c133cdb9eeae1397b5da1c565",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5407, 1.491, 0.7174, -0.0078, -0.4438, -0.3412, 0.117, -0.0216, 0.7986, 0.6041, -0.3927, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.366 left_y=-0.1271 left_z=0.0853 left_yaw=0.0027 left_pitch=-0.1229 left_roll=0.0557 left_gripper=0.117 right_x=0.2934 right_y=0.0002 right_z=0.1761 right_yaw=0.0011 right_pitch=-0.0198 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -7.665, 9.1829, 1.5702, -0.2662, -0.0073, 0.1587, -0.0068, -0.9368, 7.0769, 1.7558, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-EJgzl0alEuJ8Eh2qT6q8myf7NvztMAbaGKkhpxJRd8LPYYTwknOoLyme9lYibQL9z2_jaWUN7xAtvKv6PC2E9G43tuUR7xBihrtJMJWqU46B_FY72EFHz0b4MyE9eQBZBWekssTeS-HOV3XshxToDBNxKIhuCZ-0EsjwaMezOL0r1XKcOUkH8xJcNlBIqSVb-Lz0fiAuguBs-r-4x47qNX1dicg0Rr3fzBZzJQQ88T5OrZdnLm0q3_kk7OJS8rVNwP5kjpIPAIhwA7TCbx6W2nbrDr3XonIWU_H5QxraBxyz1tMAJxMgT0Rrjw2wx3NDb9Dum8Vose3BMshH8OEucxuyy7qfG7tZLTtgFIedqW5JCALue3VsbSPZzvcYymW4zENhYVx61s0eKSDA6C0aCdUfAXfC0QRfizNXPz53E789A4cOYr3PhPjMKU29wy3qAFqnmdKLYaih4bKUF3q-dhVGijmRPOtz4NV2cMwk51Rwl8PhzSY06liDLZvVNJ4kkJAtMPyKbwaRYWNBLn5XqDM0bgahzDUW-AiuscvBkbXEvxicXHrl3_07gRt8j3B0R41xrpmilXL9CvKEEjRM06lyVkr3X9DfPgG_ICNqGiIr4CI3lVs_tPNU7ZKJuVIITUeOsSKvAlHqO_EUQbikAv4P1vOh-XooAR7SpulPrpNTat-9-d9G0P_e4S_NCPar1-43r42tIMhfxe6QqSwI5YNZl0QB1JCgu91EeIchxoFBz6Vbnm4s-VcyEGH7xtyLVhnDjMn_AS3bEX240muPsLvvGTy7GUMOKoO0GJTFUqpIeJM4vU34_vjWRiYKCs3hP5kO3YFiPGxk1smDjM4sydpeGI5mB6jOZ4NtVnVE35lsPfM0aHSM-ODrVkumyUX3iYiqFeeFwI86OPsynh-kKzI5_jdwYAcF3am6tr9CtsnzLMQnlm2eo8eJs5B_K1D6c3wbx5u-8V2vn2iInSxTJclZ3xIHcmPb-zWeQ7y3j4aJoMhvoANWwkDn8Kx0kdXM8n-_f3RLVpb2hF6c3_3BYHeI6MNXCDb1zEDu0UBN_rT9J-1kkgwH9SPd20Wc7L9QM7Xb4YXlNArh4BboZYT-waUSNTjZtVdPUpblsWWoNW0HRMTEswLKGyp1hqvpeuId4mPWiEuo4gcBoydDVnIZ0gNIrTTY5_qQg4iUgxR5yP2lw8oM7Vf16rSAmuqis4V1aSg-rsOu8fp271Pw7WEmayzGPQhwVKICygaLTF3ND8Ii8eP0aB8AcgOb0HQo3lSNjKmvaVHs7nJVROvnWDDy9GqC9iY2t8wLuVl3WDXMDFolmDPbeEB6hcePVEXbo80Fj2amkEZdeFk08HW0CSgk2AtsBxS7KsqpYtfxLuPOcdRI6j80jS3QSqBIIWe7kDq6Rasdj6ZfrXb_BhRJlbp-nLYfaWmeOy4DZvlalM_n36FayEVzobPHTbhYLRpF-8ZVJpl-j9M1WwOJvXLAOJ5vOGdMb_9A4aI9aqwammnuPEeL06l5YgQrMVSkY9YqIfLwMMxaruYFHhtJvhMLN3t0vbTJ9Ct9BQqLhZd4EAaUocQDY65GnXJF6NFjLl3UyuD8cRarb4Bp9WOdpFf4hUv3HBy1b2vuZlUxIOcOJXNS5ykFpgQ2bI19dnBFnrfcEG1cgoyJrYcvn1B14genK-MkPadv765FR4eDv_0IBdCJP6MWGfioFpzP0opt5coJmVH-CmHCI2IKKoseKBmqBA5u_vbkxj3bMC51zk3Fn3F_2IT1O9RQphjt-IQ8nMtX24Mn8gTEkkzuSsBh_xeCWbTJXOYr1m_8WEP8ITgORmeJA6vovIIT7iOCYqz9cSWTLT_i22UtdUGcEqCGjLYrXVft4TEjJJRj844Urr9P4O6Q2QcWCLf6LzbuwTWZ4qw21H_7cXiEfi_pUuuRReV1ewhVrKCIjAHD_6xupx3vHhZ7xLyUqpfJA_8mn3KW8xSqb98mExmRPr27qsXdjdbZBcGgCZz99F6ObZpInahPjG0JvBQH4Wa3cRERCg_MsJmhqdOb1TQxunQ4Vbhk0c8O3fxXTbw==",
  "id": "rs_03d9f66a21ce645f016ab2af7c940087d0bfb739ca3009cee3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"Both adjacent bowls appear to be moving with the gripper, so it has likely pinched their touching rims together. I will set them back down and switch to an outside rim to lift only one bowl.\"}",
  "call_id": "call_ZydEXQiYOgdpC9cmn1a4fXL2",
  "id": "fc_03d9f66a21ce645f016ab2af828a4487d0983c4cdf3617368b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZydEXQiYOgdpC9cmn1a4fXL2",
  "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]: [-0.5407, 1.5913, 0.6724, 0.041, -0.4442, -0.3412, 0.1194, -0.0219, 0.8024, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3568 left_y=-0.1215 left_z=0.0411 left_yaw=0.0113 left_pitch=-0.2051 left_roll=0.1068 left_gripper=0.1194 right_x=0.2936 right_y=0.0001 right_z=0.175 right_yaw=0.0007 right_pitch=-0.024 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -6.2154, 5.6957, 1.4921, -0.1978, -0.0562, 0.1294, -0.0479, -1.4564, 7.0769, 1.7265, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29887fb401890ff1f5c56b5b1a9ede57773863d03919bd33067f539b0fb22738",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11fac328cff57e1dce2982822510978017a531a2ae9e88eb0479260d1c8c82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5c437a032cff8bd5f3712db3dae125bb0c0209bdc5401b4793055b51982e07",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5407, 1.383, 1.0325, -0.4603, -0.4435, -0.3416, 0.1183, -0.0219, 0.8005, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3664 left_y=-0.1274 left_z=0.1773 left_yaw=0.0047 left_pitch=-0.1481 left_roll=0.0705 left_gripper=0.1183 right_x=0.2934 right_y=0.0001 right_z=0.1755 right_yaw=0.0007 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.5966, 9.2786, 1.5165, -0.2369, -0.0269, 0.1245, -0.0205, -1.4154, 7.0769, 1.7314, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"Both bowls are back at table height. I will release the shared rims before approaching an isolated rim.\"}",
  "call_id": "call_LIBuQIH15aVZ0Jmih7Iytrdt",
  "id": "fc_03d9f66a21ce645f016ab2af8d4ec887d0bb3b8b866cdd49a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LIBuQIH15aVZ0Jmih7Iytrdt",
  "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]: [-0.5407, 1.6047, 0.6636, 0.0376, -0.4438, -0.3412, 0.9952, -0.0219, 0.8032, 0.6041, -0.3927, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3528 left_y=-0.1192 left_z=0.0329 left_yaw=0.014 left_pitch=-0.227 left_roll=0.1203 left_gripper=0.9952 right_x=0.2937 right_y=0.0 right_z=0.1748 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.3915, 6.147, 1.37, -0.2906, -0.0415, -0.1001, -0.212, -1.347, 7.0222, 1.746, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8505ebbf574d6b243e12ce5e40931b2a65bd20dd995cc25842a599930246ea76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044064a7344c6b27b7a51eb48c477f6d9724ce7a3a3d57e87c05f7412256d204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27120231447aae6ea98d71b382e01a4a38ef262808c1a04606b762412507577e",
      "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]: [-0.5407, 1.5913, 0.6724, 0.041, -0.4442, -0.3412, 0.1194, -0.0219, 0.8024, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3568 left_y=-0.1215 left_z=0.0411 left_yaw=0.0113 left_pitch=-0.2051 left_roll=0.1068 left_gripper=0.1194 right_x=0.2936 right_y=0.0001 right_z=0.175 right_yaw=0.0007 right_pitch=-0.024 right_roll=0.0015 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -6.2154, 5.6957, 1.4921, -0.1978, -0.0562, 0.1294, -0.0479, -1.4564, 7.0769, 1.7265, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-VV0miT23FiLj4bcuy88SI6knkB-wNRa_0j8SjjZAZmwnjI86Q-zsR0OtcRPdaaGZY9eEi6lHfbD-jE9uPDimvIEsCSz-J2Msp-miG_pl-fgVad1nqWSptHE-ZDIqXGkuHIUBUHJPzWxAc3NCCyCb-IVQESExu6kosvq5tn2GrSZQvs4wA4DOsDuRIhLKqd52gdcFaYCeNohzph54119t5mSsH1h2pOfgAYt_k2MctWqybGXeLkvxNo0bwPewSygUDVedLx4AWVuSgowsZer9ZQznCaOm-8pKdGbfK3m6gyU7ACisjDhyfQLJ3JuC2a3R6s2twhSVU3rO9zpD8E2DS0c8ZyUaQ3aiRnd8a2b7U2TnCkVDEWAI1M83zMPiYo2iUuMGM2zyhE7ijr1hD8mwgtzgmpi0XG_mJnoCpDpgiB3MtA2a_ngr0khs5F7fuK2sk2QbZ81DjoG2_zE132VP1-RhoGKKy0HxklH9AUkYS6iwZEl4SgjdeHe8VI4zvXhbedESs5bFsPrMDr-Tfkdx5sMtJMP2xO1qllYfwkNMA6SVrqINFXY4hM3UILddHRdPMmNPefcfjuGTb4XU1UImD6ctg5ljwfs_CufsZKCEiNlgVCrqoCm8Pr1qNrzjaBu7WKLoyMFo0Ak8BAujFvwHN4t-a4NaXkJxhrBfKtMTCZZsBcVuLQ6xCqaA2RW7eJFXUPPJdYqxfvTs8FaGPaygPyQ8jK_CMjzqOcPQjA7Jvn_RHwgn1AU5nq6CD_7NcP-AnRtlrqsan5H5rpm3M13BJdp5nnHnUhq5OubL1YCISxsVG7Sm4OkTj_SpOSxlpf52bPSIEGva7cuh0nTciV-h4ec8N6a5TIiucnorxCYxgLrZKkhrZah0xOhWqutrx6defdpEZ8sDqD5G3O5df-P_svn3YGQynBqv3kIAcpPxo5eqL6TN0t8dyDiSUftWWncnXhapI7VsGR1TQ4qk7rvzJHejV-lWFlv4Rnv83R8CdBBcTJ0b5DIps70zs7pH8QsiYKKCss4Bp4o8PkKjmB7wbyOi5VBdzLpZnkWQ8r26jblQyJBUIhMiRYIO02onZReNT05AOZjpFaqoaM1-hVca3Dg_HQn2sNY4kxcHrT-5mEnFq6IDk9cLYFocnSCRG1pO4_JezlAl7aid-TDzxJbBLzcs0HtL63xkkugfN7jGY_wJL1jMJpUO8hYwwfYQq2wALs-vyxVKCcxqDP4hWRd9Uu_oHn-uJaYZZ19vijac-SBPTcx9FiBuc3vy6H8iiPzKu36ln0nrW2mljfibUZZADHnPwW5KoNOx0CYft6hf7gfo=",
  "id": "rs_03d9f66a21ce645f016ab2af91d83487d08d4ad950b5e784e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_y\":0.005,\"left_x\":0.37},\"note\":\"The green bowl is left of the purple bowl, with its outside rim unobstructed. I will lift away and move to that outer edge, avoiding the gap between bowls.\"}",
  "call_id": "call_fmOPpJeLOH4ide0MyvrnwdEf",
  "id": "fc_03d9f66a21ce645f016ab2af934da887d089a046bcf73b7294",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fmOPpJeLOH4ide0MyvrnwdEf",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0681, 1.3178, 0.852, -0.3637, -0.1551, -0.0132, 0.9957, -0.0216, 0.8043, 0.6041, -0.3927, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=0.006 left_z=0.1309 left_yaw=0.0604 left_pitch=-0.2545 left_roll=0.1148 left_gripper=0.9957 right_x=0.2937 right_y=0.0002 right_z=0.1745 right_yaw=0.0011 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.5846, 9.2923, 1.4383, 0.0122, 0.1685, 0.0366, 0.0479, -1.388, 7.0496, 1.7411, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c153eab76b7ae3c057a510ce64fc5df72b2022d8240a26c43c518fc222098e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e96b181030d53eac8f37d9fc15d7e3b3b65786dfb491323e72765c6c422e3ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accbaee55fa005036a46494ab19cc717eb9b3f780350c84a323f2da1b690ae3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5407, 1.6047, 0.6636, 0.0376, -0.4438, -0.3412, 0.9952, -0.0219, 0.8032, 0.6041, -0.3927, -0.0162, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3528 left_y=-0.1192 left_z=0.0329 left_yaw=0.014 left_pitch=-0.227 left_roll=0.1203 left_gripper=0.9952 right_x=0.2937 right_y=0.0 right_z=0.1748 right_yaw=0.0004 right_pitch=-0.0244 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -7.3915, 6.147, 1.37, -0.2906, -0.0415, -0.1001, -0.212, -1.347, 7.0222, 1.746, -0.022, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-cWqTxD1wdhl2PbZ9SBSnn66DkPLMu2FqgGbHPSIIW8LTK6fD_wuHLWtSg_OP83HuXfgOa6f7upkXRp_QYogvNczsdLzBs690RhFEVAX6e_mishfethEYluiyknvfLVkPzLHVqwl2Sholl6Y2DvDq094Pt_9Vfv48Mimz-tONvOqsbDXhIXu4d-AySS-Sl4lhoBkW2eD57tMs18CljFCTvYMsQg8vx4xBWLy8qKJxvnPPLk3oZAFIuTyUM0m3WsmIIRXSVlyHHGuT_Xb_3zEi66gV2sGk8J871LXbYieZQV8hT1Vh5eEQ2SyhsA_374rW8AMpjz7LxYJx_UHv_HO-KWLm8gUPX4gMIqcVEeEoFhLoNjRUxXwixuFeXD1bulJ0H_IYqdAkgxjwQAmt5Ird6VTr86p6R8mezFMay7jnkKQx73mxjda2kFpcRKPO3SO7tAkQMsNkCv05gL4EMGXgXzzJXlr7D5-IdwzUcKByT170is5UGbSwXHaK5ix8aAFXoNtHRyGE_PPumq-GojhrWWmsdX0CmBraX0e7KAWM1IoShLjAB96hosvbhVq1qnSSByFW9XN5L2mJ3Hcokjak9zuvWNQ7ihn8JISpKl97E9efmbjNiuYR05xJxUzFpTxbvp9TWB9C8Bmeb8WTNO9vsskKXl_1kp-U-KkqEuAsIgLtwY9h_hHysP3wg0Zj7cXF0IWzyqXnnz7-Yhp1jJo7JpGqKQ4YnwTmWaAoXrzrs-HW-rMbLuExzro0vMspUFbugTBxKUSfOrKS--9Y6qMFUtOpdXtnH15VkLK2D85J1ixc5DBfk2ZT5PgOO48druA2frZ5h5Rshs_QfPOjQmbnmxT6Pr-2OLGFzFHj6Rmp8FSre-Mi5VPXpc1F5-KUUfBoJ52lCcqQ6htlP6zXFYvUyDtCeLpSQv_ooPIbTJVJMCIMaxlW8rZ1eULno7BX0FFt1_e8Wk4754jAKJFbjtM31-1lR-2NWFVAQOep3oybrwSE-Ho0pAryCZe6rN1LJNG2FmqlmJnh5kIdLtI7D_BCszFuefX3sjxN4Kv6lN5tIqX-bbdbLUdZzd8WEAqZckJB9cpDG32Mn5WjqB75BLVkdz27nzjl5VWZPZi8_Z2nHS6xCYzZR0J6WrzttPksr5_IHgyeIO3G7MXu9Ey2Gj_nOovBKJfjjw6oJbA7qiW_BPKCkqBQ6sLs-Ds8SyLOdZUxVXYI6keVu9MCyQUMIvkUWjS5rc9Nih8cOUIT_nNRDxuUH3xCMXZMVdyH3wgTaBAvvHhmb1N9K3vSPxJL-WRcIgactjOb-Wpfwm9f8Hk4nUROqrc4A28h9I_YKez4K09F9FcLkLaZlpymPYvF_w4jytlSXSKpNMwjpquBYwX4AH75wOZnDqq-eETzvfjd9fo1LivbbYVBXuDWgcF3Z31JMzw==",
  "id": "rs_03d9f66a21ce645f016ab2af997a1887d0a02e2f4f3dc56015",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"Only the green bowl appears beside the jaw column now, with its left rim aligned for a pinch. I will lower to rim-grasp height.\"}",
  "call_id": "call_QgTx8pzNcsO3D9AuZMXF8mLm",
  "id": "fc_03d9f66a21ce645f016ab2af9b1c0887d09f8bbc7b6b770191",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QgTx8pzNcsO3D9AuZMXF8mLm",
  "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]: [-0.0685, 1.4651, 0.6235, -0.057, -0.1516, -0.0078, 0.9957, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3538 left_y=0.0061 left_z=0.0405 left_yaw=0.0566 left_pitch=-0.3237 left_roll=0.1248 left_gripper=0.9957 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -5.2718, 5.7368, 1.5458, -0.1587, -0.0855, -0.0073, -0.1983, -1.306, 7.0906, 1.7265, -0.0611, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bb2db62ad3c10361ba39e0c1321d174820e0344586b2d04ec71f8497beb87d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc0c01216dcff129e4705f56effce14d231ecbb2714f568bf1bc2c3b550ccf31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ac2a89cc3065284a29c1d5e42eeba6e7ee08e4cf6d6149d69754b830be2723",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0681, 1.3178, 0.852, -0.3637, -0.1551, -0.0132, 0.9957, -0.0216, 0.8043, 0.6041, -0.3927, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=0.006 left_z=0.1309 left_yaw=0.0604 left_pitch=-0.2545 left_roll=0.1148 left_gripper=0.9957 right_x=0.2937 right_y=0.0002 right_z=0.1745 right_yaw=0.0011 right_pitch=-0.0255 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.5846, 9.2923, 1.4383, 0.0122, 0.1685, 0.0366, 0.0479, -1.388, 7.0496, 1.7411, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers straddle the green bowl's outside wall, away from the purple bowl. I will close on that single rim.\"}",
  "call_id": "call_lF5DFhZFbqsxknTNURaKso0E",
  "id": "fc_03d9f66a21ce645f016ab2afa0734087d09bae12746613c29c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lF5DFhZFbqsxknTNURaKso0E",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0685, 1.4651, 0.6144, -0.0322, -0.131, -0.028, 0.0227, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=0.0023 left_z=0.0406 left_yaw=0.0492 left_pitch=-0.3088 left_roll=0.0926 left_gripper=0.0227 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.3009, 6.2974, 0.9841, -0.5055, 0.1636, 0.9841, -0.1299, -1.306, 7.0359, 1.7314, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cefef687b617e2b7e96f35b9282bf447db291fbf4cbe7382ef9aa55b147c5f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe89f5b9c643330394524c2e0baa4e7a59e36b7ea9bb1fd57bf1fce5ddac2148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa43434b44fb27b0015e2a0b8074520eff3f3d48fdd2a51ee0f3be62215adad7",
      "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]: [-0.0685, 1.4651, 0.6235, -0.057, -0.1516, -0.0078, 0.9957, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3538 left_y=0.0061 left_z=0.0405 left_yaw=0.0566 left_pitch=-0.3237 left_roll=0.1248 left_gripper=0.9957 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -5.2718, 5.7368, 1.5458, -0.1587, -0.0855, -0.0073, -0.1983, -1.306, 7.0906, 1.7265, -0.0611, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-m98NIP6l7JBmmrwmDAIPcrz8fm9WHmAjHYD8AvFgfrpekdsNVOrr6xhlTep_0CiUV6bSqkNHtC6os30voGIU8I1BBGeThBeC5ndvEXpf-eASgXMX87MZX_r_LV37r3T1AUC04HrYdCNbjk_XKvV9bo2RP1iSeE6q3AEQKIX4o0PwcwU3iqxRV54mmC5yBfYejRYhsETkhQ7tALePrOUcPTIv2DudSsJdkU3LFQbnOCmmdrnhoRHc4wqiCZDEkYrjGVS7Vrztyc215Hl6TWhxrnMeM2UC5hqySI0bKQIUzmNYdkndl0lJbWhlKy91jLLUrdHA4s1BcY1pQY9S7dC0LW6IrEeSoXQejy50dsjkCW-LcMObfdF1JACQ5A4kLjnkETSHntbMNFp0UXWimTjbvzi05MjItVES_ktDVf6ceOkFv4Nwmu_uXzM9q2ourSzy5fiKggQUV263Y5GHAaB8Sym-2iKtdYUyGQgr7W1oFOiDjjRnSFv127QLH6rJPkzmM1oIiUfwFMSKz-DAQUfujsCsSIyYJNGKByxDkAYVLzMWaSFKE8SRr_GMXcJ-d03TFhv-eEVP8I91Jis0zHX3dJdJPQpenVqtRMxclwC1TfoHkmyOOwGkBAjjom77vvPUjmPr-Zx1i8TLWbK_4QSe_w-kftgnAFJdDcH8mlXZTO-3fN4gOkddA-NarVhI4xjFDzRBYgXh5lN8JklGJze62ikhrAzhUq36cJYgvQfj-8bEfcXwMDYt0kDbuYcAnjvtqCqxndld7C_CXJYWPLgqIy6VrpIOCnFWRyVrojZ1_7BRZQ6Xqq7iCK-TW7FCeS5AnLSJQw6h0TcnwCO7eUK6YqoMFGp1c-r3jiCynayF8b2nPuvGF9FNw7c0zBPrSjL77EQ5caHOGwYgDULlC2aNEoce8XHIC8807XLezNuqb-YUd_xAtfKfm0KyLy_wKxm3fnBikVitXVOUgGNVC_bxiX1J6joO5ectVuOX-nnR5NtUioq1Fo0aC6gv0UMw_1TrftH1YS8pO6x2yhNdLo_OFWsOftjVhfURqjQ-xj7ab9SHXa65AmC4DOZ0PPQfcoOXGfITjVxCnleY_92MnGosrskTVui_BTNioCLoR3tntemYg7qQcYsVuV_wRrBbCwDyOTYXLfXiF241Vo-D2gMWogXP8vMV8vWCbqwcy9TEJPTFcbdZtC1whPQ_4xjo7s-DqRAEMWvvFW6iF_a7c0mJlVp45479kB5g9S7Wa-kapfBU=",
  "id": "rs_03d9f66a21ce645f016ab2afa4c4cc87d09687b11856ecd972",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_y\":-0.02,\"left_z\":0.055},\"note\":\"The nearly closed gripper indicates an empty pinch just outside the rim. I will reopen and shift slightly forward and inward so the wall sits between the fingertips.\"}",
  "call_id": "call_F8kv5rKHkeMY9RiHthhp5TOQ",
  "id": "fc_03d9f66a21ce645f016ab2afa544e087d080ffebfa08aa9c9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F8kv5rKHkeMY9RiHthhp5TOQ",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.5646, 0.7494, -0.1059, -0.1593, -0.0849, 0.9947, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3788 left_y=-0.0199 left_z=0.0443 left_yaw=0.0406 left_pitch=-0.3402 left_roll=0.0839 left_gripper=0.9947 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -5.7368, 8.4444, 1.37, -0.2808, 0.105, -0.0366, -0.1162, -1.2239, 7.0222, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058932bfff41b5096a196fd7c090e3a5038a4e7bcbdb6e3651bf235ef4698efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e152837d2fa985db989ba474d56003f8e91f3c51e38cdabc43fb855e5211aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07edf39c8e5c5af8229e8ca44410f39f344c7e2aefef66fa12a88a308c2d14af",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0685, 1.4651, 0.6144, -0.0322, -0.131, -0.028, 0.0227, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3555 left_y=0.0023 left_z=0.0406 left_yaw=0.0492 left_pitch=-0.3088 left_roll=0.0926 left_gripper=0.0227 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -4.3009, 6.2974, 0.9841, -0.5055, 0.1636, 0.9841, -0.1299, -1.306, 7.0359, 1.7314, -0.0757, -0.0611, -0.0171]\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 green bowl's wall now passes between the two visible fingers. I will close again on this corrected alignment.\"}",
  "call_id": "call_cgcj9wxo8WSI6lj9gUq9eqHE",
  "id": "fc_03d9f66a21ce645f016ab2afaaa5b087d0895810fc0bd00eac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cgcj9wxo8WSI6lj9gUq9eqHE",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1368, 1.5677, 0.7536, -0.107, -0.1654, -0.0967, 0.0147, -0.0219, 0.8051, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3798 left_y=-0.0193 left_z=0.0447 left_yaw=0.0519 left_pitch=-0.3388 left_roll=0.0813 left_gripper=0.0147 right_x=0.2937 right_y=0.0001 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0267 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.8034, 5.6684, 1.0232, -0.0122, 0.1294, 0.7448, -0.1436, -1.3744, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60645c7bb63db949ad13a17eeafa34ac4d65f063fd7fdb192b84d85fda5fb012",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6194a8babd6a15409d7dddaa5fba86d85a68fd42c51d14901ded4d3fa0bbd63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b689c1618d1eac137c376f749f8412f47478eae888fddbb53888d7991ce566",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.136, 1.5646, 0.7494, -0.1059, -0.1593, -0.0849, 0.9947, -0.0219, 0.8043, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3788 left_y=-0.0199 left_z=0.0443 left_yaw=0.0406 left_pitch=-0.3402 left_roll=0.0839 left_gripper=0.9947 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=0.0007 right_pitch=-0.0259 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -5.7368, 8.4444, 1.37, -0.2808, 0.105, -0.0366, -0.1162, -1.2239, 7.0222, 1.6923, -0.0317, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq-494g59oyC1EyrloNwdHCwZLQdGqrPnZCBzsRpnN3O83Zn8auZ9GdW04N_CgBp1ryn2pT7JZofcYhTmGZiAM-TPLXXWtvjZ822XdoSJH6bj7cwWoMHZOCMCSiErLKXuKUX0_eQ30f0TuVJnSo1GB980dEVB53nL8qY458V7FAi_3bGnkElsnmhxQNhw1arukPWmsmYEsPo8PtcDyJz6dRNBCFJls4lkzliwOd05lKyuN9ys5Nun6JF7hdMpvWPLl_tfys5TRNTCpv8ra-ZAth6n61WpYfyqmnj5nrcmJHxv5XLGyXTbMTcpvkWI9BCS0FBpbQYyEz7ehwXzJosmmyxor73RVe6nyct_c30OptjiHroMci4z8lxZBgbY51dWGxDvPucX4kjajzxUJahew5E5zNrF4UegVWp62vdWduqUMP6wGI_xy1kVivTuwLlf0yt-iVir9Q6VbaX7a2w2ZIPWoE9FAnNx_x28UIysg-P5HCDAQyZuJdU2wYlaLy9USldcla30DHQyxgxUkaG5pE2x6InDtRtyIuL4VAluumcXZJY_JD43grfWWf5034atWUeaOedoF55BMlMPUATCq-DUzI9kQOZPwVSPaPXGVvyyMF4VTMO1In8rNdthq5L3OJkFnOFAouQ9oSFwk0xXXPF1X9DIClxzqGjmO6HVPsJzWf9S_-K0ln0QkYd5YjP5Uy03aCXObEGicdJu66So55KJOiI98VqcbYntqZGwCuPygDo3bZOz2toIeh0mlzatiZ2hEOok_TKBGMcRz9sHadSAUGAETNl21N9l6S7-IfEbeM-aT8lLN7X8N4m5RJv0iEjv56oEZF_D1CvZ2LkZuIlAoBQV6mHHxzxyPozdA-zB6Bp9_XE8WbayuO2SxMxM-26pv7N9Wg31cXwtRnTuJ4rG4FtYRGDV0gRJdiMYMgrt9-3jFA8eR9WpxuwZK9Pi5zHwtiLj3H-gYtnNysldpKtNZEQzcCGN2q715R2szQ9MXt1o5M58irtvtgSQzScQi20NlVUBOCN7eeeVS92Aw9agoYUsoMlSlm-H_-xW6ie9l8rAdcf-I1OUv3NywzcXziBuMj24mTcdXQBNWuaOFSPktAcxmK_UnlbsgDts_lnsEwtsotAKLBOufMi-2d_dbMX_KZ0IUBrrL3Qmbvrw3ic-wtNuQJU04nuysaEqjAmDk9tonf5itpG-K23wvTS3vMVNy8JFMSCXlLOGQB5TjaTGT37dmmQVQ2vKabmtVyfs6TlIzWw_LlmaPgJD6JMfaNHu2FpbamScBAAbNMmg1iGqvWEFJwL4tGPKvRFKlocKPiBYujH6ip1AqmVCUAgDzV9ClhFrw4ze2lWwzmvcUc1trSfHf7Qo1n4JNp0IyaaBJqD4mMtMAJGEp2NprpGUFXwiM6-F-C-1FP_S-_uWqfoCtlS_ayYtCwXSybB2tw5cxwjVejxG5l4iS5jymq95XMLByDkKvgotHvjJftFY0CkfQB4zh3hk79Ps2gOrkHry0iT1N4C4YEVT8Pj39o_7F-k4qPXcqLQ-jkeKwpIskHAWnDt-JzRxnEpJDEXlLUYxK9Mooey1-lhcDIQtMgmS1kbRztmqHlgIJc2dlAduCHn221Dr5j3YB2LO5jRXipVAcxAeXr-gKgdyVnnHBlQx5PZkhh3QDnj0MQ9N3jhGTN8zHk5RsgG7sVbWWHIeVa_h95GEUrQoUv1_DT7xpZS0JRp4YBjk0c8s2odYnws-_hJ-XMTa81uhLkdKnwdJTsYXdIIiDMizzJsdatzl-KQYc8E",
  "id": "rs_03d9f66a21ce645f016ab2afb019c887d093e8fe29db68de2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.065,\"left_z\":0.095,\"left_gripper\":1,\"left_pitch\":0.25},\"note\":\"The second pinch was also empty and nudged the bowl away. From the overhead view, the rim is farther right than the fingertips; I will reposition over that rim and straighten the tilted tool before another approach.\"}",
  "call_id": "call_201u9u4ULHy3pFjpKy70uHVT",
  "id": "fc_03d9f66a21ce645f016ab2afb5c90c87d087e8ebd696e4d320",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_201u9u4ULHy3pFjpKy70uHVT",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3492, 1.5997, 0.4461, 0.7307, -0.4156, -0.1005, 0.9969, -0.0219, 0.8051, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3951 left_y=-0.0642 left_z=0.0813 left_yaw=0.0447 left_pitch=0.1805 left_roll=0.0866 left_gripper=0.9969 right_x=0.2937 right_y=0.0001 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0267 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.3949, 4.7932, 2.1661, -0.1832, 0.1392, -0.1001, -0.1026, -1.3197, 7.2274, 1.746, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61eb010baddf03264caad5b24ffc6f0f642e5ca1ac326275e30f267bf7a09598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a273ee489f961cbf31dac148d0513cdecf0ce0a85fb68f3066358508f3c0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8511b84bd146d5f5a1bdf1eb585e45e6ead6b2881bf8ce0dda10c73afa74bd1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1368, 1.5677, 0.7536, -0.107, -0.1654, -0.0967, 0.0147, -0.0219, 0.8051, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3798 left_y=-0.0193 left_z=0.0447 left_yaw=0.0519 left_pitch=-0.3388 left_roll=0.0813 left_gripper=0.0147 right_x=0.2937 right_y=0.0001 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0267 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -6.8034, 5.6684, 1.0232, -0.0122, 0.1294, 0.7448, -0.1436, -1.3744, 7.0222, 1.7314, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_G2E-DPCzAGok0Zc9zDxillrwsERKdobDuQSijh8f3eLhmAt3TPx6wTQxuGXuLBEVBholG17AMJyzmRGSDNiy29WurBoKKe2nWZ_AU5Sqd9bAvUdMH-p-SKULlninAkR_3jmEUfozXdHX0uv9rS-pgmf01PBRiMyhX4Tl6JrM1N__6cnsd-5FVhouZpLF2puafbAXtLfc1bpmpFIIYxvz7Z_qjyYjaAiH_ssmXd8aysHogzNXR45MGnk7oByNLJyloFl11VgKA0M_U3YpSJ830VYyZNlY8-YCVuFL5qjkkZ3HFVaodVuzXCNcb5b01GY3SRke5R7BBrFWmn1BlHFR37ION9fwacNv7HimEVGiGM25mcRGarypj9nRAuDDHdvAi61L_2vCm9_bgC35LVZYUlWLfnMbsT1-66MrX5fHhOAiS9yjUex8gx9xWzvlkIQVgTR7x1vrikv0ZYHSVNcrMMxJS5BXra_yMq49V_5sWlB9VFXcMTnycjyh9cWpafLeVgSYI6bsJzARWG6rY7wpOfvn2q-0w50X5MrMQvkbnEBu9BDBq1xWdY7tDEM8q558r5-afRQ_qXY06Byc0GThyLjbE6KMbWY2uby466bxHvaZr5x6bti-zOrsb7pF0waOXHtMuauqJqZ-DiR0bVuF40yUYrF2DCcX-qdzUXV8AHTcD5rv1Qp0OghmcEpCmEeGMGZ4Uk9cRCG7BjqwzqjlP4CYgVHyymr-zl4YJKwzgo3wYWeBZgb4KZSvmIPd6GvM_47uu3wOv9tRjE6g8oUOjSaa8WQdw7t6Ntdb1XH9xQS09zdsveEsb0ib7xThLszB_hnFI5nZecS1eXjoOl3snTDFWacfy35RxvBtwP_xNuj5ouJIxaFSXOxBw9kwAqC8si2BpCqfqzp9wUSRg9GqRszHf4PZ1Xy_kpEWO0mV1bt9AuFEGIdQiVzwWl-qbXQvZr-C58cTONnY9WuCPXatQEDsMPzPFBcmuz3GXD-tM0OVIvCJRL51L_ObdKq7HcbF03zHZce96U_gUbG2IPcXtVHTxWu1Hz26vi25vZZvCUURB8Ov0j41JjSwTdECaRsNpV3RrSKOz46sy7NcBUVpgjIAeRF3MYu3e7hYGdSX2UuFt_39lLImoVwxN8e4Wgl80p4G6FfjGtpDx3Nx_VB8-eqepHL8Ndeni2hAdJZibFMrAAXEhWGeQxdtg_r7AAoUhFA-hO2QZcvbhIMsYGkqI97Ehz-84tdgw_KHh5OwdlE5-Lpbm99_5qc1fCmUwIZJJvZAxuKjd90UsRCeb6fP67uCMZbCbLT6p4_dCXZZ8SwX92rpZMOSHfwZtPSM0ctt9_m2E5mBJftFfyYyxdMmWml8TmiGv0BEvIqxLkRHuVCieC99FmHMnT-zKozCcVde5QN1XGPMmh09XpNbkMAWUsac04XJY-tWV95eZZeCupkkozq5s7W_kVokDunhQgO4khEe1HYKdC1rrq5UDhrogYv_1HOFrVAzGtBGm8vIGyZ8HdvyOHc79muCYrVRQr73JzZNuyuSREOl-VgHwRMdSb23sFGRKhe2uvX8fgbEN68gWsMY1MjWr5uzXT5H83qbwvG_8M0omB9QM4LwXTue-Kw==",
  "id": "rs_03d9f66a21ce645f016ab2afbe1f6087d0a1e501e4b012db27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_gripper\":0},\"note\":\"The straightened gripper is now centered across the isolated left rim. I will dip slightly and pinch at the upper wall rather than below its flared edge.\"}",
  "call_id": "call_P6aO1ML2QOZdbEEiOwRH0eEx",
  "id": "fc_03d9f66a21ce645f016ab2afc1bff487d0970f5a3c64e70713",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P6aO1ML2QOZdbEEiOwRH0eEx",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.7233, 0.4202, 0.8585, -0.4206, -0.1013, 0.0091, -0.0216, 0.8089, 0.6037, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3939 left_y=-0.064 left_z=0.0532 left_yaw=0.0451 left_pitch=0.1613 left_roll=0.0963 left_gripper=0.0091 right_x=0.2939 right_y=0.0002 right_z=0.173 right_yaw=0.0011 right_pitch=-0.0309 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -5.7094, 3.8085, 2.0879, -0.022, -0.0317, 0.6764, 0.0479, -1.6479, 7.0359, 1.7265, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365bc6258b5d9ed738d38a84f0cbd274cb37cc4392e8d44e864d40b6113401a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4265b142d3e9dcdf57a62c977db8ad06f6c2c5f6a56919c5fc0116c2f19d3af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8fc76e5d2989fba88d1dc46bf56333b5451c15ec61c0c2fe8923173b1909010",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3492, 1.5997, 0.4461, 0.7307, -0.4156, -0.1005, 0.9969, -0.0219, 0.8051, 0.6041, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3951 left_y=-0.0642 left_z=0.0813 left_yaw=0.0447 left_pitch=0.1805 left_roll=0.0866 left_gripper=0.9969 right_x=0.2937 right_y=0.0001 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0267 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -5.3949, 4.7932, 2.1661, -0.1832, 0.1392, -0.1001, -0.1026, -1.3197, 7.2274, 1.746, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_XzZQDd01hyh8Z3nToQx5l19oBLwovPjaC8nobBIgZCpul33UUYLJ0MU3WNH6o5ZPRpsTu7zB13nhhH4oIq1maYbysSV-t16IjsyC59k-TyjXHbMYiN68jY49JcpChebToyOLoRX_s7qA6hiHgz1Yfw_n4-QDgjlFQCr_HC517SRxFinY3l2V05VzfX35rfcDE4a5Ne2_HiAstS_zX8zQSntbRaru5q3C_0wBWaLaAX-ebu6Ot2JPxgP2kX6t-YsaRNXp-Z5-DjbxhJFA8ZfSEwPvN6Ith5oZBoCwvbwrBcZkhQFmA8ghynv8BZzSxy9lEyG4-pUSMxY27m8qXPQwsds1XAkR1jP6_G6kDizwWmB-55lNWAc6wXecH5hE7MFwpW40BsCh7mZwm-Zw__1HgRnSDy3TSqaqTvbMiOIqm6Iz68ViHNrl2h1LCnp0uiHsyYqY0XB5KH3NWRM6RhUwEHINFTwNqd38D3AndgN60rVt5LcjlY3CetPjOeg0Inj1lod6a2NwfLnBvZke2F-uKazEzU2gmYDNQ7CnH85xwfIQl6ew53K1QQEU_ei1LBdEryjdxyNBr3sdEXid4A--amuvKIH65l_r4XJ2TpKKPIxFedXOANZBRE8vOU7m83-WLrW68AOBls-WfE3sb08yDoQkmJ1EuhQ6Td-4zWjq7hlrlrVeZAhnhmw02itLhD756XoqtMIKgabG-RT5jcBdr8qFGSvR_ci2fhosBPESUKNcfGIdSkybu8kI1bes3EusZFaxIkMcJh7QWJ9VgP25EsKb3r-t2ziwLiJbDWHBdVKSiVtgU-QqgcJq0zMpQ9miaipyNigGhZA2fu0NUBtI_vkj7vvXs-affhXa6-3MIJM9YApDmFUIn6d8EOCy_CNVJu5Phej2lCG6ifgNwJRU-CofDmr10En1uPUAmW8mCp89odYeC2fVXRU62UCjvuQWvpVTw5_mLpqHE5vxZAcTz-j_RCBKqdYcjM4fUIiu9B40XVpM8vfhvqomqwhXrirAjTRHfWgSZNpI4eGuAN9Apsy00FBQwcsZk0yysHC_sHRwBsQr2nCjfSJ3UcKZyUMXw6MFmkAFQvvKGbDymwp2p1t1mHUJ1acnhH7IbPUYBLYhnniZUD2_XMJilsxMJpStRcm5TvOw_8lKohkM5LTo2FqelZmMu7BaYMxrSg6IT5CuW4BtoCyrmGgJ1oB0ldAWAzsra2-1lQ7R5BTFQ6rd6JHfkGOi1ubat4HoidekJOtU7WU0SZgNTffxi7qpGC4-dMOOJsrK1BmAnjPSAo1YFUcYb7BWTrf1dguW0G-qItBPSpj0c_53nW3NTdxp2YR7YEt0KsuSn0YdQGLpsQsLDCtRcSMefSg_4gy6xEFMv16Ttp8GFtV_4suZWaKQyRyxpuPvLjbUNZ8nVu_vD5DahQ5rUKQGikhCI9qlLTgE2b4hOF4qUeea3znFsd61prp9yS2fB7_P4WV6vytQrSbrBYqGMJte3qrnYJ2tvm7HskVI5_cS3afXPBabL3lbqQJZHAI4-UAPyg-HO1kYh9jG7hUt8TphF86NkcVsspYiObk30H4qJIVCQAbDf0C2ibjCVzTm8kaOosoA7KxtuMIasi-DVGJDBpXRqCx3iVjd869fktdBXGA_EBhOIsGIRCtUoQGlaw1VN7jKdtPlb_LuEB-wK-WiJRa4TskZFBVPydaNghKL5Tk8Ig58iH_QfdmPt6ElQ7lnO8T4qAf3sNmr4fahaGSAJAloNXzecRnojST72orR_UQhJ3qFwb20TOKmuIG1SBejBAXxVl6S0inSRGPCxm1qNsPCgoh5totAf2AMeV9gXitIu6OHH-Jgsz67od12pfkGC19IpySyZ0vCssMBPVLMpglFKvkTA1026l7_Pg6C0O0HQFB7ie9amxJ1HU7qUsp-hWKHsd-QoVWOpLDa7XBT-z3UHNpHcyZJEfeFbaFZ71P_-uSeCU4WzCLye29pTh_doR0DbiGd91-D4iBjCCTv2kM83YBnuVFEgpecXu7s-Io6mjARDqsap8CeXbnOnHXY1vz6T5ipZ0dtlG-kn-YXX4DfCey7C3MwqEEAUa3C7WWemXvN6sUvA4ucYPfk-ZEWwAyYDBtk1EP3Wov6eH1DN-frTOQ6EPP56qTGRTp6hy7P3zalEv1n689ia5uBR3lIfEaO1F8KDRoG-pomfE5BjIdQ5ZjYBl6IrYDlsKIcQANYk4I2HFXsOVpbod4RFPIAwemdy7uMNxNBkf31zgHwtfI1-AQJZB4-bNFIbtnleoeA_tKxJw_XrEc_id8jSIjaQjE98iEtVeJaugbTfuUMskH5kWjqTTj8TWrRRrN4qAD1N8uc7jzjfScuqcYOTKjDPtcqur-nYqtGGbFFsq_LiY_8a5yXBOa-nWAIfY4awUj7DXznOYr5LTh4xd-K8Hc6VyhpE9sTrMpeBQ1Basof95hE6H-8jZE4ZA0TTC-SlU8RzLe97Irk_52cPe52iYE41rTbnJJ0rDHpYd19iXGoR4Apn1-bmfiNWdRly9f4smT9ZUuOPx3ixvO4v7WPA0MDtu2F5WS5sS-8-jBdlaSQcJNY7J7In1AoRa7phZAzBu85oAISI10nOP0T3hWg4dV4Gi4btlg5HMLVYbA==",
  "id": "rs_03d9f66a21ce645f016ab2afca1d0487d0a864e8e71ca4ff8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_y\":-0.09,\"left_x\":0.38,\"left_yaw\":1.57,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"The closed fingers ended up inside the bowl rather than across its wall. I will approach the near rim instead and rotate the jaws so they pinch front-to-back.\"}",
  "call_id": "call_RJ9MActdvTcWsmeeWePDi2N6",
  "id": "fc_03d9f66a21ce645f016ab2afd5632887d0a928051854e2294c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RJ9MActdvTcWsmeeWePDi2N6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4366, 2.3005, 1.7721, -0.8246, -0.9058, -1.7729, 0.9943, -0.0219, 0.8154, 0.6037, -0.4084, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.492 left_y=-0.0722 left_z=0.0624 left_yaw=1.2051 left_pitch=-0.1218 left_roll=-0.3699 left_gripper=0.9943 right_x=0.2921 right_y=0.0001 right_z=0.1682 right_yaw=0.0009 right_pitch=-0.0526 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [1.4154, -13.559, 6.9812, 0.359, -0.4762, -0.0122, 0.0464, -0.0752, -1.4291, 7.0085, 1.8779, -0.0659, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6bd1673f6eef30a1a02c15b4d14b91053b627f3b85412866265ccb9d0f18f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5023b6d1ec8ba2aba7576398a8726119e38c142df62aa25544ef81ac6ef357c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4df5a48b9518fcc0e8724bc2e6f861a09583194f05c0b4febfa0452e0e23086",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.7233, 0.4202, 0.8585, -0.4206, -0.1013, 0.0091, -0.0216, 0.8089, 0.6037, -0.3931, -0.0166, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3939 left_y=-0.064 left_z=0.0532 left_yaw=0.0451 left_pitch=0.1613 left_roll=0.0963 left_gripper=0.0091 right_x=0.2939 right_y=0.0002 right_z=0.173 right_yaw=0.0011 right_pitch=-0.0309 right_roll=0.0017 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -5.7094, 3.8085, 2.0879, -0.022, -0.0317, 0.6764, 0.0479, -1.6479, 7.0359, 1.7265, -0.0562, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_gex6q6Big5X3JWO634E0X3zkArnRkvwli8MuwN-dI2giwXjeNCaoSmrVTJJb406RPHaYNdnJsayoKnbPF6f_RRt6OIsst9dvcRO37Ylvq-S7isfrDPKqDnogTOYoO4KK6lzBqw1cfceE8xzQpY5Rpd_cR0QFkR6gc94UiPtLtuAD8BVtrObMflMtfmOdCNw8XUYDwoBY5oy2Q_hC188452RAHrqMPK4M6ebSFjVlVkhpxeiywRSSrm5wzlvEh8ENDqUSRurGM0F11psKkQ2hippobVgAQqzlMmdacspVy2-4d8wHEXaJxcE6xYW5ReFuPxcXk0AXz-bqPJZ9m-SdfQYN9Po_YXYDxCroWotbwWHWlo05149Ic32sav85IrkziRFp286of_YbXPJbmiwXclVjxG_LaIbL5Y_h2ZeMHCdazIrLlpsTgkqEb69Y6vUkBOdm4G--CYcGqQANdKdvuOynZQB2iKqgQqHYdihjhEtkqPzaB7cOdzfZVvnlO7gIMW9Q-zYTkK3pdMOJVm3_bkzWEz-OamLRbXipEp5NFv1FIrAx9NwhzseyfJ_ci9k3UgQr_16bOFy16txyGpVXN4t6--eA7szyx9eK359o0W_EsSHjNXQXkEirB8eA-8G51z-oOhkBWQeuALk-7EIqmutELIrKhu6u3wf2KLtSPETnf776SGqI0WjweSy1nzzckuIgLwoxOdLOwKJq5AtPElZeK1Fvmk7R3eotWaxt5CK2Ijrt8je0hGajTA5sTL6kY5OnlVeBQhWO6D6-pwxGUk7P2VFCq_c5etJkI7ldpAs-qzTqW-VJa3kYh0xj-xCvcvZqD32cRAIdo8gZYtlos7Zmyfvcalb2xVx6a9PjTG-6IutcaGMsrXWFba9k0EBAs3UrUvPKb8Yw_Jv-VmtX7q5KhLRiyYAP9EjKrYbp4wHY7tctWv24u__q9YRqgY6-sI9QqIsHEm_tnwYbnx8aZpPyp1BfWMpGl7E-NApkMjSdLcVrZx2lDXv1GzBWYegq9gVHbKrtqTAfyintkkm-xolzsMmSxjRoC7mJPoHxxy-KDrD5xdEbUjSYGefpryMuLTLey6bXvRQGo-Pr_h-d_GppENUvB62iF-1bYHbjpXa3LPIoUiHVo70lN5tK6VqpHG3pPmyjGDYT7pHfGvK53wlojsPTFk___mICBYs_DnD1WII8PAeLtgHAEOPLwxFzjsSJEZMdcn9O8zHKuuffCQcdNAunhOYxxkg468J4WNvX6Xt-PrmNRIPCyYTC_ui2LlsiaJ61eaYP32_CsXJ8zEw==",
  "id": "rs_03d9f66a21ce645f016ab2afddd07087d08613a461237b6f2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.06,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The rotated pose tracked poorly and extended farther forward than requested. I will return to an unrotated, raised pose before continuing, keeping the fingers open.\"}",
  "call_id": "call_NCZKWnyh0yDwV2DBaukxOfCn",
  "id": "fc_03d9f66a21ce645f016ab2afded52887d0917c5169715366e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NCZKWnyh0yDwV2DBaukxOfCn",
  "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]: [-0.3264, 1.1473, 0.7387, -0.2195, -0.3771, -0.3641, 0.9949, -0.0216, 0.8185, 0.6003, -0.4152, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3534 left_y=-0.0472 left_z=0.1729 left_yaw=0.1708 left_pitch=-0.0113 left_roll=-0.0768 left_gripper=0.9949 right_x=0.2908 right_y=0.0003 right_z=0.1644 right_yaw=0.0028 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4803, 7.3641, 1.9072, -0.0415, 0.1929, 0.0611, 0.1026, -1.1556, 7.3778, 1.7851, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c3d597cf3a7e7c5e0e1945b70af38865fa27ddf4c0b6a3c06a61aab172127a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460e2f1d32cd6693219a5aab74681d3427253fb63b3c51557dc3fc479f6c4319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08660cdf85cd777c2829f305281c69ef066116b37ec4bd17bc7f118db811c4df",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4366, 2.3005, 1.7721, -0.8246, -0.9058, -1.7729, 0.9943, -0.0219, 0.8154, 0.6037, -0.4084, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.492 left_y=-0.0722 left_z=0.0624 left_yaw=1.2051 left_pitch=-0.1218 left_roll=-0.3699 left_gripper=0.9943 right_x=0.2921 right_y=0.0001 right_z=0.1682 right_yaw=0.0009 right_pitch=-0.0526 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [1.4154, -13.559, 6.9812, 0.359, -0.4762, -0.0122, 0.0464, -0.0752, -1.4291, 7.0085, 1.8779, -0.0659, -0.0611, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_qbCOMeym-e9NaVx1W8e2XpMlJidCKRhHZrZ_dsnw7AaueCtv5ff1-ayc7Sulsx7f87OidX2cmOEeokjy1Vl-pVq0HVWclS6BM524tx1aC7zIsEaCmnE2QaGSUAk1jVpBZi6tp5F4NYkK-IUudzvhqWZHnH1UFfux4iXqmzMcwctcOh71vM5JXhH2CDp96X5jx7FMq5n3AXP3wsrPtZCC5Ya8BvYQ7tQhH4yVxBTgLPxtxxGU8LieJnGST-zhY8TSG7qPCKTafPZ6lHG2VC_CoadUrMUuNxpkxnU1aOCBQ11YwoVRPaNZCFOnCxOnIp6mHPcFfoVuDzyxRuPeFnD5ZTrwPW-QLtyXsDkK93ZuTbCaAyXdc25YHXGY1EKttwNq7o72DM6WVLE98_nBf8bYgCXaHSIZ7Hs82cTBEXN-7eOaGVKmU1qZ9CjRVVb0PiDsjtPMIFxvCIbqvmZj4vus0ZRJi8s_UVavrwFbT_dHwovuGk14M-geBylffvBMk2VUysmatYNUptDUWiWEA5--DYXaZkjlRLGJ8CPf0p5Pb4b8Rq7VUQsjrJqDFJaXc56UhFtlDxGREiSNjnzZ3rW8FYKG7MMUr8K_fVbSdGqWfZ6kA0HVTIEsV_3RVFJNDKJlgdNNHgXld5gfysIieVGNvCgM6Ll5y7rXVQLkyIAPJuBPSdUsUqKogjDHfGPsU0X9L99C7ciDIPc9QqgNDUVnvKKv-NrMC_0usX9DITaMyZh4lGd2cNJQ2h6Jmc1OG7Cq29NjYeJExlhRmgJ-qvPD8f_L3yuhgBPYns9ftT35UEAW9tPZs5QkfQifxl1QTR4wV53C0pCmRnc_Ef0NOvFQ4VdaWf9-KDvk1YLjhiPZuoe6k9qb5GbiQH5DjT1Noe1cFfRsKwW_O4YpYaxEiFSzcleefOvxwLiU5jQAz5iO8Y-nUjXa3fpEkurgHE7eI6hKFLS4ZOrBp-i5ImloxrMqxdHrJUcKjhCqK4216Wv-eidowMQDR837Pg0w91__QuoedYVH7fBAgYX6h8KWuBXm7WdDvXswoIJRAXAojLImbLqPIv8fNI3NHQOvNj0iq-xzOPVmgegkWZYyFgnEje3jUDreFqzPkJ9nMbFpR0hE26QMZK-hIKhc-Aqw0ja5g7ZPIxvbyzNgmhhvsnmUooKtihSIyf2cseEWmLEIZIUyX40zZgdFlKfPOLe02a1PtjoGuYtr7QdWiIHWyPjaMwz3EeWEriazj24pR1S92HkTMOVD8yBnShV8XIGnQAs354kc7SUaVjtrCxh4nkEUm6P52gmtDA56raK-bn6_eN_c9NT45e3td98LusM028As0ofNHIDe7BbhI64UxughNMmTMixxFlIklaW90ZOrmVb87yulXH8-L4g_WVAaikJCgINBKv2grARG6iUMjRjY79l3dxoK_za3XOum-czdMK0k83FbVN_QdgEGHdet4zJzd3U2fn7TcKOKTawpuheB5qPNDtM3Q8LpTtULMzBer7DjKZMPhjRoH0i1U2byhM43Yv7TezabcT7FZyb2hZHByDykchnV6QgrLKWq9yZyDF38mrulXemYv2nGusDi_fpoVDz7ohCT8KEVFo8BZ0lGYWRKqUg==",
  "id": "rs_03d9f66a21ce645f016ab2afe43ba887d0a7677fd8c0214337",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.105,\"left_z\":0.055,\"left_yaw\":0},\"note\":\"The green bowl is now clearly separated to the left of the purple bowl. I will use its exposed right rim, where there is room for one finger inside and one outside.\"}",
  "call_id": "call_tnYxMI3QkFr9BrbS6jMtljYG",
  "id": "fc_03d9f66a21ce645f016ab2afe73e0887d08d84e4adec98ea48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tnYxMI3QkFr9BrbS6jMtljYG",
  "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]: [-0.4732, 1.4303, 0.421, 0.3004, -0.363, -0.3489, 0.9951, -0.0216, 0.8211, 0.5999, -0.416, -0.0166, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3354 left_y=-0.0973 left_z=0.045 left_yaw=0.0061 left_pitch=-0.0864 left_roll=-0.0341 left_gripper=0.9951 right_x=0.2908 right_y=0.0003 right_z=0.1634 right_yaw=0.003 right_pitch=-0.0698 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.4769, 5.4769, 1.8144, -0.1148, -0.0366, -0.0024, -0.0615, -1.5932, 6.9949, 1.6777, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7ac54be65586635844d913ab65cac2cfd83591bf19647eaede99ff876ca243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ee379bdef92238c08de59535def0fd041dbb523bccf360c01c225cd66adb42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca04956e87e9df8dc25c50999508401ded8bb67064527b03d67c6a6bcdf3f03",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.1473, 0.7387, -0.2195, -0.3771, -0.3641, 0.9949, -0.0216, 0.8185, 0.6003, -0.4152, -0.0166, -0.0372, 0.9991]\nstate[eef_state]: left_x=0.3534 left_y=-0.0472 left_z=0.1729 left_yaw=0.1708 left_pitch=-0.0113 left_roll=-0.0768 left_gripper=0.9949 right_x=0.2908 right_y=0.0003 right_z=0.1644 right_yaw=0.0028 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4803, 7.3641, 1.9072, -0.0415, 0.1929, 0.0611, 0.1026, -1.1556, 7.3778, 1.7851, -0.0562, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_ztRPfgT9st9_MLZ2KnbBqnhGLelYxIurp33zK_PPRDmQawZBgu7bGmqR2B17SWTegbo68zyp706fPwmOn0WiMjd063-g-CYBYFwnbyOilzKSPhwJIP_p-NtX6pCvZDGprwZ9e1F1cx6fiAX456WezaRtmfjlR_gkyWdXQzgNjxMlhITHUzeXeQJicBhn67ukwK1ryd5YLdXYwikdh8YEzwodEpLdzUM7DU-678NvIAPVRL9M7UQUxoo90engX8-zsS1FEsoXcxOAgIv1jcrqa9xJR5SKtPKOzaQeAP0CHCG8B3HkQIU-500EDdmrG0H7n-lkH-TESXET7QYx0fyHaA-IrAyK5jsyIaqRuKVMuKIxLkizwlLJ6DP7nIxe9L6saXzqkh7VHw1iM76owLZ4p6Q29G0BM9zD8ny2zag3d4ZKTCgLRBUaPwWFoKDmVrajr-q71LBKNTMA-4n7LLHR9aImJDHw2KhY71cS0pHAUWK6J5RVyo7AnrE4s_Zbk2HW3sNIao8EL1zDtpEIXrcBpwIMrS_xvVF_K6MBzZj17eKdFQ-d0riMEW1PlwMPsqXaeZhfG6y-0q8zwbzVt-FyzeiKhccDt0a4TMpiha2201WtS7T07hp4lvyLAaySWicC6C0vX-dhjg1XvB-c5nvd2g5hQ5tkmGaywRJg-Rcve0UsjTKcVY4CKGIIUCQLeMJtWQhYcZ14yHsDHPRpMr5A8Tn4QmHBUtnImzUwrYJyUl7Q0k5Bxz6wfRjJxsO7IaMk6rN6uh2VYXQGmoSBPTE3b2DsEL_4aKsJ8LZF3_yQrI6tCP92R7x-hBDmjgARnfxvdSsXr9ClTP3gySriydPVzrJJbU_eBoonwdK8OeSB1jOHvGplS-k_IbhAgRz_tzQjsy6FhZiIXl8kLNO6cBE6EyVWHhKfdMUEp4qhm31cs_8eBZ9K8GKlkF3KPVOkMKzLYxvZ6KNkX8Gju4fwQfLhk06tfEghirnnbiaJDO0-ny8IGSBQ6d2cxhJqF1EKOY1DM5serSgRpIf_MNkxuq9h4FzhErGyWQW7cola4vTkqsrxGsVegG7aYVk9595VVGIh8WGfZxcyTZ0rzx2HCQwhWLd8tTPf5632_egv7spUiYI-wsAAOQ-WVX49LtpBtchKdyT1V6b-SV0fUK0OW_ucshBWIUSR1DkzTxMhfZ_jc_S0UAot-YyypKFTiZTqkqXIDbEy64TBZcIjZVe-w3kyTjw==",
  "id": "rs_03d9f66a21ce645f016ab2aff1221487d0b9153e1f9bcacfce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The right rim of the green bowl runs between the jaws, while the purple bowl is well clear. I will pinch this rim.\"}",
  "call_id": "call_RIQnRV1uCHPLrg7Z5tduwVOV",
  "id": "fc_03d9f66a21ce645f016ab2aff1fd3c87d08ff491d67856a8f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RIQnRV1uCHPLrg7Z5tduwVOV",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.477, 1.4372, 0.4084, 0.3035, -0.3752, -0.3485, 0.0389, -0.0216, 0.8211, 0.5999, -0.416, -0.0166, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3317 left_y=-0.0946 left_z=0.0393 left_yaw=0.0126 left_pitch=-0.0972 left_roll=-0.019 left_gripper=0.0389 right_x=0.2908 right_y=0.0003 right_z=0.1634 right_yaw=0.003 right_pitch=-0.0698 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9162, 6.5846, 1.5214, -0.0415, -0.0317, 1.1795, -0.0889, -1.3744, 7.0085, 1.6532, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197a11afd441e3cd251a31dc77400dd1af29d1f1749e74a2916983f12623a3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adee25e7f7d88147fe655dcfdb317586519ea5894eec1358b6d5e8bfdd01aeb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12befea23608842cd5eebdf3ba8b0a753bdc8972e4452e0b8f57225242b9c1a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4732, 1.4303, 0.421, 0.3004, -0.363, -0.3489, 0.9951, -0.0216, 0.8211, 0.5999, -0.416, -0.0166, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3354 left_y=-0.0973 left_z=0.045 left_yaw=0.0061 left_pitch=-0.0864 left_roll=-0.0341 left_gripper=0.9951 right_x=0.2908 right_y=0.0003 right_z=0.1634 right_yaw=0.003 right_pitch=-0.0698 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -5.4769, 5.4769, 1.8144, -0.1148, -0.0366, -0.0024, -0.0615, -1.5932, 6.9949, 1.6777, -0.022, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq_8FYd3cCbZ2wgRu6PaZzIoLYsObgcF2np5FvbehuLLX6iZVFwZdBaX0azz5gKyagdgfFTwPQKqgfGOBI8YHaq4mS85r_d5P0tapYs8m4tCjCw2AaBnePvb2mT9qfhtTGFqA3pnntlUPll0GK3tcsRBALragwUwZG7YXVimfhx15Sft50StYpwBC8ev_Yr5529iIVj3hEm5ShQ2yYlOSK2YtS9Z877DF5Ef1MyF0aG5hzKT-RJlxvHWJRmZUQo9gGACy15M-h92XmUpW5pwdR6oZKCJzplIQgZw3B804tK4X0fVIYCC0xzX0MEPJCXH2Q3nR-zmdZ_WKt98e94G1Vs6a_p5sTGkWG736VxQHLRXwUmwc3s_rx88jwVyCoHa6vSs5lX5eDw9Zxayiku0hdP53kPiVy7dVCQMiHLYs0MgiDb-r2Rw8P8VMZEsicT3VFP6XYE7GtqgoryjpJPzJLaXCy3r7-azeS7NWBNJ9jeKgAyZ4cL5g6HaisrKPaX5ZoRH5h6ZxER_C5RBeKJWayyZCGQRMR2Uar-WsvTG87nb8_RHpSdEgAEFSU8h68U5lmOCBRLhlTDTKGEFoiVUWYJ7XYdAUeJACm_u0EIgcDfg_1G8SGzULg_z4x8p4KcW-KU3ppZ0Da1BMcJmuXyDrwGZ3njB4TBTYbXOrRGeqmdzcB8tY02JSVG_CqHhkyfPd2WkQUNJGg1n3Nf2lZDnBawlcNn3L2jlZiYoiYOjv0U9tOjtXPOwoVDxLeuW8LwdHwO_3JV1ULk5R65XOq6Sje05U9s4T2jVhQx2LJBu7Mttv5r52Z0qUanFSaKDunh50d2Vsl77u0MZtNLkEwGP3p24hHue15zbArnv7GIHQQ2tioKtenW08KZTt40qwqDw3uWXSGZadbySPkEv_ltgKtWsoywbMu2sgmsDuqnUY0VVzAjEaencVCZEBFyZfYAOZcm98ARm2pp4fg0n8lB9ooFyQwF6scfZtaTVrZKhcQAjPWXj9YoH8T8tlkwnaKZQNbaWYdeFXJ5-rWc_rY0-MeLJIMxl3rAzRtAYjfOiLDl9zP2K1amSYIIiDQZWzRV9LuQzs56ftBSKIh02scVdotSvRzVWTstInqykCTbFDIegEri0-vypogLxs84VQA1c-30-U9iVwy976ytvapay6ySXc6vXyqRqwXx06RsKChH3HjcMDrlhdjvmQhyptca84umA_n2ODiQzjNQEFGD-0DxDtqj2dTbnpI1CCykJAR6Jmqo=",
  "id": "rs_03d9f66a21ce645f016ab2aff9cc5087d08f143687e348c365",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The fingers have closed on the thin rim, but the opening is small enough that a lift check is necessary. I will raise the bowl a few centimeters and verify its motion.\"}",
  "call_id": "call_YnsJlATCz1MYJrdb1IJS3Gd2",
  "id": "fc_03d9f66a21ce645f016ab2affa70f087d0bc877f272fea82a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YnsJlATCz1MYJrdb1IJS3Gd2",
  "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]: [-0.477, 1.2324, 0.564, -0.036, -0.3748, -0.3496, 0.04, -0.0216, 0.8242, 0.5999, -0.416, -0.0166, -0.0418, 0.9991]\nstate[eef_state]: left_x=0.3339 left_y=-0.0957 left_z=0.1046 left_yaw=0.0121 left_pitch=-0.0788 left_roll=-0.03 left_gripper=0.04 right_x=0.2909 right_y=0.0002 right_z=0.1625 right_yaw=0.0052 right_pitch=-0.0728 right_roll=-0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -4.7932, 9.0872, 1.5556, -0.1587, -0.022, 0.9304, -0.1299, -1.2786, 7.0222, 1.7118, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786e517b1badc74f787c88dd09d199e9c86a714027bb1906f90698dbef813004",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d0c8a60527e5f420451d6aa37ec9993af52c2626c06ed603a5c6804c0c0df1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaacf27ee85fe5b0e9f1f9ce8d4d1f9254bc0905cc0b5a4792a5464351256965",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.477, 1.4372, 0.4084, 0.3035, -0.3752, -0.3485, 0.0389, -0.0216, 0.8211, 0.5999, -0.416, -0.0166, -0.0376, 0.9991]\nstate[eef_state]: left_x=0.3317 left_y=-0.0946 left_z=0.0393 left_yaw=0.0126 left_pitch=-0.0972 left_roll=-0.019 left_gripper=0.0389 right_x=0.2908 right_y=0.0003 right_z=0.1634 right_yaw=0.003 right_pitch=-0.0698 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9162, 6.5846, 1.5214, -0.0415, -0.0317, 1.1795, -0.0889, -1.3744, 7.0085, 1.6532, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAD9dz1dCp1uVDJvYUsPnrVG_GlYnpm7M7xujOU681C9u0WnR9m19LrHbLQLaqxxz_bWjxM_RSiY2eeuemlfcRJBbZJvHVViKnCR3Mz3SZKpmdU0ql3Hw0KDJ9KEH4ntff65BPeU7SDavFzzvWiFvIHyFqWALOBRujI6JNv0T2HXXbD8BthN4kWjJUJvSg_Buo1_pBNnK9gkjRhMzCLBzcP9het5ZxF9aPF_-ouVKenMhBDaXPvetzX-gBgIf2sHQAfpiFb_3YWOkAr94xyMiuFoFQ96yxVnXS36r27yGx3tJORGG8j5VY5zWjg5tTpHSVubD-SDwB5j7BFXDFmmkTqBVbtI-2lYfGao3Nhhb58UvScm7LUmPPEjV5AoNPmH0I78QelC528zKcMcXpBuTLnlfyVL-jHqk7iRaILguUgnV10km8sXMHkmPT99o6FtitLN3u_ZBJ4MRHj4KYvtPnBlh4qtlMs0fZ7DsO0Ms1Wxy5LSric6TYBZRP63lt2WKRzHBdVnSwmJAFYbeO5qXRHjuDnjHe3aT5vz92W_FNFgG0RFgdU1X46lhqgZ5nxKfrt6yR95L2Nx8GxSvSUh-NCcC1vDwdnesneO63wrOpS7J-5lc7GPHeBTuDMhJxrw1f63I1jvrkpYIc5fdOUAhRmFG0sD0YgFq5ScAq0GhvrloXNnSE7Z4KFCnZN9Cw72DHf8DafdsmguxAhQLghTLgB3Dbw7Gkkx8DSOUs08u_f7ZhOKAI0TxD6H2AA2oRNMLss3SLoRk_PJGGoeT0uV54Fk34Gh3r-RnvvY2fMOwhm59CZvVEg0D1m13u-5_J54lOl42rHMyOdLB_VDurWZ9pZd3FyEeCrqUUBbYhRNUGb7lHyfcDAsIMvdm15EPqqqrzJiR3NkOLMxVPpxDpO5igSmI4azUE5l42dedT_N3vYlpSIQZ5P5E2Pvkr3o4w07LPrf280Ii3-27J7Jk0tnYnaQF8bvZ34hep1xCjpKvfaLrB4Eu4sGSnJVVFXzd5L5JAkdS7I0m9R1mQN-VUu3WAmsDcz7YY3ksjNWI0-h47er7QAVG5jhGi9WDd0QvMzh84-KlPGgw8SPm11nuvpTZP8e7mFLg4TzPdc7cGIs7m4igWFc0wCZZaaguPN4b3xWgg6S8z0YRi0j657lkF__gFiA-P_8dV7eZ66dzyGrxImxPlljmYWi34V8af9a0V4BKYoQWypbJH59e4ZxR9n_jiAm55JKOnxMI2tWPcij9SgH6ZTv9rHLFPtkVkTUt_MlIPE2ANF12A5NnRRWgAA_eBun-3thURpNt3y_3DacYM1g2a8a7w9PJZIAPaef-rTVsGanAAKUA_QW7zXJ7PiASQ6J-qYCqD47mtTYkX8C6CajW8TCAHH7Ix5M65-vXNezHJUxGeqGprDfkiG5V58nQntIof19U3H3bqJxcvxC95izaI=",
  "id": "rs_03d9f66a21ce645f016ab2afff919887d08654e1a519f118c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.205,\"left_x\":0.37,\"left_y\":-0.25,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The green bowl lifted while the purple bowl stayed on the table, confirming a single-bowl grasp. I will carry it above the purple bowl and keep the idle arm parked.\"}",
  "call_id": "call_BvW3pvjWAdxAWQjkYRDBCljE",
  "id": "fc_03d9f66a21ce645f016ab2b00186ec87d0afcd8a371a89ba51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BvW3pvjWAdxAWQjkYRDBCljE",
  "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]: [-0.8314, 1.639, 1.3094, -0.5266, -0.6048, -0.6342, 0.0432, -0.0216, 0.849, 0.6361, -0.4751, -0.0162, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3669 left_y=-0.2479 left_z=0.1903 left_yaw=-0.0035 left_pitch=-0.1026 left_roll=-0.0344 left_gripper=0.0432 right_x=0.2885 right_y=0.0002 right_z=0.1605 right_yaw=0.0088 right_pitch=-0.1205 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -8.1709, 9.1692, 1.2381, -0.5934, 0.0464, 0.6129, -0.0752, -1.6342, 10.4274, 1.746, -0.0171, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3907eab0396004dbf062648b2e32e3137e2a74cb1c6792ad58b7b984fdf02f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c52637407d9c76ac2ab3e40a46c932556d33859c1a6a76e160b47eede8fec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9bc8183b8532a6cfe36b759cbb3e40ba7530d6b3528256bdd5c6a6888fe7cb1",
      "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]: [-0.477, 1.2324, 0.564, -0.036, -0.3748, -0.3496, 0.04, -0.0216, 0.8242, 0.5999, -0.416, -0.0166, -0.0418, 0.9991]\nstate[eef_state]: left_x=0.3339 left_y=-0.0957 left_z=0.1046 left_yaw=0.0121 left_pitch=-0.0788 left_roll=-0.03 left_gripper=0.04 right_x=0.2909 right_y=0.0002 right_z=0.1625 right_yaw=0.0052 right_pitch=-0.0728 right_roll=-0.0035 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -4.7932, 9.0872, 1.5556, -0.1587, -0.022, 0.9304, -0.1299, -1.2786, 7.0222, 1.7118, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAJUnaqyg_IEhyzTdRjMiUrWrz28iyV7MoTDmvQGR_b7KhAYRJo4pZWRB0bLiayiRJpDyuXeRDHWzcaAlmyGiZBEh6iyGonXxZfdh0egeeut6kiDNsjclXeEWQRaXBJ_T0bWvqDyVLqtYzJ9C2iP-8R-QsU9vBs-F525917RUcvXMIuUiEC23YcbYl52R85Hg9cI6KQKfQLG6ZIBhzgW953RdKWsuzKZakcDURcnyIp_KzC59djHAdgjLP7q91dMIRcrQzZhYfvE7U9fAKcOVN9gWMbR69aKcMwVowDQLSq9QxRP5P9tRpZY-B2iQqdcuGoNp7MPjADu7NMKEGqF_Bf0TUH88yzMlYBGuk5R0eAoC8mRKFRbr-uvryymWaMwC5onDMZCBkwHZW6m781E0zAC3QImDAOo8wgwMvsrQ44jaqHCGyO2Twb2lHveZTxifpEihHoOxWJVdj6FM4YwZsw8JxXygB_nZlG8SQ-HVrGr-K0Ss_VY_e4oidHTQwINfnD_4F7CSajlpMndZB_aHRWDvxA8Q-nT9Po5FzkR8PDWFnTQD7gYsyOm7bt3NvsRffn66I8MF6KpzfuxV901wftlZSDr-1wP5o_CybgP-qslfTBUH9uFl-ig9kIzLojrpowdn2JbqrHIOGN6M_0z4i1Q2ZK45JPbP6MFDfDWd60EtCzMHTgrIWL9YQgMIAc7TG3wwidbvgwxlom-KfAcl2sMUO6tm8vmQbrq0-u95aOBoDaeocxngu4BvJFRN7BFkPZmGitYl3QF8n7-HN9vz7Ab2nv6nR4ZE3LAqF_S4dngNXMMAjnHnmglgehGltZDFFJQtOvz9pne0I8z-wE4NFLDoI2SGLrzVdhffvaeMyjAvxXYvZ7MPa6b7FvohAzhb0lDk3UFd0-Txd6jiOJyeke1301xohDlSiOL6TmvKOjKPVMWXOmHADeTs_QkZBG04kT92ZHXN-wVBSR7Un5DTBg1EbCK5_HfQtRE11HKIEIuLCgQlI8zn5PbUDst97vNqkyNiRBMeQ3bxrQuCUgWUI-vQg4vi8bRzELDrefUumLOOLdnreSA0EYZ5TBDVoO6M3QXjy6SP9DXwt0CP76BMi18Icsuub2PMwB7OSPlbV7_E7Ahwu-9kgxjluJ0EqKH1vIEJWX82ZJR6SjonPENSsKImgIec0htdIPHfOSCA9LgGQkRSAeGz6kP2vY6oe1oK6aPv1r1xlko3mJe-zzXu0EA2XCvCxaHXi9mbxT2C3vJ70=",
  "id": "rs_03d9f66a21ce645f016ab2b007d75087d0b97bf234319bf38d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The carried green bowl is above the purple bowl, whose rim is visible beneath it. I will lower gently until the bowls nest.\"}",
  "call_id": "call_ifdgtUcKzSuTgglSGwF8nFTD",
  "id": "fc_03d9f66a21ce645f016ab2b008768887d086b163ba014b0459",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ifdgtUcKzSuTgglSGwF8nFTD",
  "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]: [-0.836, 1.7397, 1.0229, -0.1875, -0.6014, -0.6437, 0.0457, -0.0216, 0.8494, 0.6395, -0.4747, -0.0166, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3597 left_y=-0.2436 left_z=0.0871 left_yaw=-0.0011 left_pitch=-0.137 left_roll=-0.0079 left_gripper=0.0457 right_x=0.2891 right_y=0.0003 right_z=0.162 right_yaw=0.0091 right_pitch=-0.1171 right_roll=-0.0076 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.5145, 5.7915, 1.4921, -0.3541, 0.0904, 0.4908, -0.0615, -1.5385, 6.694, 1.6093, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f53e1743033ba8de3b15358342c3e9fc7861663324bb425716083cc890bf3be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e45c0e42fe0e1d9e9986918e08f084d2d951cdf8eaddcb81fb82c2bd0128f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:340b445925b677c7866de810ff8355d636a0f853d8c426c5c13fbf8679278e94",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8314, 1.639, 1.3094, -0.5266, -0.6048, -0.6342, 0.0432, -0.0216, 0.849, 0.6361, -0.4751, -0.0162, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3669 left_y=-0.2479 left_z=0.1903 left_yaw=-0.0035 left_pitch=-0.1026 left_roll=-0.0344 left_gripper=0.0432 right_x=0.2885 right_y=0.0002 right_z=0.1605 right_yaw=0.0088 right_pitch=-0.1205 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -8.1709, 9.1692, 1.2381, -0.5934, 0.0464, 0.6129, -0.0752, -1.6342, 10.4274, 1.746, -0.0171, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAQ19y28l79p9c_iQRJZNN3O3bc7ZTbXGdJajlSnJDFIG4tAOK_l_aqjbWDdy5-_tKHY8L6TUA2oXJYjN-CLkKiZWzCj3jkIeGsEmOEX51VknrK4_6UZEsrrSmn3MsaVRUIr0ky2vquPFpQNnIpyZP6x_2WixiqLeoFrtyVNf0tjFRSy3Yz-a3__zjuB7o_0hqlQevDcJDHi5weaZJ6J_qhroPW-rFIy0YwR2EHyiErsZs8ZE-ouoWHrTJ9mwFlveqaz4ERXxXUP2WGbt_CS54Ta7-N0CuggbM797jhaMp9yAtFgZlo9WzTOODedXJLufFkKb5_tQhRLKzuwqZztxWjcFnayJ-BvKZgMNdOSjPEngqsDfH2EF4rwnYwzoFAv9oykasoCKKTJcFt8SHdMge-Rrv5N4uGk3Y9RMQhunwKMDglB_hf1eTGiKZUl02sHNJ-KloUbcGMt377g_PIjUZ9GISeJ07Qb0FQfL3aqG1iNYf0AhMyNMFPWXDshB-C9pZzUoq8ND7rPmkmIFPlLW9xkj3Dd8kdXe3ugI8vcq9aIAlbvGwaX54US3T0PGHMmQNf1L1YgT2ivErywjCxxGnDgv088isbhB4fUIvRnUbbSHQ1XHoXadB7bHllNIqSBbBg1ElRmLzD3_HrVdsUBuQds-hOo9ssiPE0h1Hxzai0CsgihUt8WzP5w9zWDss_zwKgN1TnzuM43eHEfVEBSp-dKiMkpCNYv7lZkzoZWkN9Kyp3AGM9QJVM2Rx2-szE9iYOlIYGp-A_z89XOO0yTDXAunEXVYnw0B-Ok9CaxHB0Ff3CXckSQ2XgyqcV0A-qEqesvZ2mGeZIOOvhzougI1gp5HnFeNoboNNuIb71fcVmVUbnEx_6ajU9DYtFgZOShBBKYxYeRtGUBqg-q5G5nw_mdm5xcry7g2LdmbfmgxCgTF3znbm53RqqmeP820offafC6vQ_TDWdCSz99lisNKia3c_GYkIfh6ziR7FusMxICqOAkEZQQbuAZxsp2v1H39R4KoEkFQC9bDSxtZoqaYNuG3CD-B1nztK9WvlmUzhVbBPo_yoLh5Y6W8ipY5mSjXnHvexY-9Vycx_0N4DGQYFZ7hb7LJfTu5b5T2eiqzQGzG4mneWIYdve_dTNhrWk7ELSkG56gqiL-nUJiYy4lufE01BbHDbzGa6FGgavHtkCl7V7wbERO5d0lMPKjxhZXEmwMV52isxCmXt8oQovkpncNbGNsy6txe1uSwzDt4udsVDAGxh6b7Yk3wAAdajzXiOl0PXyVs30_vQcpMYbnFbdy29RN5nCszV_6wCzuQmNK2NhpQb2_J6ymJ9_huiVI5aQRmj1GLz1WmJtwZoGefKRCWWvwQVTKF5BVb5KUOQlhbKEOMgH_PYy6pBuhehbCyoiDgZPU5_n0PQVVvXv_hMcE8C0X8XdYZBuOqNqV-iDmBdm1FR8WmmJMEmkfGCHp2dlzwSFePqcSDHuIPCwjUzSDg==",
  "id": "rs_03d9f66a21ce645f016ab2b00ca36887d0b3e8e9d4673e6a35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.27,\"left_z\":0.055},\"note\":\"The purple rim is slightly to the right of the green bowl. I will correct that small offset as I finish lowering it into place.\"}",
  "call_id": "call_ZhrI5UWBk1vrwHP9aYADkII7",
  "id": "fc_03d9f66a21ce645f016ab2b00ee56087d0bdcf0fdea20329b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZhrI5UWBk1vrwHP9aYADkII7",
  "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]: [-0.8753, 1.8496, 1.0302, -0.1215, -0.6193, -0.6743, 0.0469, -0.0219, 0.8494, 0.6392, -0.4751, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.2619 left_z=0.055 left_yaw=-0.0076 left_pitch=-0.1502 left_roll=0.0061 left_gripper=0.0469 right_x=0.2889 right_y=0.0002 right_z=0.1618 right_yaw=0.0089 right_pitch=-0.1179 right_roll=-0.0079 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -9.0325, 7.9658, 1.4432, -0.1636, -0.1685, 0.4029, -0.3214, -1.5521, 6.9675, 1.5995, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2970c3128498bcc471a202ad9533061ed0d4f3dd37a9865609e7008be944578",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e3039a6ce1f12eb3d3cb15e9d03ccdd59ec3d75fbb4a5dda414cb561fd24868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72452ad12147ec68022f83c68075aaf1f3fabf16421cddaab312badec6e28c7c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.836, 1.7397, 1.0229, -0.1875, -0.6014, -0.6437, 0.0457, -0.0216, 0.8494, 0.6395, -0.4747, -0.0166, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3597 left_y=-0.2436 left_z=0.0871 left_yaw=-0.0011 left_pitch=-0.137 left_roll=-0.0079 left_gripper=0.0457 right_x=0.2891 right_y=0.0003 right_z=0.162 right_yaw=0.0091 right_pitch=-0.1171 right_roll=-0.0076 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -7.5145, 5.7915, 1.4921, -0.3541, 0.0904, 0.4908, -0.0615, -1.5385, 6.694, 1.6093, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The green bowl is seated over the purple bowl, with their rims now aligned. I will release it so it can settle into the lower bowl.\"}",
  "call_id": "call_PlsTinD50myDQf6pGtqD2FRd",
  "id": "fc_03d9f66a21ce645f016ab2b01554ac87d0a6710ca5904c0710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PlsTinD50myDQf6pGtqD2FRd",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8883, 1.8706, 1.0382, -0.1181, -0.6369, -0.7006, 0.9946, -0.0219, 0.8494, 0.6392, -0.4751, -0.0166, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3559 left_y=-0.2656 left_z=0.051 left_yaw=0.0064 left_pitch=-0.1451 left_roll=0.0027 left_gripper=0.9946 right_x=0.2889 right_y=0.0002 right_z=0.1618 right_yaw=0.0087 right_pitch=-0.1179 right_roll=-0.0076 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -8.8957, 7.1453, 1.326, -0.2711, 0.0464, -0.0464, -0.1573, -1.5111, 6.9402, 1.6044, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daafb4ef0292b78169cacc4262a3c7c6f6370328801f62b02ccb33e8cb102019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7ce90bb33eafede658f5565c9e76430624cada5017fbcb08cfe1dd27940220",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72934d1c5adccf71d7d06a4b4930685d8e99e622438573db29bf6a54e5c28b30",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 1.8496, 1.0302, -0.1215, -0.6193, -0.6743, 0.0469, -0.0219, 0.8494, 0.6392, -0.4751, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3569 left_y=-0.2619 left_z=0.055 left_yaw=-0.0076 left_pitch=-0.1502 left_roll=0.0061 left_gripper=0.0469 right_x=0.2889 right_y=0.0002 right_z=0.1618 right_yaw=0.0089 right_pitch=-0.1179 right_roll=-0.0079 right_gripper=0.9991\nstate[joint_eff]: [-0.294, -9.0325, 7.9658, 1.4432, -0.1636, -0.1685, 0.4029, -0.3214, -1.5521, 6.9675, 1.5995, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.20,\"right_x\":0.37,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I will lift the left hand away to inspect the two-bowl stack and bring the right hand above the remaining pink bowl's outside rim.\"}",
  "call_id": "call_j9ve4j4OgS0ahAmSFI8QLUou",
  "id": "fc_03d9f66a21ce645f016ab2b01a4cd087d0be516b1a3a9ed034",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j9ve4j4OgS0ahAmSFI8QLUou",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0605, 0.9287, 0.7929, -0.6071, -0.0978, -0.1043, 0.9951, 0.6132, 1.4681, 0.9405, -0.3149, 0.4339, 0.3573, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.003 left_z=0.1835 left_yaw=0.0666 left_pitch=-0.1705 left_roll=-0.0039 left_gripper=0.9951 right_x=0.3582 right_y=0.1656 right_z=0.1313 right_yaw=0.0406 right_pitch=-0.1773 right_roll=-0.0431 right_gripper=0.9992\nstate[joint_eff]: [0.253, -2.4547, 10.0034, 1.619, 0.0269, 0.1343, 0.0415, 0.0889, -6.1333, 9.4974, 1.6581, 0.398, 0.2173, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5583ae565509a6eda0ed8360b6889d4ba63ea8eab1a3683eea899b309645d2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5404eaba21c41265deead594c125bf05e22eef55e8c03a019fe438aed56f00c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfb5b368de97533a5e719507dcab9be10889535ad68c8093641c5397d6b508b",
      "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]: [-0.8883, 1.8706, 1.0382, -0.1181, -0.6369, -0.7006, 0.9946, -0.0219, 0.8494, 0.6392, -0.4751, -0.0166, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3559 left_y=-0.2656 left_z=0.051 left_yaw=0.0064 left_pitch=-0.1451 left_roll=0.0027 left_gripper=0.9946 right_x=0.2889 right_y=0.0002 right_z=0.1618 right_yaw=0.0087 right_pitch=-0.1179 right_roll=-0.0076 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -8.8957, 7.1453, 1.326, -0.2711, 0.0464, -0.0464, -0.1573, -1.5111, 6.9402, 1.6044, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAp_eHCdJjmGBIWoJne-Sqcy6HxCt-dfuDLEotxYeIM2ZsVRVvQQYL4mIT9kQ1OsXnqUleF6uGTIZtHR-IMtbRNq-juAurEIaS_-_tKBtngqdMXmvfgv6B2FUT-_GXM6y8SXb6_ppEeZjZSPdmLFZzu5FZ4TpEnFJKh-r3ibBhclwg_fuISVJV03Reb2lSTmtABYXXua-7DxxVixrRbAnvbpEFG9K7qcRln-gdxKnKZDbA1XjJxlBgVk3-fK4rsYl0YRcf2J5WjicOzKtaPbg2fRPG6Qb9hMmPr8wyH3AJg-5p_J8LmxN0F1R0VVLgM2I2lOvuhB6y2HdefQtGWVFKxwFz5XFDxX692z8pAsiKWOJrWaW8XueaD_PbqjlIMotBQvX48s0BXnJzRQAWXSYRufy2-GkrL1B5OKFzd3Nsw2IL9Cb9mRkQW6wGtVC-p7lcsFyHp-C5iPTEoktDVjChBQz6hBMXTIPJpyxzEeYwD-3nEF_eM34j3BJKVeqGo5scbvvpWSduApB61P42k4oSQbrQqmSE3ibhiX9ulQRIu1RoQYqx28hce2d7Sk_C4FJwoO9wOU-0dAnf9VOY7xKRaCZ7f7O6Ynji8aET1LzJk4oAdpNHtrttq-FS8kvKsBcPFqeoKmDV2Z4xyWoEasc68kdqC8rvukGCakzD3F9h2pw_LC5GMeRzizOayXKl-2Rek6kn01EgM2e5F2xVXPAiQqYjWTHmfRlctiybDzWsgc012CkW0xQcv8svDYqFVgkTZcGLPOr4XGuPucXWvylQ8xd7l5nd8fUhD56Cp-Fjf3Ajfv1lmd3_W6p7LHDqOjX-_RHldueTTIHGV93InuXu5ZLZmocTuKZ83RDzCZSnddt7MvVJ9acMqdMcA_BZE7Qe3HZ6cvMc9t675C7iABsPzeGo3ZoDdRoI4TAMFC-tIZyR5E5BJHefduMYYOznaXUbECcd_Sh23FkRjSLAcP3shP5LlwD4bKTKuVOa2xUHdv8h2mHYp0DDZNxKfDHEAO1TsKNwmjlYZcIth3RdFu95o3g-F4ibFQE-ahw-8BqJ_wQ2C1qK7fqAMKAeDgFGQ_5qD9kfiHpaW6RvsSoXkPWXmlMWZM8ZWG0xCxV1qsaYvTjD4ClgdipTl-K142YL_U2iuk1hEaCa0lobYMyYw5y3cJuRB_CIOMdRkd8tUliHnZHYPOBivA6QKCsW8t1mrRltx4KaXPSKKvT2iKRU7enhRFABVjCRlYDDn5VWI_Z9DePYHENRazBTLDB2J0NqrESZQeqC4qy8kt8gaEafWKyzy3LCXL9kokCGip7rT8w2JyS1bFWOiLnoPX5iZIFiJEgd9Y0YJit5IvJqmY4wR8YHfKyM_mS62j2SptI2L3ssVKg1kphhnsqGmPzH_1QJupDN5JyfL_xE3jnEUN6pu42vzYN-cTxW4SrguZ4_FaknRNiqFE8UTheBrERNLdBvbZZtGkT5cDh9AFAl8IqTlxqMoYzN0Sxx1nZtqaQX4dResfMc=",
  "id": "rs_03d9f66a21ce645f016ab2b025599c87d0a5187c968a758a67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.115,\"right_z\":0.045},\"note\":\"The overhead view shows the first two bowls nested. The pink bowl is centered under the right wrist, so I will move to its outer right edge and descend to pinch only that rim.\"}",
  "call_id": "call_4QxDxDIofuLpIZEkWg2yWEd3",
  "id": "fc_03d9f66a21ce645f016ab2b02809b487d0bb7df9b9d8cea013",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4QxDxDIofuLpIZEkWg2yWEd3",
  "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]: [-0.0597, 0.934, 0.7982, -0.6315, -0.0868, -0.1017, 0.9952, 0.4435, 1.5688, 0.6575, 0.0322, 0.3309, 0.2417, 0.9991]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1799 left_yaw=0.057 left_pitch=-0.1956 left_roll=-0.0066 left_gripper=0.9952 right_x=0.3558 right_y=0.1094 right_z=0.0366 right_yaw=0.0126 right_pitch=-0.251 right_roll=-0.075 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -2.4684, 6.4068, 1.8193, -0.1832, -0.105, -0.0073, -0.1846, -6.0513, 5.9145, 1.6288, 0.0171, -0.0659, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649074de0421fecb7bd94628b2293fe3f7203ed7d65f6563dabba579e7deeeb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e4686203a13f7b433b71e452d49ade2440ef1e504377ec0da6fa0f1434744d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f32392a132804962c4e109d50f4e481acba7fa4a0197dda4cabd6cafabce81",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0605, 0.9287, 0.7929, -0.6071, -0.0978, -0.1043, 0.9951, 0.6132, 1.4681, 0.9405, -0.3149, 0.4339, 0.3573, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.003 left_z=0.1835 left_yaw=0.0666 left_pitch=-0.1705 left_roll=-0.0039 left_gripper=0.9951 right_x=0.3582 right_y=0.1656 right_z=0.1313 right_yaw=0.0406 right_pitch=-0.1773 right_roll=-0.0431 right_gripper=0.9992\nstate[joint_eff]: [0.253, -2.4547, 10.0034, 1.619, 0.0269, 0.1343, 0.0415, 0.0889, -6.1333, 9.4974, 1.6581, 0.398, 0.2173, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrAumoqZww609KdosRo_QwVzUBIu1o4I61bE1ByrdFj5zWPlen1dF-yiC3M2z_36NYdT2OWRXch_XyGWpu4Z2tVB3QqLZ1Uu_skTF0V7U7UzClZlemohqQb8bnRKGuB6A_N10pI3RNBNWLlEOUecz9fWXAvlrgs6K0FpQk68uUDFZPUl9UUDOvLUPNKdLRxMAnnmOaKRtnq1J1_mbaMzKGFiYgvQZqrNWRtAyN9in3LhyuyVMhgQ52WF0143ftGyUlVzVydjPnvp52pghlMjRUFC-w7VQIUUsw0h43pAlpSpNy5Vwy2avxi0lboRMdIJL2Qda4XZRQWoHYJ2XjPbQWJSfdtFT36La16B6vYxQpMJRvLT4w1arUlC_s3F-JeD7okiRXnTA2LF_O6nVKDQpt3IZDjhJlekI6_ZlPGGvimf8Lm9FQ6UTAWY169uvxEuRJhJuQhZPwAbDgDyqpt8t9M1GBxiyPCXxjG4hxV5itYk8mSIrJDSXLCrg8Bgbqg7hjs50jm8YbxrNobNur7Z6Tb8jQdcqXH_hb9BbSsPD3Xv92wZU-n9SoGZGA8OknRz6-xY1pb6MMUgMAlDolP401l0EM41WdJ8OFlQcsXQKb6yyfNl9SuLCXKlIkHFV63kl9IPT3z9Z0MmyZmwscerTijzHFmjiIC-AZmEnn2vSRrjjYc7HzwW0w0f4VccrsPqChsI7vpZ6hcPWAHn1bZ6i8woDNbGW3iLMIAeH0w08PlN3ZWcptJxj632BLsJ0eYuHABrSMdaNdvuMXC65MCNsp94FpI1nuJbu31UFOI5R8EDzyS6GWUAGrviRadtqTYwvHRfiKFXTIjNR7QdXpin4cm-t_klnKWUhfkeZ4GBBMcKFVs7a2EGEGuV2cZJ0estEOg9cu9U-XyI6UH-QCjwJ7UdOSj-Lw9cJZy4Nrm5d98FXX7ZNkZDafkURiQDfWrn-ethNNFoFjRvo-iYD9UKvgwJpvJWyR95ICY8QBnzJU6SUJGZCgt5mPTT1f_gCLZ_PjYilxvGFy3Uudehjd0FvM2VAqDr7tf2JNCX7pV4qiRROzs21RFQbJ4Fso9LCrz2522s4wRp6xPiNTMWVDu5VryVKKX7lFRl93eoprZtzgL8_buGlWIRN8WvkQWmLJ66KTksxDCCf4NyMkEtd_mVMN1X6GCXxbZcnqw2PPAhlTSAGWwRyF3_Fmbbtcnd1fts79TC",
  "id": "rs_03d9f66a21ce645f016ab2b02d664087d087b9883afa7ed918",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl's outside wall is between the right fingers. I will close on its rim.\"}",
  "call_id": "call_5XssAemubDT70jMI2y5tyc3O",
  "id": "fc_03d9f66a21ce645f016ab2b02dfec487d0a2146ed257a9863a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5XssAemubDT70jMI2y5tyc3O",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.9344, 0.7975, -0.6331, -0.0864, -0.1013, 0.9952, 0.4389, 1.5673, 0.6498, 0.0547, 0.3054, 0.247, 0.0418]\nstate[eef_state]: left_x=0.2913 left_y=0.0013 left_z=0.1792 left_yaw=0.0562 left_pitch=-0.1983 left_roll=-0.0063 left_gripper=0.9952 right_x=0.3567 right_y=0.1128 right_z=0.0369 right_yaw=0.0278 right_pitch=-0.2439 right_roll=-0.0459 right_gripper=0.0418\nstate[joint_eff]: [0.0342, -1.7983, 6.9675, 1.536, -0.0806, -0.0464, -0.0171, 0.2256, -5.1897, 5.9145, 0.9451, 0.3883, -0.0513, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5f39f07a6dcb86c6c958460acaececcb5f28865f81053439ad1fd71dd21148",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c6fbde0573f03577a4ed2b92248841e078c416f5de323bae4f8055a7b65264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6707dab967fc8058da8514d854676229ff144cb91cb7bdc6cd6736e3df8efbdc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.934, 0.7982, -0.6315, -0.0868, -0.1017, 0.9952, 0.4435, 1.5688, 0.6575, 0.0322, 0.3309, 0.2417, 0.9991]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1799 left_yaw=0.057 left_pitch=-0.1956 left_roll=-0.0066 left_gripper=0.9952 right_x=0.3558 right_y=0.1094 right_z=0.0366 right_yaw=0.0126 right_pitch=-0.251 right_roll=-0.075 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -2.4684, 6.4068, 1.8193, -0.1832, -0.105, -0.0073, -0.1846, -6.0513, 5.9145, 1.6288, 0.0171, -0.0659, -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\":0.115},\"note\":\"The gripper retains a small opening consistent with the bowl's thin wall. I will lift briefly to verify that the pink bowl is secure.\"}",
  "call_id": "call_lQKPmOYbHL9az1uRNPJP7LnH",
  "id": "fc_03d9f66a21ce645f016ab2b034a85c87d0947e855fe8bac6fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lQKPmOYbHL9az1uRNPJP7LnH",
  "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]: [-0.0597, 0.9352, 0.7975, -0.6403, -0.0864, -0.1013, 0.9952, 0.4419, 1.4292, 0.8059, -0.2657, 0.2981, 0.242, 0.0437]\nstate[eef_state]: left_x=0.2901 left_y=0.0015 left_z=0.1777 left_yaw=0.0567 left_pitch=-0.2063 left_roll=-0.0053 left_gripper=0.9952 right_x=0.3527 right_y=0.1134 right_z=0.0937 right_yaw=0.0368 right_pitch=-0.2704 right_roll=-0.0549 right_gripper=0.0437\nstate[joint_eff]: [-0.0342, -2.0855, 6.7897, 1.6288, -0.105, -0.0757, -0.0171, -0.4991, -7.2684, 9.4974, 1.5458, 0.2369, 0.0269, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06656615e0870d22467255d844d739a8be5bab1e455f4a3152e0a01e069ec073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c104d6a0c2edca42221575e9ca30378dc24e2e0c5b91d3a0eb765f620f4a4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0b5ab6da1cb794b23a1ae9c89dccb1ce1106c239eac9d713e6511c8c615114",
      "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]: [-0.0601, 0.9344, 0.7975, -0.6331, -0.0864, -0.1013, 0.9952, 0.4389, 1.5673, 0.6498, 0.0547, 0.3054, 0.247, 0.0418]\nstate[eef_state]: left_x=0.2913 left_y=0.0013 left_z=0.1792 left_yaw=0.0562 left_pitch=-0.1983 left_roll=-0.0063 left_gripper=0.9952 right_x=0.3567 right_y=0.1128 right_z=0.0369 right_yaw=0.0278 right_pitch=-0.2439 right_roll=-0.0459 right_gripper=0.0418\nstate[joint_eff]: [0.0342, -1.7983, 6.9675, 1.536, -0.0806, -0.0464, -0.0171, 0.2256, -5.1897, 5.9145, 0.9451, 0.3883, -0.0513, 0.8669]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrA_Rr9COQTyjtG2YfRsTQE8U-af1aJj2Tso1JMtzXVBCOtu-IO-6ZKkFex1SmoMvGk4cy4dBQQYTMH9zSazfM4M3zvH2VWmNz25xhGalZFTLx9Z8hrxT6jnuqvykXRC348yF03B0yasugivkJxQYtlw91LnaQc0sXy6qhPFzBfA1vQ8L5fVvx5RPsUZAoQQZTDD5MStkhf9lynnCu6-B0NKBOiVk7zT7eaplxtzrWSSEgiMqFiERF_cgADUuzs4P7v8OSCfEoSLsWIH8VtusK-5LnBoZokV0tRN6gGkYZm5_dpq70SsWV7Wi2wtCGCYGcGMQcjYvFOr6XJcVlkWd9KzE1yIyrBG3rv9w53Va-eMAcM2UIOImwklyCYiSdhH_RJSRsZn5AT0yuteuVSiUta1s6k0NuGe9f5BRDPl8KnGuxbT23r-Xm6NfQ7kwlJiSREzawJvqUmeGTVGLlbAMyLsihDez3_K92ZKGZ0U-58l99aRq1GMOErUzyMRm2JdbstYp6JT31wHeUreuT0B98wPQSPOW0baDGqbxpAaI1CyJmdUMAp95QufFjMfw8hFsPGsjlmfkRUjlF7lhHa2b4LjC3sytev1mYGsSB6BwyrqPHEReXtBsc31nkrCHg8KzQHwkAbbPXd0HSA5_limZZcaw7jUd1pGQSEei-eVq5pNa21FJ414vTJguw4BqLMoJsl6w1ZPPU-xppBmyd7jMlfNdDW3kn8Fk0kJajMYfstOVgbCe8LjLuSl-caT2Y6VHCGA9UQZIn6iWD3xttMHjRJt7y3uYjV1mY_4EFdzwzFZaRp0CtTU6a0KlyCU_0VGQt2ozKc-fkSvgsFVEhtYpsuddp5GK7T6Rg45n5RVdDu-fKzK4RquUaDawMjaI5dFeHqHYcgMxmZKWuTW37uJseiZMobNQtX_b4km7QPTYDE9rKUiAcRWjJ2BoAExZHTy4hn9J_GBB4Uo0Cdm5CuNjk7UktVsBn3umH6oawrjhdH2-lUrn1crI2NVSOA3ACyioUHdIcZ1lh1VAvZljbNQSUPZacnVy4o-glyzYFaQfODpZ21oVINYEX4Kinz_NplrZY15EzZ3qsDvhoV4GqqfHOz6RdJzW6fhS3ZXrgiVh9U3abWrcps7ECMKhNX1nlKDGkda_OoCmBNmJVMZKDUnNI01ZMdCNl_xpYc9wbK2lI0KzpXiLNmyuiqxKYVqmtAN_BHwuDj0TO2Lym6pT9LpsEPwOg8OyVvXIMCsJGQIbtrBQ6mS5EgKE9TfGoBWotuqODrNqJIA9lmhni9tlJGDY1Y1u0KB7xN_BqnYPH7rXPv_zFUXhEdNPgNWOo8Ku3NlvtnASFNrW30QCS5dbn0_d0nuzzXvtdM34-f95p3WiPSuFg_IWu-Q-XwsDtXMLkO7Hr_DKTiEWNP6JZkCopHAeTOnInsPcfSfM1bGPhphrIE6SKc1VpMzdOnqhVrUletEBxqw6WBKJtNjJ3qMpdkHKHs2UGKaqgrwQCv_FOzX-oxy1YGOeeK7N0yS48ZW52CwkK0b57A1__CmArnLhSuv3TLJa_J9SWipH3nyDhat3dYQY_mE60K0FOzKysMYhyBOlo5DSyfGzdTbb_41GtnFgAmd81qKWqGq6i6et2PkNu0KBhl5Kl8HeI2kTjxTjOF3sQfoaVapKM-h3VwE4GG82zWF7FTTZBPvwupV2NZRt9VzW8cmwBcWh0KGCbq5okYnjbO4hCe7IM7JiD2SMkmLg3XIGkTrj3BoJLNY9qbETUciiSbpjWWuKcm_3mFSAzoioNRUgmncVv4zNzS6gwNUfO2b7cEvNiruCgnz9x1oC7m5a-CxVSITtV2XhNQYxhTcZvKu",
  "id": "rs_03d9f66a21ce645f016ab2b039827487d0879a6ae8b34495fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21,\"right_y\":0.375,\"right_x\":0.37},\"note\":\"The pink bowl has lifted with the gripper. I will carry it leftward above the existing stack, keeping enough height to clear both rims.\"}",
  "call_id": "call_E1Yv9JMpC8ziORdLGPJii4qw",
  "id": "fc_03d9f66a21ce645f016ab2b03e803487d0bfc3e25f3f19a9c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E1Yv9JMpC8ziORdLGPJii4qw",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.9398, 0.7975, -0.6445, -0.0864, -0.1013, 0.9951, 0.9691, 2.2223, 2.2669, -1.1522, 0.5549, 0.6971, 0.0441]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1757 left_yaw=0.0569 left_pitch=-0.215 left_roll=-0.0043 left_gripper=0.9951 right_x=0.3684 right_y=0.3785 right_z=0.1959 right_yaw=0.0773 right_pitch=-0.2983 right_roll=-0.0601 right_gripper=0.0441\nstate[joint_eff]: [-0.0205, -2.4137, 6.8034, 1.5409, -0.1099, -0.0317, -0.0122, 0.3214, -13.1077, 7.8154, 0.7155, 0.5495, 0.1392, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdee8617e851107d131dbe45790991eb7140d2135abaf29bfcec485e25e8956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c201de5d88306ab166defbdb718091f28e5245c9c9c563944ddcea017c3cf02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e516d191fed21c199f1ffbe8a9822372bbe61448971e44cf80417e4a2be3ab52",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.9352, 0.7975, -0.6403, -0.0864, -0.1013, 0.9952, 0.4419, 1.4292, 0.8059, -0.2657, 0.2981, 0.242, 0.0437]\nstate[eef_state]: left_x=0.2901 left_y=0.0015 left_z=0.1777 left_yaw=0.0567 left_pitch=-0.2063 left_roll=-0.0053 left_gripper=0.9952 right_x=0.3527 right_y=0.1134 right_z=0.0937 right_yaw=0.0368 right_pitch=-0.2704 right_roll=-0.0549 right_gripper=0.0437\nstate[joint_eff]: [-0.0342, -2.0855, 6.7897, 1.6288, -0.105, -0.0757, -0.0171, -0.4991, -7.2684, 9.4974, 1.5458, 0.2369, 0.0269, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBI-0Jm5pphen7PboqoNEgh7NEmQOBK55iRakEdmOz9O4hI3P9caITnqIdtRlJ3orztn5n6d5SWiAKxoEYIrd86MKdQ4bBjcLEkPIVzzbO78xbqbtcp3oxiCiqe6gIpbUKQZ6eoj6RWxmjOpHtfIn3ZbhZwzEjp4ex9NnVlc46a8DuUfUo3HRqHOILbMUXm15GvIwj3msn3iIIVKMDoJQLYFyVWbbHrAnGepvjr-WrZVCeEE7hSLeIaDFyKzTVbwSLSBrVuglHG9fpy02Qt7FJ_sbHxIbJ0JP75TMcBvDAw5nScB8Tc8UTeOcTlRqDtaQn5kzCm273z0N1rnw4gikREuJ5uK7I5BJsV5VcIOH6DdIpK9wAo2ZcBjRJXWAFnU93h4EHVgMZQXDe1an-qTYTY1uXTMYjdsT3oIAuuuSc_a5oKopE2oCP0QTDsAEdHA3_2iHeFGQ9kijRlGGALhUdtYS8ZsyfLiVvmeppTe2DIBeZ2BcsMnW3fYcffI_2MBCpG1qF7UOqRGPy1pYQvaDIjnAq3iGzb-lFeh6yD-IhcyJZv_-XiF3KRgpSWqlTOUWjAxZhN0plOhOtLKFZcGXup6JflACkigeBraYvExdt4Rq5Og4UH07rwBZyb_zwk9vHsCU102piy8Kwl4Bo5Dyjvbnj5QJPOIkvUecAsHAeJvqYBc-TcU0gGpKaxATFxaqMPWR9V-sysQe_qC3tAoPZS-bwhtwk5LHc-6AH8PePagUY98VjqX4UJIGYF7L7SYe4S4KzA8V6hku0Yv6AlmTr1cObZHXFy0fqm83t2h6kXFzUtbhuBE_MQdD7Fu3CwtP46V327ip8Mt4K8xjolpl7w_-bMQiOlavae6SVRXDJ1TuuBrnwIgVKGSQyo5E9UEK5t7NlgP_9ZCkWUmDPHCM6UqCUMfOvadiP8SJsg4_zXcnpyryQ0uwrvTXF6kr5pGhLmrNdg83yuzPO0Iv9FHyDhVhruyi3ZmIaZ82QA-D5jCoeMyw9il5LIft4nilCTPoOFkYPNnCtCSv_3zjuf8gdPkdgjtnFlO_Qs3TtM0NaoIh5fkqHQ4UNxtHka74nNgowFG94XIR_jJ3AxbLaUpv33Dw3Ri9Z7W1RLsfe9EUng3-im6KqoGmB4dwrf1EsrpgLQvKtRGuUppGfXgFfaVFABe4cWld-AlVItwGZ3LB4ohI03Dj8mGh1ZwdzgxBGtkzb85ARQWC6ODGQbFA07C7MCXxbRYMGHgaPj1yXml6WI9AD4wlXBBOGfLh_qzvhdZABkPnIYWNA45DQsAw-PAOogdmnUo_60yi1-vGP8kAW8v2BqN9UANTIzfAS-WPfQgat6azfYHY3_7WQbspDGWscKRxAmHHGEpLfikYxXobT_90oHGeKDyVnHfvBrUmheRLRdTYHWHIPtl3fi5g7MUtZ-KIr7X5LiobjyKxErEteSp1BIXxdOIrkQxBkzJjpfJizkRifq3IY9eQZ8QSg6MaRVr5l_9mX6m8qVK9Cl3IKIxcAOJrr5D8Rt6XlLNfYjkVoJ-TftYUSJLG1ydsLRfp9Mqo-6YT3aJ6kBstXkXUIvdLo=",
  "id": "rs_03d9f66a21ce645f016ab2b0449cbc87d0839c900068bcc5cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_y\":0.345},\"note\":\"The pink bowl is slightly left of the stack in the wrist view. I will shift it a little right while lowering toward the top bowl.\"}",
  "call_id": "call_lx7dhPV0AzfNe5gExduGQYhR",
  "id": "fc_03d9f66a21ce645f016ab2b046eb4c87d097543216c5db0098",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lx7dhPV0AzfNe5gExduGQYhR",
  "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]: [-0.0597, 0.9417, 0.7975, -0.6445, -0.0864, -0.1013, 0.9952, 0.9268, 2.1185, 1.6691, -0.7742, 0.535, 0.6575, 0.046]\nstate[eef_state]: left_x=0.2898 left_y=0.0015 left_z=0.1752 left_yaw=0.057 left_pitch=-0.2169 left_roll=-0.004 left_gripper=0.9952 right_x=0.3572 right_y=0.3317 right_z=0.0763 right_yaw=0.0372 right_pitch=-0.388 right_roll=-0.1696 right_gripper=0.046\nstate[joint_eff]: [-0.0068, -2.2359, 6.8308, 1.5214, -0.0904, -0.0513, -0.0073, -0.4855, -15.3641, 7.4051, 1.033, 0.2173, -0.0708, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92fd43dcad96c59de2211363e1cdb06d85fc0873fd6359accf08673fb3669c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639b423b81747629630883e65e167e0878cb5f8e3c41ec2e7c0393d10ad4f149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea0e58a81282e43b0001f864264b581ed81c822d2451ad84481b885af1c5600",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.9398, 0.7975, -0.6445, -0.0864, -0.1013, 0.9951, 0.9691, 2.2223, 2.2669, -1.1522, 0.5549, 0.6971, 0.0441]\nstate[eef_state]: left_x=0.2897 left_y=0.0015 left_z=0.1757 left_yaw=0.0569 left_pitch=-0.215 left_roll=-0.0043 left_gripper=0.9951 right_x=0.3684 right_y=0.3785 right_z=0.1959 right_yaw=0.0773 right_pitch=-0.2983 right_roll=-0.0601 right_gripper=0.0441\nstate[joint_eff]: [-0.0205, -2.4137, 6.8034, 1.5409, -0.1099, -0.0317, -0.0122, 0.3214, -13.1077, 7.8154, 0.7155, 0.5495, 0.1392, 0.7888]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBQ-L86Q-twKzFOguo56090_Xlix9YX6ZidErWD6HpBDvYgIzXpoFqvu5vDcz4RBZkxoKuPwkUYrLvG0Ts5UeLEAFtb7Tysaxh1gEWIr1oXT6qQkdIC843_CtTcuR0pa9TGs5qTU-N5mqbyzMBdlsZehJXtTyGYo3a4ISCL_mMmb9fQRzY8ZxXuV9vTywnD5N9OWB7UcG10UXRgeneH9MZCYVHwnHGuYH3dJhR2c4TLWYJCgGd_uAfqBl2PPSg7wHTitkmOzUHtDfCoD-Y0nCMNaZP9DdSOsEXUn7UKZFksFguPpufumd0_ZzM9CbnJlVl7xsQWd2a5V5nY7yL1-Cp8N9mfS0PoJdP-R3p30Kc_Xwjt2jM6qJmLI7EVGBof1tCrzUyCT4baEOEqc3RhT_YiL_lEieN_rrEtP46siQZKXseey1B1tTrzey4pDxUJmLB0ul8ebx_4oMFtBfbDdmXFbECZ4_iVkSWyy7MYJZ1Ppx7k0q_imYG7Kn0jCQTAq3BSUwmIyNtC4DUK5J5ghThF4Bi0t2-1opu0lEFHL6r0c9PGQo1sU8hEKFb1qrPfu2P9a-7N_aTsf7FOItIgqNiEx68u9VUls3NbNOGYXbK6-AO-dIPOYdu8J3nPqvEX-nt3QFh86VXbRojVb6Oxuv4j9OWopltFBuqzgoeqWBdG48Q0peBytqOpC0lZPJhd5h_eL5dWUzP64okMzInuUrOyrc6kxVJR_w2hoIdRaVagd2c4yx56Pvgb2EVDaE_GGxjKqOu_W3JdEFrIlJqQlUTUEMhcaYZZtLcl395jofp5PDUiTTll_8ay9yHfivnrzgRjwCqYmTaB2HTXCE3HQB9VGTR_9FqFX5UVqfHVWt5HGh7YZ0uUS9OZLnf7Kn_f2QbKPfjs2gw8AyJTVxv-Z6735Pz-U3inoKn2VFevezhZRWyZiEBm9Z4X28VfKrtgNecwQn1YS8DPqQMQWMv-TUkWzX6II93N0WP_yrLCf89H9kMbNUFfG0UGT8ucC4RzEx-g1RJFA4xjs7I2BMbNqPDUNXOmk487lswUZZPnVpr1yhOB1yO8ux9RV8BhOMWV4arBBus_LVlusOUcMrtY1NshzirXerejGAkCllZ5p0G3RddJu5jYl5xhwDT0XF93pbeLYNe6GBFjYUEuWd6Y-bS-YoKecW-A38U8swWE4Rx-4z87GhzfnQjUT6tdKa4DJaC3kNbBkcGltk9S3Rz40eSzRu0S7g4wiVlWkFXVRsgG576SWceR8ccFuTwZHrTTKeY3CAvRVjrAIcixuq7eQZaihjKds9_RB3WVXR3wSaMRcnYLC0kWYG7KQr6iwN2MYig4CBZQEZyuiqooelQZfA5mZR3VnbMlOlL7VagVYjkJlvsiUdjnD4UvKQK6YlKlWw4vkWD9g0fvl_fV3U2zkyWQltDuZQZUcoyX9WzxML7twsP0ZIBcS5mtNWWlIawqZH1t6kfa2WdyFJA62_57fChzXn4REuoUWPlS3rcKYxR29Ys=",
  "id": "rs_03d9f66a21ce645f016ab2b04cc19487d08ba9459f860e80a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl has reached the stack's rim height. I will open the fingers and let it settle into the bowls below.\"}",
  "call_id": "call_2TCAZfLRdTIeBGtKdnPXArkS",
  "id": "fc_03d9f66a21ce645f016ab2b04ee75487d08991aadaed0b16a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2TCAZfLRdTIeBGtKdnPXArkS",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.9417, 0.7975, -0.6498, -0.0864, -0.1013, 0.9952, 0.9272, 2.1105, 1.6455, -0.7811, 0.5167, 0.654, 0.9951]\nstate[eef_state]: left_x=0.2889 left_y=0.0016 left_z=0.1743 left_yaw=0.0571 left_pitch=-0.2222 left_roll=-0.0034 left_gripper=0.9952 right_x=0.3507 right_y=0.328 right_z=0.0704 right_yaw=0.0428 right_pitch=-0.4159 right_roll=-0.1788 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -2.0444, 6.7761, 1.5849, -0.0855, -0.0708, -0.0122, -0.2393, -11.0017, 8.0889, 0.8913, 0.4322, 0.0073, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f17def05b67f7464566a70971b2cf98334230fc5d431d067b3cf5bf1d37add",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d446ea0b6ffb4e192f143a7d55e538f103e6691689a8d0d1b4db1924e793875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ad87d043d05173af2edc437f752edf6d9e46fe613265b36e1305659f7ca502",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.9417, 0.7975, -0.6445, -0.0864, -0.1013, 0.9952, 0.9268, 2.1185, 1.6691, -0.7742, 0.535, 0.6575, 0.046]\nstate[eef_state]: left_x=0.2898 left_y=0.0015 left_z=0.1752 left_yaw=0.057 left_pitch=-0.2169 left_roll=-0.004 left_gripper=0.9952 right_x=0.3572 right_y=0.3317 right_z=0.0763 right_yaw=0.0372 right_pitch=-0.388 right_roll=-0.1696 right_gripper=0.046\nstate[joint_eff]: [-0.0068, -2.2359, 6.8308, 1.5214, -0.0904, -0.0513, -0.0073, -0.4855, -15.3641, 7.4051, 1.033, 0.2173, -0.0708, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrBWgDVF0DnfUTGZoC57OyHdYNPAuLjIaD7ERiLCkFLJtUXdg7N-IKV2yalNF6qwHQ7fmiowHAK-LT4FzVZu3sCtyQEOSyARo5QhNKRLJ_oNhqPDNUhbzUx08kNpT0IN8y-Js_Unv58K1tqsQWdAtGdKmjy7f_iHITCQbq_XXAZCRuxeRkegdXu408PDzcPxZ1Sh5I0gf__GOo_pJJkzk7t9pjA9rcAOcqla3Eo2nzuSpoapkZ_v2Tm9Y1ReEE9Hep8RxbyMgC0k-1EfqNB1yztsIypiof-jIRWJcpgzI1ddAnkIq8lRmThwTIRMCmzKXw9NJM7b-vFABMYZTCPXA07DA8eQFXSSW4Oak6UK5Q91gko8rE8e9k6u_QGqVNoukBd2PJOfUxq3Vzk7pZNmYtDMM98vjhnHInZQRh0mhHfKghpV-S4QLaIftQ6eq1bV_-iLXE9hE4Y0qn-9v2h9EQEYzIal54BirfwHPZkYugtlfSxfBbITw-xXZAeYK0kknWKJeQ6Xr7wbW2b_yeWDfVtokwq2MLyTK12Au7Ne0LhqyWrcf3k0tSQsz2p8jLO6siWst-9Fy-PUliA732rxEuTvMRkRsz_KGweJ2fF0PV-qMO3vNrHms784HbnB0G36y7ACx8dEQ-yUwImkvUralzOyYEZ3Y6ak1SR5331bZKOYvhOxhjO8FoKUMyOeVucjPjTw477h__hoFuKVivfYYbb3-nx77hpZZuNwZFjVEMzChGx5jBWTgGRfvm8P6-QuokZUzYR6nK3BLYmHXjnWe_-EczINYJifYKzUwBM59gmT5qSuktT46Jz6eGi7dHlONLaUSjZJe2qYo_7ZGl4q-TZV0Sjz-DhZ_DRgZ_s-H7XqWOjP1ayK9y8mp5LfcUlJOxA1FSJU2ycGI53z-qKQ0mVHnobrBBCKxWPZy4HWiHwg5048VkMt0GH7B2JiYM6bsaLpJNxxPY2yNyfefZqiEgGpirs8MecdO3dlQx04q0KOb8sI2-PXYdPdXLmAfyopJ0xwi0tCS0FvILBZfz3V_tlZ92MAfGwtw3Y_n1qBcCWsG0gRszaRJ2Hd2RYfo-0JY6lypNWfXKBstSlFAiBTdMpVTxqLWywjFm-93y3EJ-PAiDC7DrZJOct5BIFT-uPIOm1WPlELcp4243cZ4cRWjAx_svSuK-Fzmf0TyReJ8e_P9pX6BdnusGexr0coDi7zDgdcs5M4wTHodkyb2qjVjVhKEDAJasUdsH7PDG_NMGS5X_o=",
  "id": "rs_03d9f66a21ce645f016ab2b053661487d09a0772b92b431db3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The pink bowl is released. I will move both hands clear so I can verify that all three bowls remain stacked on the table.\"}",
  "call_id": "call_6oP31aDYPqRMGcCnrIOXzw75",
  "id": "fc_03d9f66a21ce645f016ab2b053e2fc87d0aa82572c2e347c49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6oP31aDYPqRMGcCnrIOXzw75",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0639, 0.9802, 0.8738, -0.7303, -0.0868, -0.1051, 0.9952, 0.0727, 1.161, 1.0698, -0.936, 0.1429, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.1824 left_yaw=0.0566 left_pitch=-0.2646 left_roll=-0.0006 left_gripper=0.9952 right_x=0.2917 right_y=-0.0004 right_z=0.1821 right_yaw=-0.0033 right_pitch=-0.4602 right_roll=-0.1874 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -2.0718, 10.2906, 1.4579, -0.1636, -0.0366, -0.0171, -0.253, -4.8889, 9.7983, 1.453, -0.0806, -0.0855, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a6a11bd31e64088695c88f025f6e8ac97d503aaf08911698b19611ce6dd366",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee80f5a643c03f6654a4525c09f8d2a41f748108832a77dbcfe3d0e2be6f8938",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36da95939c16342e9fd253d0dd7ebfda16daf78d90b0d569493119a447c6181",
      "type": "input_image"
    }
  ],
  "role": "user"
}