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, 0.7959, 0.6056, -0.3794, -0.0196, -0.0326, 0.9996, -0.0219, 0.794, 0.6033, -0.3782, -0.0139, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0013 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -1.5795, 9.9897, 1.7607, -0.0317, 0.1587, -0.0562, -0.5265, -1.4701, 10.2359, 1.8779, -0.0904, 0.0806, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9122e431e3a51f8cdced0a617306952f6f8a527e05f72c174912d50c84c1eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecce0000eeb704c6faf6fa8776a2d7d59f30bd18fed627a9d85d6b9aa298d16a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2e544ef7cb246f043c00039756cd5bf9a432b614cb6aa7e70a9eaf370609c4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssZndmMiQgFAbMV8zIfMSr4peD3U9QaFa7is06mY5lPHoS1TgmMfbuZM4Q_mREatq0irqHsEv1a6txFJ3ukXy_WpWUXR4-ivYo0tNLB55ZUhLEbXLoGsvRnIPjPOARTWNjWbbWf3H8YVBcRON4oqVYt0wGxyU28QuiKS3ylFQebtU7HvCp-QFxJT36DDrV84F8nk4Jf2VqW0rnplyBoJ2gI3i-xwpcMTLGA4G4hgqwfE-YnQVMar54_J6VR0Us4eUW1mCob_kT_qDzP-Erjx77-NXzBgDVw44Ra-q2AUaJIVeBUuZHMWev3DnRHdT58OEmZsQgtZWeq07cxLXBH6ORGuXtNishulwphqrfB2Sh2bf2ihS-l1e2j04xaUOLwPjevKlq18QTAgegy-nplRlwP0AK2bKvMPW2AHsAk6J6sGLPjM9POSKkWQJqVkMe07D_cIyg_AtrO63Gu4z4r0LMUkV-rStDy7hWeaMojXpk1FBuaivS9y0GwtXDEdWzPQ85jNq31qPSnKeoOdlUYTxIvhkkElxdRQ4SrLEeEs3MNnOfrfN8zC7d0PLYGObq63SL9hhlmLrZvIXC2qCg4tALNA3HkrBdG5Cv_0wL0WMMqNuqppKlcFVqBJNpbgtDFz0MlKt_oED_TXsIa4ps30XxNQnRL_QFyPBZ3tq2QeKJenWBMwU_sv1xLt9WBEUzQhJNkedNAOxhYZQYpPOVME9EXfEhv1p6nf5WzMptK3lCVEwNJbdzPr0Hz7iJo9fqq81nmbx0gbnl23GI4W_MWcvLW4KInmWrPPxA7tk5VWY18F2Q3HaAeRCB2M8zGgKaVs1rxQL0D1ZrXo1f90DXgfysPjjo71GY5ymdvze48wvm2upbuUK3zZg4twAPhVuMYwiwYPGceR820KzWkUwFlifocyoDpPM6geXXWW1vH_RD1ZGsfbr1F5o7AyOTEPKUhxuTlPM_DvUwLkaluAD3K56UOc-Q48-DBjzZcjxo12FTUZkFmASRVLL6WY0YBPWO7Gx5WGD_Ld79OxaeXrVElgs3dgOnnFAp8VWP5k-rymUWgVvyuOgw4igNsCq41W08Dsv5sg42pwpCItollDSOH8JPAVGkz8nEJXUP17GFjhtx8l9HhGH7v2-g_53Rw7i5kiPjR8Q2y_yuTeZA6aI2nQLwo4eOerBpop602JE5awuTpkEm73miDE3x4gfpVE0aGDZQJVOHyuAGhf-8aa9OmgirTEZy9Wk3DyDq8wqsVgNt_MYdV7gh48EjkX35oHh2tt1X3Ox0h8tpeShhJZtLttK342rz7JjFhFhoWJA9vfSir0gUaP6zuJ6TTcu8zFGJqK-BGmY29tO2zXI1WqvvU4qMMlNh76zmobgc0hU5ItY0GiCgxUZjSy--lji2z7Gy9gH4aSZcYsRIyfQkIYxKKusQ4oBwzDPqUji9uxLqkKGlUJZ4TSYW5OkOWhphGnbdjY3ETneszvznQmvdYbnvnmOaFYHD9ol9bfs30BPTvC2VMaoiZHqwcLnE9IF0W0IbZs8CZAn26LS146VP4iBjisOsArKeQLyxHMST6wAOK2gwnRDObKqGbw6npeW20aKzxbz77-I7OMYZ0qQtu-RSZQ9kJgBeDqmipTdl_bqyrwiofTFPE=",
  "id": "rs_07ecae7b1397a37b016ab2c660a4c087d08b9ad32ced7117f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls spaced across the table. I’ll bring the left gripper over the left bowl to line up a rim grasp, then stack it with the middle bowl.\"}",
  "call_id": "call_qjLUAHWRQgQFFCPbmtdJ8y6h",
  "id": "fc_07ecae7b1397a37b016ab2c664bd2c87d08ba38264269b185d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qjLUAHWRQgQFFCPbmtdJ8y6h",
  "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]: [-0.4828, 1.4418, 0.8211, -0.0772, -0.3855, -0.2901, 0.9996, -0.0216, 0.8005, 0.6048, -0.3889, -0.0162, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3863 left_y=-0.1234 left_z=0.1301 left_yaw=-0.0185 left_pitch=-0.0686 left_roll=0.0283 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.1767 right_yaw=0.002 right_pitch=-0.016 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.8718, 8.8274, 1.7656, -0.2564, -0.1587, -0.0562, -0.0342, -1.7436, 6.9265, 1.7998, 0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e52f335059116136c4bd27e2dfdaa66958efddcabba0b04e71ede5c30d43c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490f959d6730db0845c67ea7c77a9aee82b5c7fd2e67858925d340b0a388b470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9278f73de8f4600d80f7f253e57f9773c96239a06f9af32390d805d2955c68d7",
      "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, 0.7959, 0.6056, -0.3794, -0.0196, -0.0326, 0.9996, -0.0219, 0.794, 0.6033, -0.3782, -0.0139, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.2952 left_y=0.0013 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.18 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -1.5795, 9.9897, 1.7607, -0.0317, 0.1587, -0.0562, -0.5265, -1.4701, 10.2359, 1.8779, -0.0904, 0.0806, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssZ3LMZKB6oTYgCJZYOFNTYPqh1sE9YYKzwtYh_faZdwOnAits3YzfRMB-ClNvbZSIGqxTaQs3s2NMrpC9XgXdGLY3XdVLQta3qMhO8og3CYAGiX7j4ONdbkejBvscEtxFgJZRNPjFQ8329-qDpQ076Cc0HRS1_zJj5wS0BOVYxILcjJXcpWio2tl9goSjyDPvwsyAo2lVAR9mYisNRDmosT4fcNRUgoRhuPpgLzjI5vwGqGCRR2L1RwoFDcA9dS3JcbtDgN5Zc6r5Ux3zFn-LED8fyu96WxzpvK9KXj2pKUvtdLCX9Yye-0Kv562t--FO8gdVgwF-kqIv8n9a6qOBM3vXYG1l_ZfWRyppgQL1I2U9rm8ZF5hqInvCnmEjyVyelQqE-vHlw-xZ9XrHcvY4rPWwvgc0cTMxTWAVvXFP0HtCINnjC4ng6dHn69Ujy6mjkENwCLoCiDFKW4OIlAG8XjduUB7jzB0wcmxFkJTL9lqs5Bbk1mr40zbKpr5qEzFx4TDv_sB7WB-5LS_GkC5L4djqS5X9RzskNl-j7V5bNWMta8Tuk9mGDs2BPloiSefvdTQwGYyoZDu1qdRTyE50PNUPSu7535y_Bj4jNcHK8YA2u5Ltt4agd_ssL6Lv73J7uXNx8oYMJEt_Ay2VoRQZWudpmCRXF3gunRSBOW18TGAv5_YgYvd2xwhn3fhW7rASWmM-UMFknJWom41tb54RVxrmBIlfdKYVmY_JbXVu2VOeCs_G3koSuNRYAIoW6WNKb-VHnbghTP6fza1_XOfZ3xry1Abexqpykd03My8hloCd2TRT1A1bwJWX-sGDlp2iYsrqrxK-RRiQmJzMvOCjnV2QksSCFkx47nyXuGjFbEgBfUqzr4Vr6Rc3TcSyQNF0-UmqV6uDCsxZGh_REgBSZqemAnYK_tmLqm5YvqUMoUuCKjRRdauOghneLyDtuG9n8SD7gRwjjo7vtdjWTgHGOT2_o9gH8EzywoiVeyhBEJf9gOISgjDkvvT4gbM7EOMbT6paZ5pOB3sa-A-vCDdsh7UsDSfvEKhpciv30Eilo7A0koZlpH-orgpRbjlrepRXOV7HmuWRmGWC9yj0D5H2fquKpcSBoHZrwONpWFQfq40LUB95asbB5NUS4OS19w38ZJ-HLPPaaHvAP8K1tbpP9v3AVn4sG5po24zqC8SlIIn-kt1sXdj5FuuousyAHlFA65C3RiitC5n9SaWKvdEO9Y7fPxc8h_hoOGJcaeXlW1_lWXU5m3WELCd8X2Voo_KnUsl1g3QcK81Rm6-7WjlKaE0x9ZBc6guziYAU1VhdY_wRqtrrFXdZkkcBbMKiE0ilTmKoWEkF5wdcS0hsZ5Io3Lp4bgmp9nCj_GX36SiaY2fHi4pdBupqz5ZjFcDKmoBr3-_8Afg7hD4tHVxJ06PldlqvghUGSSs0scw-_M6C5vXMnR4pa-OPmFKG1sdqVKlgf2EfskiL1p_hJ_1BP--DGYkD4FoA_9HcVkWOevQINeXcUvpCbUZQCC6asfNtfHROpY_RDn6jA3nq59fmx3HCs_fbYjYG1tALWh9IPGRlq21DWl4zvtbmElkPIxzqCfYfA2w6foG2m_ypbpUOZkmWMNhWAR00a_u3AL_rRIwm-HXZpaDeLvYbDRft0AIqKdbyyGuGaGef1HMBK3Fm0ir6Mjkf2x-jzMmT1_552HVp6AgSruS958Lc7aYiT5LZIYAFFiD9VMsREErwxHyBZ9gRLP395ujJNaH1yubphDyXeTxc1FLdZc22uGq1mNkruXIm2v0Dx1affBzwB9LfdH4VsoaCFtDnSZfs6UVGrox__B5nLIYMRWaES1IxtZ75ighIPApT7zK3Py_9dUb7LAudqRha7vQsF-tDbcVO_a9SGhrZse1mLw9eybP_k1dvznsY6Z1uo-yY1eOQRcPYRjqTyKuufEyIAGK1fQY7fkCyYxsKrq3HU0wokisN5Sc162pk9MMK_f6rTnf_PWu9soHhnQ4XNMv7V1Drvj7UzlsoQDCEAkS67iH2ZuVhJQjsy0JstxkEs07IlEBzHf2GGGWP_zwqfcDx2_uIcRqlwgLrRb4HnrZ9eVRDsiyQI0wiDf3surMgC6Ql3BYtfJHVlj8SFBFBBiX2skWR_TLhlnseuVsx9AePZtOMTwSSBhpCdqKOOoi04GlrzRPewVh5Ik4MLhrg1_6ZoV3kJGOSjyl1V_t3NggWVI3fw78L3rKEhkeVfJMJyo1iSduU4UdsCr_Z_h9ZUMYCzhlfgEjrfnuWttCwEfEt6t0eK55aTEFouHk0Omx5da3E6CPd6Tanv6ZyipkEmn0EPLagsRPzf4wGoOx9n03C6_QblgXOCx1iDiI8d0uY1F7HjN2lps4MwrhX3PpNlsAU2aklt5KlutMd7xtVTe24YCPnV_1u4U5F0mkEi1B4mbIje0WoSRNqmR7JRNs3Mpg7APa2SOzv7O0o2MXGA7OMdzlTDhXntiskNWmggw",
  "id": "rs_07ecae7b1397a37b016ab2c66b44d887d0b08f9d2d94c631e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.045,\"left_gripper\":0.7},\"note\":\"The left bowl is visible just left of the wrist camera’s jaw line. I’ll lower toward its right-hand rim, with one finger inside the bowl and the other outside.\"}",
  "call_id": "call_CIuHTDoUgylDXqYVuXXc2J4U",
  "id": "fc_07ecae7b1397a37b016ab2c67594b887d095521fa3fb6c7505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIuHTDoUgylDXqYVuXXc2J4U",
  "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]: [-0.5629, 1.7424, 0.7547, 0.1989, -0.4301, -0.3416, 0.7028, -0.0219, 0.8043, 0.6003, -0.3931, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.3902 left_y=-0.1549 left_z=0.0372 left_yaw=-0.0308 left_pitch=-0.1326 left_roll=0.058 left_gripper=0.7028 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0021 right_pitch=-0.0286 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -8.1846, 5.3538, 1.7558, -0.3492, -0.1343, 0.1099, -0.212, -1.6068, 7.3915, 1.7509, -0.0317, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:523f78d37ec8be08a2ecce5147553296e13e57a037a6eca8914cb32a631907d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:319c1ae9b80e80d0ee3b9b2c91480f84fd1db4e82e71f7f162305f75b6580226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68ec9f638787ff65b5a128bf7cfbb17063bda2fb90f7aa10073a06d6449a3f5",
      "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]: [-0.4828, 1.4418, 0.8211, -0.0772, -0.3855, -0.2901, 0.9996, -0.0216, 0.8005, 0.6048, -0.3889, -0.0162, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3863 left_y=-0.1234 left_z=0.1301 left_yaw=-0.0185 left_pitch=-0.0686 left_roll=0.0283 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.1767 right_yaw=0.002 right_pitch=-0.016 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.8718, 8.8274, 1.7656, -0.2564, -0.1587, -0.0562, -0.0342, -1.7436, 6.9265, 1.7998, 0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssaDWwndE_XHmcNa80Ti9e442p6WhNMIgRdKUFWU1nb2vGXNrMuNAhvWmdnZaPEZ3cj_78IAT9fV9h5XdpljZffFqvbKaSB5SWgsv93HoYlTJVRmXnQoFFzsVy-J5v8XSwBqDPGIz6oDhZrPGg0SbIWUNEP4iDSyS9r1d5qTntoAjBG_o87z2qNUOILxi979yv5ghmX40MCNAHW59u_ynWX5Uda3gwZjOUJKLh-u52pU92pEnrK1q6stUjyGkilPxKNQw07SZ0jecG_ggr6i6ryujQElOzFK5dFZg-9GQKDfYEyGmNp734inNRNf0Sz-vF6SXSpmdA6frKX8AABve6IbbOlvyFVKGbp4jlexjX_y0qqa_Kk6wijOP_01v3faqPAvXN3mt-rVuuce-veropGdTVW-kJCjwgKH1viQ74AayJRNg5KJOIkLWxaNDUlZY9P-H2nHE_dDyNPcArGjOnjWyE9K1VaIQ225X64bKCkRP0ThDo31wuazqShOCFVUUeUH5FEWa8_cxfxTIvAvpDrwt4TYy0wky2Z4_eDn3xS-UciulncFcaRt8NqQsyI0jrq6VvYuHRQ6zeEFoTWyB_kBSRn5zfYPuRUn1nvWdhfpMIK1a-Jw1U1e8WfwSBK9nCPuFj_RkSpIsZ0vxre4rBHaOgHP70_JFaD-G2aQ4Nj90kCGxFiGj2tG5oDKjJ-CjhEdpIX9hEWnD1a8B07XVNH9Md8seaRsV3Y_cQMyLp4ARXoncSy1Qm6W77LiH18XT4I1l9rKpml06vxdW1kEA5sRezSZCZjWKOD0IWwTxO0qcmXds6rVHS5TWH6Glt2ZWyCMnHKCNyHX5TQPbYcNvwEjoBs8tHqE2btRUmhLezyLdWqZGAHbPVSDWCpY6v1IqP_H_FMWy7dhz7Iveg9ppDNGaZLdB0JbjOUzVIJlgSTpktTkhWFp4J6cNxQaKl4Jnaz7SgiJlplewfxqjk_qelvmqZ7gbyAbwqB4xF_MTyRsMnHSF2tv6UT_2F8wtAxpO41cZ5Y49QPwLtsyi4_t_K6pQjolCxDqf_vOKqqQT6Uu8B1f6XZH-5VCu3UquNfCXlELQIybm-hwykGkM9JFMQ_qRxu39K9MW00vyjd2s1kldh9oyk-eu4l7ekGEWAYpxAYyOb7ZvLl6z4n8sbKUaCUlMP0eaer9ASvmmVFcyLLuJAvr11qDsqAVNs2iq14WxMBdbuO4Sgy80HYsAOew3uXLfNWYDOamZFcMCM7I7ceqcr19jKXbThtWr0eOE2vzip2QkYgc6g1LAsc_ppRmOUQ7dg0GsEo1sRiufD1cCzBFvvkB6Lp6V_srmi0YmNRChautrqY6Xnbb78iFgOce8y9RNCW2nHFfGOnq5QMpH4g8kjRGrFseAPCBoqLXNz8cEXSR3UOKAf_PzL-lZZwgFiedwV2DQMpZtlzDjjaTThKnRvANvOmjOKg--iwk_Qfgh_Wa6GTSX1-Qa-omBO4pQ347JTZ35XfpFA0NIODk2Nf3HgqA6JgaLQFkHY67mnWZdPxZ9WPlY1krSms8ZsGmmeMc3ttSv89EXCllOROhNOetH0SuEn7zmHR7USN-5xb7cjrdYRwAoig7b5d26mRfa11acQ==",
  "id": "rs_07ecae7b1397a37b016ab2c67d8c1c87d0a6b038bd1f953dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.043,\"left_gripper\":0.7},\"note\":\"The lowered view shows the fingers are still beside the near edge rather than straddling the rim. I’ll move a few centimetres forward and slightly left to put the bowl wall between the jaws.\"}",
  "call_id": "call_2MDzyh8vME4CAv5Mn7P3NQe9",
  "id": "fc_07ecae7b1397a37b016ab2c6815d8087d0991753610348608e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2MDzyh8vME4CAv5Mn7P3NQe9",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4591, 1.8149, 0.8539, 0.1879, -0.3817, -0.297, 0.7011, -0.0219, 0.8051, 0.5999, -0.3935, -0.0162, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.426 left_y=-0.1332 left_z=0.0384 left_yaw=0.0093 left_pitch=-0.1367 left_roll=0.0545 left_gripper=0.7011 right_x=0.2931 right_y=0.0 right_z=0.1723 right_yaw=0.0016 right_pitch=-0.0301 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -7.8838, 7.4462, 1.4237, -0.0366, 0.1783, 0.0904, -0.1026, -1.3197, 7.241, 1.7021, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f2793f7872f82c296226235681e3cefeac91f15afc4547fcd249eee8346a77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e52a044bbca234f795bccd4b80476340cbca7aac5ae1dc6695edf5903030eda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3a1186211d4a6ac2ea67df57c1fbb818ea69b216c4f0289572afa6331a02fff",
      "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]: [-0.5629, 1.7424, 0.7547, 0.1989, -0.4301, -0.3416, 0.7028, -0.0219, 0.8043, 0.6003, -0.3931, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.3902 left_y=-0.1549 left_z=0.0372 left_yaw=-0.0308 left_pitch=-0.1326 left_roll=0.058 left_gripper=0.7028 right_x=0.2932 right_y=0.0001 right_z=0.1727 right_yaw=0.0021 right_pitch=-0.0286 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [-0.3077, -8.1846, 5.3538, 1.7558, -0.3492, -0.1343, 0.1099, -0.212, -1.6068, 7.3915, 1.7509, -0.0317, -0.0317, -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": "gAAAAABqssaLQH6fc_qiXclu2z2bSyf3brebxQ1ttq_EIe28z6uHtKBSgOHFZVXJP4GAtVq85ohTLzIraCdMv529C_TwlVaSqu4lVpGlaGZeFl2edCe51jzRxFUaM74lkCH4UbfIYx7fusaIuM4ZeneU0qOmM3Y5had74-_rk0wwHMYrtYXkQqvgrtE6HJqAdAu6ujSnS0be2tFGR7tU_0xn6_EuuS2E69-BLD1wNRsuzUdHl-OCp9PpKFJlDX4-EX7JgJEtD5gSZQaqxeNtEXkffZvS1F-hXbS0WR1DXUyUcw7-MrqnM_i0J-pCNb2lGHtt9VfBDlA_2C1YQoIJLQr5s3WQFFkEx4U03U4oFoFSx1i7zFEXZw1YOmVZdaKDfGBKPPQk1RFio64RjdP6NFfUIQTRoXe4LOESSHbI1kgsUCDOIvjdntdtgYctzCb7K7UvMDx-kKZ2fmJL4BfAHpyzRGX_GHi-R5daDe6_9slP1xLa1JeMeQz2uu_hRP2OiPN0jVRHDj7ZNkwGWDIsmombiaDc4KstXNqz_GNXd5CONnMOm3WMGdGyPpIxCwzcOucqgC_HZcmbnvQB16amZBfxodu0riMo4NNDJ5v73VTscM4ikOh58qLXMlz9FOT7TxOvPFpZ9BOslGyHI-vTmo7DDu99PTaElu07ZdtTbxe0-IdS9gNRwkUMt9R8yiVuzOHbnQ2-ilCKQgJZg0Pva9_xdlZCPXD68VKisyRcgqyGvUe4_JpKQ2c2Xg7uV93ordee1zXgC28nVSHRnHcDxy1dC8trbJaiP-3K1fHdLUQHQDQfp07KEJKK1odEfdRZ3tPiLm1lr7B7wNojxMR39HXgWkyFdxCY79g21WZEHkyOoV9fybWOsmbdpOInGVne5im6h3RxXRaR7GZQrkxfz5CXF8axs7BN4ZA-d7LTSfnBcq72h-8ooTcIt8SPk8vCH0hPZdako33tUZG8WGsXKWi_B48XtGXdOwzYLYwskV0kUPpvn3DdgDIxlzwhUUgVLOP0Uz5LHYeoz268nheZK8TWn3xJjWIFojuisniUFPSbCmNY4DvkEbOzuikA8L0v_giQIF1NwIhNeaSAtwqV43LDeziZWDyobNqTwmWVRsLGgx9n43jN-uOZtImz-SeTdKuw_zN1fctP85DImzK3dQRL9FMfpFMWaLaWF7ArjH_p1FT-RCNErfjjGbq_Kh8vw679vyLKKkOJwUI5h-TLwH-VJyndEW24D6WV1g8-8ML22YEb8n4rpd3MKb2Nj5RrZFn8qfrGRQvQ1iRJkBnKKS_xQ7jkUkXlQbHK1NyB563nPZdFrv1EiwM=",
  "id": "rs_07ecae7b1397a37b016ab2c68759e087d0a57832ff84a80b11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.05,\"left_gripper\":0.7},\"note\":\"The bowl’s right rim is still left of the jaw centreline. I’ll shift inward slightly and keep the fingertips near rim height before closing.\"}",
  "call_id": "call_bme1C7Ww0LhapqQAk7DirWwc",
  "id": "fc_07ecae7b1397a37b016ab2c688fea887d09b3829b4df623e21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bme1C7Ww0LhapqQAk7DirWwc",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4435, 1.816, 0.8551, 0.1711, -0.3599, -0.2779, 0.7011, -0.0219, 0.8055, 0.5999, -0.3935, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1291 left_z=0.0346 left_yaw=-0.0019 left_pitch=-0.1592 left_roll=0.0626 left_gripper=0.7011 right_x=0.2931 right_y=0.0001 right_z=0.1721 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.7726, -10.4137, 5.2444, 1.5556, -0.2418, -0.0757, 0.0904, -0.0479, -0.9641, 7.0085, 1.7167, -0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e210d6b319ea71b28959794189eea94c291da283d5de43df23ae65462ab0868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac871ee1b16e56a207f520c41cefad62b886eefb12d4440844a3082984eab8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1aa76816f41660824198747d9a277c125926363f54b89f8369e519c9dc7663",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4591, 1.8149, 0.8539, 0.1879, -0.3817, -0.297, 0.7011, -0.0219, 0.8051, 0.5999, -0.3935, -0.0162, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.426 left_y=-0.1332 left_z=0.0384 left_yaw=0.0093 left_pitch=-0.1367 left_roll=0.0545 left_gripper=0.7011 right_x=0.2931 right_y=0.0 right_z=0.1723 right_yaw=0.0016 right_pitch=-0.0301 right_roll=0.0017 right_gripper=0.9987\nstate[joint_eff]: [-0.212, -7.8838, 7.4462, 1.4237, -0.0366, 0.1783, 0.0904, -0.1026, -1.3197, 7.241, 1.7021, -0.022, -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"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssaPbQIQl7evZ7SQV4vj6sOyI9cLsjk1LY0P3-yy-C0Ea5kmHItLkiN6l4qy0m_nkUvMZK1cAfIQAFjvmXaC3duGaEJIRWJdAlvK27rv632B6GxyGVLA9PWbTvOf3l8dw3digznUpjB8Q0XGTPuJESVF1Y8zLtV8BSDyTm97iHuDpK6AmIGVfqeLg1xRBG2qA8gKCU0DJV9FeOxD6gGJL653C2UzptvW_5zbtrkoYtlbHvf14fU0zfv7d6pxVycR7j0zLsPQ9BlXfL5XHTRwZ-vWnWWaMR30OXktIPvSWgFrxZ1u1dZTSWGrD6nP281o-PW49uJnwWNJWD5RfT__5dYPRICne5k7AyUBRnsUZ8nvAA5r9sHxg26n42Ziq_7KBbef-0NX2V7sOv4LcD_6QszXI4kkGNnyZp2cBSe3THgIOqNcypsJEjxeQxjL_qDSeBkt0UbD42JEpEzz22enAHfq8M8Lh6yNjIyVEb7oaV0GMg4K-Zv3REUEY7PS5lq36DvuzjGUUcZigpeV_93uGh3qYJ7YDf9n-bHnxgScwEpbhxpkbu0i7FTAT7rts02fr5zCHwu4TRbyTGI4-ze6ZOSVyGBEadiD9zD2UeSKRgsfh9_gaU-THZwoUWhtmT0Jt9fzfLkz026Xoa6yT-HeJutcXZTNHB32qko9GDRVUptuHqeum_sP3y2wJChsqUANIj8iReFeMwebtiEHCOG3f7I3D98nRbtpVzWbr_3MQmRgagpt2Yt_FRUrK1qWy7A_5hSnT2fmr_5FrtiP3OwDCdWvUDL-wcpD0073I1W4bSVl6OFwIMgGRI3aeRZXl12U1iTKJhSrA72ORK-6mXx-vpE_f3UFMHg4uqYYV-4xMrp3fdHGjO4pysD0Es4_WqhBKWBSWl484pWnvyqCB0Cxh8swrqBAC8WghxYO_f9ufuNvK2_ocLOwIafrrzOkhBBu8VFNifnxT1Z4kk4kBcjNBLSdF956aP9iYlC2AWbglhoXlY7UEwWv6hN2Ig9V3s5cSpMO2yNOWU4hwXpzDyv8SS6dMWP6Z9d0DvTRJofMU8TmXlX-EWAZy3QoDHYwElwT6Y6-LSEaPpXk4NUdhrfKcISSnFV3q85taqC88wu0VznI7w6Js0WD2mOXpn12xiZittEcWcnPfvxydam3eGkXGKT30ZzCMZjIhzYQCIXcG90_XJYqTJjE-C39HK_u9KmR4rutEIdWthDCB3781gkUv47REUm33WhGXiSkILOzSN-oq2c=",
  "id": "rs_07ecae7b1397a37b016ab2c68ce60087d0af3d09ae6a029233",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"left_y\":-0.115,\"left_x\":0.435},\"note\":\"The arm stopped short of the sideways adjustment, suggesting a finger is contacting the bowl. I’ll lift clear of the rim before finishing the alignment rather than push against it.\"}",
  "call_id": "call_V3Ym2qOAxXdwMtfxF3Clg5Oe",
  "id": "fc_07ecae7b1397a37b016ab2c68db47887d09561f865ae0d5786",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V3Ym2qOAxXdwMtfxF3Clg5Oe",
  "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]: [-0.4355, 1.8137, 0.8494, 0.1696, -0.3599, -0.2779, 0.7012, -0.0216, 0.8051, 0.5999, -0.3931, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.4243 left_y=-0.1248 left_z=0.0333 left_yaw=0.0065 left_pitch=-0.1637 left_roll=0.0648 left_gripper=0.7012 right_x=0.2932 right_y=0.0002 right_z=0.1723 right_yaw=0.0023 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9987\nstate[joint_eff]: [0.0889, -10.7145, 5.3949, 1.5946, -0.1832, -0.0708, -0.0073, -0.0342, -1.0598, 7.0222, 1.7265, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf8e964725b6548a8834ece784874f1477b193434277c58e6cb484de51c572cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7140c5824aef5d150e97348b7e57c1f41dd3d40352753fc284f4153b495bc92e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e65a561ce924a7ac56538a14d0689645145f51e2f2d053bb5825288b74c80bc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4435, 1.816, 0.8551, 0.1711, -0.3599, -0.2779, 0.7011, -0.0219, 0.8055, 0.5999, -0.3935, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4251 left_y=-0.1291 left_z=0.0346 left_yaw=-0.0019 left_pitch=-0.1592 left_roll=0.0626 left_gripper=0.7011 right_x=0.2931 right_y=0.0001 right_z=0.1721 right_yaw=0.0021 right_pitch=-0.0305 right_roll=0.0016 right_gripper=0.9987\nstate[joint_eff]: [0.7726, -10.4137, 5.2444, 1.5556, -0.2418, -0.0757, 0.0904, -0.0479, -0.9641, 7.0085, 1.7167, -0.0415, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssaW-r-kUx7-__MUejP4i1Z4jkwEgR5EkccLeD6zdm0u95JVeYj2ndm-Ne8bVyYXRKOgS4D2jHvZmSW9btlQQxSm-q2bWe85AKHHrRCzYOb2ZvX8zrn0yNrojPem6qhaNZ3Q18F7uG4O7uxxLO-7o911uU5Z1pUkpRsR4U2DElnazNs1J-9ZWoqTI3j2egfhZfKWfd3ow_kAJzUlNGJgU-aqkv8qQdV41m5W9exDuIyCZ7omTBZPML-KTACbtyfLsFi2QnrO7ZzmTGbpg9N2vjqZ_jVXiKkXgqeBYTbrOzi0e0AXeylclWc5Aq2QvJ7-bIH5wiMghUTs2IbIys3sRZWJp6MZD_xaGRPULKNzGpn2_LTiRITheerooilRbwE8QbCEAXuc-vcrWqbYN0M6ZWG6_yGViDvtEbkANo3RjNaHo4XSH0IMQlxw99Hm5q-xKANNzDloyjq48Z1mXVoB3GZAyzuM-Dpk1BudaWEzURy5QB5GPq__mBeYGD4Yqp8vm2OdF4OAPyIUH_7LbTff6p_0kxpJpMPNI5qMQdDHKcxRRTsGFMpKb88UKJ7O4xWPNKLk7sO82KyL3cFkup4B_os6i3VSX13TpgL5IKtZ9Bcc3UaCDoya11_7IFDEp9ZFJvnd1GQd0YaVkbVc2zKI7hzCFW-gDesyNHnoWRNDpAbqjjJAGcVlYAHd6-OTwLwCz8V48ebBxnHVKPqf28qEkACnxDDLnxqez9ICQXuHWjIA5fBttRlD74KZ4QlKrFset6RKINpdnd42inLvJEDYDntF9Ep8OOPfMyV4zJhD7LCbt1KXJn9AiXwTXJNJAYA2PpvHnVQt03VVrLJSoVPEuH6Y1R6BChWwE8dXzkjVtn7Cx_CUmlHkmehsztckMGg66Z7p8P6yOLBY5OyzkeFre636mph8-AxgdwCUmi75UG-q0jxj90N4WTXuG93TSwQqXCb0WAraOGchTq9aC_RiCLwwCjKGEJNQW8aKfwCROeHJ2yGdN5vNq6uOV373g5XC2T4dZcs0J2qiShRfXjocfqMWFD2hW_QMuXrtD1SpQX6gQWujZbujnyCWCRoNDEo487Gx-iXLYRrjDYZzMLBUA2ngAYOSIavM8JPlNtjDbLhCauhFXWwc_mt0gfUTKkLQvgmOvHGHQFe4Yiko2v1g6YRhHW2s5Qoyjo7rw7e2rhZqBpquCSJuc0a3KgRmQcPM6z361cRYtohQr1pa1b4MD3iOs2fQSvEOBNV1Q54FrGTPt37not1l_icgd6zqXh0JZ9Bk97BShL-Jx7oJdYPKkoqaj-RIs6g4ZQA8RTC3KXqe4zgcZtkTdWm3auxdDu1FbPuA",
  "id": "rs_07ecae7b1397a37b016ab2c6931de487d0a16a88540967cf60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.13,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The lift did not track, so I won’t repeat it. I’ll open fully and retract toward the base to free the fingers and regain a clear approach.\"}",
  "call_id": "call_FEd6M8pD5eG6o5ePJsC7Qsff",
  "id": "fc_07ecae7b1397a37b016ab2c694610c87d0a4f22d7c0bf9e4f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FEd6M8pD5eG6o5ePJsC7Qsff",
  "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]: [-0.5125, 1.5661, 0.9028, -0.0872, -0.3908, -0.3252, 0.9974, -0.0219, 0.8101, 0.5961, -0.3958, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.4004 left_y=-0.144 left_z=0.1134 left_yaw=-0.0228 left_pitch=-0.1131 left_roll=0.0279 left_gripper=0.9974 right_x=0.2926 right_y=0.0001 right_z=0.1687 right_yaw=0.0019 right_pitch=-0.0412 right_roll=0.0022 right_gripper=0.9987\nstate[joint_eff]: [0.9778, -7.3094, 9.0872, 1.707, -0.3834, 0.0708, -0.0269, -0.1983, -1.1282, 7.3504, 1.7509, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07b80193e58048e19191d7bef24ac4704d3f2992168e36baea26b190fd4c1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb943801b50aa98dbaac382a2a1c9247c47661b5476fe0e035e0976f9f9a8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a79e8d17e124bf8065f29b8c878cbc88fcba227dd9faf2511da2a4e2451a6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4355, 1.8137, 0.8494, 0.1696, -0.3599, -0.2779, 0.7012, -0.0216, 0.8051, 0.5999, -0.3931, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.4243 left_y=-0.1248 left_z=0.0333 left_yaw=0.0065 left_pitch=-0.1637 left_roll=0.0648 left_gripper=0.7012 right_x=0.2932 right_y=0.0002 right_z=0.1723 right_yaw=0.0023 right_pitch=-0.0297 right_roll=0.0019 right_gripper=0.9987\nstate[joint_eff]: [0.0889, -10.7145, 5.3949, 1.5946, -0.1832, -0.0708, -0.0073, -0.0342, -1.0598, 7.0222, 1.7265, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssadK7F1-MfvH2oFt4ODWj11kit1jZzx9GvhEwt1MaXf5mOJ39oiFj7e0ftqTkmUgESghq6w2-7k0pqC4tOzHzs_BG1dh-mS5NxUlMRDZHVkN5-imQnwZQxTJe4OYNNr8SU4rsgLmF3YOgA3y8gXQhgvIPfCrtAiP83Jj9hxIGH7ij5J3pj9WR_MGgdstfrET4zdypCbrfjBBsVjZUHz1alnfRYbyjwIFqSjQWqV6SAOouaCeV3txuxMYs9nHACrldiXdwzpUnymBctISywwQESlcTsIIRT-slWdIJwjdBJskzDgR4x4B6RonQB626k4YmRnDZXuWaTmiIpkCj_ypv0cSuzBlD9sNrmulB7V47x1fgLkni5RnKUMpZOLF_NM6XlmdPPpSbo5HYfaBpKxbJFFuZyyI-vbaRNw3-NSkL79fDR2pzi7a1XFGigkc3dFAXvMLjtNgn3ngJvjXLBRplmHdRdWZrAW8XKDKOGFr-yHT_qcbkVNd_kuhJxtAZwvqGWt1mAGEQt9Satpt3LhIr1S1XtnnIQCjaEJ4piCVkQUV0kdF1F3OwORIOabRYjMvJpLg2MOM6UzR5KcgUEjLr-Tf282aNqDueOaoy0wv1AtCx-ehW69sXPadF-f-fOGtI3QctuG1fATZlUj_16H79rfm0dKuH1aQZcdo73rj8XUsF4czotZlqMlOc1XVrsK7EMDiwBybWy0tqjl12J8AIngeY5KCtZNz4gFvv9yW66acVDtgzCXz5m7rvjoOTJzQdfw7lc09jRSVeMRuUgv5BrOZcqovTJMEddNBLvVzPvsQEsFdfd5hYg_-TVX6T0JLayTcRXT_oqpELnEN59yucTqRbQFTVFY6aikLq-1DL3_E1pCR8cqxkwGrrOY7ZexhueKzk0OMnfWxqu5JGQ-VPAU-XB-NqVzW2921OoUb2Yz8qlO4Foq7S5QYAJLTolu87OHdl91EjwhvwhVsrTlVT750PHoxoo9ob6WSGGP9PQ63TjudaS07ht-j8CHf9S58MLSuDT-AFCmP8UQoAO_puy7tXqHHKQ-_QSq0nZI9yGI2x7w4qITm6eA2JLPDA9oridhVNqCHkKNWQIRPfQuT_Y4tarO5QrKsHTXwO8qjiZz9KhnQ7YWXgf-evN6ZiJSSFrbjPrUVWkq2EQ87RV57gOjWCNYmZq2URkZjn9HnsHlABmWloY1TZABmv-8p4oC2nq_ABfujuXoBsd_SFs6ozwJi3w1XvMcDGO88EKeviLh4Ym0jpm8k8jvq7lp0VaREylMgRMTR9xv5bFEwwp2VbDGcyYKUD8kCRPEU-YUDRO4Gziw3l5vgG72Pu1JALQAg5AgM-_9tSFINrHhTWb62INfKHp5HOnzcV2f1PZ76jRoh5fBc6tlouj3-GiCnK1UehgQT04NadlxzUHWecGEf3mHlrGMMvjTE2CftmtxV8WvRNy0NM9ThQA0jBmp51d6sVt-9ANy94Bbv7c73qiCGHsbVg==",
  "id": "rs_07ecae7b1397a37b016ab2c698c42c87d0bb4e66369a1453f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.09,\"left_z\":0.12},\"note\":\"The gripper is clear again, and the bowl has shifted slightly farther away. I’ll approach above its right rim with a larger sideways correction before descending.\"}",
  "call_id": "call_pf36OfUH9xhiLM3pItSQ7sB4",
  "id": "fc_07ecae7b1397a37b016ab2c69bbff887d0a845a9b9aed364e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pf36OfUH9xhiLM3pItSQ7sB4",
  "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]: [-0.3107, 1.6238, 0.9447, -0.1001, -0.2741, -0.2237, 0.9987, -0.0219, 0.8146, 0.5953, -0.4068, -0.0162, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4282 left_y=-0.0835 left_z=0.0999 left_yaw=0.0304 left_pitch=-0.1742 left_roll=0.0423 left_gripper=0.9987 right_x=0.2911 right_y=0.0001 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.0576 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.3214, -7.2274, 10.0718, 1.7216, 0.1148, 0.1832, 0.1099, -0.0889, -1.4291, 7.0906, 1.8584, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390e46b77d350c769480d0d4ca4c17c4f0c9abdb3d48efc4a9e8752bcec5dcaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:358f0722908afac2fe34b0c811846ce402269104cd19abdf487a0fcdc4ac9f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1054a4d8decf56eda1f8b25a084aa2a13522b33ec72af5466644a231f50c05d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5125, 1.5661, 0.9028, -0.0872, -0.3908, -0.3252, 0.9974, -0.0219, 0.8101, 0.5961, -0.3958, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.4004 left_y=-0.144 left_z=0.1134 left_yaw=-0.0228 left_pitch=-0.1131 left_roll=0.0279 left_gripper=0.9974 right_x=0.2926 right_y=0.0001 right_z=0.1687 right_yaw=0.0019 right_pitch=-0.0412 right_roll=0.0022 right_gripper=0.9987\nstate[joint_eff]: [0.9778, -7.3094, 9.0872, 1.707, -0.3834, 0.0708, -0.0269, -0.1983, -1.1282, 7.3504, 1.7509, -0.0415, -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"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssakIPMVrIlnww8NKVzesLgD7H_--ZxMEDfHlsAku5L0Pet2-AI5Pei22fdJmoy6nnOgIGaUMqW0TD_l4cO7wXpLaqM3aAZeuq_7H2mt_sahVA6nxfi6uLUTdkPr34WRGkQLCkcc7pWFCVs0EsULY8nvtgk4n2I17WXS3beRGMiLUGgtrv4Rwf_pGvnVhGTEEGi_1T2EtmGYer-EMCn_1I7RuJjqPQYKQZJqolHMRLY1cemmubcQAPYrGYycOO42_e0BCgF6W6CtUJ2fEWfUfL-SnSzVDzD5AJbfN95-IWE-d6bMCrI7ArG_nP5h4tw885tCk99Ov5GeXvOUcKLd8Awtv8MX3MYS0sgI_8L0SdzvvzYRx1CxlpuuXLUVggJH1leji61kY3uhdyndb25E3trWe_BodpGjDr2AJr4HsjOORbo85vMostC-xGiPHpxAElUQJcMwpkW1oX_GiDh-lX6dWDyE1NtFpyPka_frHRVBxcO3TtsDyBWpe9eUTeaLq6eMDSXWJpCNn_ZyV1t772CBLS3rEtNXApHphJ4Mq6x5m7UMrjR1cjjw-6uJjCCW4WxpVVixR5eOD2QYiyEoIiwUlzsvklP0IYsCd1VSzSry34XFlec2KOFZh4ZvVKxHPTTk4oMpADzwRptA7hUrHjl9_Il7C-obf49y-2kes9aispWglGK0WE4zUIQptkEk2A4OrtuwJnhp5uOq9bO_3kldk-1B2-Lk0s0M35zH5weAj5VQQw7TmdMMQYfZmkKqiuTOywOx90cLGagx2hEW_Jcpmhvvo_2vbnsoPbCt3-53XnSw1iqhwn3JJkzCawGRziebuc8f9ai71puQV-kYBQlQHzMTxiwFkySplE_WuC5xcwPPAr4d5w7ATrSvLaU6_WcylPFCG9DhtOar_Exi6gYfjuOuv4AzP_SYXtK0TmDhmoSjdfSbF90CBR-f5WZhG7De87QyMqtspUOQ3kpHxQ7ZU9eaV3rfQLIlrMwJ8tE4K35xdrLxwULUbvrWWwYiQyCaABxplt5wre8tdnnq2G9axiF0Z5oeIsh7xu7BOZZjxXSVFtg0p5Jfb6EI3c2McQ4rz0e9291j8n2b6oWttaG4X83vP4tSzkml2IAbB6lRHooXuj99D4e17Gs_uaIxKcbb1VxwPAs28M-1iVyPUEYQeGKCl_vXgRJRh9zk0Ztsl5wIJ_K4oj08CBfXXJuSOp9zltJZBzsfwtlqMx7wdttlkFK1aYALY1WaWrtAvDASQU5rDgEsoELZ0IaOJd-PxLZqIIswKrLyempE3qTwd-hviaSV29D33NOA2uxN1R2EzYPZSfVDIYvYjlGWQUkECGo7ZJjCsp9U-EpDcWffFMFDYjveormvWTY1mB2vOIY_ncg=",
  "id": "rs_07ecae7b1397a37b016ab2c6a04c2c87d08a66f837e4c72133",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.09,\"left_z\":0.035},\"note\":\"The bowl’s rim now lies within the open jaws’ span. I’ll lower at its right side, advancing slightly so the fingers straddle the wall rather than the near corner.\"}",
  "call_id": "call_1U9bgSoHHXSa21n5zHFBGcMo",
  "id": "fc_07ecae7b1397a37b016ab2c6a2655087d09ae66d10085fc80e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1U9bgSoHHXSa21n5zHFBGcMo",
  "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]: [-0.2935, 1.6238, 0.9558, -0.0891, -0.2356, -0.1978, 0.9988, -0.0216, 0.8173, 0.5953, -0.4145, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4335 left_y=-0.0842 left_z=0.105 left_yaw=0.0002 left_pitch=-0.1621 left_roll=0.029 left_gripper=0.9988 right_x=0.2902 right_y=0.0003 right_z=0.1626 right_yaw=0.0026 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -7.0769, 9.0735, 1.8535, -0.0757, 0.2222, -0.0024, -0.0615, -1.5932, 7.0085, 1.7363, -0.0073, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be3729b753c68498e33fe5b31e72f655056fc441c122c3282596cebbac1cdf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acdf78f2f7a7ee471248b1204c02c7ffd18fac34b6098cf3681c8053fff07006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c623d697de910e6175a68197a8fb9ebe5d6b29f73441899fc037a25033f892c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3107, 1.6238, 0.9447, -0.1001, -0.2741, -0.2237, 0.9987, -0.0219, 0.8146, 0.5953, -0.4068, -0.0162, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4282 left_y=-0.0835 left_z=0.0999 left_yaw=0.0304 left_pitch=-0.1742 left_roll=0.0423 left_gripper=0.9987 right_x=0.2911 right_y=0.0001 right_z=0.1649 right_yaw=0.0019 right_pitch=-0.0576 right_roll=0.0021 right_gripper=0.9987\nstate[joint_eff]: [0.3214, -7.2274, 10.0718, 1.7216, 0.1148, 0.1832, 0.1099, -0.0889, -1.4291, 7.0906, 1.8584, -0.0464, -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": "gAAAAABqssaueNAoL6qI6CnY4QpZJpl5UG9sqP0o40Rrzg034MIf4k_h7AIeh-B2wQMlL5MR9ZDeH7-WfS6wVJ19q3tgpDjLWXkhXTgcjJhbcsv7E0T2dQ394hpX33W7AGfqy4VCkmVYI8GHZgFP1Bg29dLI7bpBrtTldzEkcFjgZSwnw3kpX3A07FP-9_7cB9Q48D4Y8vLSGtZvRsozW2UFqyfTAYDvdJg3hZVdIfwcbv7b7ualYf8JGxHk-XuCdk7nyaS02jiBelMTmCURQ45I-Eq4wSCwZdNPwTAJ5BDKieyPxtB0cWeEQuNPx5ZzI2UMc73nfnlvBskF7WvyBXm0JbvQF0Iuk6OwDGxpKFscm06B5aJ4xk6gUrHuJvuXnWdAqizGvmJG_KEC2h14_fs31kiqHrH8vngKQcpxdg8aOM6Wbq7b3z4cpM8i0Gw__epNFszZoF6oHDN0L9tjM5XHFYlrzhY5CkgfY_gvyjb46XCynPNhg9Nhm38giPTL-rmELFcYwzJmPanRqbcaiPKYVfAoPzjPG_W8yId1pEcHML2Rw0g0faqRe96iSyvEPZNaKoA0PnxzZz7DcricOAXgx6p_j_o7NI0y18FYg-FEjtE5HYKAR4hPIdnoYF-3ex8FeRwC43g6bbfH4qQXu73RhYht09W71Gv4eoQWn6yIr3zazJHoqokmohQQT28_pos4_xCYC3YbvcxLLnkKkSV0WDUtnlZhCoE97ux0t0PnnvECjzzuKHu_kJHjBZWqCIFC2xkbnVXimt0yr484OuAo9XUAVJGFrKqnBXau9-LAIXPQVGR_X2YXT0v5luuId7LX5XDO0Lkc0h_vA4PL4y7-0UcUnPTEJQf1K0rLyJc2Bp7moHXcTmUrKCwtWp8bZFg9bkw7Xlt1gu1uknf_oPLG1qGqmRevDTOgPOXtR2dlyds2bNLfAHXgp3H5dsRKMQw73BUFHqUlG4RC51knUk7jBfDB8yjmeihWivTBf_uSHnyxnNL8mKU65End1f0gw_h7k0G0PEk1u223y413VgPjdNbp7PQ2suXokHXz_HO-1zwyInO9egZWh6RTAfiVozlogxE3L4fP7Ly3ly4lLHYVfCiGBPNTlXpbCGcPyjkLuBxhtloPZL6fry13TQm0y2NWDgznifV-C1yECUnRmt6v_igZOE3i070bphfJxBJVeV-2wALbthrljGhkmu7KXNnQgtR2tm8KdsjfzdkLUp_CH1PYu2qtrAIayb2TCaasEzqpX2--IKic5PbzOP6dvFAiztt4S01J7fvNSnb9Mg7TdJbaowPz5_mBx9jGfEKhlWx6bHwNqz12krq1OnJLfD-H_ntH8f2xZM1EYzGxzY9Aor_fbV-DCpkfXDhL866m_EzeM4FZXOENclPViMh_qjfnBe1nwN3ej9iM8sJKsTfABy7eka2zfi2fgCTHQ3LB98tF_fZTNTCdt2jM47ICQtg0stbkqf1WzhtEKz5Woq1lhj3GbqYgoA==",
  "id": "rs_07ecae7b1397a37b016ab2c6a88c5c87d0a6044e41ddeaa72c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.075,\"left_z\":0.045,\"left_pitch\":0.4},\"note\":\"The arm held above the requested descent without a contact-effort rise, indicating a reach limit. I’ll shorten the reach and tilt the wrist forward to access the near-right rim.\"}",
  "call_id": "call_AqGXbSJv1SziN4D2kzDXgdha",
  "id": "fc_07ecae7b1397a37b016ab2c6abb0a887d090abea36fa23258e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AqGXbSJv1SziN4D2kzDXgdha",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3012, 2.1098, 0.4957, 1.3323, -0.3145, -0.07, 0.9988, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4315 left_y=-0.0731 left_z=0.0253 left_yaw=-0.0007 left_pitch=0.3015 left_roll=0.0409 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0022 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9987\nstate[joint_eff]: [-0.6496, -8.1299, 2.6325, 2.3419, -0.1343, 0.1099, -0.0122, 0.0068, -1.3744, 7.3368, 1.746, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a67d220bba6f31b1217ff946ae9dfaec08bc288663178e7ddbdd512afae95d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:778c34dce40b5684f183d2b4fe33906d9fa257634cf8dee1ddd23705af66dd98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bede8f837392f03abe4289809944717b8a441aaedfc86f436c2a5696d231a72",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.6238, 0.9558, -0.0891, -0.2356, -0.1978, 0.9988, -0.0216, 0.8173, 0.5953, -0.4145, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4335 left_y=-0.0842 left_z=0.105 left_yaw=0.0002 left_pitch=-0.1621 left_roll=0.029 left_gripper=0.9988 right_x=0.2902 right_y=0.0003 right_z=0.1626 right_yaw=0.0026 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9987\nstate[joint_eff]: [-0.253, -7.0769, 9.0735, 1.8535, -0.0757, 0.2222, -0.0024, -0.0615, -1.5932, 7.0085, 1.7363, -0.0073, -0.0806, -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": "gAAAAABqssa3-RSzx96631WFkntls2x8KijZCWqbJwTTyftTZgL6jaamuvxs7K4KSCPVqxQ3HuBPWHu-RMbjVWrTxiW9cHQdcXztpNuIxFPxlpB85wg1aPON-gVCYUcdAvH6UNFAkOvR4qlmBEgW1x7rh_KA-4vlO5MomNDGMWDm4G7GJgEwhg9FtxQsB3GADESgwo-s5oiJKMl58W9xUrzrqS2BziRO2JEA0nPQPo8YePf-BVvPzWnQs7XWoJmOufUMgLF2A7n2e7t5CQMcGFw_jNlLwJq8YQY4BsmaPj5_onAblqQdOXjriNsE1M3jKJTxHDVU_y9L2v-WJe9MWqpxQbvtYn4L9O4XGqHF9zK5rKuY7DjAJIAnLDhvHjOxarvrrdfsdc9eW0zQxWrWKkZYPWmuuJYtW-qEEbwGABadgYFNg4mMdRjAZL0-dWcD3fZwmkr38v7gDNZp0EeWi5TGJk8ltRmkrm6m4r-W5968NhkDqkTnc4ABhYXbZhtV0F634aYDy1jdIKwFHm_8AEt2Lpa8dFqeTJBCdYNtQeQMIMXUmm3SW1q5et66-UCbLbOF5tHToGTSQZZv4ZVeOtGfRo6EcViGPyxwriCHlzEePWvkLAvLL1v_Sp27z3ZAqU42PGWP1hLKaUN5BCEhPn5NSXpgeY6CpBJCSbbuwIz5zmFk55EGifsLHru1iDe2rqXmO0zvN2946J5Eh6deVYtb49Xh3gX3xOhrF6BGrmf9Vdt5_rtwmOmbEp4PSi7GoKh1kF7RC3Jd_Ye93FQG56U98oaafzeFwfiuFm9S8DyWHHoi6LIoDFnf_pLJ-R-o045BQrWQWIY3xipD-uflLQysdibKF6ehJ7shKV9ukkr2CAWY0zs5QWIErQyLF_ZZcDAuIMuzdg_oBAbj0CipTBb5ZviC8xKgXP3hEHvqAQeOI1SLR5dovrxZa0oe331BadRFIBn3vw0MHCiPVa9JJs4nZwoO0NbPhla7pm-MI-oWrKY_zYUNKhKfSIQ0l2iVAHt0LmW49vVFRQx6F8_yDaaRcOM7imFlD7YI_S9IRsWtH83p_RvzhkjmkaiSxGTtHKxaJ9CAgh_aZQZ90rRDV67L1YsD2ZxObuwpJELwRKR45deXAyHtEHyw32Dmv6bduAtxwvmVwQF48PQtrkL_RoS7R0ot2ITvzwsS-E5HAd1h1ixDaEcRjwDB8cUxyxteiL2pWS6GNP77NawJ2u4lwNLuc9eAhaM3Ex_A6plkRsMb7N5lpeJgKuQoW4kHu-BmaQtkoRrVbsHhttmXfubC99HHhSy4KzfRwlBm9v4YWYL57ZFWiqRVJbj0mB0T37TLS-bXnwNXPb_mY8ms7aSe_-44YIoBzx8H5g==",
  "id": "rs_07ecae7b1397a37b016ab2c6b3909c87d0baf796a646cf0a06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The wrist tilt allowed the descent, and the near-right bowl wall is now between the fingers. I’ll close gently through the gripper controller and check whether it captures the rim.\"}",
  "call_id": "call_JfMHEVj1fCos95UpJdo54NMf",
  "id": "fc_07ecae7b1397a37b016ab2c6b5695087d09d5661b3d3b8b4e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfMHEVj1fCos95UpJdo54NMf",
  "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]: [-0.3012, 2.13, 0.4908, 1.3216, -0.3138, -0.0711, 0.0093, -0.0219, 0.8177, 0.5945, -0.4187, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4275 left_y=-0.0719 left_z=0.0131 left_yaw=-0.0038 left_pitch=0.2672 left_roll=0.0505 left_gripper=0.0093 right_x=0.2895 right_y=0.0002 right_z=0.1614 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0027 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -9.8256, 2.988, 1.9853, -0.1441, -0.022, 0.569, -0.212, -1.3607, 6.9812, 1.6923, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69f9fb77552e02a5c74cc007fd778fb2405ab18a3628c6aebe0fb99128cb59e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77fb764ee3277eaf4f78222f781bf11b71b0fbd23616ed9443d9bcdaeff58c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f007a1700a3bfe8522a439c052b0e3b06878f45e6bfc98214c52bd7c397403",
      "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]: [-0.3012, 2.1098, 0.4957, 1.3323, -0.3145, -0.07, 0.9988, -0.0219, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4315 left_y=-0.0731 left_z=0.0253 left_yaw=-0.0007 left_pitch=0.3015 left_roll=0.0409 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.162 right_yaw=0.0022 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9987\nstate[joint_eff]: [-0.6496, -8.1299, 2.6325, 2.3419, -0.1343, 0.1099, -0.0122, 0.0068, -1.3744, 7.3368, 1.746, -0.0269, -0.0757, -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": "gAAAAABqssbALh_GsbNuASd3YwuNIJSSZFUue55juK0htA6beQ0TQgrheB1o4I9Pp4yrL-SYKtz1ppTqikHZc02Qobk3kRf0wrns1euFe35m34oSE3YwFT6CCeXsahepGluVoJdnMXvHzXIag_T2wFcR6UW-QzuJCb0jkBGwfsAYh_4PLCMT4zALDCwN2aolJK_CmyALlQZ-d5gJRwHouOpbHbJu_IXSwYS6NTYqeXQUY2WptwYQ2QUCMKIxhhGngvnRbl7SWyokdIxCpv0qRfJSscuPSZZR2KRMd1deyf7W8mrgvtxxbMmj48hAWjN7etueR7OAD-v8gfDtxJUbbEfcmyb4oTwFK-Ma4xFx8TY9vwBrpO8bUaxXOayxhCew00Tm6LxzNWWCIOM8eL3_w0sWeOQlJz5fZKY1R_spDKN-JOxIza4vDyq5EWOeEWv2naCgc9mPnyXdQIM-M6jXBWYR_L_PfdGhEdo9fvSjUADXXC_8UhgLvv4PJooAmn2WdWP-JSrAIsVRtMK6Ho3oCcYntfQiLBWGCo3R9Vap9J77-b4f2IT4NB64SLqcgwKiizdstpuA4_Qm9HscZYRk52l8LDA5cB4OSPvnx_jCjQDjMCbi2CMdf3l2ZjnD2PcmGmtvKMxPzkI911rD6PnQ9MWIfb2IFhdLp_1IM1MDvkp090lpWLAM02XSGHRXrXwLqrlY1U30bNdhlpCx6XuWplq_24aTi2Et2hjG-QDLsN3hxjBPyn1RC3cSBB-ESFDHhqlCkKqi_bjysEMfKlVOEh1m6MqK79mdDe9YNNF2x8uXPmAqzkqhw6cF99DH9HuEfd-57lv7UlGlNZjkp1dZuph4CzY6cH_foL1SaLe-aUq_bjg8rJcYKZfTZ5_WT0Q7PNyQSH8OMXQCDlO0hCSR9BPgGKmTUYdhZYw5fqFvVDhARXY31Zx2ymD3GX5Z9CIQGYGBrbwp1xbCpKyQLIiPEy35ZUtwruDIBrNdrH6rk7e5C54ouH6Gjw9fg8A_JViTH9U-xFxJWfEGiqD9PcmbyXb_PjUe0CDwCXMa9FSUR4vKcl6_SS-yyOuN1ADNRAqh3oNqgrXu2afwR_SM7lMgiWRLlwa7Qaz3hTuaj5OaaAa2XDWS3r6f7qiTzl877nmNYz5E_gR_3rXdP8cAb78vH5BpGHrMiKX9RHQbuIHoOBG9WIIdMyxu_2A07ZY8HZlcPaCkDHQ5u9Tdk9CFQBwEcinMDXMNBigHQcRZ-qzgNnmOISkh9_Jd1B14Jpyag9q2W192gWRemqjINoKiy1uZh3JrCQo-nhlmqe3R7w2RAuXY1kcjzE-Zb0fGuS6bjWdDBGXuKt1mYTDM5zAnB_KMVPO3XreS6U67u_QGK5i8VBjB8MhkQI4irk0=",
  "id": "rs_07ecae7b1397a37b016ab2c6baec2887d0b1f69d0ba8233185",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.8,\"left_z\":0.095,\"left_x\":0.47,\"left_yaw\":1.3,\"left_pitch\":0.4},\"note\":\"The closed reading shows an empty grasp; the bowl is farther forward than the fingertips. I’ll open, lift, and turn the jaws to grasp the near rim front-to-back instead.\"}",
  "call_id": "call_atlh0TD0UbpGEL8SYffhMLCj",
  "id": "fc_07ecae7b1397a37b016ab2c6bd27c887d097de6b26ea40691a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_atlh0TD0UbpGEL8SYffhMLCj",
  "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]: [-0.4847, 2.5801, 1.7542, -0.0078, -1.3857, -1.1542, 0.7948, -0.0219, 0.8238, 0.5938, -0.4263, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.545 left_y=-0.0867 left_z=0.0373 left_yaw=1.1366 left_pitch=0.4064 left_roll=-0.3325 left_gripper=0.7948 right_x=0.2885 right_y=0.0002 right_z=0.1579 right_yaw=0.002 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9987\nstate[joint_eff]: [5.3675, -11.7402, 5.6957, 0.9646, -0.0904, -0.1343, -0.0611, -0.2667, -1.6615, 7.0632, 1.9512, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20dbac7cce0d7e7960a4533581c16aa681d116e12da0d0e8d10026876638f4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46aeb27bec4a78c3f8645980a7f35ca670fe03e3fe80802bc1af1e51be63c706",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b8ab7eff8e6ccbe1dc49b8e39eb280305f403cc72559946a1d7a12596df57c",
      "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]: [-0.3012, 2.13, 0.4908, 1.3216, -0.3138, -0.0711, 0.0093, -0.0219, 0.8177, 0.5945, -0.4187, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.4275 left_y=-0.0719 left_z=0.0131 left_yaw=-0.0038 left_pitch=0.2672 left_roll=0.0505 left_gripper=0.0093 right_x=0.2895 right_y=0.0002 right_z=0.1614 right_yaw=0.0022 right_pitch=-0.0732 right_roll=0.0027 right_gripper=0.9987\nstate[joint_eff]: [-0.3487, -9.8256, 2.988, 1.9853, -0.1441, -0.022, 0.569, -0.212, -1.3607, 6.9812, 1.6923, -0.0464, -0.0513, -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": "gAAAAABqssbH6WmCG4JEN3Vd7LFUaJbQHBN1IzzThwxygGFyIMZGRkacWqxLm8K3lQ5KGX3jKtZLo9UWUG1hA-Icl8bIruiuXVJ854xnIE7t8TcVk5wEkK7dUV89xAfM1iQnna-Ux8PyJzGelOfngCG4Fr3xd64hryMp5Q1QVpnEsJKNH4Bii5tmZ8NDyVryaOFsYfzkFN88Z-ZeWB4iGqDwoSMlaIFkEGxqtEg_QM1bJKdf1RyRb933Sd7oAAenOYeDXQBdDHQisqgIT-hnEJh0XJhjqXxv-1xvxMrkOU_HEcDdxmJiZ8nhXMXobd7-KjRInNMIFdAmZ_uEM5SFmstgeOTApJum3H3sHcngEkab4cShTh8G8YorRTELsZnLjLG-c8zMWz60rm-GKdYEiqEYw8h7LYZFcFJCLbrRqRPTr1F4PUzVB_2o4wTMLPyMr4xFgbkh8cFprof4eB_AIyXrTlbO3wlKF7cMk3bQrMQIuHjrix1mKg1Fy-ZuBJMxMT9YVDVygIo16Dw9aVKFMOj-7CthGQg6cWDMd_8hUutf3k-XzYAT80Tfl8VIoV7VapT3E7w0RIj44m3mHJiT81uBdbGhNqGeIiW-iJs-3neC9CbenCV-p0ZTKBhK_Ghog7CPf8W0ZwF54ajpaPVY4dKGi9njqGY0KVCcBZTS4o0giqMo3Tu_7fp7NVumg8zS11AwJZan2GKTlORkI7TO1hTPxkdHkO1dJU2MhAjdoApaTHuAwa-f_asqg4zYvHlKzrQ9gjgBSDB-KLTfw65UAmMDfvRTIfReJIJQxOlQkGPO8UAiRv_5QSrkxNhjc-4BdU8i_ypquU8Wk721sEiMK5utSvTevzRjGL9NIY_323-HRNfanbDHPpJIDWoZjDxT_36bxB2ULMnzbR7fhQBg0uTkPTsTRzMxzVNV9ZlLCvjca_cuDa0lcZM2r8ccUEOejE0cncJIwNN7jONCC2zc8McaenCpOaGmRihOLe5_XuSJkqeACSWxKpXgq0zLroLrHXJG7-UttsTyf81u4mrwiogvWzm5GIH6SU88PJ5yoNkjvJWrrbliuXTX5GNvm6Vg5wmAXl48rl6vTr96o1itJDa97DpMNLoUxAy7mM42_T3rLbbUtWQQGSxk1-jDYEeegLEkGKCAZIEQl4KssTOSTVciCE6yNumraYC22iFLtBAp_szfvTwftRKWR4Cs1tyZq0r_R0LtV6FuYPVDdSIsjdjMkRgfzv_VVhfHvG7kYdMegp-4JQ0CIP3wH_Kw3lF1UtgGQ3Q9vyXXQuIuWHkk4cHzoQnYUe_y9w==",
  "id": "rs_07ecae7b1397a37b016ab2c6c3661487d0bb982f5f1a6267a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.10,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The wrist turn produced an unexpected forward motion and tipped the bowl. I’ll withdraw upward and back with the jaws open to stop contact and reassess safely.\"}",
  "call_id": "call_VtMOalPogc4gbfeuL8SZATgf",
  "id": "fc_07ecae7b1397a37b016ab2c6c4867087d08a7942507a32b1c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VtMOalPogc4gbfeuL8SZATgf",
  "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]: [-0.4484, 1.2705, 0.9268, -0.2489, -0.4629, -0.3649, 0.9988, -0.0216, 0.8295, 0.5938, -0.4408, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.3801 left_y=-0.0914 left_z=0.2109 left_yaw=0.118 left_pitch=0.0458 left_roll=-0.0456 left_gripper=0.9988 right_x=0.2865 right_y=0.0003 right_z=0.1535 right_yaw=0.0027 right_pitch=-0.1079 right_roll=0.0035 right_gripper=0.9987\nstate[joint_eff]: [0.5949, -5.4769, 10.4137, 1.8095, -0.1636, 0.105, -0.0562, -0.1026, -1.3197, 7.1863, 1.8242, -0.022, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972d335e270f8cad3f7e1fec8d92919b64532dc126698c057dfac1c2360ac14b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d89f747bc1d7e1aacbb02c457ab45f5124ed713053fbbcd2b74dc802df7de133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3670396c583dffa5ea2848e6ad0ceb9529d7d6994a2223097c7db35c04500f62",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 2.5801, 1.7542, -0.0078, -1.3857, -1.1542, 0.7948, -0.0219, 0.8238, 0.5938, -0.4263, -0.0166, -0.0269, 0.9987]\nstate[eef_state]: left_x=0.545 left_y=-0.0867 left_z=0.0373 left_yaw=1.1366 left_pitch=0.4064 left_roll=-0.3325 left_gripper=0.7948 right_x=0.2885 right_y=0.0002 right_z=0.1579 right_yaw=0.002 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9987\nstate[joint_eff]: [5.3675, -11.7402, 5.6957, 0.9646, -0.0904, -0.1343, -0.0611, -0.2667, -1.6615, 7.0632, 1.9512, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbTUBCGNRqczdhRO-rZ3mp_gLAYKV4lMNasiivDeWD4YKJ-rHKs_52r6FZDF0SwRzfueNIh5xtqd28S0J14DQ50mk3gbFWlkd-5JB-GJBsufLWVsjXnB1cgwv4LRY5QKI156NbsRqFZ9nUr5-wMD8FyCjCUORRSnl5659m_RY6xxcpDAOek8hwPulU_X92T8IBp8J4S3VHj2B1x84f_THsj5f-9SJgUeteq9MF9Cfh3OMO-YImjmVVYWoGBH0VnQaXNnNWHB6MSv-SsZpNrjNTsG5FzAqCjjYe7wjfPQofOBCzYrsszmzWR1VObWPdOkuUJxuzU3oWJlYV5393ytcsa_0yRleuNivD8wli1dKc3Xvc5htjUpfHP_n4cgb3qziHY36hheihWkkYVZuAkLE1RHgzlmO7zO6Xu1QJ0h-Vk5F_06K41RGKKQobM9H51ucWXWK2I4oUQb2m8K2yBR1HKaKghloaH6o5mmWoWsxTeAkVRzc3hToJswEOdEq7z9hWakhTaTLk4vvhgd9LvR8ENBgWPZXUlAhA9Ko7jhCXtnQA8DKVprencPX_5yVpQA0d3-XFsZoY70lvbm_HqBuws3imwz2L6Y_paD6Nx4QdfFlHRooWFPEI_BCJdwK-obSWDneAIjHSoaKLDGKLoOIluLsEUT9s-969WcEG4rw1_WJ2GwXzZC-8iYWPMIBOyEgZBG3vNGXDrdyscf-h-fYv1wEQ23ROW5y847tqIYfye4JlwVs-T-b1-OVbCQGFeF1GOVGWAdtPky6HoAo3ytOEmeLOVUi4DvlIbC2xkLscOwV64UNLc5A0IK4373kOvzF2jkuvdVIPMYGPMoIbgVbThDt1DViHKhMubXcpmHHQ6mnoDR7VybFSlTZ_WalIMtyJhyQsRce3twx9GYOj9DXolEaunPPAdG88CaFDQqunNFBq7JhJPjYCPt9dWwGTXXYSpVn4Gh-a95hjBzaRPJqCHf_2Dp8Xn62EGKT5Ba8ggalzckxz2epmT1QGoGqxjFMzMg_s1Ip2QSURqXdYV0jGYgMlh5ocqreJYK1BvvezrixHzJyt-S0qnGHufIUeQeU5xJ-Wv6QRN-YCTFXSOBf0zxK3by4U1I-YfobrC8JkDXJdCCN2_S8Um-LEt40_AsWyQ1IL502WwNBSIzYKNGEDwG5e5S2iaw1Jq13TL_y1d7XifK9bRObdKOMW-MfjqHPvzpiOkC04igfmWTY5C6V5GB7sdewIyKL4mtJWv9xF2aFFRBujJFlspC5Xwmov21rM5c0OtslUwJ0WICbxxFwzvm7D-Q-TJr3n6zAv67L0G4Q-rTghufuxKHvyAYqhm6VCgQzjDo-qfrJW9oZQyrMNqwnvcivlPseH-bk0Ao-2tpwM-qtoC-wbF6ylh1y3MCYVrjsk5zLWwOHHeb1bbcTvDrGTtYG6uJlDb_mevG85unp0VBcqYXbFa5PGeS8aZXlniAReUrcIDpUNKTvQR5kaHIT_K6fMe99urfHzUF4Qiqvn6jqMbp4xr1iTHd3b9gbQvbjdssWS0vM08Nv4eYPf7WpY9iX9RpT8COVrVPjUvZ-vWaF6wwr9reECKyIMiqsTsBsYsa06Rz875HbOwISI56CD_hoV72kJ2EDdqtEpjcxNpFwn_Q67sZiBA9mdKIBViyHFp4Pr5Q3Xo26pL-_zKPlvp8RCIDZMle-ZIsPrioelw43RNEuJgeMmYPFuT3BKu",
  "id": "rs_07ecae7b1397a37b016ab2c6cb46e087d0980c5a195733d5a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.32,\"right_y\":0.23,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The bowls have separated again; the purple bowl is now closer to the centre-front of the table. I’ll park the left arm and use the right arm to pick up that more accessible bowl.\"}",
  "call_id": "call_0eiw0Dd17jVtFJLSv6ZqAhmR",
  "id": "fc_07ecae7b1397a37b016ab2c6d0bb8887d09e7bdd5b431cc650",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0eiw0Dd17jVtFJLSv6ZqAhmR",
  "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]: [-0.1349, 0.7944, 0.6483, -0.3889, -0.2165, -0.2123, 0.9988, 0.881, 1.5146, 0.9623, -0.3851, 0.6132, 0.6048, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0015 left_z=0.2005 left_yaw=0.1472 left_pitch=0.0476 left_roll=-0.0568 left_gripper=0.9988 right_x=0.3125 right_y=0.2247 right_z=0.1253 right_yaw=0.0375 right_pitch=-0.1518 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [0.335, -1.5385, 6.7624, 1.8242, -0.0415, 0.0855, -0.0024, 0.1573, -6.9402, 8.9231, 1.3065, 0.4518, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb16fdfbf03a011661cc5050f9e93a27525163e55e8e2078a9b358b1b4df6225",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1be9f7cb580a20c15e9f98727c80963a20a906418d2201361dfb25b9ad60e16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38084d788e564dc991948c8ea66f022ce17eeff26f2bd9b82df07d03babacab9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4484, 1.2705, 0.9268, -0.2489, -0.4629, -0.3649, 0.9988, -0.0216, 0.8295, 0.5938, -0.4408, -0.0166, -0.0273, 0.9987]\nstate[eef_state]: left_x=0.3801 left_y=-0.0914 left_z=0.2109 left_yaw=0.118 left_pitch=0.0458 left_roll=-0.0456 left_gripper=0.9988 right_x=0.2865 right_y=0.0003 right_z=0.1535 right_yaw=0.0027 right_pitch=-0.1079 right_roll=0.0035 right_gripper=0.9987\nstate[joint_eff]: [0.5949, -5.4769, 10.4137, 1.8095, -0.1636, 0.105, -0.0562, -0.1026, -1.3197, 7.1863, 1.8242, -0.022, -0.0708, -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": "gAAAAABqssbcUadI0DAE0mS-y5Ajx61E9dgO90QMXZshfXy7wNFS3tUZozFZPNLYXrZH3ag_N3-wIt0rby04mTLYUBEtyWeAMA14cboeibvvCejvwgEFZlBC9Ug9kuCU4kWt8NpoXz9b3RS5nySzxBqPAlOUPCTnZfVpOxNOOzw-pllWh13KJ0HoFV-ezt4KANysudYfUwu-dRK-Mt7wnykZjw5TMsDRoBQiJ5YPtdF4MfvWaGCPQRSMyJrqIXXGB9KqYfVDUqHaqB2_n7M4hWeP3QS9LqkCVpbfneNU0IdnE4M3iy6rKO6Ed8bPXE4Et1lVzQe2rjMinIiBdS9zl7PUqbHnQzq48tcPDOVetZZ44pgI3PP5pqdtY9QtPxs7LKneRpWSea6xZAt_4SiYAY-V8gqCLpNWVN627AEeNmt-0gQTx_PMjVwDF4hGuMx9_sauIG0C3FqLbKkZpzSkUFMzYB2hCrKmF3-hxK5wERLPe42LPE7adBxp7yFfCdrtvrve7NTNRuf0a_7DnHjkpFHG8lp0KNTZ2GehmDkS8sjK5R8DGKaJSZEqDfWowJC75PXcazW5DhdCo9qFRCuQE8Sw5pzVklbEH9Sv2ll4vvoeqoNGBKhzT7fzjeKi02AGWdQR8Gi48D4ZkGZld5j_pt3zkAtMGIyC5wisLqF4lLT-dAvTE6V1R46xM1EvJ3uQUP_B55E-M0E3MGm2D_6myOFcfnac_A3bjBMOv4Nq_OkHxs7TXE9n2lJJ4KsImdidgfXHASJr2zNWRK01sRvPHorhbO95O3aKlYZhKswhE3wvqfGFigt8GxGqk36FvAro_eyUlIU38_FPY00U7HPQpPW3aLuDX9IaRQrMOsJ9DIBqMw-WJhA9k-JZ0ThguSKWfIWJ1_1mzqOVgrFOCiWhX_Ajzfs3gAIy2S6FqormtASeGgGJc8b8GlP2x3gbIAoiS7IfQBa6DTgeIVVCh1Tj9Bw7gOnw2JjMfC16fQrHpljivhLK7hPrqtHKOTlhnMT82SWqvx5xGZyh2FN37TymHOhC_tg9717PRHJxlQuSdMK-JmMAR4NFYxzvR15cyNULtnqsYkfzHl9XjZMzFEJZVjpxXp1ZTWb8VT8Gt8q7S1uiDJaNTobNgUVO66CBBpnwGrhatkOtExuSgMC271z0ugqdcxI_-A4Y8Bdg4sHerRRGi6he-g3hjHEqsQ1d1cQIIBcDP0YPQabdM8emrn7x2Pj3gINiPeHEG8x1xC9XUvT337P4jTC5tWLtr_T62TCOPd-1xnqoHGg6w4yarJ7BjOLqoPQ7gHo17wt5XEY-v-N1i-2RKZQSkMSNAM-VHHF1GulP1EDueVBz1IuZQSomSSoLNuvErr1t9Ixm2AGZwYULyv-d3iHvhpE_0RPGgCS0s7nhA4y_s3jNh3yvkGeJMR4rI7ZtKyd3gnrWNEqlvqlQzWAdHdQt0tX4lja7fpTV4nEPXP5D7IK7iOtCtyy52ByGctCNTA7E6PVn_60_kc59fLQ7z8qSPuJUk-xAc369lrW3AMwx3ctg",
  "id": "rs_07ecae7b1397a37b016ab2c6d7befc87d084fedfca74375646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.185,\"right_z\":0.055,\"right_gripper\":0.65},\"note\":\"The purple bowl is centred below the wrist camera. I’ll offset to its right wall and lower with a narrower opening, placing one finger inside and one outside.\"}",
  "call_id": "call_elmtrnmt9z95OSiVaXIKcXWu",
  "id": "fc_07ecae7b1397a37b016ab2c6da275887d0a253b8583f332893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_elmtrnmt9z95OSiVaXIKcXWu",
  "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]: [-0.131, 0.8001, 0.6476, -0.4049, -0.21, -0.2089, 0.9988, 0.7708, 1.5394, 0.6846, -0.1085, 0.5549, 0.5194, 0.6536]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1952 left_yaw=0.1435 left_pitch=0.0251 left_roll=-0.0509 left_gripper=0.9988 right_x=0.3087 right_y=0.1751 right_z=0.0497 right_yaw=0.0104 right_pitch=-0.2069 right_roll=-0.0804 right_gripper=0.6536\nstate[joint_eff]: [-0.4718, -1.7299, 7.0496, 1.8877, -0.1587, -0.1001, -0.0122, -0.3214, -5.2308, 6.3248, 1.5653, 0.1392, -0.105, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325531b2920a761e1360c567dd5f37e57ebb29521f06c87deb8a0ce24e2aff72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52647d64f6acf9c0fcf53d87e7e7dc783aa133a05fb8a2cd6f3127a3ba8e138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a856a3170ac433770c7c8600351ab6025c1b52f38f3a555e0deb68a2d8d3a1c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1349, 0.7944, 0.6483, -0.3889, -0.2165, -0.2123, 0.9988, 0.881, 1.5146, 0.9623, -0.3851, 0.6132, 0.6048, 0.9988]\nstate[eef_state]: left_x=0.2979 left_y=0.0015 left_z=0.2005 left_yaw=0.1472 left_pitch=0.0476 left_roll=-0.0568 left_gripper=0.9988 right_x=0.3125 right_y=0.2247 right_z=0.1253 right_yaw=0.0375 right_pitch=-0.1518 right_roll=-0.0314 right_gripper=0.9988\nstate[joint_eff]: [0.335, -1.5385, 6.7624, 1.8242, -0.0415, 0.0855, -0.0024, 0.1573, -6.9402, 8.9231, 1.3065, 0.4518, 0.1734, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbiEFHVBetoWW9qgRDTCjIPjaV5BKM8q6biSlAzW6OhUwy6W2gEdvAkKXwDX-gF-jY3vtNN6bbz-ZXh00usq-TPp53VRmmvqqRc_9Y2ZRVrc03nXcr2TatKHXYE0oJdbZj5xO1MdP_1IMOLZqJvmNtioFhsq9onuxyyvhAbSA7pt_CPaYi417smmXMZuxnxBeWd14_fLfMrtB-v08LZSchEMIYeHbguTAgmyz72mdeDw3j9Yl7VaNxNGVS6nK76J6UtNoifE-e9XVwcaLmDSPtqf6UmIgBo6I35AT_REULxyewsw_9rJPya0o3UK6qh55_5iGoGvyaALPH5i3X6SDogFzSXA1azW_qrpDl9fWV9k1TRI6ly85uv5a_VBkyIfCIrPLzi6mp1T3k37oza19oXhU0jVCLXzvMU_2hD9qtSJkq36jFQ10uj-Ny78dNsh92xln5sSfs4zkGxfzdKsvUE8HrPMeypGc6sdDlbDKiM5gE3szE6OgYpUdZqy9Gb9yMkhLEcr1t7ha_qeGDIVc4aFE-JS_yD8fBpE1NC2JfM57DSM2Bcd7YOEH3YP7pmNL-GPo5JhoOWOJdJfC1ozESo2SePfKKI-AT-yFN_fa1uX-VNDszasj6EpxGc-mwHJXTIR7WNp7sTHYVMsZ4A8hO5-Kyoy9YXdVhhVKCNdRyZfLEy6nq07FAZrPX0MEHkWN_0KYJ8fVtnARR2deic18XoBXfgoMcgbL4GTaVfI0sZFIBiHSbt9DYRWURc_85aNLH-E3Hj9E3C8tY8df-xGXv2hqAnwD6jN12pEu9DTvZNwThnvXLO0ZhFk68qxEAf5wHTnGSQCrnoGY2Pw0fbf7FgiKvfXTu75VEzK00g4eyTcar7mitzDYMghxDX7Z1uzZph0V1KZSGeDEIR72hieEiZNdC2Mf0M2ONGD_gdnWbSHNSkWKh-wLkAR918wJXK7tKc32oisI_qizuK6SWQYBgO4zx-8wuztbqYtMHEnTru_KrrMv4ClMZ4329ibmsYp8ydc7lhIQJ14I09fjoujoCbaZ122VfMGaq-B3A8dyXqAKPY7TQBc-SGgshF87eyOGwwZe8gNMvFo8BXhIhiQ8JWTW4IRKOIOdQrIcKYBZITDkEKkQA0CEe1xJ_WdinItfOJN8bB6guRkq1yAralrOfdOuqsq0Ewlb8zjLs0TRimsQtKaBNxq6eUgV5SlwZo7x3i__PgZpAiOh95fuy2Mv_dyiDc-rWbf0AGFPKuhxonM0Cu_20nE5IL7Cfn-GIPcY99PsUYzYQ1ZjIczZqFUhnalw==",
  "id": "rs_07ecae7b1397a37b016ab2c6df45b087d0899324cda98831be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The purple bowl’s right wall lies between the fingers in the close-up view. I’ll close on the rim and use the settled opening to check the grasp.\"}",
  "call_id": "call_lhQ8RujZ6QrAk002QUzLrYpz",
  "id": "fc_07ecae7b1397a37b016ab2c6e0326487d0bb6a93094d397965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lhQ8RujZ6QrAk002QUzLrYpz",
  "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]: [-0.1307, 0.8005, 0.6476, -0.4076, -0.2096, -0.2089, 0.9988, 0.7658, 1.5513, 0.6693, -0.1005, 0.5419, 0.5129, 0.018]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1945 left_yaw=0.1435 left_pitch=0.0221 left_roll=-0.0503 left_gripper=0.9988 right_x=0.3056 right_y=0.1724 right_z=0.0409 right_yaw=0.0152 right_pitch=-0.2284 right_roll=-0.0905 right_gripper=0.018\nstate[joint_eff]: [-0.1299, -1.0598, 7.0222, 1.7314, -0.0855, -0.0611, -0.0122, 0.335, -6.5709, 7.3504, 1.1258, 0.3736, -0.0366, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05e928a42515fbae4e5485fc9bc1b32ea115272dd22797cadb48aa96c958d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7c3ced55f938702fd60324cf0e7315c81505fc747dde07db3c66ca51beaeed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ee8fc068415ac9c440e5a9c900e842a35b53655eae924975ee66aabe686d55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 0.8001, 0.6476, -0.4049, -0.21, -0.2089, 0.9988, 0.7708, 1.5394, 0.6846, -0.1085, 0.5549, 0.5194, 0.6536]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1952 left_yaw=0.1435 left_pitch=0.0251 left_roll=-0.0509 left_gripper=0.9988 right_x=0.3087 right_y=0.1751 right_z=0.0497 right_yaw=0.0104 right_pitch=-0.2069 right_roll=-0.0804 right_gripper=0.6536\nstate[joint_eff]: [-0.4718, -1.7299, 7.0496, 1.8877, -0.1587, -0.1001, -0.0122, -0.3214, -5.2308, 6.3248, 1.5653, 0.1392, -0.105, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbo21Z0zHap195crcTS8oP-Dx7yGTAUIQQU0myWHT6HXt9mcMf-xzh3hIyY6NVW688TV3zLG5LIcMLvV0ipA9sXLUHfTIgq_hAktvAVpeLfVv8b4CtHGHd5Td6hIpVB-E6x1jxSVvI6i0Bv9DerpOBUONmjfG-FU3A3uSZ02K6uZjxUWgYslAWEhHcMgNLa97I9I0T0hNwS4aCOyxJylW5ZEibQqbANFOq4rc-ndLJehcXXzoJkelH8DoeolbjeocercKtsVqK7XstJRaFY2IDQNNY6XE87v6XD-ZSFa8QgTNQXpUMprlQ4dbQoMsnV_vHYVBhF0kcUbQHEvvsgHuljkmupzWvoXNQqEeMSuRZgt21_RemftrfYstNZcrJvDsAWaP7Mfoy-C5mgR5_xi3zJ1cyzC0UyMihHs5AuGKjcPKPnvYMrmS_5clVSPeJGXjRIdO-QL6_JAfKqAFdnFyuJ8_I8myf_k3xSwYt-FUG1Z_YQ3F93bcBGnsL4ewkVnEIVipKANdCXsKWhzDzy8O9MlkRe1y5nn7NSO46nP7xYcVL0l0DKYb7DmK495_Zr1ecw4aX9xWOGb_z40aic4qq80ZSIDzPJ70Fb85A8A1m4yv6MB_mlzFpA_ud4dihJ-tRsZBqKcTs1G74W1Ng1Usv82jAwLezpZnclFvltr7Uw3IjB-VPLVHIT1C8dUYfZ8MM74XIt7daT6eAbGghMGiu17sdb2jZF6Fx8ga5eU0HksRg2w5eArHak9S-SRxbqtjwPWojf-sItbhuHburSd-FchdVrnarFCfmywsSQ15vn_MRRgjELV2q5RTU_h51gf2E7vxWawsekWc1R7s7bRtO3EmYB92nfNe1vvOeN6WWaweVfkoC02GEHl9SYQ-DX5ooueFNjCaJxna4liU6aJt7R2NEriKAIyf4PcL1VPlF14f7c_Jkncw7O1TpC0JN44HYyJ9ZAx6aSOPZjctEGh0VpQCTEMEwoU77wGK3j3IpCAWq7ZBVFAjpVO93zdcpJi6Ofjv6sN0u1NNVV_R0ZKMzW8HqfuZfMiOXSmEKaHZovihXCsIB-yrF_oiziWSgI4oB1XZ1AU_sMqSUPXUi3pJ4cSYzuHlrwXHCZF1f18kONpaH6_LNR6HZ3iVkqBSTKUeZUgPvCQlvGIwuLS-7AUqi6KjPxool6EH3R3SkJ0nm37w0lRp_67BkFfl8PbMEL7gd65U708Gvin-lBuWV-nbim6w53SqZiE1Rgx4Lf3wlm2wcEMKHzvhfjqjLfAg3570MEeBEdPuq2jaGyIIxGDy1gl45B8SMHRG_sObic2FdO5pA=",
  "id": "rs_07ecae7b1397a37b016ab2c6e4abe087d0aea596802c5230a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.65,\"right_x\":0.345,\"right_y\":0.18,\"right_z\":0.055},\"note\":\"The gripper closed empty, so the rim was just beyond the fingertip pinch point. I’ll reopen and advance about two centimetres for one corrected attempt.\"}",
  "call_id": "call_hURg0jmz1gsd7wUsZz55TeoT",
  "id": "fc_07ecae7b1397a37b016ab2c6e5c60c87d0b88196018cbf614a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hURg0jmz1gsd7wUsZz55TeoT",
  "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]: [-0.1307, 0.8005, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.6975, 1.6306, 0.7876, -0.1326, 0.4999, 0.4446, 0.6452]\nstate[eef_state]: left_x=0.296 left_y=0.0018 left_z=0.1944 left_yaw=0.1435 left_pitch=0.0217 left_roll=-0.0502 left_gripper=0.9988 right_x=0.3355 right_y=0.1754 right_z=0.0462 right_yaw=0.0154 right_pitch=-0.25 right_roll=-0.1075 right_gripper=0.6452\nstate[joint_eff]: [-0.212, -1.265, 7.2, 1.7167, -0.1148, -0.0415, -0.0122, -0.5675, -6.4342, 7.9385, 1.243, 0.2955, 0.0171, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a7f4abb7e05f38292352cd26f61bd727cad0c15a6168beed7b1c376c312751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd07f2378436a399ddb1a80c3bc85bc4e63012bde43b1fcf4100b112ef9a831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4561f73c4cfe095fed8502ad1b5133f0faf929672377220161e9f782299e36",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8005, 0.6476, -0.4076, -0.2096, -0.2089, 0.9988, 0.7658, 1.5513, 0.6693, -0.1005, 0.5419, 0.5129, 0.018]\nstate[eef_state]: left_x=0.2961 left_y=0.0018 left_z=0.1945 left_yaw=0.1435 left_pitch=0.0221 left_roll=-0.0503 left_gripper=0.9988 right_x=0.3056 right_y=0.1724 right_z=0.0409 right_yaw=0.0152 right_pitch=-0.2284 right_roll=-0.0905 right_gripper=0.018\nstate[joint_eff]: [-0.1299, -1.0598, 7.0222, 1.7314, -0.0855, -0.0611, -0.0122, 0.335, -6.5709, 7.3504, 1.1258, 0.3736, -0.0366, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbtYkWEnV9z4jbaGW9zonisGqzLz6UDX2AnDSAn2cJv8eU751E6-rlKbySmHlh-M3wI0hRjt-B3pUn2QtkMP3zmjUPIlhC-GDfOkmp9q_9PGJHMKXJxj9g-UghsyEfucBoObrSjoEHbG3cOmpkXGPhDkZoTh223Zh_Az5wpEOxgQaAwFuyn4W3qOZ-bAV3G20HzI4w0EQbgU_7GIVfwfZbeCLkPxxb9unNRB_ybidNfB4PZep6DhSi-WKQPEX-GT9f7CjTok2QZY0aqP8RucDXcxvKq9qj9HOgVeflb6CzSuJ30QYEYGaRiNUnOENviyNBvwLDDHJjqaJ_y4guamKmNNJliqcX8sCKwqyy2wC7N3lP98bb3PsFDTC2WDCIhswLlPKSlAhrNWR0mQjtpoGp50oITQ2zIwq1cu62E8bJp1X3Ta_aG-fo3-hxiM5RSKC89Rj7j-Fg5bpBrIk6ByWltmQ-opInXfplTYoqVADfj6Kjt1sRMdb5QkTuUgy9G7PyjgE-ZSyK_kOPsVkByIWkV9quMby60YwWkfgimsDZqKt3oykunsP7vVK-lHAAGg56aKpSPTPIj_8YDo1gLdEwuVKcUodjdrLRAQ6h0wdFiM9ekUivMWHbX0CXM-B57NvsiAZByUSH9qlDDI02J-n9rIPxQD4Oy41csFfxxvC4t78fttNkarZ7sOzbTymlvQ2ujrEyPUpfw1Rg_1XHAx2eizVureaqAgk2Xm8oh46psMpajKKWXbrh09GZwkf5Zdx5CgudTAU59qqlmIeudlCWIPE8AmqziTLwuzjMvzcUSLxwW9dopaG0obZjVgNm8HJ80ximzxDTSYDt-2oP_WrS9K432cvrbrlMh9leqXpOlozU_f33FIW9oRJJ_9AhDojP7lWBIeA4gwlEcjPLVguBDv0us_aQPMuJ4B2yoHwIes2BdM3yYfVMmM_hGesWtFYtc6fMIuq9cSMFJP8suCo-i1R9pwczAGrdnb0Z2yAdHETDpG282bCaoTd-aApM7dRZW3VRGGO6Q4vTMwleFpEbqhhvbY3Yp25XBkhi293V8OWmjQ-YnPrbRZp9tz97oeNOLtPPxDaS5eK9IT1IsRL_f7_3mCKxEKrBX7MoOnWYIpxRHb_Cnmtxmj8aUZPZP-suOeB63W0RQGT_RgLW__Fs8eLy4pB1P07Iog0_m9aTwSlGMoluxKjS587XSJrGrCNIuLbwLSTCTY3yBLDrMBe_duloFittkDaNICm0V7VofjIsDqCkuGItzg4XjQIB3-Elf",
  "id": "rs_07ecae7b1397a37b016ab2c6eb2d6887d09fb51fe08965c22b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now visibly straddle the purple bowl wall. I’ll close again at this corrected position.\"}",
  "call_id": "call_0IYHyUVp0pi9NPKuBWN0P97m",
  "id": "fc_07ecae7b1397a37b016ab2c6ec48d087d0a17d8a910212ab9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0IYHyUVp0pi9NPKuBWN0P97m",
  "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]: [-0.1307, 0.8005, 0.6476, -0.408, -0.2096, -0.2092, 0.9988, 0.6945, 1.6348, 0.7887, -0.1341, 0.4889, 0.4431, 0.0095]\nstate[eef_state]: left_x=0.296 left_y=0.0018 left_z=0.1944 left_yaw=0.1437 left_pitch=0.0217 left_roll=-0.0505 left_gripper=0.9988 right_x=0.3352 right_y=0.1759 right_z=0.0442 right_yaw=0.0205 right_pitch=-0.2594 right_roll=-0.1041 right_gripper=0.0095\nstate[joint_eff]: [-0.0068, -1.2786, 7.0085, 1.7021, -0.1001, -0.0806, -0.0122, -0.0068, -7.3368, 5.8188, 1.243, 0.2711, -0.0171, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed94265a767c1e7c8acd2d9b298650c299f6c20110c6b92bbb70d0222b70800f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:880fdbd0476357e6cea63ef0cfe0df4bff92c23489d21df6eee8498b4b711e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846dd8fb360f454d179e64104756ca02cd8c4be3bef9f0d17729c5510c21898f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8005, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.6975, 1.6306, 0.7876, -0.1326, 0.4999, 0.4446, 0.6452]\nstate[eef_state]: left_x=0.296 left_y=0.0018 left_z=0.1944 left_yaw=0.1435 left_pitch=0.0217 left_roll=-0.0502 left_gripper=0.9988 right_x=0.3355 right_y=0.1754 right_z=0.0462 right_yaw=0.0154 right_pitch=-0.25 right_roll=-0.1075 right_gripper=0.6452\nstate[joint_eff]: [-0.212, -1.265, 7.2, 1.7167, -0.1148, -0.0415, -0.0122, -0.5675, -6.4342, 7.9385, 1.243, 0.2955, 0.0171, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssb4-eWpH1l_6MzycI2J4QtvJc7ZEfNu3kqP6CKSYSADILzuXRdQU_LTyTCX0vZNATzBC-yiTVS2O7X_TnvnXROXbKijRZd_Qho1S5aDWVzoJ3tZuLth8OHmF1Vs--wMMaF5HHiPohbz-Lr8WNvVAy3hMQezMSrGOLcx1f_3ACrelwasmx3KslF5IVXGKCv6WxJ14rmJHX3tkUUvij7PTfqNwXulFKhTn7U3UoFFZ5Lx8Qxx6V5OgcrD7EkZPCnc4vvgIN0gSfNXMRJJiaIkY94MpxP3Qe6R0TySQHAKcHvBVxVLr9D6bp-rJfudi4GLVuocArZK88Ed3vtOx6EzO93rdBlDM6xmCk0csSWanXZ9GpN3z55VireCR9WKR36_sPDcZMZM24uSVMJbqEv8D4onyGufiqyXBDdkNBMh86_tWCYSSLTe4UIIkNAPOYKoLn_LxGhMOHaTC0NJuoXprbeBSfHyMcvuRNDCdz9R1t2ZTxuAE-71va_cx4I7TLLbgYPqxXyw-kPVoXj7XGfxGi0JOHmsSuoMcg0e1H35KcZ83UVSzNVfKLRt6ptTvE-mNX3FsI44-RV13UXpxCOJa2BjHFdwknx_hhJR6GaAnGg075M8bPu1Tebgf1by-qEkpWd4ZDc9f7cfOd7ja3UORRaneB64yTN2NWLCE1PrUQ6LPNG0voW3GhK8Q1tDaJfq6taXUliqlpxU132l_nSLqzd52HPoYuPP2qBUfNJrWrYi9Umsd2fY0CceV7uKighHk3gjq9GOAAl6tBe3kSZkgPqUhFIDq14aL7qgV3UXngb9XlVUlR7mUs5Y8fEEu9GBUPkU9tOXq-Tu_sipgo3bmWAhAiAOvNDe7FUgz9rfjPTcAleyGGHZGugYJRuyMhVflmqVE6GBpSkdMSlw9ermhgeRuql3jjKq-wXttX5foVXl6HorHBbzieeX69v69op8DNIKBvKKjjlQvnDHWvs-C7yV4sBauRfZKn9tzqddhElL1T2SGEzPwz2Rlq8gcO9K-3c8gF4uVy11pSmnM3AC7dgosvevG3npEGf71uPOJMMj_LPqfTgfI-ucCaXcX7Q0AU16lmN7LgGGYLUYDDTDofaKyzo5UbUAPAWyfkA2Zngk4hxHcOw6GUnQ_wy7KPwDkJA7BBv4YbQLDRiA0z7OjbBOTzXLaA4H1ALrBcqGGELjF2q-cXYAqeUmgBZLYIwImegatC-r4g1tuOruf9ih2OuTq28IUo_RomEGbGwtrn7rBHO-vkIAZ7OxwGyRHedP5UDo-lY0lLE1XY93_WEDYherLfuL2UbY-rz4gyyJbft6qBWeZwyaCx87mx8q5aXgiOT6kOfwn47yvyrrMB6Gerv8d1gRKkr3sjpb_2BGxb6VG8Vriz5aJwqZldJ6pg6g2aBfooEyV1dKKx-kvG7EkUUEjG2aa8gxdvkFdPkdmQVeOeiEWelaQRkms2KgIhejuV0XWQTXWt3MkVHZQn9vjKDVbdrLUCn0ZYURyQKDZ0jtTeVF0OgIud59S-xwlrm_tH6GebWSRLe865aK5m8xQI_AbBbovrsdd1UW0P5P_RfWok7KLqmvfsGXlMpSxNUps8hoFRQBQ6-hDmxrFkAjqWwBLW4uUVoRA6FlFp67-_HAYPpLIbm5cSmM_gisKLocH8M40FhfVuKQ4VWUnF0cuJsm3xRQ22M1OkNr5Cxu5eY_Q99w_GcQQ_EhQnHfu4hh0RJqwlUqlx4TXkPEZ2-h6v0JkmfIO8AzqVkzms6F3eyPuZxniSv83hCVhwcJ2hocxK4fRe0lhxjg8EC5qCQZUUIsgQ==",
  "id": "rs_07ecae7b1397a37b016ab2c6f1859087d0be3df79bfc2e059c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":1,\"right_y\":0.215,\"right_x\":0.36},\"note\":\"The second close was also empty. The overhead view places the fingertips outside the bowl’s right edge, so I’ll lift and re-centre the approach using that view rather than repeat the same grasp.\"}",
  "call_id": "call_BER2wbykwt2E0wP2dgKrPxvH",
  "id": "fc_07ecae7b1397a37b016ab2c6f587ec87d08eb85b5f43fc5266",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BER2wbykwt2E0wP2dgKrPxvH",
  "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]: [-0.1307, 0.804, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.7372, 1.6405, 1.2129, -0.577, 0.4911, 0.4644, 0.9948]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1935 left_yaw=0.1435 left_pitch=0.0184 left_roll=-0.0492 left_gripper=0.9988 right_x=0.3552 right_y=0.2148 right_z=0.1379 right_yaw=0.0455 right_pitch=-0.2759 right_roll=-0.1068 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.5795, 6.9949, 1.6923, -0.1294, -0.0659, -0.0122, -0.0342, -6.7487, 8.8547, 1.3016, 0.3883, 0.1538, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e28c002ef9cb665cae952b4906e0de7b64008d01a99a6ff1433ff8cc387303d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58cffc53f49a2234945bf459e5a03535e1d4adb9ba5c1cff62609470cadaddfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0960c2f57f3d8adfc6d5fe5aac9fe172be543f5729c74bc7c7e4bbd24dac807e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8005, 0.6476, -0.408, -0.2096, -0.2092, 0.9988, 0.6945, 1.6348, 0.7887, -0.1341, 0.4889, 0.4431, 0.0095]\nstate[eef_state]: left_x=0.296 left_y=0.0018 left_z=0.1944 left_yaw=0.1437 left_pitch=0.0217 left_roll=-0.0505 left_gripper=0.9988 right_x=0.3352 right_y=0.1759 right_z=0.0442 right_yaw=0.0205 right_pitch=-0.2594 right_roll=-0.1041 right_gripper=0.0095\nstate[joint_eff]: [-0.0068, -1.2786, 7.0085, 1.7021, -0.1001, -0.0806, -0.0122, -0.0068, -7.3368, 5.8188, 1.243, 0.2711, -0.0171, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscAcS3nln5UfBvOUxDtLP-2-bzh486r1iAoSaSilOIqyZROHqWitMKZXmvzPP-_Pec40mDMlx_b3c43e_ZYDpjgVAuZahnGtdcWwL91Hv7PTngTXNq9GpiehEUBrrkAyvCWgVlmut4kyTHlegaQ1McgFQtrUduQvIXdtgWrUz7ygJ7X_O9oZcH4d97Dt4w7AtkTv5q8hvMzrjPo0lyG7bOLHsSyzZcSSPydeEodjXyhqTZeu81rsKEox51Ip-Ud2G8yNPWeVeDT14iOWtKB5KBIaRLMJv4C7fYtXo7QnugOw2-TtPq33i6ARDvCcx8RnWCw1YkBjrI--ksf4AIc6EBkADXgkO_q7jihnAHFFKycVMNItMneBzHBvh_iWi0Uah5z6nqhjhxC_K5k38l-L5nFMBN5pYRsJrqEPJtKhsjGLOGFSCdFZ_deLvIO5zrCfD68DwnOraBCfemjoZXGbGIERWRhdUif9p4iWT6G0cCqVBeNmzjTuPR3HIv2aLVa2GE5eSDKRd8_U-NuOlpVrOKoekRaz-9EACbrr-2_Tc9K5OTCcpXbs14rSpZX5wFGExILDnk2B2y8Bav3zAROSdyhqYaRBzRPq668VcQPwDTrBX31OgXH22LRDIsVVaJ3SuITrI4rGXgQek3hl1KW6Sy5W_XPdxOSzMXUgTK0LdYVo8IyFCVtl9zuTsYednt9tnmXHg41M_vnBAOLngrwdU4RCbhL61KgtS9ffBLAcLuBwjfiVilN2JMTlPchUmqRNZChczoNxDwMOE2m_8xr8MDapdn7_HQKUPVyu9bkF3mAcQ3sZb3jdO4O7A3bd8tkdxb0JogXmdfytLgR0abLgmD3e55ASnanSY1xOJIuAbUK8Gwth_SH1yThZmnR_wuesIjCWgrzHhRsLeOA81BGhZD5X1CKpwxETiZIOkOeEjyTV4BKXbbVUvqTea1sZG_2BHcD0rSABK3VNf9VWg8gC3xHs2m_nmy7pzZWxKaJIIcLZUo3R1wg6MprR3N4X1stKpqVmfuHHIct5Cu9keDAq6be-U-Ip1WJAWMnI_847DmNS4ilS8jxHWhlK36wd2zeX_FBw5jV7pH1nmNVeT-tIpZT7buRoRhk16qXtrpPIWwfHvbDMf7OSjF7dWPXi2jQCdpFsg9VZniMRRouzoutShcB9dFY80qPaxNX0t2qJXyUBPYWGDEsjQXrlbeRAt-pLUDA3-sFOR3JHTHjq4qK83cgz3mxcPUEte5CKmrlHL_gRm4-z99OGaq2L_b3kIMRjTkDiWUSe5yKwgi0mJjhIgi2TcQTmH0x3AWG_18um4Tk-GuY5RaoM6OkwDrXCBGHAjoG",
  "id": "rs_07ecae7b1397a37b016ab2c6fc63d887d0a8be20e39571e3d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.215,\"right_z\":0.018,\"right_pitch\":0.15,\"right_gripper\":1},\"note\":\"The purple bowl is now centred between the open fingers. I’ll lower around its narrower lower body, correcting the wrist tilt so the fingers descend on opposite sides.\"}",
  "call_id": "call_pKujYpTGuR4ZjpDZbjVTW2UB",
  "id": "fc_07ecae7b1397a37b016ab2c6fe6d7087d08e4392588a060878",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pKujYpTGuR4ZjpDZbjVTW2UB",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8043, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9148, 0.6453, 0.7284, 0.7574, 0.3397, 0.9982]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1934 left_yaw=0.1435 left_pitch=0.0181 left_roll=-0.0491 left_gripper=0.9988 right_x=0.3629 right_y=0.2229 right_z=0.0423 right_yaw=0.0204 right_pitch=0.1845 right_roll=-0.0331 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7411, -0.1245, -0.0708, -0.0122, 0.3624, -4.547, 2.3043, 0.4322, 0.0611, -0.2955, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86136b7471bd1ca15fbf87bfa93669893cbee453a8b353168fdbce40931cef39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b595d3b73f57453ac8a24697ab3417c08d522117942ceebf5c500fe423329fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cec979053d3f11a6b397be74602c834e85cc5346959fa72add65fc7206b07f83",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.804, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.7372, 1.6405, 1.2129, -0.577, 0.4911, 0.4644, 0.9948]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1935 left_yaw=0.1435 left_pitch=0.0184 left_roll=-0.0492 left_gripper=0.9988 right_x=0.3552 right_y=0.2148 right_z=0.1379 right_yaw=0.0455 right_pitch=-0.2759 right_roll=-0.1068 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.5795, 6.9949, 1.6923, -0.1294, -0.0659, -0.0122, -0.0342, -6.7487, 8.8547, 1.3016, 0.3883, 0.1538, -0.0806]\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": "gAAAAABqsscHFvABIcWdsHrPXMXTlX9pdf1zJteM1sx01ImHhqxGoIG9IaxI3jaQ247Z9lUTOW8wDyZmHJrjfkXCtMp8gHe4_M1hoqEx4HGFahYfjsNcbh0LWJEFyzqPlW6DBWhS7lWEZMhffrt_XBGPzw6I0wmgFjrDa_NwCx0jnk5cIYKevr-krhFUZmIMSOsbENvH2prOye10Y2RC_bZxvKpxJVyR0moP0bDvzsYi5G5LV9LLniiUrkxIOdoXhAuEqjEb2IsNQcGhmNXEYjQ8jbun60rApVvTuw9xkiqL2jyrewmIBmwYPqtzKICUECl7qKeKR-IwRylOEzZwIx20cc6rLbyqsgwhuqY79OTyUhBy-p3ZZSvR4xw8yWi8teNGxiKfiNce65ZJ-GMHZ1iRXOqQtBO6gjYjM0Bb9I1qXXiqtxIm1z6F_CCE7jZTOmWxaaSS_ulNldMM_y2RgTAaqy2imVB5kHXw00TEIdU_Yf07LlkdQjZBA1GOTKQbfHboyv-VEbdjPCd-o6sDaFqT43ZkXOjCgJkp6uaNcYHn-ER_Ngs24_IX73Ijox0HnIsA5mntYP1QPG8USJJpm5N4dOZPPVjiDrxqkeKrLgv-9cYvs-_QCoxa8nhJJOV_tTEHOq7QWyISiZD0NlEAEIef81uE7R1epzyZoeNb2-A1tVz2hLce5GKlrZD870jTYfX3LiH_IHqCiuopH-94H7rApW9LQFqN7L9ejFiy-hdzjGv-HvBTRcGkjAO_c04h8_MA-2t1oudjlK9Slkt_UldgTdV2N7IucjkIX6yVGS9fwitoZV6sRxoypLgsOEbTXyVfeqLe8qt0n5v6ruds7IFHcmo9O2T25ufzvLOr-o4mX9E4QlLLfhuWyrL8dTucSPEwY8BDfuq3mvTw3hmo1C8yMU2zkXo6Nj73Drblzg4HDnA0o9Qko5sd1YI4avM2ZWK1_FR3jKTucFSILidpLE0FHTzq_bOkEVZiTfbHbtlm3tfZ3mbt2VGDhRJ65lzfwMrsBoSr3Zm7okSY9PkQoRCgsmRpCHa2UEjbO6WD0vN6fLW0ILNEL7VBxkLkgyFcr8RDlKbwFj23ObOByw7JWUV89IXTiEgQAz7AAzrF59gh7XPJ4wgNEAxb4mh4LIWVRnODz820hKuDJqZETsIDfIiNXd3qcUDZ1pHLNKoaD2kTBn4La2q1haK-Qyq_4UQnpSE_8Q3_e4lqXFQUprbOZ8dn2fbXixvaVSGxz2xWD1BCqKvduSQv8q6ZTEfONT9ScxS27YgWuoplLY01F7xXkaCdBy0B9dyEi8OiFR1zd8XMVvdqetnFhoA=",
  "id": "rs_07ecae7b1397a37b016ab2c704617887d0986151731a60c6ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The descent stopped at the bowl, with the jaws spanning its sides. I’ll close partway to engage the bowl without driving the fingers together aggressively.\"}",
  "call_id": "call_IeeQdS2UNR80YMd3iMGuqeFJ",
  "id": "fc_07ecae7b1397a37b016ab2c705c35487d0a934a68195e345ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IeeQdS2UNR80YMd3iMGuqeFJ",
  "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]: [-0.1307, 0.8043, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9301, 0.635, 0.733, 0.7506, 0.334, 0.355]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1934 left_yaw=0.1435 left_pitch=0.0181 left_roll=-0.0491 left_gripper=0.9988 right_x=0.36 right_y=0.2211 right_z=0.0337 right_yaw=0.0316 right_pitch=0.1672 right_roll=-0.0513 right_gripper=0.355\nstate[joint_eff]: [-0.0068, -1.1692, 6.9949, 1.7216, -0.1148, -0.0562, -0.0122, -0.1026, -9.388, 5.053, 1.5897, 0.2466, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588f3af7be1504a38ce7064a96bbe916115f18792c9f27df86600b1e86b942fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba78706831c9d602ab0f88012a40e95c066b6fce724016f62eb316772777bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ee22c385fbfdf393de9cf130d2c1b4706a2f05693e0e386b57164c5eb05975",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8043, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9148, 0.6453, 0.7284, 0.7574, 0.3397, 0.9982]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1934 left_yaw=0.1435 left_pitch=0.0181 left_roll=-0.0491 left_gripper=0.9988 right_x=0.3629 right_y=0.2229 right_z=0.0423 right_yaw=0.0204 right_pitch=0.1845 right_roll=-0.0331 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7411, -0.1245, -0.0708, -0.0122, 0.3624, -4.547, 2.3043, 0.4322, 0.0611, -0.2955, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscTqBkNV51w1eS_n_EYD_E3pNIfNayzNjCR-Nd3MXgZtyG_2rNhqGyGvfAPINILYgZMDqaNyXOSduxKRTKC6e5iLicNtBEmc83XysOZ9vGv5dkqx1xn-vrGZuq0DZgbCwT5ten0oJZNxYFRXI7n5OcnLdU8U3-fApSz-HRBTPmwOMm5_l8WxsljUXDrPAEDJQ8gjJaypqVIHIaRvmhGplCB7nGGGS2AVocG6tMLbp_ejuq8sTHJyKRvmAA30HqP_H6_8FZQ6D4D7SMkARiI-GxGUVwFDYh5DwHk8jIoYU-i6T9vkVyMG0pZDARkRWIx0NI2Vbn8LW4PcS7WuZld_LpHSY1l29-LMPz2PcXbjatJVAhXoV9TTuEwYErBJcm49QAv3u1b6JUJNtYZ3OZadE7kuiNX8cnCuC43teo7tRcBlXaTUOcKt81kXbyv8e_jVxZl0WDtAx_9_Y_WyWmDWiP4zs9p_-T-vr5RKl9BNmX4V17r3NT9vn1ZCJsh7fPBqtLLEN-SdhWou3fuI6Xkyt1TAEQPV3pU9DF3dqUxj-J9zanDJ7GEQajM5JJnJmOKSyQ3_4ltgqTWhBfvXHFj2sr8VY-Ml-bTrmG1nsJOBBXEcoBmy4bHKEI3IKC7pJQyap0Yv8TXbxwkURy5nFu5jt7DYQHT3KrROWifq8MOY6AhLJliFFti5zG7a7b6LYBhSWDybFpGW0rDKPT4JNigY5zmQO1Esh98N0AhoAG1ZHsjJveS4WdEmmEaSQ_pFDQk6EJ334HbizsfdaiNfT7e4SzB8uq1coNlaBkxjHKnSkPVDFOu_Iou9U9MX-v6sXP5SMmucMsz1d3AoRNaiEm-hHJFxME2B1tRmoYqJvg0L2MyVYnPZ8EOpHs5fiyAt5c8oXeZ4N6Q05yNStfUVgdv-YJIK_UVVtRSoSfDu02CMRaocVDXsxYYENDV2QWphNP0Dm26reLeNKEwKMcKV0NHMqKWtgAh386L6GSlnqmWSS2YkMW4LjPaVy4Svil7aqC8BT1ejGt1WR8_VarH6T8s1-IaJR25LD1PPb4k33XPXSNGuEhSKFilC0Hii1nA8_NB_NKzqv3ofA64xo-tvoOXZrM-S7CdvM3LmW0fnGRSBHm7SuSXxixIzeIAG-SfpG9vlUIx95MqQk_nIyQLVsS0nz1YZSwr6b9OO1re-bkEOVRpbXgaTXro2iFUsLEU_TOyeTDDPSS052X-g8VMrDwwlGOjZvAKE180JDurEo3wiVxSDlGFlS7KUIJ4IxQpHy4JA09TMqe3y_RPO4MiykMgRhQ4FyDMaP1MGIwW_TPD2CztKIWryLi760DZRvpDSxW1hRub_Zy9pYjjTz5S8Ci0IjlHgNdfFoIDCRs6aoHbQRwAycxXgNhiEvqKhJ9Tq2fnoLrfnskDDS72-mZ4yuDH0L1Z9EtyJFUeZWqQbvuXjz_pIgKypp6zYYmlIU4dtKZ11JKoQFJvRZrfcY7J3jtOl6iEIGA2IL-xZlguwjg1VjEEgpt5UaEeXDEQ1zI2QdJ1yVgUa52FLEkYCfwBqsKtjrlGU4L5uIOhu1z9wU8PNeTLXWJc6klHiX95w27m1nI8_wOYDrMbPpnty-kuBXc0Tuf2lLLD-ok9-HljSH_IaUvDNQkhgANfXd5RDf-1ccpuOtZjM8RyWGHu4tQgaqQB8GxuJ_8L8Fn5YsVvZEH8y4R4UU47wu9Znftip5_cn_9yGNoN2ioCIBhWnwkuxSOaOuwz_GwMsNsWHD3m9rVdLLoTEwirFgo-I5aVW64xhyTTincS_82fXbpUf1efzU6pp5Ybt33FXXHFS_L4ZXHV-tWw0Gx-InboNYlyrM6GaUhBiDJaX_txxwXRU3s8xAwAWaDnXCmp-0mT5cCdlfBOaEi2DO-OhLaRpWX2MhqA74pKj_qeTB2AvdeETk1VdyBgiS54gDtGCEaOVzaKsbmL8Cjo51A=",
  "id": "rs_07ecae7b1397a37b016ab2c70b63d487d08daa03b23fdbcc18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The partial close did not meet resistance. I’ll finish the close once to determine whether a thin section of rim is caught before attempting any lift.\"}",
  "call_id": "call_V3tio1h8En0WeDodkLRfUsBZ",
  "id": "fc_07ecae7b1397a37b016ab2c711fab087d08c6d4071d29f51e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V3tio1h8En0WeDodkLRfUsBZ",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8062, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9301, 0.6338, 0.7334, 0.7464, 0.3328, 0.0091]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1928 left_yaw=0.1435 left_pitch=0.0162 left_roll=-0.0486 left_gripper=0.9988 right_x=0.3597 right_y=0.2215 right_z=0.0332 right_yaw=0.0356 right_pitch=0.165 right_roll=-0.0513 right_gripper=0.0091\nstate[joint_eff]: [-0.0615, -1.4427, 7.0085, 1.7607, -0.1099, -0.0464, -0.0122, 0.0615, -8.1299, 4.3009, 1.5556, 0.2222, -0.0024, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b2b15d320572ffb454811e5f19b4116d0577f7285f15b040036fb9f9270c86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f178c28a60b7cd632e192249fe0857d00b3212dc116f432bed93ef50a7f4ec83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd9fb31e89d857c6e0b2fdb9abf5bcf52cb5fbe480d066247d1c0d79fc2f52d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8043, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9301, 0.635, 0.733, 0.7506, 0.334, 0.355]\nstate[eef_state]: left_x=0.2963 left_y=0.0018 left_z=0.1934 left_yaw=0.1435 left_pitch=0.0181 left_roll=-0.0491 left_gripper=0.9988 right_x=0.36 right_y=0.2211 right_z=0.0337 right_yaw=0.0316 right_pitch=0.1672 right_roll=-0.0513 right_gripper=0.355\nstate[joint_eff]: [-0.0068, -1.1692, 6.9949, 1.7216, -0.1148, -0.0562, -0.0122, -0.1026, -9.388, 5.053, 1.5897, 0.2466, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscfj8X-uOcN2evZv0ROgW4eL1tdnz5QrCpS_KXRg2GJH17tOguzS0sYoJIuwMzN2_vvB0G6HOZuAbDLNerwc36WEj0RR7bgXgB32REpHD5f8MY6--NRs4L1IMQ7an7u44kYSs82gUomxoOxVXveXzJU4Y5qJMq7jKxHdQZPplelzk1IViClZ7KeGEzbe76tguZaQmHY5iJyfZG27lt5rvjPHWJogC3VRbxP0uOEshW2jpfdcgPaypShNuggq9yZUsD3dYtGbicQJiTfjtIly2p1HBv-wHw0juDx6xZsbdttnD7WyINKHx3h8uRRf9pdWZKII8u0s1naUaLP048f5JeT0N5t0WeoqfVRrrOuKRGJdq4ueyeHEhekosTkn33t8SYlkxFuJvambCUt4jb6QMJTicFsvElOWYwApqsIi-liktQrsZoa3hz2T0Q9p5q8bMWexv0bFARVEZljKnu1H88cUwKaFXCy8y3MtFy7sGeNy5bD2UYa0egrDMrWwJ6so1-HeIlFjmV7osK5Kx4MtUzlBPv8HMVCWYsKg1uQ98YLMqwpNRSRTPy-nhbRsmpIfMRg0YdT_6yngfhzrgrVSq6d8sqM5QkGeBuFluxXYXyQFRpXPPnUYv_T0asjPf8NGTEDD0M6ScTaOJ_275j7VRVuIcHc-7YZgo__5On2YgRdXW7sg8xF4e6G2DACERpHnc2ReADkO1SPSkGKaaYWK01NYpiCefY54R6vGfgGFpeB6H7xvAoSMKzMzGqhKs3G5Wdg1csaS1ggqqGSmMf8pFfqxGKqGY7YtDERijgZjX3ClhcHefrszaETsodENzzFOH-UzjqgG_XSj3awD39HyoagiFASjsVeakzQW_XusODKdvJ0gD-Fg2qpwsmufdn85U_VXwU_EOovh3fb6E7zPCpSDI7DeCeHg9RIYcXO7fMTByYpQABFt2cA3RBQotdSWmhU270nr7PvBSazFpdblpNTimatTVstGMMdw_k_oL7YU9IfHbIUCld0Dm-dRt2rYHDpKhL4TQrwBDc3jCzcYSRItuGsnlH4QQh0FYJqcClQrDRqi7pyRbMVqJtAcIJ6La5zOYVy9SplthhaAuIjoDHrow2TRpOT7EpGZsv1irbLDgPX9L-QvG1-4_piK8xr9j-rdV-FsAZb7-GpV35MBJy6QpAasS5VO19wm4g9__nxcCjdvDqyrGcby74ok22MIyqyKCgcv2ozjtOMIMr-KOW_7MiyDFcrdT_fkkcG-j9cfpzjEjY8YlozcBPIsQGcSz8P0yotrXOV1b7ax_46Rsg8dEzxpK2QUh3VsWeZW0ZI1wmX3gr-iqclVC1bb7bzqkI_Xt1nKNwUzd_C0SLgjyds3GlieyXWqvNlRf4X3MwQELCjngGDvZZphuPn5TcUdnpwdPptvHSPcLtDKS6wH0-z2EvPSG_JGVZ2uV0t0FVCdG9RZFF6wniCav5VL2f3UoN9_nwHSn07rIJ92ddrksf22sZp7BqQCTrZ4xrVhttd1OzGMnS7E30hJjZ_UaBCppF96l62haUhr5pcAKVXnlsa-qeXQWioxM7RyfCLel_VUt9baXrR1KB3sQ3oqgA7fViyArcFy1iv8-HCV2-LuvphVo0-ymKOrABERlj2mmE-twS7U5PacLBjQB54CwIXUCKtzw4PTxqLuD2jgSvn3wm7B_5vwNv_z9L3QT_gLBQEs2LJDDXkzY40x-apTx2R1zkpk-sSioZ6VGbO_N8UZRWQI4WmcJdJyLESEUF0qLGj8XazAczlPHP06OXij6-0Q8bMMbm5SYE0uSN9a_qLECDfuA==",
  "id": "rs_07ecae7b1397a37b016ab2c7173ed087d0ac4444fee737efda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_y\":0.145,\"right_x\":0.36,\"right_gripper\":0.75},\"note\":\"The bowl is wider than the gripper opening; the close-up shows both fingers were inside it. I’ll lift and move farther toward the right rim so the wall, rather than the hollow centre, is between them.\"}",
  "call_id": "call_Cpkb3fKhIzshMHOkBX9e374u",
  "id": "fc_07ecae7b1397a37b016ab2c71c7a1487d0aab654516e5e05d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cpkb3fKhIzshMHOkBX9e374u",
  "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]: [-0.1307, 0.8097, 0.6476, -0.4076, -0.21, -0.2089, 0.9988, 0.6312, 1.4582, 0.5312, 0.4496, 0.5873, 0.2119, 0.7451]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.192 left_yaw=0.1438 left_pitch=0.0133 left_roll=-0.0476 left_gripper=0.9988 right_x=0.3612 right_y=0.1472 right_z=0.1148 right_yaw=0.0201 right_pitch=0.1752 right_roll=-0.0473 right_gripper=0.7451\nstate[joint_eff]: [-0.1709, -1.4974, 6.9949, 1.746, -0.1197, -0.0513, -0.0122, -0.294, -5.9009, 6.4068, 1.873, 0.1245, 0.1294, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e906ff7570135d096274ff8ef03ba2094426a49bb5ac08fc7b519a207c6891e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78fbee5661edd81d73628dbe637772febb6613a6c4b71e701e957ff3fbbe6c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f55ef889e1866e10761c9438fee0bf416b6de419d5913d35561dbe62af6948",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8062, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.831, 1.9301, 0.6338, 0.7334, 0.7464, 0.3328, 0.0091]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1928 left_yaw=0.1435 left_pitch=0.0162 left_roll=-0.0486 left_gripper=0.9988 right_x=0.3597 right_y=0.2215 right_z=0.0332 right_yaw=0.0356 right_pitch=0.165 right_roll=-0.0513 right_gripper=0.0091\nstate[joint_eff]: [-0.0615, -1.4427, 7.0085, 1.7607, -0.1099, -0.0464, -0.0122, 0.0615, -8.1299, 4.3009, 1.5556, 0.2222, -0.0024, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssctiUuaOoWAoHTEgQGbEx_i9xPxIEYwW3SVdbIvV-oyJMl2jFohF9b1i8WOdZWVGuMmFIksI6BPBhEzS0piTylzf-SfXhGf1ucgO_Il0ewWLRMS_ESGvHTsGFRkYoed9BN11ebSFJNp8mDAnZRN51l1uSR3rIG6l36orqCjjRJFM7YZ4bJlVlnDbDu5DLTszcVRWRkDbXbf_CPHUi16Km-7R7BB5V5GG8syDNMDI93GoXN2K9ben8IZ-i0COo4J2jqM0OlW1rJtf2-qSxm8jiC2fTlQpdUXDtMNDzYJS4HIVdS2I5QUAncJXCqjbXBnRYFWfzsoHkCwgSDRtWKY2jm-xxgVS5WMbpT3ZXcKXH6LFOB3PElDZatCMnClfEhR5_I781BdHC5I0ZrHy9D8Y2MR3nLrRgqCUcobjngOOLd8BCZOGZz8oS2dgGhfr2qo65Z2dmIMSs4G0e6Z3PeuNxTydzp4eKV_I9d_ep1STM1GIwzi9sECnvu64xCaYtVFOohXWTQnVYPSfywtC4QuyYkOufX-B2kmFrFMyhHsOOolc4p_TOWHtErFIvFpme0ILs3zv3QZT7h2J0LjM71Fq2_-McZ_MInE2vwZlQS11waEze-u0veR7CNr99wyPimYNM1XGTOrzglcDRZK6vzMZafdQyX1jdXyn4Djbp-DOPi9RvAPNyMX-Chez3hdmiiKLGHwf-pYjN9ahWsC9MNFrUPSCm7PsND8HRVGWXx0GafgW8m8SM0cPWxDlwqXLs7_MRxNrzv9DIXrnQwxolQvfDLcFisG3ZNClrpD04Gah2O9viMLFupLtJZQ2VXpI3t97-AzgorIb-cKrLnGom2avseikhz-nRgauCGrRvPASvBNODUgqVu6M0veQtQe8FoKtSznHt1otTCMO7OzReuHrC6jI4dSh1WVSjXR4cytsVHBqFc7xBTurQon_5aNomMtpOws--hkIDKPrgea_DxSesQL0_xQ7PIhYlYLaqa2c-N_O0XvxlDfHE6tM9If6Z0EUfCTNmRPhQhDCwJBH3EjS7ZEwIM_Emdb0eITQ6jVfsaNZZVzRpNvRZo38EaN8-2HARs8ZznYDKEjqGYktlGAdwoMQOjsFZBXLPY77JI_-kwak5e2WgOAcb-41o6rFoJeIkUTIjweTi2hLTTjS9qKZn-42VZ0JnBoQcN4M3lKwnawPOsS3minA1u4G3jWx2G_NCmxFTZttV0d8bVUrSJnI-gtnQ-pnn2-JQrGxinl00nrp0jNGof0pp6cyUydmnmuIRGhINCOHVV4-95FUmDydaDq-6SnbPE0NIauOGYbdidSo8UatoLwpJlUCXJEoj0KbmwVYojlbzXZx0pmyMTj-FAUVSROVBHYeKO1XWRlsYd1VYwwc_M6zvbZ9STDObx3LTPCTpktI_9RI-JyEiLdOqL1vPr9BZrOIq564reVy1QTfHByetUBi9kwB_snHktQw3rhOlqoUkVcVryF6uqk4kbIwXQLS50LMsPb4tVtMHODsVCROLNsNaqenOql3iItLZow-W43OWPOmgpqBuLxMoHyS5fh2ipBx3Q0n2dJCOMNtO38trTqTJ4BuR4jp5PlhKXL0C1sjasnleAti6KCAIlh0AGs7N-kYMNPLvMnFdvOWJREO3yW1feqgsOEuUUKmOOgynvbZg-xw8YtNJVzeGC_FafMJ5n8q0IF1PMtrnGRC2sG3IqXWDED4PXJrazBMNHYFLrYjEOkbieCDo2uZwj8i36GHrnclxiLQx4fj4Op99AmxlS2-6FOZJNrbju3WufmYcdWktLhGYrumfwxGTHX382lFOx_AJTcRMgvDB1M6Im8yLodu6HzlqXDqLAd_02dWkhFWrqe5tAiZCOF7HKhayUycH5kxL0F75qUqwm31cXydGuc337Ssrwl6EtVjW5tZLRCmJ8yJd0K3sviKJlDgLtYVlaKvGM3_8B9AtOBoSM2gz8qkzSPRbkkq0pLkt-ZvnxjDa6jHVCnic8yT4Xnfg==",
  "id": "rs_07ecae7b1397a37b016ab2c7236a7887d0920046c380888200",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.175,\"right_z\":0.035},\"note\":\"With the corrected wrist tilt, the overhead view shows the rim slightly behind and left of the fingertips. I’ll lower there, keeping the current tilt fixed.\"}",
  "call_id": "call_eoDiHARRxY4Gv4X0byuHtHoF",
  "id": "fc_07ecae7b1397a37b016ab2c72b267887d088bf31c72cbc48e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eoDiHARRxY4Gv4X0byuHtHoF",
  "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]: [-0.1307, 0.8101, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.8146, 1.7519, 0.395, 0.746, 0.7105, 0.3042, 0.7456]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1918 left_yaw=0.1435 left_pitch=0.0126 left_roll=-0.0476 left_gripper=0.9988 right_x=0.3182 right_y=0.1747 right_z=0.0281 right_yaw=0.0673 right_pitch=0.1154 right_roll=-0.0971 right_gripper=0.7456\nstate[joint_eff]: [0.0889, -1.2786, 6.9949, 1.7167, -0.1099, -0.0317, -0.0122, 0.1846, -6.1333, 3.3709, 1.7558, 0.3932, 0.0806, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6533f6c2874bd7f6f821129d64fafdd1cba72195fafd8edf29af3e15dd625afe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12575137e82515fb2774561c1d3f2873c702e637add6a63607bae98b5d45c355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a10b942b85d6c9a8648bdc3ed27031b081bdf262b6fc34b6f312485c0703928",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8097, 0.6476, -0.4076, -0.21, -0.2089, 0.9988, 0.6312, 1.4582, 0.5312, 0.4496, 0.5873, 0.2119, 0.7451]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.192 left_yaw=0.1438 left_pitch=0.0133 left_roll=-0.0476 left_gripper=0.9988 right_x=0.3612 right_y=0.1472 right_z=0.1148 right_yaw=0.0201 right_pitch=0.1752 right_roll=-0.0473 right_gripper=0.7451\nstate[joint_eff]: [-0.1709, -1.4974, 6.9949, 1.746, -0.1197, -0.0513, -0.0122, -0.294, -5.9009, 6.4068, 1.873, 0.1245, 0.1294, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssczrdkk5-T4yLI9-AwwChHJLup5Rcq7ABynH-HVCrLbaCVz5Xl9xXarTC6Dc4zfu6WBHurPZEaBPRK0M5jf02iQQXiexTKoI0Yom8kAYiejFv6ewa2vmgNbU48BZiguOISItq-XPvkAjvn99G6z_xR2fSDXM8tHKn8CTE8YAQLl1LePWyir6BoPkaOZ59o5wpesPETXwhpRWKkj5lXGDzzBEeFACOs9bHbBmnti8lmF73AH8qE2NM35yVFW74hcVkO8SoF1TYGzPUc91NbdNlbNdita4nonGrbyjAqvVwtHgtRLDSyw012-ePVhgTjiXFuwJddV88Q6YMOm9g50__2bF8KN8sGkMEkr5w4djO4AU2x0KE_fD-dxKIXwH1QDkz7dL84m6trhW8stdRgSH-7yjIQgdgm0iSV0T9S4ggkyccX-oo7MBXv54u1qLpiY7pThjkO3WINdX9jW9rgCz7esTDijcweKPGQ6rvM8f7mWwTiHVdEd-RwY_P2QSwRFWK6sIY4ywZqE9k6uirdlPLLlQUtoDk6bUSRZN7SnWqlJ8vzasiFQTXk-k_R0j5aRreNSjK_tXePwt-WKME8sXI90oDDKR9J9HVEKMlMfwZr1aGfuWTQvUzgQ2BjtjlmjEqaHdGuwKZOFmUFC1RKgy6fQTgLNaYSj6KpcYvBG0_R-YrO7SRBIVoR5XbgRGaOjUMYJ4petaqmbO5ZxkXZ0grkVul8Us5EDehzpINsgz02TuU3QhtBfhBFHTNxWfVAH5-p7fp25cpnXsnzv03Rs5Kh5PCFrkoldMAy9xda4f3iLbUd3_sYVJgim-swC2ArBJN_A8P9eQVUZPEcK9BjHKF58L8vtnM6Ob0xAzWkxreDFpjqaX9ugsN0WP5zsuaBVwp5RlCdvXLUgr03o3xdktOos6FbnvycEO471s2xDk3XWz4btDz-AQyjmd_GesF6MV9DoyZN39mQIO1V4k9II97M4tfpg0HG6VuXKmivo6kG0tF12METuCnSQ0grYGV3L7sYud1y3k-uTiXddVWiDILreWIrl43y2btO0bTOoNHevvcYNgwm1sW8cgDMZ5g1e7v01GblpzX1vykKmjhthZw1Z-mWDrpBzZ6iy3Y8OGhdEDQskbt1MnKAsQAA7NlQ1wVsBrmD9p8NDKs_lDcWzQlBHe3nvduc9gVbDQ1jqeHPmEYr3ynxOASoBheqDY_eysO8d8XkVsbpgIZEcfEeIuF520XPoLo5wWv3JXSSDC2nfNAyZPiRByZ-UKgyGiKHFXlz62kHmmDhXZTwbB21JxogO5Z78Yee6pX6mHIBweCQFYgXhxLUpgxSpLhMiZolsQJib",
  "id": "rs_07ecae7b1397a37b016ab2c7305f7487d0b2c9a43e8d0a2ed2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The purple rim now runs through the jaw opening at fingertip depth. I’ll close on this wall section.\"}",
  "call_id": "call_hGftjkuYUfSPFR915R6cpoQL",
  "id": "fc_07ecae7b1397a37b016ab2c731f06087d09f210c51d3fedbc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hGftjkuYUfSPFR915R6cpoQL",
  "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]: [-0.1307, 0.8116, 0.6476, -0.4076, -0.2096, -0.2089, 0.9988, 0.8169, 1.7424, 0.3985, 0.8043, 0.7071, 0.3187, 0.0386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1915 left_yaw=0.1435 left_pitch=0.0114 left_roll=-0.0473 left_gripper=0.9988 right_x=0.3234 right_y=0.1821 right_z=0.0421 right_yaw=0.0574 right_pitch=0.1668 right_roll=-0.0331 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7802, -0.1245, -0.0708, -0.0122, -0.294, -5.3538, 3.6034, 0.5885, 0.3639, -0.3785, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99fcc140f4258241d7d46f77163636612940bba8aa547a3c521caf65b06bda58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5942d13a439cb253b79bc4c17e7e230eeca05ab7952260542ec04d21a8817a20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dc7b92f49c2f7c3adacf706929010e6a3c5db3c584def91d1a70d4c8b00f11",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8101, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.8146, 1.7519, 0.395, 0.746, 0.7105, 0.3042, 0.7456]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1918 left_yaw=0.1435 left_pitch=0.0126 left_roll=-0.0476 left_gripper=0.9988 right_x=0.3182 right_y=0.1747 right_z=0.0281 right_yaw=0.0673 right_pitch=0.1154 right_roll=-0.0971 right_gripper=0.7456\nstate[joint_eff]: [0.0889, -1.2786, 6.9949, 1.7167, -0.1099, -0.0317, -0.0122, 0.1846, -6.1333, 3.3709, 1.7558, 0.3932, 0.0806, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssc6lbTprADbgQGrgAnH_WL70Z3KSWsK0-wXSK1jZJlCM7wLHEoh1zfYPHR_spju3WT01aQEhJKfSRygpLtmDABKx9iPv8U64-xifOUz6k5w8AZGDuptH814S9yfeHn2OfJX6z1ANnqMeu1yN7ihWlI_ixC-h-vvhhZVtg731Yn8LjztiST4Z9Jo0P10nmiVCpTcu5-8nWAvWv5HNpwwgAhCDqc9Cu59By0GvdN6iwlKZQcPgdx-bgbq9CuWH2WaHACsxGuKVgvRFVWXIICcIw4KBn2uUJQRGz-Kmhi52ZPq1x4xXQOCgo7tIDBnPNfT6bkYiVb0oijwu4lcXuTLd5lcDcgHwMucNUEcVJXJVnw7cOI7wj1D3AmZxxWeoxuJ6TFHvm5mhHkIXQKAT-DfIJJWVknMD6aWZAH5ETLKYCvziIKOqrNrf0G4CxdbWPNOeUbP6TI8ih_xXOkku36u_QVB7wo2S-qNu-YbRoSfFM1rzYfdUALZaYVCwui5DGilXF0qUzWDzxWvl6tRy0t3CPMi5YR8vaa-PNb7aFvAwAGIPvW6NAd261P7kNh_1okuL1EuT9K75WgPqyzmkgs2D0lJ5fE8lrUxQcxxlh5ghH5BdHaNbN8DcZjBmTTzcV0gINBSSp4WIxkQJbIUufDrmu2G4RSO0s3-mOPhAwESbhVvzsD8wnyebUHY3WWo-wAoxOyckDGV1jbg0hbo_zSBJwO3aYTOslPKGY623A_k51qIlNN9_XDpeseRSaKQZ9WHdpj3o88kXw1sJL_xyRbCZ64nndpgSlUaZYpQhxJ0fPoAXc0yOEBuzuPxSW0LqnphHz65MhWW-EQyIqJujIaQkHz49HbE-pB14xUFSI_CSmrZqsHSof5dk1J-naARmuUY713c8A3Groz2liulrb9T0l3HmbIc4yS0qzlBoNAAR5apYY6Oi0j-KmGsNMDyNDp5smKV2Z9kSI371M19VSsiLkNUk8na9GXVfMB0ggHNK3ShHnTs6YrPvkg3y3I9dv7z5EHGW0o7vn9VVZaE9X1ncgxlFIiHD7AY1Xw8DTxgj8A2zZ9qX71jKpE601HBxOoTy8EGkLcy7b4h9m8Ru_RFFw62HrqLvBvxv7gxGNTuANOQvHMpsRL3X0LBcNf3xWAUjthOjEx26hxqM83XvZ86_fbLwgqL4bQOLAMO0LQiP0YQ6L2AWAbu0Y7MYMXoMNHBBOoTExHNBnmTR2EdTJl2SAIjfw==",
  "id": "rs_07ecae7b1397a37b016ab2c737d95c87d08c1b0b5dae582cfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The close left a small opening and the bowl shifted with the fingers, which may indicate a thin rim grasp. I’ll lift five centimetres to verify before transporting it.\"}",
  "call_id": "call_Y017iS7dGJREpC6wwslTbwIZ",
  "id": "fc_07ecae7b1397a37b016ab2c738d22087d0b663ecb2cdf69a71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y017iS7dGJREpC6wwslTbwIZ",
  "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]: [-0.1307, 0.8135, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.8169, 1.4769, 0.4587, 0.4843, 0.6952, 0.3145, 0.0419]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1909 left_yaw=0.1435 left_pitch=0.0092 left_roll=-0.0466 left_gripper=0.9988 right_x=0.3209 right_y=0.1818 right_z=0.0933 right_yaw=0.0685 right_pitch=0.1667 right_roll=-0.0286 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.3607, 7.1179, 1.7216, -0.1099, -0.0659, -0.0122, -0.2393, -5.9145, 8.3077, 1.7558, 0.3346, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abef88be7860816d48f3b53b1ed6a5b3dbb67dd16a3e3811ea3135b1413a302",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa833eed2bfe3178687a0daf698d6dab220999cffbd7b4b7dcf6bae64fc00a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743e38284a6bd0e1e242503e7c078953dde8dffc279873fba11894276eb854cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8116, 0.6476, -0.4076, -0.2096, -0.2089, 0.9988, 0.8169, 1.7424, 0.3985, 0.8043, 0.7071, 0.3187, 0.0386]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1915 left_yaw=0.1435 left_pitch=0.0114 left_roll=-0.0473 left_gripper=0.9988 right_x=0.3234 right_y=0.1821 right_z=0.0421 right_yaw=0.0574 right_pitch=0.1668 right_roll=-0.0331 right_gripper=0.0386\nstate[joint_eff]: [-0.0752, -1.306, 6.9949, 1.7802, -0.1245, -0.0708, -0.0122, -0.294, -5.3538, 3.6034, 0.5885, 0.3639, -0.3785, 1.1355]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssdHcTk6N_mMWaC09kPC2vWHyuyycvZIQ4BbcM9X_oROqvNYUI5eG1JgDhs1laic-8W8GpWs2bCcU81xQnEziAZ5eJ6xPTIjlsaE-K_v50U7femxZOMr_NN0Arp14Dul7P8NWpPhPjv0ryn2DHAg-QzDbCz_HxyI35ar48BaabMsPKAnTuQFwRtjuG_72ENpSgCh55aQwzIfAVnRtv2KRmWj8xpWYMC5bENtBJBc2p3kzMfiCT5SzMg0McjufJISq49rn_pa8MBH2M6JwIzkD3EMLpVwY-cEl7EJY879EJ5c3EcL2jaHo60kYjC_EpQ742sgmzrST1z6AybLBby4g9B6SKTj-r5iRFJ9REMcZ1usWXMY-BvXbSpdN1BWNCMisllvDM9zDJ1EyvFVQH80fBiQid8GywHYVd7_s0Q_Npj5OBGE9wIsQlk_UV4x7WtoyNMPmZjOk2suacc1xWzO05pk-AkY44neJ-khlsyIdi2r7wGp-awewrKgdGJ0sCnfSfWsJY7r7RBG2FYJtbzYTSJxO-xRno8AFbnKMeNv8RmwqJt4d-2KW5EmqWXJ4LkHG8aAIx5BkQfFQY7EfuX7F4p2pENwm7IQwQDwe16cstQjgR6fFwUFGM0D0j2qsTQCeryPqCTyYLol0wk9-den8rlCWkUEXsjDnEjxUsPWcQOCDyO9pzfTwn1Lpi0pQiF6vli8RzG7hf_K84adXVPeAVnUsCGXgMBy5-srMe_wFeShMBHQCFaPNDOGtiMaI2at5lFmjNxdcFtw_1housETacRQsu7b0HEorHKrvpG1x_ndf_djykcbf7N1z7_Dfdge5aliAlBNl9D4r9SNnZIInugD3umjZpj_nUWRYzIXik6FtOJVWjPh6Lm34rmd1oSPmuCET3IXszCTy1l1uu9CS0R73VZXBzlBWqunGJ-JCDuNnEn9qT9Dl41CDfFBK05cVe6vdQfif9WwBikvsbxUf55CAzSEsAPWvasp1RKbuTHkCUvFKDFEOkEkcBhpMFoNzEmbLeBDza50WD2HCX_V6PaGzYb5xaoRn7BaNpkSAfqC91b0Kz6s21zQCAefv9EL3Qdh0LCRgryi1YYM8fvU6TtDAnuiv-XAoDDI3Y6sf1gLUWIa0QRCruuOFyGDy2P7qsBu_qvk27V-3LedJ4fcg3C_oewwMs4IVcYZAjfd38ekbwizm3XiKx7HKjXGSNqJgFAdwU92mGGsxxtLVlj1kyp99fwToJeMjJRN7_gPp1v5QLJVbk0G4bq3DALux7RT4_ERy3wrpL0ZSKogTqm4BiXJ6Cs3uevw3zXdLonjhpABRQ-ZfBXFmcE_R6sMGwGYAZDfL11t2U7c3cfTtMdZ9ieOKD6l6lWsM8tFFHvTg8oob8S_cYIvjFV16KtYjTQQI4DKC0L7Ih_ph4NOdQiW1rhxjVQRIAKoM1OxT5NOj0WvHaS6thPPaXt3mg58cHkvur69IEni-GqRulOJMomWVVgWzDUo2oymy24WOvb5WbiBNQmc358xqERCntcKv7hAYoMHWrpZW8MS1e0YmlB-B8RUdW6orcsHryu5fFIr7UxvC2YdJkME0dbGpUuWpRMB-B53tOCotH1sSFUkBrfkEcDGRPuRknE5nAgmnEz8I1rmSOzS0K2E5PopFscX3pmoJ48mAik5Knz0Du8nNgx03uToUSYb4MqEGECaTMFaj-Y3EMOBwT5Y4y4uWDiq-qAsJxy2VrmDMPsO98GrOD6f3kY4a0F1ms7E7SgnTYFcep9HEB18dVnHgvcaU6VKGsmTlAn5rdm9ImkCIyTVaZc7cxVvWjei1KgmrHy68pi993c0qLevUpWDA79hXNwLFScWWfI94Lf5VjFzyLOb-5nBnYeqjLzyLESc7dXeur5XbmMicNSHvbipB937q5fL3BWHlCVYI9fXNGYmilzzBLHvPZSIykYuPvN5wYa_jT_FSEfjH2QXawqN0mb6f0GVmUFCG0vDEOaOWkkspz968DU4K40M1ywlV4vBu6mjN9jeaOdyIus=",
  "id": "rs_07ecae7b1397a37b016ab2c73ebf9c87d0a0ab68e0104a3c45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_x\":0.425,\"right_y\":0.045},\"note\":\"The purple bowl rose with the gripper, confirming the rim grasp. I’ll carry it above the pink bowl at a safe clearance, preserving the same wrist orientation.\"}",
  "call_id": "call_qas01IfxXiPJ1W8VppslRLfM",
  "id": "fc_07ecae7b1397a37b016ab2c74587b087d0906b5dc80e099cd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qas01IfxXiPJ1W8VppslRLfM",
  "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]: [-0.1307, 0.8154, 0.6476, -0.408, -0.21, -0.2089, 0.9988, 0.1471, 1.3327, 0.7544, 0.1375, 0.1246, -0.0021, 0.0426]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1903 left_yaw=0.1438 left_pitch=0.0075 left_roll=-0.0459 left_gripper=0.9988 right_x=0.416 right_y=0.0431 right_z=0.1804 right_yaw=0.0378 right_pitch=0.1307 right_roll=-0.0398 right_gripper=0.0426\nstate[joint_eff]: [-0.1983, -1.4701, 7.1863, 1.7118, -0.1343, 0.0024, -0.0122, -0.1436, -4.9299, 9.4154, 2.0147, -0.0171, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83a05a8ae88c5ff8b0ef96c26926dd49937232884400fee2565ff26e5091a39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f2fe76ba93fb515fc956d9ac2a7e9e6cedf913607bcbeaca884d914a2973d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4d7ec4b3d7359862421167d83291a6be6f84928a6ba9e2fbd41e9c35eeabfb",
      "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]: [-0.1307, 0.8135, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.8169, 1.4769, 0.4587, 0.4843, 0.6952, 0.3145, 0.0419]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1909 left_yaw=0.1435 left_pitch=0.0092 left_roll=-0.0466 left_gripper=0.9988 right_x=0.3209 right_y=0.1818 right_z=0.0933 right_yaw=0.0685 right_pitch=0.1667 right_roll=-0.0286 right_gripper=0.0419\nstate[joint_eff]: [-0.0615, -1.3607, 7.1179, 1.7216, -0.1099, -0.0659, -0.0122, -0.2393, -5.9145, 8.3077, 1.7558, 0.3346, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssdOYUc2hps1q3ZI8zRG4XR2IL2wbQGFlUWBPGOfsCB8WI6E2qVp--RSkrmAK-QbdHcb6LoEP2nYiaqvdiMsXP1x89NftOkOsI7R4fNdfJ4G026BXhC6HmGjv24H1Hx1sIsMdYHmrgMJzLtaxlKFIRQJL8OEPf2RrHU1R1uTRGgDbArQMWYFQ-GsoV-E8eRo4aR8nJyh7zz-AX6TdqPjg0Lkm26Ibv3_TqgLGgiabZxn7xp-zSBq37satQTzLdcqZfMHZCFehQSX1Cd9BZm4K9UCfjaKB7RoEhescjAmmDBUOGzJaVIkt3Vll1AwkHn4Raydbucm-C38hgN9rNQGTc5oSkN2viZMxpVcQMUZi4f9KYXp8trsrFeIs_yRb4g9Qiuut9wmqEjZxe522O-8em9ctro4-cDiuFWkq1mhF-f-DgYVEi0Y6kfbuTphSEuEOfnk6sZzGyDw7js86oYnzTzboraAxpGXUhRK5ldyRY2A_Moje8N51s9nKz4t0OudjpQdbmhhA08bEUFnzljCyslVqoYKkHz93GBj8dvb5ukTYlEo9EEdAsXqB048U4dt0I8Y35tfmGMePXcS6mgm0cKeiFQg7GgfblueroUKoMuhKS2cjJSgXrXddlLP_8a5x_ynBvCyf-kRI2wsGMoP9rie_bOnuAZFDx9GcHRTvi9Nteo1-p3TQIu_FsUfxrEycBJ9F2xq_jomxGW7SfF-RNiQ9DV61PLHR1Qchj81GMS75Ktf5x0KbUrYCUFzmEVsSF0-xOJqLVXep2VfBYPovdXGsj9tKK6M2NIOcfv1QWd9CDM3IwkUmnqDSOt1sO6Y-OacwORUFnmzso45KBOJDsTKi_3vz6YotJ_ea7ovB1j4P3kxx94oKhI5nRB-V4R7HGE19_ZMgEpN9UQlgteT18KIfN1OHeVPjqOCxi5fKjsXeU1Ecv1QECyVx-odCVu6o04In65IU56DomB7VWqpcl6o8k7BIU7yH_qt2rs2k6PJafjA5Ls8Xr35N_2doqa9cGUFI6zeaFR7J0qKEkBSzcRKcE8z_lrJ0hUEaIgdGAXhrtCrMXrOT7ez4RnLqIKt9tMq_cBvGd4FWnTluozmm48-imTrIHYkfLXTCBn9b-9hWNcN8y921QuFB4dgIR3ZhKtSPU8X0Uo7bM_MAnD6T8BBLZBRI3FVKeGiIydj8fylQzleTCfBhn-P_bcgBl6LbxmX4QXBbSib5CahAUTRlFjoDb7ue9NkvpERoLBRHBbaesVXmBnDxN2-UqdfP3vAz8n-2tXqP_dDERUNMsZPC7ow0OEtit7RoVmwkPDRW6_6e5RTPl7B0QDMOR0-qwaSnzxo",
  "id": "rs_07ecae7b1397a37b016ab2c74af2ac87d089f8843283255c28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The carried purple bowl is above the pink bowl, with their outlines nearly aligned. I’ll lower slowly until the purple bowl seats inside the pink one.\"}",
  "call_id": "call_plxQWKxa4WfLnI3xMkBW7y9q",
  "id": "fc_07ecae7b1397a37b016ab2c74cb64887d0b03ed8ce869250f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_plxQWKxa4WfLnI3xMkBW7y9q",
  "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]: [-0.1307, 0.8165, 0.6476, -0.408, -0.21, -0.2089, 0.9988, 0.1467, 1.5715, 0.5327, 0.5285, 0.1062, -0.0116, 0.0432]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.19 left_yaw=0.1438 left_pitch=0.0064 left_roll=-0.0456 left_gripper=0.9988 right_x=0.4086 right_y=0.0451 right_z=0.0755 right_yaw=0.0587 right_pitch=0.0606 right_roll=-0.0469 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -1.4564, 6.9949, 1.7558, -0.1392, -0.0611, -0.0122, -0.0205, -6.106, 5.641, 1.9121, 0.188, 0.0562, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:330c0cecfd3405981fc4d66addc24b8af4ef84585d07c506cebdb852197fb87c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b92ee3e057b3f7812f71cdfab666d6ef6b5c8ed24729a18d92a2f799e26d193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd46c6d1877aeb591565d513305f02ccdffd5970826231e41a7d68f90c6aa0c1",
      "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]: [-0.1307, 0.8154, 0.6476, -0.408, -0.21, -0.2089, 0.9988, 0.1471, 1.3327, 0.7544, 0.1375, 0.1246, -0.0021, 0.0426]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1903 left_yaw=0.1438 left_pitch=0.0075 left_roll=-0.0459 left_gripper=0.9988 right_x=0.416 right_y=0.0431 right_z=0.1804 right_yaw=0.0378 right_pitch=0.1307 right_roll=-0.0398 right_gripper=0.0426\nstate[joint_eff]: [-0.1983, -1.4701, 7.1863, 1.7118, -0.1343, 0.0024, -0.0122, -0.1436, -4.9299, 9.4154, 2.0147, -0.0171, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssdVMiKfrVAaMLf3zM7B46j3WFPz239ixjrS8z-ngMifZv1yOnziGKwyqSiZrggL4wLIDrs2ZBqS-z_K30vcn0z5R3iP9y2Mnez1-yVezd0MkpCCdAHjuQpXOcfYjs4yQS-9I1qJoD984G81Cysep9P_bspoe9bi9QjlmghBqEYPvkrE78eIizBdh1APsqt0wagegjo6j_cop-EFlVDHQMZSPiFx4grMFUdABuKMBhlBcFT5NBdsuIztsP3c2i2Tp9aF5ERHe5ojbvKt7mmRsLmu7SvvfuH_0oO_MMbjzxnBLv9k6Qgq6KSMrgBaAISNushZqKbx3AGo_vomouZqGhN1TWqmT_s-h1JKW269NGKTnuiJ-a2c0EA77GjVA6oQlJbMpwtO_wmdJptYAmd7j22LhlNG9T7Lsg4sdvsJMEXaimeeNx2us5u3VCtEp5gTFZ-cEnGjvU7Xwi36UahMJuy5Ob0TH9Qqs1gz7V-kmhdOoeyb40Kulbvo0sF42RtOKflJ3uP5I2jL3c_VsahQDnLA5MBD983msrOwKT6iSf18Uwjhr73gKaxj3dochGVOP3NM8pDwj3Jh4NCSsZZkDrszMUhoGmpDTLiDV1qPN7c4yXhxxm15tvI_oSjtq2_m8VWoDKrFd4rlQz-iLY6zkn-Xnk89ZfvyIPSvIaxpmO-7fCzCFoARz0rOHlcT60P-xWMlYH2km2WtS_jSCoszQV0JMD2M0cIlvDTEdpB8DU4urkWsOhbVgBoL49MKTzHsOf4La6wJr8Iqn1k2Wkjxp5jsSK1Tir13RiInib0KLpqO4b9jrFkazlqT-LuX5hxM_E_1leHHToKcxGT3-RWT7mOCRrvfACPchKh5G3_u3R8v3-TjqDSVCJ1WwPXPyabyaUJWJ1fYsmxlLXvXhmOc4MEhkDcAmy_QRClNpgsYQckTamX8M7lCRM-Ff3n1Dhl9DG1kpSqKMY8Y6oItv8h3aVnZ3gzH8re2NXZawSDPTNPpWcQmPJS59EEULXIblMOnzBOVa8UirgHCVH6IJI9z7OumXONdYEQSFV3cP2ir_dHmS0fflAmIwoRU_3sZz98EBPoObvq-sdM6Sh2IQ-7QQeUqGudLyx9yZ8pMjOvrqcdRbB9wOBecJ6-Ca2AE8FXjoj0l-PtJKJQy0CM0jP4g5dNlygDM5aCbjVjclaimbThKAWsuZShLA3l3SSJnwhlg2tiqO5mVXoOxaac3IV2y4jwFvVCttqrlQ2CNobSFTWqk0TqGE0ZLYOJ0UrxhJwI_YGw3Firug52GWJC2_7gvdhcNfmmg6YX1KyLDwYJ4lrq2oNQRYZd0BLiRcLzjPDxX23VilGISfQUIgs28z-ZQYVV2F3FCt04v97RPmT80epk1z9o=",
  "id": "rs_07ecae7b1397a37b016ab2c75152c487d0b6b8597840f05ce4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145,\"right_x\":0.475,\"right_y\":0.03,\"right_pitch\":0.3},\"note\":\"The lower view reveals that the purple bowl is short of the pink bowl, not yet nested. I’ll lift slightly and move forward and right to align their centres before lowering again.\"}",
  "call_id": "call_xBhYtNTFzgECfRf17kL4oTOe",
  "id": "fc_07ecae7b1397a37b016ab2c752e48487d0ba9a871c575dd084",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xBhYtNTFzgECfRf17kL4oTOe",
  "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]: [-0.1307, 0.8173, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.0769, 1.6688, 0.6765, 0.6144, 0.0448, -0.0551, 0.0445]\nstate[eef_state]: left_x=0.2973 left_y=0.0016 left_z=0.1898 left_yaw=0.1435 left_pitch=0.0056 left_roll=-0.0456 left_gripper=0.9988 right_x=0.4584 right_y=0.031 right_z=0.1117 right_yaw=0.0639 right_pitch=0.19 right_roll=-0.0532 right_gripper=0.0445\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7118, -0.1099, -0.0317, -0.0122, -0.5265, -6.9128, 8.8, 2.4884, 0.105, 0.0024, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc68f51442aa2522caac68d98c0ee2111995a02b5392c3b418146ad760cd1854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979f71b014c03f375ee42cf9ddadbdc91b00443aa462438b3bb9e1a2e2a4c5de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507f494f7cbe9da997a07047db867f7b8f6d4d251b73e11bd092b55b8440d792",
      "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]: [-0.1307, 0.8165, 0.6476, -0.408, -0.21, -0.2089, 0.9988, 0.1467, 1.5715, 0.5327, 0.5285, 0.1062, -0.0116, 0.0432]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.19 left_yaw=0.1438 left_pitch=0.0064 left_roll=-0.0456 left_gripper=0.9988 right_x=0.4086 right_y=0.0451 right_z=0.0755 right_yaw=0.0587 right_pitch=0.0606 right_roll=-0.0469 right_gripper=0.0432\nstate[joint_eff]: [-0.1709, -1.4564, 6.9949, 1.7558, -0.1392, -0.0611, -0.0122, -0.0205, -6.106, 5.641, 1.9121, 0.188, 0.0562, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssdhYGLdVETx2fEhlgx_KNmu7GONoRjTZ0ugVeDWmXNPTRH7B7k8VBv8HdT2wA7SF7ZjuzfoldeQZk4m2Vk1kwc2OVuJhHhr60LcFsekgnRT2UGn6E5e5cC3YA0ksDcEj-Jiw3InpkiR14Q2KYlawigotY6aGFXVoLk6jFedxB6qevTlaa8_VDek6ofrpdzBKBNOpYER-s_KZlMLeF1AZAmw5nNMdKoxP3mdzGQqK7-n77TxiiJfSnF54igXQ6WpiJly8ZTYy5YHJgvn0XIKWxleqns8uZMVVntQb7yFg3IhjG-cy7j7aiHSJrTO4XDcekaaqaK5TieVLTq3Awho7hJY6lCkdfvhtIr1sEWt5Q9XfliHuNEPZR3yHSSBw-QF6LDYKWr_GnErjouh1b0mJQaa8IziCQ2PkETVe5kGBQkEGCiuZHIccUpea4x2pELbIvmxiCnK5gGznlsYjM7lJ1MZQObN2JxP1oJ_VwufCbWzOSQ-nh2LJ6rlviU9XHvqbngntYw-JZkak6Wzt50OMMzZipudMluxCI8XfZ2HydxBARIaUcELMaf4EJ03iBTwD4ArrgItz1OWX7mwbDtPg8FTHyJ3teHCVg5cFY4Yo5WuumIK36fHPPQXoMwRuisER5TBV8tqTagrqo42GeuPBLaBxpGMXnbuHgNlsPmWYWLvsX16JdqXGQdOBihgydGgZpeD5Y_afZDKnpy3Ui1pfckmEBMl5tiEv8pL_5Z5_Ga9O0ODRZjBR5IIlFKclKG0u4yWh6gl4nNuX5oclasDgiOVcqLYXvjfgrcPprLX0SEuDUuCFYabxxnhciJPQ8Hd7hVxamfCY1AiyiF7dT72-XD618AfFCyDF3Y7fcY4Ap69yicoaHgRb_W0sQDUFIn-q5pJwDqrSlwT8k1NlkhaVSe7k8rRa_Jg49BovUvEMwerUU-KY9vGj5fkI63iUM3KOOf07mdknZaFtu3pB0ouo6rAR-7p6j4x3ocqo50pxhMuIYhfK6YSVtTklNIZaOYhPyf1_gM3-HhXKmfDZpfLoffj0WSDsR1R7WFHxTESQVNBhMV8M-bHVm5Y0WZjUXjUfbledZP7vz-6EjczJ0yCzF0IsZRtg-1do9lJ6N-cBhI59GxSMt0R7sLVahEmXC8SVsvYkVfEBO6b77BOUyAIc8cURCTdRVUtdbq4n9-BcZgOlaXjZhxX58LWFh5xps0rMCNQ6hFpZycskgVD0cDEJp69jyof1Xw4AoE_3rHO4LZ9j6w1OYpQepwxhWbSunWARDqwDsDcSa0S6cFHRUaLpXVK5ayGCyPoTzBHZRM6hpcli2pltGtyQnzBj-Ud96FVwGbF1WVKsc-mwlkCVVaK51PcVGzXR_1NSelOYmSZxdIMOBtsf7J3qY5d61g1GDeIhAPjn4XsQh0gCxUTUoQOsD_qL6_grFJqzDdKvK7ZehyCRZROj9N677TYJjlhL7VqIMO1gIMRTDSOB7QmiiqxxMy9gOZbhPUi4ZVqNfGf1ehpCiFX33kTf-IeoMkdijCmq9Z72KoPYjrNZNP1QXyIHKfXaYfExLSR4ZnFrKug82tmK5K-pu9-Rk7oqV1cl8yljE0-Lag7M01IDwkPk4i-QFiksrpE7RoTn__Fy61sAlrEALX4GxGOayo2EmdNxpcGcxkqQeNr9T-2CHe8yxTRYB2Y5GSCstpCF96joau-Fm1DFRP4EFA1h5s3SmspTPV5efjwiSJsGf2K7cX_pdZk6ZB6WvShohoLGHLWPnsjet9dOPsNWrfL3iPE7prGDQix5Ldo",
  "id": "rs_07ecae7b1397a37b016ab2c759b3c487d0bfd416b158b1a453",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.015,\"right_z\":0.063,\"right_pitch\":0.4},\"note\":\"The purple bowl is nearly over the pink opening, but remains a little left and near. I’ll make a small final correction as I lower it into the opening.\"}",
  "call_id": "call_k6YXbXgdJ6XkMVWVW9X8wOCu",
  "id": "fc_07ecae7b1397a37b016ab2c75eeca487d099999cb3ff104242",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k6YXbXgdJ6XkMVWVW9X8wOCu",
  "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]: [-0.1307, 0.8211, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.0265, 2.0701, 0.654, 1.1839, -0.0105, -0.0624, 0.045]\nstate[eef_state]: left_x=0.2976 left_y=0.0016 left_z=0.1888 left_yaw=0.1435 left_pitch=0.0019 left_roll=-0.0446 left_gripper=0.9988 right_x=0.4835 right_y=0.0183 right_z=0.0544 right_yaw=0.0666 right_pitch=0.3357 right_roll=-0.0452 right_gripper=0.045\nstate[joint_eff]: [-0.0752, -1.1009, 7.0496, 1.7265, -0.1294, -0.0611, -0.0122, -0.4991, -8.1162, 5.2991, 1.5849, -0.0317, -0.1001, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a46a8fbd4470348e42fced1011afe3c6def4eb055aeaa2a55578bdee24cc760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf16f558dbe2bf7a70a734f9151d37c947cc8212988a892061887eea8e44bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c828c3fb7edcf95341a4641b544769b420c2b8c6134002a39db21ce945e098f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8173, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.0769, 1.6688, 0.6765, 0.6144, 0.0448, -0.0551, 0.0445]\nstate[eef_state]: left_x=0.2973 left_y=0.0016 left_z=0.1898 left_yaw=0.1435 left_pitch=0.0056 left_roll=-0.0456 left_gripper=0.9988 right_x=0.4584 right_y=0.031 right_z=0.1117 right_yaw=0.0639 right_pitch=0.19 right_roll=-0.0532 right_gripper=0.0445\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7118, -0.1099, -0.0317, -0.0122, -0.5265, -6.9128, 8.8, 2.4884, 0.105, 0.0024, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssdv-vNls_IISgJxf_6Mb7rh1Abxr3pxiZJIibfuOBQj8RQX5IPA2F97oE0ygTIIOingjZUez-EyNK_Q_R9BDV3EFN92DkvquWgTJYFRdIhBxnk8zAed_S07jR9azY--jYxaWkP4JqLaMMhN_TO30Wfy0ZwTkjckJGvecR2NhEf8Y0jnCn54HH_a5UBtYovb9taXtVmeArBllL-QKag7QPE4eEwNoQWhQt0A6nd3MsSB1l4m7fzRQacCPIeCidJz9YnkY8C2K5g__p8lHdIIq0OwucKi4EybfezvDzEx0Y_n21KFUlZrIS3soiCbaK7IzZSAOxD1KaqeNZ3pqPKZ5rfZjg_uRNYhxGn8HRNniHAOJ7oYEqAFJMlCn1B1bg-EGtBFRB4H0bVL1iYorSZYsR7C70eBtyl75znjODEnzBrXQaGqTBIqBPtBU_7IxjClKh4TDbK1b_ZglieIXgt0h4HeJcNXbVoRoY3MIvSqokO_cHZmWYh6N88-licwOblnccbdmis-1Z6ZnYV62uN3hS90Tdop6knxiiV_4KFb_CA-Ci1yku-liO4M9lpwNsKwOV6Naa_7ji36zFzRtCx5Cq3GoFKpYqX47jqLe4lltKhdlylC-XZdsdeLP6n_TLBc8xhsCIYlg9s61wsFuWjYbSfsOYcoCPYeYM9yBXI49DAAyHT6KwOE6tO65KWvDZ0m7ZTrQuIMREc6v2w_PZPhVjLAI1TDGVEViBXQ9BQ2RcVgGbHXbjEHAoosu0wKEgfS9ePKJiI21_rg-PXmf4EBmn_YqbpdF4kV7KPkl-WId0nEdBNHrTgF6l9TAwbj_SeMV-FUpHuMKqjPH8m7-ifg3VA7p2sK-r5V0GujB8moddR9Zw0Q331Y9-L-9XBMhInW4yC1V9W6txwZX13GbNb16YLCdGNalReUEvG_Tki8PpvVxWe90cCUF8xdC8VapKqEELaDxlwvfbyzJjKWgsBAUOSk6Cjnsm7pdGqfrpchW1AOukJUakEJkDgKYNvKczsfCQpQHnO-UMJqLh2bNfOWOmOv5jTNzpx_PnK46njqYY9WIdn4TjcdpQzZwJ8afpOF84kE9YOWQF5hmQQU6LznlKDvzuvrgG5WPwO81OKNFjNvM2k1T1HJcDxQy3BbZco1EMHZUm7xtu0b9wWYzbErDIxq_3vfvm-azCgn-wjLuGX1UkZYKD9LbL_VBSMDKj906TJ3xi0XvW4S5T9S6mwByn9saUr8TzK75j-Dl40wrES5KljCPtNy_MiCImRpcyIHte2n5pwF3ndAQhEl2Rmx0TpS1WYPJldh_zBSN32_7rTsAmJ3r9jJ4p28_js8ZvSCDssAJ_NbMEmh1hQT0uqWiz335EkcSah_Loo-3RyzMfd1bhp1qelP30YoUB9NG68E2xUEJQzKG6VKqeEnW7PQaVC1u6tsmTreY5MYVLhtJNtrdVepZHXWVjjbDZa3hh-S3ONjB2c02jjolVUNVjjkiDqT5KNJZr8mEwDkXB2E1z7wGVdKksf5WrjxsIoAo5za_UECWqAT3MR5GSijEgna9CPDqPD4ievd1mlQnTAoaRU73rtaN-sqgyRWZpzNeSMfzQ0U3lhHbrxdVOOh6AcQYCppCGKRfRShCw07X-MDqaShSilDgIFYM6DzJ3Bd7fvxvNaLAR0nQW1RkhEs3O1djrX11a4MwSW_lb8Lio7uoU98tMrDipMopU6SnagjnN_AmMdNSwc8RNTmkbK89qEmqAqu-yOJ0NoxeQE4XcvIiSMf3os2uvNq1mscdtUEY2bTBrB-opozT3n3fqmqmxTUx_HMMPED_8z1CneIq6Ng28_du63PQwR-ZXkKoiwU2PGS9BWUVUzx1HFmyfq9kBUZc-9w0LDJGsMoY4ZmsBdjvYKpW9Gun3Urd_84AA_bo_07D3Tye8Wp-Xd4v_EAUfIkuROB7r4ORU6gGcC9m4m570adIxvLkSWOr5mU1YcIGb8n21a2fF3zokWWAplu53lZ58DHxw==",
  "id": "rs_07ecae7b1397a37b016ab2c7656b5c87d0ac3de5b3c6d1f560",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.8,\"right_z\":0.065},\"note\":\"The bowls contacted at their edges and the pink bowl slid farther away rather than nesting. I’ll release the purple bowl back onto the table; both outer bowls are now beyond the reliable low-height reach.\"}",
  "call_id": "call_nbCkFZIlb6LSWp7gOPVMc9er",
  "id": "fc_07ecae7b1397a37b016ab2c76d25f487d0a7d4e39984a8eb36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nbCkFZIlb6LSWp7gOPVMc9er",
  "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]: [-0.1307, 0.823, 0.6476, -0.4084, -0.2096, -0.2089, 0.9988, 0.025, 2.0605, 0.6533, 1.1477, -0.0162, -0.0639, 0.7955]\nstate[eef_state]: left_x=0.2977 left_y=0.0016 left_z=0.1882 left_yaw=0.1435 left_pitch=-0.0003 left_roll=-0.044 left_gripper=0.9988 right_x=0.4816 right_y=0.0185 right_z=0.0499 right_yaw=0.0706 right_pitch=0.3083 right_roll=-0.044 right_gripper=0.7955\nstate[joint_eff]: [-0.1573, -1.2786, 7.2274, 1.7216, -0.1001, -0.0415, -0.0122, 0.1026, -11.8222, 4.0274, 1.8681, 0.0171, -0.0366, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233063305dad776916c50836b2ad8455f7c3bed68eaf2547c1050368e115cb1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccf1385c92c60e41be219400c63d6f7c7d085cb2c042b0b533b96f611b66dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfded8ba32593875ecb64744b27c0b03de77fc4e158918e44672c1706df3bd41",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1307, 0.8211, 0.6476, -0.408, -0.2096, -0.2089, 0.9988, 0.0265, 2.0701, 0.654, 1.1839, -0.0105, -0.0624, 0.045]\nstate[eef_state]: left_x=0.2976 left_y=0.0016 left_z=0.1888 left_yaw=0.1435 left_pitch=0.0019 left_roll=-0.0446 left_gripper=0.9988 right_x=0.4835 right_y=0.0183 right_z=0.0544 right_yaw=0.0666 right_pitch=0.3357 right_roll=-0.0452 right_gripper=0.045\nstate[joint_eff]: [-0.0752, -1.1009, 7.0496, 1.7265, -0.1294, -0.0611, -0.0122, -0.4991, -8.1162, 5.2991, 1.5849, -0.0317, -0.1001, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The purple bowl is released, and all three bowls remain upright but unstacked. I’ll withdraw the right gripper and park both arms clear of them.\"}",
  "call_id": "call_IMa1uw3guN4fnejp7XBEJ3k6",
  "id": "fc_07ecae7b1397a37b016ab2c775852487d0babd092f1ad681fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IMa1uw3guN4fnejp7XBEJ3k6",
  "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]: [-0.1375, 0.8249, 0.6491, -0.4606, -0.2104, -0.2092, 0.9988, -0.0483, 0.9493, 0.7525, -0.313, -0.0677, -0.1154, 0.9982]\nstate[eef_state]: left_x=0.2908 left_y=0.0006 left_z=0.1779 left_yaw=0.1378 left_pitch=-0.0509 left_roll=-0.0296 left_gripper=0.9988 right_x=0.3338 right_y=-0.0006 right_z=0.2175 right_yaw=0.0665 right_pitch=0.0589 right_roll=-0.0526 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -2.0718, 10.4957, 1.6288, -0.1832, -0.1001, -0.0122, -0.3897, -2.6325, 9.5111, 1.8681, -0.1197, -0.0073, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1223544abcd33807ed1bb7805acbb22018df900c21a508504b9d73edd9204f52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a188ca53ff04c4dbfd3dfab1abb3796f72709d7c84e5fe9739129f2d73031a42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2343650bd942c9cf5d8334d1c63fbf8d5839abad24161aaa563e456cc80dc96a",
      "type": "input_image"
    }
  ],
  "role": "user"
}