adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3786, -0.0227, -0.041, 0.996, -0.0181, 0.7925, 0.6006, -0.3836, -0.017, -0.0334, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.996 right_x=0.2938 right_y=0.0013 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -1.5111, 10.1812, 1.7656, -0.0513, 0.2418, -0.4322, -0.6906, -1.347, 10.3179, 1.9951, -0.1099, 0.1538, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bba2da6e806c913395929009cecffd9ed4f707aa829f106d83a0221bd1bd277",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bc33223d635879eb5ce7cc3dbe04f856cda22a37b36a35ef0e7c13fbbad25e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d27df4246282aadc31f7a693160ca4e4dfd65e7a2c7b5d474b76b512bf2d16e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_0d8024ef2d8880dc016ab2beb6991487d0bccb94d76d3d7fc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.12,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’m bringing the left gripper above the near rim of the left bowl so I can lift it by the rim and nest it into the middle bowl.\"}",
  "call_id": "call_UqqAkMOKwmlEoToroosTUJvf",
  "id": "fc_0d8024ef2d8880dc016ab2bebf7ce887d0aabef17b1f1f7396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5358, 1.2961, 0.6216, -0.0555, -0.4221, -0.3264, 0.996, -0.02, 0.7979, 0.6048, -0.3935, -0.017, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3394 left_y=-0.1132 left_z=0.1059 left_yaw=-0.0282 left_pitch=-0.0867 left_roll=0.0405 left_gripper=0.996 right_x=0.2933 right_y=0.0007 right_z=0.1765 right_yaw=-0.0015 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -5.1897, 9.3607, 1.7607, -0.315, -0.1294, -0.4274, -0.3077, -1.4838, 7.3641, 1.7265, -0.0757, -0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7919f9467ca8427cbc73628a7b6804c47729c31b770e845c46f2a0fdf89cd143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aedead813052dd313ec3242b014b7e1faf6043bc79831ddfd015f27edb6ff3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04de5aa3b2df140946fb891b2730eb4d991dde062ed305584fceba94b4d8f880",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3786, -0.0227, -0.041, 0.996, -0.0181, 0.7925, 0.6006, -0.3836, -0.017, -0.0334, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.996 right_x=0.2938 right_y=0.0013 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -1.5111, 10.1812, 1.7656, -0.0513, 0.2418, -0.4322, -0.6906, -1.347, 10.3179, 1.9951, -0.1099, 0.1538, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7MtwB3MV0XQs3jCu2Qaf8OFHphkrW1-v5tkQdRY66AUCh7sZudp0undEy0cajO5ndq83hDM_r8_CKRxjFiHEc53LN7_8konArvyuxaESGd_m0mibBy5821hTx4NVhQdnOPlun8bQHu6ae7HKQYzhp_Er3YPDmAKSaUV2dKIdzqd-fsMVDdbs4XV1CH4w4nyZvi7JWxu_JplOEYvfmrZEd6hHRUgRPyv8OoMqkiQkC4FR9hAFEqo7sAhRAn3R5ZTrrQQMnXCZiACLDZA4J-NxZJTFC7a6IMeXXpi8gNyXnnVEa5UnYQYZ6YUlrgvDZm_eHyCKGDi-Q7K-QntcaJEClPmb8QXL6AwpgjDvreke0GBumvcauzEf7d3K_D4BGN-GWQ1_fRZu9NXwkor1ha7krTMdyTnMNgxxmV1SeDMmeEhjl_2giZiU1HyvviNL5GG-DThjriiwBtSBn0te4RiURcNjwa7XhwS8EYA4TQ_Ka-L4qthIg3ZFDKSSdD9zYB-dva1-Ci8dB1cifbU4ntsi0Zbs1HKAGq7xwYRgjowK7DlT8GCRZ_L_933d0zZI4-LME5IKQQn1b_fA0zzQW2nynPh-aL2Tgko8J8omgY8u8cTpEZE7jS9KiA_PktUYjL1EsXEFFliW4i4x8UK9igqCK-bGSBeUUUA-5qJ-hAQYLGPYFZlDeGtYqs2Fsr9rBPq7fAz2tEIvFlDabDlhv9vuJjgFQgVw6Eu1hhi-e3yMYOod1wH4O2Iajfpt6XQOADNkTrsNy5Xb59qvv7U_uXqAU9Fn9BwZZZ3c837XtbJ9BpUaLKtl6pYP5UZJk81ILk8QOraSsdq5YF2ld_H-YOsJMhQhAVCE8UGePoVyE0OT2mgoXeyKKe1v81mjhNWiqo8iYM-AcDeLuUuKRfeoVJGWQ336ryg-o2s8KPX0kCmufycPF7aOJWztVS76x8MzDAZeOnziOxUNjAGbJVGCS5UStW-uvubC4iUN6iesxdO2dxA7M5lLmHgDw-9v3QbEZ8AjTZXttNfeRC3euHReo-ocvZXA2BmpXMgYX_8igCqSZC_mcf4DDolhTxK6puxj9hJw8WAYSLjbStJDWVeaCfAOJ_-_Y4a_r7z8I-C2r4ZqH-FgejxWBk57-EbvZIT_Ei7xMXhh2tocMGq__1zk0zbXnbbYtyp2JdmNywefY-7ojgXZJuWqe2IPdzXVcqYD_ph3dp17tvpn3fLALV4cqaTkf5oyB9leKdmRFbaNi3a_MaXtJqCaoHNoXjG5oMsNuU8LR4Fq5mkYfh3Qcjm1e2aBNVyBzCbFkMtUmjkUrjs_I2zeCrgO-RL8PJEBXDripcTaKxHCEICYVJhkNKsiuaDCyEk2bw14ybPnN-Ak5sY_Xzc918uQfr735SsLx8Bh0hhfopleGLLLpsUOmYdCWCu3-fcyG_aieXSjkTNFaC7iMXBzg_DgZ8ISlOWjWk4ibgBfs7oYndOwd3EIMk_41Xlto9lQY7GKOtLB3-r9M-ciWVCZ55JgCD4CjSzpb9VALM-q7tDz6fyvlkWuSpIcqWrlPgD2WlbP15Mnnpw0rEyMBpcKxzHkrPvj_55kXyLHSprSANvYEhLa_oDLz4clto0CRYFXmHuOjiFhdNLG_olH7Bd0b8i5D_EcVUuCboBZixb2TH3x47aTYFpoFtPIyb-f5-SKA5qO8BUL374RjuvDryfQzXJZy5g6cmWCqJ0adzQZe1Ydng-SShbc1HGyQoWHOOo9Gd0rXD01gyl15e4_QRFNMi_SIpNmztMfAOQ2LycYPMOjiGJ4zfjJyX9oLOsr0IJr-zP6n8WRO7vpz6XLqJA3UT8t9coasIbSTAwVMUjm_2QfOsuMRC48cCDwoccxx8U3-FsKSkWviQ9oFeyq-Wgs7gkI9Kh49nFbZeuI7behWf90MLwTtzGzoOb5JpvdKOm_NDRIJCi8wK7yu8amR9gZ_g69IRGu7i3mvh4j_I91joHQkW0BCY6J0OX1iTm7pCliAcdKEG_BQ56Ug4rcQi_y0=",
  "id": "rs_0d8024ef2d8880dc016ab2bec4913887d0a016eda31ccbde0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.055,\"left_gripper\":0.7},\"note\":\"The left bowl is visible just left of the wrist-camera centerline, with its right rim under the gripper’s path. I’m advancing and lowering to straddle that rim rather than trying to span the whole bowl.\"}",
  "call_id": "call_s5sOhFrDVTGbL9A3dCZTNTsF",
  "id": "fc_0d8024ef2d8880dc016ab2beca6e3887d0856c00ad4cefbc09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s5sOhFrDVTGbL9A3dCZTNTsF",
  "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]: [-0.469, 1.6138, 0.6323, 0.1608, -0.3897, -0.2996, 0.7041, -0.02, 0.8005, 0.6044, -0.3962, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3679 left_y=-0.1072 left_z=0.0347 left_yaw=0.004 left_pitch=-0.1786 left_roll=0.084 left_gripper=0.7041 right_x=0.2931 right_y=0.0007 right_z=0.175 right_yaw=-0.0018 right_pitch=-0.0168 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.788, 8.3897, 1.7216, -0.0122, 0.0708, 0.0904, -0.2256, -1.4154, 7.2684, 1.7216, -0.0366, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d19020d1a302c2b73027c8cae80adaea80b01958518909fa59bc747a6880124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3f34e4bb010571637ffdea319564424a75919d484ece234ba75ef78f85dea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c86b4255dd829e3afff0618762118acae94d7bc6d0c0c3fccf63b180e99f24",
      "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]: [-0.5358, 1.2961, 0.6216, -0.0555, -0.4221, -0.3264, 0.996, -0.02, 0.7979, 0.6048, -0.3935, -0.017, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3394 left_y=-0.1132 left_z=0.1059 left_yaw=-0.0282 left_pitch=-0.0867 left_roll=0.0405 left_gripper=0.996 right_x=0.2933 right_y=0.0007 right_z=0.1765 right_yaw=-0.0015 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -5.1897, 9.3607, 1.7607, -0.315, -0.1294, -0.4274, -0.3077, -1.4838, 7.3641, 1.7265, -0.0757, -0.0513, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7Sbuq7Sg9GSEG046SQAJyGcHR3nIMQWB0WHafp9WURApE7tv06Wm2Adl9Z7MOma0NRzf1M6x1NU9uJUt248KpLhs8lrvfncap5jwWRXboI8Ph_redGKlGH_9i6aJ_2HEre2ntdYKB5B4R9o_lfpp2QZeTYmUDxblEfnkcOMMP69JwWNm6ocjVWnDXabrejXCeG6vzSNWYaFeJdlsfoI1it3Oj9fYMLtcU71jwmzUcjyKfrCDOtGQwX60NqW3torsOK4NFtvuToDa_--NyZkYY8NnklghBa992bbKtYIqhkeki7ZoOpn_lvX7FjBINmaq8k0SFOx-vW8nFQmiXxE-xXhElTl0W5JYCkENC71piz0A9BPHPpNJDsgC58XKwtjuPB67vhaNeXgmYXlqs_r1QrtHiDWgp8jgxExV3f2ggQ80IYQoG_nb3XtwvlUJU9R4aCM69yRhtX7N3hSYWAV3fOSIFhoRd7Y6ovrCIdgIj5mDOkabvHhivnL7Ei09M2gzzOe_8EBDFvEcs6MsLZT2Wur3PrjnxJROTnJCcq2CtnGqzgwTWvQlxvUEM1EtJAh_nEdrojA3MNR2upHuIe16kNhUendZFPJ4nURzLEj2yMvKtiMFCb2xzSC0jx3NxsVze1haHOn8Ker6cqoeMjVf9dj1jqustnDlFEMvGhGmp1wigP2NNgGX9bypOPUcTSal7VvkhU8hTD-2jqnXLc7Qc6k6IrqeIHDKg9CMLUdZH668ttlMk_qvJRwoUnzptKAcuVPh7TxXyU4F1cllFK6spGy89ycmZrhane2KJmrw3wriEWZ0EVO7-BTNtnP4BKPv97XyyutefLyeEN_ben-8J72W_Rr1ZZ47hNRDwftA8z7eCYtv9P2spVJqNAMJLZBEZhVYAJUgmTcT1MUN_2MisyCZDoHSS5vKffgoHZlSThVT_MxPiN3iNCQERnTP2PAdM2AwsV0eaQTljLu2mZHJ7lnmv4TwTznd-k2HmXqh7Yja3ZDL6ixqrKH_Jnyfp2QXBaxZCx6CAZe5H4vtYo4st2Iv78aiPZrTpq-h8t0XF4XDx1GcxnSH8fsfczdEE4djhVAV4jkSfj3ML23f8y22A1ZFYLPZGmUmnpoKrO1t6VGW4LO16XtPOIj5fO-ltVSBNBLx1W93XA_cmQRJ74J5_lg5RH_aabC_hV0UKG6cw5GhERtsdzYMDEF3pRMBoz65yuUNCduiRN-rmom3lwvuQDTUE05WoNQCGtCOspbYGz7g8mRxVGqlzysG7ruVqzGvzW",
  "id": "rs_0d8024ef2d8880dc016ab2becfdc0487d0896c588ef2b8718f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers appear to straddle the left bowl’s right wall at rim height. I’m closing gently to secure that wall before a short test lift.\"}",
  "call_id": "call_AB8jWlIbDikDDCSWq0Zklm7m",
  "id": "fc_0d8024ef2d8880dc016ab2bed0d46887d095c85ee52d15f412",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AB8jWlIbDikDDCSWq0Zklm7m",
  "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]: [-0.4644, 1.6402, 0.6388, 0.2497, -0.3813, -0.2771, 0.0239, -0.02, 0.8024, 0.6041, -0.4118, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1136 left_z=0.0417 left_yaw=-0.015 left_pitch=-0.1204 left_roll=0.0647 left_gripper=0.0239 right_x=0.2909 right_y=0.0007 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0347 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -7.5419, 7.5556, 1.4969, 0.0073, 0.0024, 1.2088, -0.0205, -1.2513, 7.0359, 1.8291, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5d6572fecbf3788572083a0e55fc77de1a922acb136136303c338384581bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3d997c861650874858dcb95f37993dd1ebbff82c75828b9b697185fd9885cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2af44c2e2e0e3e9c1046a3cda235398ada5680fa5d4f6137075dffea2c9cd8",
      "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]: [-0.469, 1.6138, 0.6323, 0.1608, -0.3897, -0.2996, 0.7041, -0.02, 0.8005, 0.6044, -0.3962, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3679 left_y=-0.1072 left_z=0.0347 left_yaw=0.004 left_pitch=-0.1786 left_roll=0.084 left_gripper=0.7041 right_x=0.2931 right_y=0.0007 right_z=0.175 right_yaw=-0.0018 right_pitch=-0.0168 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -7.788, 8.3897, 1.7216, -0.0122, 0.0708, 0.0904, -0.2256, -1.4154, 7.2684, 1.7216, -0.0366, -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": "gAAAAABqsr7YL67ReS3qXDYVMzvsH9UlT0gGox3sW0D4cqxBqoVhDzX3ViAqMaKlsV9LuQJPtILZYnJDuajuLYaZK8Wl0ToTWemGUg52y7KISYnWVS33RJN4aonDfFFpChF2UAeUM11evbjcBdOXSNguAKB3NdaKCQnqgRzDUM6XOqeE_dxMktEdOho_mo1dQCFhn4yQdfq2t6BRicijlbuoKv6jUW6YXiTRnAVsbvbpj0DnfmLfBi5uLj3Z8el3FUy2VbbBmi1UbJjTc20GYwKfp9LtkvhvYI4M0w0kVl710BpLpoIrxoEefYD1Z7ZjWlhte8sKkpGrl_WVgi7U7Rgj_FqnAjwQ1PebRkbZp_nNVDdJkmiS0RTDwPRBOEKQJWPWwZpwp4wVy7D1Kq6bfyhP36tJhjaIQzryqnN5cxSx8XgyZYGY1TW8dUJ7kyuE8_oho_RUD0cciyRMnrL3gtfGBrHp2EyA1rzJdd8X-LqnV69hJ4NpodVyIYgyxgXyXgwFVp3DaeBK8N5f5MR5BDa8yBM3oB7Bt0ftUDs1KkbfZBm7eqAF61nfIJMFBydjrnwIEw0p_2QGYQSUYLrNmEIgfvCYWqvXq7TFvnU25n2804OCli5cCJhEypWkK_jHfQAIdjCji1ODY_7BvX4jh3YyEeez-5irBYjIfELQXUUXzHGXKEwd_cCAGqC4ERxxkJ5qCePIsNij5nAFbpHDd7N1W_Hg4cg26A8yIUlmiroibTpB_Z0mKKTGyEnxDWNQGBFiaJ-8mmyDNUQZwe37hHYckGWWEHnE1aMsol_eUYHUxBv7lNWDf5C9KPn_IHmmR0mbyaHCfYaVDG248OHhx9VFqnIBmPVqyw8qdTLwmMvWpI67YRi1btfVZsiQIG6Xn8KlgPtYPuavcmSecq9PtFLwv9qon-Yb0UtjfNyJwKKSuFTNa8sYOjYvbXhXrbYkAFEZEY5S89uyZ6CI2HlopXlRIhW2qYIARCaQu4pf8SSxcFaSYPtnBLSTTS0MMAwI6fXZOPD9AQ3NldMzTlFd5yGFxvAFq_m0L5vqDuGIDIiGit_qyNDtLU6X0BBn8OQsI4qSBeGMM7xUBkvrmSKVAzYyXF8VT-XhSuQ3mEimKQQIDULO8-NpHv7ghWoj2JrEE0yvXtY2aDu2sY1IE749Ep8LjjzzUHpGn2jdDC5aDV4kJhALbYDYV4L-UNEySWq71AI47BVLZoWJczfnNgIWktnUlyMGhl38eGM2cRJYowr7PJpFQAhVMdwem38EHKGmqI-wk5_d0WsBaDI79rM__QYKKznIISY_Sw==",
  "id": "rs_0d8024ef2d8880dc016ab2bed5eab887d0a06352c795e61940",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.114,\"left_z\":0.105},\"note\":\"The fingers closed almost completely, so the grip is not yet confirmed. I’m making a small vertical lift to check whether the bowl follows.\"}",
  "call_id": "call_dUDVdQJBwjfyh0rznxTqoQaH",
  "id": "fc_0d8024ef2d8880dc016ab2bed6776487d08021609754c85b82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dUDVdQJBwjfyh0rznxTqoQaH",
  "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]: [-0.4644, 1.5112, 0.7361, 0.0391, -0.3824, -0.2813, 0.0283, -0.02, 0.8036, 0.6037, -0.4152, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3841 left_y=-0.1147 left_z=0.09 left_yaw=-0.0126 left_pitch=-0.1058 left_roll=0.0552 left_gripper=0.0283 right_x=0.2905 right_y=0.0007 right_z=0.17 right_yaw=-0.0016 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -6.5026, 7.788, 1.5214, -0.1978, 0.0269, 1.0281, -0.1026, -1.0462, 7.0222, 1.7558, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e8fc1c66f05130c01ede0ff0b72c0b3890ae07960f9b3be65a19ec13dbc74c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f91dee8ec91b634f21b411068b5ab933465707b8efc04df7ab06b3d069ac876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dd4b00d18db4532f9bcd919935e3be8de681ee751032f74351969dbc78fa03",
      "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]: [-0.4644, 1.6402, 0.6388, 0.2497, -0.3813, -0.2771, 0.0239, -0.02, 0.8024, 0.6041, -0.4118, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3815 left_y=-0.1136 left_z=0.0417 left_yaw=-0.015 left_pitch=-0.1204 left_roll=0.0647 left_gripper=0.0239 right_x=0.2909 right_y=0.0007 right_z=0.1712 right_yaw=-0.0016 right_pitch=-0.0347 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -7.5419, 7.5556, 1.4969, 0.0073, 0.0024, 1.2088, -0.0205, -1.2513, 7.0359, 1.8291, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7ieWN--hkIA3B6kewvJa5pfzr-ILBOHledgVm09ujbpKd5AoPH4Mjc0EdrsIm9MNwSEOMtYSLlbT4PCSijPH4s8nTzWTO0Qz4QYNQh0T0LkXOXnSDga3upo6yME33ceDeeKokYUg4YZ8n3hBCUMXHcWiKdnDzNCJGlFCao62j0sICT4ktETlH-Ew_y0473ro1p4_Htrwkq9GTzZgw8i0TRFLJX-b8eMC_ksFPv8lZfvd6dQkCuO5I7XBATm6BVs9jXEsy3BJgmoKiSLmjw_vPQWQZy0DDEmkmgTe9IozEV1V9OSLaJZ5NhM4pCMfT7Ys4tsipSS7DapCaOlwG_J41-NdKcsN7BWtpt-G-U07mLMlwEq-rOJVjoZTeO4ika-Vcc9_VVd9Rbg16KWtW8FcwuLE2F-ijhpgQrLppexI0bdEIN-Eqbh7TsNX6Rs1w6y3DLsq8p88h6kS8OFzlKhHOFqwmLKKqTcFAF5uQNDeD7CjdeAc1hwQvMRRbFqsIspmVCAQgBcMFGzBooUP1Ea7gLc7cBY0e3Eq6ec9ZTUS6M8ytTFsqS3vh2fN84Lzmq7W7Ggpzq7aOZdXVHYH_c__G88YWqge9p6dgap-k-sqlSHzOLHP_c34XGT_xvJkq39wPRvl0mVqWghhLKIqbNNMiRYai_3q-Zc8l2BaZ_QXpR67qb4au-UJChzx7JkT0vrYgtoMv9HTbcJ1nUnkosHcgnw7IDgEUKKQqkUSRbEnT25uLxCd0oLNzTgB4QL9K0c0HxVIVzKmr9BErcWxY1ED4z6iUceXuaV_Bt3EqLSl71V4o0n0gpWPM4O9QlcYM94INbqLB6pKLvCvnUoD3JmGrJIsnlpN2ktc-xZbEf0TbFO2PGg3TMy9eEkMGe7k3Vv293-fhovaPBDSV4_zxZsMkoq9JMWXYl8Z66kupQ28_nM3H40-IMwyfKTmxB1dYqzdPeRy7tOe4UP8aG9WpwWpsYNTTNp50_cVRFn2pc3_ALtZG5CNJNaE_0cNuRhLe-2phyav8ukjTSBcub4o4Isz_I9As-8p0qZy2yOCQqF9-26oRRey2Zf3SyeXOyNtaLIRuotK9PtK-7AX9ekpcCYmng2YbVY02om8Q4OnikUJRmi6bMcTbOUdMQzTNgmGE9L4AySYx045lu6s3zN8Z_5vtgAfjg7plARAG3Xllc-7AysQCj4PNO-kyvrLx3U-iX2aqyaBi9B4YoVlyF97XfbxsCopRS9sx0raMvXyuzzQhFzL_SXZldSvN4cLMU1l-n08YdA8HVkueDN5sZOfU0cScwmNKZmOwu55TzXUZA3BDmiIjbNqUWvYjIgzoi7XfdGvLPCrA0VVEcft1_l3hRFX8FCEe4zdimpa_69lhDExx6KBF36lyo8LCUz66-REJXxo1B8xnqeQImFp9JtysuaBOwGiCHRrNlakjHEsxJe3dpxHLR6DkHlnq_JkhCVyvftWyz03YzMgRQr_POpj6lkjP6s3sQjkNwhxEChDOhpQr_NxMuRlBoxYHbSCaNVB2xP-6sbDo9zwVWsx_VvPK6HVC3TY6CuImIOe2FMRXPUNX8lo_apRilZW3PailWCT4N7pBtCzCLsqaJiS7AYCdDmy9HmfnTvjACkllwpRUJeR_Xc-ZHcGlcJI01cbfv7WfGiV3y87IWqEIlDryQSdbqWwdH6w==",
  "id": "rs_0d8024ef2d8880dc016ab2bedc28f887d0955869ec83411d1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.305,\"left_z\":0.19},\"note\":\"The bowl stayed fixed relative to the wrist camera during the lift, consistent with a thin rim grasp. I’m lifting higher and carrying it over the middle bowl while keeping the other arm clear.\"}",
  "call_id": "call_X2NsbEOv3E5SHIIuzGaxo5ak",
  "id": "fc_0d8024ef2d8880dc016ab2bedf8c2887d0b7bbcfdbd88ce859",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X2NsbEOv3E5SHIIuzGaxo5ak",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8671, 1.5562, -0.6254, -0.6548, -0.6575, 0.0296, -0.02, 0.8043, 0.6037, -0.4194, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3802 left_y=-0.303 left_z=0.1775 left_yaw=-0.0298 left_pitch=-0.126 left_roll=0.0459 left_gripper=0.0296 right_x=0.2899 right_y=0.0007 right_z=0.1689 right_yaw=-0.0016 right_pitch=-0.0446 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -9.7436, 9.0188, 1.1062, -0.5397, -0.0562, 1.033, -0.335, -1.347, 7.1043, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a926cc89e1b652dc73d6da6e234b0c3ed03d0433e68007801567e235a1249220",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e215f24efb49fee30faac9b90ddc05f2aa5cc3fa7b4932f140e34423190528f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faa597db3a0de8afdf0d1cf4531de1c3553a7f80ed061b31b2bd806c15aaa39",
      "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]: [-0.4644, 1.5112, 0.7361, 0.0391, -0.3824, -0.2813, 0.0283, -0.02, 0.8036, 0.6037, -0.4152, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3841 left_y=-0.1147 left_z=0.09 left_yaw=-0.0126 left_pitch=-0.1058 left_roll=0.0552 left_gripper=0.0283 right_x=0.2905 right_y=0.0007 right_z=0.17 right_yaw=-0.0016 right_pitch=-0.0397 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -6.5026, 7.788, 1.5214, -0.1978, 0.0269, 1.0281, -0.1026, -1.0462, 7.0222, 1.7558, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7xExh9hgllwb85U61sYwGcdZvU1Z9SnjR_bCSivaqxItd49JxbXYUcovR3TwFUU6i20jCfafnoGQuWJUy_it9YV_nR5fRlnNqWoFyHzGvgqzZ10e_plRtIW89G0d8G1EIsGWzUjMkqtI_9NtKYCcnrzKx_6290sD2mqvYiwk8i6pwZZNx3k2nBDqCBbLD5ZNE2f3fO4aG8SxHxzCSJ9haPEmIIJk-FNkWbtSvDS4WVIOnLGjwgpFJZ6gJl-X21ltZQbluv2LB8dBCikQlncTYWQHhZfRNd9wN2KDMclPPzjrloi7068sIJAKb5khsGYeC0H2VttlpWlZnHT8sJfGiFNIE7VOb1IM9pZSVWvRi5e9ONCMjbIhFY5aU4pwcClbeg4DZSVvy_LvV8KLZxbVfC9g-k6lCHIo3vBqM5biokK_COx6aM8rsbjgDi1ai2w4DacgjhxIUAtdUCf8jkgXdhba5UUnGVRQCMXYqcEZaR2PKkQlXbciN4jNsoIjN8omNuf_5JD2jo3KyvMMJxAU3awWxb9Wj6NmH0zPqMiUeaHIm-m-B2O8mXnFVxJkIVSYNg77XPljddOVYfFXP1WS7g3We0tG1tCz0umgxX7ltKGm94akUzxViUfJdzNj8NUXaL_Vj-AzKBsnJZSy7YUrrxE1EUXF7JaXEggp6KXT7VIxK_pDWVU6yvsUKrrYbTFLkzdWcyn1XnkCv6qwJd_18Y6Sg8YIRoR6QePQOhCyRXahmNtwZ0GsUUp5PUSzX75KRE0UNOX9PM3S48FhTfPnoG_euaqxyO3Ou1BICGABFNogYtde20iIXNLD9H-fsc8qnNDrz52zQSFzm4kckZyO00-WqtVbPOkDxma1CaUt6qEuCFnIr0ZjUsj6s7oNWlPaqKvpi3YLbiX9c725yK8GIS9BDfRxUrdncrUZcNog8ROmWEBHJ-ldNtcWdTVHccEtrnHWcWLR0Eb7io670VhX8rzlilGgjKzIzoWz8OmoNP_l7MCAgoya5edZTDJJGF_Cvrxs9k0hO3kOS8GybvcyTXWHursVQBw3zUSHyCvosT-ANCnU6YXKWfZlXR4ZL8Udgh4g1ZAuyF3P58bhOAYDQ6_rN39dCLvSMgWt6F1xoGLmbDGgPAazZfXTbMUwkj0E14aBqGQbf_Kd59LvcmOwJEE_6Oovg-O0c2Xo5vDdDWVDWf1zHuWorlZoUWqhmdyA9lwNk5jJgCL1JyIWadODpsy08NzDCSqu314K5_kBeO31i4X0QOS-QczltAe53-ZTeoKXIE2hPXBWjQRmJps06c69KTsaxJ7MEQK1MtB1Pvy6E93ao_hUcUxAmT6UTLc79DxnHCfMIqVnuqw7lDoQl6ezCAel0EBM0AajpqibfLONEuX0dMydLTQvozugAGY_hxcyQbnmIvR3Hg5TeSqmJAJczRaQsNCxFJBQFLQ7RpAjJW43N0iFclXjDhjKb1J69bxiQL0omldPHnU7l_G7SpyPprsCJb4ATXukV9yYJXWjp26cTYMwoP4VWNgEFCoE1Dcp2upCFCemFrh8yjmSU5FjsTwijG2Xf9QsQViFnH6t0Widx_NND-pcMb90-8kY7Felixa6F_xatd6FwqLd_1MFOHecw3LU5tFWq6TY4s-00=",
  "id": "rs_0d8024ef2d8880dc016ab2bee683cc87d0a4fc6a27d974923d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.333,\"left_z\":0.11},\"note\":\"The carried bowl is secure, and the middle bowl is visible slightly to its right and nearer the bases. I’m correcting that offset and lowering toward the opening.\"}",
  "call_id": "call_SergVYWWB1cXXU76sdRqjgo3",
  "id": "fc_0d8024ef2d8880dc016ab2bee9464c87d0a712bdb3cceb3e5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SergVYWWB1cXXU76sdRqjgo3",
  "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]: [-1.0027, 1.9453, 1.4178, -0.5179, -0.6827, -0.7433, 0.0296, -0.02, 0.8051, 0.6037, -0.4225, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.3278 left_z=0.1071 left_yaw=-0.052 left_pitch=-0.1709 left_roll=0.0821 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1681 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -9.8803, 6.653, 1.3309, -0.6422, -0.0611, 1.0281, -0.1026, -1.2239, 6.9812, 1.6923, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f38b3a8e4928db852e1390a1eeb9779273b7860d20620ecf50b550bc0428b55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4507302d5a78461de1c15329b3f26f96361b7931a91b0c9328eacc15b453df0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e137cfe3665e029431dca3b71f97e366910b772bb03fab03758fa9472b30a878",
      "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]: [-0.9035, 1.8671, 1.5562, -0.6254, -0.6548, -0.6575, 0.0296, -0.02, 0.8043, 0.6037, -0.4194, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3802 left_y=-0.303 left_z=0.1775 left_yaw=-0.0298 left_pitch=-0.126 left_roll=0.0459 left_gripper=0.0296 right_x=0.2899 right_y=0.0007 right_z=0.1689 right_yaw=-0.0016 right_pitch=-0.0446 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -9.7436, 9.0188, 1.1062, -0.5397, -0.0562, 1.033, -0.335, -1.347, 7.1043, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr75zH0f0wr4Plk02fZ_nQHRGJwkRy9ztut50U26eqEd49fQOrjij1CguoVogXikzJw_TQhXlQf1oJmLeL553QISvUCj-Gv6M2tFrLYuRj9eDtaZe3CHBG2kEtvNhsR34X-uDxg9jJEOaLa7sF63gVUj93fmBsFvFyB0jvKtqnb7Yf9f3zglqqdLYLmYfh1gUspDEXKlSHuNh-qF40WIUzZGSH7OfkwgSx4g2mKdbSClOZEI0uaxLHTzQYIYW4veMDL8iwW2mDSDAHcvh9scMzY9La2E8PG6wfXn9KGQFqSW1lIAyXzwxmKoWSbb1ninxIv7NTrubDUnai2qSvIbBoEbj1k8qOJPPiZ1qkiCSfIZoOkYEdE0naL5V_CavpgLj2G7PCEVHA4Hf-7-l4jWkvIrkOsi02O3HSwwE10befJYNBpIFVtwHLZ-kh-ofp-DuXth0HH116XmRwG36g2tkUuhSGDXfkVeuLsmNAWZWvJNjjZ0mOv3FbR7FBkYbMEwcLCJCmvWk8Mp1KoL4d5ZN4cQPAcUIHYfoIC24TaROhlpJtpgAF7HMhyFHySqrdXsjOVHPojVspyuDuSSw0JgoX9SvFttxO08G-u30c3Thk6i4Fqr3q90MyWUiyZ_7c6YAJ6NJsi8FuEx3xyQSxfj-IxRg-xaW_H0iwA9milfXg69xEPEuGwe_u9ubsvHh8amiC67IAIgzE68T3UCjKi85jrXMQcEXa6B1GuL1M39IJVY6BU_gAhoVOYh9h36RxuGvf9gD8-uPwZ1QXCIOneC7NY-Q1z2-5oSbW2iDpTvKHNl3w0oqpQfw3EQUCoysPbR2t_P97sbhaBd0wTMw5CMluWX64uVgKpvs-Q39zTa2n_Eo259jcIX_KiXJoVUqRcW5v5qVSh1SK7HexxKRfh4qXV0PJmFcOu6aiUij6sRfU6HARRcWVeSC7AbRqneKwcZQjHbwNJ-WUorsPS03hCJahEqlWAJd1WITeSMKJrFED6wR43GOsz3GWHRbPeoC0nT4AlFtNRUFarf1xnNRmT55pyQZy6Kc_IEWecs1f1WZY9zxjMZ4yRkOrXuYOR1fkU1mYtwM9QolhNg_o7iU0VTFy1ME-U_2epHRqStvr0hQBorFd0fsW0jVlomRHf9jgp_JVmZJRNXQxa-bSMoyvJD9bPJhd2OnqTNXZJBNxGnLh3rtXtUHJMwtlt1gzFudbPPxtjZf2ouzMDG6qhk8FgA9i11yh2QkA9KWH49J3AO6x2jk8a2aNEoHZF030w02HksF6YIvfFf_Cw6BErLE_dTaTik2XTucYBDRSh_WOlytjeJo5PuUwNeR_68HFPp_xC9UENgElfSA-AeJ5OjKgIAoIadEQg5igG6qAUK3CUhrkER8AUUFtmBNEOCZoCgZuCWy8_94tdgT5UsFfc7dNP5a09Wpg==",
  "id": "rs_0d8024ef2d8880dc016ab2bef651bc87d09501ccfdde5269dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.358,\"left_z\":0.10},\"note\":\"At the lower height, the middle bowl’s far and right rims are still exposed beyond the carried bowl. I’m shifting a few centimeters forward and right to bring their centers together before seating it.\"}",
  "call_id": "call_mbhK5UuElrWK00VYLknVen72",
  "id": "fc_0d8024ef2d8880dc016ab2bef7ffcc87d0b71ae4468534c7f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mbhK5UuElrWK00VYLknVen72",
  "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]: [-1.0119, 1.9572, 1.4113, -0.4812, -0.6903, -0.7685, 0.0296, -0.02, 0.8051, 0.6037, -0.4225, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3459 left_y=-0.3341 left_z=0.1042 left_yaw=-0.0454 left_pitch=-0.154 left_roll=0.0517 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1681 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.7145, 6.4342, 1.2625, -0.6081, -0.0855, 1.0281, -0.212, -1.265, 7.0769, 1.663, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ceae9f9e71a07f8f2b8a66b9308061500535848566aa869ed194bc7b74dc189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55e3e957d7ad59252cda2791577c185b0bdbea5068500872ff9ce0a94c1f76d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4f2ecfdfd06e476e52f791f35f39cacb254ae4dd62ef7ff49af1c5068daee1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0027, 1.9453, 1.4178, -0.5179, -0.6827, -0.7433, 0.0296, -0.02, 0.8051, 0.6037, -0.4225, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.3278 left_z=0.1071 left_yaw=-0.052 left_pitch=-0.1709 left_roll=0.0821 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1681 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -9.8803, 6.653, 1.3309, -0.6422, -0.0611, 1.0281, -0.1026, -1.2239, 6.9812, 1.6923, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7_zw0hVnt0bdEHnYeLuDIKOLQ5lp8qInc1H5oeNtCQQJg3tg1GEP_u5XKHVsyPJCCwr7OjOmBolR8QzCrANCpDjBSosT5kLrCIDNlEJH_f8DjQxE42UUfH1Dp7MIUt1EdoVEBRwmMc3iNQupdAwbKthi9moKXH8L5WBhLbjuv5hb0RIS5vwOAFOKMw3JcKn0Yib3FEtJ5xxtQNxiGNslO4DdPLn0Zs7rYvrh7WNz92B2m8KM75wq0arHrAw-ck5LDV4rh2loWfTrRQk_IYvCibmjyf-verIwWVcBajIfVJ8DwdLiICvphH92cKCxXDrRILEd_SIMFeNlfOLWBfYBbNIgmC55pU-jcUBjTColZAN8cbJkoKJSVCcJwVRHOdwTTzyNTjp-wD4Mbmj4wY5OhPTsGie6ivkdHEFfNUL8JOhxQpY8itwq6LFwgET0L-Vl7nW9apvuZ8w2Ny3Yq6S-dwb5sGDO_nRev1fTBZGWDaYND_fB-DJOVmPdJlDDutXaNCZz-5gv72ZEVbb6kG7cRyKubfYs8ASz4YSdhNzgAXnI0HRLlZ-aouGIX0smRHmlDsoPsQsKiQQlwsyZzCgzmiVFBWU9DJRYJ-c_67HHPI6ELzEtj4yn0JXa1Gzbo5acRHNZDcAWNqhX1SYHCvOXpdVR_T94vr1wSgKuvQTxPCsQhK1SSjIJOBEegBcshGSsw4GzEAXmkLy9dMZXN3IMdWqNJmOzHhOfnR58iQUAC0rae4vyq6yYJyhhMW_1LRl61yUCvtWhFeEnp6HZHv4i_Ehp9QUuXlCKDyXA6ZtQ1MfAXrzd7vNSnKZsc16BIGVAD8FrgkWVxaJQxpcnPlzeOEFMXkOZWDEh7j7U_yEa0DifPqwtgh7HjYUr0e82ECQMwksBlgV5iJ3NlIrvTiV-XJSP-B8RXpEj3PJ9eQv_kiWxuGRG_dohPjlsf95JfKKt1z6hA_ymS798BVUWysqaAPl8tw9QhAIdVDaHayA7bjVT99Wg-diQ38i0nEMclczr0FVD1AtiJCTRNPE7MYfAo7AW94OUAZZPPtA-q4kjC-d7leIR-Y7cryOT-BRgWeyX5uqFUu97SUAU7-kqhrEh-rYzV3pi1HeepWQfDEdwZmp5muTI3AQCFdWkmUcRRXoQD16f5DZ1sZibAIYHPIJXX_E0n7VfiQFpEwXPVcDxjwPa4nKSQukWMiT1AusgINHGoF-Es9cunco3bliDy6tvTV0Ens4yYI5gXETRvyuf2LwdCfSOWR0-MRZeUOGOuSP7uP",
  "id": "rs_0d8024ef2d8880dc016ab2befc842087d09150f0a7b5271075",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.352,\"left_z\":0.08,\"left_pitch\":0.25},\"note\":\"The arm did not fully reach the last horizontal correction. I’m adding a modest forward tool tilt and lowering slightly to reach the bowl opening without forcing the stalled pose.\"}",
  "call_id": "call_xQ8XgvC1cMgxhDvoFXdL28c8",
  "id": "fc_0d8024ef2d8880dc016ab2befd4ed887d080120c3bae42b22f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xQ8XgvC1cMgxhDvoFXdL28c8",
  "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]: [-1.055, 2.0815, 1.1641, 0.2508, -0.9447, -0.5228, 0.0296, -0.02, 0.8097, 0.6037, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3655 left_y=-0.347 left_z=0.0771 left_yaw=-0.0471 left_pitch=0.1955 left_roll=0.0691 left_gripper=0.0296 right_x=0.2897 right_y=0.0007 right_z=0.1668 right_yaw=-0.0016 right_pitch=-0.0534 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -8.7453, 5.2855, 1.5263, -0.4469, 0.105, 1.033, -0.3077, -1.4701, 6.9949, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52623dc4da100e4faf71f78a1b4d29254413dfb95090872cbcecf75695682632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ba85af693fbca2a326870d783e030cbafb0fbdf9722afc12fbe54730ee3a26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174b5a9080fe0a9c93edb8c2a49a86ae17604d51b91858f73ddb160ef8d93ee1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0119, 1.9572, 1.4113, -0.4812, -0.6903, -0.7685, 0.0296, -0.02, 0.8051, 0.6037, -0.4225, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3459 left_y=-0.3341 left_z=0.1042 left_yaw=-0.0454 left_pitch=-0.154 left_roll=0.0517 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1681 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=-0.0003 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -10.7145, 6.4342, 1.2625, -0.6081, -0.0855, 1.0281, -0.212, -1.265, 7.0769, 1.663, -0.0611, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8I7v-5qzEZTqTM12j3irbWoO5FYIZgQ3D90di_8w4jk-S67ZlbTwNxZb5AGFGfnfrUEFn1l4RNNRZyjTqvx51ygDliHYHCFNUTPmv1-5cuoRpEQYO7QEFJ-4z-1G81cX1xyB2-TBrR9FV7gncUbCCRDziqt9eaqR57drrN4WO1zwhMzH0l6R40Z7hcrVgGU_mVE4ie66041ha0aGBuViG_l72WULoNLrjy_QNoOu2zbO56UMBjMa6A5ezzbSj47kgPj-bzHoLNhfpUVEwfEePUavpspr7vVxmjOuRFR3pgxvOygMME1Pi_qIJV6HoCTDeF9BSqUJlNaV_TNgr9eL0wERyTE8pQn6kDZCRFZ1W2tezkorwZak5ZoteKviZoHilyF78wIdIwOMsc3qPqCqGTASK3wfC0ep35QWEQTnULp5zm9AApn_RQr3Fu1NcGYeY-wAOaAEBWvox6sCeZOxe-DG9cMiKTuF5J4YXMF0R4Qii93p0yrH2sKaqh0ui-c8joLNEf2l9lDJchVygxe0YBDVyA35D6a0JTRAqB_SMG5vDSqT8a0R5cMjfjTBBj1eWZBA8qx2sDN3L6qncHKhS_ST_0TpSlznT4bxlT42g09IpaagCmXggCvqLckR4WGf3fWnUgSY2hQYzjSjSvAjfpG56ZlaDQ4xNELuX8u8prhIKT-ePn1wkyyH4NE3p5tc-Idzv_NNZVDj3U89pa0C_zDob8wADPi71uQpZqtn--1fRjAvG2AKVe5AsZ8YDXq2tiOamaLPkPEFPusxrlRC5tKwJ6DOZvsyfFJRyweWOGFEDGlpS1WPb6oxRtSZISO2lKsLvRR3p0-Fwz1cwVxbiaIA52Dq-8aQjxRbYiaDEptHxhxIDbDzY_E9no5j13oJ7G0OmK8DF_V3-bG2FqL2sen_FPTo1z7yckDtlVHtwSkCaqNXoTYR247m1zkfFRnHUIcIzJ8Zcmc9rWIzq14bDBmKVNz8hsS4hQIynQSTGO0xm8POEjlgv729LtYBJR4NCWDq_fGWRJH2R5ZBCw68vO_Lyjjv5AfzcuFquUOw6fKtltgD7oA0bKj8dr88jWwoJu_bi0Z3yF-Lhg309WdDmFoyRkF4GPVqv1pc5HsR38h3Fsao8CCvKNc_1PkVbgRbzqEmE7wIj2EK2CR9n7ryD6zoMWY3xJt_2c0dtIfUcN4YI1PXypWDQU1nPj5OpH1FncV58WbAvVOZL37BccKiRsxRq5A_QSFDpyafJ76gW7fDVPanq1kr72A_2GincMUZ91lgI-Z9OaaKSJgZ3mt2mHkMe_H11tFsiqUhomQtnSYAzNuz4h78WdI0SWNir2WP5R0eUK-_a3WE41BD1qveuTBz4m62ZqxsdK_XfCp2NmggNHzrjECmGEAnIaJS046tWtTVH7YU9DtL67EYU44sgpWEPP_JPVraiZgLFye2c-x7-vO_QMgidermk5us50R-nnESv1SsS7nca2qKrc8_tzELkajn-hdp4_ceZCdMJ16XaDZGsl4pO-V7P-4YnR_LcoRccdFNywhPW7ObyjnMbKCdM2FwTZKEAP1i7TAJ4BtbKvm5SG8qM3psD35J20RnxDHhx8Bez9XEI9E7MVA4Su8CBo5N5DfAUr7K7S8z683fnqaavMfVUFmYYndUAr3UO2V-XuJI-KklhqACptFiPXqkfwqV_ShU_uswwOC6_76G3n73LDGfrzxbCzZU1NU342",
  "id": "rs_0d8024ef2d8880dc016ab2bf02588c87d08deb44cfb4fecc78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.352,\"left_z\":0.15,\"left_pitch\":0.2},\"note\":\"The receiving bowl remains visibly ahead of the carried bowl, so they are not seated yet. I’m lifting clear and moving forward to align over it rather than dragging their rims together.\"}",
  "call_id": "call_ICFGik590TQagX0L5rakMwTk",
  "id": "fc_0d8024ef2d8880dc016ab2bf06169487d0a4a6f3eb4001145e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ICFGik590TQagX0L5rakMwTk",
  "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]: [-0.9844, 2.0743, 1.3403, 0.0814, -0.907, -0.4862, 0.0296, -0.02, 0.8101, 0.6018, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.4021 left_y=-0.3473 left_z=0.1152 left_yaw=-0.0216 left_pitch=0.1824 left_roll=0.0787 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1659 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -14.8991, 8.5812, 1.4042, -0.1441, 0.3834, 1.0281, -0.3487, -1.3197, 7.1726, 1.6532, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145c115ce6a5e526fe72bef96d093748b2125b79a7ed5945880b5b6229d49c71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90f2e917b6ab2b7453a7edf8e50c77a6465071c478cd48342648667dd35f6dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a4f6a8c567f2b5cd9a0fdfbd256df70f3698f77d36701a76fc2dc2dfd958e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.055, 2.0815, 1.1641, 0.2508, -0.9447, -0.5228, 0.0296, -0.02, 0.8097, 0.6037, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3655 left_y=-0.347 left_z=0.0771 left_yaw=-0.0471 left_pitch=0.1955 left_roll=0.0691 left_gripper=0.0296 right_x=0.2897 right_y=0.0007 right_z=0.1668 right_yaw=-0.0016 right_pitch=-0.0534 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -8.7453, 5.2855, 1.5263, -0.4469, 0.105, 1.033, -0.3077, -1.4701, 6.9949, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8P2HGXyfDi5bI3UvjmFxlRi_QhWxB5KL75Sm8L1nMgsF1olWPaLplXUDlccC1lsBJ6ak9mONkALqJunm9t2-NIujtmX_s2nGWDT0sD9P8rG3dd16k-le9OU4nHxp0z1brc7cLOErpcJyQOW-5BLEqjEpbGzsp5VdBO6f1Tqu04hZmBXLudQXSg7AkLpvDQiFMhidoq04lmBBm_Owa6Hri4u_aIbzFmoKynBxlC0-nTzvPGmF5mqGKaz1KpaA1DtJDLydht7sUIV4HZfENs4AMx2VMPVwtFuMPEVi-s4TQ7JdeYg-gtixYDfiONXrz9gsa65AELvgLe4HwNY745hofrhZyWpxevCsCLeCs08-moCKULAqumsstr7ScDrQk4oN96e96DICMFfqlmQy7B34hvn_npJ69RuE2ei88AvbzzDauIgTLwD6biLmK63PXyJwEuXLpe9hG8nMKIuRqHx58WsyUu6xA4_m-upuFYmNChX9ServTyZtGBE4v5vI3EOBwfPjHJ_KlThmg7FDNHKxzlbQfUp6PLTAfKfx2NLLFn4U9Vb62qzhofuhGIpZYaki02xTm5Pyf8eRrvvZCKHGId3ymeN1j2V6LacWxbJN2NMItNYAa-_qezOIjHcyrd6gOABWLm3V1D7shgzzO7tkqFZk13sLX-_4sYIjxM0XkGAozERNwOVHZaj9dhd7ThDC-lK-ORy0r0Y-UxTZppjmZ86dvbqKfybzwvQhWwMfgTw-vv51QK-bVnAXd3vq1MQyC5c1M9ubRYEjx1OE6vfcWdKTisGoGRZPHCV9s68fw6pFlPwgn0RInlhYz8fqDzHSQmvHCVHwjtHktDsWand_uZ5QVamFMsoTjLyKh0ma6nbgC8GLpif7uW1dpnKctTi_TqiuzFSQSL4cj2mZ7pP0u7yLLpdhs5_XZU69_6RvnHrcrh79oYe5kbOP9lzglbCmbGt7nnCI9tDSB5tHYLCYgU7e3m8heWT5hI4CJBb85W66V4hrXwP2O-ixhVLR0YtFmuVDEhU5bqnzEUgnHs8oMKYveaiQqCpQX1HFGenFJssE9rqYVigkULnrtzA7X8bwDsbSPKtJTO-zZv9k5Ju4kjgwtudc2O0xwzstLMYFwrytYW4oPurlOkt8OWYyI522VWpHXeu3_oIylRfB7QNQ6Hh84hyIokaOnOh0ZEEwX1dHmOReXk1il-bG7ktgh4aR7J8VLrp9vVs8RHK7-tcizEiogcPTdUzkatsbWTbwiusQzdq2xwWysbyBrDXgNDExqLByd4SBJpVugYNOZwTkV89kIBklyx-90tnDlJ2mgxlmkLdspDFqm-bBDno-bjy5Em68zmQRD4RmJQTSl0XYQho4HBFevbAJdCxDZ_sTlZUhQOAU7OptKVTrBvPkY0MUv_FjW_AQfp2pBJg9KGaxBRxSfeyrlu4Ei7_b58dXX1X6dNTmW6keazEBvfAr9Unu1eFgg-Vn32jpdEReWoxpU2ZkYpBqrvq1_YaPaRA8gAIyFDMiUV42p9lH_VKIwGMkpX1CTTyD7mQCs3W6_TD7VqbJgWWDvHIgdQ_crPIYNhfzQ=",
  "id": "rs_0d8024ef2d8880dc016ab2bf0b6bcc87d09c43ffd74965a441",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.35,\"left_z\":0.045,\"left_pitch\":0.1},\"note\":\"The two bowls now overlap closely in the overhead view. I’m lowering the held bowl toward the tabletop stack while reducing the tilt so it can settle into the receiving bowl.\"}",
  "call_id": "call_yPKePXlyCK2bqt40mCZCAsbe",
  "id": "fc_0d8024ef2d8880dc016ab2bf0df6d487d0ad162edcefd9a08c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yPKePXlyCK2bqt40mCZCAsbe",
  "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]: [-0.9779, 2.0445, 1.3655, 0.0288, -0.8906, -0.4686, 0.0296, -0.02, 0.8101, 0.6003, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.4036 left_y=-0.3468 left_z=0.1302 left_yaw=-0.0364 left_pitch=0.1747 left_roll=0.0875 left_gripper=0.0296 right_x=0.2893 right_y=0.0007 right_z=0.1652 right_yaw=-0.0016 right_pitch=-0.0572 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -13.135, 8.3761, 1.5018, -0.315, 0.2222, 1.0281, -0.1026, -1.2923, 7.2547, 1.6532, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f381816b7e1ed04c68ec9f6f45ce191efa926290912c81f5f310d94c36ee65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385b336d46a10e13b9f4614031afd37e63494d3b93cab382fcdc28750bc44254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3415f270e10316c6fec58527a85902f762cf1dfbf68831f89e575f02812cafca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9844, 2.0743, 1.3403, 0.0814, -0.907, -0.4862, 0.0296, -0.02, 0.8101, 0.6018, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.4021 left_y=-0.3473 left_z=0.1152 left_yaw=-0.0216 left_pitch=0.1824 left_roll=0.0787 left_gripper=0.0296 right_x=0.2895 right_y=0.0007 right_z=0.1659 right_yaw=-0.0016 right_pitch=-0.0557 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -14.8991, 8.5812, 1.4042, -0.1441, 0.3834, 1.0281, -0.3487, -1.3197, 7.1726, 1.6532, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8YIdhproMkffvcQ-VY-52lj526Upz10dPKdooGmiHRXQjoDfKrJCCt2eX_R2OfgAjFX-MxRFC0f16MJLSNbBaeS22ihtyPtXVXMRYgs8MP52XrFLlLqXhTIRZGKGhlKssdTtWHufXsB119dANUbiNXTUE_XSsYt34nYgU4zB0auD-BcI_We0MTB9Zt4IBzg1eHqxwSizqZ60_E3-jKoNhoza4n_-1zy626c6L7W-RKZhz6McABr8R1QDr4tS_-89XcZcPpNr6WvEfxIR-LrkZF5hb21Gc187wnbjxzDGYwchvW52GDKZJt5JcDlqkEkA79lWwU6MEdhTCjLnZgaYk0hCJZOf_J79dVleWsh7O0DNM0VLuNXSw1XQa2yLB1DeNz9eu283gK6P4pg9uN6IBgPZ-Ycm1P8yR1MHpSYJsbriOIrz0n-pk_DApdz83WcRHCIubdHjGs7ZOar7periZSqByYID87t_fjqMNJ1ZTjPzRcH9s_nfGMhqkEmROKQDXNZSQ4o3qYUbE3FJJZTv4vj5tV_KCJb_Jg9IVK6JnX7k0GcmAfeS5M0j2YjKF6RgYRUL6AtruMK7_t05tvnSXUgYdPp0u1gTCA8aAMWS3s1Xdrth-_uhBEJYvcV3ZNUYNF2heQSLRjEDSmCy8pR9nBhadoDgOUAmPhDbv8KPSSqdfBAr3s3fePIei2v-6oj9k3Blv0XNRbb8WoXhdUwxroQcHp7cb6iRF_7BA8qO4VDYToAPywIqH0gGXhdeLwY2J6K-uODC1K5K-kLo6Ff3Hiipn5Ka7jxLK16jDnI9bLhgD8sKf0AumHCIyYEEeQgmvc5k-zjTQRtSJcGm51S3TftyZ8m_gTI6G63qqFgKLAQFGsUZOlmLwE4Rr4aJU4_EvACfPVSeXJL5K3EweM1-H9ynu8t9NwxKWd596R-c8fsYtmmyPZFPFHFftWZuu_Ub-82GiWbOw3x2uctxHYu2AIuKeHqW6KY1Qe-JNduhbQyEKciHOzM0qLfGbl47qNvivmaCxXw7iP0jiTDgBNkHh25VgKq-TAISmJY2I47XK1FIRCv8bFiGxHZ6YniL4URTMDn1gbv7aQLtg6W6LUYY7gjFJkmW862nBT48MfaOZ43xVQNZhEKtYyLcpFOrLEoKi_soERgSd0glNeI0EWGlXcgd7l5JYaifL4vjLbWhnaa3GrBQ3j5QNiQfA_15EdOrCI1P58iZy8E-_AE8qCC9sZnHrTJmGy5uqE7I039z5TOjP0V6iCg9hOTURMAA3RQUfPcV3ulW18n7UUlnro6oRtw41e-FmbH5HDTXBynKY0NngQKgkT913cUV0oy2lsJ2fOH_vMsvPFG_JvOu0D9ZVISiX3CL-6Xk3Z8dZmwIUsuHxSl5Bf5jrCkwP4_oD9E2JG3nLNRGCthwKXJLEQDgjrCgXx2SL7B6A7VIkiB3xEzJoTt23zNptF7QCQcmGV0aQPBn5AH3_PJDTeC9Q2ZS3IX2BL_Yiy19-dd2sTD5REizgcDvgmValg6r_VCtzsKNCngQoWHmgqB9HVHeKnNattAi6hFXenomqTF21fosjLGD9yDZsCHUj3xXS49Vp-cuLralQtxJG8Ah1jFlYK7NY91KQtqtrCmLvS2eXg9LwQx7UWueOs4CWHlJt5-10lApnX6xIbIehLIYZW6F6x86QT5MucxL4KujykE5EyWpXblBg5u4guOW6hx0KmH-qYf9bFTxIxAV7GuRk5Ga7RhXhjUbC3IHE3E0VOvaKCuMLhmgk=",
  "id": "rs_0d8024ef2d8880dc016ab2bf1257a087d08c7917f8f69f1cbe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The arm has stopped descending, and the bowls overlap below the grasp. I’m opening the rim grip to let the upper bowl settle, then I’ll move clear to inspect the result.\"}",
  "call_id": "call_WBX9R7FvC3o6Sdl07pS5GAPC",
  "id": "fc_0d8024ef2d8880dc016ab2bf16d47c87d086b93d77780fc2b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBX9R7FvC3o6Sdl07pS5GAPC",
  "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]: [-0.9779, 2.0445, 1.3651, 0.0204, -0.8902, -0.4652, 0.6453, -0.02, 0.8101, 0.5999, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.403 left_y=-0.346 left_z=0.1288 left_yaw=-0.0397 left_pitch=0.1691 left_roll=0.0977 left_gripper=0.6453 right_x=0.2892 right_y=0.0007 right_z=0.165 right_yaw=-0.0016 right_pitch=-0.0576 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -11.3299, 6.3795, 1.5409, -0.3687, -0.0562, -0.0269, -0.1983, -1.2923, 7.0222, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893c9d318da45559d93f065298a74dac9968af84cdfc136a21a72d19b8065b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba0e93e86b858a5eb20d9959819850f2be45490c47cb20d270dcb59aec78e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c2acda84c6e5c507743deb18fc9aef12dbba3356f9e467dcb254523c5245b50",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9779, 2.0445, 1.3655, 0.0288, -0.8906, -0.4686, 0.0296, -0.02, 0.8101, 0.6003, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.4036 left_y=-0.3468 left_z=0.1302 left_yaw=-0.0364 left_pitch=0.1747 left_roll=0.0875 left_gripper=0.0296 right_x=0.2893 right_y=0.0007 right_z=0.1652 right_yaw=-0.0016 right_pitch=-0.0572 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -13.135, 8.3761, 1.5018, -0.315, 0.2222, 1.0281, -0.1026, -1.2923, 7.2547, 1.6532, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8e_RSI9dVlwXUpt6ibREA0UjnNyZJ7Tnj8s-rbeSbi9F-kSv1KthZoc1sYafaFfNzwAlRiTCNtIAm0tBIm1f0yPCMWDQRfWbJniZ2a4jLIAq7VntAycTfuo5_tDio2YS9oCOI4vOyF6TfXVvwtt0CPmQb6OK9vT8X6FA9ybc4xwsIub47y2T-I3wwuLITj_tGUFnfPTX1YNgbTvbWoATE5c8E52mNL6_ucXkad_XhJBl5vvYwd1Z4PWERoXKOe8SyjmuxqBEn50rfSx5F9sizro74LJpwjJorKAiaj0Nm1-UuqBixLquS7SNk_3VxNbLXJtkRzvc7yFGZ_EHIctCPkVI7gC3E0sQUO45P9pdfDxIjI477ic7G3b2p5uHinz2JSLLkYqYqIWkQBpsN9Sr-OrX8T0n163u57sBY5xsZBPWDLEKRPF-jWU63CVTqfcENgUMsdW8_YQs0Y-x0_NPqurYi68pzE-2cxDPcXvoNOGuAw6IB30LJ_MsbFRe3_p6_kwGJOsf-9as2JsFkiOVlBmgMew0N-gqVhCvNg3D6jT9G-WSYoTt9Slbb2puJ-584wM-_YCBkdsiKrv1Z2tx4SAp5-9vaYDOO-d8dGffTctukWCBAafnoji0Te9QrG_vmyoFGjl7wH8cHeXrQBDwPcEyflxLsZveUc3TbfyR4knmvaXMCgE5WygLgAQiTOeeGuFTmuJHFNrGIzZ-nkIehKKVkzn9J8kVd6XeTqr1B-nuJJSRACGtFGCGNwUDRVYGzm1M1G-daeSyBYxbV-VR8fAoVXAbbdVZnTPAu3BWF9NgHb8XFCmAdx0ilBoba2kBVAa6LYJZRICFZESAXwX89CDsS89eE16rn9ygPWxume-MeM37PYUE9AHdVtKbWFfBHB4kAY-TsUlx9GJiIzG1DP5ajI9djY40DiILILQVibRtq3BfpKtFplnH_P0XDS-wYaLK0NEoEJH2c9fFgco8DdUfmlJ9Jru3M8aiUSbrZVT3CKvbMHHip37veWiZBp8lDadd8lzzcaG79xSiJktUlHarZmoCCor1ymXyKu_Ii7wxs36XSj_tRsxae2ZQ0j8M91tHspYaTRNZ0xRgTB1DW6cpsLt1KUDCNVEUl3KREQZvg7_BvvysqnFSah5uD7bfC567-jg0vBG4iTe24e3BCijzZ3ktNmyHZxQk6yO_LgrFfJ8sL_kmebzc3M62zJndUY",
  "id": "rs_0d8024ef2d8880dc016ab2bf1cba7487d09c106d4a8625d451",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"The rim is released. I’m parking the left arm clear of the bowls so the overhead camera can show whether they nested or need another adjustment.\"}",
  "call_id": "call_PfCnElz89JM7KHH5dLnhtP9K",
  "id": "fc_0d8024ef2d8880dc016ab2bf1d328487d09d9de2b27ca84e84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PfCnElz89JM7KHH5dLnhtP9K",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0811, 0.8509, 0.7372, -0.4736, -0.1406, -0.0101, 0.9956, -0.02, 0.8154, 0.5953, -0.4374, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3016 left_y=0.0039 left_z=0.2067 left_yaw=0.0217 left_pitch=-0.016 left_roll=0.0913 left_gripper=0.9956 right_x=0.2867 right_y=0.0008 right_z=0.1586 right_yaw=-0.0015 right_pitch=-0.082 right_roll=0.0003 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -2.0855, 10.1402, 1.7802, 0.022, 0.1929, -0.4518, -0.3487, -1.4291, 7.3641, 1.7851, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773eb255406d72423cca2f33f6d5a627039cbfea67010e8466eaf0c8ac87bc2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61305a47a422e27f2718b2a33738ef535afbd2d6f994e9c86ceb4580df37e238",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84c3bfd3e76be68a088da50c1826dc79fdb06c69498d3f6cd567817c793b0bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9779, 2.0445, 1.3651, 0.0204, -0.8902, -0.4652, 0.6453, -0.02, 0.8101, 0.5999, -0.4229, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.403 left_y=-0.346 left_z=0.1288 left_yaw=-0.0397 left_pitch=0.1691 left_roll=0.0977 left_gripper=0.6453 right_x=0.2892 right_y=0.0007 right_z=0.165 right_yaw=-0.0016 right_pitch=-0.0576 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -11.3299, 6.3795, 1.5409, -0.3687, -0.0562, -0.0269, -0.1983, -1.2923, 7.0222, 1.7167, -0.0366, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8sc66Fwt_f43J2YT4bEWssHJKpZduRjtHqITJ2dcb2iBJ9VnALxHIY_d9SSeSVfdTnf7ZLUzJORzarQxaVSvznPz7PVhMX2425qynyVn0IyvApNVUb45FMjqckHcanoM7P8jW3tzLDAYhp7_s0aKqFCN-lFVYEZ2FRJNAu9r8fu7C54UryQXNDLNQ1LEA896CWORJ4hYfzCY5xHTx4sfHyIFN4eRF6Bi-vIYKhn1zezBALMFfv1IJv4C6camQbSaTaAn2JyEAjE_gBK43ushxQh-uKLx_itO3gVsUreYerG1X8mggq0T-Hdk3cNPlDgIaSrCYYPXAfuQD6z9YBv6_kGu13L-q5LlIAcJdjtFs4Rr4bA9IDURLfgzlTaZL4tpO0YSCHnExlPJF4Bthc06zXIA6_kpggfa3QnlBU3YnomYsARQiyOivKWZw-hk_3LlMgqxmuBHGD39JNGUr_dPy1wtWlyFwcg0g3z9LpzvA0ATYVdLHq-zR8i5nFOQIr-_NHboxREAwl4z6UVjPP2BSNu6eRPkySIIwfCSuSbeMgGLsXfD5sOiZXx5c6XNw2jCLhBdL4Z9jkU2tTyFBxsiwso3Cfc-0BSLYZm3ru68sjbEaADR58xKM8qtMhOzxNc0WcrTHHWS5sba6YU_90DTWkuPGDDSH2n9kcYnz2dIz8TmKTgMokg4jru842ATSNC964JfqDyUWueVuNEalxlEwpo-PnQa3VnA46swKmbLXRrkQoQGN1Fzb5qKHNatdXPo2vDAYuTINBaTjyrsLUPRbZd0ld30WWHQBuxSyIeMXkM2DD2d05VeWdZ9X5y3pMKaw2bDQpuFLPyhDSJuiEgeWQGSVHe7obj_Yu1HSRxaZEdzcjfy_hEVzYB3EFVZxfQMTK0FdiwqAl2bO_W-z4CwUA7IUZCdTFHLBJH2MxZZrgcwbkmgeM71TsU5kL9dYbjmuHtxvifHjrS_HrspTCnEu8J_RLsC4cB-Z8gT6UyBqTDEJYnUFB5OKu78OZ7C8EMzRtHM1f6hFAj4IzryXyvPX65TNeKHqblROWRboSJ5Xoq0MnGAzzMQhsdg7CLZyps9nsygWW7Efeg1S2K6-4ZCH8k4ph9oF8Vc-_X15Giv4rbW683vTJ_BcJAy8digu1bINlMbrd-bxzbEp12o6Kn_2jGkJSpp0Fu7GV9nYylk8cOGx7UOggfCVIPKkzzclV-smpTmpUrirO3aqKbeMD4IJP1rQ3ruDjCqmOZl9ZlZAemeuuycX-k7zvTumvGBaYgzus-LN3_nR6HMjp3FbY71Z6h6JwCaHtLwBnVoTE85yuB7VZ4KBYDOUvrdHa_TnNVf_l4D1lCG3qdCTKrOBzGaLVfcF_nq51Rh-VwILoGK9ATRFaaKzoMOHWfnD9gWPKGlb9c96JzzzUHqAimHu6LxghC5BqMSd4XQW347WBwzJgpl6Hp1A91cXelV1qgc0YJtEX77kyWeVBhvmsVTxP8YPM-te2H1Ar-qUR5-hcAX7UWCWMTgqZ29eMq6Nnoe60aJGuUNdw-8ON8Ez7nIMt0enxN-SHKgoOxG1EkzunD2z895feWJ0gdb1BqeKz600EJRDFqDCMoRkqsJ54LjdaG1U6Rw3GEaNjAD-mvHs1sYe5XaDUMvIcaqt7vSYyIjBa3pbNeMuDmBVTFUH4Gd1CqHjP_TH5ihoaQa3t1nWnUlkSQmO7km7Dpedvz_irAVy5WqtqHbis7Ou7tPMUpTQ-xtkGW0zVrdmleeP2wqkaMGiurRF1fS0bDRHjMsdfhMAyX9oIY-X5kPda1haa2Th53lwspw9_aJ2OBqGSwU2LpcFt2OWniNatAiNYQtb-AfYVaBIgIIQ75Uex4RN7EC9vojSVGf34FZ4vSHH4pa0nAgeQK3g5PwfAO_NdGK8gi3kO0t95YnjJiIa1o1Y8HpFoXNq7ff8tNgxkLGuM5IUCz5ipuUc=",
  "id": "rs_0d8024ef2d8880dc016ab2bf239b9c87d09977265929c74a90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.12,\"right_gripper\":0.8,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22},\"note\":\"The bowls did not nest; the moved bowl is now in the center foreground. I’ll use it as the base and bring the right bowl onto it with the right arm, which has a shorter reach to this area.\"}",
  "call_id": "call_lE2gL0nv5EDaytfXQGNP46iQ",
  "id": "fc_0d8024ef2d8880dc016ab2bf29ecfc87d085e34ee4f857054b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lE2gL0nv5EDaytfXQGNP46iQ",
  "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]: [-0.1032, 0.8585, 0.7563, -0.5236, -0.1581, -0.0261, 0.9956, 0.5125, 1.2736, 0.6384, -0.1764, 0.3584, 0.2718, 0.8011]\nstate[eef_state]: left_x=0.2973 left_y=0.0008 left_z=0.2034 left_yaw=0.023 left_pitch=-0.0523 left_roll=0.0924 left_gripper=0.9956 right_x=0.3229 right_y=0.1147 right_z=0.0967 right_yaw=0.0451 right_pitch=-0.1721 right_roll=-0.045 right_gripper=0.8011\nstate[joint_eff]: [-0.6222, -1.2923, 10.0991, 1.6532, -0.0806, -0.0513, -0.0122, 0.1709, -5.2171, 9.2376, 1.6972, 0.3053, 0.2418, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67f2783ec27065d0ff95553fa6024303d8dac49b478f9caebd0a40e89971d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477d1bc49ee8f48af835d109cd077e6b4bef2f20b68c1cddfbbaf601ffa4ca7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:459db477a166163116a69439108289761eb173a116a3840c7d7adce5505c3bcb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0811, 0.8509, 0.7372, -0.4736, -0.1406, -0.0101, 0.9956, -0.02, 0.8154, 0.5953, -0.4374, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3016 left_y=0.0039 left_z=0.2067 left_yaw=0.0217 left_pitch=-0.016 left_roll=0.0913 left_gripper=0.9956 right_x=0.2867 right_y=0.0008 right_z=0.1586 right_yaw=-0.0015 right_pitch=-0.082 right_roll=0.0003 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -2.0855, 10.1402, 1.7802, 0.022, 0.1929, -0.4518, -0.3487, -1.4291, 7.3641, 1.7851, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8zkP8p3JsKvcpOD3r63l-D4eZrkX6jF7Sz3L2QVnJAM8ELkciSeWTJl8v_FQmBPviDzp5HsswpLx42jfEKhCUwmXMXeS8FoUu17pCSBoRLXu6ngK9DIlkhmFZdmA0Wk4GFeetyelUYGZoEKlyMh_WfCSIrffe29QANEGWCSIYc7uU8M9TE8GK2bWWOI1EbWC3AXYhNUB6DwtOsia27bmZscj2M9wuBSpebAP3tzWGSwbGxnaLB1ozmfThgfpv1SAcFLunAoYSZgnU2d3lujtLnEesLT0h1lkKtkR7lSsVDImGwkRF1sSD792AXJutwFCmJeuejUcn4kHQWmWZKiDcSFX-mUdbepoFdFAvp_PqBoBO8WMgmnAJSquH-NVK0KbDACRVoNOt4jSR9nPtsIrAecwNno7EcNC_Irl3VPVU42QC6Wkd6GNlESgbTLRbT71D_AugemgGk33NGl73IfkMk1rIIkAwrEf1A_4ZosIhe--vnSsh-JZFm2e9I7aRn_hKtE_ixu4lxM849WGZjrg4dAP_CtqD3XqsjQXb0cAW3hcZhyGADjC76Y1K_roT-ySchvoPKfk6FVWkDYJ2lcUwW9TZ_-qS4rMVr3Ri0CEy4cUaSX_Iu8AE0XbcdN1XloU-rDyMNscfKBvw2AlzNV3Vmjh7LeGjJny7ED4P7LJPMHwr__3NKxqP00zz-54ODd9lXtEA2_5YfVmNY55ZJjyFVa6U0OknWrWMKXHTXBlr1RqoahTs34MnfQaEsFD2D1RGl3ZYxT6qfkEAPGBU_Bb-QdAxvt2jzCdH8ZrmFxar7ly8yv_ZpFzyq1ne-15nmImgBEk4Kwhw3lYkIaoJJSPtBnzorgb1456ddNRU-7w8ETU1amhXGkXmoKxyXmwkYej0-Mf4nE2jgsxgIPwKv2WKVYXNxhUbbqdBQSDbU80cHBvEGugaB-lnVsjqyhiwAd7nvNIf9mmibTJVYMf9MGR9hQmTEeo9rohqC4ErWXdsfBeou8LbBogMkzcpGJETWmuQihg06TULQtMy73bhdG9ZCCzFDDpvscn2QXTf_lwuSPGQ79aoR2CdBZM7VJchkZ1X9Wxjiywt-sey57qzaBlhZtdbrvYi6VI4YkgybMLA8LPlk6IsZUETrOpTHebfIgFUC0vGXR1exmZ4EnlTQKkaD1hdunpIEBAgJkR7AQkd2Otm2ManUc39Jf4uO9mBeq95HtZIB3wIg8WG2HwF48BCToDdKySHgkiPehdrSQM3YCmKcAuxEMgPfZI34R-BdaPPqKAMnri5VIEwuDuWi0QhRFLuFIdap8ZyuZvo7ILZ_zF_3T7w66YikGiy9YBGfIQhUriQb91CCR8l7WIACB9SFRgN63ZDjEJtPtZMIYKllCXg_2gHPs5Jzp8GjFWXL5pyAqOFeI0JcEyCrG8N7TnSMFMfMUKw4y66Cbx4HcyC3GVfp25fPNt3YitFJJlTj6t9S67DZm3S6vlUxVKCb0ScNeA==",
  "id": "rs_0d8024ef2d8880dc016ab2bf3064e087d097b60f06a3533f1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.078,\"right_z\":0.047,\"right_gripper\":0.75},\"note\":\"The right bowl is centered in the wrist view. I’m shifting to its right side and lowering so one finger goes inside and one outside the wall, giving a rim grip.\"}",
  "call_id": "call_FLYBcPrW5gG0XEOWbgXTnaVY",
  "id": "fc_0d8024ef2d8880dc016ab2bf32541487d08263283725bc4a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FLYBcPrW5gG0XEOWbgXTnaVY",
  "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]: [-0.1047, 0.8619, 0.7605, -0.5377, -0.1577, -0.0265, 0.9956, 0.3115, 1.491, 0.5739, 0.0444, 0.2535, 0.1574, 0.751]\nstate[eef_state]: left_x=0.296 left_y=0.0004 left_z=0.2016 left_yaw=0.0215 left_pitch=-0.0655 left_roll=0.0936 left_gripper=0.9956 right_x=0.3462 right_y=0.0687 right_z=0.0326 right_yaw=-0.0115 right_pitch=-0.2621 right_roll=-0.0774 right_gripper=0.751\nstate[joint_eff]: [0.0342, -1.8393, 6.7761, 1.7802, -0.1343, -0.0806, -0.0122, -0.1299, -6.6256, 6.0239, 1.8584, 0.0317, -0.0757, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67224341dd5fdff0de3494557d55a63b94492fecdfcc85ba8ddec25031037777",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d94bc848d1f463bc8e05d9b581a9e3382e49e23788f7993dfb4d34d745e2116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbb146bf3870faed05c5e6926c06eef2a4c73b3b8c3574e7059e8a3cdec4ff5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1032, 0.8585, 0.7563, -0.5236, -0.1581, -0.0261, 0.9956, 0.5125, 1.2736, 0.6384, -0.1764, 0.3584, 0.2718, 0.8011]\nstate[eef_state]: left_x=0.2973 left_y=0.0008 left_z=0.2034 left_yaw=0.023 left_pitch=-0.0523 left_roll=0.0924 left_gripper=0.9956 right_x=0.3229 right_y=0.1147 right_z=0.0967 right_yaw=0.0451 right_pitch=-0.1721 right_roll=-0.045 right_gripper=0.8011\nstate[joint_eff]: [-0.6222, -1.2923, 10.0991, 1.6532, -0.0806, -0.0513, -0.0122, 0.1709, -5.2171, 9.2376, 1.6972, 0.3053, 0.2418, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr84xmV2pBNlhGX0TYwEmPaVs4T_oPDjWWFlC5w1uuneHYdcnX7lokVLjr8vZCVpozDnsly-QaYUZFzrGcHXm1xBtSUH5ef9P8Mc9tEBdS7dN_Ajtzq8LihN5knho2SgQW4B0vuOw6tsWKG_JIjw3L4il7I-mer7K2V6fHSD1y3YcNK4HTYT3dN5OLdQwqoUVKv99YWey99UQh4gRHs7jkya00dHg8RO82ci5wYTqWreIMSfldmZrOz6EjxmTkLy8IMeSNVxsBDWqLNkv4381iS8GGvOycRwTnqeUVzbcFd499yHhUH97STq2SCtnuFHTeFAPIXlHX-U9EVbDmja1b1DypC5IqFQpLtBckDwi8R5ejVdgTdhNjSnxF5EiVE6KUh32Y1YEwLZEArjJqsRTa6UCBEzKN9EaXv_sCXcTuGXWJpY4HGmnKv9_sndxwhTi4KIf3oyR7fBkjg-cXLPgka83wa_Ri627q819Ms7SKZecuGFNa5NqwZpr5QZ4ZFGAaNDE0ueLA7sH8Slpwc3z3Zj4PVMuqQ8jks9APxt5Q-xE42bWAFItyeep151cfrUzCZP__899okbrTLvlxogmLGOWOqxLyjLj-W1SnsQuuxXH7XwDIDgjdPMnaKlfxNvNmYionlaLMEKq4PGTG6Rz9pbX07y8MhjU76UgbyfV8HPlmMmcfzDPH9h5yK8OCpFXlHU1xf0fdNc1Z4iFKLDM-Ah7EPByTdtCx9dlusIEoLRZxvodBVZmzSdqKcqpEodw9KXtxKc3rKJDW3Be6x7GV2Wzurq3f_geia4LtzcJxeQ329Db5GYRMRaqwCzcvu_cqIt9VAf-mJMrf7TjFxO6gVqt6ofr_FivzAKQDdgjkqORTgYwU4vgXYYuZSZXELYtn6Cc3fpNdhgr02KMHjzRk5P2fFRC-h5HJrI9xl73pUNm-HsfLkBqwji7EjxFg5mPh9BfymO4gWIwvES2k-0yvJ6t2kH6ZHvsm0pUdpwyi8qD_WXyxPbiqEgx1_uXk9FiItGR-P1KGHhAInmfMU5TbsLikAqsczR-baSs_KEPpt58mHzU_FLG7xcVAX470XGiR5-EvQ9PnFg8k76i47TwyXSZ0fTEbaJHuZfXtXKnNZVsXBH5sNbjSwO8xAAR-QN6PHL-_oeQQXLBDrUQr8EvN2UT46oFV9jKykJ8e7Jn7f9-1lL2ChKC1a1EyHCOyclz4XQ",
  "id": "rs_0d8024ef2d8880dc016ab2bf35e45887d09d2d7f6990c26183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right wall is between the open fingers. I’m closing on this thin rim, then I’ll verify the grip with a small lift.\"}",
  "call_id": "call_fXv3TVII8HgDwIdBE2pvFLV0",
  "id": "fc_0d8024ef2d8880dc016ab2bf3689a087d0a2ae32726079fd9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fXv3TVII8HgDwIdBE2pvFLV0",
  "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]: [-0.1047, 0.8623, 0.7601, -0.5392, -0.1577, -0.0261, 0.9956, 0.3145, 1.4864, 0.5442, 0.1215, 0.242, 0.1562, 0.0392]\nstate[eef_state]: left_x=0.2958 left_y=0.0004 left_z=0.201 left_yaw=0.0213 left_pitch=-0.0678 left_roll=0.0942 left_gripper=0.9956 right_x=0.3496 right_y=0.073 right_z=0.0356 right_yaw=0.0056 right_pitch=-0.2155 right_roll=-0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, 0.1573, -4.506, 6.0239, 1.0818, 0.3443, -0.1001, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c2aa9c8a396cb06940a9484d2156b6c286b7d070d95b449a5e864694f22a4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8493371002d2665fa7ff1e1b456de5bdbc1aedefbc397201a1f8ee7d4dec9dae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00e1a6c3c36c2f1777866cbad753319375b1810b43e7992b13bcc0d4133df16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8619, 0.7605, -0.5377, -0.1577, -0.0265, 0.9956, 0.3115, 1.491, 0.5739, 0.0444, 0.2535, 0.1574, 0.751]\nstate[eef_state]: left_x=0.296 left_y=0.0004 left_z=0.2016 left_yaw=0.0215 left_pitch=-0.0655 left_roll=0.0936 left_gripper=0.9956 right_x=0.3462 right_y=0.0687 right_z=0.0326 right_yaw=-0.0115 right_pitch=-0.2621 right_roll=-0.0774 right_gripper=0.751\nstate[joint_eff]: [0.0342, -1.8393, 6.7761, 1.7802, -0.1343, -0.0806, -0.0122, -0.1299, -6.6256, 6.0239, 1.8584, 0.0317, -0.0757, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.073,\"right_z\":0.095},\"note\":\"The fingers stopped at a narrow opening consistent with the bowl wall. I’m lifting five centimeters to confirm the bowl rises with the gripper.\"}",
  "call_id": "call_ctYlp3w3uwzYJGtR4jEI4tjQ",
  "id": "fc_0d8024ef2d8880dc016ab2bf3bb4b487d0beece805ac2a942c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ctYlp3w3uwzYJGtR4jEI4tjQ",
  "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]: [-0.1047, 0.8623, 0.7601, -0.5434, -0.1577, -0.0261, 0.9956, 0.3161, 1.4811, 0.5438, 0.1249, 0.2455, 0.1574, 0.0392]\nstate[eef_state]: left_x=0.2952 left_y=0.0005 left_z=0.2002 left_yaw=0.0213 left_pitch=-0.072 left_roll=0.0947 left_gripper=0.9956 right_x=0.3505 right_y=0.0732 right_z=0.0379 right_yaw=0.0042 right_pitch=-0.2067 right_roll=-0.0522 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.5795, 7.159, 1.6777, -0.1343, -0.0513, -0.0122, -0.0342, -5.1077, 5.6821, 1.2381, 0.2662, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489c463c76c52d21d7cb164592c47765da0bf80fd487b876a3adb516b4180db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84877968a65d1d6d747bfa6604a42b0b1930b9557c3a087c19bd182afe408dce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274cce2bb05376426bee69589f80ab52492d6b8873945ef7f00589cff5091952",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8623, 0.7601, -0.5392, -0.1577, -0.0261, 0.9956, 0.3145, 1.4864, 0.5442, 0.1215, 0.242, 0.1562, 0.0392]\nstate[eef_state]: left_x=0.2958 left_y=0.0004 left_z=0.201 left_yaw=0.0213 left_pitch=-0.0678 left_roll=0.0942 left_gripper=0.9956 right_x=0.3496 right_y=0.073 right_z=0.0356 right_yaw=0.0056 right_pitch=-0.2155 right_roll=-0.0532 right_gripper=0.0392\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, 0.1573, -4.506, 6.0239, 1.0818, 0.3443, -0.1001, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9BaJcV7HE67SEUniZG4nwp0dSOCx7qg-QPMc55RHCE4Uff0ktm_vzyIBdP5_MzP6EBxB301A68yhibRtZVVujFQmkeXE5oryHfNwlGEANTCHOYRsYFaPXjMaLVZC53wRcG0QICeD3GH9ynXkQWYmOlI5mAaXONrHB49GJlaJNAYuehV3VQ7BsI9IiBijd0ceRykwnb8MQQhypPDMmwFuHdUMS6K_TzSEHGdUBW_G9dh-ONmLF9Ll5E9Cu_M4UDyjsBXWoW5eF0FX128fFbYlKfE4IZQ84OAWjLVENech1X7YfITz_3BUejojjAJkdYx2u_nTb_TT1lbaLiECWGpWv8ZwHjnUZHEkIYbNzFVbI55TTruGylIGyfUF3RAnfymwlt5I5MndB1HQDRCyct4Z7otD5C7ZIB34p-7WulK_O2aPJxeJe_qfnaTH_PzS7hcQgb6Mdw1qM7xRc7QZLL-0nORz-TBJRNIcY6PY1HsVulAZmW6qSa_osAvXJzxAc1gQW0Os9j8ok5c5WD2Grn4P4xH9jkDtRBHaJ2khWx2HoOVgcKZGE4GJyoL_s9wjgBdPF_ZKUIKoHGnUylh6yRCnRFrmoxDvYLZGZpJBuUhWHIVUYjZv5vOSJUtKm7MBRLkbu8z64FtFPYlLsb799-KfmyGu8xrHnbeBrWoCdAIUh8eiO--jGVwSdtjjimB-ltNfueZYHRsMnXtrWUNGHJaddOP3HGf6o0udZZdHyEqaf-eqQgSHqMeThYJ3jBKc_CHpDwMs-TlCyTqGoXNSEkzQC1Yz-9knzpBDDgj-xGlyBajtAlm1wy65iGcp61qLhFdbZz4ScdSfGvAXunjJNh3QjKM2tbM6BjorqpjofE-cr9M486WUJk6JUelbkmWtJSL4GuwrUXLkRTVAtjYVv651eEgZabJt-ew8G1Ravwyg6dAHJ7sv8rYDzyEqDJzv_zOjxGGSxdslWieCL-pRRZhbeRRvPFGo_25uHDpgSIJs-gTPIkROxbchneI-QkBImNtSoNrTbo4YXqAcvLb7nN8HCbX6tZlHcRpcILpyz9Y7cIb5tSu7AZUvc84ZrLtFCIkfyhNB9eAH5WuDdPJsZV1XzZa__gfY8ix4jT1-Sqds8IevQ0qzd60VmZetDjPokWminllWnss627XHRfAUcfJcwM87frZVYcIA4IoYFrhsp2EwAsGuA8UNWhTBqHC250e9EspXTg-l3BOzM_2HUv6dNdj3RDAArLVwSbZQf6RTwnKWNj7XA3V77FVOCv80LlwmiS68NB1CvM5HvapXnF-crnRwobg9pQfdW8Y3jpjNHEI3o=",
  "id": "rs_0d8024ef2d8880dc016ab2bf3f3b5487d0bdafd7eb8b68ee1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.078,\"right_z\":0.17,\"right_pitch\":0.15},\"note\":\"The small lift did not produce the expected height change. I’m retracting slightly and changing the wrist tilt while raising, to clear the bowl without repeating the stalled pose.\"}",
  "call_id": "call_bM7KorxgS4IDtuYgrk0jaw7m",
  "id": "fc_0d8024ef2d8880dc016ab2bf402f7487d0bf17bf31067d6c3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bM7KorxgS4IDtuYgrk0jaw7m",
  "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]: [-0.1047, 0.8658, 0.7601, -0.5461, -0.1577, -0.0265, 0.9956, 0.4183, 1.0599, 0.5186, 0.0181, 0.3706, 0.1143, 0.0388]\nstate[eef_state]: left_x=0.2951 left_y=0.0005 left_z=0.1987 left_yaw=0.0216 left_pitch=-0.078 left_roll=0.0952 left_gripper=0.9956 right_x=0.3309 right_y=0.081 right_z=0.1504 right_yaw=0.0324 right_pitch=0.0899 right_roll=-0.0614 right_gripper=0.0388\nstate[joint_eff]: [-0.212, -1.894, 6.8991, 1.6972, -0.1001, -0.0464, -0.0122, 0.3761, -3.535, 8.212, 1.917, 0.3346, 0.0122, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934e0db4654501f399adc293ec2d5fc1d7ef1b3ac71cf839d125e00e28046e83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f51dea9f8ff2c8eae2319319b7ef5c66e7116c74e24238378742c2bdb9eca09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036246386fc766a147644a3b250506ac1d1d17883e6b0b0d50de5a9b79079e9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8623, 0.7601, -0.5434, -0.1577, -0.0261, 0.9956, 0.3161, 1.4811, 0.5438, 0.1249, 0.2455, 0.1574, 0.0392]\nstate[eef_state]: left_x=0.2952 left_y=0.0005 left_z=0.2002 left_yaw=0.0213 left_pitch=-0.072 left_roll=0.0947 left_gripper=0.9956 right_x=0.3505 right_y=0.0732 right_z=0.0379 right_yaw=0.0042 right_pitch=-0.2067 right_roll=-0.0522 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.5795, 7.159, 1.6777, -0.1343, -0.0513, -0.0122, -0.0342, -5.1077, 5.6821, 1.2381, 0.2662, -0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9J-kcl47Vadu1FFj--7K1E26MtZITzkkb90PnOk4MbvfzR2P7rmRo8UBrsjR7gkqxLi7toZbKUokeOu_N_Nmv0LX6MpGSmOMSPpJVlSyy6t6pdYplmi965cHeQh1TRIjLnYVa-it74wth_dRBaMMiQUHvNEl53fg5PMYmWaIhR7_mXKnPQX5qRp-GjThBFU8E5Sff8M64fdRHLsMJk8ILBjsEzaFjSqJAUd-K0nqYG3Bk1m3IMdF7UkCnG1qf93ilY_dSqRutgI3pk0xHvxs3kwRpIUGSaGypYQ1lMUsLrZvMDActIMQlMN1FkQRWXSbX_mGnvRHfxm7aNmOVWVzOla7eT-hhddP2_9UTHboXbiQPlf45NU4jnNMvV6UiHTO8xfD8A71lSlkVqrtfova8xM3XX62ree5mHYg4l5cgznPhWnu3DgvJS0HgWORowTjArgJtXD9rxhO8Amu8HCGUHWNbHhIx_FP9Re36R2rwNTn6uF_TDVUYIZrV6NETgsg4DTQ5Gs5HOvVRpbNYQD6SDTvVAoU8FmC8A74Lc67htv4BiHy4vbZS-LhaqRXFjMl-r2e-UhFbosTPJeieSoC94bbuQAt7lrPNymve___BHmPmPeJl2F-KQRM5sRyXJmpyUXvrUnV5fUAhbC06Mh3vbmSrMxPhef15y6RyWD24VtIWu4MC_NVS0iWuk_RC48R8sfjH8e8DyzS-J564HiUXG8pV7bTHY7S0hRavxdLCKNZiURXVXquEja93gNCBcOGZZN1WVekPtKrc1qJeslhE17B2qt_HjNdWunnjIvLg0Ff5gWDKI2ItXDltS4ZLTplQwign9erKTE0O6OItNiO06jezPEa3iYxB46rz_a0CeknguyY4RE-mgxu8XfTUP3LZrH65q21Zky2Fna6PX9Ivf8DiqFffMTZIwVcngmrTT2gROYImbT55383eb04rAfNTvFldAcRZrl364RsP8oMeN9TJ3-MTSloFNytoUdKTSN3FBxfd9o1NqB3UEdBNjDKSg_zeeWttQHUHZFJIWy1BgmfgslBqWUaaznck5adMR9NA91o4y33p0_ZGxQiMFYr-_pNS9YgVRgVxtn-Fodav_Q_ajtj3f230sdvgGpj_DYP2BpLMXjn12x1LCg5esUxJ1bNGTKmXj7r0LLER1-1Eu0jJozwznhQTIcQei2xZBlYgQZVm8aC5osEjm05lf_tvUBWOSsYL8ioqXW_l-RDRLaQXbuB_CdQMygklD4MxpxTdLeEddX0eyjnhyKgurWWZ3iAFsRo88xl0ECq7vM5u2Ytu6xopkK13-ki-g7vuM_7OpPJvgN7sw0HajO3UMPgNujAqY8vrmBBiVK4ocTDJcpJbEWvvUVU0BZvKaDYsWqoCDC1fYvMWJJHcUf9i_V0EgyNN_4YFEsVmCgjVmc_eXc55XzlD3iqSNAsZKwphVqZO3GLWgiL3YsjVgPzLYcJA_SrQho7gp8lf_R54eyF3DHikGKyjIDXygwr8RmD6re7wR1hMwIV95r3JX7YRfkfjymFtWM75UX4W21Df4_nt1OvuDW4hm-9kQl4ZTnZFwgv0uUAZBFp4v2RTwtULisNcpkXCxeMh9H62rgv7qWEpPRA==",
  "id": "rs_0d8024ef2d8880dc016ab2bf45245c87d0a72e82deb4ccd55f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.225,\"right_z\":0.18,\"right_pitch\":0.15},\"note\":\"The pink bowl has lifted securely. I’m carrying it leftward and slightly forward over the green bowl in the foreground, keeping it clear of the table.\"}",
  "call_id": "call_qHCs64CqPCHIm5mJT8EFqLQT",
  "id": "fc_0d8024ef2d8880dc016ab2bf482e6c87d0b8af922373d70f12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qHCs64CqPCHIm5mJT8EFqLQT",
  "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]: [-0.1047, 0.8696, 0.7601, -0.5465, -0.1574, -0.0265, 0.9956, 0.7929, 1.5421, 0.9169, -0.0181, 0.6682, 0.2813, 0.0423]\nstate[eef_state]: left_x=0.2953 left_y=0.0004 left_z=0.1976 left_yaw=0.0213 left_pitch=-0.0822 left_roll=0.0955 left_gripper=0.9956 right_x=0.3655 right_y=0.2202 right_z=0.1561 right_yaw=0.0837 right_pitch=0.0812 right_roll=-0.1158 right_gripper=0.0423\nstate[joint_eff]: [0.0205, -1.9624, 7.0906, 1.6337, -0.0415, -0.0562, -0.0122, 0.3077, -7.3231, 9.2239, 1.8486, 0.3443, 0.1392, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e369233a6e98275f01a67e432144a736fda5fe003bfe482577be125a2fd9d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b978e5e68f70433c0b84916452ef9899520021ed0d1c94ae5f69a5c243e45b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c769e3ad6ce1b27ca351303131b929f45841cfe7351ba835f1869402755fe739",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8658, 0.7601, -0.5461, -0.1577, -0.0265, 0.9956, 0.4183, 1.0599, 0.5186, 0.0181, 0.3706, 0.1143, 0.0388]\nstate[eef_state]: left_x=0.2951 left_y=0.0005 left_z=0.1987 left_yaw=0.0216 left_pitch=-0.078 left_roll=0.0952 left_gripper=0.9956 right_x=0.3309 right_y=0.081 right_z=0.1504 right_yaw=0.0324 right_pitch=0.0899 right_roll=-0.0614 right_gripper=0.0388\nstate[joint_eff]: [-0.212, -1.894, 6.8991, 1.6972, -0.1001, -0.0464, -0.0122, 0.3761, -3.535, 8.212, 1.917, 0.3346, 0.0122, 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": "gAAAAABqsr9QgNTjvj0uIooUynaSM6UM8b9k-5Eb3zGm5Zv8FLKYkdcNbsWV902aS3V38xYndhvh_I_NpncSaDnc_hgtmF1woPZDfmYohgm8F3cLzJ57DdIZze9w2mwoD2-Ub2hGZswYX2ZBK5dlbbi931rG7YNXq-zqV3H-KGd6x36x9aZhjXPtiiFV5pWoa81b2ysNAke64oG6XRuc4uVOMKmLlVyLg5qZ9haSH_xdYZpI67E6agD3P-Q1KcIKV4TnaYg8B_Rq307MgmlTPIDrX6GRtVr_QgDwJ10UK3JocdGBSB3ZQyDbiYHUe4uneAKatd7K-dS036PayVMvCemhyJThIwynScoboz6wCGtJMNx4qGVmUfru0j1ghgo3nqPwUddYYASLNaKZJuUfz7aXhqqoZmxkZqiJzo4102VYEH7QREZp6U_A0Tc7HTWDBsMK6PN0wPYWmn2a2ZCGCx8kyKNQHjh2Ud2WmokakGv7Td1SinHc-659wdSSXgB-YgYXRkmhriht8m6b9sxI6ua6AsI3aeQwJuwTxybIfb7Vs3ZjsD3dyYE2e6FhgFwmi9vCJetTxFTpt22rSmysHBed4CAwnP-priBXIgrigRjehz2vIZQwHb5SJP_FBy2YWFJtAFw61NssN1pxx4Cy7sDCmJuACvX3DTPqTdsA8naHYG-HT2bwB98-d3nDzcHrBvIZWqvcUrjT2wwWMBX5_-WqdfpiY6Cu7ICvp6GB9IBvov4YkyGXcaj9SE9c0nOWgI_Hhm9rs3ycXSYtjJNSiRZdRpb1fc9-mjX0-5fw47KiXj2wgNyotZoBNo087KFemRWHZ4W3S1DSePyT2w4Khn7hlLwK-a5vwXKvnzxAj2qwkHJz9V1uWyPOMjTN2aKDIyVQV3iBE3hIXWTO1p87xg1Es48RFg381qHeSIpyLKmCMw2SPzPJ-xLpKdXeRU6ahReuptK7ZdyrwVjm6KF1JqFeQy0yTxcZNdiiFoU0V9BVyq1tDIeTGGeAqpSPqRtcBCGo_m0YfXHk4UYCcqshUHEUO2S71UA-b12XTp04uOHXtPYCzpj_-HJY7i5e3KuIqqzVse-oHsj5gmqmq0P5HusdHBbfrn_mcJezlVgvsDcIdl3zsw4aqPUh5DUAQVRNebxrxh1ESX2t97Tf4Ao0q8yXvnvGt3HI_OtGfgfRrugQZAUB9EjPySeR0BfhDtxLXry5cOnoDhDfq7QBKD2iGdBwiJ5NwFHlxIkSIFg0fvDt7d1XS2ltqNf4cQN4Q-XMEEEEiXezDHs31MGltG1l5H99ajO4fK-kD1LY_Z9Bv1WBnnQs6c9N6iWDjONZ6QxosOFCgbIwvFdi",
  "id": "rs_0d8024ef2d8880dc016ab2bf4d37bc87d085478e71565b5d46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.24,\"right_z\":0.075,\"right_pitch\":0.15},\"note\":\"The pink bowl is nearly centered over the green bowl, with a small rightward offset. I’m correcting that offset and lowering slowly to nest it.\"}",
  "call_id": "call_wbsSb5D4HDN1iR81mZAnTyxg",
  "id": "fc_0d8024ef2d8880dc016ab2bf4ef57487d09b9b722f5c76c003",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wbsSb5D4HDN1iR81mZAnTyxg",
  "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]: [-0.1047, 0.87, 0.7601, -0.5465, -0.1577, -0.0261, 0.9956, 0.8448, 1.779, 0.7609, 0.3565, 0.717, 0.2764, 0.0436]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.1975 left_yaw=0.0214 left_pitch=-0.0826 left_roll=0.0961 left_gripper=0.9956 right_x=0.3595 right_y=0.2354 right_z=0.0685 right_yaw=0.1023 right_pitch=0.0868 right_roll=-0.1547 right_gripper=0.0436\nstate[joint_eff]: [-0.0889, -1.6615, 6.8855, 1.6239, -0.1001, -0.0366, -0.0122, 0.4034, -7.0906, 4.9573, 1.4969, 0.1929, -0.0513, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd072df67945276498ec2cead5e2b11227261af75b9234e97660ebc4e26d0515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0dad732c1f4ac4e951df6ecce14b242d47e676616104b9ad7278f9cd9e7f77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e037b9f15a3a805829e93c9357be58cb3953b0b6bf4276a66b0aa07f4242e235",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8696, 0.7601, -0.5465, -0.1574, -0.0265, 0.9956, 0.7929, 1.5421, 0.9169, -0.0181, 0.6682, 0.2813, 0.0423]\nstate[eef_state]: left_x=0.2953 left_y=0.0004 left_z=0.1976 left_yaw=0.0213 left_pitch=-0.0822 left_roll=0.0955 left_gripper=0.9956 right_x=0.3655 right_y=0.2202 right_z=0.1561 right_yaw=0.0837 right_pitch=0.0812 right_roll=-0.1158 right_gripper=0.0423\nstate[joint_eff]: [0.0205, -1.9624, 7.0906, 1.6337, -0.0415, -0.0562, -0.0122, 0.3077, -7.3231, 9.2239, 1.8486, 0.3443, 0.1392, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9V89RKJ23LcOpQgCQbT7H2Q-dDD0AC-acC_EbI6hO4QIlvDH-sIF3hh7o7Xm-IfLsQS4cFxvb9two1-MOAI1DdaBuVCecT2-18pVv31bdqz0bfIPCjL7iBX3GU8qBQhd-IPVH_ZQp5wAmUHjiCP1xhNpp-yk2XMN2c2wAmyn9XF5cGAfLWhfZmN0WtqfZMFo-jFHBnEZwUpK_kVyKSR3qiH4N1q4RebOy7ROkfqHu_6Tr4Hr7bsWdVp5an_yjb-ZJlIvUqiAwpoLtNOTUSumSrWWsM-xU4-Xrsj80aTvlLRfERkzLa6b2aPbx3-47W6k1Xcalrs439_YVtZOEze4_TPikx_L9qsCD7X-cfaR-BnYzqTK3C3n1xRJk8W7PMHDGn5m_SusU5vMRby7Qqc6FKLRG0jzEi80RBCzLJERfdNm0rtxb7AOOjWDRoRYH24TXFC8uB9a7UfzXeA4Ecw_YC4HUlut_eQljYLpuuRYn1m3q0-ZcUr8nBK8dVOBzeKZ_hJ7bSWUjW8Wc5Jm1RLtfB3LL6qvPGMuh1wvLU9EFNr2O7AU5_yujGGtdIdISC4dYof_OpXgXz_jtdG6awxoMqx8yc0tkWMimVblNzOlDBJ79OIizuxENvvbpUIBUtLBNASjKXc_IDV2dNVf2tayCgzRduBPQ4uZicFx2TE7LBdLHbhwpb7GlMJOEfajg471inEwqoHLtjoZ8dywkNM1euHngUygHaR4jutYhn28MeJHU1CK_HggHbObdHo1RahOHf0HGJCJwlzMzldgAsQJ6Y9X7zU_otLhRHblHwy0BaXnNqMcFeDdvX-tW8KNK-h_1dI_T0DtCV7V3BBOryCwCEw3oFteevshDWKvHxT2a4_bx-MYHyrBraYeF_Epk_PwdwIIcEHvKm7GbiR9nVwAKVQ5uDd359ax4Se7N4F8R08bemnGgQTUUl27F3uhf88e6PlUcrYIBjD55XzlUDuMwXVw1nMenHZdl6qbgm9PxGZVUBl6nb6oXSDqWcOQDZUlih1Ifb6k7Hp5A5VQMOAiTGPRoDW7cvhiMTNqGcHwcLLsf7UA-2LTHvmnah5WcvNyLSvSOj7SUaRmYSsoUIlZjHQn93sAtIkNJPhPTxKepI_2lSd2BPQ3MjK9fkKpEmcWKcOoStRGpvkDhYczEAHXA-mjsCYocZOX5ojpUMvL6wdPVobDGDOMD5nbqEmn3KPGo05iczDZjJJkwVWpWqJ4-qOsGLYyCsCEFrQ-GqwwMPj7--qQbNOqa6Ca_MM_3ZNjmcVKq2EzDSh0-ymWCdk-Q700EDHhMagw1nT0T1pBbDIGU=",
  "id": "rs_0d8024ef2d8880dc016ab2bf52e6dc87d083338d2f5db9f68a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The pink bowl is aligned over the green bowl at a low placement height. I’m releasing the rim so the bowls can settle together.\"}",
  "call_id": "call_wupbnj4ArXvIufuTv2EIrU1g",
  "id": "fc_0d8024ef2d8880dc016ab2bf53db9487d0b6bc3660b8056e55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wupbnj4ArXvIufuTv2EIrU1g",
  "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]: [-0.1047, 0.87, 0.7601, -0.5465, -0.1577, -0.0261, 0.9956, 0.8482, 1.7931, 0.7513, 0.3458, 0.7166, 0.2691, 0.6961]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.1975 left_yaw=0.0214 left_pitch=-0.0826 left_roll=0.0961 left_gripper=0.9956 right_x=0.3553 right_y=0.233 right_z=0.0581 right_yaw=0.1116 right_pitch=0.0606 right_roll=-0.1841 right_gripper=0.6961\nstate[joint_eff]: [-0.0752, -1.6342, 7.2137, 1.6386, -0.1001, -0.022, -0.0122, -0.3077, -9.1145, 6.1197, 1.5751, 0.1734, 0.022, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3020483c340d33fe1abecadf264523c06ea42db44b86379818c311aef7bd615c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddf8946a5e29dbe7672e299c1fd653103afe797298feb4daed8f525b3270be1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecde0436202e93f41df8b30b6d4b8ceacafd0ced6076289b7e1313b7e185f546",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.87, 0.7601, -0.5465, -0.1577, -0.0261, 0.9956, 0.8448, 1.779, 0.7609, 0.3565, 0.717, 0.2764, 0.0436]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.1975 left_yaw=0.0214 left_pitch=-0.0826 left_roll=0.0961 left_gripper=0.9956 right_x=0.3595 right_y=0.2354 right_z=0.0685 right_yaw=0.1023 right_pitch=0.0868 right_roll=-0.1547 right_gripper=0.0436\nstate[joint_eff]: [-0.0889, -1.6615, 6.8855, 1.6239, -0.1001, -0.0366, -0.0122, 0.4034, -7.0906, 4.9573, 1.4969, 0.1929, -0.0513, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9bYlaMEME_EVGHxjlyXr_mhThKh9N0B__6c80DvnuHkL00dqWoA2P7ja1dnNNv3SoSWTknS-Py7uaCbFvSOSikQkXQoa5oz_BpARHswNb6FNJlfY_0fgDCKzPE4mcMnGvrX-LvAfmRHyWSRRq4syNd4d-3zdZKFx4qKjLD3CWUd4anuvuAko9vT2WsAWROqNmZEQ-RFggywZe16i66C_OTY5L-jHniK93NE9cng3DBOy97tTcpgHxEEBnIIiEx1FdlXvBobMBb0eqtJbvOnGXgHLo25eRcB9NTjWS8ht2oSEvfyVOOzDSGFvtMSQcIokz6dMkr-f1rbYf31UJVxxSAS36l-FuRWcshL4t_c7k91SdLmDrlQHE_qZknZMOp6fZXtjYXEg0U2qVaZsOkS_3y9cEjICf2LLbu3-scWjwMyQwF5kcm7XmAprWuJ5Wmqqbdc2a9VluulWCKR_vfPN4JNBVyBZ4fF3SDhtHtjLjfUMHvthpjoDV9HeZD2CP9nqHqXhORvxjjKiP1wuF-P8_2qpzBApUubGZ4qr04Y6CIJVaJ7itmor4Vg0Y7F5Syvg5IESmSNfnIjhnfoZtFposIei4T_93XbCWjsUKd86FhHPW0FsEiD5BupBji_Oq5KaUOSHajNxg9RWCSgPrfTF1UD94MefrUVEgERqpw01FdHzINSTT0oIEkMVaSgnmkD8W0GhBP6AiaRPHn1RTB93TOETbUsyscUCc6tqGGIvcPLldQGk-OE2WL0guNMoV7E88fJ_i8EJj6CxzbFyrpWKT0SpOMz79u0_P8c3D-5CJSSlcJZwZblFu7vNMN2f7oIWg0r1BdgpA9qBld6cK6HBpE2g87MC77BbKlSrVgs77LbUKsi3BGt4Il2lGtZhq3MmmaB83fUu3Xe0hcKg-ucI6ke0y6TFWssO2QbMJqwa-gj4qeuVzc982M_jEmw4ioPjdaCIOqbyBGBdeAk_1eG7vpxct7takg6Tl84CjdM7p9ENiQy3x7Y4uH0PHmXK3X0PMOltmyV3Ne9IJvBE-StqUHeHawSf2tvwJFWHT_POIROZqdylfX8ubQkR1VnMLWfmhnqE4nRg_DXpr_2NkXt-KHayO4-ikkqESG1_0VI6Sr_Eld0yFu5CsLpljiy8AJSwsvzrcXPZZuF0EmWN9ThpuysT4odfZ1pL8n5oUfFlZVubq0MK0_E-ITOtKi9a3LaDxHDGCcQyHHxIzimxzffglUSQS2zdhYJcwit8Hwdz5kWgt-RvYqRZASe0LxLPXzJtIgCG8tnuZhM_Qn82n-KRet_LypX9bIEiIWC4_n-05eTKQkkuwAp9EsTScn1m0h_xoMBJQLh3UsfnKCbGgSOc_cw9jbQ90Hxn_QEuo4j_AxHdo=",
  "id": "rs_0d8024ef2d8880dc016ab2bf5847dc87d0ae51c4d689c28c37",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.18,\"right_pitch\":0.15},\"note\":\"The pink bowl has been released. I’m lifting the gripper away to verify the two-bowl stack and get a clear approach to the remaining bowl behind it.\"}",
  "call_id": "call_QTD1DQveaDKc0D6UcUzDmR7X",
  "id": "fc_0d8024ef2d8880dc016ab2bf59ba0c87d0a5d94732e093da36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QTD1DQveaDKc0D6UcUzDmR7X",
  "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]: [-0.1047, 0.8734, 0.7601, -0.5461, -0.1577, -0.0265, 0.9956, 0.5873, 1.1679, 0.6109, 0.0658, 0.5407, 0.0528, 0.6963]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1966 left_yaw=0.0217 left_pitch=-0.0856 left_roll=0.0962 left_gripper=0.9956 right_x=0.3412 right_y=0.1222 right_z=0.172 right_yaw=0.0934 right_pitch=0.1501 right_roll=-0.1785 right_gripper=0.6963\nstate[joint_eff]: [-0.0615, -1.935, 7.0906, 1.7216, -0.1343, -0.0562, -0.0122, -0.2393, -3.8769, 7.9385, 1.9219, 0.1734, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d117f960c4ba1de2ea1abbdd85193823d9979bf2f56a6f9f69a2a3e9a86194",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72dc4357b0281ac4d4842423500b3c1b093f25f0c63fefc65614f9a4828c9fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ae6fe095dd3a2402e314274374e27e6369e86b348f089046ff666c96340972",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.87, 0.7601, -0.5465, -0.1577, -0.0261, 0.9956, 0.8482, 1.7931, 0.7513, 0.3458, 0.7166, 0.2691, 0.6961]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.1975 left_yaw=0.0214 left_pitch=-0.0826 left_roll=0.0961 left_gripper=0.9956 right_x=0.3553 right_y=0.233 right_z=0.0581 right_yaw=0.1116 right_pitch=0.0606 right_roll=-0.1841 right_gripper=0.6961\nstate[joint_eff]: [-0.0752, -1.6342, 7.2137, 1.6386, -0.1001, -0.022, -0.0122, -0.3077, -9.1145, 6.1197, 1.5751, 0.1734, 0.022, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9nXmM4r9sKytn7JNhnEXABULKiucQs7PLiR49vZEBLDpacCOeqCjy7ItSqvHxSo1LbMzUHsFv4BVGuaH1zMuXh1t-lUwofZyGHvIGw0bKsw-npdlnH3wdlEhF6rVhak5UqPQgdzJa0FSyVCxAd36yl0c8_zKDwGUQQGbb8-_n_4atSHtfuEEhQCLnrPFShRrOr2KReAuLSfC3nOj_7_asZJNMX5ZDv3YoU96YBwphZ117uCphcRk9Zum70xJ7PrA3nK45qPG8X1aOpD0YRghNWPNEKlSismS7wCN4ydqbJHdHY1zCZHto5lux4Omh944KBnUEmDgg9SVXjxTWGupeyKUrFltthWicoELJVxybilHMAgSVJ5Gdm16b7M0qOsTRP3uyhFFudxTPsH896njb3CAbUac2FErF7PW9RCoIQmupw2bc9PCL7vEmNkcS3fdWi2GrtdeM5bgAo57s8G4DKtTnv9pyzfNM3XX9jL33KJ8J8ki10HNkrxiPBk-XTaR_dB45brZAmstgTuElKMJkNPeX5vLgSEIx8mH4Mucf2XQ2yp-D6iaFyINITRXGzY5t01schiB3wvXOgGVgDfNdzeYQV35FnrT5Z7hBGRJXVPmZRhCZDtZqMBX9ewbc399uzQkrams_HGcp3-tXZwFC6cnT87e3axY1KL-g99_4LRiAuJYKYFx9HwPuFPndpuscxyEGxsiGIZTif1VUAEBKOEBV4mZ46nSQ7EFYrZQlUkV0GtpVU9M0Dxg6pFcwvPrw_oF2SvL9c4rUlMIJ6XNVBbBZXjLPw68V_7g8TD1Im02sdgw-ktiejVFeJ5iep85T4IeXyH77haDnrK9BydorcjNtsUpoUjx7rMmD6t7nLsmQtvrrj0BuFY-PXz5puGUlYmpOHzlPNJUAk9aP9rKrx7c6dh8N91jvTxNVv9EXYolQq0egCvtsWKJRHQpDTo8CAtqO-2-iVtiRlhFT5pFerZYeD4UAKXKOi128EjqNmQs2P-Ut_RNBe6k8t2RaK99DU1-jsqQuTM8eCzdz0BnTNhDrW2Ct4WOXLuO14oVuQRFlUdbgCeCcXR8THXX6avpiU1H7Iq-UJIUUhsT2Kopi86QxjOe_Zx_wBErHRkbZ2O7X1RlaEO8wE_HzrTIKFBc1ayONe9sw0DZcBn8J6uUUvQ0INYv1o5OM4VoPv3sh_lzAJLeuiYbQHGJwGl_qbNtca4n2nO_fYpXgT2WV-8ORdVhSikq7w1rfA8ajG6Npn4d8s93-TUwmoVecMl5d0ir090GZ4jG4wOkNy580YsJYDlJduBSAS6Kw1eFhGil-XFgS7N-xc_PG0Hp4VtDOUd8d0U0eFrIJKvHjejnIXYQgyvj4K0g2gmKfIooUC2pfGilV4LO_fWfHm_inrVyLKm1NAUuEfn1C3ACcYzdSDI8J4lmrR5j5hauivBHJvHXdOlVP0HaE5WHW1AW2tf_GoY8fdzB8os-2ipLByleaGUcVmrU-RH62CbQKNBk7jDdEBRRTez-zK0kW2d4ZMTdeVtG6utkr_vcr7ja7mbnWGj7xhQIRk8Kq_4e0HvCaHeqwc7AleElpJaOpWJzacFhK9n4yYaC9dl1QmnOJEvxaJC_QTrxLZ4Jk8DVXbN9q8HR8rFAw70Fvz1pstKyLdQ-CMxYJewy_wEhWaaxn2Ez3YEdqQZ9oaltUsUVMVkUmdS25N8eAnOHpt4_ruXmnT1T1TrQ-knH77jDWbi_btdEIBslJ-mcGPPF1bMaEfKTiSKJ09sfOczhCz9lujmguWquLRN4fRblZDwt3SogxeAvUehBhsQxeYwh3RmKh369AvKO9XKv5CRCjROvS6dDEL4tccAsyFp2XnmQuftPxZHOwd_H0SuE_yOJRbziKHahf-YOzaBlBQCFdUY9qRSe3gPqTVRLtKmoYzppFJq40lrAZWgiGjcGNE6D0_dJYbd4oa_VvsgpNQQykghZpcvLvrjJ4rjAg8Xz7YWw3jpVHwehHlZMRjZoBKO1oX9iZ4dJ04JneJ80LsG_xKocJ857dUhRFgpZaEqsK0i8_T0XcANOToLsZoVeXx7sDY9djHbQhSDF51dYlKrEYzGHMFS4NE2kPPhHx_",
  "id": "rs_0d8024ef2d8880dc016ab2bf5fc88887d08c34a83732baa292",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.29,\"right_z\":0.13,\"right_yaw\":1.57,\"right_pitch\":0.3,\"right_gripper\":0.75},\"note\":\"The pink bowl is now sitting in the green bowl, leaving the blue bowl behind them. I’m approaching the blue bowl’s near rim with the jaws turned fore-and-aft, which avoids reaching across its full depth.\"}",
  "call_id": "call_D2kJM6mW79YbkObYsZ5Wq4DB",
  "id": "fc_0d8024ef2d8880dc016ab2bf65a9c087d0b55a1c7185e68daf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D2kJM6mW79YbkObYsZ5Wq4DB",
  "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]: [-0.1047, 0.8768, 0.7601, -0.5484, -0.1577, -0.0265, 0.9956, 0.2775, 2.0514, 1.2556, 0.231, -0.9836, -0.6922, 0.7493]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1952 left_yaw=0.0217 left_pitch=-0.0912 left_roll=0.0969 left_gripper=0.9956 right_x=0.438 right_y=0.2814 right_z=0.1233 right_yaw=1.4376 right_pitch=0.2656 right_roll=-0.1819 right_gripper=0.7493\nstate[joint_eff]: [-0.1573, -1.7573, 7.0769, 1.7265, -0.0855, -0.0269, -0.0122, 0.0342, -11.3709, 6.9402, 1.4188, -0.7009, 0.0464, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f1a8ca01d6fb3a5b78509e46a31784a833f07416391410a361bd69f8548ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd2a6dda4d896d08118dfcd3c3895f7af64e137e070a8dd948d7ec26fb0a364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3939db1baa18c82181f625e00aed116d9603466dbe6001d73f669b4e9a5df1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8734, 0.7601, -0.5461, -0.1577, -0.0265, 0.9956, 0.5873, 1.1679, 0.6109, 0.0658, 0.5407, 0.0528, 0.6963]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1966 left_yaw=0.0217 left_pitch=-0.0856 left_roll=0.0962 left_gripper=0.9956 right_x=0.3412 right_y=0.1222 right_z=0.172 right_yaw=0.0934 right_pitch=0.1501 right_roll=-0.1785 right_gripper=0.6963\nstate[joint_eff]: [-0.0615, -1.935, 7.0906, 1.7216, -0.1343, -0.0562, -0.0122, -0.2393, -3.8769, 7.9385, 1.9219, 0.1734, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9wDtiIXr6Z9_hec34soFCq67mEmSOsW6H3xzBjpdQff1UVNxaXAsPo48upfUbgeyWtrkmGvnO4xjnU-cA0Xu7P0w-z4ob4BzKS9rz4KP6ZfC_NTYumbuHQKrucKgXO-xpAwVUPix2cnl2VnL_xHxG-Pnyp-lohj9LRoqF5XXX1SVAiq8nwiILn_t6Tiq6HJ65AtO6qQSW-S5V6_ikYta47fRHd-yJnZ-QtzfC8z4hRj684HXYIUjw4iY3oyGbEgAEcD1hwU3HETsNNsDWylhTsRVlyz0TV4fAnwwsc_T16fFEZX_qzlgOawImLUsH2dhTP6xpXI-tUBTnSEZd6u9IKVMHpYaJn8Y8eXHfmZkyF0PM_HDjSC7efL4K7FX45SWmpJ3W-cKQ8bOVAko7TxcqXRD_6rHFIxlXsMZpToXlwc2GqxHTunUik16NMnXaj4laPZC8Co6KU9ul_1OGcruzcglBEGv0TaW7sqOqxFi2ExQp8twAc6FH_bqYIbg5w3SIpsiIy2Wv0yiWPhQuJIWQM4rwjmD0CxHpXncLS6_rz5D8dpepqzqBZa1SdKjzfqojWIIDb9unx2FQfbnP_PZAOd2P9iKqK_NfQTc-99qusmiqBv5KTKft9Lrlv1ml9TXvXcxOhEuHRz3elvMFmkUCindEFvoCwgJ7cNh9_QOh6VFrGXNA0DpprjNLFgfOiSQe4_2Npohw7yFtLEq61Z1Gtl_fK-edH1Q1Rjtjpg8CWpQnPiJ9IejroH0BHQML1TmrYo6P1ySAtOFI5-rf4JTccNw2TTI5zLnIcqlTrfa4SI06qY0GWAYUaVw7cWEytVQ_hFre6IaIqLa36oCISaV0Exx4hAjZpMdduEqGKekoiV2aj9pl1jxju6XsobDuOt9iAkt8EiOy6snazseoYuQ8UkXulYmgO3EKt2MSyyPE-Xe98sEfip0p7JeCASP9I8pnndLJzZnwNFkNRuw2aR21qVw5PpkXKgYXEKUAUS6y4suXQKTklYT9VjV38MsfFJ1WNn6rzHulWh9kbc5kutdvN1igtTUCzEtgtVYcZVsfW7gFTdYumorqu-e-JRqr7iEgwG_cvGqHVdu4wZtg2uy7lzcfaCFW_3lyjsqjrG9kqX3UCREc3Wr1BJzjbthqwvoNxiznO7K2eSxi4ndksUxg_lmluEiiAkwaPhf5hIrZSHAYrXa0uKFAz7XtSvLw85h8KmquBXEI71u-GQoiWxAA4_ANeqAppHSvMKNKE-q5QaVMIo37m6aARlsjB0GuwSyLQxftqekuPqGidsPU4DTAdZVloKlIvUIJ_E1N530Yoz-NGBbdg0qWN989s8gF2THG1LIM5IO0QXAO1PzgZJCgC6A==",
  "id": "rs_0d8024ef2d8880dc016ab2bf6c797887d0b7c4f5051974a14b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.307,\"right_z\":0.047,\"right_yaw\":1.57,\"right_pitch\":0.3,\"right_gripper\":0.65},\"note\":\"The blue bowl’s near rim is visible beside the jaw column. I’m moving slightly toward its centerline and lowering the open fingers around that rim.\"}",
  "call_id": "call_6nOJKKuqPzHO1fD66K5skKNI",
  "id": "fc_0d8024ef2d8880dc016ab2bf6e402887d08147d1198b2e1308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6nOJKKuqPzHO1fD66K5skKNI",
  "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]: [-0.1047, 0.8772, 0.7601, -0.5507, -0.1577, -0.0265, 0.9956, 0.3172, 2.244, 1.2118, 0.3973, -1.074, -0.7212, 0.6528]\nstate[eef_state]: left_x=0.2953 left_y=0.0005 left_z=0.1947 left_yaw=0.0218 left_pitch=-0.0939 left_roll=0.0972 left_gripper=0.9956 right_x=0.4123 right_y=0.3026 right_z=0.0475 right_yaw=1.5445 right_pitch=0.2849 right_roll=-0.1234 right_gripper=0.6528\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.6874, -0.1148, -0.0708, -0.0122, 0.5949, -10.6872, 5.2171, 1.453, 0.1929, -0.3883, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fd9c4cd26bedb33af27a19b7283e9b4aa1c5946f438eea876c00ea2f96b2e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95d37cf3f7fc1c84894f90470d4e6a5baad0df5f8cbed5de3aa72733ae9ce43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da37b4402651f193352ccd766fa4865dae551074d6d701ce75e0c2d8115910ea",
      "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]: [-0.1047, 0.8768, 0.7601, -0.5484, -0.1577, -0.0265, 0.9956, 0.2775, 2.0514, 1.2556, 0.231, -0.9836, -0.6922, 0.7493]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1952 left_yaw=0.0217 left_pitch=-0.0912 left_roll=0.0969 left_gripper=0.9956 right_x=0.438 right_y=0.2814 right_z=0.1233 right_yaw=1.4376 right_pitch=0.2656 right_roll=-0.1819 right_gripper=0.7493\nstate[joint_eff]: [-0.1573, -1.7573, 7.0769, 1.7265, -0.0855, -0.0269, -0.0122, 0.0342, -11.3709, 6.9402, 1.4188, -0.7009, 0.0464, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr92QPa1johqLf0E4Pjy8U05-mBAhsj47k4bm-X1CpprYEFav4qkXAwkDk0cEOACzBYqN8HtF6Do1eg7L3dPDLVxeX4oLgZpSi-aomYO7CCFz2JC80YEkoFllkw3B4Ea3IiTk49DFWK-yirXt_Iwl6Q9VnlbV3ZBEFti2k-5lkAVX2Ok8ONgqamEUO6_eqwcNetMYJa3Y3SDB5a8wlLUD3Emg1yD5SAqiKvN_MNpjPhnBifouq53tDGU15_T4QvHj3912t8ebbMvgf2M33JTNWbXh91J2YIEPGQuLZNjKFC7NWHAIWwatWWfUf6wrcbZO-kKWtbpRQUTDo2prQ-NP1WuYpktI88uj8wpz0CLjB7WeEPBt_XNqZv0B2b1J4ffrcrpgFSU-KTo3DaTNSwKXO6maWyKGPCaRCv2El09oORoL09jDFh_4TrQxyJVgwC6DmR2tXTcqxvKtJCVkwEaBdKONeveKEf_BdsNq0QxDb3Wh0qms4ZVT9FHxL6F8anYodkkt179OPZveKS3krI-FKph1d4gQ8EAMBWZrsZHysFS5NahOw9fOvsdVf519nPnwBW7iwqJJuMTYwpOfQZqY2ktGU5pDjt1tjj-DvDG7p9_FwK-WE6qrl_FF_uwjQY5FyrxBn9IGQmjZidtQ2B72c5RX8G_EGwtZ_fxR5DFoPVyh1eB3NU7seHsaF8yxld01jKdxB_0z2R6jrqisoh4bRRfQlEOj1MxWs7YAaMlnC1n649o-ZXXT-2jw2dktXOVq4EkjiV459QdsQ3HKH-tNcS3F7sUQmzZf_8hO5lgJAMjq9ikagjQVfNEt7WYhxCOARSnY2UaXKSwJ-0J2-ksfPof3rdJ2BUX-TcpnfEN2dL7wlbheY03Qr6hTe5_fTmje7O5nIjPhY159xLp6KQLDTRgEm608J3Ka4sdLbOFivvSktgCdKguHRl9igQXrswbml87BJSZGMwKfGA03qK17GxPLklcR1USYWTV7i3EiE9WSECjpDAr12jOf76H-Y2kcuQ4z1bingOpHMI7E9netirJEQell2fc_3T0a7FJEYYEskwawTvbA_5fM3qFEVZtd6AAL21LwMEz7nhl0A6wJ8k1QTM3FHi04wQOpmg0WiC086tghQoBwIDn9kdKwk4bU6pBUL7isEpJnb8jFU4CflW03XdIG_2ANh7tW_3-wobRMFei5GJqhdXNQKrT6kJrgi6MEVS2V4eo5G5kS0OAFEL-WG-XxcTHGafKYLh-rTdQuKaZtXmKGLuqXYfp4H1l7_Z1rnRvabGckBqMN4KBSOlzt4YVYiTOSAOyDsblC9IEOMc8xI1zu6Ak8BUmTB9Rl7NlVxfjz0Crl9r3i07cyeT9BHmhT2FKc6XH_UR3QZOUWUiL6FB9phDqJA49F8iyQ7mR",
  "id": "rs_0d8024ef2d8880dc016ab2bf72ee9c87d0ac03278d4e2a1ae9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.305,\"right_z\":0.04,\"right_gripper\":0.65},\"note\":\"The near rim is still just beyond the finger gap in the wrist view. I’m advancing about two centimeters so the fingers actually straddle the wall before closing.\"}",
  "call_id": "call_URNuHIwhrU8QI0BFUD5oQaye",
  "id": "fc_0d8024ef2d8880dc016ab2bf74b63887d0a984f5ef3b62ba6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_URNuHIwhrU8QI0BFUD5oQaye",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8772, 0.7601, -0.551, -0.1577, -0.0265, 0.9956, 0.3176, 2.2887, 1.28, 0.4038, -1.0851, -0.7341, 0.6503]\nstate[eef_state]: left_x=0.2953 left_y=0.0005 left_z=0.1946 left_yaw=0.0218 left_pitch=-0.0943 left_roll=0.0973 left_gripper=0.9956 right_x=0.4257 right_y=0.3081 right_z=0.049 right_yaw=1.5691 right_pitch=0.2997 right_roll=-0.1639 right_gripper=0.6503\nstate[joint_eff]: [-0.0068, -1.6342, 7.0906, 1.619, -0.1197, -0.0513, -0.0122, -0.8957, -10.7556, 6.4752, 1.2234, -0.315, -0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a771bcce2d93f8120b283a9084f98deff648ddeac106fa125f13298acef9ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0a9eaa3197e788cdfc89cd8c757142a5610c3073786244fb1a2225d5339a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6820b6b6a6a4b146d84d1ee878e74a956ab846d487681647fb1845f726d9ac",
      "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]: [-0.1047, 0.8772, 0.7601, -0.5507, -0.1577, -0.0265, 0.9956, 0.3172, 2.244, 1.2118, 0.3973, -1.074, -0.7212, 0.6528]\nstate[eef_state]: left_x=0.2953 left_y=0.0005 left_z=0.1947 left_yaw=0.0218 left_pitch=-0.0939 left_roll=0.0972 left_gripper=0.9956 right_x=0.4123 right_y=0.3026 right_z=0.0475 right_yaw=1.5445 right_pitch=0.2849 right_roll=-0.1234 right_gripper=0.6528\nstate[joint_eff]: [-0.0479, -1.7026, 6.9265, 1.6874, -0.1148, -0.0708, -0.0122, 0.5949, -10.6872, 5.2171, 1.453, 0.1929, -0.3883, 0.2564]",
      "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 blue bowl and the other is outside its near wall. I’m closing on the rim to secure the last bowl.\"}",
  "call_id": "call_RJVbsCNhyO1tDw37o1ygp8BF",
  "id": "fc_0d8024ef2d8880dc016ab2bf79667887d0b3338759cbb398b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RJVbsCNhyO1tDw37o1ygp8BF",
  "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]: [-0.1047, 0.8791, 0.7601, -0.5514, -0.1577, -0.0261, 0.9956, 0.3134, 2.2822, 1.2903, 0.4252, -1.14, -0.7052, 0.0286]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.194 left_yaw=0.0216 left_pitch=-0.0966 left_roll=0.0979 left_gripper=0.9956 right_x=0.4233 right_y=0.3097 right_z=0.0627 right_yaw=1.6034 right_pitch=0.3425 right_roll=-0.1634 right_gripper=0.0286\nstate[joint_eff]: [-0.0615, -1.8256, 7.0496, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -11.5624, 4.7658, 0.9841, 0.4322, -0.3101, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2795325707194d43833b84165fde954d5058a6606d098028b11288e11bfa0c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7761cfccc4d7ec189f0623e0cd2c4765663ae0f75d414db088e5b4adf8ea5299",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49299a07b01427f0dd242e3df2f5e53635b9198d99cde56dfe0e87efb05837c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8772, 0.7601, -0.551, -0.1577, -0.0265, 0.9956, 0.3176, 2.2887, 1.28, 0.4038, -1.0851, -0.7341, 0.6503]\nstate[eef_state]: left_x=0.2953 left_y=0.0005 left_z=0.1946 left_yaw=0.0218 left_pitch=-0.0943 left_roll=0.0973 left_gripper=0.9956 right_x=0.4257 right_y=0.3081 right_z=0.049 right_yaw=1.5691 right_pitch=0.2997 right_roll=-0.1639 right_gripper=0.6503\nstate[joint_eff]: [-0.0068, -1.6342, 7.0906, 1.619, -0.1197, -0.0513, -0.0122, -0.8957, -10.7556, 6.4752, 1.2234, -0.315, -0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9_7aoIhOhI9nLTenrG7ZFdCKERRubhmtEAbNLQdnLhT_ER4BBksOOBkpaF_d7_0XbNzYNguwptd3AfSJl9Tr4th0-044Qo9MS3q843l9qmxK7q90or9hMnDyjw5mCCvHFFSuDPQ838opcg8GiRdi_uwWwcMb5jlShgKG_t7zlsZ5-sIUT5nl9I4_kH4Sc-p29sz6Kh5cYeKUpR68gpC-7lnj_ROhf94oJ1VV5my4mbpflOts0y0VIcgXFAUrp0zbdCWLoJkP2Au2nbAia7nDBoKI9PUPYhdOet5D2laQJGzQNPNPhTxwtx8imdmHRPgDs8Z1edYONcrNxOtDDYZK_3azsUGt8tAntQbgHFDk76M0DflMvkcAp2eTrqmLA9foH7J5MvcOoGHSzLIcQ-kAsgULFawNj5mYujGGjSNVGxj7c-dIh3Gzs7KSwPDrXBuDW0NNP1j8e0V6zUCsAn3HyBdSv53mbXy8OQklGF1Xl9OtHjpX-Ez8YzhTCBnFmExDTFE7O5CkfMydD_k7y8-_GWpI6MBMOS9hjBodtFOpeGw0VgVxN6ApSmFnl2aPGPcR4EX7kgvOE2beLWGwhv8sSrVsZi0aExALRLGEnJTviDj9amo1UU491-DHv6vKTt2498s8E1JHL7kVRXjnSX7cSYZA9TAjO38PZyp_UH8sfSSDIkCVQ2l9chGOqHqPudEjHm7jMXskeIHWuFXn75i7zQPYHYi43d62RhKh8FwvGwjPPoUtdXnYM3hdegERug07XNpVvzNGtfesgZ9077ZBuKUayLgI6BjbaWuHS4LQH2qXBVjYLTO7cmB35GnFEMZHCpGiuf_G5VZDXnWb1eThR067gUo5Vv2H3uM2v3eeF0TSrbS92vbMpM8ZgxAv6CEXcFKOr2V_fmg0RJ_2JhZW5kdC4rUoyi-B-7ri311dU9wBdA0DU9G6ul-BqzRRPm7MCu0bU0VVbpIz71heApnNoEVYsaRaOepd59cVUl1fAlcPQarF2Pk0453aI3a4jaU5w0Oo6Q-i0I2GLayhwHNodglLWGIykw7LKuIo0UOJjcdNAqugnkFHkWRnV8ewlDpIP14EYhehaqTrHQIrHULJ_LcFWhCuMifYitNTtRERkc8QhdGG101NXKUGRF2ZtF5SBomZOEKqrVExvK-I8StWJTPTsOEtqg83psq-j0Qdd8rGwmSPQN15TU7_3gAEhJbg_EtZr3Cl-af5EMFxq-Ao4T-_--2CED2Jo2wuVOcHeufRkYALA1T9D0qa_19_oDOs6bBgBwXwIGH1j1VzcoTDtSdw==",
  "id": "rs_0d8024ef2d8880dc016ab2bf7d159087d094d8a134403e789c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.305,\"right_z\":0.16,\"right_yaw\":1.57,\"right_pitch\":0.25},\"note\":\"The rim grip is very thin, as with the first bowl. I’m lifting vertically with a slight retraction and checking that the blue bowl follows.\"}",
  "call_id": "call_SGFVQ9zAS4038lOIFUaiF9PR",
  "id": "fc_0d8024ef2d8880dc016ab2bf7de07487d0bda787d3c0c5d953",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SGFVQ9zAS4038lOIFUaiF9PR",
  "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]: [-0.1047, 0.8791, 0.7601, -0.5579, -0.1577, -0.0265, 0.9956, 0.321, 2.0445, 1.3354, 0.0189, -1.0584, -0.7952, 0.0415]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1928 left_yaw=0.0219 left_pitch=-0.103 left_roll=0.0984 left_gripper=0.9956 right_x=0.4118 right_y=0.303 right_z=0.1333 right_yaw=1.5639 right_pitch=0.2523 right_roll=-0.1456 right_gripper=0.0415\nstate[joint_eff]: [-0.253, -1.4974, 7.0222, 1.6777, -0.105, -0.0464, -0.0122, 0.3624, -13.7641, 9.1692, 1.3651, -0.3785, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f11f75eefbe822e28953d6ae44c22708bd291f72e2bd992ec85103267d273d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf1db55de9ff58b5de1f5230cdb3a2758b6b7b002c4e6164c48401c91414f15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57bc8186bec1ef371ec6cbf58bb41de3059bb28614e760b61e1ececef2dbb0a",
      "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]: [-0.1047, 0.8791, 0.7601, -0.5514, -0.1577, -0.0261, 0.9956, 0.3134, 2.2822, 1.2903, 0.4252, -1.14, -0.7052, 0.0286]\nstate[eef_state]: left_x=0.2954 left_y=0.0005 left_z=0.194 left_yaw=0.0216 left_pitch=-0.0966 left_roll=0.0979 left_gripper=0.9956 right_x=0.4233 right_y=0.3097 right_z=0.0627 right_yaw=1.6034 right_pitch=0.3425 right_roll=-0.1634 right_gripper=0.0286\nstate[joint_eff]: [-0.0615, -1.8256, 7.0496, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -11.5624, 4.7658, 0.9841, 0.4322, -0.3101, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-PAm81vmfphBhLj2u52I5ywR5IgX9TNG6rz-afxigDeTm__vSzx9C7RYvBrpZwAn0QUgmt9yXiV2fq224yk-pet9OxXP2kx8sQWsLJbxDFQvQGnxnP0SNdafswpnTxuDB9uKXUqnuY-0_dlc3lB3k4TaRZBKFFv9_n7sqVaAETHHZfcAq5U1BBynJ9Aktr4Aacsze9s-3pn9O2_L6gfD5SBStaRpg_qLuGXavaDHA-jeZJiXrCble298o2mImMa8m-RYkbzti1iRYa5tdMulFHhjoa5jzQM243hQcg9fahupUsR8RGcO3YOptck2OCxCmXzPUx-RMKNXnq5U1WMQ0EBTAkskdWTJK08q1-oFOoI7r0FdOvoHJBjIYnhXj4YaHhbwhnbAwdoBgxEIUeooH9HB94BufUSYgdQPk8cLXL3ZDR8VqBgJ0m1iq3Jga49ebRf99XRXQcQ_tXEwaVJP5apcG01N2lXcy-ypJUNTB3lzc93TjN1NFepol9NGOpccoiK91-VtLQFsfzwenXpRGbDMhsyBqQ6eSF5XWD7_cZY9FggYBRHFFt9YWVRyBIYzlkyp6BOvw69C6xQqEqjh2k_04mYOcqIBrgfQCpB8nWXIfs3me_qM7ErmVYw9IKrdMt-XYWODVQn08-CZb2ynsXSOb-60ucNYQ6BVrmKhZQnDTv_lcSBbWZbOKeirUHbAvyTuzJmIBUlxc8_NqGtmb_phGQBk35VQ3lPZrMy3hLVru29RaZfXPaRIY7O6nkUiEUhlcPW2Mju_sEM_lUpJzr0YsyPNHIQJ-J4NGu9MPMV1jz8OCalnTajGrpYu_a1iYEtPWoLG88oNirCNPgwUhcnm-1pg8eeEfdWF0HVFAasoIvtQ-vFAfmfsUHi3ZqwaeuLnQXqydHX4TuTo3nkZzlSyfITZbpAyiavgCheggacWrRaDBGj5UFYX0H9qIc8WONxgQonUYuMF_EZO-YmG9TRccxUTPwZcCOSVNNrdxpTwD00hBdJrnsjVbIbE4iipmdoHUN9qhsWLOTp5XlLUT1IwMIboPa9jb8XYEZBijrV-D3iD29VnwLpSHKkMFI_R6pi32G_oYICXNmGY-wu9DFs66DfNyrviVA02D91OWTKq1ok2QdGRCUyoC-jVs1m3O8w9tTOTfGxT5_Gqzwt6RoRQn7N0H1OBugzGQs8Jg6nHUWWySe6EVgNCztTGMpDhDAZ3m5DJ323Gt2_nwIA54QkUEqfDLOVV5kPcN_udFADK4li6DMI2fKMMeEBk3fIzBpjs4_00J_XnMWtvroJmkUlyXYWKpk21eU5tc9kbdsRwY9-wlL7IA3prvxShSpC6v3b-K_Oe0bl_Wk2rufI4WiWeHKLB4835MXP__zPI6wUEN3TfdkO46nIE6Hjrl2GxgrETUBOxZ8GjM4kULB1PS9bX_G9-Ya4CYAhNwnSbHM7-A1Gvfj12LvIGQ5iA5Cd-NYjU-DBKxKQGSanIvknXj0QhqvY6UrMGT8UNekMdS-islxGMIDyS7tMGa9FG9ch_IUHzwXKrcQTkQ-5C46sCcLEgi-WKWfyeU12es_Qb69_JA-2TbTd-t7BWrkfu0MWVt9oOE7c4GaPdrrCTcf37arjOPfiKPrBRvpNBgyJWoMPuy1k3gUSgjYUFo0BqAO_a1QfvYPHriIput2F-tHvwWaxSpQTolcf5PD5veQ-R5re4VLHz77GvRNzoPb9cbnJAnSUgChLN37wamDsjE6LN6_w1W6MiCepuiK1mXYzilz2ZKq-vLXFJbLMduowE4u6Ljj38Uz6qcvCY3C1v9cVK6lM02avv0YLcYk7WXnPGcDXqCwSBAMdW_wngMk_etdijBdeaduisrtyitvtPLKA6FK9h0GdbTQVFbSEy1f-E7TvbYUe2Afr46wqO1i90A0wz3jQuRZcZ7vsa2dzhNpM1gcLSUbfnlRptyMKiwyAmAH5MrVoT73NtbRI83zjwBJqNd9YWdM_rH8FglOYeS8LCDny5Y8InHwaR40G9SBFq_rW7DinevJqrjkXd0VL_nKyq_hkFJI_wG3ICbo05xYFsc6pLvBEmOEh2GIm0zqAi0bDGMOKcChUEPFafapw_0tJ8pY1OTMwyn9kWPBiBaOtEiOM1zcxZTZV8lPu38vlXrlWFkiGyUGBiv_4ShavIAFaTQa1Ez9Cz9_MDNLidSQlJ3o2HTHXke9TrhwVmBD7F7mBuWHAkiiTA7bZL2od5yCIddZ3FgunA2Qbq3wlYhs5c53NOdEi2-b0QtZTgCu-mX0t8G9w9qYOuy-pOxzg-Db2Bqz9RDMyk_oFdJpjQUKNpkaKpHJyaetN8h_ranxR_lB7c5O5row4-uEfXrvM1SX4cPcIKM9MtJF3Gg6nO9VHsWJvZnUWo-BNeqCNsEUNLSx_C9dtMUo4IO4u1cAaoca3wcMQcrxUGdiiLsRtTQhZq_9OSHckHKUU-vynaOYPuGn11U7-O01jYvi5O3jooNYyKUomKjqcltGghsrWSONr3mv9bfcBMEYB5_Av0ZSLRsVbu8=",
  "id": "rs_0d8024ef2d8880dc016ab2bf849fb087d0b71c6ecd06c2f57b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065,\"right_gripper\":0.7},\"note\":\"The lift appears to have caught the nearer pink rim rather than the blue bowl. I’m lowering and releasing it back into the base bowl before moving farther forward to the blue rim.\"}",
  "call_id": "call_OEP91dBhJ43ehXkwnrBMXLGC",
  "id": "fc_0d8024ef2d8880dc016ab2bf8dcf6087d0adba80f50e83101b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OEP91dBhJ43ehXkwnrBMXLGC",
  "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]: [-0.1047, 0.8791, 0.7601, -0.564, -0.1577, -0.0261, 0.9956, 0.3225, 2.1674, 1.2602, 0.202, -1.0557, -0.8043, 0.696]\nstate[eef_state]: left_x=0.2935 left_y=0.0007 left_z=0.1916 left_yaw=0.0218 left_pitch=-0.1091 left_roll=0.0995 left_gripper=0.9956 right_x=0.4113 right_y=0.3033 right_z=0.0727 right_yaw=1.565 right_pitch=0.2452 right_roll=-0.1405 right_gripper=0.696\nstate[joint_eff]: [-0.0068, -1.6889, 7.0632, 1.6581, -0.0952, -0.0269, -0.0122, -0.2256, -10.3453, 4.6974, 1.5067, -0.3541, 0.0562, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d83534c058b8c7835010a4c5d1c661e6dcecb4c7a7cbaeb751d0435eaf58820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc6405cea9da337622772919b6be12732dc3b62fd166e93104b859b685335f95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c04c1388462bd05b0da1cf976dabe729213cd9c91117fecc945d3f1de7f0ffb",
      "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]: [-0.1047, 0.8791, 0.7601, -0.5579, -0.1577, -0.0265, 0.9956, 0.321, 2.0445, 1.3354, 0.0189, -1.0584, -0.7952, 0.0415]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1928 left_yaw=0.0219 left_pitch=-0.103 left_roll=0.0984 left_gripper=0.9956 right_x=0.4118 right_y=0.303 right_z=0.1333 right_yaw=1.5639 right_pitch=0.2523 right_roll=-0.1456 right_gripper=0.0415\nstate[joint_eff]: [-0.253, -1.4974, 7.0222, 1.6777, -0.105, -0.0464, -0.0122, 0.3624, -13.7641, 9.1692, 1.3651, -0.3785, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.305,\"right_z\":0.045,\"right_pitch\":0.4,\"right_gripper\":0.6},\"note\":\"The blue rim lies farther forward than the previous grasp point. I’m advancing to it with additional forward tilt for reach, keeping the fingers open.\"}",
  "call_id": "call_5cTwwGiM3QSjlfWYLxNGARef",
  "id": "fc_0d8024ef2d8880dc016ab2bf92be2887d0be73f249b941a2c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5cTwwGiM3QSjlfWYLxNGARef",
  "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]: [-0.1047, 0.8822, 0.7601, -0.5652, -0.1577, -0.0261, 0.9956, 0.2771, 2.4401, 1.4822, 0.445, -1.1759, -0.6449, 0.601]\nstate[eef_state]: left_x=0.2935 left_y=0.0007 left_z=0.1906 left_yaw=0.0218 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.9956 right_x=0.4662 right_y=0.3059 right_z=0.0489 right_yaw=1.581 right_pitch=0.3799 right_roll=-0.1506 right_gripper=0.601\nstate[joint_eff]: [-0.0615, -1.935, 6.8855, 1.6093, -0.1148, 0.0073, -0.0122, -0.7453, -11.2205, 6.3932, 1.2576, -0.1929, 0.0708, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c8da2bef54524833933aaab9b3ef685ad85820bd493f37323a84ededb33253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3257b2a1bb99c58137a22e67d8c10b22260f982973f4d57dc1a644fdb6c90fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621de1cfd9e973596494ed82aee8b6335adf08307c87333005a1f71a85188d0c",
      "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]: [-0.1047, 0.8791, 0.7601, -0.564, -0.1577, -0.0261, 0.9956, 0.3225, 2.1674, 1.2602, 0.202, -1.0557, -0.8043, 0.696]\nstate[eef_state]: left_x=0.2935 left_y=0.0007 left_z=0.1916 left_yaw=0.0218 left_pitch=-0.1091 left_roll=0.0995 left_gripper=0.9956 right_x=0.4113 right_y=0.3033 right_z=0.0727 right_yaw=1.565 right_pitch=0.2452 right_roll=-0.1405 right_gripper=0.696\nstate[joint_eff]: [-0.0068, -1.6889, 7.0632, 1.6581, -0.0952, -0.0269, -0.0122, -0.2256, -10.3453, 4.6974, 1.5067, -0.3541, 0.0562, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-cnnjiZdcRuHVK16ahftR4jSgu5U_H1wePY2XDSFgIzj0Ez0wrs2kjNNJVS0deL50VuSUFf_y9-zd2NQWgcHiyBbmd0eHZ0dL9NFJ6SFhgjqTLEb1mpb48isdKM_G-hsxPqQ94VmOasLqOl-kHfEdBKcPsBYlfyiTeIhhRW4Bl5Sj17t3QBmRX0YDyvxL__aSoJQaYVAzg8dK8koLL4DsjVcKQBwS4FCM-WZDYomrQqOYHbOf-VnzkzJnqQA2-4Jwj3g08dHqNVdwIr6taoXl_BnREpFA8qERKKkMqnK3apEJDcB8o58gcHG0qGWQSXCQlqrh_dp4qSV6wPD2qQhA8cM1kFjbdDDOu_DKaFoFPKXX8OtiG-FR6KJ9fOmZ69ATSpyv43oXWX7Ooi4fcLAcbW-ix6Kg-8Sqs4-v43UvbSkXiARMFU_o45ek6-hcUjS2SCaKsAuJnFm6WFfKXAXjfx-S8X6teUgsu__7e10BDDJ3htbmL2oFUXWWge8gFW-zUwY2MdpbbJdVYep3Byoi9n1T9sR0BRX3lZep3RXavAI7KRGLt7C8tWpAXttrsCk7eJtnGaERelprOwTIWSPUg1LJsMX5IxxX2MHP8Ai4-31dREeFANr3cQbfLqNRx0zw7FuJ70rpdL2Cqanfa1TzgYrv2EJRyjEijjsI_MztlQpnMfz1z7s521-dSKsVWINqHmJ6QXqigKSg50Ihs1a_PxXl9NGUbClI_OqOe2HfQFgwmHOfJ9GREuCLOKolCjewBVX_h5BESwoiHgJ5Holy-BEZtwEszl6ex5IIaTuTfFZKqAl28aJABo99xrb3aVmjat4M2Z_fIKArxecSytMrmMtU33d329sG5sN73kE5aX4FADM8q1yFSF-Xf12S-Z1A0k_VyfDIiV1XOasjgkS6xTcIdFpwNZfyqHKdqC6FwMpXEtyRWzV0iiDrT9wfweu2iS4DxtcyJuoJ5q92MJzXa71uVpBd_oOElfgRRFPJd2Fg6yHGVg5d_9RaHnPWrCQ-gluaSQBzwi5bqLsGwjWoM8mEbmw_Ha8qPIDtgVERT7jqKmJ9k6DQxhvMKh0Zc15UXZf27dS8S8oRDz2viHZBuoC4LTJpNm1LexKFRnMsUel4LDfV6kxxvk-h6tbM7EyGmAEJHF2KPYNc53ZwXvfW0tWiH7PAKLz3sDufyc8wjU76QnMDKFDRtZkdw_5Wt52ByqEI8Avi8yGANe-iRdgqGn-4ot1pIBm-BOYj-mb3c9iTdsyP6NWJE4Kw-KBGPRBG8FZvehiwegOXkOETTVbJi3PKdoje7z1wpnAfdZvieOPAUwvJee9XD-z575ZwoJgwA",
  "id": "rs_0d8024ef2d8880dc016ab2bf99e8d887d0b15d212c0afa30ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The forward finger is now inside the blue bowl and the near finger is outside its rim. I’m closing at this corrected position.\"}",
  "call_id": "call_QxYBF0JEIB8rOdj5irD8d5D5",
  "id": "fc_0d8024ef2d8880dc016ab2bf9b694c87d0a63528bc0547f3c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QxYBF0JEIB8rOdj5irD8d5D5",
  "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]: [-0.1047, 0.8829, 0.7601, -0.5652, -0.1577, -0.0261, 0.9956, 0.2771, 2.4306, 1.4921, 0.4736, -1.2434, -0.609, 0.0337]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1904 left_yaw=0.0218 left_pitch=-0.114 left_roll=0.1001 left_gripper=0.9956 right_x=0.46 right_y=0.3085 right_z=0.0654 right_yaw=1.6363 right_pitch=0.425 right_roll=-0.1548 right_gripper=0.0337\nstate[joint_eff]: [-0.0068, -1.7846, 6.9402, 1.6581, -0.0855, -0.0122, -0.0122, -0.253, -12.0821, 5.1077, 1.1502, 0.4615, -0.5055, 1.2381]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fdc8f27620df7731e3e2133de3d5fc60cd0e96ccee3066a5d861d2ce7a96eae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5863d9d7eb761b4c183630894ae91d2e864ecdfe43b9e7e0e86c84cf36b49f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e422c1c9b9cd6509b9c0743f08d9dfa0e168bab4f0ebf2201ba6f08b594a32c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8822, 0.7601, -0.5652, -0.1577, -0.0261, 0.9956, 0.2771, 2.4401, 1.4822, 0.445, -1.1759, -0.6449, 0.601]\nstate[eef_state]: left_x=0.2935 left_y=0.0007 left_z=0.1906 left_yaw=0.0218 left_pitch=-0.1132 left_roll=0.1 left_gripper=0.9956 right_x=0.4662 right_y=0.3059 right_z=0.0489 right_yaw=1.581 right_pitch=0.3799 right_roll=-0.1506 right_gripper=0.601\nstate[joint_eff]: [-0.0615, -1.935, 6.8855, 1.6093, -0.1148, 0.0073, -0.0122, -0.7453, -11.2205, 6.3932, 1.2576, -0.1929, 0.0708, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-kGK6l2xFEAPDCEHPvrLrZM3MI2KDMKALhaCRohcpyvE1VZ4ZoZNwTeosvLdeKO9KsYUSroo1NCxbaSYcZFvhilg53zc5StsiGZFlOYpdOhX6tDzEn5Re-wHKmAWQjd7E970nN-xpUYiU-9-BWjakfc4qklONPnV6wDUu36E334ZDT-zmb3UfcbzDeys_wF8wgbF94KBlmyGmra-t9FF7JvXxTpNEJkBeF6n57_eFVICGUvDZd_ZedRuuP1DkGFXSWUVJnWZ3eZS0p9fLekvP6Y9yOTuNvaOg1ZjYRBwGTVH0d49QQfBMH_cFaRmQekWpMmhx0zXWd3ij_aS-OiWuZjW8AxhV0Q7yPqHxn9RdCQjg3t_SdQD1pcPA4uPFHlmw7Wn9cKM_rJpyAPEuIBfLtSAFwRl-aNN7bxGxxjHR2aGeeDPK9c2Ovu9QUwS8DMjeeZU1HiX6PqDcKhY5R4PBQ59Re1OfImjyY0HZ6t5zknjjgx-InVJK0nI8YwIse8fsenFU0vAQg-wlPjgokWMCQKh53bY5CfAG7CpSAPf_0NYC7pJ2dyyBkPGHKys9VxJ5FtLO79ZtUla5Lx7f3geSTIe6n59jJSX8FjxmZLc0dobfup8ZtkifewmcAR5QUIWDxtoajOCxq1BUkAXZPVF5CuHiXlILQGRVtKPIyq2Sw3qAh8A2EL0UcCkn7SwqxO5-nPHPcVGRKJkmGtuq2keC7Gw5ov72_s_1c8JrwXG7mViGwiGu_oDZ9WYqmaYbyhpLOtznEWVk_hIOtSZj0dNLxsuF5zt9vJtKCl5ogiNY_bDJUIatJGVa1_xgxGqkR31_6TRn0-_pQ28u1ZqlLma45rWwi5vOytXG-WTliTWudDSxetzAlde4oPszCHWt4lfNtXAdVeO_5CmGRwRcJZgYHkulGiSzGzrO4lAkl4iZ10F4XwSZuaJTxGo6GVYv6r8SAnhAl8h_cyilGNwYyvqS93r5LgF8rEu9OqbKK_fyFT_Z3vgbLvcVvAR-OaROL7G4ghvDQdW4ezFXSgF_o4a3ORcA-s3PejyZ97-0hvSRUUjQ306Qm78mkVGUa90SYRacUknni0F6BlIQCp5MMKwSE8ci7mjD6CUv4fpXpmqos9xqJNJovx6jEvsRAll3AD8RIxnarvs1nzkbqW9DjaFZBHdXyjiQENI5w7N788lGwzao-RMVB4raO-SwexgViimoiu8W8PlL0TAp7eYUToq03EVN1z_nm0yAbw6AYfWaFLHw=",
  "id": "rs_0d8024ef2d8880dc016ab2bfa1ea2c87d0a1960954ecde9e19",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.305,\"right_z\":0.18,\"right_pitch\":0.35},\"note\":\"The corrected rim grip has closed. I’m lifting and retracting slightly to confirm the blue bowl is attached and clear the two-bowl base.\"}",
  "call_id": "call_lpdyr7o25F8a1cGeYKCNAHPl",
  "id": "fc_0d8024ef2d8880dc016ab2bfa29ee887d0ba704d3822d9e313",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lpdyr7o25F8a1cGeYKCNAHPl",
  "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]: [-0.1047, 0.8829, 0.7601, -0.5652, -0.1577, -0.0265, 0.9956, 0.2813, 2.1979, 1.57, -0.0204, -1.2049, -0.7708, 0.0338]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1904 left_yaw=0.022 left_pitch=-0.1139 left_roll=0.0998 left_gripper=0.9956 right_x=0.4478 right_y=0.3048 right_z=0.1501 right_yaw=1.6303 right_pitch=0.3529 right_roll=-0.1373 right_gripper=0.0338\nstate[joint_eff]: [-0.1709, -1.4974, 6.8855, 1.6044, -0.1148, -0.0757, -0.0122, 0.0342, -15.6786, 8.9504, 1.3065, -0.3394, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5804e19af4fc73a96169346ede49bb8686ccd7108303cd4801e371ce126a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b8615735900d809cde8f5ac33979adc66d2ccae3e871b9ead7ec193412e858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a30fbf575f82f34b5f1361929f52e5f43118dabe015d7254c863a5ddcbc1fb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8829, 0.7601, -0.5652, -0.1577, -0.0261, 0.9956, 0.2771, 2.4306, 1.4921, 0.4736, -1.2434, -0.609, 0.0337]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1904 left_yaw=0.0218 left_pitch=-0.114 left_roll=0.1001 left_gripper=0.9956 right_x=0.46 right_y=0.3085 right_z=0.0654 right_yaw=1.6363 right_pitch=0.425 right_roll=-0.1548 right_gripper=0.0337\nstate[joint_eff]: [-0.0068, -1.7846, 6.9402, 1.6581, -0.0855, -0.0122, -0.0122, -0.253, -12.0821, 5.1077, 1.1502, 0.4615, -0.5055, 1.2381]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-xknkQ8AtaoW4IraakYgheLL9kWpyKChO-gCRs0FvffjF-RYodyqJXOyzJ4_Acn0-aCKBvDFurOHvB0VSDeHPS-IlGvzGcyPzJdLagu4U6OCxE0NGgp-TdkVbw0tTLl5eskxRlNogBOGkwBSS_mXXKVkocVG6BVvP1U5Pv00IBC9rw2h8hDX3nW4pVyE1Y2IezI1MdrsaSXtWPeu2ca90liSOqR7Jc4zFn0tieuwL_gXi8VED7dLvXvsCHCkFX8LTyhFT1ietz9MTbfPKfEuH5TJaVSBZlURi8snvMCENe6WmDw8OyKr5coKAg57E7-2TieU_BV-bJaTm7V3ccV_2IdbLFhhPbzn12R30gPf34cz6-bqdxfoUZP3XECKpLqseIV7DI1KIWVVBRoVTAYP80US_bzD8yQB6G9bqScwv_HjlBYhCAMcpgV0aHquwRYnmYYD5JEwCI5PcowqQFyWpR-vR3gcJbA1mO6dlPC1VjUEQZzb8D_guNw5-VUhvsMGqU_fFQn6GyE2ZoBETGgOi7JmIxeawsAJK7Uh0QSq5DHolAWItfPOVMKGws945yUHd1gj2WeSSBq9X83LxkcDkyWkZZlvSjfHtGJz9ZT0vbLw9BUunJMJKKljpNvi709ovOcd4Rc2wwX6lXL1NwNrYl3tCXM3VfGUKSmsECRR72pL9fmbI0nbow6bux-wPlpWXTaYV-Y8xLCLqJGvQtD8Vy4_jHdWiWIuKuyMWKgsGS2ohR-QaFvfFc9Ysq2i8GzUwQG9KiZuOO5JpzhCqAgAHGGlxghCdWn28jpxiLzFRcM1Y-GN8VVchEE069zU_uMv1uMhp2lPcmcgotT46zH3wYbkswKO7sRE0Sbz-zc0i4dtSYvtitx3QgpKINJuonZ1kV2PRcUCeJ5xFPKCxwER29WdVWjUu-8QZwKYnL6J53l50VlIN-hmKB-L8oTagRmBHBkxu5XSYCvtCQ7LuR4iy6NlwWMg-VR0J0bj3ivqHdvXe_OkOcSUZWZkSDzLiDOgm5eQoO3WW5Um8CXbaEEQA-f_oq8f3lfVf_504O8GiCpaPFkYi9zeDI1kLLKWpX0qwxExQRBbG1MdEwjrV5KVV_CKFnlg2EmrgfPI1RAqmhKs5v9CniF47eQFXoYUomfrBmlcBIjC_AaCaN1uH4JIQPjlVwjvFWhrm_NfyKXBLaKDoOoW40GQj3xGjFUFLLLBrVy6SuW6gi9x4MUIqwY4L64ZF_F-7xuzSJLgoLPhPc1Yu6L9DHpj087YFNIXb-Vs_N-5rDFKhZ6dJr6nS3HB1b4qz-pJnDvZSMWRshO_typdJPmF86jM_gZyZHK_AlmvUSbwuxvfenZNOxk4CVJDZFVmoDlg0LSCGayIpHar9yE1iA3zQ0Gg__ZtPo4BucaunTOOmkNYpJBRt6s1LYdgBF708ccy1cNnHzN7WzxrHntbUxU6kxkmnVtfrqiSxEMK3fXhyowDCjHGNG1LJDViaOfmbQ2xf12iVVID_SIZpNh7UNwyZ2u9qfIvgqYJcEnz8N3cUzSSGiuw-id960V48oKajghjz3KVjoZiwFeDv8sYkwYX-UqubSrDay0btesyHh3R8V5Zf3lTRUFqCJokL0bLVzs4SGajUQzznfV2kRYaWXWuP8MC_2bc_RQ0RBuZTm0FHbYx4czPGUXLfrunsfwzAuBvHudxuFaZyF_3IaDdvtFmDf1duFVfNsfpMk-H92thStJMRjGR9MVL8kShMy5zEeyGu9kIhQTMZGRBawzKANCv0zRDUGBrWoy0oDEcibyZ5RNBKKWaWyKkBM5Dbrcfb1t4Udxw72343s4jvgNmAhzgvq7rMr4SouB718ZiZn6g9GWZXiuVrnfXds38FKq3cjB6WZ3t2R0BA2sv7cNnchuz72u7q0VhBRe7VPvUhoLon7g1umMkN46Kaco1LjCd85OnQua8iQDEnkkUF035fNeiTjdyxPWM_oID2L8kAL_kmG1yQHO7ZYyCk61teb-f_vMAbJ5zG81DxKAH1nZ2MpqQi7DJtQziJ7C2PCP-Ob-vG_ZfjEoiMzn44MlPRjq6FBGRV0apJIiE8ry-GH-Cl_SpIDtP5ZvB9vc4kyaRCQ7xoB7oDIJQThQ9oVU5JoxdipjUs12pYypjQcOL_e4qb8cULOZorvt4xjP7w8ov5Fsw-NA8vrr5x8H6iGWI3f8sctZwL3OqKAH4b3LKdozFH0jmJ39mvMPo25mL_B9acro4B_Et7yF5FESufitZfrh6aUDQWQJIW-JuBNpMiOS5aIa6iABom0NG-EgiGB5jKYIlwI8qBEpGAFsvwKltm5PU4y-dlvQspHa5B5uFvlF7lixPbB3TRc9r_90ZlVE74my1MrjNbKOsEU7e6CjWgMGv2Qhbnk_7GD4zAf2VqGjHAsVCIZyeScb6vaJT8SHWvAIDg1GU-WCe0mYWwlLvVlnBwTXd77wcktyw9Ra0Ym16AwGQmrO59_cc3O85oNUHUbXci0TbP1pLsizRszwI4eztwEKA1YMlsE2dFq3SejWAToWPrd7Dp32skl23YRlp9vIQQ9fLhiKD6AXMKkgdBxtg==",
  "id": "rs_0d8024ef2d8880dc016ab2bfa8d6a487d0bccdc3a0d5db8b93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.305,\"right_z\":0.1,\"right_pitch\":0.25},\"note\":\"The camera shows the pink bowl lifted again, while the rear bowl stayed on the table. I’m returning the pink bowl over the foreground base bowl rather than risking another reach past the arm’s comfortable range.\"}",
  "call_id": "call_iRqwlinvDuyZiuyfdDquqj2y",
  "id": "fc_0d8024ef2d8880dc016ab2bfaf782087d0bd96d5da41b2b8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iRqwlinvDuyZiuyfdDquqj2y",
  "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]: [-0.1047, 0.8856, 0.7601, -0.5648, -0.1577, -0.0265, 0.9956, 0.3344, 2.1025, 1.2274, 0.0414, -1.1088, -0.8505, 0.0338]\nstate[eef_state]: left_x=0.2939 left_y=0.0006 left_z=0.1897 left_yaw=0.0221 left_pitch=-0.1162 left_roll=0.1001 left_gripper=0.9956 right_x=0.3786 right_y=0.3027 right_z=0.0799 right_yaw=1.6078 right_pitch=0.2384 right_roll=-0.0478 right_gripper=0.0338\nstate[joint_eff]: [-0.0615, -1.8393, 6.8855, 1.7118, -0.105, -0.0513, -0.0122, 0.4444, -13.4769, 6.694, 1.4921, -0.3834, 0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70f525c9e98aa48685c5d6b80a0befeb3cd7f8888c8512df2dfa4eb99e81816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d232329420b7e43c860af248538ce66d2de96d6f5cc5c473b8e6fa7383a0586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b1a50ceda80a3504e437f210cea86bfcc852bfb266651c0aa74293a10d401e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8829, 0.7601, -0.5652, -0.1577, -0.0265, 0.9956, 0.2813, 2.1979, 1.57, -0.0204, -1.2049, -0.7708, 0.0338]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1904 left_yaw=0.022 left_pitch=-0.1139 left_roll=0.0998 left_gripper=0.9956 right_x=0.4478 right_y=0.3048 right_z=0.1501 right_yaw=1.6303 right_pitch=0.3529 right_roll=-0.1373 right_gripper=0.0338\nstate[joint_eff]: [-0.1709, -1.4974, 6.8855, 1.6044, -0.1148, -0.0757, -0.0122, 0.0342, -15.6786, 8.9504, 1.3065, -0.3394, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-_5tgv6mXQd68YdwL_w17bUH1m1FXuJdNbJmQe4X0WLYKER1GysSg-nejPsmocfJGy4SmMySoakmxlhGGastHt_s_CR3g5chrNB7GW8PUbhsle20asLooaIhpE9iVD8TyobKCdJCmLvHUyfTPxVY22zrS8WrchoVc7oQdNviVEPeqr8VL1dgPSE0wL8mx-BXArM39I2fe9niRigf-wkwmglED69qZwm_VtYaAsKjhKG8XseSMrz6KwbNA5K8twUuFxwRZx2mTBpc2YcLNhsMh9_IpIblM-eV89J0tP3YRv6GO7hZOpYp3t5q8ey0yta0n_4OJ7owdH-NgOz_wWwHSCPZiYHgZg6OMqIPFdzFBBwFtRau83L3MW5O1SDZmxaDEizqnfQK4StXdpp7xkiWEaTMOxuQcuU7WmkBLGPDZpBVuS5gsJU_ZjxfqHechHnPfwwQ-WRVhccQdVFIOpep4cLV2jSFvccV_KVPtVXh6bRkAi5BTDYna2aFsVIaCh_9s-lsML2XLX8TKStZUUzIr7Pmytk3ExoFkoe5bwyUCLqxE6TujE70pjy7bM3Gp_8O-h_LEPE15XAsyLTvOIblWW1WIvhBX9rX8TYrxoIhj208TTYMZIupxFCo4C_n4-hiNWLVbeQzHl0AlKKHoaxnhkD37o3J5XihhkYTQd9hX4Y-F4W1DTd1ZKxIX91lV08-QBzo-FDdUI9YE8RXDZ9envQ0qrriwFkjbFSeKKdKkv42uHuqP-94_k9RBgS5_46694MBPUzD4ggtBl1rx8gtVucVdbGM9w46XXgOLVCOpgRArXZyYrvOEpwulPqGRLqZRi7YEDkQ607EmcHHs4G50ph_AT618DknRUeqrgd_ceJiSkrusQYvSUwqzJX6uEjdKJQyVSxblvL_IcE_fyX0QvHy5FCFknqilcpMTpVTCnFI1HpojJVIMnVlTLDysl1JI6H8mky3de1kNVolZ8qup19uNgcakCn8HIC-VPT8dYRiU6kEaIAkH4XBCeGhq5aV5vj6Ob5v6-T-Kl04qhNF-qdiU9e4mVWTna3Zad-BJbbPFr1cSMIWrxwse5CNaHJgzEMoMAbs79YnJNDE4H6mwTV3j5Fa8sZSNEUhmzUqmGemqzxKkTOGCe-08qznyLWpm1se8Mb7hiKRVePgfM4JcUB_EaqAo4FUNGDi0VLs_a3LAyDH7ijh75qjkOyyh0pJ8rdAeNrskPlvoJmJipa37GcDLFaXaqBeT9eE8FgNE4Eriu84GlkBJVzv9JiGGvsEixPQoW5IX9CmMz0MSH869yCV-IrlFglZoAHFzMjYdP4CfMcvToiYgcTQRtmwpX8O2OU1N46q_ygFaJNSEquiIV6fsoyTk19OuxvPCBIPIdlFBc4R-Ya-S1zLGxiLb_lcL0xbkjM_C3Ei_pyGApIWMTo3mMOaicUCVAGjH9aPcezgSP0dSzqqqSXgZTh_T9MlFABxDSW_-Q-FVQbUBmDv-eNXqKsHQbGsZs-yHgBwF0TvnqoS3zjsH7QYHSFuQ-yrud533a5pJQB2aPvTeyx_o-ocI1zFXh98GpedaBRkroY56_7jgF92Mq6SRXxIo1yxrdH4wu6r_Hs1WGZQgP0bczfgCFm3Qf7rPCS5xJtVDqia6EZKnfNHk4MJdzi8twuRdKlWHPuIrhIK4IjoyzUmC-LR9V8uhupi_UceYCz8OI7IDFw4tKwRdBhmDvsBBoQPfRqIU_q0Xe_Ph3cEJvwFO3pkxE416U8LfL9oTJs_Qa0wrSaVVNzZQTVFg9gXOn1Sh2gMmVIUHfT6v8DcK15PLp_d_lD-FXdAYmxwr3xQ-rdBDBHsRlLi8M1f9topO6uK_-6OQ2gpRAwogwYJKy0KGrd7TaE-axR0ZX2nzJaFzC49c6ZXZhbFQT6WYip5DDerhWnXr-AaJE1-6cpTHfLVDkr9VMgHwsC-_Ww6JSNLvqtiXtiCBttM12eMiHoeWwKcSJaOBIxQyOmH_yWsF0USR0qWFrPcxj8iHFmMDbHYfFjHUMO8p7gNRszIn9FidqtxWsWu_0ZBploGB8fIRt46RKrD5rRUkRZUlmqxmtQOo3t4Tg_kKplWPETWPpQn4JUI7_mnM2z5evlMFeSaNaEW-ZbMTkHHAiRGx-pOlxb6snYlkvU7-CCQhriaxdUH2-hs7sV_MnIM1fUi5FpNNhXetGGAVOOv6l9yDJIpcnqdvSRGvuq1KKjKJlso5ZhevIwHjcmIndS3mcNmJ6w-2BjmNHaDuKAelyyRzdaflby8NYRBL_oXeV_IU8BO_yWRlkX7L-qK8FqoNQ_IKELNCy3p8Udp0vcXuBTA24L7aska170SM4cWMOhNjGrJfwk0geQq0sjaNjlflYEJWOkBTmTapN1w==",
  "id": "rs_0d8024ef2d8880dc016ab2bfb5a7b487d0b4b46754978749a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.305,\"right_z\":0.105,\"right_roll\":0.8,\"right_pitch\":0.15},\"note\":\"The pink bowl is hanging at an angle from the rim grip rather than lying level. I’m gently rolling the wrist to flatten it over the base bowl before releasing.\"}",
  "call_id": "call_D5vD9HugTMweXYnncNfahA63",
  "id": "fc_0d8024ef2d8880dc016ab2bfbd5b5087d090dc29ad12c64d45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D5vD9HugTMweXYnncNfahA63",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8902, 0.7601, -0.5655, -0.1577, -0.0265, 0.9956, 0.3252, 2.6709, 2.3299, -1.4773, -1.2362, -1.1595, 0.0342]\nstate[eef_state]: left_x=0.2941 left_y=0.0006 left_z=0.1883 left_yaw=0.0222 left_pitch=-0.1215 left_roll=0.1008 left_gripper=0.9956 right_x=0.3953 right_y=0.3131 right_z=0.0824 right_yaw=1.6202 right_pitch=0.1281 right_roll=0.6591 right_gripper=0.0342\nstate[joint_eff]: [-0.0479, -1.5658, 7.1179, 1.6044, -0.0806, -0.0073, -0.0122, 1.0188, -14.0376, 5.8872, -0.2418, -0.9158, 0.1636, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8c0af53ca43b029e747bc7d107615abae7e24704a54b1c2be736250d851367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfd75c9afee4eb441a9e885472257520e68f8a45823041a0a52b686196e601a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b647a070b51c9bcbb4f0a116c6049a571ceaade752398fd9c9e04ce51aba1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1047, 0.8856, 0.7601, -0.5648, -0.1577, -0.0265, 0.9956, 0.3344, 2.1025, 1.2274, 0.0414, -1.1088, -0.8505, 0.0338]\nstate[eef_state]: left_x=0.2939 left_y=0.0006 left_z=0.1897 left_yaw=0.0221 left_pitch=-0.1162 left_roll=0.1001 left_gripper=0.9956 right_x=0.3786 right_y=0.3027 right_z=0.0799 right_yaw=1.6078 right_pitch=0.2384 right_roll=-0.0478 right_gripper=0.0338\nstate[joint_eff]: [-0.0615, -1.8393, 6.8855, 1.7118, -0.105, -0.0513, -0.0122, 0.4444, -13.4769, 6.694, 1.4921, -0.3834, 0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr_GQZvPHpGQOadRsXprTlTn_z8U703Zw33O2YRR-D9LG4viRwDGioYIxugAbIaNiI89iUndG2lErrYqfjG1W3QjM7zvbiRByAB61O9IVK4fdvKT6TESGOZntnASK3hHXXmj8RT5E8edDSNAOoY8HW9P3Kxw5HYgI3epROuXwkNhxdwcw5nWA_nfKg7Kn_cxOMigA_vRpM2S57f2fpcdYoPe-bjRS6AXYI5cdsNyTuEKdoIKPeJM67_O4nROndOneHTX2Z2FwP2HQLKKB6wu0eOKz33Fz7AhEo1I4Chtmhz-J3VxJAvx7LIlnXkJ6ZE0AtKGFl-KJ952lTwMtdlotCBfyRWxh8aAafjB0w6ii1yM6fEjldG9Val2o9Ml4rhithcRG4AVANfjCDEcgYF8U2zmVJUZ98wogfRnRT5nM8a2fQ8p_FRjv7UAMFlFdgzpL6zkX_7uMVuGVyyjhH1CWy1Z0mJIXuwm7RtDmDMLTSHjpzN1RYPTfkZuP6QmRRuD4__6jAoMx--y0p-5z60XCMW02YzZvoJs1mOhfoinsliD9hH-5e6qEYiH-6zOrHjT7G4n2D41xjIEqCJDJRQEQeCTw2eMd5kWbTm0PEdbn0_fDDqGiKVpmyEqyN4Hcx0_fS0Dr8sect36-cGClQAekORZ0WO41Sk-Pe-_mbbZQOoiD84L-1ZGGbHDYULIF6JVhrRRvAuUrrBVPsUJMeN1bMBs2MauHYmF2kJ6M47AVzllDeHglreFQZtsc4P68PrzyX-n1nln2LUzpSWdAje7Tt_OrOqIR4amS9zoYJtrip42XRm3pz4jrNRtN5p6xzq3pAfqhyD4qKoL7g93vQzul_N7ouf9fzEpdhnAQJfCp20RR7aYGSDqhCvvK4DdBiejERVfCwDJKzP3tNbdbeTCsTGVyzsoJ4Pie_ILKz0q3mAo5sgtCaPQR6fhoBfcztff-1Oos3UJIhnedm7VsmvJVJnASq428NVKrfGBEn9xGXKIgBydXW6GVMwYDCUSkR1XvKqUIs0p14VAkatFcdRnCo879h43KsKS4yFUZDDNReyvdNy8Iig-WbM-wD_SQK2A_vQFW-0wCxi6rGEXjbDRANUQXiCWEadH2v82OMXLXA2R_KNgcn1VTBIIOn8hXjAHdF2rxRs5rNDjFR4OjbqyN58jePQRPVOweyq0m7nYB0oVsRJYkSC2sdP7EwExRhmaxl-YSXry1Py63zWm8OTslPmVcgfE55VV8z6eVuOHrAMeAP2Gk1hR_m8o-GcI1YKvG88PGJbv6UGzBxMyZmnZtHdOIERToEC52jx1ujuuNT8mEI8M50iW2VsPre6LENd1_hW9HOyY1EY9EDPBsG6sSYpkpt3oYu42-kndED_bbtkO45GaOH-rV0F-tdCVMTrVbxsVqXSDsYzMPFWEq3zv3MmjSA==",
  "id": "rs_0d8024ef2d8880dc016ab2bfc2ce8c87d0ab696e4af2afb909",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.32,\"right_z\":0.06,\"right_roll\":1.1,\"right_gripper\":0.7},\"note\":\"The pink bowl is more level but still slightly ahead of the blue base bowl. I’m bringing it back and left, lowering, and opening the fingers to let it settle into the base.\"}",
  "call_id": "call_ERt1moOZpuylu45rfssYc3bA",
  "id": "fc_0d8024ef2d8880dc016ab2bfc4854c87d085ef8167852c7dd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ERt1moOZpuylu45rfssYc3bA",
  "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]: [-0.1047, 0.8902, 0.7601, -0.5655, -0.1577, -0.0265, 0.9956, 0.3317, 2.7144, 2.3661, -1.565, -1.2369, -1.187, 0.6952]\nstate[eef_state]: left_x=0.2941 left_y=0.0006 left_z=0.1883 left_yaw=0.0222 left_pitch=-0.1215 left_roll=0.1008 left_gripper=0.9956 right_x=0.3868 right_y=0.3135 right_z=0.0739 right_yaw=1.6269 right_pitch=0.1125 right_roll=0.7269 right_gripper=0.6952\nstate[joint_eff]: [-0.0615, -1.7436, 6.9812, 1.6386, -0.1197, -0.0611, -0.0122, -0.1026, -13.9419, 7.0632, -0.2418, -0.7204, 0.0562, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1d7bff1e970142607987a44406e47142066c253e89f4881fd4cdaa1a0c6b84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e697f13fb2939b143a1ca2fab5585b1640f57586603a01a9c86a0793d9ce2c08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b043ce01f7310a877dfcd83f397400586bb8137191ecac8fe57d83632fe196",
      "type": "input_image"
    }
  ],
  "role": "user"
}