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, 0.7956, 0.6048, -0.3805, -0.0227, -0.041, 0.9947, -0.02, 0.7933, 0.6025, -0.3794, -0.0143, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9947 right_x=0.2946 right_y=0.0002 right_z=0.1796 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -1.5658, 10.1949, 1.7705, -0.0611, 0.2515, -0.5641, -0.3897, -1.4154, 10.2222, 1.9219, -0.0806, 0.1734, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7809ac031ac44d9da7d4e69c2580300bde0acea65698464e017e82c2d8c916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0480fd21dc4b2c4446c860d26df60e00f7c0f5707a2542095b9bdf82780b5ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08f79a4a6cb1da606b9f3fc69e0b7a566156cee721aec4daa7b1ae89e95204d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssOX4SurCvoo-o4etH9TugIp6z5B1WN8RUUIPUDvioTePk7_a21wByrFmJRUBEGsJ-lVf-W_sGhiPzgFY_-Z3zQizjyWRSkUcsyt-GY4f4klZ3jG9LZbCr6ikQUQoWeQdpC6k0Jgg5CXh5wQmlmbDPWDiS2wi8vs9LT8AExWxxxdIopNG8Pl7MwXUjHLMgLS2vbIehEDYZeX2I-LW65ZhTgBVBeWR39Wf761tuhLCwolmphubT-wZ_jftB8eHeFof4IB1P5Fc4mXOoW2TsxOYIyjieIqyhwhMDreB33zI2SOh0VhITeUpoVFrVNHL2-m_nltICXIzxPfkU5XolIWidf9-a8tb-5AmFE-nVkATiHIw7uAI3n-Gu6uqtZ-wMP5pbUYTSJT0w-7Y_vi6UBBT32QY0W2sP-lfAb238tb_g6gqSAxKvXJmUajMv0RaiUvnMoD8Myv5OPR_yolrzFtNq0Hnoola7fogVMQZKDeX6rmVJA_PEUiS5FF49TP37YYZpnNSNZux0HkfVEx1B4VTLJyEZGXZuE0w_FwbYxOB9fbJk0U6nZMaOWhLyLbbRR7KHiZSUIeDMr_6F3ZUxsnDf_AH7B-bGcXhz2sIptRVumxO3c2FvyEFE26mMxOJOZh_8HIqJ2tHQr7Of86jUTIOm6t_YF6vpA0roz0TLINsyFUjKvFtgi9uM3HGEIoSiaLOGAu0PxTp1Wdf7EIHlfB-kMe2iPlv6rjjBi0SFKFxS5iycF8NAzi-AqKclkn4yUrYVDjqfSDIAHO5xkS7D0d3_shLGdLxUP_6r_TIlvS4HEVXM1clQMBtcYtPLr0ie5fnp-VGhdH1CiTtBpSE39nIVLHW_0gN8v9o9fQomBxKO23zNWNfgmHtrN-C1NKCCRW6j84pjVqGu-OXINLrdcHNnlY1B_Co0qRZCiSQ-MK-I8ocSpvB3jkKbV2LG_8_2XwY4flfxPOR8SUytMTFSiDMePkZmqTQ1G3U5w1rHGOUW3aXPbuyko4Z8dPNvzdfEbhAw5MdJB5WyI4l9csNf84rsXNMgovjCgoPRS8yegLBymI70yMkWXSkMJspLTy0aU07ZE_7dzYkkdx8_6EXCZBLxleTWi0D5-khBAOSOpb9559LpCSqxwXaUeTrvfGFObxpqnHrD3ESqmfmfJcE-vcx_gdddWCy5qGgWajyZ7SBXov90I1HRgfNLtU4Qi8PYGwlrs-941Dq0lp0_DZfU03VfNpk02xKo63Jeb9V5QfyxvOaJzlpVXIttNzTKCnUkx-KKGAcNoq_6uIH0vvUPOmuZ-fGQcLOTkbga7QtYfwGqLYgogymYrzoHGu8IkbVuXPIodB21gzgYUW7MfVaH3a7cm9v3jLJ0L2r8TTidg5Mb7DiR4iynqQrCAOcYX3UGCha6C0L2o3ou06PBh39fZu3BI8hkhvYv26Bl5I5ZhrT-taYJ5EKvwordV1jGU9EEFayAkTZsmMvGSGg6j6hqKsIpPAc7Y5bpc2HFR-EXHEmQiRihWm7BR1cFv-s0rTzGSQEwSnyx3DWL08PYxDIf9j3oiwg1QYfz7-XCsD93YVLVRakaQFBMvfy_bvxsltxfTctudTzQfCQNB02KWIt9BGTlMwQhVLbcJ0Qvn0KrWKKWLddOt37UTNQPapN7BpTQZvKS9g",
  "id": "rs_0caecdf28f0c5d90016ab2c391a44c87d088c4ed6de6322dc9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see three separate bowls: teal on the left, blue in the middle, and cream on the right. I’m bringing the left gripper above the teal bowl to grasp its rim and stack it with the blue bowl.\"}",
  "call_id": "call_JTiCeeKHzS4DVowSzxBWfIiO",
  "id": "fc_0caecdf28f0c5d90016ab2c395e8ac87d0a2c3462f692126c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JTiCeeKHzS4DVowSzxBWfIiO",
  "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]: [-0.5388, 1.338, 0.7406, -0.1196, -0.4252, -0.3351, 0.9947, -0.0216, 0.7975, 0.6018, -0.3923, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3565 left_y=-0.1241 left_z=0.129 left_yaw=-0.0251 left_pitch=-0.0708 left_roll=0.0288 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1754 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.4496, 9.265, 1.8291, -0.3639, -0.0415, -0.5592, 0.0889, -1.5385, 7.1043, 1.873, 0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bec7c9fe9b6ebe0299a9b948231888602de63e4ede35a89a84a1d2e2696fc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9de8d5d0208bb8dbb28469d9c0bfaa056006542bb85ba87ba4d6c2ccbdc241b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e67ea0f02e949c4b958c32e1ded6b264ef3f2558040727f79c6cd1ec62efdbd",
      "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, 0.7956, 0.6048, -0.3805, -0.0227, -0.041, 0.9947, -0.02, 0.7933, 0.6025, -0.3794, -0.0143, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9947 right_x=0.2946 right_y=0.0002 right_z=0.1796 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -1.5658, 10.1949, 1.7705, -0.0611, 0.2515, -0.5641, -0.3897, -1.4154, 10.2222, 1.9219, -0.0806, 0.1734, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOlpg3asFkbruD9136wagLGToiplzz_EfaKTfJhkI23b56xv-kynrEXT_CFNUaO1ZOyv9rIrmkotnHzqhHRzZCVWN-OwRF3l-4i95euWoOmWBpNtyznYGv5cCkjqVqn_X8jQ7XuX_giCr9KYkzKvJJsesJVXgA8Ee79XgadcXGgO97p18vjPrz-cmXtFcJouZ-3ZZUY6005NCeF4Z0nVkSGyck17VlRD4KVDmIqBy-hFmYABkWSngI1-72p18IhletAS2InKwi1qjBiN92XbVuGbg4DTFmPM1z70l90M-yiBioia8UmWHZhrK--yQprmP7salY7GOeR66POmktS4Ly2Xv0sIqOZnBXoSxJRhTkEI92wNmshe4g5YA6WiVdRZMfimT2zzS5w1HUnaVdTNddoyhPucLxgMsBrAiEG038Qeg8gaaVfnyDw316mubWHGEZOeb7kDMn13Ysq8lTcFWmO4pWsBDwNhs33ygNV74nGbuF_OWIIuoLUFejO04TJ8_63M1wBzzsP9dmpjQM8SkC5waL8jYRHMeZJxct2G17c2c0-T0kg39MQql2zO4Ya74v0zSRYDdd27WrAfHLass9DqFgmTk5GX4_JqbaMxAkwZq3CYtL0m7h-kjiO3__PEH-SZjivg83iTTKZ0EIM2AcHjo_LkiRrtw5_RNdf-_e2DCAs0A8xJh_E3jRXwWuNsgwLS_0lTYw7WzpO-VOo4kuZXIdOj5a8_O8CYwvzBbyOsHgBMJT-t9FH5ZzJoTwDegTeNHFCgdG_FFlZfSD0xBX1fpCaj2-biIy55PLe3eqYmU2k8dYM5E0WtSks_PQV8zQ_aLR2yyRSDmq1cVZwrdy26QvqrBThqyWwR59AX5H3y1tLAL6jIWFTo8Frh-ToT4dWdl_GXXylhvHgsoM4DPzMscPWYTDta1OiJBln9iwX6BrSMmwjeFCcOQn3XmUBDWEjeaIOUmY_Vs0dP5hVug2ADAXiuuVtmQqXD_p1SskmGiUlwEFIRKlRUbQ6DQyn_4h7dPFYKEPq7NMiW5NH9mRIN1NL3xrCJK-eFx68xMzocc8j1bLJUmRs8C1jocWLmu0T26OYHkQlbb5gzKmM_hse_4JheFzvUgHa_QxkcmC5s-jf9pUEbWqHMZrvO8NVdtH7gCH8oVnq5x3ylVraZwyO53AbAVTrDv1aWneODtKhlh2wvY-wrEz32ZeEW0olk95U7XFGCq9Xu-BRsdZB0iBwmACGCanwg3M85ApX7f61Df8qDlA6iE3ab-S-N7alPSngLd1gLb800SfLvcP_KoFn3OFVTVA2Fm2GlkxqhJfBTn1nVxLLgpX2YfqGD1vbqOslek3v9cxO2s6DUII1k6zFaSk-NbT0e4EtY3CbyTtKNGiyyrGrmZiRNuLjh11iXiJ-5WiawwWV1SfKMCwJ3qjN_t4heazFhVKgVqnIpC4-xjEu0oXsIooiZs3Z2ArPrgCjY4pwxZjHGDmRLXLicewMPTm_bEfm1UY2o08hQGC0tkTocDtjkrXVi7Usm0eHaZCqfeMpeYmlIGMzfh3NZ6JM8iRVeWRoIGTs0oqwNfnhCKyj5sG25CeOnns_Vat9QsxcMIn1jHPk_GGEeMnDL07VSmfYwLxH9qJSxh7BHdQIsPOBjb4IYo5ynXh9a4huL5hP7W4d2irGbi5LfgAjuhbNxflmOve4sOHBvRQaFeQoBjXddhYbUGGAt7N1gKfqF89ZNgZQQfzhwqi1OvU8nZgyixtXqPpM16QlukivnVwgfyGgDThVnOuzoMb8Z2jfkAavsK26TPVy2PlzcG9MZnfsEHQ0AI-VJuqdZtE9ome9A5A-OtmodKE-c7MWiGi8wpdlT1m60h9GD28Fmqd22lPNS4z81QQ3hV4CaYJ1PPTCRtJeplHfofLL-Qe9HhmICsxaD6qDl29Ed_B1aPpoJqF5PS-7CBCGojlTH0nz8secdp1Hb2N1MAyKjRTS6fg6bV0DFgE5f9UGOcXUmBsujXMGJHF7zpLlhuKWTLGS83mwBSxkJyQSOWQJBaYKbtcsAvoP",
  "id": "rs_0caecdf28f0c5d90016ab2c39d3bb087d08cd86cef7ac9b2b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.095,\"left_z\":0.075},\"note\":\"The teal bowl is slightly left of the jaw center in the wrist view, with its rim still ahead of the fingertips. I’m aligning over it and lowering the open jaws toward the upper sides.\"}",
  "call_id": "call_UgOffM2ToTC28jQxjMU3zqfr",
  "id": "fc_0caecdf28f0c5d90016ab2c3a4080487d085289a0234113de6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UgOffM2ToTC28jQxjMU3zqfr",
  "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]: [-0.3676, 1.5841, 0.7143, 0.1169, -0.3206, -0.2497, 0.9944, -0.0216, 0.8024, 0.6003, -0.3927, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3955 left_y=-0.0888 left_z=0.0651 left_yaw=0.0173 left_pitch=-0.1358 left_roll=0.048 left_gripper=0.9944 right_x=0.2931 right_y=0.0002 right_z=0.1733 right_yaw=0.0006 right_pitch=-0.0248 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -6.7077, 6.3795, 1.7265, -0.0073, 0.3004, -0.0464, -0.0752, -1.6889, 7.2274, 1.7314, -0.0464, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d9b7b53078148eae98fb6e9b160dcf2c22ecbcddd0823f8345cd3515bb3b77c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd527c7e8d2f98c683e83645154f8200fbc838feb5ce17cf1beaa999040cf25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3763c4cc656ff80661cbbf975606fad8a33c56d1fba7c05bc6692e1036a7c118",
      "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]: [-0.5388, 1.338, 0.7406, -0.1196, -0.4252, -0.3351, 0.9947, -0.0216, 0.7975, 0.6018, -0.3923, -0.0162, -0.0303, 0.9992]\nstate[eef_state]: left_x=0.3565 left_y=-0.1241 left_z=0.129 left_yaw=-0.0251 left_pitch=-0.0708 left_roll=0.0288 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1754 right_yaw=-0.0016 right_pitch=-0.0179 right_roll=0.004 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -5.4496, 9.265, 1.8291, -0.3639, -0.0415, -0.5592, 0.0889, -1.5385, 7.1043, 1.873, 0.0073, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssOrFcycha8lMMl-SSLvoQTt05xHl4PLH3oE73fv18kvIgvmAhkfFXdhpFjwViZOBvKfBLtrOuemB8FWv3cNbkpzMs5BZKZX-tX1OQYIUsPVo7lTvyj2Q1BAFSih4gekvxoeKCcC-ntAYYNEmk_6e6pVNgPwGvjlp4oYHjnBe1hHrCoFUyye282fUAcv0Lhq-6boqf0oRlVJ4EOKW4BVG_kYT4DcABzs9kXs3Mw6CK_8l0mgv26RBGVehyoNTVZoU02i1ZqSdipF_lT3GzuCVINC7NdRAxXX7sFLS5tc9fj4-uxqAmuI03xtgFHOOi1zi76Vb7CHzuXVI3e3dQvRNFHubh6vMmA7JLsy2n7niY5AG4XEcu-cxiHb1UzF0gyEcc6TN-W_YKwRXSxrhDGYf_PinR7d3Rb89oliFd9b_iNzLqswHq5VqjP3i3CqpWfTJQiw5_c_Y5uYifOeoZyXSqnejTlybw3wcPZYnlelj4weWErvIq9I4OqkCp2JKlv_y82VHGMyiV3gncl4VDf49Ic32EGk_dlsUatTvUFB4mIB4ADiGlkJyIwgoGgx1gtFAnMJQOWx_Xod2q_heoEv31DVaKON-USkXiZihZk-UwfUO_RdK4EL3eyGYQMnxc1_2d5SBvx4OJBLAWKIbujhE2SeWCGBCHJLjwEIB1cn53K067p5W0w12xb2D7AX3g8rthAp-WRm-UILGQvNJZAXSOWqf4qj6VR5kXBrb8pe2ed9XdFAMwoSbtAQpM8vLBVow3y-R-u1_JLxaPU1OUfa5eQrzdwHpp-w-djmXCwusoVocuvcHwS-O4QrJZf8AnDzA3y6u02gzulaKMHlnrEHvlv9BNRAzSBhaTN1N2vO-g1Bas_Xigod61QtmKTwnqCZWmQZmfvCsh9RPpnTboDJOrNfrMDFDzsOfSTwlOv-w_0UCVrM7YnMqxNGFHxeWsQNrfJmXyxgLBicOteoSiyUH8PJAzSfsyW786MOCeSQ18i6XSMQCfCezpBLI3qOTnGKloWD4ArJPxukmxfD6oozT_2tWV3k9Hm9Y0Blb7KQPLaGf20mvtT6pm9Ph0tPa7eNPqDCAB9djnne0pweV-rwegaX0E_NEQod-Yhyr8gL5-93EmrweVniecKWOORCUopNul1oR4kGqeCNoeTi0it08tJ-3p39rBVIUq3rpH_AqEB8yIWHChY7-qFNDaqZ-LSFnonby1D1qAtIcIPYm-IwWgLFKLlUInWqQDR1NLUMUdIZt2Z8RbgGDEtdUX7lD7D_FEyQn-lVUaBnfWnyjriuBjaijJUhoTeuFeYDZRq3sTEp1k7rpawJ5NI4iiR3w7Mfv6lKBXbUpXaX9mEXCHoIKtZJB1lKOmiI9mIPx9zSbdznLpo=",
  "id": "rs_0caecdf28f0c5d90016ab2c3a87a0887d09f4760b97be874d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.075,\"left_z\":0.035},\"note\":\"The teal bowl is now between the open jaws but remains a little left and forward of their center. I’m making a small alignment correction and lowering to grasp its sides below the rim.\"}",
  "call_id": "call_vEWKMdbkhyMwD6I28lNAeOUv",
  "id": "fc_0caecdf28f0c5d90016ab2c3a9cabc87d083fcd581b98582b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vEWKMdbkhyMwD6I28lNAeOUv",
  "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]: [-0.2905, 1.7752, 0.7567, 0.2092, -0.2768, -0.218, 0.9943, -0.0219, 0.8051, 0.6003, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4162 left_y=-0.0703 left_z=0.0198 left_yaw=0.0443 left_pitch=-0.2007 left_roll=0.0626 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -8.5265, 7.7607, 1.9756, -0.0024, 0.149, -0.022, -0.1983, -1.4838, 7.0632, 1.7607, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfe1ebd444262f7b855fccdd38ff58fd099e9aaa3a8407b20f36d1849b0f510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:508e0494d9a91a0f1da4c2f92900a31a8571dbde715e7fae3ec081d21dc7b44f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13d35d643f4cfeb4d0652805f69e226f2d7fcb258ae42402146dce16839464",
      "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]: [-0.3676, 1.5841, 0.7143, 0.1169, -0.3206, -0.2497, 0.9944, -0.0216, 0.8024, 0.6003, -0.3927, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.3955 left_y=-0.0888 left_z=0.0651 left_yaw=0.0173 left_pitch=-0.1358 left_roll=0.048 left_gripper=0.9944 right_x=0.2931 right_y=0.0002 right_z=0.1733 right_yaw=0.0006 right_pitch=-0.0248 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -6.7077, 6.3795, 1.7265, -0.0073, 0.3004, -0.0464, -0.0752, -1.6889, 7.2274, 1.7314, -0.0464, 0.0171, -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": "gAAAAABqssOwPAaUu_NYMOwTfwI0dDn92qcGJRZzNuCDWUjIRhhrDNb3YHofQ50mk0Y_0lPd5OXHwtOh1CMnwgZjFy9YSI3tnSKA3MWVCZvHPQkorFwdnlH9wcUUpzo2IdVxuV1RUj2CiCv19gj8NgYRw0GjNIc6_52XNdLZEO0pn0nSfgE_5ICkIf-FttriBZ3LA_bmJb4eC6egyMdDQ_RDjIJbrcFI5jJrxazyM7ZzYXBCxfFnKVTKReU2KxpMC-2XC50g5uCuMJGhku84igvgCWsuv4mpCx8QqKqGZzwoAvwGPNH9z__j5WOYq2W7ME-Yqq3ipCqa_TYCFYKuNylpdVxB_itOtrE8AflD9wHLCn6OLrsQG6L0nFeYOLshJ88VvLeTzqF09qsdf9DSGSfTTQDuo7ozB0qrZdkfQZNVfNtkx4FhwStk-i4H-ZmkW5c4Z1EfBCNGUpYK6D1sE9QKavKb02uI8jWQcsPTA14WeqVw-b-cLpZS42YXSyFdOaX9FAH3MuB0C8oZThe1VHGWhGfP5msKnl8sA6L-M9fsuC8_cirsTxnJN_vve2Ag_Mxp8zsNBcb0l-7GyeJ-EMVuEm8L_Xt8gnm51tlprV-MALMkUkDuok4xoeF-Jv8pGOfyRGVSdzmQH0HTpNhHG2VBt2JQxPhEqonCPrbmGfHNaW7FclV6wLHBs6wcTyyHrfmeNtFbIGjWu65w3y-AsUpeKHFY3CTFUufX79swS1WQMvdNHFfyvIFO6eQpab5bev2n7cGiu6Q22pS91MX4htpbgirj9-_QFZ18-KbpZ-X6maAt-_ddfu95fVd_3H-hz_Pk5-LNSKw1Jfbngsm3GDMMg6aLGTKZxoAUCTz5w6VrzkbL6LydViaLr36ipeOZbQxk6BO2YgIen7KCLIo5-6TlUKHxn5Zlav1gHfs0mamt2iamTFf8-06XmIWywuH-D8hPsuKRDuhyBylPI9xC2unJMDvnf6s8rlEagKpI45WLpu0ZMsGPnWGknVAZGiDjKwGSfMDApCGGWaneXjH_PpiNCEirc20DFAiz8JgRChh-kBwapk7k5Nd5hwEDp1bjoEMrBJuQa-yknEVvH2lxsTV8KIUAwDWqGMWrthc54UNzcY4WUl_YX7muT8yvN7oUR2PjEWEQmTdwSp3XTOcjKpfohr2rPhP6Jvb2PkEhRL5UpqVrHE4pux8yMWqRENeWgsW1z-A_g-TREcugf5A4Kd2axSAc6ibTS3F9emr9E7NvQg8SZe_XnYw=",
  "id": "rs_0caecdf28f0c5d90016ab2c3ae2b4c87d0b5542b795adc2df8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The open fingers now straddle the teal bowl near table height. I’m closing gently onto its tapered sides rather than squeezing fully.\"}",
  "call_id": "call_BBJopygW0MWjW45PVavcJu7z",
  "id": "fc_0caecdf28f0c5d90016ab2c3aefe4487d0bcead94a33a5972c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BBJopygW0MWjW45PVavcJu7z",
  "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]: [-0.2794, 1.7927, 0.762, 0.2443, -0.2623, -0.1982, 0.6054, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4228 left_y=-0.0699 left_z=0.02 left_yaw=0.031 left_pitch=-0.183 left_roll=0.0598 left_gripper=0.6054 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.4581, 7.5009, 1.7118, -0.1343, 0.0708, -0.0269, -0.0889, -1.1009, 7.0222, 1.7265, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca171939c4c4a4c7b31a9f4e21b79357c969b89b7b0191f73b3fff92642c68d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec4021f1bc3d655ab8cc95153b7f276f1128540b1d3f9dbd90f32b3edb26b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f92fa787162b3d02aecd0149969e30209deee7fd75b790916c65a6731d428e6",
      "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]: [-0.2905, 1.7752, 0.7567, 0.2092, -0.2768, -0.218, 0.9943, -0.0219, 0.8051, 0.6003, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4162 left_y=-0.0703 left_z=0.0198 left_yaw=0.0443 left_pitch=-0.2007 left_roll=0.0626 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1725 right_yaw=0.0004 right_pitch=-0.0278 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -8.5265, 7.7607, 1.9756, -0.0024, 0.149, -0.022, -0.1983, -1.4838, 7.0632, 1.7607, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssO11i52383UbuWLAb_57LpHXWdJobhBJ9yMMRf6uAu-Dz2qU7V_vvjkdZkEauM2IAYyp9AaqEGrS9VyJYTFRnl9dki4OA3qBCHhRe4z9qRxLBIkq6AibwGs2PVLXXHRwYS9Y52Mh-aTD0sToZRt2pUbBU5ZauKes9EFNeGVF73_C0Jh2gMTT10aLu0IrbZX4qDCv1lyiymTarshld4ZiajRjfWCxXLDiM8fwmAutM1eZgYt1Ao9ccgTzGouYmsA5eBLSYxRdjG7g6etc0QjkoaCRv36GTFnS26GMFGIwtd_rvUDUYMyR1xhuIeqTIuJytAHYtO3Ux6aMe8y8MOPZA59gLHZX_5z2BIg29iQYf01QNvrFTsPhlrONBs9DQ3flrIS7UYnNPzDpDsPJxzmM7DwgwXk_U-FRrIG7K75lTTbDFFoxfo4Ab9OCOLbVOhalCgaO6I5TezCoGGzyKmDZLrIE_uItjQUVNuHD9ZX5yVzleft5rO4fQ2vhbExVMjcJCLqllN_kZivgUnOt1edUacPq03TN4-NCIyMrQ5AqqIgt0UPno3EqaLOMCxiydzTcErp9yU_g_c6l0CsuB5zO7Zs-TujdgyUt-13oBpsksSaTqTv1q-_aROLDf9wj3pRdcq8J7zLWrgxB7dzBLSTMkiR-Js2_fVEdAnrm6SX6752N4F-67B_aNUNQmh0v9FK-TV_1RJKMdcpeRcpT9eBkdPvWkk1WAIgb_0m6Ww9ravwuy5ddqlvYHTf-EC4niTV6iq_FvzBqzwQHlfXcR1bipgAteDg1K7_aCx6SpJe-_SGPYUDvDlN8muZoD8Qc-bsJyo3Ur6Ai3pmSo0MIwrfBIClW2kFGf2YgtRUE0Zo7MItBFwaNYRZ0PzU5eHzF_MXBA-zcYm7aTM12xTQtZU-LPJXt78y62fV2g4Rl_CpJHthX9mzu64pPhmlb5AygDe33qeReBHmB32FFAoWlR9cusKZIBz6OFu6-_AlFo4D51U3led6fBCvZXAk3Km5w2UQL7xQXCQg2aMSUG1d1OJCte5TCdzEQQ2rBYdCd7BMKbevDn88o_gvdetyhURHvLUU_4tIKrXwj9EHc6YxK7tNJj10Jishfqj8zALlR1kfhcuP2tHLMsNrQ4cKWeaU5UlXaIL-e9YwqDEmtlp1eGpBNERMU2nfGRP9JLgqUSrhLOfyjDz5XYlx4ZpHwQMCEds_klCRCwlJ7Y5q_OXfHXQX3qrw_4hrhAhyk-d9MKKnmdejq_aGpV3cYB93WpI4_ed0RGRplgsCaXIP11SlIc1KUTzWjA==",
  "id": "rs_0caecdf28f0c5d90016ab2c3b3061087d0a243f82cfaefa908",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl shifted as the jaws narrowed, so a secure grip is not yet confirmed. I’m finishing the close before making a short test lift.\"}",
  "call_id": "call_Df2hAjWaeMVp3tKr0VlvMl4t",
  "id": "fc_0caecdf28f0c5d90016ab2c3b42e6c87d08983388cef15014e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Df2hAjWaeMVp3tKr0VlvMl4t",
  "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]: [-0.2794, 1.787, 0.7815, 0.2684, -0.2852, -0.1825, 0.0926, -0.0219, 0.8051, 0.5999, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4338 left_y=-0.069 left_z=0.0342 left_yaw=0.039 left_pitch=-0.132 left_roll=0.0714 left_gripper=0.0926 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.0752, 6.5436, 1.3993, 0.1099, -0.0806, 0.5592, -0.212, -0.9368, 6.9949, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd15e929f198f9c617fc09a610d66d615156ab0307f220f7afae6d2e1d2c2d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584257b02744c4df4b75b94d5c6db44c2feda01240482483232dadfb61f32d79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779b29d7b487daa267e798ad02c47f63581569dc1f80f5d329696f2cfd7a783c",
      "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]: [-0.2794, 1.7927, 0.762, 0.2443, -0.2623, -0.1982, 0.6054, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4228 left_y=-0.0699 left_z=0.02 left_yaw=0.031 left_pitch=-0.183 left_roll=0.0598 left_gripper=0.6054 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0008 right_pitch=-0.0286 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.4581, 7.5009, 1.7118, -0.1343, 0.0708, -0.0269, -0.0889, -1.1009, 7.0222, 1.7265, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The jaws stopped at about 9 mm rather than closing empty, which may indicate a rim grasp. I’m lifting a few centimeters to check that the teal bowl comes with them.\"}",
  "call_id": "call_8dVtEmGx6lNIayUffghLmSut",
  "id": "fc_0caecdf28f0c5d90016ab2c3b893f087d09b81c6bbe6ddc78d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8dVtEmGx6lNIayUffghLmSut",
  "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]: [-0.2794, 1.6604, 0.8677, 0.0292, -0.2848, -0.1837, 0.0921, -0.0219, 0.8097, 0.5999, -0.3927, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4294 left_y=-0.0679 left_z=0.077 left_yaw=0.0405 left_pitch=-0.157 left_roll=0.0786 left_gripper=0.0921 right_x=0.2935 right_y=0.0001 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -9.4838, 9.2239, 1.5702, -0.1832, -0.0366, -0.0659, -0.0342, -1.6752, 7.0359, 1.7411, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9c67218906309e5ef89bb274e8530d52d78e866809e19902ac30130d220334",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e012f6bc8644aebfbce3b37f1462a8472cd93a9d313a6d706175108170c3c4c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e04b9023bb057aa66af1f4f91b09d8bdb028adb769be52637d77a2a6053607",
      "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]: [-0.2794, 1.787, 0.7815, 0.2684, -0.2852, -0.1825, 0.0926, -0.0219, 0.8051, 0.5999, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4338 left_y=-0.069 left_z=0.0342 left_yaw=0.039 left_pitch=-0.132 left_roll=0.0714 left_gripper=0.0926 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0004 right_pitch=-0.0282 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -8.0752, 6.5436, 1.3993, 0.1099, -0.0806, 0.5592, -0.212, -0.9368, 6.9949, 1.7216, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPGM2epwHB6FcFwNEh4kGWa6n-2KSsixJFe5hHv9wj4e-fUVc0HAfClLtlZZZ0dcS5yjzuLBOPV-QAbgB1TjJHY--qPL9t1ZKo9j3VaqMv8qkpQsy-1UHyMSgQctlCRgdgPsjQAONzuIl71sptWiAp2zrUOpVujvppkJvNek0D3XLlAYZsqkU70PALiC0KyEIVDJbsPQM-Cx87Ez3DApv8yhYl098yEfOsGwBRqPkxjYT94ZqE6tC5MQgIS73aTBjjCdc3QAICCwa86ObmwTGe3sJBVDrtcUQSkptEMVF_7JeXqxzaKQ_y6put4jX1g4ZxPAmqxz9TGcSGaxb48AhcO0zDLJ7mDw3QDtTOqW_Yto19ZKgleZStya2wJPquvYMV5p-ejgDAsDQltkZK7yL2Ou9vR9qDz7L7nxkKTOn8S526031A8ce5oMmZmDS2FMWYmOUvyG7YViFbz8h7kGWzql0khTuBWdv0oLkpXxxAUdKP2L74P_7oEGcLPRNnkipI4iZvM-OBESYFGK3yjJmo6amqrkRFu9LqRvVcg51nsoIZ-h-6rmNth9psm-TJG_afslivjO-mi9qRVlpab6CSpTOF25ZddDGbzQYl-lfSSEfflHNZ3d_hBf-IEjZYvU9xLNaXaR-G_Po1TEF8dHAXM5jOgYNhS2z618WFB1yVEhMrw_6pM6jwJ-GpkLRjHkuG0t-0jXR0zu65Yd9esufaAfDDLghNSFN7in62-1XnnYmcc6C0WYz_dbHAuJxKuq7HSdGbePXNULLbRfwyyMiBVeh4VvaDoBgZ0_5HX1q3Ch7gb0NC7VQSVAUsRHbkkBrW3AmAw54Pf2WTm9pnZ-ulh5oRUBn-IsOUzJL5MOFEVZ-8J1W-sW-OQSiQKC3auPEJ3FhXoEnd8-kx7pWcR2xPzkl-wI1Rfcnxghar9Qjjnt7bKQzLKybOlermTJ0q-e9QdFOuspJOWkZJg3y9f5KjKZcWva0Q7IMT2FSMioLWbBRaWSxyl9psVSCf2cNGD1Z0jS9G6EoSLEJinhQpkB5xomhqf571bIZSqvmE-a8SKtYR_OyEwYC97ZRdA_2XJa_bH869-CfZSp4cbqdkJrfTYNUQctqjY2T65EVfhDvj1NheSMbJ6Yu2WlA3GlrPOtrFRkwFV4HvURRzY6p_H_bmVoFz28LZAa4U2GNPBXXJ_xOS6ew7-3VXLS9tYykeB8ijSzNMscIdvEFMkiNeeVcd_Kytbxzop_j9JqzMVO2Yk2ZzI6YNpZFRo8juqomcR-swkndrK8ar3kN2zaZB93CYXJF2UykThQe_8KS7-msiawvb6-Bd5qyHvEkAAq_e0JI3a_iC64AtnUuFluxH-YWlOCcEWgAXQcT7moY4qn2XcUmvfB8aVPLTc-7cjDaXpd_9nlbpvdqqrxupCeLUUEBNIoYmo3OcOw2lw5Y1iw0n1FA2otP49wbJSW76uy5uJfPthef2z7iBho_HRC_FCABZOlNKpNM6EEgmb_gDBP3UXOfZK0sy7c9I864uLZgIApNJ0ksw0ft2BmJFfb2PgM1Uh3Y6dWi5K9evNkDole4naYhos5k2RNq48a8P5Pzyn2NkIg-fsDJ3DeA19LCKQY0L4kmf_HKPpiZm8mqZKE8ghgoC5r4Ne4cz0HPY567exrLS3qxaMcrATGLisStwKubCUi02cf-8AHAuouORTBQRCZ3plyaucwgbpCfpgIbEXt_btZblA_IX9aE4pHKSpy60n0ThtTFKCnDhkE23jH0-jRqCJFc3idDeJiMs-iS66dZPrtyuP9UANNi9Y1JgbJySYnHnVNoCKfw-iiNZDPuMU2uHpVoRAvhGwnk01tY_i-FRdaLVomQGIgrDgrmNOldggBSZeleU5PqDJU6PFicIVSvxZ5NsPtquZSWnO2bAUcZQxks7O2oIYOYG8QMUfE5cuc1jBoeEFxX5cdUhWvpotjMSnVvBjU-ctRaRVkqDbQrQiPvCqDmdr4QUXAvWcfyQwXXcF7F0ZPRs1AaWcyrYfzv-QE2-wdAG7-3r2EZKhLVsI",
  "id": "rs_0caecdf28f0c5d90016ab2c3bf159487d0a51bcad41fec583a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The teal bowl stayed fixed relative to the fingers during the lift, confirming a rim hold. I’m raising it to transport height before moving over the blue bowl.\"}",
  "call_id": "call_ZPg4WloEYcEfQ4ImR03wKQuN",
  "id": "fc_0caecdf28f0c5d90016ab2c3c4f6b887d0b8008de587c349fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZPg4WloEYcEfQ4ImR03wKQuN",
  "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]: [-0.2794, 1.5562, 1.1202, -0.3485, -0.2848, -0.1841, 0.092, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0683 left_z=0.1577 left_yaw=0.0418 left_pitch=-0.1769 left_roll=0.085 left_gripper=0.092 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -9.5521, 9.0598, 1.5507, -0.188, -0.0562, -0.0171, -0.1162, -1.2513, 7.0359, 1.7167, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3b966dab0002c52fe3fac38adbc81505f6717d4d82c902b63c1d4a8dbde69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55200d43f2b0b393b7f40d58bacc1828684284b6183e8dc1303b269cd7bbdc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7512b708701eb7667edeea8858c916ee6fc5b02934b3fb0ed17c9bfc64ee598d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2794, 1.6604, 0.8677, 0.0292, -0.2848, -0.1837, 0.0921, -0.0219, 0.8097, 0.5999, -0.3927, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4294 left_y=-0.0679 left_z=0.077 left_yaw=0.0405 left_pitch=-0.157 left_roll=0.0786 left_gripper=0.0921 right_x=0.2935 right_y=0.0001 right_z=0.1712 right_yaw=0.0004 right_pitch=-0.0324 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -9.4838, 9.2239, 1.5702, -0.1832, -0.0366, -0.0659, -0.0342, -1.6752, 7.0359, 1.7411, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.28,\"left_z\":0.18,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The teal bowl is lifted securely by its rim, and the blue bowl is clear in the middle of the table. I’m carrying the teal bowl over it while maintaining clearance.\"}",
  "call_id": "call_w7thjUqpTP76w3RgIYVURtwI",
  "id": "fc_0caecdf28f0c5d90016ab2c3c9172087d0a2cecef9580dc650",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w7thjUqpTP76w3RgIYVURtwI",
  "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]: [-0.8448, 1.8847, 1.6028, -0.7444, -0.6189, -0.672, 0.092, -0.0219, 0.8204, 0.601, -0.4202, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3876 left_y=-0.2768 left_z=0.1697 left_yaw=0.0245 left_pitch=-0.2028 left_roll=0.0852 left_gripper=0.092 right_x=0.2903 right_y=0.0002 right_z=0.1633 right_yaw=0.0005 right_pitch=-0.0694 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.6889, 8.841, 1.0183, -0.4615, 0.1197, -0.0171, -0.1709, -1.2376, 10.4821, 1.6825, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa10c96227c2d7048aa9b9ea9566418fbd627260b5add20e2f1885d675ecada",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7953f4294d81fec203dff750d330f4026d421df660dd4553c357d57f46a4d966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bd7a962b685ab68d2fd1c7d60e25cd5cb1225ae2912d2de3de308e1a8895d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2794, 1.5562, 1.1202, -0.3485, -0.2848, -0.1841, 0.092, -0.0219, 0.8097, 0.5999, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4311 left_y=-0.0683 left_z=0.1577 left_yaw=0.0418 left_pitch=-0.1769 left_roll=0.085 left_gripper=0.092 right_x=0.2934 right_y=0.0001 right_z=0.171 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -9.5521, 9.0598, 1.5507, -0.188, -0.0562, -0.0171, -0.1162, -1.2513, 7.0359, 1.7167, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPdj7MNBBVJuiDaCRiiVFqCTH9MOfEgbn9W-A0gSP4kVSj-tIwHgVUhV6IwuR4MJHPsbT4fSFp9C-Lbxk8KZJjxVogcUhX_E3WlcWfltKvwGAM7Vj9ecVnRAXLPG6MxatmbOwsoCmBkExPPwfv5K7H0bQWAWyMv4xa5ADvqOON8PIFwsdOqlX2yLkMgf4RjBOIinXtBRfbitxY36Bw3iWaZQnvUKyp_Z7XR3ZK1BbV1ctM596epw6-7QAApnbMQn5z9vByDuDeZgHMXgI0DpqhGvumMr0hd6CkGsYwai-tcsdgSj_R2Do17Kpz8Fz6ygfzrlboaio7UYn_Ovh8a_u9T7_NsgDNjsUuNvlmzBxda7HB34Y6uDmdDIxZwM01SfoRrsUHgYKaCkJ29MLMZpbw_5NIVJklgFrgZP-SOu2VGip0Qc4PFVVQ9fd8h30KWwAxTP_-LsWPgs_7-pDGlrafPGhzqSleQsTv8AfQuIiwfjZpxDv74OabDufJjK5OG94zQWUc4pTARTUGP-KI7l-7Dt3pW-yzzU7mRGfPWym5igd3P4HQcL3yDY9pYoI2QPQdPaaayiWJnAXTCNRVMVg67v9MzlPRNsTJdU7UqYSxLw5ckfhtMJgWD49_NQhhZDY0XHZR8O9ehpNBJhLt3FPw7d3RYV1nf_SsyPJOOt_sWdcFEARaOJQUOBBlUuvA1OL4RWkChp62Yg1p_RZBEO74R1lfX2EPZGniUPZ6PhRHjRXYLWKqBvTCCABBqXtED2KINsRyaLo51gnyexZcRIg-BeMjxhyNRjUt_sCB9QxBZwtAdPCKGirpR-2ZBzNoe-reRlrVwwvwORj5BEZD1KDjK8TXmyh-rbXLvDUbwF5YOeq18iupHqseF4f9XXJuTU8fpMrJUHoMQD8bUla1SFNhtYYY8NLAm4_hoT7fFKtJepNcF5KhyHHvDk3UIxfIjRtqlkDvekzLjqvP2ByMInuHzTeUO2LYe6DOJ64UeYLJ7YQbDv94G7fNLN67H3Hbz1zIfH6kuURONJmQcvDMCWASVKOWD8WRzc8fZDbVVFNZ56TcSBN8PJ0WklV6OvwdrWz4Abm4izqkzBdC_Qmi1iN5YMdBkIza3DZKPBRbaLfOzmzrnKmpB_RWweLm6c6RGlaXePldg_d-X3itB_dAB0E7PSr1SbqLEDCHuG_LlQAZeNVbWr0YpkvJPNYPemGm97gHjHexw5uPm1zTOUw676pwhSHAuVLkZt7xv8tnsIRVHzyu8CAm1Mq5qia2nBqiqWCM1_JOrlafY4waCqE0G-qVzgHctqT1vjDi5KDScT2pHUnIAN4vKIBnSG2H9hiPo3BWEEgag4u3b84ws4VHTK3KBdVpF5KQu7qm7zjwD9NQ6nrj72y3pzmHt2iznBgSSntvWjDjFJ_DWa8SqyyG7-gpw18-wMCoiuDPdMO48Zghl_glgD-BrOfa_4bMhFJo3kqKHGO1vWqnAlFp1kMr7Em7P_VCSiwFjlQ9nTj7sXnZLyQb0xEEGNs9RaF3hO6Crkv0Y1qniEhD3buqAwWcTftyv-GgsvaC4tfvzhca7mhgTB0IfjGJ0aLVQtQW_l8KAzVHJy0St4op1feBa4quLuz1nS0yDUY0Q5pNIbgzrnCmome14pBTVTf2k2v5ZW49EgrU7uZHE7EtCfu_X_Edyu8PejWdtt1N73PEqE_8XKxBvVbDRR7WbZSy9rVlUiZjPTmnlSvj-WLT-1JFX0XmVE5m5mBFN0vY1A0DG6gWuv_Dar9wrwexOj1aNS_qsSYtktbqpyuQRI2Cvs5e1fNNMHglMqN-p9NFGW1aKcjwo8dieYbyg6Sp6ewaFiAmzar_JWDoTXeSB1c4szmEKOukqyBEF7wF06I9kUG3HnKxpV3zLi-wdWNvFUW8x6dk9lwqi4wNlS-11zQufMQR9wVSHRpq5hW3Hxtl2GPAm-hK5hvvKHubWtPVES0NyusLPkVsamYkwkg2lN0m1yLeoinVrji3ortMH8ZXvt5n3KwbZvc7O4KU2IfW0_TTHVkOoNR6lW9ace-XzJWeXQOoA3mI36gtPTn-SZcm0zscEY_ZhiySRDdsI-g6EZgd61ftbwcBcVj3cXOrBupLp2Av2fECXGSgnOspt2d72V9BxwAHwsOYa3MeQg0CBP9IH78TmXiCVseHEjOyMiAwmOAAmItmtlDYwp6PghYNgPqaPt6t2cR6fK5Ft__VFPOOOVOzhaQMTg-c4xoswz2tuEEPL-bZiQ72yTXoH6L_xXtVf1qlCD5wWGFveW7T_bZwgJY1ePlvIAEl3jC_B3ghk0hUyu3gQvX9b8awvJLG4cb1OKN1ZeeXv0ixgFEVEX6otYxj15LXZbAngN_OHUyV6MsBEly6lS0Rty5Z4yP9qHwSC4d91qq0cVTi80vFivoMQChEGfwjer-Pe-KGoGJwQysG4jb94q9njEGgBR1PxloKoeapTX8COviPDMOk-wL2fZ8XXIajLMEAl3GxpPzdO_gC6iis2nUPdQLmpnD0DLzZLNzymZN4qrISc78r6_m_rW3_wF6E5J2vjBFAE9TwC2IjED5wzSNIxfulAQxszHhIjOaQoCLXiqcra3OIX3QwuE06GiJMj_RXJRmAGDjWkJi3dNwnoB6FxEn4nY75Ato3XCemRwZbfEjXwWduAbYj-WM7dN_LQ9BlWrChcqWoWBf5h-nksTag4qA==",
  "id": "rs_0caecdf28f0c5d90016ab2c3d1ef7487d08f3f36f2f674db23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.24,\"left_gripper\":1},\"note\":\"The teal bowl is fully visible to the left in the wrist view, suggesting it slipped during transport. I’m opening and lifting clear so I can re-align for a more secure rim grasp.\"}",
  "call_id": "call_Ccgjyht9KMj8Jr3c9HK0Ij8j",
  "id": "fc_0caecdf28f0c5d90016ab2c3dbc3b487d08a84a5a2b84be5e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ccgjyht9KMj8Jr3c9HK0Ij8j",
  "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]: [-0.8482, 1.9064, 1.8839, -1.0065, -0.6178, -0.6811, 0.9939, -0.0219, 0.823, 0.5999, -0.4225, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.386 left_y=-0.2777 left_z=0.2325 left_yaw=0.0258 left_pitch=-0.2048 left_roll=0.0799 left_gripper=0.9939 right_x=0.2899 right_y=0.0001 right_z=0.1616 right_yaw=0.0002 right_pitch=-0.0755 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.0598, 8.7863, 1.0818, -0.315, 0.0269, -0.5153, -0.1162, -1.5248, 7.1179, 1.6972, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3abb439ed44bf55db9a0ecd6d1dc4cb8b1e5976d4c96d253018e40909206f11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970f1bfe1d98265955ebc012df786cfc26a444ebbf47fbc7b39433d6c6338d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec06a129431eb55ef06be1629a42f54ac6b62cd0b7cb8e60b4bef84c1d8ea9f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8448, 1.8847, 1.6028, -0.7444, -0.6189, -0.672, 0.092, -0.0219, 0.8204, 0.601, -0.4202, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3876 left_y=-0.2768 left_z=0.1697 left_yaw=0.0245 left_pitch=-0.2028 left_roll=0.0852 left_gripper=0.092 right_x=0.2903 right_y=0.0002 right_z=0.1633 right_yaw=0.0005 right_pitch=-0.0694 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -9.6889, 8.841, 1.0183, -0.4615, 0.1197, -0.0171, -0.1709, -1.2376, 10.4821, 1.6825, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssPrryHq8MkfD9wJbt3Lc1fZlZs4SxCtCefPXzfU3cESL6FCmW3KufmKNdieo_xXmkPaUnGkdONrz4wnqkVPWdjqdwuxAYaWlgAfn_n6HhtBDjzoaU1xl0NFkVFAsfR2uOH80zPu7cxFgt9Lw56Xq7ERvR53q5VtpuT5cWPDTncim6-tuW0o6adk-b4fCmj7mC8nljM21ucstXMwJA56x0rAGu1HIhcHPgQqAzXe04zIHalzOaxCjJ0vR83cJeYZyVDFI0AiyWYZ_dYnbUpix_qFxm9KWQVJM_wg1KK4sjmlJuhwVFzxqp0cOrBYLFLsFH-5vRACuuVavxMnZ_jP-9G-va5VhkPNr1l6-eIsFfBnRddrgwASbyNXBnl9MZcv35RZiGwgllq64qzA-YPNFPaoNiDD3lIdZeO4GX3asWOdeM5CBp8qhB4mf9VzgF84zdV3rKSai_SztdmWEEIiKex0K10ZfLzxGJuwmWpiqnJC26Nr6nxXlW3FEewGjxSWOlShSEGQWu87wVxjdgFSDEzyRm5rdZ5Cb6vrOjCd4AhWGfLT0nkFf-C7v7P83deIbmrFZCsLpJEonOsEuwi8396gL7Uy-sJ_j7UzOz5cJt9UhEEXN_JpbFxPJgLw5uDsIFNz1XePaznQkqR8LfA7oiCpWUwaLYpb7g4S5tMztpyhT5vZCmkIUo8xierZa-7U42tVwmaA2MjFQftrgEF4KLDQpeDyhjKAlSwrqGAXNy6Qq56TxvgJ9af7urBJ81koQHvPUOoEqRyG3VziVTcu1sFnmLXVkDxFU2ItMIcmSED63shfjxUorhGR9bnBimuI3KRy1NAWaLvYsWoRj3VNy50NNBfyquePKayN7oo5CRGG9BrRdFHraDMU5VsPqBrMcSG_FjmAvnkiYkCbg2H40u27C2o_K7gXDb8u6sgHcbWR4gb-pTqVTqmTjxpJr5FS4DCoFg9Y6dh4-rBjoQKBFRqPWC4utL7uGHzycBhMMwq93-p4RRkrUJ27L3YER8J3om-jRa_9spVx6QmlBIVbFSICmHEhbxXWXGZdsswVMtNUmqT0LjovKLijeRVWQBAoHXtYAahcBBPqwMEoHKndGtXu8dP6mx5dSHQmu3v6CAAe8czKsm2zh3HPV9ojr1xnq6U-nKb9VAzsnOwat-ZlQHKZFaPETCFMQxYzO3Pw0KDCMNtvxgvtiYoljFIkgS3u6rcfZav9Y0AAAXQ5vtxTRqdU5rrrzNb7o1K-LDuMKln7qUtBeAAxllpi-KCdJHRqnMJOTr8gonGe6aDZDjUsx7_nf39BnkytPPwOH7FdfPo-gh2loHHAI9N7SdEH7Syc_evvPF6QuU0hVElXANNNkId3PfYvlKEareoIPNc2DoAC3sX4hOu5bycmW7-1jLlpLfNX6kdCB1U7sgYZ83aUbQyNig9T9JY-rpXhn36zmzikZ_I5q32g1_wria8W5gkBGQu7tnEK2_5tEKSumPFXegEY5GPKUEL3veGgoJmojvHJnlBoKxEMvZGPMA9wozd9MozedlbGXm_PG7r7AGYPTYrW_62On-uQ4D_c7RRevT132dWJvUOun3Hix3BO-XQnyOcsmaXgF0pGimmJlU94_L39pa6g8CISgqhPiZkYdHq2U4-BsMxo6fZb_jOe7anZ0RrDnTc21qEqWwKCitFyM3BaHzdJV3BRfOuqi86GX4iGNTJiOs20gH1Cm7n3C-xiRs9ExvW1Kxl1-Mr2u64w9nwMh4XQpBTVdFLqVv91b3VfjFJpDHN8x07aVXA4MpeoGEZmKI4bOpQzZvK2UuOsvsoQ3iJJFYUWvboma5RwOoyCEFpglPlc7XYyDtJMxL8mzHy3jZWik-VZaMwUIVLA1Xnfgn2rMt6fdq3JKDVED6bgC7Zm0DiiXeoiSG939LsqUDEMo75Qmv_q5z6x1CLGdoW2KXdEZ1jIrPTZgD6BnlCgylRWc7dhcW9cMsWl6rvHiNQtqsUwp2FFjvp8jMIgAauKSA==",
  "id": "rs_0caecdf28f0c5d90016ab2c3e221cc87d08b0b8d6df5680048",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.205,\"left_z\":0.09,\"left_pitch\":0.2},\"note\":\"The teal bowl remains separate from the blue bowl. I’m approaching it again, this time centering the open jaws more carefully and adding a slight forward tilt to improve reach.\"}",
  "call_id": "call_QLyCF2DaFoDrmiF51wdt9Tof",
  "id": "fc_0caecdf28f0c5d90016ab2c3e8c42887d093602c9d91758442",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QLyCF2DaFoDrmiF51wdt9Tof",
  "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]: [-0.654, 1.9354, 0.9867, 0.3569, -0.6659, -0.2955, 0.9942, -0.0219, 0.8249, 0.598, -0.4225, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4489 left_y=-0.2021 left_z=0.0781 left_yaw=0.0289 left_pitch=0.1127 left_roll=0.1134 left_gripper=0.9942 right_x=0.2897 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0793 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -9.3197, 5.8051, 1.917, -0.2125, 0.0317, 0.0171, -0.1299, -1.5111, 7.159, 1.6337, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1531df3db3010ab3d0b839b86e352a452d1723482a3f1b55114f78b0522c69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c9325e27e4c0e519616aa61fa623abbe9b90170a40f74633001e7099fd1c34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225cada2dd482df608af94d5f0c13e5f49c947d855f50012f00ab4bbb6aadd67",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.9064, 1.8839, -1.0065, -0.6178, -0.6811, 0.9939, -0.0219, 0.823, 0.5999, -0.4225, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.386 left_y=-0.2777 left_z=0.2325 left_yaw=0.0258 left_pitch=-0.2048 left_roll=0.0799 left_gripper=0.9939 right_x=0.2899 right_y=0.0001 right_z=0.1616 right_yaw=0.0002 right_pitch=-0.0755 right_roll=0.0021 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -9.0598, 8.7863, 1.0818, -0.315, 0.0269, -0.5153, -0.1162, -1.5248, 7.1179, 1.6972, -0.0122, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssP3LBAYRTIdb6F3QInY9s04pFr6tDx0Q8TV613UEoggGk_V5wJWOXd9S64baRXsbbeyyTO_xXeilEPnqRdkSrMgEQeqUF6jx2DLLUMNmJj_Xi9LSInFQTqE9ojRITdn446xUG_DLKfwgiJJ-062OzB1tO3PMpCiH8-JWXB5jOWXyJiIO1Rj3rntXkTdn75maOkE2Fes4GIo3_vgOjQeR7bGaJpLmN7FJ1SHfqfIc4iNJRUz68AfTpDcSI7dJ4tIT4i3ksIQJTDdFSC1RS90_YHfPSEoWrGfthnL-_XSvymyJWkIiPMXNg_9eFF-5BXOVZD01YyqFWePukNs-vdN0lrffk3AliFNPKBLO0jZYVXLSnDBDPkerum_irWJ-GooOqp7Smv9_QPzavk0rB8nd6GuinV0_GswIuwhDI_immxd_E_khLV_95X2fSRn8XSd-fAjehji99MjOANq3o-P_X5JHW4oRpweksiF4UUPjlzx4bFBBvSFU832jA3-ikhb2N-vPYyc62CZtcEAA5jpDVcxyE4wlPrPtisK5YhZOqhysJZnYOHuxobwMi-s67v4vVxg_Cj7sUiTrRnbvKHt2GaGzE5BQLyVZUkvA7NbfTD4kKyTtvWnvBY3Q5KLGosS4HPK55iT7lNAXI2_L_CspJg4nyiTyadvZX9S1OIjxiCtjFr1TjCItEXqe0QXtu79yoc0e6JehYSYk9q_t58Q8jyuqhZw1jOoqyWMwMAKm7XvyRDEfFqXJQP1FP0d7nD5uXPNqfWuRsyJlHI1fmNxXAYNtrj6ZJC3OxBvj6lVpWK3sOefVxOgUvZ_Yl8c8e5wXAJs0ipPpmzGzFpAyGMtSKGW6Yre3kZRCYoXaa8nknztaXGjjU4kQ57T4WIzi6idSAk59Im-v6avnlXvpN39ax-966Bjg06Wj86yjEtJuqP4yYpXXHzbJnS9x-GtL06lAAk5JZH3f4s5mMh7NXJ-yzQ0JeQVf3dJunvlltvKCaBRRstfLx9lihNXxmBDq-th_v0Iz2hkP6ZqDIdqVtF6UzdKLKqnY-8mQawc1oUQBaWYlhbuQmfxKUBZ7pCVIZO6pWb0_EDSRHhNUz85iQ0EqmeAf24T9BSq8i0iAy57xYE4v66-PhFPFsYwIrpg28iQ1fltQwC-ZOfp6htL2Wzkvtx7w3mAF2JYxwi3a6KXKpGiDXvhiwBBxbsKs-JCe56AJnLwqClGFLnVjqwXccwQEDJuepddHx1UoBANbvbHDAYgaKBQWu3a_Oe2-vkSq6COrGqfh89ze3o2bQTSpZshNJ0gWSa0rQkBjVzgADvbNvxuGm7PSnx2ER8MI_X3rwXgtXcTaZksLjF-Zy2AdeusJ1nkbFPzMCcxKf9piYxp0n4ZxyzqJwrl7fuypyJE1rhL4ekHF9T4mwhKBCF_PZ-kPWEM1ssELgWYSZxRVhBz43DlZDOhi8CHg-gvuQAMdyTkVgZ9rW-vi0B5-D6XuCjJTusxqPafx1InlV-N2Ksccv2UCzSe848Bt6Bh-jrbsrWomOaGfOmWLTD9sEgWj7xaQ674RZv5UP6MAc-C_r1qvB2r39CXN5jOyoH7BqOUtq4QFmmoi7VN1MP39sQAu5M4-0EIlFYm2cZU2qOeG97C0mkERxc91_tev-dA_mwmofYSarjrBU0zFo2TlYpJ7ntoXCRQB-nVRlY7efSjnHuwT6NLrutvr1ITmzkheyVCtDEGhAKhJ7eNQlzMH71SGF0zhIeVB0NZORPw6i7mP5oZglomUNMaXVqFdSrfWIuZgaxYbtNEN47yuoH0KhrBcIzW9O0HdNoImu2VIjWQ06uAHkHd242IJONBq7Wd3t08sD9_LUw6caP8nFgANeIIiS8Zhm2U1-eHlLnxeqWd5SBDvHN80abO-6PFbaVAhFvjDMAVP1rjbC5GRQhVQsoSLZL1QXDWPc4zRfXXIXmNs8OUv1EPyi0=",
  "id": "rs_0caecdf28f0c5d90016ab2c3eed3b487d0a1ee6bcd45f0b115",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The teal bowl’s right rim is aligned between an inside finger and an outside finger. I’m lowering a few centimeters so the jaws can capture the rim rather than slide over it.\"}",
  "call_id": "call_Ovu8JYr6kIPAYOA1gxSKihcH",
  "id": "fc_0caecdf28f0c5d90016ab2c3f5490887d0935b96f8af34d683",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ovu8JYr6kIPAYOA1gxSKihcH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 2.0026, 0.9627, 0.4797, -0.6632, -0.2848, 0.9942, -0.0219, 0.8249, 0.5957, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4525 left_y=-0.2046 left_z=0.0598 left_yaw=0.0246 left_pitch=0.1357 left_roll=0.1019 left_gripper=0.9942 right_x=0.2893 right_y=0.0002 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.082 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.7043, 4.8889, 1.6679, -0.1832, -0.1294, -0.0171, -0.1983, -1.2786, 7.3094, 1.6825, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc596df6c9e2e606c288fcd6f10271f261d64037b8209683c0f6d80d736b01a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99dc0635c36b5c761c0c5c09d0172a90670105b052813e6c6b9ecea82dd33fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd71dd3dd436935d958a1723fc8a3ea4a2715c60996cef8b99fd383b2f2a25d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.654, 1.9354, 0.9867, 0.3569, -0.6659, -0.2955, 0.9942, -0.0219, 0.8249, 0.598, -0.4225, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4489 left_y=-0.2021 left_z=0.0781 left_yaw=0.0289 left_pitch=0.1127 left_roll=0.1134 left_gripper=0.9942 right_x=0.2897 right_y=0.0002 right_z=0.1602 right_yaw=0.0005 right_pitch=-0.0793 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -9.3197, 5.8051, 1.917, -0.2125, 0.0317, 0.0171, -0.1299, -1.5111, 7.159, 1.6337, -0.0513, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are at the rim height and the descent has begun to meet resistance. I’m closing on the teal bowl’s near-right rim.\"}",
  "call_id": "call_C0LS7y0UizqnCOPeWisCYygi",
  "id": "fc_0caecdf28f0c5d90016ab2c3fa7c1c87d0a886c32224d81f03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C0LS7y0UizqnCOPeWisCYygi",
  "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]: [-0.6529, 2.0254, 0.9524, 0.5056, -0.6678, -0.3038, 0.0201, -0.0219, 0.8295, 0.5953, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4514 left_y=-0.203 left_z=0.0505 left_yaw=0.038 left_pitch=0.1327 left_roll=0.091 left_gripper=0.0201 right_x=0.2895 right_y=0.0002 right_z=0.1577 right_yaw=0.0005 right_pitch=-0.0869 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.6068, 5.559, 1.0672, -0.2125, 0.0708, 0.8669, -0.1573, -1.7709, 7.0359, 1.6386, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f26c576ab6a46f1cb025ab17828b5173c7987eb17ef6583cc352dc586ef31f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d7223e37efe82acde4788c0dbd47a3093fd935052bc12c56cf51a3a5cb9e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8bd7e4135d7e065521dc309beb21ab21ff051543b938d6e71d62898b14fab1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 2.0026, 0.9627, 0.4797, -0.6632, -0.2848, 0.9942, -0.0219, 0.8249, 0.5957, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4525 left_y=-0.2046 left_z=0.0598 left_yaw=0.0246 left_pitch=0.1357 left_roll=0.1019 left_gripper=0.9942 right_x=0.2893 right_y=0.0002 right_z=0.1591 right_yaw=0.0005 right_pitch=-0.082 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -8.7043, 4.8889, 1.6679, -0.1832, -0.1294, -0.0171, -0.1983, -1.2786, 7.3094, 1.6825, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQHbYPhhhQjOI_Ljfne2lJryj_ji_KcU_TbAaOV0hRgWMyIlFBnuJF0TMtJRBEq7wd33mSPFMvvBSbMm6B5Be4ehuhuSwwQswnzQj1y25j032e7_tUXcy4PXOwNwupKXkGXZo__fW0Akg5T0xPURw_VoLpWu06kkF2wOdEEFytE8HGMgI8d71nSsQwHtMGm8Pf22Ms5E-BF8NtGqOZaxfnmlKAfYIDcAXrOErPrMypb6dIIRvlBUPgN_d7m7F8LwWvYle1dvZP6TOdRsFLl9NQAJQ6jwlfRFX6bxrLL_1IsbjLn8emM6sYeUAYYTMI7qCZ4PlcJcp5Uvlr3f0GCUEuF0PB7G5cv6SfdfHCRlW_we2ub8MWxr3gHjpbtuePuCHXq10Cckcdg-ywwCT3Ok12ias7BbR3mxHbWnWWI5QxQ8GmADobpcOSz-yXrDwMXik-IwPsz7Tl8E4s9C3Uldacl8yOLGXH-eJi-sJPGAc0fMF-euws9-vpEF1D0G6de2L1mBKfRICMo1wUVTEtzC0Bpkp-P89Fdwvj1sa6Aw_qhfiZ7EUi958NVqEuCgDWlqVTfUeqVDtd0RCu8rEDit7u5U7WoJd4h1v1udvzyH-BfXNthWfV5EcqkLB9kx0bbyHUj3Og-MNO8zdfAMU5njP5PbA3Om4NQ0C-17hfXuSJUauEGPo8J58ewYoVVCIOB2Ld533D4oVwdXk-PsNawyl6E7EdWsiFse3FVUV17RnKvJu-kyk3StkBwg_AJJGLKbD6fV5u3v6DtKwVZnd8C7gqJ6cnn04anGg6iaA0iNqtnmN5q5y9Lby84XgcnyMXIZoVfd3HrXSpSU0CNnV8uUjMdgF0IUf2V0xFrQxkShMRVanhPZl57rwAQRxRi3DyMNI1gr5CDdfUEaafMyCV3siy78FrMVpOkfRIAenOTyaLoXKMZx0lvHcZcNDzhDhrnKtJ5-vHvCbmBCQEuD2dTNEdYAOQXCg4WCgddNstnfTknViultFAmX6QlAcIo23q-PFknK1M1agcLJHe9BZa6lTfWgf-sHnRTr9fYxmgnwRnLi5F33YrJ6DBZtSWKiMesoHi1SbMMfIPjlSSGLiZ7fBSPm_sNA0p8_Fqpr3D5TmhJNzTx2ZYoedSaRMcrV9MSqHO9-oGNjB6c0TkfXpC_vLdMPH66-MFR0E3MPRnBdyEiI9I1wxOXBM1zwYgo2Z9FZnCSFPR3HERZhJ9f_QbUNUTUZbumn8jqLwJwUCZsvfLQz_WqcWVAkx8OAY9NmGbZvAkCpL2--GZ5KaYnVAf7khVs9PEXYkFZ6du20UfSI7Fkjtgotk6zUWg-uVraL7Nj6yBypjTpdCnxqxUewa6f87GXcSddZ94FiXslpetyGdSmeT8pOLQlaOAkyzsmbb3Gi4AFQCFe7n93qsbu1qn38UlDw0f8OvXZxh_KVgD6nr1HgDlcLPjUKsjEcRpkzFLIm5-v7VnSUIba-ieWOZ7ccgKIWXqRouIEBWuHW0FLVq_6ZZsSthcAufa-KdKvZYyJSQunLHKfnKz6fJIuEXlBCH-Lif2yMAjTsHgGSxUvhOUXxQ0FijKTeBMYVOzaWsb5l8iYmSU-6UDvHbbgM8k2QhPZj38DZCcmAHM_1WG8J1DI1Us=",
  "id": "rs_0caecdf28f0c5d90016ab2c400707c87d09beda03087b2d407",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.48,\"left_y\":-0.16,\"left_z\":0.095,\"left_pitch\":0.3},\"note\":\"That close was empty, and the teal bowl slid forward. I’m opening and shifting forward and left to line the jaws up with the bowl itself instead of the gap beside it.\"}",
  "call_id": "call_jTRD8SgcZ8gfyP9WALx8Rj4o",
  "id": "fc_0caecdf28f0c5d90016ab2c405540c87d0aa1d00cda8bb0121",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jTRD8SgcZ8gfyP9WALx8Rj4o",
  "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]: [-0.5335, 2.0205, 0.8886, 0.7177, -0.6163, -0.1551, 0.9937, -0.0219, 0.831, 0.5945, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4752 left_y=-0.1579 left_z=0.0675 left_yaw=0.0508 left_pitch=0.2323 left_roll=0.1183 left_gripper=0.9937 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0005 right_pitch=-0.0892 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -13.0667, 4.8068, 1.9267, -0.022, 0.1148, -0.4029, -0.1026, -1.5521, 7.0769, 1.6532, -0.0806, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0539063ce222dacd1c2d6fb80b5d3a3e2284c645e955bc7807be71e0fcc478ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706685822f68ff40d5d9e1e6f9c3225aa9f3afd7f75230f74ab5b4dec1e6980d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf040244e5ff553e06889761f174cfa6c7fe1cc2dc526fe309bb7dc1996af85f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 2.0254, 0.9524, 0.5056, -0.6678, -0.3038, 0.0201, -0.0219, 0.8295, 0.5953, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4514 left_y=-0.203 left_z=0.0505 left_yaw=0.038 left_pitch=0.1327 left_roll=0.091 left_gripper=0.0201 right_x=0.2895 right_y=0.0002 right_z=0.1577 right_yaw=0.0005 right_pitch=-0.0869 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -9.6068, 5.559, 1.0672, -0.2125, 0.0708, 0.8669, -0.1573, -1.7709, 7.0359, 1.6386, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQT3eBlR1M5thatd41_N_kg-DIJa7t0bybxLZh9OMJ-XvmVaFOZCtFoiMBiZ96CihjdnVzpbbjLeg_jrg69dec8uaxyToEw9ciQYt-3iolSBofsDGIGDO3mlKkb7AFvN9cy8x7chZBkf9ADqvm3WyXEYtRw_e3vnFspxoTWVh8_ADncXKJ4JRa-d3gGyqh4uFe9MPkR9WkpnOxvV7Vw7oL3bj-9HSnTdfhSeWXfc2XW-5uxO_r4NwdmtWKrmW1txZ0GPYY7QV1SdbDcYjObuArkpW94wG1ByhOTNipvfoU_p3ptmJrWgfwT2LL_JMdbHWrD-vH_zez3zpB2jFv20bxdBzQ4L1ji0_XTfk4o2z5xJ25-VzblcOhSFrz_PCxBgQVzLCqInjHfQbeuAH0sEx0jpQE_f84Z2VDvbaAVTyd8bJKCsJUQ1ZXnXbD2ESzA5YyXMjYQcAS3mknQCTotvDl31kLBM48t2hEOPKX9U9ctXFUQ8TIxi6HUkJKOpuVXrxuOhibfX2fR9IZ-HbiHlI1aTgeEVTEDxQZwI13LSL1M0WiQpT-NceChdVPSBRxWGfj2zJax8JkAfshSKdBl-SvTk0cif5L9732wjEFz30huyLDSDq1gYziGwsrIeN-cFk8Fiux8rcKeHpb2oik_19mIxjYS8I5tJH4KP3cSEBD6miAYEZMDFMvyQJm26wN2wqa5Rtn1LPHsR7TZxiIh0SL1NeaVEVXjaFC0qyekvlAXak9xIl_yqlzqvF_Cxtt5M88tRrNdk8gi46GomFtXoaQSXl-3AKm_0DPKGXPJVpZ5FdwaJBlcyjDG1SoepaLdcj4w4eTykdybdA1FZ4bfb28FNxtxmzo4GHAlGAFQeLiYfShfyz5Vo4bddzK3ht2m7q6DMbSDqm80NTqdftm8I0xouU4gfsH0S-NJ-M6EgAxEFa7iPCsbOKjeW1gsBX_y5DfB52HbPrzKNeVTCBGf_dBiHm682zqXn10yTQkjKKxpPnw8IOIgiGdc_TkB_30ZGa3WyB7xU3LANaTlgaUPLiI9uw-lLI7442i-SLj3YnDCXgeB7yASlUwio5wudBDs_0qL-8B_L013I9pxLMeBwSFqYUp9YIVR5r_8sRdkY2eOPUom6_Pm8D2oE1zxnTlj1DHq-PuSLZLQTxF6LtmzPFviJ34xArEm3DF9c_tYNO5RQjaEf6p7YlSuSY2zD0fe43V5XliStph4oTB_Nv8q5KliyG2ne4qcSXAN9MSUmy2ug_s2zBapW6xC0o9UCVCK3OcPqtprZXIey4Gw6TZ4LHtDei-vB_x9QANG1uUQt-LKcgUPWYQGRH1F74O5ox4yPXtICU7X2lOIWqqRJQ-DG4XW53N4dkplMnwZyDMQepJcT34NeiiN_eiVW7OC-gn2reE2e_cCX0zaoyYHuNu5uM5AmwwiLtdhpADLdOStQumCcbN0uyJCJrfo9g12A0f62xn38Bni54GQGwHzE-uOo64tQgrwP2JaFW-LrUORYz1623VrlSPIQ4YuqybZwAivGq1jGve7xDHZDxQvO_C7F3ZJENg-Y44JtosE6LRIvay_TCeDluXM3VGCjkvKSxLCLOPhRW1iBCpJOduyOWxjuaVpZdy6zJRy9Vtcqw7XC4o0h4NKK2ajwlmp85zX5p9la3TpHM-NRG9IylYqjFtVXdV8lH9PcMIBWuFT3rukKHXnF7X3T8PfzK4Tr3LY5hCVkHnqNTVKHsz5QIV7yQI_YvqLnF5IVGIBj42pobqP-QvfoQQhDtCUc8NmEoFrM7oebhNfQjN3YrdY_WLQufdVXDpx_uyaIxUJ-_ACyJwbd9qp4U7X8pIUNTPkLZxZYHU8eyJb5x9xVPbRE83pFVv8fPyqoGw9SrqmJMglus1t9aYG8c48hdLIj_3DkuOaMif6LfKcenxeKEI8iVj5dQxZW59hsiiVE_WvBqmAplVHQRL9jdoq0gYQL9IQfTi-jmY9-TzBNjuH8hKMTylzxfybUQ3YUI69VJYJPZxlEvZ5QYRBRWZIZ7l8GkNt1zWRUH_A1qYqlvBTrNKHrlXpTf-NHIiWHJ8oGkT1GY9a78eHaPp_Ll8=",
  "id": "rs_0caecdf28f0c5d90016ab2c40b46a887d09b2e1b8a982ed475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_yaw\":1.57},\"note\":\"The teal bowl is now farther forward, but its near rim remains reachable. I’m turning the jaws to close front-to-back so one finger can go inside and the other outside that rim.\"}",
  "call_id": "call_1glNIfDQTA0UzrUHjKTuHUZI",
  "id": "fc_0caecdf28f0c5d90016ab2c4117f6487d0beaa82e96c63acc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1glNIfDQTA0UzrUHjKTuHUZI",
  "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]: [-0.3344, 2.5774, 2.0193, -0.9241, -1.1297, -1.7702, 0.9936, -0.0219, 0.8364, 0.5945, -0.4374, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.5216 left_y=-0.0083 left_z=0.0296 left_yaw=1.3337 left_pitch=0.1161 left_roll=-0.2455 left_gripper=0.9936 right_x=0.2875 right_y=0.0002 right_z=0.1527 right_yaw=0.0006 right_pitch=-0.1091 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -15.8564, 6.2154, 0.4664, -0.7399, -0.1343, -0.0317, -0.1162, -1.347, 7.0085, 1.7656, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf7beabf223559598d504bd628719ad51c1c996862ca5bbfdea3013b871f11a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bc4a9b6e7812d9ff2fc773d19f42ad632054be6541aa1f43fcafd2ba1dc38c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d952c254e5aa3d13f2ebdb8ad086563b4d5a9b28365563ebc9d70e6a2e09aa6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5335, 2.0205, 0.8886, 0.7177, -0.6163, -0.1551, 0.9937, -0.0219, 0.831, 0.5945, -0.4229, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4752 left_y=-0.1579 left_z=0.0675 left_yaw=0.0508 left_pitch=0.2323 left_roll=0.1183 left_gripper=0.9937 right_x=0.2895 right_y=0.0002 right_z=0.1569 right_yaw=0.0005 right_pitch=-0.0892 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -13.0667, 4.8068, 1.9267, -0.022, 0.1148, -0.4029, -0.1026, -1.5521, 7.0769, 1.6532, -0.0806, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQZhiTRUt2XPslCr6JXU0aq65-Bwe_08-a1H0iEDLDxE39tczUE_u4SKhpin2-_HKmVEDN6qnuvo2BB35xlu8Lu2mwX0LNXSOg0Sm2TBwDDVT5xRf6Pa471Fyu62DXKUwPeBtYyNVwu31eqUZ2JK2UmZELyRMVLz-bGPsdXtLTsOSsW9BpVo7brpRwtXYcxD1cy8AoBf0aQhvmURsviter3s0y_t2ZJ--CcDv1iJxKGXWBzzHq6PgK5gAZazWqCtZmaUxVNIqCMZNPjKGfXa5WypIhxUK2DPoS-5CVTxkcjxuvVBlrN0xDPyR7Yby9NstSphfEf1enVKeCBzrEdDKAQ5jMNSTR3ZE7wc9jXVc1UBx1HgAcnY8F-QHxmbNt3mkhbFPJbqb8ZVGdlg2GiRxCg1ZGWz7KfUbcXxb_3zDMbOe4trbqrfqEza6KN-OvlbzWC5D_KGuPDOWiP-ZCMOAds2T3SEntF94sdDEPXYhlbXkqZlfGOYplILF2F_6cmXxUy2eg5jcSsN4erMwDIIGv-isspg3FOij_oqxIh4p1JwVeD-as8zHEwY34MNncjQmX12KnM4fJlvjt1uOutQVesa36zVG_e9mqQ2bPd4G7KETm4Ne9Jbw7v6LCBI-HpxUYEynYDJ6GBoohGNy-ENa3IHO9um6qYB-wghIzrypEnVFTMy5_7Fhh8OIs9Gcnm5ksDjcK93LgKPVkkgr3-dtalV5GjBPCXAU8k40r_37PAbSYkCUoDTierZmjIu5OCuhodQSEa_PMzAgyBVZh4d8d1S2xXgTBYq5CgaHSZ5u3FowxyBYuhwSV7HMlFtBzoO6nuMLvbtC4PU0H2J6uygIVuUl46k06t9mD0AKxEXkC2zWIEKG18hDb3072p_XDJ9X8YvDuacfQPAp1jySy3dY0Y5rFbcjO1F71h4EoRs1tSpV8TwAT6PtlUReU8MU_bYqTh6SGH7fTve3Qov0iL71sJMqvA9qQWOCNddttxIfct4TztlfaE61ip37BfuQXYX5hItjYxTGKvn2AAQ-y2UA-Cr7wKtX1m3hyeVoh8ZaOpWpB2akp9wB_8etSqR1ApazUIY6ptE29onlUHJuCtpYOHNb3yOkkGfwjvlQKNaUq4f0L-DKEnZke3RVzPyj3MBS5GdLMS9_5UNrM1_utxvOYHyi-htDikVCAWO0sPBirVQA3nYJcgqrDOq_jVdoXS8LIN6anD1HL1Vodec_-TCet6QcO83MjKBGS3KjKfpQLa104=",
  "id": "rs_0caecdf28f0c5d90016ab2c416512087d0b4b9463c7e5f8013",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The wrist rotation tracked poorly and moved the arm away from its intended pose. I’m backing upward and inward to a simpler orientation before continuing.\"}",
  "call_id": "call_aibzz9rIoEVFBvBDyu9aYlnE",
  "id": "fc_0caecdf28f0c5d90016ab2c417203887d08979b6ebc9f5b600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aibzz9rIoEVFBvBDyu9aYlnE",
  "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]: [-0.477, 2.5973, 2.0525, -1.3113, -1.0439, -1.9434, 0.9936, -0.0216, 0.8394, 0.5945, -0.4442, -0.0166, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.0639 left_z=0.0208 left_yaw=1.259 left_pitch=0.068 left_roll=-0.0163 left_gripper=0.9936 right_x=0.2865 right_y=0.0003 right_z=0.1506 right_yaw=0.0012 right_pitch=-0.119 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -18.7829, 6.7761, 0.4274, -0.5885, 0.0562, -0.0171, -0.0342, -1.4291, 6.9538, 1.7118, -0.0415, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffecb5fa54686ae72c8517220a363afe3ab84b18ff9d5ede0290dced99d06c32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143da3a18f8b4e11bcdbbf70461314d33f4bdcdbfc8e26e6d5b171112de033cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43c351e15dac64619a8c361164016c73236dbe6c265108e1d4be5688e25f1e3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3344, 2.5774, 2.0193, -0.9241, -1.1297, -1.7702, 0.9936, -0.0219, 0.8364, 0.5945, -0.4374, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.5216 left_y=-0.0083 left_z=0.0296 left_yaw=1.3337 left_pitch=0.1161 left_roll=-0.2455 left_gripper=0.9936 right_x=0.2875 right_y=0.0002 right_z=0.1527 right_yaw=0.0006 right_pitch=-0.1091 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -15.8564, 6.2154, 0.4664, -0.7399, -0.1343, -0.0317, -0.1162, -1.347, 7.0085, 1.7656, -0.0562, -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": "gAAAAABqssQjGN2ftMMI1Wp2jIWitSZNOU3NAHwAm5v61kz_0YL7k1yaxRKr_uKrVwQyWi4ey_jjoDmb-QHS040VJKNjeU4DAHKSnSO57mpeTM2_ZJZ7nG2wUgw2P0i8YcIhXIRHwIC840eO7vsWesefFPcFvf0fxbm6b8gjmqe0rUm3ZnwnMsbJ-D1nHrsGI4iniXLB2tNzVkY9p5bdL38VZxeLN0kKuDq8xGMZQQVRRLgy_pG18P40V13Qo3_HnUmEwLPpMxFTtBHx8FHGY7Xd0_qOUi3hMXB-JEYzmJfQUTOzN8k0a4czzVvgVbhRG9U9SZKi-l1MWUe0h26fq6wPY27TPygEoYJN5QIqrbIrLkFQVdS4NE4gpy6Vl0KdjKwdySYLJ9E7UCylsF3K11xigR47WkwV7X4hx8asuFKP_j0HqUm7wv-7NrCvTDNED3MnatYSOiNRJayyXSGVsDHvd2GVL-Y2NWo6RP6D6PrmAa528GBkfr9-_h3T6PUbM4r7WbFPv1IP0PyGnsZ62DNk7UZWNQY-Q9A5_pIrgUu45OaBUf6-aCzCcnSS4TafhdutqbJ64RMVrOkT8yP570Y5KA0b1ssWnqmWzXI9ASicYo5RtrlqPM1DlRQ_ycwPrPxM0Byxbkp7zhjCrzTWnx5UoaFe4n4ftSDEnhVit_J8_kEtc2aSXRaDrGqTHC24QeQn2rEdhsTlhiF4Qjl-OrXBK6haawBhTZrc5Exwx7jlN_vSuY7i4JR9CWnW589rm-mVnhWEBsqCV6a7GxabuVl6UznWtLo2orIm9TLqCqTJnP0pL-Xlikuo10xKgL8iVcv0ocn48ln0DC--Kw8NKMl_GSfvx-YZ5Xc4vhACAE5J1ReIPGSn1mVBBBK5_3QR2drjS8uoT3GdcPZ4NhddVUpmwX3M9DRz713HdVCO_IYO9AOzajWLngpRH-XBXeY7clOOLjVGxJ_OzvKQfrAb5spmHSk5ZZr_h8VO2pdmLaIiywbSSLOfs4DZdhzCKRAxmx8KPC6tVMMev9NWvQKs2LHtYcH_jEf-1VrQYRzsImZCrBYmQrDk0-d9l7zxtwwE9r6WD49VYsX1UNACSpLPJWWU4Vk4VU2GqDWNZn-7N65lgwEercZyoCkSR9zcM_AtAtzoJPkVr0oP2JS95z40Ra3CXqn9FSVlZaDkRTKdDpCyZ4inwwpfV9I8jp6z03uKDtXe5ex7s7TzGK1l4t06oTGlfNIMW5-r7384bBzfdZ09ipOxewIXTKrIQWoW_sVBWTV3xKk3Edwsl2VVoRz_5a8b1VegobN9vHLHqiS1lpiNjbpUmxm6hsFQ1zkZB7mrOErni6pY22bW",
  "id": "rs_0caecdf28f0c5d90016ab2c41e9f7087d09c323f7efef4c7f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.06,\"left_z\":0.35,\"left_yaw\":1.25,\"left_pitch\":0.07},\"note\":\"The left arm has not lifted as commanded, so I’m preserving its current wrist orientation and requesting a shorter-reach upward retreat to clear the table.\"}",
  "call_id": "call_j0tVBEhAAdrhD9XH1UdpM1Jb",
  "id": "fc_0caecdf28f0c5d90016ab2c420764887d0b7028aa2863ec26d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j0tVBEhAAdrhD9XH1UdpM1Jb",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.7706, 1.7294, -1.557, -1.0481, -1.689, 0.9936, -0.0219, 0.8425, 0.5941, -0.4526, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3505 left_y=0.032 left_z=0.2626 left_yaw=1.2416 left_pitch=0.0485 left_roll=-0.0518 left_gripper=0.9936 right_x=0.2852 right_y=0.0003 right_z=0.148 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -9.6479, 6.8034, 0.1001, -0.7546, 0.1538, -0.0171, -0.0752, -1.7436, 7.1726, 1.7265, -0.0464, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281c65f817220d40cd248b2566d6536d799ee8cb4ed672d124c85028a3977f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6007988940f014cea3dd83a71c5aead03201d3cf787fabd5ddbf8b90d1124cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1b001cca5d169374ea6d7ed9413385b3b5e890fb05ce72be405d2cf1d5e0a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.477, 2.5973, 2.0525, -1.3113, -1.0439, -1.9434, 0.9936, -0.0216, 0.8394, 0.5945, -0.4442, -0.0166, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.4639 left_y=-0.0639 left_z=0.0208 left_yaw=1.259 left_pitch=0.068 left_roll=-0.0163 left_gripper=0.9936 right_x=0.2865 right_y=0.0003 right_z=0.1506 right_yaw=0.0012 right_pitch=-0.119 right_roll=0.003 right_gripper=0.9992\nstate[joint_eff]: [0.7453, -18.7829, 6.7761, 0.4274, -0.5885, 0.0562, -0.0171, -0.0342, -1.4291, 6.9538, 1.7118, -0.0415, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQt5J1BSazzyXYlMbQ9tNEkfvr6nCxMVkqd2N7Ivt21U-YRZ1Hy98y7ZQ3rUH7WtwbyfI4UdDTBjMOX17q01L37d83hH-s0CS_b4GxCTXXEOjMuKJWxx1avzctaUHIzUuSmTk6NoX_Vs1ukEEU9PIqNJlfpyy70ouAsYWQae2dVcMvTErr_Y2iLvYlWtPddSntt3DugUD-7iT4N_-VJd0UnKO3HW0OBHpSaX9QuVBWQe4sfJSDM7RHaF7XmT7V39f81AJ1iHHe_sa6vHsyHdgOQKQYqREgUH_ZNbgnDhfW7gStw2xphr13RSAvdzjtjPGQt-nOqfSe1CTjDDW91az7TZsdL4kE3id7yiIv3xK_PY4BfoPxbaJwZLcF8YldRVdAmm0i9QXRpXMZy1tb42ztm41IzCZg6ML7tGcCUO7DX9lyr-r5gAM_m-VORdIu_-JXVgnOyFBrkSd-CP1ENILgTB4G99ki52JTlDKLgYD9yWF8v0si-ylkNwGdGK3bHi1LsnN4-WWX5Mx5uxdzPiIGg8mMfCFOF_14vT6x6tgiKEnWOQqx7fUk8cjrlzNpTfTvXOiDujeHQKT3idTLzpeYms6UpwpibAFg35bYPmuF_dyIQbKaBJSal4-Ab2wes9PhtKpz7dGSdFZcIZ3LZCh9EG6a-LrQwsOdH04hg-tZ0cjtrP_a5bY_OqrF_ejo1_zKFXA0iBERx-IRTCNGamn0oQpLgCco8gvsKe_H1N7cCiI4AXbSA3iahblQcK63iHaKCDAAWM8yFzaQ3Rw5bBkqwNuvjzHcJFs-Cap1OpGG3JEEc9DasphjQdMpMwm094geED2AKwYs5I1jCAW4wq7z7Kr_t5_F9X8teg4Vqw_jy6GiYGQA1HU-xDzseBruWLI889GQvILxc7_uAaDfxSnumgYFnZBNpN2LIcxM8Kodf6-2TquvmCJpo_UzZUUp1Nn-w5oYKy26ZeCnOZN8fTgKN3PR8xag0sNhWyHMbvyzZyxDxmCRr_bpyGn8uLhTEK61x9U0z9l4NPKeCCYl2uJtfYD_e7Z26Hh1KlLIpm01WLTGEAY8JKMMdfsNdDNs5eVMPBNiW1Ee8YJ_O4XA_i5ZqTFDJm0NJNdjRUW9hLS5Qx3DVy7WRWvdfXp6-Zzo9q-KH6p9K4_Ay0UXxl8PT6r7ponDpj99ZBhGuxbd-ZGnajrP4rckAosKNpDLK_Li4Yq6rpY8XXkp3qOiCAH67Nm2bUTwO1XvK0sg3E0FZGJ8KyQpsRy-Hu0n55nHy4aTO_5HLCBrwFbWBpbC1v6cLMpnfScBhHN_lOsnDvd8UGTt-Scq1y6KquMgxIqggGjNf9keuzxLJh_SU49HKdrLivOoQ30hBLtQUoDMiFAhKXvKVXEE2rxXFYixB07LhPUKXmBK8sqlf0CZZOL_oTMPnQnb_o0eLsJ03epgzLbTm8ci1lKX1NDALoS6MNDO6gotwCwrp8Ca7qmEDPmKP96iDr84c183YwqB-hJVNLDNdBeJjyIhNSkrmixovUS1gioT_dyxl9hF1MUFgWzDssc6KVX2pFgEBpNBJcdzgHZPWWblwpQSZTIvhsdgCBtQfOP0Sa6AjjsYwiL8jjgONLoEgBRqzBwMJRgn7CvhWQ0npN555-oGkBQSv0uoZnyNryi2ycMUQ1jnmFT3B4hB4GPHBWIKYRA==",
  "id": "rs_0caecdf28f0c5d90016ab2c4277e6087d09325c046a9d8f76f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.3,\"left_yaw\":0.6,\"right_x\":0.39,\"right_y\":0.035,\"right_z\":0.11},\"note\":\"The left arm is clear now, but the bowls are still separate. I’m keeping it raised and bringing the right gripper toward the cream bowl, which has a clear approach.\"}",
  "call_id": "call_wrgk8TPLEX2CJmTJSTOZQjc7",
  "id": "fc_0caecdf28f0c5d90016ab2c42af7cc87d0bf7c26b5dba81947",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wrgk8TPLEX2CJmTJSTOZQjc7",
  "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]: [-0.4377, 1.4494, 1.4448, -1.2411, -1.0027, -1.2976, 0.9935, 0.1181, 1.3819, 0.6941, -0.1177, 0.0704, 0.0341, 0.9992]\nstate[eef_state]: left_x=0.3236 left_y=0.0169 left_z=0.2766 left_yaw=0.9683 left_pitch=0.0355 left_roll=-0.0692 left_gripper=0.9935 right_x=0.367 right_y=0.0346 right_z=0.0847 right_yaw=0.0279 right_pitch=-0.2329 right_roll=-0.0098 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.9009, 6.0376, 0.8278, -0.6032, 0.2271, -0.0171, 0.5265, -6.2564, 8.9778, 1.8291, 0.188, 0.149, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57148195bfba73f5039227a84593e30edaa82b1c63a654aa84fc4e5720bae7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c067ca43e5d4743842398041a32fda1d4f22bec3bcf3778f283d570da5ad7e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5aa775dcd21e57d089255aba8822a6ec191ec05b83b9af089e9f00df74b4f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.7706, 1.7294, -1.557, -1.0481, -1.689, 0.9936, -0.0219, 0.8425, 0.5941, -0.4526, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3505 left_y=0.032 left_z=0.2626 left_yaw=1.2416 left_pitch=0.0485 left_roll=-0.0518 left_gripper=0.9936 right_x=0.2852 right_y=0.0003 right_z=0.148 right_yaw=0.0006 right_pitch=-0.1308 right_roll=0.0035 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -9.6479, 6.8034, 0.1001, -0.7546, 0.1538, -0.0171, -0.0752, -1.7436, 7.1726, 1.7265, -0.0464, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQ0M3q79P7soCblP5f-qwCwKOiPmbABd5Wqi3m4Z1MuXqK69LJhqKFypOV0tiVYWpu1AA0wq0u4hJPBs2ytRGuda8BAisVIoVTM5ngYSsFcVhLjFbLfc9vml8gBO3_upAwdIQ8i5rUbhHaiUFaGBW-htPO2PKAlEjLpioG5m9UJob3eMXqyeQdEg833CYv1mZ9ziXg-h4ZL0X3Z-r54HgnZydU1fvrsWr5B4cT1dEhPvGVC1Hy2fetxBcndFqRIoUtli3fFTHcm2o3781QyzNDq9S4PEnuxrhKCflEFnqc90gN2iJZ4jy-fZkc6z5cqwD4m9_QLrMFaoBPSErU7hPJIl9HRWIdSIUWli_5EOd7C-Rycp4N_38DF5MQIJ1L078ZCHC0Q0WErbHNvabYHtaI66JzvLvENw5dcJ-wmNndWyBz_Ur2GDJHacP23NJPIxlT81egeeebnIEgNrb9rH5SeHCbTN0Zx27HXqJEqjjCz5uVgQll2g8TWNrXcMknSk1ll-TWgG1N2TSD6MegduGXdLq7EB4biYGi_IhXI7cacy-cUv7ptEAmPPPd6qxVHDKp51EFrGGSTMGaJV6fg67N8LuciD9RjiRaKVMbP0cCbxFKiC-2vFSKPjDAnx3pvXu0T3MZM1FOs82AP7dBXC8BQ3nyzcooky6nvgVbOycJbXdD1PBkjkYCnpxI_oo5LSlRfWxeffWUjXEsKOs56vfAcJgeC3RcjHcH7rTY0E1Pv-kG3ZYz57cSSzuzN4hjAiU3ukHB-GdpPdYChj4dg8EdEWO8j58hMFWSll7hQCIhI3NnfLLomDryn4tO1r2lh-NvUV2vzKWEquHp0Py9rosXkwOH_W8iSxUqgI02BgKDD1EAEw8J0WXw8z9Q-GWrx3j7BkpJCh5shaqYRZLhs_53IdY7oRwZddaqXzm1Ljvr_FIjbWIQOURxYXoX1McxZ5GbfWemT1o_al1DkWRVzjrGGH6BgrdoRxLXdEyF47obz_Guq2MKStp9ZACCSXRjgddckkvAMt2CUab2tvsbMSqXKzpqx2CGKKsva3S9Bnd6ffV65KfezzJ_IDWQo0ocVXr_LAyrMOz_tZ6rwAUuBz_EHozN72xOt0pesh_BECEi5RjgtLyiYsKivkEQClkGlGYGqBhvHNfDw_kdmYXBiJzr0pOhh5ECbL-RHBOLlei7Dmgqutv3-Qdwz5JpCEjmMFfE6e4NYfRZY-QRaNjiDppmTO4N1T7iOM6rUc8HHsxFqBJk=",
  "id": "rs_0caecdf28f0c5d90016ab2c431620487d08ad9521b9cdfefac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.047,\"right_z\":0.045,\"right_pitch\":0.15,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.3,\"left_yaw\":0},\"note\":\"The cream bowl is centered between the open right fingers but is still slightly forward. I’m lowering and advancing a little to grasp its sides, while returning the left wrist toward its neutral pose.\"}",
  "call_id": "call_evlBj9cAnjgFzXSm8wREtcqA",
  "id": "fc_0caecdf28f0c5d90016ab2c432433c87d0ad4c9274d084fa06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_evlBj9cAnjgFzXSm8wREtcqA",
  "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]: [-0.0113, 0.8932, 1.0847, -0.7734, -0.1032, -0.2382, 0.9935, 0.1516, 1.7744, 0.4858, 0.8169, 0.0986, 0.0265, 0.9991]\nstate[eef_state]: left_x=0.2893 left_y=0.0185 left_z=0.2883 left_yaw=0.1826 left_pitch=-0.0108 left_roll=-0.1207 left_gripper=0.9935 right_x=0.4157 right_y=0.0496 right_z=0.0404 right_yaw=0.0438 right_pitch=0.1008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.212, -2.4274, 7.1043, 1.9365, -0.0757, 0.232, -0.0122, 0.3897, -5.9145, 3.8359, 1.3651, 0.2222, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e3696e5fda1a219b243ddee90585c4494e44a2448f0f584178eaaa828c0276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e221ebf20f982f36f463a6925f7e824d5a65480d95e559c701d909d59b5082",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadefd4b455ab3e4ce7ebb47da090539df8903798ee139e7482005db1e0aea60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4377, 1.4494, 1.4448, -1.2411, -1.0027, -1.2976, 0.9935, 0.1181, 1.3819, 0.6941, -0.1177, 0.0704, 0.0341, 0.9992]\nstate[eef_state]: left_x=0.3236 left_y=0.0169 left_z=0.2766 left_yaw=0.9683 left_pitch=0.0355 left_roll=-0.0692 left_gripper=0.9935 right_x=0.367 right_y=0.0346 right_z=0.0847 right_yaw=0.0279 right_pitch=-0.2329 right_roll=-0.0098 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -5.9009, 6.0376, 0.8278, -0.6032, 0.2271, -0.0171, 0.5265, -6.2564, 8.9778, 1.8291, 0.188, 0.149, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssQ8R3p9fndpp66CdH-U3bdgequDf8UkpEuVc5MIx7Y8OEKfpCtJfu9y3G_TbY-gMeDnf1Ko9UDejakXP350MmbXnzuU6dixdOlkScueBtAIllI8Ghj1lcvVYfxch7LZ8Hy4d1WD3G-8JlMVNMntGtsmjmaUAik2v1ALql_upbgVBPwEQuP_Vu0Em9Frw0AWd-y56tys-rZQY5STjMo-IUL7rwfpWZpTIqqZaXQ9GFbNVGUY7330l2K15VdIjBGZ8wuLeW7virUrDDJSFLnZw8_-tPSaNjlCXTtk1RYm2QtdA67rBzbuOk4nkW4tMxDmrro2UeakH6DTvRr5re1QlmW6vu8jzvtWsY018-6t-MUFG9cHY_LHSx0qfqNWkhANGJ87hZ0TAltFD-gGG7QKkhJn8cilOA8i6WLkvAhKBrCZmuGV32bPXXIsrLl4nWSfeN9vK2YgQnSugKJBMHuqajb4BmLRHQodMtxRhpLJyX6NSllLm1tuTpX9yQ4XBC-UA5AahCL93z9taU5cWkxuAvDEtRl1uLJRk0vr51It4OmMLZlfiZtaRHGHjeDvfl-beu4Bhjv0_6IRQyFpCCL_fiqzf5d07lEH0tQZzJkmO8RyJ1o80o780_Vnwx8WsSVqTAhOISfdTtckPggKi5ULj49zzfDEf9CMiMrdLkfF3DiLdfJAX9gIy8MOQdUhNBGYE7e3yjWDfwS2Xn0LCUeUxfrl4ukZkmNHGwo6lQjojbDhFLZbStFmDop1RxAzuM3CBJW4xWgL_dlEa07jzOIZNZJdWf0qTATCaWSJYupGFQul-um5uC1j17kofNpMNC2BRjhxfdwETLtIDqkDQnYyPYxvEAjQjNO4bq5juGR6KGRAXAiGlFmXLLDnyIbQ7oga0JqCthnerTaRc1NJuHHxEEI5CCu89M-om9YEpspgLysrAciC7qfXplnBZ_za2FbSvDHp53jAtMFMklUrQ3wXcvR2tlcOjG54o3_rx5cigf6eORmgNgLz0VRzZYa6vz8A8QquMHsftXilsOMHPSM10PxZBGRkM7JEclmDrxjWFyrgpVw6bjmRif0JnwNoJ2527sMlWH4JI8znAgBI7Fz9p-40YmMARALQr3T9wreieNmprrlaBuLpzgxJHEVS6zdbF8MQotx6TCQHrKmHNfupthCy91MrILPe6NV6JRZvLrvmKwspEI6odxOMBWvvfspV0e23sAyiMgkRe0Wya4VCdiDVrimMTXm5Omqu-kRP4Z0U4p9mG3yAiNODlqyTh2F47gmptY23UWh20moSU7i8MM3lAVOaeYXkwReZzjSDeVUfkvU=",
  "id": "rs_0caecdf28f0c5d90016ab2c439cdec87d09e2c97169a0752d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream bowl is now centered at the fingertips, with both jaws outside its sides. I’m closing to establish a firm grasp.\"}",
  "call_id": "call_wnXGqQmWpiWRX4UQyhVtZNhI",
  "id": "fc_0caecdf28f0c5d90016ab2c43ab15c87d08806ff91543d223d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wnXGqQmWpiWRX4UQyhVtZNhI",
  "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]: [-0.0105, 0.8993, 1.0843, -0.7807, -0.0998, -0.2363, 0.9935, 0.1509, 1.7882, 0.4778, 0.812, 0.0952, 0.0257, 0.0082]\nstate[eef_state]: left_x=0.2894 left_y=0.0181 left_z=0.285 left_yaw=0.1795 left_pitch=-0.0245 left_roll=-0.1183 left_gripper=0.9935 right_x=0.4115 right_y=0.0492 right_z=0.0311 right_yaw=0.0466 right_pitch=0.0741 right_roll=-0.0017 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.8393, 6.5162, 1.7558, -0.1343, -0.0952, -0.0073, 0.0068, -7.8701, 5.094, 1.8584, 0.0317, -0.0659, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca899d1b942a5cfea724368541b209b92d384a6415941a9ff0f3b484a4dd5aaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d547eb6f055d47f51f8994f5a808c05e6ae1e88d9b2afd6f9c8609e3097e35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd6197b10c115af3208c582cbfa81c606ffd88cc8784312763903dc8f902c37",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0113, 0.8932, 1.0847, -0.7734, -0.1032, -0.2382, 0.9935, 0.1516, 1.7744, 0.4858, 0.8169, 0.0986, 0.0265, 0.9991]\nstate[eef_state]: left_x=0.2893 left_y=0.0185 left_z=0.2883 left_yaw=0.1826 left_pitch=-0.0108 left_roll=-0.1207 left_gripper=0.9935 right_x=0.4157 right_y=0.0496 right_z=0.0404 right_yaw=0.0438 right_pitch=0.1008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.212, -2.4274, 7.1043, 1.9365, -0.0757, 0.232, -0.0122, 0.3897, -5.9145, 3.8359, 1.3651, 0.2222, -0.0708, -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": "gAAAAABqssREay5SK1N3CcUSHQpW3BCzBG9fJ1eAlI-dtCya7xmx7nfep2CB-ehqWKIW50bgYpaw0rFy-lMOj1u2DUSEhrsXFPS3F-fmWE6gvFFrNKgM6JrEuJLpNcLrcG5HqdTBJOUbCz4NjbhrwOQUm77V12xnVAGRTr4UWr9yX9Bv4aXurT406F3vpgP8TwoI33g_DCyer8SQNSQfXUCQYixrF1tAgZunepIuq1Aa0reMTd0XFDomuz7zvrjbNPJ-PxjVUEnDVcHnxE-ivSRFABhRJAPyj3m8a-Vfm6ZlkcyRYARMjOLwDck1Tb7WH31JtHiQb0kP_EHnoHJSCJGCpnw34gkVzkENCQlXUio-uPqa7tKgNAEfDUYk1q45XxazvVrmwM5n9gIhxJuLVncq58LCR2XUwjePTJoh9Gv4bQm9OWaZfZnh5GFoT-eW0LI8lPRYqk9bjUqAzxz97WRpnfeLX4O0HaPFOTQL8UEPJx5OilzFGCAUS5Pgp9N2x8-I2JjMZr8Y9pexLj63JE-Gdd4fLYoG-PdSvmQpzHzTLU8L4siE6NZkApx5NGb_2RlwuWNh6NDR4agEBS06bPPColvKFzNgmU3nm6QxF9b2HtzOKUrDn4C8LG5F-udpSll3dQR-EKAqbfKoA9Krb6EL2p-ENNjo14Pd45c_A9Mhqdyp71CsySREVS5gS64KExV3qJtRgorPLq9QJBJ7-2DQ1h2LXrweYRjrbueXo7zxjdoWKWmpj2WIkeqwaYeZ3VqqNI4RhucLZko3HxWGS6c527Eik9XoYDJuboV5x6b492NmNbs-G7xF10Z8SxbFdOiywone1cZ3T2a96iemsByID6RSgHgbj7_ekSWh5rhIn0yVMyJD7Ug2iSP-Ykk22xPU-xcr2VIvOrd1tJgyiwbajraF4iBjvcQ563UK7SZFZKiYxnKmNKX--HTPI_cj-B64WTpfxaCkz9tdMWwIcqbXiMpIzKlrXgWTMKZ8_UFnW9twsMMH6YN-j8FE6bMoCUh7RQ7l75LlM5ONfPcOTMb3HIeGigN1TErqmP3_9heczkBnvaFVkbPahlSeDMKc7H-pTEV25xLgIxpodHA1OWh-YShl9TVgIlxeJLB2B8mtsrxF__XCm3XgGoR-W33LqGgBUBGxkom8GrwK-tVZtA4DD_4g-X30bm9F3npr90nMZamYquZgEDPI3ClzAxB6RO_hgl7y5eSoCHncP0d0BiUdlWlnuwIcc3UdkkXz7JdpyoQ0Wj1MeWv526nE6HICbQwag4fixRllGSw4elDbapL4avD1vcEcQajbnsjiSe9rPaMzG76fky3sgBrtC8mSTTUlQK0_x24ABth2VylgJ0pq-HhFb2R3OIT2OnHeD5f9dRY94oU7nXsfqwdTi9RwrQw2TWuuslq7Kr83BpGIG9XEHWOBnO5qTm7Qny46EC-GL8IiDanJEC1caLnzFlgJGerVUUM1u2BcYgAmN1MpCwzLqOctsKdEEd2YUouV1dJvtarrjkimCVbkNjfyVXTJjwmQJzzhbM6_EZzPKHpdd7TPpgBRuNVm8Fg1T-0JyB2peZxc255mJ5-dek3NkCecbgLPxsHyjRfcUUzvSTMhaZvNOovjkTZH7g==",
  "id": "rs_0caecdf28f0c5d90016ab2c43f468487d08b1ada7a021ba863",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_y\":-0.01,\"right_gripper\":0.7},\"note\":\"The jaws closed inside the cream bowl rather than around it, so the bowl is wider than the gripper can span here. I’m lifting and offsetting toward its right rim for an inside-outside grasp.\"}",
  "call_id": "call_jZqppQ0fsFh0XTaj7P3mrVoE",
  "id": "fc_0caecdf28f0c5d90016ab2c4421b3c87d08ffb19a2cf0a0ae4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jZqppQ0fsFh0XTaj7P3mrVoE",
  "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]: [-0.0105, 0.9031, 1.0843, -0.7811, -0.1028, -0.2363, 0.9935, -0.0666, 1.4841, 0.5541, 0.4168, -0.0738, -0.0757, 0.6963]\nstate[eef_state]: left_x=0.29 left_y=0.0187 left_z=0.2839 left_yaw=0.1821 left_pitch=-0.0283 left_roll=-0.1158 left_gripper=0.9935 right_x=0.4066 right_y=-0.0105 right_z=0.0937 right_yaw=0.0265 right_pitch=0.0583 right_roll=-0.0089 right_gripper=0.6963\nstate[joint_eff]: [-0.0752, -1.4017, 6.5162, 1.6923, -0.0757, -0.0708, -0.0073, -0.1983, -6.5709, 8.6359, 1.956, -0.1587, 0.0171, -0.1001]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f299873c6bee2bcf0aeaca5406ab4da65ad2ff48b2d2f87890fb7ccde78573e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3066e5552d7ced679ee9e08f34750a87122fa25c48747cef9f9562a31bfeae6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7231d2a90c07563cd1bd8fc5fc83f79028ecbc2b92ddb7aa40ebfda9b135872",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.8993, 1.0843, -0.7807, -0.0998, -0.2363, 0.9935, 0.1509, 1.7882, 0.4778, 0.812, 0.0952, 0.0257, 0.0082]\nstate[eef_state]: left_x=0.2894 left_y=0.0181 left_z=0.285 left_yaw=0.1795 left_pitch=-0.0245 left_roll=-0.1183 left_gripper=0.9935 right_x=0.4115 right_y=0.0492 right_z=0.0311 right_yaw=0.0466 right_pitch=0.0741 right_roll=-0.0017 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.8393, 6.5162, 1.7558, -0.1343, -0.0952, -0.0073, 0.0068, -7.8701, 5.094, 1.8584, 0.0317, -0.0659, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRJV-dKVdn_7Q5elYAGAmQCwX1QxWfuB0CJdHzoKIZ9jlYrE8fKzBI2QANVG7hWedBgbMJOf9C23WK840CxkrIHk8FFShxViOrh3FjAMLe7GXd7ZkmQPUsyHDAL1VSUoBN_9znCFwbFdtHjyL_zg0wiz72HjmEdRTVD69lC5ZUTK0Exbp0n41Yv51kQSkqW9AK8e42VlZVxQTxeFL5Jd9uf1ia5KNVgbR3bp4Fl6jilqUC7OkkilEMpvz9IRVbaZxhHm85PeQUh2grKOthQB6-9mOk4qOzYDUx503R3aYcGjPQ6cTIDb3E5uC8zGao8aItVtBqTXM4C9R8pNzW5UGT9ypYQ3kMJ1W67vtOfNcju6qXny7lR75vyDkz4UGFQUNavj7uGaqmHLxQEL2HnV51d7gezNPZprA2Q9a9b5JiNIdKVKX0zrPk1K6PXAFnmgmJBQ7vTvjOSVx32F2htcRHoh1kIdG0S7e6QxI_R1hIIlUWXMBwm28oilr5E26AJUDcYnfPRdUvDHw6Zo34tuHPx3y3-qy6Jjt07LyS1Li4mDSxpUOI1z5ehN34TNd05YYMqHCVRpX-2hLl0aToXEXQJ1QBNpDOY_muQ33ScVDEM4TG0fD83YzRU6eYg2XTpVgEnZlEXUHUo1bM8IP7PTpFpZeKCPheve26BWuCQAjwULPdRWTtDByfsEM7X2Hg7Yduol8nSWbdAh5WAXqWiMkV628wY1ZrX0VIbLk0OwjiCovobR_1E9-XNYmzmZYGb1q2GZN29R5clg2wF09uKkkWKlowsn8xT2cmGpLWpHjfklrzKK2OKC-ZWOR2fTdte2lIWx0tqe0QflCQ2GZvdXmGtDD6S_vWVzPYqi7qxXx-U4fgWMjnmEoc5ueH511gJ7DdCcHw9-E0jsAaXQFwC61Jajq61xW8apmaiXCBeG-ENLKAXtm_svcJABP_l31brCdNc5XJ3cOdHSBp51K-ghcoqeKn7TqbfADGdjCMAceK1GwND2LrwV8ymCZIsrzBl-pnWnBLMas0wc4J46BAM75hT-lV63qThqbMzEePILiRuvpReul52af6Gg9ZAh53XedW0oxc4Gk8FYsMFQRtLrPaiZX2nQsY1hRiw6o_cBxBDuWDi69OXzKO4YC6KvzP_YqJ8SR1ATRkQZcQJ6yMyY2vzK7jkf7bQoZXA1CM6eV3Qsz5Qq6Y7Mt0sojuUNfv688vFIH0-QiUAUQudN8locy4kDA==",
  "id": "rs_0caecdf28f0c5d90016ab2c4471fac87d09f516120579690ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The cream bowl’s right rim now lies between the fingers. I’m lowering the jaws around that rim while keeping the horizontal alignment fixed.\"}",
  "call_id": "call_gRfOBucK5csgsaOhUXP1tu3a",
  "id": "fc_0caecdf28f0c5d90016ab2c447819887d09576aa9a4d231ca5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gRfOBucK5csgsaOhUXP1tu3a",
  "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]: [-0.0105, 0.9066, 1.0843, -0.7815, -0.1028, -0.2363, 0.9935, -0.0719, 1.673, 0.4706, 0.5846, -0.0868, -0.0788, 0.6969]\nstate[eef_state]: left_x=0.2905 left_y=0.0187 left_z=0.2829 left_yaw=0.1821 left_pitch=-0.0321 left_roll=-0.1151 left_gripper=0.9935 right_x=0.3922 right_y=-0.0093 right_z=0.0253 right_yaw=0.0337 right_pitch=-0.0451 right_roll=0.0058 right_gripper=0.6969\nstate[joint_eff]: [-0.1573, -1.6615, 6.4342, 1.707, -0.0904, -0.0659, -0.0122, 0.2256, -7.0085, 5.4632, 2.3468, 0.0708, 0.0269, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654b732c79d0fba96a056d99394907a413b8afabbbb650ff3b777d34a918bfa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1a3ab64312e2ec5aeb8a829b3b6232656c8f75ae866aa24a338bf0f6ffbc53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ca8aadd2f24954a1d649939ae94c46f23b1f6d1364921c5accceaa534c7e6c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9031, 1.0843, -0.7811, -0.1028, -0.2363, 0.9935, -0.0666, 1.4841, 0.5541, 0.4168, -0.0738, -0.0757, 0.6963]\nstate[eef_state]: left_x=0.29 left_y=0.0187 left_z=0.2839 left_yaw=0.1821 left_pitch=-0.0283 left_roll=-0.1158 left_gripper=0.9935 right_x=0.4066 right_y=-0.0105 right_z=0.0937 right_yaw=0.0265 right_pitch=0.0583 right_roll=-0.0089 right_gripper=0.6963\nstate[joint_eff]: [-0.0752, -1.4017, 6.5162, 1.6923, -0.0757, -0.0708, -0.0073, -0.1983, -6.5709, 8.6359, 1.956, -0.1587, 0.0171, -0.1001]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is inside the cream bowl and the other is outside its right wall. I’m closing around the wall to secure the bowl by its rim.\"}",
  "call_id": "call_ebTb8pf0rPIBXMWYl3OFTiYH",
  "id": "fc_0caecdf28f0c5d90016ab2c44c7e5487d080364792be64ab67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ebTb8pf0rPIBXMWYl3OFTiYH",
  "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]: [-0.0105, 0.9089, 1.0843, -0.7811, -0.1028, -0.2363, 0.9935, -0.0681, 1.6699, 0.4656, 0.6102, -0.1093, -0.0711, 0.1044]\nstate[eef_state]: left_x=0.2909 left_y=0.0187 left_z=0.2823 left_yaw=0.1821 left_pitch=-0.0339 left_roll=-0.1148 left_gripper=0.9935 right_x=0.3943 right_y=-0.004 right_z=0.0301 right_yaw=0.0522 right_pitch=-0.0202 right_roll=0.0222 right_gripper=0.1044\nstate[joint_eff]: [-0.0205, -1.5932, 6.4479, 1.7021, -0.0659, -0.0415, -0.0122, -0.5675, -6.0923, 5.3265, 1.4432, 0.2173, -0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813312b50e13cb5ded95ef0b150d5337a9ab01ebebb373322898015ce0cd294f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3194524dcb03bdf820464acb3514df27265a42d8322243ac983961bef0f25a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33ffe4694bd435bb6e46f576b5327f4526e70392f2fb59fb1456f504e32e468",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9066, 1.0843, -0.7815, -0.1028, -0.2363, 0.9935, -0.0719, 1.673, 0.4706, 0.5846, -0.0868, -0.0788, 0.6969]\nstate[eef_state]: left_x=0.2905 left_y=0.0187 left_z=0.2829 left_yaw=0.1821 left_pitch=-0.0321 left_roll=-0.1151 left_gripper=0.9935 right_x=0.3922 right_y=-0.0093 right_z=0.0253 right_yaw=0.0337 right_pitch=-0.0451 right_roll=0.0058 right_gripper=0.6969\nstate[joint_eff]: [-0.1573, -1.6615, 6.4342, 1.707, -0.0904, -0.0659, -0.0122, 0.2256, -7.0085, 5.4632, 2.3468, 0.0708, 0.0269, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The right gripper stopped at about 1 cm, consistent with a captured bowl wall. I’m doing a short lift to verify that the cream bowl moves with it.\"}",
  "call_id": "call_ptooZmeBWPVNxpF5E5H46U0x",
  "id": "fc_0caecdf28f0c5d90016ab2c451f0d087d085ee14b78005160b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ptooZmeBWPVNxpF5E5H46U0x",
  "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]: [-0.0109, 0.9127, 1.084, -0.7815, -0.1028, -0.2363, 0.9935, -0.0673, 1.4094, 0.5808, 0.2214, -0.1169, -0.0795, 0.1039]\nstate[eef_state]: left_x=0.2915 left_y=0.0185 left_z=0.2811 left_yaw=0.1817 left_pitch=-0.0384 left_roll=-0.1139 left_gripper=0.9935 right_x=0.3899 right_y=-0.002 right_z=0.0927 right_yaw=0.064 right_pitch=-0.0324 right_roll=0.0211 right_gripper=0.1039\nstate[joint_eff]: [-0.212, -1.7299, 6.4615, 1.6728, -0.1001, -0.0366, -0.0073, -0.253, -6.2564, 9.4017, 1.8046, -0.0317, 0.0366, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37d35a6af5ff876c01af3252b8b4ffbeff8ea077cef771f1682db5a32da7825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664ba3d22f61d6280321c9c78b2210396733d59459f068ad65fa7e78b3f1b76c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4e4183ffecc9ac46d1a421b17c5aec1f6ea08b155a48bbf350f71e6c1aea88",
      "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]: [-0.0105, 0.9089, 1.0843, -0.7811, -0.1028, -0.2363, 0.9935, -0.0681, 1.6699, 0.4656, 0.6102, -0.1093, -0.0711, 0.1044]\nstate[eef_state]: left_x=0.2909 left_y=0.0187 left_z=0.2823 left_yaw=0.1821 left_pitch=-0.0339 left_roll=-0.1148 left_gripper=0.9935 right_x=0.3943 right_y=-0.004 right_z=0.0301 right_yaw=0.0522 right_pitch=-0.0202 right_roll=0.0222 right_gripper=0.1044\nstate[joint_eff]: [-0.0205, -1.5932, 6.4479, 1.7021, -0.0659, -0.0415, -0.0122, -0.5675, -6.0923, 5.3265, 1.4432, 0.2173, -0.0904, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssRhxLV15aUTPgNoGdp7tL5OwQuKzMYlp0I5j-7XLqDwp7LygLbBKaXHCIXkr6ufbB2bythWNRJb3p-6YnY40DsZGpa_ya044zaWQlFuRF2Dhv31ce06M6KrQSMVfmGtxnsfGI6wKGORffUWoWtC1QoxsTCm4NaQPmySlG100cQ4uVz7wDZux61UEghHMlTfaDO1HrXvmm_E5W7zxM0kfs6wzAH-tw_ZGgWPtzwKFYwE1x871gF0rkbEumJfYOKFOZc97tXfnJfUTLjREOD3rkYk-QChxoBe9T1PrgXujPT2AtWCh9lKfJUoFcxQvjoEW_x-gC4mhNJuSSs4N7V8luxnkXScn8iLzarzZxnd_TvUAcU-HQ6dwI4QGu9EtaDpKXX1sBVrRsLgaapBw9DWzGiXw--PEfcfuQdmOLfK6L7ZO7zRGNWTy1l1pWsGRQ6dHon5u-vR87IoGZukVeggtagV4a1pWLO_u_Ohvw13e5Eb_2AQi8tJx9PQkFTHg_PvFXSCfgbUKDcpx1uHIti4Zv5m117KUsMjNFVLkjbZ0z67jgC8fofShbSHBcoX7q_Rq-V1EHrET9i3S84vlnBeLU9UFY-6Qen6MKuWP7nbcParFrXcdkuO473BhvHAj3cuO1lSg5W1uNX7yUVE0OGNMYzwS-HadtRfnNczQg2oJkw9fgOw0-RU_WC8lhfwVixb4dRyt2JsX_Sxs1N-cpK8Tjt1p3GPGsTtBzCFM1PvUc51IosMShkPiPDB8WW5GBf7uEUYVUJgmHZisC4TA-rvYdzLzIUcS1FDcGAToHPW1zp49QCdNgJ8oBXBWGJGyUvx2zrn3JasHOpxwoul6BTCPxbOmjo4b6Wjlqc-Yqa7LNtGBrog15hyY4JBanEz4mOqXOxqEtS6hOIe9obVRqvIPiw-AUUNHxtu2rKHjeVkwusErqizeUnaBzphAW-40D7qced0y44zh-JyU3moF_7kPh2du73seuiSwiVB0_ECRX4TeVUpl_g64gXxVtwcioKhv728ZQKDDcFlfzlVSp7L9FcLXMRxc-yv08nwbIvcQlkQNqc6ZFhgxzsAG1PCx_rvQiv_lM0KqwgucSPQ7QZBz-vrzpy68QVy1Y2ZDNhOV9xRoDzHeUmewpNoxFol_ZB2rQ9PBxzsQxlySPwu6EwtAT0gsRTJds9rVVD6VoZJkoN5Rq8ra2Tq-Zx4eWOFGYuC2cyNx5NzNp1EmlBjE3Ocq6P9wVg_bN1tfyGDhIiVwhHDmJrgC533X4KeXO4-_0r2-Fo_PiFj1RpXRzujwMDYRuf4qJ8qcdIcDAPHk8XSgu58E04TkQ_T58dj5P7m6eNhv-Sx0uFGMuCE4UEo6R6ZfSCBKYaqgjIkWDKw0SGbQWAKY4W9WLrBoEVboX_ArMalZi9WzwfgnTlyLVuGGySqf_TcDjy1JIs7GgqlqLqJ4QWEFrxsy5OiIiM7XxlgsfQzzhrH3DvHayOCvpPo1LFgLsSzZhQ3_0xjB08cL0z8OooXFgUX0kux8GGRfQ68O3W_JjTSwvVT5xJp6WOJamA5fJZwxRXlmh9EFpEJnArJb64UvKLmJ1HLSSBFaIT5oQB5Zm3tcLW-TI5j6-ZI1ZQfWYhsVH4I1uj5hbGvuj-bcoQkI-4Fa6HJnZzl9qH32c1adCKfwwfyXpfsY-n1YG9-DLPLZfg32qWvTPeq-qQVmdfcb9AEE053AZIaSn0Ag5BneSS5S4mI1oZGdOqhnPdBEwYESFztQeXP3rCTdXxBPcOaWQQVGEkURd1MJMNhuk8Pkv6tIwA8cSOFhmpxAfERLXGCGA6p3qi0tMJ6tiuSfAbKdNbg6pAIRar3Y7F6bx-KoLBHggoRcDZM5hMQTg8skZGXxGRC_KDURjnhPX6kFL-3qB8j4h0eVxhgon35gPhYaubDbcM2P5SJwfctVNKBudT22GBVdk6X24WMHMReHOeixIKSLrMvH9jB3wiCEzvzoZEyv5YJFNeJeBwSCHaD9yYkUR3JXtDzPemxbxsrzVNdjB_EDo6NK2ktI59U1hzWIQjb9xocdtO3UFSKYo6ZpnYiWgHibaz5byEKRs7RSWmpVdaWUj2fflNLRKwhtYa5rUuQvF97-2Ze9SblWXOgnVybr8zd8IhzYKgkrnjR_ecPvFYO7lA8CXyykp1ysnMFGqnt",
  "id": "rs_0caecdf28f0c5d90016ab2c458aa8487d091b813c2bd48859a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The cream bowl rose with the right gripper and remains pinched at the rim. I’m lifting it high enough to clear the blue bowl during transport.\"}",
  "call_id": "call_EXISshV7tv1ERWRJNbm0qTdW",
  "id": "fc_0caecdf28f0c5d90016ab2c45fe6fc87d0acd80ab5c55f1402",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EXISshV7tv1ERWRJNbm0qTdW",
  "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]: [-0.0105, 0.9154, 1.084, -0.7891, -0.1028, -0.2363, 0.9935, -0.0673, 1.2667, 0.9005, -0.2722, -0.1173, -0.0875, 0.1038]\nstate[eef_state]: left_x=0.2909 left_y=0.0187 left_z=0.2788 left_yaw=0.1822 left_pitch=-0.0485 left_roll=-0.1119 left_gripper=0.9935 right_x=0.3892 right_y=-0.0019 right_z=0.186 right_yaw=0.0688 right_pitch=-0.0633 right_roll=0.019 right_gripper=0.1038\nstate[joint_eff]: [-0.0479, -1.7436, 6.4342, 1.7753, -0.0708, -0.0562, -0.0122, -0.1026, -6.5846, 10.0444, 1.8486, -0.0464, -0.0024, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd4b9ef96f994a7afde706247ff0d769a7995853a1bbb3ad3863541a5424b17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e84c9593031530d922f24fb8c341c1bc4fcb001c98cd94769142d3d370a941a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1919af79859415f96ee5012daa746f54c4eade1d70158f5aaddf120352c24d17",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0109, 0.9127, 1.084, -0.7815, -0.1028, -0.2363, 0.9935, -0.0673, 1.4094, 0.5808, 0.2214, -0.1169, -0.0795, 0.1039]\nstate[eef_state]: left_x=0.2915 left_y=0.0185 left_z=0.2811 left_yaw=0.1817 left_pitch=-0.0384 left_roll=-0.1139 left_gripper=0.9935 right_x=0.3899 right_y=-0.002 right_z=0.0927 right_yaw=0.064 right_pitch=-0.0324 right_roll=0.0211 right_gripper=0.1039\nstate[joint_eff]: [-0.212, -1.7299, 6.4615, 1.6728, -0.1001, -0.0366, -0.0073, -0.253, -6.2564, 9.4017, 1.8046, -0.0317, 0.0366, -0.0611]\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\":0.53,\"right_y\":0.22,\"right_z\":0.21,\"right_pitch\":0.25},\"note\":\"The cream bowl is secure above the table. I’m moving it forward and toward the center to place it over the blue bowl.\"}",
  "call_id": "call_cl5s78se95F08Xtu9FBAr2UV",
  "id": "fc_0caecdf28f0c5d90016ab2c4672a7c87d09f8c95a27282daff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cl5s78se95F08Xtu9FBAr2UV",
  "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]: [-0.0105, 0.9184, 1.084, -0.799, -0.1028, -0.2363, 0.9935, 0.5049, 1.9026, 1.3449, 0.1268, 0.3672, 0.1169, 0.1038]\nstate[eef_state]: left_x=0.2899 left_y=0.0187 left_z=0.276 left_yaw=0.1823 left_pitch=-0.0613 left_roll=-0.1094 left_gripper=0.9935 right_x=0.5185 right_y=0.2182 right_z=0.1849 right_yaw=0.1198 right_pitch=0.1694 right_roll=-0.0215 right_gripper=0.1038\nstate[joint_eff]: [-0.212, -1.6752, 6.4342, 1.8095, -0.0659, -0.0757, -0.0122, 0.2393, -10.6325, 9.7026, 2.0, 0.3687, 0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e64e73daa3519c2eff69fc59507a80ac3ef9866fb5102f7a8f9685e579ee9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d95c20ac2f542ccf08641763908d98c6136119a9bf3c1797bf1863e6a7665768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0e3cfb811791aa88a0b420f0360301e76f780c5269a1a44c96cdcb25896d7d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9154, 1.084, -0.7891, -0.1028, -0.2363, 0.9935, -0.0673, 1.2667, 0.9005, -0.2722, -0.1173, -0.0875, 0.1038]\nstate[eef_state]: left_x=0.2909 left_y=0.0187 left_z=0.2788 left_yaw=0.1822 left_pitch=-0.0485 left_roll=-0.1119 left_gripper=0.9935 right_x=0.3892 right_y=-0.0019 right_z=0.186 right_yaw=0.0688 right_pitch=-0.0633 right_roll=0.019 right_gripper=0.1038\nstate[joint_eff]: [-0.0479, -1.7436, 6.4342, 1.7753, -0.0708, -0.0562, -0.0122, -0.1026, -6.5846, 10.0444, 1.8486, -0.0464, -0.0024, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssR4Y5eVbDKj58S1vI3X9B6jUXKJqlTGFVHn4i_6wPaVY36qeohF-WMgp3PY20RLl3TYfJ6CQkiChzmmvgqOKJEToMGLJgK9zLA0l_ZFQjNGuwuZm8mIx25Gxwjaxqlzq2JFj2GcmZmyXHWYBA1_nGWZ_0kSEIA5IWsC6FX-mO2u7zlRAdFZpWKvUJ9mo7CLUsvhOBzMDU0zNNccqvrWUbmq8cLdHm5mo027y1-Ji32nvId9wsvvyWhM360DrW0Pwf9TsrXopB801pDdbQD_rjm3iNZq2X2uLzdqyHqWm4ccviKWQPIZH3prWdF4I8RpinRlBaWjdxhv8aOneVjJ9hWFAdUfxD7T0gILzhNG8fIZQL0CFIo0m3nOpaSHJNPpFB1_beHOkZjPoXDqgr_5YLLWM6SNnS7J4zEstQQqz3jvJ4cvcPVCOFzksDa4B8mTcsnPdGlDDLz0TdyHjNsWU0YiFrv5QKyUEhPHJblfjTxbf1_gtb4rA1MUJbeyOpRHZrTDJ1q0g8XiIIXl6gYemjGi1vNxh---2cC8SfmKm_sR-Jdd-ZSMskIe82-Lfftt40OZSjgzS4Qg4nt0cPtd8uAdZVnoyQOpEg_VkpnR6g19OCrKtf_I52bU1JSH_N7Y--tsKMYTwN9JAwYTOwho0Jcl3Phms9zpDmLkipPcnzkelbeDyfP0B5xPMLNUaQi-OSRrNx8FFP8ngZ4_H-Qcz3fqcC_YtCAXTtUjTrK0tslA8vL0FdUC_dJNRiIq_HWlvAdiFFxzW3N8cSjz2RaWegZPSIlY71JWvxYhH4bKUAQZB-VQKr-u3q8iT4Njkv1x9VbvBuYErX3ZBGWI7OUdIJWRnTbPbPUDyFArYawLx2_l0tCSb0TroEwjSsU_WN1bfrjTshjoPoypO98y1LCGhNRIYTRNVpmGyprQ8YeoiygsNTQDh0eW5N-OljyXBqSeQH74zYD1pMDPZU_rFdSJc8D32l8wZHa1YgXaOeehtD60ajBjEDeQRjWr0ILgM1kcG5i6e4V6b9uo0-EyvuZ_JOEY71hi0BQcdHIqH-0VS79lvH9bxbDAajpVJsi9ZRyE75sABjLHeQmp9ytb97Mcz7nOig751Wg8a1HkMIO-Cloqc5jGxR8HUnMz1_SbLjZ1PM9aLuT6ChVRx3ieInLSNv8o0FutT__R0Y6afaLhfyMphQ1GXqQZbTpaMcR74gbgKt75BFt_URpK_EOej7rtVx4ypcAmyOaXFFRyFX49M-_GV0nRfNTJx7BH42gSia6YKBN9PwvKhhuY38lXlpW_77TMzlGe8AMburfra6oL9RxEfsIys9Hyr_j8dnZRkvhvRawu-PGs7i1QQIFMuAVDJTNeNsAFIxmdWign6NdEEUrvAKSMHxN_8Pwh2HCtqJTZzgaWf-mS8LNJ6V5cspyLaeyBQCSOiZ9OjwK--TC4zGTrL5xr31rBK_59FACOYWCnuRF1kKIHOobB4zX0EbAABOqvVhqOZ0yRUC8BnoCllGUcP1V31rIa5BTRXYGRUM-FdOhDbHS_YgYvtClDbe4UhrJ3xUdZ2lnV2dQF0egqMoI3jg0LYZb5Ivf-pveauVMif7Ot4UmW4NChgilibXu0c_iJh64k7fQsdSHk3XYTvdt6bt9B8sTf3Ezn8L77lyURqQ8Ukf6qkFpt4oLTRmXNVlrNBDQwhUIawWiRHEZFBJgFIKAnY_shCk0u-pIYfk7d8Jg-LU_rwlO6Lnbzl16I61lMA9YCFZsaIq4xd9fWkKw1rDLc8_qoW8OBQORfsQNKBgjtzWFIgwEUaTnqS_u_rSyVPQ3Zkx1Rx_puuNECxZSyjQJqc2exRva_OwV6B4EafQBzs4N_WA3VkkS_7t9QVOMMyFhOF2KP2LwhY3B8-_J4vCjG2SVqsCLxBSd_cAmkIfB_pYbcvHBEpSe4gVC_JYsqa32RhbIDIecQ-Sj_4tEgeJ3Di5IBf8pLuDpfyPitkXbuaRnLApMk9O2zMKQith46OExEeF4hyl_MygIE9yHbokk3akn-qrwZaTXJNFGGJYhTzjKjboJmiqDzjdX0eJkgR7yuf4zd7j2lMogdPGBz59WOz9AskF0_VgwvspzK48E4zprGQLnZH35n6pPzByUrenlYIapagU1nKJUuIbVq4yBEKG57bm_pfPF8qqSW8UV7",
  "id": "rs_0caecdf28f0c5d90016ab2c46da1f487d0a28a3c00ae10fcee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.265,\"right_z\":0.065,\"right_pitch\":0.35,\"right_gripper\":0.75},\"note\":\"The cream bowl did not stay with the gripper during the lateral move. The blue bowl is now closest to the right hand, so I’m approaching its near-right rim with the jaws open.\"}",
  "call_id": "call_N7VAldaPgH12qSOiNybABZLY",
  "id": "fc_0caecdf28f0c5d90016ab2c475499887d09c93616b4bcea2e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N7VAldaPgH12qSOiNybABZLY",
  "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]: [-0.0105, 0.9218, 1.084, -0.8055, -0.1028, -0.2363, 0.9935, 0.5896, 2.2799, 1.219, 0.7136, 0.4488, 0.0761, 0.7463]\nstate[eef_state]: left_x=0.2895 left_y=0.0187 left_z=0.2738 left_yaw=0.1825 left_pitch=-0.071 left_roll=-0.1075 left_gripper=0.9935 right_x=0.5224 right_y=0.2615 right_z=0.05 right_yaw=0.1503 right_pitch=0.2574 right_roll=-0.0554 right_gripper=0.7463\nstate[joint_eff]: [-0.0068, -1.8256, 6.4342, 1.7167, -0.0708, -0.0562, -0.0073, 0.3761, -11.8085, 7.2821, 2.0586, 0.1832, -0.0611, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c52ff5ead32968bba7a88bfecbb4566a8f6ae454cb725c69d17c06c79fc8829a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8617eadb08f8384c5b59eb11efc48a7dae226babea415e262b919925f55df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1555aa2ee47c5e2f8cdb585fb9c3f0b6f1790f23b5d70b04818d953b8ce754",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9184, 1.084, -0.799, -0.1028, -0.2363, 0.9935, 0.5049, 1.9026, 1.3449, 0.1268, 0.3672, 0.1169, 0.1038]\nstate[eef_state]: left_x=0.2899 left_y=0.0187 left_z=0.276 left_yaw=0.1823 left_pitch=-0.0613 left_roll=-0.1094 left_gripper=0.9935 right_x=0.5185 right_y=0.2182 right_z=0.1849 right_yaw=0.1198 right_pitch=0.1694 right_roll=-0.0215 right_gripper=0.1038\nstate[joint_eff]: [-0.212, -1.6752, 6.4342, 1.8095, -0.0659, -0.0757, -0.0122, 0.2393, -10.6325, 9.7026, 2.0, 0.3687, 0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssR9tMF0komg8SUoyT5H4tgOXXo-AGCTmYlFNzxDBhs2TxbXCwBdvMonO8XU5qtiPR6zuW0H4dF6M9sYSsfqIgHjwG8Cn74ny-KvVXvwMbDDc5kxbsS120_nios-TbWt-k7w5XU9a-D2gh8uuTkJDcMf0duUuXcgbPrMyBodkDEjtOt8Yen41LgF8nxa-WTBoSChXDKS2_7mWR71FosE22WG8lp3baMwSYJjJqfYQV1PTljeETwsQxY6ZN-b4LUK5Bm8A_Hu8SuRuk14EpQgEXr9q8eAQ2LrWHdobKV3MN9oQXID0l9RcFNdW4orn3xaDbE53JtVVi3diBXpctFSa4H8My4xGMDlkYtoodDOMOwIV5ncuGYDUdln7k-hhLYgxJXSmglJJiSgyyWnUakLW5x1BAYiO3-wd4nrQa7tPr7464LjdWMfiKKPjE_wfCjdJQJHqOxDfNiXTR-vSy_zGb5kaz9nr0jLBCclmp-GYn1FDcp9OcLD9in-nFGRy0xxw8IBOU9kwuZGao-KwNBGARyL7J6-J0quLJKXMDL59psWoVmgGwn378FMdJp9A57PEF0wj8OZV7NJzDcVoRQR34MLiAy-Vf5axtSMBuDYaenhHVhxNRK26vbd7SpKqQIfRpez89a3zp5CJjJlM5UL3Frlf5OgYvcLZpkGvAUiaF6_47WTSa_P0ztsT0CUrT6XeNyEKN0WijzbH2_XLtGVj69a7wVVEqwI1cpcdLjZOAP9844CUTG6081nnAlBnzfnQfqk7COaNizMAEOCy_7HX2Z8pfJwxk7LodKGEklh-GLUTu3AYM7cKqD_G44HDEoqt2zigZ2YWzNyIy0CYRRKyvL7BhIeSk4reKmKNL1htOwPWLB49qRy91zu_Q1Zavy4Fn83hP9jvmn4NmNAF8BMO0RnWfVZuzzkt6PC1oRF1P44tO4AreGOqEPJEmezzbRzZHz-tmvrUgyAbqpRvlQjQ4mxWHmQ0trJwDuZ_97FD6oiqFsZ-GQGqjty-R4b0M8oNQg-0gXCiYBsPEDov9jM52DqtlTH0pzkhnvY2xOgGnxRWnPhuUos7TFLcEBR0igStDaIwsFdaTv5yZPPFGJJo7C7FGB7mqWYVYfXVUwV0XnePMl3KxuGNDhn5HlCEsT5-nPEEOaXOIVSKIu4aB-l3XIAneQRR4tY5IYSDgKmrkmqNCtUElLDjqcbt81-odw7t_FkCio_beDUojfPuaNUnf6xaW2AkBR_loyBtIdDW-zmQ3adF5yOOugoakhYlpXwNgkPJXc3J5xe-ltbL61WC-Hsz_jgzSQc4VO-DYBJh1cqxnlutQSIrdGK8NnrffPb6KNiaNsPpPwa-TbJ9IprKewl_A==",
  "id": "rs_0caecdf28f0c5d90016ab2c47b515087d0ac0c5c24ff108a1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue bowl’s right wall is aligned between the fingers at rim height. I’m closing on that wall for a rim grasp.\"}",
  "call_id": "call_OcMlmkFuBQg5hBpU95ZhW7sI",
  "id": "fc_0caecdf28f0c5d90016ab2c47c280887d09ee9887ac9ce8307",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OcMlmkFuBQg5hBpU95ZhW7sI",
  "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]: [-0.0105, 0.9268, 1.084, -0.807, -0.1032, -0.2363, 0.9935, 0.5941, 2.2845, 1.2209, 0.762, 0.4301, 0.0872, 0.0373]\nstate[eef_state]: left_x=0.2901 left_y=0.0187 left_z=0.2722 left_yaw=0.1829 left_pitch=-0.0773 left_roll=-0.106 left_gripper=0.9935 right_x=0.5238 right_y=0.2693 right_z=0.0583 right_yaw=0.1594 right_pitch=0.2966 right_roll=-0.0187 right_gripper=0.0373\nstate[joint_eff]: [-0.1709, -2.0034, 6.612, 1.707, -0.1099, -0.0464, -0.0122, -0.4855, -12.3145, 5.6, 1.3455, 0.3346, -0.022, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08d4578e1c7db9cc45d53fcb179d6f80a8f8da931d2f3766fa422dfb4e19322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0348ea37e2df44297c6e292126beb4c32fe2c8684572accd4a9761de861ea27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda48cf5bc237388bcece34ca0d611b71d51881da9e77f01285aa6582610c3ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9218, 1.084, -0.8055, -0.1028, -0.2363, 0.9935, 0.5896, 2.2799, 1.219, 0.7136, 0.4488, 0.0761, 0.7463]\nstate[eef_state]: left_x=0.2895 left_y=0.0187 left_z=0.2738 left_yaw=0.1825 left_pitch=-0.071 left_roll=-0.1075 left_gripper=0.9935 right_x=0.5224 right_y=0.2615 right_z=0.05 right_yaw=0.1503 right_pitch=0.2574 right_roll=-0.0554 right_gripper=0.7463\nstate[joint_eff]: [-0.0068, -1.8256, 6.4342, 1.7167, -0.0708, -0.0562, -0.0073, 0.3761, -11.8085, 7.2821, 2.0586, 0.1832, -0.0611, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSFckxUyPDaClgsaPFkPyjYxKQDH-yYsfW3FO1y3us8pFXZW4HDHQgDZlGT_FZrQYCG8Yi8WeSYtZU-ONkhwRXhJiVd4EzeyqcztO83t21QFm0mHBU8WCMpuwMhxasdzuQs_Vk0--AYFXP8YmVl1HQdBjl_20mTRs0MW9FHlWneHe2kU66l-0LJtYJ3zBdFlU4zLuv_I3UVMKbm7e55DAXqt4fYFH0RL0NBdkXr5ThciINMo1QVGstjup8dAxcCcSjx6FyQA4oeV1UM0DhWBYe14eQIsQDWL4i-P_m3Iu9PXY3ep6G1jJo6hWVH8E1s5Y79vaKHgRJeH4eh7NcXASK0pjgpIN1zch9eUo3DOKmWGgadcsBy5Bg-CxGClBV4QKgVMc-ePykC5SzlyB7b43Zxbfi3w8ds5UxGvqLGBvabY1cFksaogwed4fE5HJx5G4od7KKkLs6o02q4eYD4pACb2xK6pFfDbe1C7HKiygJs1wub_3HwU-ixFsTKiROutZSqidvcWeiVVh-tttpf67sshyTF9nXyV_j8w206foWu4ttipAzWKY0rKYuy2mUjV4e5ZPN1zehGhoHXK8SeXQDxn2pKP1E82oQ8wQcixTHMJZRmTDQfHA5qj19O5106TOWDNLRaaxT-Wtz6rFnGYYdtSCT7jcmEUShdDSoYWXHleB7WgC_C7-qdyM_vIj9MgjOvSy8eUf94UN0faD5AcJUTqeDCg_8gOord4SX174jnrlb3IG9uJ87xuHHH-N4LBoJ_S2hMpX4ihJBvK1QlObZk_5_jmkcw0NB-_ZOATnWRRA94Gahw9d14RQ6M0ttvDsD2YDBXC24qndkaEzLqMSGb98tmzfKtoASQrazEtNcCVQg7fBUE_Z4gSRzH84nA_4Z38qznCjgpj4ZX2Pi3p0GioD6i03H03f4oB0BjLsAEOz4txswqWuNBO9UbiUZM9j7s-fOht2xA3vz65ovt6VZQMVoy1Q4NZpmgSDji_EnYViJgpG32o2CtiXKhpAOz4bvb29uUr05ahKDVoYggg93ViIGIkt6w5Tn9LUv9YbJdFwCQ60k9NEDwPH2VUJQMCWqQQAj7Jtk4mxfkQLvLEXk4BV-_GM1CQ8RML2sGh4ufH8-w3iWR1BRgzZTc08w7LXq-3_xqAJt1CjHRvaLFEjmtLi14xnm8I4kiRuBNEFAPPM2NbCu-4IemDF_86s1IGWWuf8B4zjDDBxpTxe4cDgCtFhboOSnlB6fZO_Gda0ioTWx_HWy9AV0HCYiDRafU2Vw6",
  "id": "rs_0caecdf28f0c5d90016ab2c48309e487d0af404bf05d48c5a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The blue bowl tilted as the jaws closed, suggesting they caught its thin rim despite the small opening. I’m lifting slowly to verify whether it is attached.\"}",
  "call_id": "call_AWqhOK0v07y84MzRQ6cFKJW7",
  "id": "fc_0caecdf28f0c5d90016ab2c4844d4c87d092a20694b74ea9e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AWqhOK0v07y84MzRQ6cFKJW7",
  "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]: [-0.0105, 0.9279, 1.084, -0.8074, -0.1028, -0.2363, 0.9935, 0.5953, 2.1418, 1.2449, 0.5224, 0.4187, 0.0784, 0.0408]\nstate[eef_state]: left_x=0.2902 left_y=0.0187 left_z=0.2718 left_yaw=0.1826 left_pitch=-0.0789 left_roll=-0.106 left_gripper=0.9935 right_x=0.5169 right_y=0.2677 right_z=0.0957 right_yaw=0.1833 right_pitch=0.2284 right_roll=-0.0547 right_gripper=0.0408\nstate[joint_eff]: [-0.1709, -1.5111, 6.4342, 1.6532, -0.0659, -0.0513, -0.0122, -0.2256, -15.1453, 9.3744, 1.9414, 0.149, 0.0464, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e620d4251b612c0f7af4fb1f783b59935f34d4753a3d7e4ff9dc224cb19787",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d97aab17005cd96a208924bd1812e85d3a6c36716caf21f70b2db927132fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef44b53c44be8a42197a5f8667222284293b23216a4a1f3e4b1a0f973c9dd2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9268, 1.084, -0.807, -0.1032, -0.2363, 0.9935, 0.5941, 2.2845, 1.2209, 0.762, 0.4301, 0.0872, 0.0373]\nstate[eef_state]: left_x=0.2901 left_y=0.0187 left_z=0.2722 left_yaw=0.1829 left_pitch=-0.0773 left_roll=-0.106 left_gripper=0.9935 right_x=0.5238 right_y=0.2693 right_z=0.0583 right_yaw=0.1594 right_pitch=0.2966 right_roll=-0.0187 right_gripper=0.0373\nstate[joint_eff]: [-0.1709, -2.0034, 6.612, 1.707, -0.1099, -0.0464, -0.0122, -0.4855, -12.3145, 5.6, 1.3455, 0.3346, -0.022, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSNCjopMxp_buhnag-68HelHqcDcOP9AgfyYj4rGTFtYANuPc3FsnmsnE8I4Yg26t6FNZ9FhTamrvwBkL14YYU6nYrCr3AkhoaaERT7xezYqWWjlGvFQQuYJsCWVyHSvlSQ5MvmE9lrzotxhvd08ga69fjS72kXY37bJmGUJGM_OuabcqAzGDrN11Hnhakmf3jwLfCyGjkMk0EHM-HDaa3Wgn_eyY27Sntl-Yh5T30vi5l218OrEDn2XvL2iCY8fhNwaL6oJPM2LoYP7JM81OHmpmdmHjA9PuGywCUjPw5NsZGypJ-K1kd_jkLj2gRUXyzujT0GnePd79yk9xVQtgfecEH1IunnhTpQLtP7NHmzKyowhhcu8qCFxvgPuye_5VEKYHGw64CJxyeMTdc3D6T-4h0mhh6l8BOq8w_fUdC6XdtRGY5lE_NsjgiwtQ3qSaYyVs4VrPEyjzA1DQnzjEwZBAYsu_HghnhZXU2hEGhcLsGuUOJQT2PpL3Pvy0TfRwLupH-rGn3t2_2QOMWeLwVU2VeLcXt4EH8-XkH1nxmiFHnkkdoqpEUfz7_CgMIBMwiXTeOnmNLuyajLFlv-zxOLGEyYrvkfaomJEN_DBgPmtEYi4texLHjubdmNhKEpU350BI3uNkc0BZHArnLbtLR9aLs6qm3lIHhjS1RFDA9H_y___Rd86pRvddttEYQ-_h5kjtoKgOgeLlvb9bUd2RWkL6gXIKkFbgbaf6cJ1KTZxKfdGIGcXnmW7wVuSUOqnfWu4LR1z130CeENltXyFE4jRGD3ampwxCyujYXYWn4m84VGKPxvkywdXJvkhnteibRcIHnx4qePcSoVpmxV06GXvu_MJFWQEEPhZZJx4rcJBD3j2gv8PpfPHtOfG3cpfFhN1a7mToM5pTBrTL1EBvseUdqcaJA1VDeeDM-rHIA6MJn7GEXu_hRIl9pNsmKVgrl_Hf9xyX_imIn9oE2KsYZUGE4byrdY9bS8WHM8D5q8LM5roJRxXy9G0ll3FsQXLaFuxbL4itLMTN4WP3wIVHfHDY7EN_wz6fktVw-wpz_PTW887iibn1kdf_5mwmpl8gNZlRAfpuZEUtHgz4WCilJYblaDNt_HX_xVKRB07hlpZCQ9jy2Qt4HcShk7oO1gZt1jx86YUVYeykHeunXHI3dkt4U1EMiRICZtP7G7thu0WG5XuKYFLT-0PEqyKwrI7RwzUjoujts-_r3xen8LtcVFlgTIklgyLHIjBATsajnsXR72OpRgS4FhiyXTSSf83VV0G1coiGYosIgi4aswqX0tYDoV4tgrry9wXtC-RhJQQg_HUhuIQamZEKRtPJ7KcUvmmv8F8mkjwozjjpU43p4dITPhxblYGjjABVxd8JD0StqjV81f_lJTk9sCn9VchhjHtrJIA9UjNz1AidZ7yFc3ZIcUGP48OsXyfPY5VIB96Mi4DuG2CatczBwuWZ0tC1ZYyPNd8PlpAI3H41Z8VtnAiY9a6Q5SlJGrMc9lmARHu_g=",
  "id": "rs_0caecdf28f0c5d90016ab2c488890887d080d99635b07e8c34",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.01,\"right_z\":0.21,\"right_pitch\":0.2},\"note\":\"The blue bowl remains against the fingers during the test lift. I’m bringing it back toward the cream bowl at a higher, shorter-reach carrying pose.\"}",
  "call_id": "call_vL23oXPqQvuOioixoUTvgGzN",
  "id": "fc_0caecdf28f0c5d90016ab2c48b79ec87d08ec6bb053e4f4195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vL23oXPqQvuOioixoUTvgGzN",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9298, 1.084, -0.8074, -0.1032, -0.2363, 0.9935, -0.0505, 1.3708, 0.804, 0.1589, -0.1501, -0.1501, 0.0444]\nstate[eef_state]: left_x=0.2905 left_y=0.0187 left_z=0.2713 left_yaw=0.1829 left_pitch=-0.0807 left_roll=-0.1054 left_gripper=0.9935 right_x=0.4323 right_y=0.0082 right_z=0.1929 right_yaw=0.1494 right_pitch=0.1658 right_roll=-0.0577 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -1.7436, 6.4342, 1.6484, -0.105, -0.0317, -0.0073, -0.212, -7.3368, 8.3761, 2.0928, -0.3248, 0.149, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e8487ac1afeb4580af12933db478e83c6cb0730706df9cf05a39d89f3cf380",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364db57665eeb26d975a41d57d0a2d448a4e67f3c0a8b2d03d16446b9f30679b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9b217a1c3363178de466030c2bfe8b0277222a811d6282e32afc52ba773466",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9279, 1.084, -0.8074, -0.1028, -0.2363, 0.9935, 0.5953, 2.1418, 1.2449, 0.5224, 0.4187, 0.0784, 0.0408]\nstate[eef_state]: left_x=0.2902 left_y=0.0187 left_z=0.2718 left_yaw=0.1826 left_pitch=-0.0789 left_roll=-0.106 left_gripper=0.9935 right_x=0.5169 right_y=0.2677 right_z=0.0957 right_yaw=0.1833 right_pitch=0.2284 right_roll=-0.0547 right_gripper=0.0408\nstate[joint_eff]: [-0.1709, -1.5111, 6.4342, 1.6532, -0.0659, -0.0513, -0.0122, -0.2256, -15.1453, 9.3744, 1.9414, 0.149, 0.0464, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSXzxeTHjHBzZytbJk2FDKV2gkkjoW0wkCaGT-qAmDZW6pNRueJ3tqOuh8m84saFl1BcqH4UQX9P_QLadoyfGIZ4Ed694YlHSd02HnkjJ7u5aWTtRUYl-EMOpTFzo4BKb0SZHudHNvABlyLsO5lf7m3D43v8HG_50O7FuDUtqBpQSVy8GKvOUsnNkXivFjIStHIgMVkKctvECQVfOlHUKrrEBPbEbi2oDSvDRsBJ9-dI_Qr3qYAF4Y0-fOwEWqPQiupFEhxOsmQ33owvqEkPkSJKcHn54NacFmWen2jLa3i5PnpNKnvtUafmij7-usdB4QiU8VIB_Bo8B9jH8Qqg6AxLqijAC6JshmNY-_8okkcoJypi43qMsZ4LrEn4StvoNRIPc4LgKbmR3P6ZWfwNl6iXPE1xObwXHNTnC8xJB408Lxkgb102lFJguWdoKegGBCj0KAbC6xje6O8jckuyHAkkQ9gJPCnYK4pTMfQLzyzGvV5ZvKpMsYt3Kt0fFLm34CKsAd5sJqIqmq_tU9Lo0dSQQbLIVgOA6_Ku7a1ahuOgmcPi0ATrYQVSLZcpO9YvDrSutdASXhVHvRhDR-3IWlBlOTA-GcIBBL4zEI-D8eXi7Sfn38Ubq2z6lMe_6Ofl5CuTQAtEqNGl9b2Ukf4fyXvGYmQxVjw-U1_upb2k_xtSzIOmkKCHzsf9gwD1wRhR5-HZBqc8OKTbUzT5eoNHNrngcgKtqr7OhzPaEJzfvLT_L3Rx7W-V62t-cyVdwJgIW7YdL7KvWlHsL6DKo98916w79WT48_WLtDuT2uWPwoNXy7jQQJb59GXIlfOQfuzYPejp9Q4W6MtiVZafabQTT98wNBjT3ckhTd8oKV8opCv_MvYG87quU3v4cQ4K3JdC_23qCG7H0USC-pqhviUyNLhWkQk0lnjUKvk-EnECdN1voW7lHNTxiqJNrjXWRa-OYwlRUKtsGBfbt_F8SFvp5qqR_wh35pQAKk50Hx5hU7Sz80YTl1oY11vuF4GFobtkBSGx5BgSVq5DXqpsAWEJPtkp6FY0-MtY_L_A2JECr0P_ZKLha7bkzMm0Ukvv3lSrk7wnIx03gUrPC3TxAgjDUuAnwC6h7GgkNvCahSYnebMaao_LzwyW5T5E5nrtwl0HIG8HOSTzibdSKsjuLxyR4DnTitV0f5SnjtduAcy2D5xLkhuL7GDEdDYUQZcefTeC0ssxv5iSI98pwXmkj6gGyEIo7FYZgY1Ei0lDeDlfwnc1WMYwkqKjb82sJrlKpjAmlMWmAxoQ4pXXgYPwUz6u-sNjNKAnNMy6avsJ40Nc41i0dtNAPoLN1Vxx82sXRFWg32ANfs-Inm02X3SulAnZDcWNI4vMNnpd_kG6WNicbgHsYkUj7qw744h-3QdNn5rszQ9LjBllQU9O8ZIRK39brsEZxGLxOX_VURAljNdAK3WU3GnRZJmOTTUk1LoRJcRrKqnUStT6K9uZoyVuvuBa2avJ91LMBkfG63OjguKn_AKUCI=",
  "id": "rs_0caecdf28f0c5d90016ab2c493cb5c87d0a8d30757025b132e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The blue bowl is visibly carried above the cream bowl now. I’m lowering it carefully so it can nest inside the cream bowl.\"}",
  "call_id": "call_nfMVrHagoXOtCjx07HjG0vPP",
  "id": "fc_0caecdf28f0c5d90016ab2c49625a487d09d99b17a9cf8c6d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nfMVrHagoXOtCjx07HjG0vPP",
  "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]: [-0.0105, 0.9344, 1.084, -0.8078, -0.1032, -0.2363, 0.9935, -0.0517, 1.6791, 0.5488, 0.6449, -0.1612, -0.1539, 0.0464]\nstate[eef_state]: left_x=0.2912 left_y=0.0187 left_z=0.27 left_yaw=0.183 left_pitch=-0.0856 left_roll=-0.1044 left_gripper=0.9935 right_x=0.4247 right_y=0.01 right_z=0.0646 right_yaw=0.1577 right_pitch=0.0908 right_roll=-0.0406 right_gripper=0.0464\nstate[joint_eff]: [-0.0205, -1.9624, 6.4342, 1.6777, -0.0855, -0.0659, -0.0122, 0.0068, -6.8444, 5.1897, 2.2198, 0.022, 0.0122, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858f9e06bc78394e777ccae9226ce6a1d357f50299732438182f4e2abf94109e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1debf259f68ac86068ebfcdbe9dae194c071e06807372f1e72e2950086facde2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f9e84875749f9dafbffa2ceeb893a72538073e047fa234bd9debdd963b791e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9298, 1.084, -0.8074, -0.1032, -0.2363, 0.9935, -0.0505, 1.3708, 0.804, 0.1589, -0.1501, -0.1501, 0.0444]\nstate[eef_state]: left_x=0.2905 left_y=0.0187 left_z=0.2713 left_yaw=0.1829 left_pitch=-0.0807 left_roll=-0.1054 left_gripper=0.9935 right_x=0.4323 right_y=0.0082 right_z=0.1929 right_yaw=0.1494 right_pitch=0.1658 right_roll=-0.0577 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -1.7436, 6.4342, 1.6484, -0.105, -0.0317, -0.0073, -0.212, -7.3368, 8.3761, 2.0928, -0.3248, 0.149, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSgtmIuuB-HWPQ4wMANSeELxxhW4DBwIRw7JGcWYiFxUixC43Ji52qBo2Pw-RWKMudaJCtG-ZUyr8zlTd37FsD_s8iMif46btRIc2XlTWincbpxpCKsf7ZLlAK_XZdAEHTZT3V4pNStvhI3Tv4Ndjoa8-MDIlOEQIAHmxtEwKNdD2tmgbSlRUa0rm6H6qlno7bF5orAUEAZ_DwD3trQkyN_GTx-TQDCnkmiDIqaCCpi0ixSPTtcao-sQxmuevTr0rnKZq5tgPtJuoA4k1sp_udE0rK5UHuLNu2qQ86BUfmlAY_WvRNHxvU0-BvMEkOBeOYej2SgqMYz7VnWoDBxYPlik_L5MmUOHrBaXzDvhYK2ovrIUQ7xgBZMly6BEvoBM0aqtoU4BA4d6yBEQz8Y1s9espbU5QjczL32Qtvzm0uFAGxoCnitTfBJq8dAaQxpqydhYbie2qGpwycVg-sKDrc5hWWT-CmdmnH8WZ4gMEKzd8aNEeBRDuz-xoB7pJYII1xlDuwWINY-EdRUNhNwIIktEr5qeq_MPFaX7zLW3JDB4Ho2HETN05ReXe0cHFAZEHWEmY4ezAVHyl360Jrr7sWr8zDZ6lyAm2DIEIkgqWT-tmAhek2q7eWmepucwJwTgy122A1xOTDaZ_0SmIFwREVqul30DBSM6H5RfGbe0Hfm4e82s1wsXG3sVIxW8qOWnQ2mCBfjoCT4BvQ_-tr8IV2XYD38htBqAydIBxm9wFwG0Ad1qXcTcxPC55AOJJHqD_Kauv6vojGlXS8BJHfPB9D15YTc43wGRT3Ux2PLlhZn6Hlp7WPe1UCmjjnanVo4JyWFlrTeydNSeQYB5pG4BS5V0I-nl2MON47lLVz1jQxD0J-y7BruqdOaVh8fR4zjNisJGSkQillEp4NsGQ7sJC9MZAkOCwmM9Vb1OFH5Lt3_OUUdT-Ve4G_CGh95LQbg7NEIheZTnHc8h7VllAITpq6r0IaCTmKgqa_jg5DJZIg1sbbRc7jPwIMDy7ZOLX7WIcVsY0YCIXaMpRzcmAV87c1oSHusHCTeiFD5BYGWPRO3c9OhMdAM9ZjaL44WldV5MnZMFGgyKbrL-e47Y3Gu-0ZESP7rLF7qwjXC78VxAGgm-wBTWc5mz7JSI3GKHjOQyl4C9Cbs2P768RWtqVT0aYszzpPZtn7JeDPeZOVKJPeC2L0vTwe5NvqfaqWbbs2pLemeJH6ZTPCG9aUYs7fh62STxCRAJeGrYHKGNAhgBuys4buu1tfur9q7wgh0NvkLFlCEGarwKX6LJwKpC0ysSgi5bnf3fWiJPHTiOWeUAqPsX3WECBuQCutVdtIrUz-5JamsM2j-Heyq_QGukhsEuQMeputXERwEfjO66PqXkX8jtYJhvhle9TkY5LwNI33XINCGgOMcAYRPaJQP7V4Twre40dTYMX6edruPEuTe1dqmye0FXaMXnd1bcYQdHPQrl4cBGOKY5-LXintaG1tieIsSycBHaRJmJMY9t_2AkyypiDpGOUI0znix6tLcGy1qnjEMQILyo_QNRjcw30cIfOB34u399EsZHMNMEuu3wOpRkbs=",
  "id": "rs_0caecdf28f0c5d90016ab2c49b869c87d0bf17803ecef8ae59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":-0.035,\"right_z\":0.13},\"note\":\"At the lower height, the blue bowl is slightly left and behind the cream bowl. I’m lifting a little and correcting that offset before releasing it into the cream bowl.\"}",
  "call_id": "call_0abieThdb7uv0xyKRGkfyLJe",
  "id": "fc_0caecdf28f0c5d90016ab2c49e6c8487d0bb25ff5571d162fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0abieThdb7uv0xyKRGkfyLJe",
  "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]: [-0.0105, 0.9382, 1.084, -0.8078, -0.1028, -0.2363, 0.9935, -0.1806, 1.6367, 0.7849, 0.3569, -0.2531, -0.215, 0.0478]\nstate[eef_state]: left_x=0.2918 left_y=0.0187 left_z=0.2689 left_yaw=0.1828 left_pitch=-0.0893 left_roll=-0.1039 left_gripper=0.9935 right_x=0.4574 right_y=-0.0349 right_z=0.1162 right_yaw=0.1388 right_pitch=0.0913 right_roll=-0.0506 right_gripper=0.0478\nstate[joint_eff]: [-0.0068, -1.4154, 6.4342, 1.663, -0.0659, -0.0562, -0.0122, -0.6769, -9.0462, 8.1709, 1.8144, -0.2759, 0.0024, 0.3687]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9173cc63101e1fbefbf6f00410cbe2f38acac68ac8541175b8ca885412901799",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d3fc88ef2d8ebc8ec48881e7976dfa5a1130e77af5d58c81ab4d07ad9bb2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4240287f335aea4d7987f3eda90f316f22a60506456e3a7caed0ef57f7f2bc87",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9344, 1.084, -0.8078, -0.1032, -0.2363, 0.9935, -0.0517, 1.6791, 0.5488, 0.6449, -0.1612, -0.1539, 0.0464]\nstate[eef_state]: left_x=0.2912 left_y=0.0187 left_z=0.27 left_yaw=0.183 left_pitch=-0.0856 left_roll=-0.1044 left_gripper=0.9935 right_x=0.4247 right_y=0.01 right_z=0.0646 right_yaw=0.1577 right_pitch=0.0908 right_roll=-0.0406 right_gripper=0.0464\nstate[joint_eff]: [-0.0205, -1.9624, 6.4342, 1.6777, -0.0855, -0.0659, -0.0122, 0.0068, -6.8444, 5.1897, 2.2198, 0.022, 0.0122, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSnkWHcVCD9YQiVUdAj3erGO0ehyjpC6q4qd_bOyJ_MMaJSAKVyxrodwYSv9Drl7EDYnd1glGAFa_DYuJ4_pt1g49SODEzXsz2oldBE0DvQWGR3_npupY6muuGLDOolX6nIhx9fNkYuDIx2c_jGujaCN--AlKXxWdFzdveOL-O3Z_yuxJi-xpBkmTshSx10uypMtO64Cr-Zb5QSjq1sccE5i8eBE5SK1BMa2Pi6jBoisRP7OfCqopVah3KCs98S2LfyomSzOHjswTu6PJxbvMdhXi5NN9YXUYDK3yAvCh0MUjkhSnNx-pQjKP_pAHOFFBvlYSFi63XyHoTAAsra_RU0IDxXCF5rSbHWhMzMrUkhFHDuvJztaBHVsh4bI_O56kwtL3MAKEa2VUSi2mkMWVLLISTdyn037XX1KQGh7r2RfLcDZJaajuXa2eIx9_DyCTafF9LxXw-ZIHAK557v-OpP7nYNkaAwxNDfRhMM1Wx_5ThOTW-bPyLuGG1GCAMvkVzBDToqzVHNyslce6RiklLvHymxy3n8yMYhvh1x6e-mz4h-Kt0ctY2kOztoXaXLNWYPgvoQMA8nuKPQpNk_WUkZavN3y4Nz5hASlJyChtKPHtbwcAttBkmFw1dMDjJA7gC1KS3TbtTDuNXMZ7tN1nRLjFP9hWuv89b6wz_z3hSbu0Lqox68TQnSGfeNfQYgcOsXVqLc_irZ7-EU8akKIpxdUY39DqQrcGanjm-ac_3pKIXDqcAgsjCVkxI2wN7bYpQWsxivGha0gE4Uq-5y2b40sMWkSIl6wBO4fy7zOe8Luqlr17vpU-VmDX5DAL3_y-sTy35yKkfs9oSEaLk_GdWx8PP_8sVWRNmTjjECyy133PBjJYAx3QIPMgvOubcGYj3ycuxV_tXpmY6oBmPXtD23kIW_tt2wuj7zUZ57hF77nZc-r6nibZqvOE1IqQdqsy3YKXSEnv_W4y62b9vUnj3QJYq637C2fQY4o9Eh0EUDJKYQFBDTXqt9WdfUQ-AOzS6wnaS4vjiO50tNccZy_bsDeL49pAO2G4gWYeuOpjzYtK7N3Z2eFTTnu88yL8_WHQvz3BrBK1p2sIScIVnCYBX6gRgZst0bFfbKIX5FuVWXxxi3HI32K10mg2EpnxmReHlbBe5_N9eobyd818UziWPwCZVIW6hCjmLNEeei4zCCy9XJlQsgE-C8ZzGZFyAqhd-JfE45yx_UcbQbFBRLAV1RAkl8KNQhF4FpqlYaWwAWzncgMJuAo0wxtKbQmgAJGWHKimraxH781ogSvb6gxThz-v8LV-3QWw2xwlC65Yaq0-w7gWUJHQWjOTumICVtGmQscYclkI1cGHbswMvGRJCulC1vX7y2RhwTezd8b9UoG9IfRIW0ImmGrWQwEiU-RlIAqLLvN-uCMc9ocPU0wKo8MOYNoQXVEuQwATRiakesS6l7DHxiesX0tQ17CA_rL0rY",
  "id": "rs_0caecdf28f0c5d90016ab2c4a3808087d0864d67c2c9351d94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":-0.055,\"right_z\":0.065},\"note\":\"The bowls are nearly aligned in the overhead view. I’m making a final small rightward correction and lowering the blue bowl onto the cream bowl.\"}",
  "call_id": "call_1mJNmnZyvhnhdfD9SEwPeJqd",
  "id": "fc_0caecdf28f0c5d90016ab2c4a64bb887d0b72e7c31c71b8eef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1mJNmnZyvhnhdfD9SEwPeJqd",
  "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]: [-0.0105, 0.9409, 1.084, -0.8078, -0.1032, -0.2363, 0.9935, -0.2382, 1.7943, 0.7212, 0.49, -0.2958, -0.2367, 0.0511]\nstate[eef_state]: left_x=0.2922 left_y=0.0187 left_z=0.2682 left_yaw=0.1831 left_pitch=-0.0919 left_roll=-0.1032 left_gripper=0.9935 right_x=0.4482 right_y=-0.0522 right_z=0.0513 right_yaw=0.127 right_pitch=0.0152 right_roll=-0.0192 right_gripper=0.0511\nstate[joint_eff]: [-0.0889, -1.9077, 6.4479, 1.6532, -0.1148, -0.0611, -0.0073, -0.2393, -8.8957, 5.6274, 2.0879, -0.1245, -0.1392, 0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3428e1e2d9f0cefdb6d4c55a770ea89f934d16bca4ee9e73d66eea7b5001e3d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6630a55b4153a9e554def7601d695e05d8875cdfbc075ea2af6ea780b7942198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a211107661330b16d23821910c4738f20a06901cc2e14eac92251b61d7807b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0105, 0.9382, 1.084, -0.8078, -0.1028, -0.2363, 0.9935, -0.1806, 1.6367, 0.7849, 0.3569, -0.2531, -0.215, 0.0478]\nstate[eef_state]: left_x=0.2918 left_y=0.0187 left_z=0.2689 left_yaw=0.1828 left_pitch=-0.0893 left_roll=-0.1039 left_gripper=0.9935 right_x=0.4574 right_y=-0.0349 right_z=0.1162 right_yaw=0.1388 right_pitch=0.0913 right_roll=-0.0506 right_gripper=0.0478\nstate[joint_eff]: [-0.0068, -1.4154, 6.4342, 1.663, -0.0659, -0.0562, -0.0122, -0.6769, -9.0462, 8.1709, 1.8144, -0.2759, 0.0024, 0.3687]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssSyn13T4ZwE1tGje66rlbgRpB5he4dRge6IEubkBPEo5Np4gTAk4frvEbccbUnKM-bw4lakorgj0WGh13JZkEtD8a6mbTxVaCw0fY70cRFY2vLLx5rfph3rDfBEAVJGGM0tM81I55Z5t8sv0EgmHG0CmZSGL7Ne6Ori8dczw9WJXYpNkpwF4r1vqa6JVr8cJVweJhKN3jUGhgZ7ngZolLIi_JWnBhuXZZ_gp4yGxKY6JmPRrdNlqfp_z_E3umr10G3uMiEcz2asahtHdYcksgrJ8252IHjVVhCALLwdY3I48fc1EsKV0lk065B8yxiy1eFLbJ-a_4qcT9kJuKAZBsVPk0XPcCizs7DeTmWZuM1lu6FsFAv_5z1kMbwtsO6UdOuOaskBaic9ibEQxuHSveKL0fOgthC3LR8iNotgZZuU1aEBnYv790oETEikPzO6n8JwpP2s4V0xHkk-0w3hwy5hcFSshsT0USvv30v7nGjvV47dH8veo6kuwmondtWI5Sg88--fEKCSRt7oQItheGOY0xh0u2cx6sKtkm27AwQdW3QmC8if8b4H0-lcQTLPOXD-pKpvbSxmJP4bARVaIdZQWvYE8TVs64uW1kQMscpGmal33_ixCOsS1ALb1VQiJLN-9w8IScv3q20YNFklwIPVs8I05Io52s_37fi0sKlhr0mLxSfANPXi6IeNpV7hsp2akJvcIJTlTorQe586OWsIxylJJgsIPiulzRY_0f5QI1j5j-lU2QNW90dkl6UM0831L8ZROYATMn8mnZtbZHNRgtOCgSHWeB8bANmSykb31xQc4EYbKdPTXARmyCZvvpE_nyQc_YR0vq5LgZtGP5KMycBZcGBSMn9YzVfaQjaAnvHEPOHKPgNznBTh5Tr6trqm1gLf54ZyJY1m4B7EFZ6iRcg0hmJ7I3u7S2Ktb-I02QXiu8RQkciwsHZGwRBtIaeqPlzVwmngEJwXtw24zGfk-dfKhDjlAU0Hm9wI0-MJVY4z-FNGt5k99uBgDA3-qj21ynfIK7LHBU_T1ABcD6pt-18Iqm_CLiIza3WxCYceOQCh9xNJu5WlRtSBo2ZBj8mcMdn1DIOAwZ8lDNnb1qackGq8FBe8MwI-H4NCBmBmlICnkNZP7Is-r6YRlQafXfpCfg_xaut75gCJTqhV-VWBOed-Y5Nb3GhuZbCtxKthw98QeXcCkF2Gmgo9Q-BMZgkMy5EASo6-Tk3Z_1ILNCvLlGU4P9uNlV1i3BVjmFshJPrHbx84Fi-JZUB9NH9xb-yJXMRykejmVCtTy9t2KR6PdoCgxpU_yfD9oOuoj-UggNXDFO4dDp9AnHcPpdmQy3HqV3RFpd7Yy8vJWDAW95DqrosibkDkhWkKGHO9ld7ak9-iNaqdu-UN_rwhhbnn5nJFO3_xBM3ZAIf1-hCH0v23cJn6I7b0hfT85eXWsd33JTBXgLoH7HyQCxw2XgYrN8GRiurSxF4otJRm3QxOD36lu4v90TflR37LADHg4bXgBi8goRXs8JJ86NpttN_3FT5QvqXjtVge49Zfx6MoWzV2XhQucL7Gcw-h9P5RtqSfIZC5W4AxShSRlp0t0jCCYaf3zxu-I9QL6Qfu0S9dU-dh1683_wnxWARfyJrBJ8vdAm9ewrXQZUltzBnFR1yaIODvBytw_dK21tvxkqYjUt1H9udPwTmIcHR2d6a736NEXMB7aWPNLpid9-jY0ymEXkOP",
  "id": "rs_0caecdf28f0c5d90016ab2c4acb7f887d094efff46436ddc02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.055},\"note\":\"The cream bowl has slid toward the outer edge instead of nesting under the blue bowl, leaving their centers misaligned. I’m releasing the blue bowl at table height rather than forcing the stack against the edge.\"}",
  "call_id": "call_bnEPVLThbel1KGqYocLcAl7m",
  "id": "fc_0caecdf28f0c5d90016ab2c4b00d7c87d087e4388f96bc9ed3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bnEPVLThbel1KGqYocLcAl7m",
  "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]: [-0.0105, 0.9428, 1.084, -0.8078, -0.1028, -0.2363, 0.9935, -0.2424, 1.8095, 0.7166, 0.5583, -0.3153, -0.2546, 0.9955]\nstate[eef_state]: left_x=0.2925 left_y=0.0186 left_z=0.2677 left_yaw=0.1828 left_pitch=-0.0938 left_roll=-0.103 left_gripper=0.9935 right_x=0.4541 right_y=-0.0522 right_z=0.0574 right_yaw=0.1493 right_pitch=0.0637 right_roll=-0.043 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.6752, 6.6667, 1.6484, -0.0904, -0.0513, -0.0073, -0.2803, -8.5949, 5.4769, 2.0, -0.1099, 0.0171, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5ae5322e6aebcd89474907de4ecea7c7d9f5ca288ff9e8d666cf5076b7d386",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be4f608cfec31db6db29a89e84ea296db5fdc622643d828835e9e08823fce4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bd1d9fd7ee9a6a5d54b020a55dff7dda3c7730b629408aa1b675207a2fe9aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}