adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3763, -0.0257, -0.0261, 0.9985, -0.0154, 0.7879, 0.6033, -0.3859, -0.0231, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0031 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -1.347, 9.7026, 1.7363, 0.0464, 0.1001, -0.1734, -0.9368, -0.8821, 10.2769, 1.873, -0.0415, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79929edc4c4cdfddd22584ad6217ea300af694225fb77e2a906b3ddd5a942185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50910fef3d9ae24519381f1ae36d742a28889f788f066f09e91f25f0f729e177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fa7a7b10a7ea4d52320dec1dd838e9c70ac3ae5c179058ab1e8dd34ee3d1fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_04d9ce665b00e700016ab49400d15887d0801a91257325a1df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.115,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"All three bottles are lying on their sides with their caps toward the far edge. I’m bringing the left gripper above the neck of the leftmost bottle so I can lift its cap end and let the base swing downward.\"}",
  "call_id": "call_dTP9IRWwKmwJQKkVtUBb9Rw3",
  "id": "fc_04d9ce665b00e700016ab49406d1d887d08304f1cf1176708a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dTP9IRWwKmwJQKkVtUBb9Rw3",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5192, 0.8791, -0.0257, -0.3256, -0.2352, 0.9985, -0.0284, 0.7994, 0.6109, -0.4305, -0.0299, -0.0429, 0.9981]\nstate[eef_state]: left_x=0.4154 left_y=-0.1102 left_z=0.1309 left_yaw=-0.0156 left_pitch=-0.0667 left_roll=0.0164 left_gripper=0.9985 right_x=0.289 right_y=0.0007 right_z=0.1714 right_yaw=-0.0026 right_pitch=-0.0483 right_roll=-0.0021 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.1863, 8.6632, 1.7656, -0.2808, 0.1245, -0.1685, -0.8684, -0.9641, 9.7983, 1.8291, -0.149, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698983435c659a0e6064a2e049d614bcdd1cf1119ad6e37b43d76ae5ef124f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d808968f68763bf765598598e2f5d3435074ef35c45ad59d517a1d3daf1a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aff1a1eb73e74850d635e50ce637728239d1fa595e08b36dc642f3f5186982",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3763, -0.0257, -0.0261, 0.9985, -0.0154, 0.7879, 0.6033, -0.3859, -0.0231, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0031 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -1.347, 9.7026, 1.7363, 0.0464, 0.1001, -0.1734, -0.9368, -0.8821, 10.2769, 1.873, -0.0415, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5192, 0.8791, -0.0257, -0.3256, -0.2352, 0.9985, -0.0284, 0.7994, 0.6109, -0.4305, -0.0299, -0.0429, 0.9981]\nstate[eef_state]: left_x=0.4154 left_y=-0.1102 left_z=0.1309 left_yaw=-0.0156 left_pitch=-0.0667 left_roll=0.0164 left_gripper=0.9985 right_x=0.289 right_y=0.0007 right_z=0.1714 right_yaw=-0.0026 right_pitch=-0.0483 right_roll=-0.0021 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.1863, 8.6632, 1.7656, -0.2808, 0.1245, -0.1685, -0.8684, -0.9641, 9.7983, 1.8291, -0.149, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698983435c659a0e6064a2e049d614bcdd1cf1119ad6e37b43d76ae5ef124f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d808968f68763bf765598598e2f5d3435074ef35c45ad59d517a1d3daf1a7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aff1a1eb73e74850d635e50ce637728239d1fa595e08b36dc642f3f5186982",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQRsMlXXoybI2yjEXMpk4eMVLkKgqmxUofzTZCZ5rFTRppgnYFSvnqlgbXZK731eR_w6wPgq_8a_DIni2FPP5nvYrfFxsMPzNOsnJz__TP8Mc286QlmZ0QaPCqR56YEFBAv56iDPljW5S_1u_YGn9GJYMkCZgg40czQ3JnkFvqN4NdHeoUXIgG4Tnfaen1LEuTu6T9DUzraYfSix2Vl2w4h13UejmBfbjThfDwVXCkIv6l75zQ9pysDWqtoaCBwVJ5qzrrY4tGz2WgdoQs89N1e1cVdcwycpZJdlmNnL7angf5PzFdwGv76jI6yGuRWk2R7aPsFjapb_encZRW8fOA6mFUEXRRaFE7AHBJe9g7KHbB5vrB6_nIkYeatnq-l_Cd6bK6eqQtut2S4k6PZ63qcAGDlx1YY1ZgxZdGqXLaT5HofWaPWqTET46inosjL1fnAARKjuVff-wd37kWNuSODGdg1TP-rT3YEDziHyK6jKOXbmkQAVRNotT6hWxFW-I5OZG7nZ4AiXRWtZ-JVm7LyZKKtIX6Xy5oV4jBg-3XgE1O-PZSksfzTS8Og3I-gh35euFzYpJ0ugCsib3aV03PhSwM-84d2vlI7fW6MJrwoc1vvA4CnHkQ_QK6HzCAx3Qh4oHSVfa-RBhZWer1FbOBpkMDTkPlB93e8U2lUHHO3y0h4bI47VnsPkymfYASGWl6WVsK2mmDoadjwk8aYcL1zqpUq5ynVW9j28ATH98Y-ovVzoMKkH8HaQEG87AOFGzMLJ-1B040IJWF1au5Mp8hmlU7FVXbZEJvRZjMBrRZPXVE0eYRPhZtCyiWrIh70A8p2WkA5U5zrB5g7fx8zpAl-iHooszY3F_AH-D3G2H4gDjJ8a1eN9-7u95F0GyG1NlrO2z-WOw4CSfQyQ63fu7toW5lJfEDF8gCZhnm5ErkOmuC8ZcIXAHunp35x38EU4FxbS7kpOwyUUo9qkESz-zoctePK0Nt33Kxk0GUrDUhWvvifh7VqMdXmfylQba8zHfCYxRHypDC359gtrm9daWgnvrlBg0Aqmv9OVA4GCcvZyBIjhgL_jk86eAA54hVfp-8ZTcSll_8Ze2y99u0muSD5K8-OgfkMksS8owsBPlU9wVlDfg28exrId2kV_CRgiyLrMNiverIFFbxybDwUT5EOzBvc-HRh8am6Q6X4PtnZZg4Z5ERMNUl1xNaxbqE98zI1L1T_UjzP7W-zt8M09vTWcdNWpEJBai-99cRGn3za5Zk3Bvyxo-J-6diS4muP5VGWHIIKiWY5Vy7WON22RsU3qkSO6cCYPruk7BbYziaHkzlyeAkRBZlF--e-LykDyYm7M4iCkTnyVny3JyFT46O4ytD_T2fMNwiuhfv6Qm1ZmaVuDuyuVKIC5lPH3GqQEqJ1ojVAcMnF5yNqp39cPxHfyQsXSTJEadq4cF32SE0H-nmO2GtUToKqswXth-1vtpwFcx-aP1b4jzMH3ibk2rq7MTQlHweeLq8zGElObc8VRBqPlSZ21Ju4cpNngQ7YO4tCEc4sypdqzSzm46SfXllNeoRJtCFe1n1DlyEYpyeqhoKvJVcYOggRWTaSeLqXXq1qyR20LDz90R5P7nMKwwtye4gOqOFXh8mNl8dc71t5nwpoHhALkWAAGi2VyVV1g--RTfa1ae9-D9dA8Bz1mMwDHx6uROr9rsSMF74rHc1smQSgnRwaD4eRWuQYeGPuUoB9D4H63MymNmLhG4BrC4Y36D-vhslGYUijjeVG7FMonuyd4xTGfEn-U04Y9r6-_Ct05ucRE6XqHYMpON2ysWen5LO01yCXjwybZ96AnxMw-ivB-0kzhvg2F4HM7PhH8c3zuHDmF9MoGajHmbhdqMgAuQ-596izkOnKzLx9OjacrGFS98ObiP3JvVgMJJNgyyBOolKbOUMqeKAyRrMfhGBbNVnTP-YlMyY7dCIWG4oIEbOymob11MD4YDFo-F9Jfq_hC4U3Mst5PM_TNEqJGm1HyzwIZ7JTzs6TjsLwGguq4-29mbxA7nnViu5Mdw0nb4LtZDT3_yq-KlqfvVTjCjcHo-Bk7ALFYsQsR5m6F-ppg7pdsnSj9LEbHsv5SHyABpwoO1KOnEHUjzY4W_zCiGmmGZyePA-KZfPGT9YT7ru9kwQqYOJhcj3aoJ0m7srtEpCaIKStENfStcaefnqJYU57mNZBCUooEeJ8_6O55sJGBq1CFBQZIOt6Yd7Z4e-7_vXXK1lLJHLSRIApPsZjMWXton-uCeANQZzZJE499DeAPgl6G2IGZ75xk8e9jZO7EK-MQgENjTFoRwDVYgKpF45kC0O_xTF4XFNHh5mSan59F30OT7qJaI8MdCNfTuNzcOb3o5YUnW27n-dwLzB0DfrIXZ4YkZZSeqkC66CEYLk_Q_NR69JoJLZgenJRwsh1SeQ05oDrqg2Elf2_Ie20rx4uGckKa1OyUbZLp-xmWRIrYILrP3Yx25fWEQPWcEF2rjsk8iD0coY6jinI0_HBV2kHe4ny8VafNMElQszt5_GjtyCs_8JjBQQwhJEwSMo2RVbbTIUcMNb5A1L8YuWi0aN7ghE5Nvygv7vaaAe8jZs0T-4uOSVSIVtjCDkL5ISVyR82_VsksAzERibTJthrUdOe1K6i5elwJm-aiZTgx95nBLEiiyE7nVROEG5bX0DzYyTr3Z-MOLS-r5SGyF1SVgiIPSQr1FIhPeuKznER1rOK_27WcL9XCXd3jnNwAbBkD61Y_ZS9iyRxT56BP_4v8qBQptm7iNT26Po841PLirURgyGUryykUToEQIAynKOR6hdzh79cOpP6HsVhntzOBRDAmfHKzysZA3nk_oDUQxXWOLWsWkDxOBb7h9bMVP99UHOqsbnKd3W3K9R1xCE0hdW1YHMleBZ0KoQioBmGvHBhjvU=",
  "id": "rs_04d9ce665b00e700016ab4940b019487d0875ce4ede6d87fd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.035,\"left_z\":0.065,\"left_yaw\":0.55},\"note\":\"The left bottle’s neck is left of the jaw column in the wrist view. I’m correcting sideways, moving closer to the cap, and turning the jaws across the neck before grasping.\"}",
  "call_id": "call_uawsckw11UXCFuNFAE9D0l77",
  "id": "fc_04d9ce665b00e700016ab49410d12487d08a6050db88a07733",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uawsckw11UXCFuNFAE9D0l77",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3557, 1.8492, 0.9401, 0.1215, -0.6701, -0.5335, 0.9982, -0.033, 0.7712, 0.5632, -0.4007, -0.0296, -0.0502, 0.9981]\nstate[eef_state]: left_x=0.4497 left_y=-0.0462 left_z=0.0618 left_yaw=0.459 left_pitch=-0.0306 left_roll=0.0281 left_gripper=0.9982 right_x=0.2854 right_y=-0.0006 right_z=0.1633 right_yaw=-0.0036 right_pitch=-0.0379 right_roll=-0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -8.1436, 6.8718, 1.3114, -0.1636, -0.1587, -0.0366, -0.0479, -1.7299, 7.0906, 2.0049, -0.0659, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9356ab72da2af3f0c44a08ef7809894a1cdc12861e39aed109d6824d2c536b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6418638577ad18d2257e5496116f85f9c058720556463ecab84ee7b854f009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074fda68c40db29d6573aa761710b525daa6e91220545aae81c2fce9acde7ffd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5192, 0.8791, -0.0257, -0.3256, -0.2352, 0.9985, -0.0284, 0.7994, 0.6109, -0.4305, -0.0299, -0.0429, 0.9981]\nstate[eef_state]: left_x=0.4154 left_y=-0.1102 left_z=0.1309 left_yaw=-0.0156 left_pitch=-0.0667 left_roll=0.0164 left_gripper=0.9985 right_x=0.289 right_y=0.0007 right_z=0.1714 right_yaw=-0.0026 right_pitch=-0.0483 right_roll=-0.0021 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.1863, 8.6632, 1.7656, -0.2808, 0.1245, -0.1685, -0.8684, -0.9641, 9.7983, 1.8291, -0.149, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3557, 1.8492, 0.9401, 0.1215, -0.6701, -0.5335, 0.9982, -0.033, 0.7712, 0.5632, -0.4007, -0.0296, -0.0502, 0.9981]\nstate[eef_state]: left_x=0.4497 left_y=-0.0462 left_z=0.0618 left_yaw=0.459 left_pitch=-0.0306 left_roll=0.0281 left_gripper=0.9982 right_x=0.2854 right_y=-0.0006 right_z=0.1633 right_yaw=-0.0036 right_pitch=-0.0379 right_roll=-0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -8.1436, 6.8718, 1.3114, -0.1636, -0.1587, -0.0366, -0.0479, -1.7299, 7.0906, 2.0049, -0.0659, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9356ab72da2af3f0c44a08ef7809894a1cdc12861e39aed109d6824d2c536b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6418638577ad18d2257e5496116f85f9c058720556463ecab84ee7b854f009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074fda68c40db29d6573aa761710b525daa6e91220545aae81c2fce9acde7ffd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQZnCl_p0PPJBpNz4m3edlbdOr_iW8VmUdSaEkd6HQnTY8iST4Db_o0Aw2UWVlH_3iAWI1DQPjJbA1JVDz8HJq360xgie94OSBQVEWHg9AaOBstccXZXxGOK13dOUsVJmj0quzFhYLFOwvbEKkERoWJN-mcToqktEQlj577y4Qx6fOvMWwtytO_4TfqAOUnMoCXbrc3GfordfSefrt5q73jqoENFrFHTx7177H3kYOGiF-YCL44HPtNbRFM0BJWjuqCggOSg3OcfAHCzKEUDHuBt6XrgTHLMx7vpdJvHmOEsxJ4RnslTlnH2eDjzpfvUQ5bGjIZ2fN_Z_QcZGMiduWOc9MV9uJaDjh8QJBzVJhYJiSgzCE3rX5XmX80l1CYzTqqfGsK0QDZ4aJ7in7OYqAmkaiNsV-R8_e8d5HvgyuXEq94jv2GAm98odLk5nhpZDbFAUV0-QrTm2caj5YWBFtjOvVuHKkRm-66UBT22c8lQY3p2Zi-l6VEB0l-wqMkTdKcsAV8BGPR2hqLztCgDggcsn89JfWo0gu0G7-GUV8Ky0H62gbomhXQZ0iYWekhj5mnvZWkXNIPg4AjnBR_XI3hNDMOE4X0yxS5sse5PNyZcQ4gIzTsVNyqi5usOwlhxG-ZkRnfXaq6fl2QU2IXMujHgqdVyzqfZ1_lSDAD2DYH47oOJGu2E7upHfRbY8_VPGwxBTxt6iTrDEWUMJgs-W0ZGOZIBAP9VMv5uLz7RjCHHEZ1GbUpLY37EFiLSeBhXlEFFnFbZNHMobL1P0EnpfAnNjvH6yAbq-QLsFil9ql1pU23166qlcUatFqBLxR7L2eluk991ZUuD3_XHYag4JT5Oyz8DDQsEx4O-PXCgte6lhvU-HZvEJsX1DfducasRdkUjp0MP09GBh1DZTu5zizE8CKQjhUkumZUHd5FjrFVWIfCIkMVEugiiup1S-w8jmN1-kDc8emw8qquWCyWs-uWtV31KeAWzEKbNzjRBjpDfOAEtvLMl6OVNFoUnKnojHA0i-Fcu9GkKma2quXmmtgK7-F_9JfF49aVYt0Qt_K1ljUkzaUF1uXrGX4TjkO2TdTbb64uEPirgjZ5PCe4ZvTokaryu6ExFNjsK2r8bpaGL1fCJVxy249IMpeH99YqHpYALS7Jnz2IfZKMfYnKp6I1cpJMSW8j1BUJ4Kd1acbPTq_84PG9jDVpd1m9ziRG0f5kpi8xHlFFbMX9fom81PCzC-F-AOqFLDxfjn80DYHdzspOKRaWGdqngLgZoEY7Py9k9r-RXN4jKzuO-dl4vV6BSjkoPdktNMcCiyGE60PZRKQDKq-y3vdrDqRa0Uf9TfNn-lt-wePHVmojGkLb7ukxm1i0qNw8VcpIQcTTHFEjVigvPORi0mNdYOUzt4NR7BUpzXLYaBRY0_FVMF35IE__9UwwD2Onhz0cTytiL_xYuDJdQOjbGFqKS5RnaJ0rWqs7ghAPqX1TOMOPKYTNOhb2_HhoNUN_RpKnwZSeni4gsHEoEvvcleh8FpQhgxKAXp4E9stY29TU9Np_pLv5T8ofBwfuu-rujEc2lVdHQphxhbOfBaAzoXEuGEa-VA3s5bV7pkK8LMZ8aywaf_pTztZvzEME__MDkgPABa6mOdVdEs-AEzUpLwzd8Rl4kzyGb3FKc3mhbCNhzBO4RdNyHx2dTQ818tpIC5-5RPGld3jvDn45hPUhajP713eoU3-QvQiESux6liv0dNsW6wICIqvJGgluK-7byFyXwJ4zo60yCtxmcJfMKHDwuonOGzJZpjcpXiMVPzK70qxR5ELCFJuT1pZntHHs_aiPlbsjdSQfOmcllAwKNfPI834TzS3RS9kPaqRJPfeDwQVEZ4r_djOFaapBNTBRcy7VilmaLGmM4KQtVNBFXGDw59zjIHuxCKRM1FVabn7e1eBPXxWm8h9Sw4csb5J2V1oOZQVp7-oj8d2JogNT0SHpSJhitvG64RxyGsf_YgDDjfKlosE1EPoQUbXcJtM74Uovug90N7AoxZynpW1M0NRsvSFiiRCsTrC9m_lemdm3_HWhJgnZj82o6pMt76GKlJJ4wM75rYWnImWFRJku9lWpVtcmAbNrZNWI7bLbZhPqUSsoCVUYGFgkWV_PU1uK0VEiemqmPxoaWxyEjs2SjCXbRvtDRL4Oa6TfTL6YyY6u4AS_xgqESmi4M65k5tJcTFmaLXtH1dNtsUYzdEjfqraJcwvGYr3Xw1z35syeSDpIbJqFtX8nW9aP0QjsjyX6r_aXGnZq52EHErrrvx52zKKnmzqumKHgi7uFUAxxJCCGEqgYJkJiLpe9sF2nkagI3pjH3ffsfB6eZX7N8FrpT8YWI39DaJgZaJZzXovPjXB24sNU9xwZ2oMcn2WSjcx4EVCZnL_6duHwOBt0BV304N2-k6dkIslZIwBY20PfL5GXpOuHJa1ymA6J412PN7_fImLxrx5PDO0o9Dcl1RDrIY1kbqtFRL8caalm",
  "id": "rs_04d9ce665b00e700016ab49413fe0087d08ed333557cb7f00a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":0.005,\"left_z\":0.028,\"left_yaw\":0.55},\"note\":\"The cap and narrow neck remain ahead and left of the jaws, while the bottle body runs toward the bottom of the wrist image. I’m making a final short approach to put the fingertips around the neck at table height.\"}",
  "call_id": "call_NnbAJY4NfdX1j1xg4AXL3jql",
  "id": "fc_04d9ce665b00e700016ab49418848487d09a13cab1e9218335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NnbAJY4NfdX1j1xg4AXL3jql",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.9999, 1.0004, 0.3061, -0.6659, -0.5201, 0.998, -0.0341, 0.7513, 0.5262, -0.3805, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=0.003 left_z=0.045 left_yaw=0.5771 left_pitch=0.0323 left_roll=-0.0307 left_gripper=0.998 right_x=0.2823 right_y=-0.0008 right_z=0.1558 right_yaw=-0.0042 right_pitch=-0.0349 right_roll=-0.0087 right_gripper=0.9981\nstate[joint_eff]: [0.7726, -7.1316, 5.4085, 1.1013, -0.0855, 0.2906, -0.0366, -0.7863, -1.6479, 7.1453, 1.9805, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b7b4c9f85ac16ee9baf6e329ee9798bae64ba9bdbc43511f23fe1e0d760dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a62a6efc4a15eb63a9d9a378967696a63eb3fd393add6810ecae08c8fb3eac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2c31dfd4318317cf795abebcb440c2e255533f4753662224d26bfb12f42e31",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3763, -0.0257, -0.0261, 0.9985, -0.0154, 0.7879, 0.6033, -0.3859, -0.0231, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1839 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0031 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -1.347, 9.7026, 1.7363, 0.0464, 0.1001, -0.1734, -0.9368, -0.8821, 10.2769, 1.873, -0.0415, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3557, 1.8492, 0.9401, 0.1215, -0.6701, -0.5335, 0.9982, -0.033, 0.7712, 0.5632, -0.4007, -0.0296, -0.0502, 0.9981]\nstate[eef_state]: left_x=0.4497 left_y=-0.0462 left_z=0.0618 left_yaw=0.459 left_pitch=-0.0306 left_roll=0.0281 left_gripper=0.9982 right_x=0.2854 right_y=-0.0006 right_z=0.1633 right_yaw=-0.0036 right_pitch=-0.0379 right_roll=-0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -8.1436, 6.8718, 1.3114, -0.1636, -0.1587, -0.0366, -0.0479, -1.7299, 7.0906, 2.0049, -0.0659, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.9999, 1.0004, 0.3061, -0.6659, -0.5201, 0.998, -0.0341, 0.7513, 0.5262, -0.3805, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=0.003 left_z=0.045 left_yaw=0.5771 left_pitch=0.0323 left_roll=-0.0307 left_gripper=0.998 right_x=0.2823 right_y=-0.0008 right_z=0.1558 right_yaw=-0.0042 right_pitch=-0.0349 right_roll=-0.0087 right_gripper=0.9981\nstate[joint_eff]: [0.7726, -7.1316, 5.4085, 1.1013, -0.0855, 0.2906, -0.0366, -0.7863, -1.6479, 7.1453, 1.9805, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b7b4c9f85ac16ee9baf6e329ee9798bae64ba9bdbc43511f23fe1e0d760dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a62a6efc4a15eb63a9d9a378967696a63eb3fd393add6810ecae08c8fb3eac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2c31dfd4318317cf795abebcb440c2e255533f4753662224d26bfb12f42e31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQf3WMtPwSI6LJJJEnvaQLaeH1MNmGQSF2Hz47GSJ18KVP6kpOkteBCNnL974RkCpcuB5zBAeNw_O4SJb1Zu-m3eU_wHf9iVbJ41Q6xSdPSUMx4yialEVh25ce5HBoP9zMltlvOZNqLVDy9Xiy4uehCtaP8R4c1JoQuVBXs1jM5KBWyJFDizabIVsgsZttARIB6zF0NWiiH_L1asq6GgRfbeTsF4lehDI72MwQWU5BLPXJLWAn4N1dW9YyL61BVoBrdeSoalez7HDuh-nm_4vSwdZA8PHe22uFffE0KiaFxB6Mnc8pATfpwUCuaXxOM4XycV1_ZMGAl9Jz9rWBOlaXgJm9KAXKVzPKtQoGNcQNCfBj9A5vVEIujDBUv8vthe4KMjFF664LOvXZ6p8ilMvASAMjB02scb2cd7AAUmTUSW2V4G0kaKIAg87P-i9b6VLP7AY7AoSEIdJNkj-rM_-3ApRENzGDoRG0cfn5QO8sCYLWU6uBimt5Qt4-6V2SpG6MXwKHzMdjq2dvA5mafUqp77n7teFsGf_qmCqIDdz0J2R2G2KbwOoV4fl-Tmxo2GzOxkYlEtUY__oCzRnYRV_PVgTPwCjUbGjZ5NkcTIRL7eQu6JvmkYoEvxlzQmU8OkmZW9eVRBeMqY4mPUwPE9fGyVZPo1es6JpCBLVoOQLhzOoOeAeTwvn7mEXo4JTwyf-tKr7d6Lx4VN7zhcx8SsSfgzLyvLWl4p-ummDIzph3VRSd8uMk3Uf0NC5AdH7beBlk7PoNHwleM78LYomlbHbQA-JTN2NlTPj_R4ZuE3tXhPA5HzCWdvEUbFYqlXgv-B5iEKziK4LPioc1fSgG4Ldnm5_nKOCGsY2Gc4mUnfShb5EpfLus_fwRuHpPJAOVvoEXFuTIvUgIjUzxFUp3NKzxNbbjqNi77T76Z5pUz9TvQ6fFqHro4AybGdGlkTfodF8pG3gES948YoZdFxHJ2uOFgtL_VyA2_Ep-9BKbRkf3pwhmRit4voqtDKJYg6Kfx2ifMf4dibl737_PyTzmvpW47l1Ka7Rl1AzFamnp1P0vtDJ7W9-VbxJyFedXi5KKz2B5RIDyKNxFLz3HJFYgDBXmC8U2V67XFUBKx4H918r2dO_KgbYQcu5Sz4oO9GoG86P1aM5YnDANKpD8PR6AR6LQyhXNLoewIPAWIBGxlySBnDfOFnMHT9yHewXFGxOSHlTyg-5UREIZsBS6uTNCOdnMZR1nO9Z_pQ8VbPJnunUauxrgpCe2imJDn1obYkmLne9OfBhHiuOmBvxdavdLalrJqbPnStWZbJQ8jHvmz_Yt517TnIoYeZgP0GHk2I2EzK3g3wswCcmm6sN53xSOzYYF_jvq8_r1sghkmZEz-_zQj-YpPCnbjClWqwgA9Cp7O5S5BVNg7zn84AmKY0-PQblYQtIrPMk-Pu7gN_hEg5YkLj-ZzfsenYKlQVfCoEaJIz1qpQmxdpy5FQIxDltykZv-R0ImuSaWrAmaJS6g7nsOMDuZGIbG6--FFyaku0AjlrubxAcRlmlgwgMwMx50KQ5ZXqUvBKtO1iRoAq9zJLCoMFDkYKB_-vuHXC_19h9XC-12wS1giuEjIGT0ctKWyNivoXWcWLtOluH-39XcXZ_NZHcBhbtnq-EQq4pm-0d-kfRP0AUtEebd7LLHIcqCRCvNVk2Z-cK8NuQYvd7N9MAz-Y1PyQ5DzVa1tyFdricNjM0evPTbKts6mHWBDqZu4R2BEO8e8RYTY_nhYxy7MQHNOoP2hII_1RRG9gS5TQlvEaBXBOLDJ9yrgUI4lO9alScuyC2OK9bvFGBhMEJzREyX7-jWvjPyOys9sm57aRn_IrqI8VdM7yQWa_eX7ZtMbp5FQYQ==",
  "id": "rs_04d9ce665b00e700016ab4941b925487d081c0419886237c9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.507,\"left_y\":0.022,\"left_z\":0.025},\"note\":\"The neck is now close to the fingertips but still slightly left of center. I’m nudging forward and left to center the narrow section rather than squeezing the rounded bottle body.\"}",
  "call_id": "call_C3QAj3xoR5764kb2pJE5JupF",
  "id": "fc_04d9ce665b00e700016ab4941e177887d083ee4b398922ad95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C3QAj3xoR5764kb2pJE5JupF",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1986, 2.0487, 1.0573, 0.3275, -0.6521, -0.5068, 0.9979, -0.0341, 0.7383, 0.5072, -0.3656, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.5038 left_y=0.0116 left_z=0.0447 left_yaw=0.5894 left_pitch=0.0468 left_roll=-0.0461 left_gripper=0.9979 right_x=0.2813 right_y=-0.0007 right_z=0.1535 right_yaw=-0.0043 right_pitch=-0.0261 right_roll=-0.009 right_gripper=0.9981\nstate[joint_eff]: [1.7573, -7.747, 5.8051, 1.3114, -0.149, 0.0952, -0.0269, -0.7316, -1.1145, 6.8855, 2.0244, -0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8cb224c71ea861e8fd6e6af7c333296f36e0944ccb1faf5efaa65c2594a3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d477dea7728bbe694c841a0a80416f13c5d9b2774bad38fcc6f932d24390608",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca031de1d2b28de3f70db726abafc0d7e1356c311b4d386df98dc0723f3ddbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.5192, 0.8791, -0.0257, -0.3256, -0.2352, 0.9985, -0.0284, 0.7994, 0.6109, -0.4305, -0.0299, -0.0429, 0.9981]\nstate[eef_state]: left_x=0.4154 left_y=-0.1102 left_z=0.1309 left_yaw=-0.0156 left_pitch=-0.0667 left_roll=0.0164 left_gripper=0.9985 right_x=0.289 right_y=0.0007 right_z=0.1714 right_yaw=-0.0026 right_pitch=-0.0483 right_roll=-0.0021 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -7.1863, 8.6632, 1.7656, -0.2808, 0.1245, -0.1685, -0.8684, -0.9641, 9.7983, 1.8291, -0.149, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.9999, 1.0004, 0.3061, -0.6659, -0.5201, 0.998, -0.0341, 0.7513, 0.5262, -0.3805, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=0.003 left_z=0.045 left_yaw=0.5771 left_pitch=0.0323 left_roll=-0.0307 left_gripper=0.998 right_x=0.2823 right_y=-0.0008 right_z=0.1558 right_yaw=-0.0042 right_pitch=-0.0349 right_roll=-0.0087 right_gripper=0.9981\nstate[joint_eff]: [0.7726, -7.1316, 5.4085, 1.1013, -0.0855, 0.2906, -0.0366, -0.7863, -1.6479, 7.1453, 1.9805, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1986, 2.0487, 1.0573, 0.3275, -0.6521, -0.5068, 0.9979, -0.0341, 0.7383, 0.5072, -0.3656, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.5038 left_y=0.0116 left_z=0.0447 left_yaw=0.5894 left_pitch=0.0468 left_roll=-0.0461 left_gripper=0.9979 right_x=0.2813 right_y=-0.0007 right_z=0.1535 right_yaw=-0.0043 right_pitch=-0.0261 right_roll=-0.009 right_gripper=0.9981\nstate[joint_eff]: [1.7573, -7.747, 5.8051, 1.3114, -0.149, 0.0952, -0.0269, -0.7316, -1.1145, 6.8855, 2.0244, -0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8cb224c71ea861e8fd6e6af7c333296f36e0944ccb1faf5efaa65c2594a3fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d477dea7728bbe694c841a0a80416f13c5d9b2774bad38fcc6f932d24390608",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca031de1d2b28de3f70db726abafc0d7e1356c311b4d386df98dc0723f3ddbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQkaPqL105GeJwzGCD50VrkITemZ2Q0sgPe43rntfRPAY3BOhvdkDQ2eWzxQckjRV1lN36jhbvf_mTY5uTwVp2wO8NRzVRfgSTGpoMILuzOcgEexSn1Jn3JlIcC3QAg3OsZ7mZGtiQUeGZqR_mszRl7SFqxsfdFkfseGoVNTJxekArbSjZ0GVQm2-OZ5qgCuB0Yjy4bG0vl1azcaFWG79HUU9tx9RyN2YXfMMCIQ28l0PBvfuOinUHsg1hsVY1sUcpg1WjuBLC3Ex0ZOX8YmaChKBbNrVI-fECe648feut__mnLZy9LTXaexmtxI3b_Rr97k6n5ZDyKjUhwWWGM1q5iizk2RRqh_6-XGMJJ0y4-39WbxoajQI-UWKW4OGikR8KVmQgOQ7vtqvh7hZ5cyRVE_A4vSXNqnjcmFQbnbeKwKLCKu_ADm1QlXp31xNUn0TrukrGCiT3EfChXLNKFyToLe8r3gYjDxWhO9hriutbRBeSr9ewJPsAIJJ_Ln6AUrBlNYPFuO_HAKavkwR4BB_N1xP4E1ZIj8hZ1v2w8f5VwajHimqSFPlLJerqYMo5lguMvlMIUAfKBEFEYc7fJQ1oGPgYcz1yiZfGMZ1Fa3lbibpcBbtywFaNVIccy1zZVPwcW9JMuC4w8IPEWv0dAAiW_iC0xhpFrFCj8F4mYF9suMg3PVKv0L4M0KUFENl-DuXPGfm6DtGnnns6QHTo5MBywmu-vUYnjjTL98Mm2nAFX0wNi8aNEvw8jZFyIDsNvdzeVvymqVVkhSiRaxrTtenaw8__A4QL3b1UmsrAHk1FHKnyoEDXlETog2jHmtChSloL9mHpFFpUDudVZJtmIsUWMiC1bD507_aoS5qsoPJ_cv8i7sy4k6aSkSsFCLy5rn2ywc7fyRVbGbe2a1dTiBJrLGbksVxjzYLy1PqbQJ_AO5DmOEOl4Xc-wQNLs0vRj5CBo4ZydcX5Q59wHPGR3IipqMvDVx2JyiVfnUQ3494G2wFarNbWqV--pBCl6N6cbahRRRbhGXSfP5EIr1GKxANYTfzwowj50VYzCmYzWhdC9gQTS58Xcvu8DTK7XlFKnEBqnHBzr_Uy5QBjWrv6gHW68IqRSPkiLrcFZKbx_hOfTekWfj3WgT7k36fb-VacKJZx6uHcCPX-cjMZ5B_1snYbCSde5-xrr_o1b_qLVa9IA90JMdIEd6lD4buzw8qBQIt7Ij9uk_niVqosU-ee8dALPBf2VL3awaBtK_QhmCxHgTX8ikdxYY346YXfFiPH_nQCX-bCFNsH5CSsghlBoSP4wIuyNQ5Q6CX5_npPNqclYxheVviMR2d0a6VXdKM5EvFg5KdmCoGeOMIUJ6My2QZq86A2_HeJu2kNSprb-ehnMxd9WBq3HxOvrhvodUYNEhJpomOO8npEpXfBczigUepwd6LvE1crs4IG8PDz1DgUeW4jJfd3zBPGF5QGqwnKpvdiNfwLNiacdxi4O70mQOAQ-9ixMTLgqLQpwv8VNyOf_D3wFXqaKfIK8eFA-N7CdJitImNk9jiASSucnXhCUsImqccuaYsUWVI70Xn_wky2xEakKdRHWHs_NWBS3Ch6EHugbuBn2QSlClam4d8p1KWIs2fRv79Eg_ZzqDFDOYCNIWXIlLzBEJfKVhfruoInJlBjBuo0aNfHwj008HDZ8tdquBjsa2UNfbKUnLm8dCy77OJuURNWUWJkwv_l5FTcI4nkPqwCv1HxARu8gg_fql5yhBlTE-9xiGUC-n44MkVzhoTd_avMql84J9YVQ4OAOrCOaEwJHb7jKPXEkHJ_y1dGB0cPN96G_OPELALRKwdtynTgR_DlRFhUbfXbNRenObzLe_wTzIVRaovjBG-3x0DOznE-3Dy6DMSJpp_yAqwRWPg9zpf3SYv0OiokTMjHNkLYlk9lN5W62u_9wJdX20Tdf1T4x0_C1KvvsLG3LFZNbSdRCqCAuImBall_vcF4Sl9BTMaBVt7KdihrgcIersYzEhe19MNOFbt-q2aueeiZnNcE=",
  "id": "rs_04d9ce665b00e700016ab49421125887d088b59ca627d968f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"The bottle’s upper shoulder is between the jaw tips, and the arm is near its forward reach limit. I’m closing gently through the controller’s normal grasp motion, then I’ll check whether the bottle is actually held.\"}",
  "call_id": "call_n9SzLivJ5ldsDq3Qf7fKDeT3",
  "id": "fc_04d9ce665b00e700016ab494235a6c87d099f2fda6dcba501f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n9SzLivJ5ldsDq3Qf7fKDeT3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 2.0701, 1.095, 0.3882, -0.6632, -0.4747, 0.0107, -0.0338, 0.794, 0.6018, -0.4297, -0.0299, -0.0544, 0.9981]\nstate[eef_state]: left_x=0.5196 left_y=0.0256 left_z=0.0589 left_yaw=0.6153 left_pitch=0.1066 left_roll=-0.0677 left_gripper=0.0107 right_x=0.2876 right_y=-0.0008 right_z=0.1688 right_yaw=-0.0018 right_pitch=-0.0513 right_roll=-0.0113 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -8.4444, 5.053, 0.7546, 0.2222, -0.0269, 0.9011, 0.0479, -0.5265, 10.7145, 1.8779, -0.0708, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9ef6c2ecdcc447e16b701bb93b5ed748526db3b9efc4d6ed1a604aebbff04f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f8ad92d5d6cd664d0519db305ab10415e92720bdc2914b11e83d286c938eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cb0bce67391ea1e6c0f459381ef987a13bc7bebb8ee830937f8238f48222d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3557, 1.8492, 0.9401, 0.1215, -0.6701, -0.5335, 0.9982, -0.033, 0.7712, 0.5632, -0.4007, -0.0296, -0.0502, 0.9981]\nstate[eef_state]: left_x=0.4497 left_y=-0.0462 left_z=0.0618 left_yaw=0.459 left_pitch=-0.0306 left_roll=0.0281 left_gripper=0.9982 right_x=0.2854 right_y=-0.0006 right_z=0.1633 right_yaw=-0.0036 right_pitch=-0.0379 right_roll=-0.0085 right_gripper=0.9981\nstate[joint_eff]: [0.5265, -8.1436, 6.8718, 1.3114, -0.1636, -0.1587, -0.0366, -0.0479, -1.7299, 7.0906, 2.0049, -0.0659, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1986, 2.0487, 1.0573, 0.3275, -0.6521, -0.5068, 0.9979, -0.0341, 0.7383, 0.5072, -0.3656, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.5038 left_y=0.0116 left_z=0.0447 left_yaw=0.5894 left_pitch=0.0468 left_roll=-0.0461 left_gripper=0.9979 right_x=0.2813 right_y=-0.0007 right_z=0.1535 right_yaw=-0.0043 right_pitch=-0.0261 right_roll=-0.009 right_gripper=0.9981\nstate[joint_eff]: [1.7573, -7.747, 5.8051, 1.3114, -0.149, 0.0952, -0.0269, -0.7316, -1.1145, 6.8855, 2.0244, -0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 2.0701, 1.095, 0.3882, -0.6632, -0.4747, 0.0107, -0.0338, 0.794, 0.6018, -0.4297, -0.0299, -0.0544, 0.9981]\nstate[eef_state]: left_x=0.5196 left_y=0.0256 left_z=0.0589 left_yaw=0.6153 left_pitch=0.1066 left_roll=-0.0677 left_gripper=0.0107 right_x=0.2876 right_y=-0.0008 right_z=0.1688 right_yaw=-0.0018 right_pitch=-0.0513 right_roll=-0.0113 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -8.4444, 5.053, 0.7546, 0.2222, -0.0269, 0.9011, 0.0479, -0.5265, 10.7145, 1.8779, -0.0708, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9ef6c2ecdcc447e16b701bb93b5ed748526db3b9efc4d6ed1a604aebbff04f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f8ad92d5d6cd664d0519db305ab10415e92720bdc2914b11e83d286c938eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cb0bce67391ea1e6c0f459381ef987a13bc7bebb8ee830937f8238f48222d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQt6SmWndjaZAybNXlyyx645k-vnLfFURCjiAiVRw-my7tgRBJu1d-EAeKQFnjMDcH8FRImj6mYelZ14FitG-bgjxVSQQXsgFttoNhXBwLDRczze1pZr8c_fqQ3xECq1qhz8M9h2wHq_FYAU7JmiIY2_qHZo_XZ_8Yi67dGU55Jt9LzmILHMx0UPI0fLw3CrDNRdV7pjXvuLnI8t40wKv108zzzqy_fpUPj-4g7ghHm4Xl4MsYao6OUMR8m_yIOgoUuupexapfPS_9TNCx6VEhV5IJMsCWnhqWHI4kukqmUwHUhCHBz6Qyuzr9BwkCQKXIKWqRaNWLHMmT_jMvs0xZk4DQLQk7y8TLdLQwUypJ2Gr3vVdju6lItazg9EbQJJfLL-MBG4pjTdL9fdpppiPuvYHXE99gAKjDE9aoKfLK3bjkOIiboE6Af9X4jcXOdTV7vAonKWjeHb6VAClvnH4RPVfso8w_xlnVbzlypPPLhgYt4wX0n-TWFlkbtg4fA81g-okbLjsqkX_01HTVO-2Ta-5oD3PoeaEXPm2xX0c1T0eHh0QHR2DPe-yASp9tXK065As8nXplB6y95LAbc3blIgTKEBpVyYvfLPd9TuG8Cfx-UgwzuZoLJS2Ze2CXbBj1EEh7_l4uGWXmOMQyLCRcnrAHlLzMjmsLTbPGDmwc-rMCMaLXaWiLPl7J3B1J7co-NfOXP9agozpIV9f7R7avE9spHnyuqTBN7S3oZ9CkT7EP_spCjiH5UDG7mue4BBk65VMp-yrZrcr60e9_ggzlwL1TRgIN4w9Yya6R_APmtLdgSXs1UQQQMZm28YnxM6SBFGKxgnzabGwJn_rjV3rquKJPRALq_yIXGhb2ATrl3ypMZmlGsyIEIadWhd-aCds2kmryUMBiINHjE-Xns5EBE0Q2nSlRztlRO-uM0xff9BAmyKyCrrBaZOxmO98tVmEfw2QcYhLKZkYmSv-yRZz4LvAzdkioCRIlpmvaCxHEYL9Eb21dx5p7SYEowv-UdH8jxhCoXMX_3vsQIEhtRkueFZFC5Asy9234r6gpdjeojqIUllq39f4Po8B-yp2vRPPl5cJl46S3whr4oUJ3q63AyovTDs36XrVj6Qbi2WCLjBthxU5INmx1T8b55AAyZL4uUPAWOQJ__ARXPvDVg-o8cESjINU2jc6uPoK0echTIOmXcCOTUrI6o4jCPQKHNF7bNcIsJ6XwWmRTfK_d2o1hMFJ_3_0VtdYbrFXb4VdFBmjfPsick9S3ppZYtARC2q6gAJwrkRZolLBJIFFit09I6rJizhIkgQjx41pVBHxVekyFP-FhxSrPmRVMLVMZcL2rb5jM4FyyP2Zh7LgF01Sg1vfSo5vuJEW1fRVLPHjX5OMOhm_7h7-XbeQcpZN626WobFWVDter7_pJFOjTivSgyIGkwhO7UrwpYQl3ZH0Bw-KdoB1FyNF3iUs1qirbfTn4KY1eLcIFH-unmLK1vMzvPGF2EO_z0qnH8Vh7C3d6lWbgpX3e7uTT_Jj8qcApDwe4LnOnhY1QPGKavvqqhoDGF11_qML47xhNTxppmbMaZs6FzK6xMv3SthK373SPWCwmxF-RYoMvdoBYHepHdfJOG0S5yBAK_gg4-eo1JqwStwGVtAdOutJ6x3Dcag8pmJE8SFRE4o-ms_Ovo4MbNu-7xecjFO7QOps05Akow85Fzc1pzS4tYgZEc89XXCiuQG-3X4REiYAoAXkSWAfc-QmCP2-4JS1qYjf5E91inifzZZ557VLr07Z9uQGY_GIwHiZjC8ll2VgYjnwLEL9NMyaYIYnyDt8fPrjUsBAlCRHA8GfWQ8jyNXFaSlmbmviqCncTY3RnXWVgGGGxGZUW4MRjojpij6jph8ewpvQBeOTnvfGj3af8uT8tt1-su29SmG0jZ4WYgkH1-rlrq6tRQPHTbrLKwLYiqFfUc5SmmUUBufk14lmcbpiuFAVUUwFXo6xLxc82plj4bfUJ6IznBwi27pBnw9GshyBJexXM3M1d56SX06NFi5P-c2AUiLp6P2YlBzCZcAA2r8o-SPfm5sRM7KmVFyP3tKhZosHU6NjcKWOCb4aR2PzAqKbxPt336hBTu885s93DUG8590j9vBSu7LEwnCX03XQ0jVadINspm4J-mkH_TtwHQBsfKHxKEZ9U2B58GvPPCzSkfEw4wh0cWWYaBoyR9rqzXxGpxpUekGQOHJvVOfwW8t80wzs67_OM6GOTtnyWvUZ6GS3Af7-80iH-zW7MecRpftydVHcbMRYou7zB2Mo2Y64nYXSzT6Frz9db4XinLajqxZFLmmfyzWlMLWdD_-_xNsexnICWhzCTXbSRL5Oh2ry2ryY4Q2cqjX7Ny-NmhKEWEBiSJric3mdPey9IGPd05V4LCZkHaBH_QMamDcT_UUc8IVO8H6jOF",
  "id": "rs_04d9ce665b00e700016ab49427d2e887d0af20f0bce8e8ac06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":0.01,\"left_z\":0.012,\"left_gripper\":0.65},\"note\":\"The gripper closed empty and the bottle shifted, so that was not a secure grasp. Its cap is now just beyond the tips; I’m reopening and making one small forward-and-down correction to capture the neck.\"}",
  "call_id": "call_x45svVGOLpiquUI5zUCRo3Lw",
  "id": "fc_04d9ce665b00e700016ab4942bf56c87d0b5f5f6847ae29fa5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x45svVGOLpiquUI5zUCRo3Lw",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 2.1674, 1.2541, 0.2619, -0.6971, -0.5251, 0.6449, -0.0349, 0.7647, 0.5514, -0.4004, -0.0303, -0.0563, 0.9981]\nstate[eef_state]: left_x=0.5417 left_y=0.0147 left_z=0.0487 left_yaw=0.6421 left_pitch=0.0751 left_roll=-0.0524 left_gripper=0.6449 right_x=0.2836 right_y=-0.001 right_z=0.1597 right_yaw=-0.0016 right_pitch=-0.0429 right_roll=-0.013 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -7.1453, 5.7778, 1.033, 0.0562, 0.0269, 0.0317, -0.759, -1.7983, 6.9402, 2.0244, -0.188, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044fc017f9b2d3a18b4efada3595e630627d348c4e36956b497ee3a949a3548d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc973625577b085de009c1d134e983fa767ff7caea3ced0328a64b39baf143be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5ca06bc16388396d49fb86cd68711dfc7b3715d7628b233144b01b64969014",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.9999, 1.0004, 0.3061, -0.6659, -0.5201, 0.998, -0.0341, 0.7513, 0.5262, -0.3805, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=0.003 left_z=0.045 left_yaw=0.5771 left_pitch=0.0323 left_roll=-0.0307 left_gripper=0.998 right_x=0.2823 right_y=-0.0008 right_z=0.1558 right_yaw=-0.0042 right_pitch=-0.0349 right_roll=-0.0087 right_gripper=0.9981\nstate[joint_eff]: [0.7726, -7.1316, 5.4085, 1.1013, -0.0855, 0.2906, -0.0366, -0.7863, -1.6479, 7.1453, 1.9805, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 2.0701, 1.095, 0.3882, -0.6632, -0.4747, 0.0107, -0.0338, 0.794, 0.6018, -0.4297, -0.0299, -0.0544, 0.9981]\nstate[eef_state]: left_x=0.5196 left_y=0.0256 left_z=0.0589 left_yaw=0.6153 left_pitch=0.1066 left_roll=-0.0677 left_gripper=0.0107 right_x=0.2876 right_y=-0.0008 right_z=0.1688 right_yaw=-0.0018 right_pitch=-0.0513 right_roll=-0.0113 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -8.4444, 5.053, 0.7546, 0.2222, -0.0269, 0.9011, 0.0479, -0.5265, 10.7145, 1.8779, -0.0708, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 2.1674, 1.2541, 0.2619, -0.6971, -0.5251, 0.6449, -0.0349, 0.7647, 0.5514, -0.4004, -0.0303, -0.0563, 0.9981]\nstate[eef_state]: left_x=0.5417 left_y=0.0147 left_z=0.0487 left_yaw=0.6421 left_pitch=0.0751 left_roll=-0.0524 left_gripper=0.6449 right_x=0.2836 right_y=-0.001 right_z=0.1597 right_yaw=-0.0016 right_pitch=-0.0429 right_roll=-0.013 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -7.1453, 5.7778, 1.033, 0.0562, 0.0269, 0.0317, -0.759, -1.7983, 6.9402, 2.0244, -0.188, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044fc017f9b2d3a18b4efada3595e630627d348c4e36956b497ee3a949a3548d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc973625577b085de009c1d134e983fa767ff7caea3ced0328a64b39baf143be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5ca06bc16388396d49fb86cd68711dfc7b3715d7628b233144b01b64969014",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQ3fLQ3BucbdtpD15TJ7iu-hectiAHqy4EWhsCX6YbW3l1am0m3hoVj0snQuc5LDnWHGDoJpJ0Eq2wqaj-CG8JfjtB8tSunXsv0LzI-Q8zyo8ZNlrEzpdt6zbWZPM_ph9LEhSISKiF22UNQKN0IR3zPEn5oChYnzxEU7lampnPMqtt8f1cgBT3L1pGuBTy5DDls1gPVRxsF7mt5c3YCLSuJiGIqtJdMcekIn9nnyYo6acr-5sfFp30B2mxbbuq03lx_xeYWEfZHICXXbZQWu25htZKu3IKcr1owI253uxL7jGLy4aMPLL14P1OEa0FjzImjwjTRSqVReDo-uFI0TaFvp_THIjLbd8Lvu8LOCGJ0b0GaBk_eTBmo4G1ui2wNNgA-i_ikDi8dnIHDwWfDQl1Z2StNGBmv1UEW3l671OrsN0N-0qheobcbUomlIIilFYFNT_WKGQoU8qNHT9q73YUZ55N2cQw6gtwgdOqYKPE0v1na5NsrWbx4h5AfRvbip63tESZVmrhNqvF4l1C3457dBlMZTCVMSZH_L8vTcWcnC5tq8O0XS3-Jftd5rkRkkxcwJLPCkMYCNE6BP8w5kFwAiPsyz72Y4giQANyP8r3cxZFHJ-cWXX5nIXz3255m-7kjt3YiTRBvnl8T25lx-6yisUWFQMDw9Z6TKl7Dk6s8_A1mDOcT7gXPV_EJrQ5UiyJjJ6SXIonZL6RLUxS6PVzicQRMdYAalp-_0xpaW6dJMeKJ7J5KdVon6uKVjtg_kJtKQvOrrhWfV3fV7h5KNpfLy9J6cKfKrCPkOzj6ExU1YQA93bku9DuxCth0WTjJ1VDER54UAH43jfX26kws30jnw47IIMdbQGBe1yHJ8lmBg9HHhoKCLs8mH6bMOR2YOjgYv2ZcR5wBiyzjHoP6JoErPYDutZXKnMJpCnSO7F9z3u02dEuPKlyozkOxZn5_6E9e3yiUYcIcU-oi-sU7twbWDM-wFVw3wvYLAwSSheRny6k1lxEBvjs0I-3xyquYYzVOuS5Vk1wtemyHzdahhQdF6whW5jdDlXXq9-kKNWMOoWc22_Zavhy3eeB9Ja0CGfp44hvMELaSwKEXrlNk7xjj-qXXunDJw_F21HtY6fow-1ZQQ4VbT4S_szTBTiJMWG2h43iLl1G9OpvO2HO92pJuj600ZCOMWN51PciEMEyjTwK-SD4IgSch3NldhPDztyZuV3ZRKX_xWtDYBluLptXrY98hOQFnqn0Ifjy4bv9yzlM5F4RNdeNddiG4gl3cxUTEco-WRrK6ORLNyF0KGRFatF9_W6ep3TuLCFMkEE7FqvR8X-gspl_v6067pNb6xmk8g9EvxsqITTRNEXTGgnIyN9Whu5toqg9y64EEqCQyES0g2HevAk0Y1cwa1KEVJeMB98rCzZof5rC61hyU83RQoaZxXjAD0Hz-TnzW3b8KA-eBKyt2JYoTxR7zPhWNd4ksNTvrS-jkwr03jZw9Dr8rzz4nUDxEe1f232O0qfGj88XozAG9W9Zkc_9256oSPp6xQcgUbnUndErpIXjT8q2nQvsaepDX7Gj-daPulr1lh4ee73PKfW0-HpPjpOzlxKmji6Dfhjx7qUeUTW6lasmYgG2SiiEHi90rg4q9-xVSwD2iJIwNwz3DEuMEWd2Kbvfr6P2AhWzw4yYukmx3l_XOh7jfVV3FS1Wtz_VY_Q0XlVbPRo8IJrduImsbLWSFSZDkQR7IOTSoa25wxw7f-42TS1mYxZnDAB3XwJmB3SMm4rq9QRaLtjxUhUWT7xn5ewz08Dv2Kjo9IrRrbKI6gkOKwcAuSYtlSszLXVuojBkFzEbNX8YE4AS1_oGY9qMyU9QQpwl8Do7wENC5SiuHuOZEcEa_9F7bsk5SG6p_KP-96kuRmHdMQ01k7EAdLin53fFNjpOwMKQ6AV6AFFw8zzimTY4LMMA2lyxQs6gBpUiqLB5Uu1d3vJvTValiMVMCwrdlX1oNk-O9H1U1Ax1Uim7HaXTvqxlddoKu0w97l0f9lBL0UaCdvZD5Ag3ftFK2m0ujIusx1B5LYWUpZ5ep1W96GlZSe55yvwQyns9ARKOvcHFAMiBbQL13P-Zov04_DjZZaQ9nfb8teHU-i16cxdQ0nDG-O8x3gCqKKk5h9nX2_iwLdQ4yBvXk3l7OprWyVoynCVO4l1SkubuyhRPR2p1ZXXRSfkU-H6b_RTfxRVOjpvpEfLJZyxnn1RHLLfQrORrdj-2z5kRgS7bdzEpm7Inayhk6vOIW-RZquLJWAXxZlzSoSoKmQysO8NwC3VNgjRmVUiOLWsXN1INy9AqWGgMURXL1O-F6E3NJZ6TWheTke_wLfgQQNLDAMNqn4AkY6PYUAI0c1Qa2CLvjn8Z-VUZXBWLGBoPP6vm7X3NcjemN0UkeKKCnafpLJ6nQY_gGiaJgx_-TGPKR56VaTGghsNtTbV8OehpZV-vMjoiftbLfPJc8zoy1XXzOTbjabPuua8PJXRmd-NcUAXbaLd4eZSB1SwTAdaPb69pYTJH2UeyeDPBgC_eS5py8PPOtP7rwcLZZv5a3gv_HLqM-5Hpr0j0dJ5ARaWeOK6-62P3DE2HfuVDiHSM4ADpCeuynMScc7JEi--cISBize1m_F_gsJ-XFSe-cO5BOAVYWabZivch-_LphjziLYXv5QKL7wPBKKkHRmpzrTmp7R87mgR0P8oam0x05B7Xg3wndGAmpHcyIBsU-oCRypNSzU5LtYRoUD_SXnW800KYlAmVohOTiihg65_UzEJGZxrA5lMoMwvVflDpIeyxXKX7oq3_cOOzymsilBR7a3MAqCc1qeFcPaaKEvyCk_ztbF3FJicDNXeE_PbIwWoWKhZY2kvfGEqFfnaVGe30W3MAH3V4iqYDtbkY6wWLRimebVFyrmzxubvQDXQUj2wRgHjJAarAdQrQiioxaY2v6XpRGQOfJ83R0zWvFj2KMQT72OHWYaq5JVIIW7UFU5GdlT3in9Gr0zO9xJKGTFqfAhDW3m0yMfNP0lsk5tyWHT_LSls5222Bih3EWbBw2h-s1kxerdcsQcb1eiHjLTUDs3D_wvUuOYsiKnb8QAPJrXRvyaKIagvLTTKEGy0pe-bdMRDb-l6oEFLWpBFgOMiOEzQyZoNCG0jXrgq6QeHJ4Nligt0EB-849Vy3PCF0=",
  "id": "rs_04d9ce665b00e700016ab4942fb77c87d08a6fac27ee9711cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.045,\"left_z\":0.02,\"left_gripper\":0.9},\"note\":\"The readback stays about 4 cm above the table at this long reach, too high for the neck. I’m moving back to the thicker body so I can bring the bottle into a more reachable area first.\"}",
  "call_id": "call_uhr5iPbUwh9BIS3fPZrBUbFX",
  "id": "fc_04d9ce665b00e700016ab494366c1087d0affc3dc58f1e2aea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uhr5iPbUwh9BIS3fPZrBUbFX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3698, 2.0731, 1.1004, 0.1955, -0.8162, -0.6834, 0.8977, -0.0414, 0.7429, 0.5106, -0.3767, -0.0303, -0.0574, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=-0.0469 left_z=0.0408 left_yaw=0.6275 left_pitch=0.0576 left_roll=-0.0446 left_gripper=0.8977 right_x=0.2804 right_y=-0.0027 right_z=0.1516 right_yaw=-0.0075 right_pitch=-0.0383 right_roll=-0.014 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -10.2632, 3.6308, 0.7155, 0.0366, -0.3199, -0.0806, -0.6496, -1.812, 6.9128, 1.9853, -0.2027, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e2e579256b72c5a6fe3e0e68ccdd9a9abaf16b258994fe85e1cee27c9837de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39abcce463dd61c20c992b114a4281eba58e6d2996f6fca6f460f281b1bba029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bc45943a23ac7fdc0aad027f881eb70208969cab38bb0fafd8c0980c1ad378",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1986, 2.0487, 1.0573, 0.3275, -0.6521, -0.5068, 0.9979, -0.0341, 0.7383, 0.5072, -0.3656, -0.0299, -0.0505, 0.9981]\nstate[eef_state]: left_x=0.5038 left_y=0.0116 left_z=0.0447 left_yaw=0.5894 left_pitch=0.0468 left_roll=-0.0461 left_gripper=0.9979 right_x=0.2813 right_y=-0.0007 right_z=0.1535 right_yaw=-0.0043 right_pitch=-0.0261 right_roll=-0.009 right_gripper=0.9981\nstate[joint_eff]: [1.7573, -7.747, 5.8051, 1.3114, -0.149, 0.0952, -0.0269, -0.7316, -1.1145, 6.8855, 2.0244, -0.149, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 2.1674, 1.2541, 0.2619, -0.6971, -0.5251, 0.6449, -0.0349, 0.7647, 0.5514, -0.4004, -0.0303, -0.0563, 0.9981]\nstate[eef_state]: left_x=0.5417 left_y=0.0147 left_z=0.0487 left_yaw=0.6421 left_pitch=0.0751 left_roll=-0.0524 left_gripper=0.6449 right_x=0.2836 right_y=-0.001 right_z=0.1597 right_yaw=-0.0016 right_pitch=-0.0429 right_roll=-0.013 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -7.1453, 5.7778, 1.033, 0.0562, 0.0269, 0.0317, -0.759, -1.7983, 6.9402, 2.0244, -0.188, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3698, 2.0731, 1.1004, 0.1955, -0.8162, -0.6834, 0.8977, -0.0414, 0.7429, 0.5106, -0.3767, -0.0303, -0.0574, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=-0.0469 left_z=0.0408 left_yaw=0.6275 left_pitch=0.0576 left_roll=-0.0446 left_gripper=0.8977 right_x=0.2804 right_y=-0.0027 right_z=0.1516 right_yaw=-0.0075 right_pitch=-0.0383 right_roll=-0.014 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -10.2632, 3.6308, 0.7155, 0.0366, -0.3199, -0.0806, -0.6496, -1.812, 6.9128, 1.9853, -0.2027, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e2e579256b72c5a6fe3e0e68ccdd9a9abaf16b258994fe85e1cee27c9837de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39abcce463dd61c20c992b114a4281eba58e6d2996f6fca6f460f281b1bba029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bc45943a23ac7fdc0aad027f881eb70208969cab38bb0fafd8c0980c1ad378",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJQ8H7p14T0g8fpsoVPleCc3Dw-s1PiJtEHwByhfWmq786GEKL8mvWJgzgieV6g_UIBjY4JI7_HgZ_f2aXOMjw7RsTfacdBW3hVzWz-W0-HMg10dTM8C-qcJlbcO80ZY0jj8dL1v_g-ZD2F2YLSnl4SsVEQVw0MWzlE2lcRAF_lPI_q8Y3_JftO8v-3kVHGcQ_H_D8ELJOqfVZpodKSqOpQrKDusg4tL-1gOopPAbsRwk2ZMCVv1v2-3QIXJXANqPl7XfeqcMQ82ardhnwQrCX56HXgO6a9xuEffEboJZaykLmEsG5N1WK2rkqM1aEhmNaa8delYkeKV1ceDwSdv9Zi3ASU43GTAPo4WlZMjprto4_YPvbvBdT0UVCQVr8b7M_CttkpWQ6TW6ukLjxr_48S_xWnTJvZnDL22mQUJ_BAtSjvnLHhKW_LxVxVctYS2L1BtJfkjg3skwte2SbdW3-iWEcO8O_U1hRAUeqEwtYKzKwQBT65sR9eavrfEvYbk1bowzY_RfpSntmFjrZT-7onX7d58xo90kFouG1f_SPfJPbqcZsMpgizCyOMEq0tBzGrxAdfl__btu3Hy2NdiXU-LMZsHIq8vLhB31NdLNcqBgKfi5JSXtWF-0zmVCxIH3-RRgdeYjq3wEk49mgFiXUfAu8UyWmKFhze1QV6XtFtNxjyuiMJlWloFwdWdRhgeUz06Viqs0Tpd4JcarTPWNpQSE92hHbHwC8EJAwIimBT9ccFS-TfoRsJN_5ZG87XB82B9cUPmt5SJBf80zj0bdjXPVZ3rTwXgatwF7DPk3FVercMFAodaofnh01sMH3DJol3UoJ4PRfmycVVnhICypx_0fAwb7xb3d_NFpdqLPWTZ-gRo2GdqpqGQUajVJy7unoX939eEvZt_P7PZClcLXXJqnTlgLz_qlHPuyJAPjv6OJQBgyBn0uA2wEj08BxPPKZ_2zfoMsMqGFKaK8jaAeqi-WIspE01my-84tfLdUGXzNS5hq_yGF4v8FIWxVULcmiyhU9PWlNWEzNPmTbHIqbTd0qf47RsRzFiQHBltS8LkL6yldEHvhafjl9YnBlgsBDOiCY3oyejKUl-BNQgfmgN1veZV-yTwOALV6C_dAcAyzbnmSP9fWZLExT9E3HOvWDxl6CXfbmg2bKiMwgdPpStc7I_GuCAe1MIp8Pwb-AE-uwAPVV12BK6MjTNpwPQK_yuIgw_B9hpoj8Hlj-UlfOkRhOmYLomOxKQML-Tq4Fp9BuYaIuK-43XybuL5-WxDZ33id4RlnSCQ2ArWmVFlrYy3LR_Om6bivgX3FmWyMeEt9JU1Qj2FKytH-hKrWe8lhsCjGdINfslN-CwLscpXvDkcvskphnP1BhbW23kWVguAcqgs4s-TyBDE2Xn1MEZFVAWHxlat4fHW2uLECu_lmbodK8ZzahsfXuF3wnez_7jthuyHDsS2pTkttj1--iZM5tCnZwrY8gM0eccE7muieP60TePf0KwgsK4Qi54tpvkwhwU=",
  "id": "rs_04d9ce665b00e700016ab4943a090887d0a89ae29f72f6d7a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The upper body is now centered between the open jaws and the bottle has come slightly toward me. I’m closing around that thicker section to get a secure hold for repositioning.\"}",
  "call_id": "call_xBwFlWdRpUmUz2bEAY48fF6Y",
  "id": "fc_04d9ce665b00e700016ab4943aeaf487d096a9dbe53ced12cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xBwFlWdRpUmUz2bEAY48fF6Y",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 2.0624, 1.1671, 0.104, -0.831, -0.7078, 0.0107, -0.0483, 0.7223, 0.4728, -0.3573, -0.0383, -0.057, 0.9981]\nstate[eef_state]: left_x=0.4941 left_y=-0.0452 left_z=0.0566 left_yaw=0.6549 left_pitch=0.0585 left_roll=-0.0485 left_gripper=0.0107 right_x=0.2771 right_y=-0.003 right_z=0.1437 right_yaw=-0.0078 right_pitch=-0.0358 right_roll=-0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.1709, -9.6205, 5.7094, 0.8132, 0.0415, 0.0317, 0.8864, -0.4991, -1.347, 7.0496, 1.9805, -0.1392, 0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bca0d56f68b95e31bdf11e6d555005896cd34972b009d6c8c3b8fb92c0447a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e487ec96b326e682504fbc32c717bf03fb746082fe83965a6ed4a41a5130dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec06934a9b0b5a4a9c95f5cb7724bafe35d120971732ec54e39def1a5d29e95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 2.0701, 1.095, 0.3882, -0.6632, -0.4747, 0.0107, -0.0338, 0.794, 0.6018, -0.4297, -0.0299, -0.0544, 0.9981]\nstate[eef_state]: left_x=0.5196 left_y=0.0256 left_z=0.0589 left_yaw=0.6153 left_pitch=0.1066 left_roll=-0.0677 left_gripper=0.0107 right_x=0.2876 right_y=-0.0008 right_z=0.1688 right_yaw=-0.0018 right_pitch=-0.0513 right_roll=-0.0113 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -8.4444, 5.053, 0.7546, 0.2222, -0.0269, 0.9011, 0.0479, -0.5265, 10.7145, 1.8779, -0.0708, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3698, 2.0731, 1.1004, 0.1955, -0.8162, -0.6834, 0.8977, -0.0414, 0.7429, 0.5106, -0.3767, -0.0303, -0.0574, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=-0.0469 left_z=0.0408 left_yaw=0.6275 left_pitch=0.0576 left_roll=-0.0446 left_gripper=0.8977 right_x=0.2804 right_y=-0.0027 right_z=0.1516 right_yaw=-0.0075 right_pitch=-0.0383 right_roll=-0.014 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -10.2632, 3.6308, 0.7155, 0.0366, -0.3199, -0.0806, -0.6496, -1.812, 6.9128, 1.9853, -0.2027, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 2.0624, 1.1671, 0.104, -0.831, -0.7078, 0.0107, -0.0483, 0.7223, 0.4728, -0.3573, -0.0383, -0.057, 0.9981]\nstate[eef_state]: left_x=0.4941 left_y=-0.0452 left_z=0.0566 left_yaw=0.6549 left_pitch=0.0585 left_roll=-0.0485 left_gripper=0.0107 right_x=0.2771 right_y=-0.003 right_z=0.1437 right_yaw=-0.0078 right_pitch=-0.0358 right_roll=-0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.1709, -9.6205, 5.7094, 0.8132, 0.0415, 0.0317, 0.8864, -0.4991, -1.347, 7.0496, 1.9805, -0.1392, 0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bca0d56f68b95e31bdf11e6d555005896cd34972b009d6c8c3b8fb92c0447a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e487ec96b326e682504fbc32c717bf03fb746082fe83965a6ed4a41a5130dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec06934a9b0b5a4a9c95f5cb7724bafe35d120971732ec54e39def1a5d29e95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_04d9ce665b00e700016ab4943ee65487d0bf995c8bf0cd293e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.20,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.45,\"right_y\":0.18,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The second left-arm close was also empty, so I’m stopping that approach rather than repeating it. I’ll park the left arm and try the straighter rightmost bottle at a shorter reach, where the right arm can descend more reliably.\"}",
  "call_id": "call_r5lKvONIhkxQXfrVibRtH9vP",
  "id": "fc_04d9ce665b00e700016ab49447646087d098f74a3b2a2a2644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r5lKvONIhkxQXfrVibRtH9vP",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0555, 0.8234, 0.6506, -0.3546, -0.1329, -0.1059, 0.9967, 0.5236, 1.771, 0.9512, 0.115, 0.3988, 0.247, 0.9981]\nstate[eef_state]: left_x=0.3053 left_y=0.0101 left_z=0.1994 left_yaw=0.0977 left_pitch=0.0367 left_roll=-0.0159 left_gripper=0.9967 right_x=0.4318 right_y=0.1742 right_z=0.0819 right_yaw=0.0346 right_pitch=-0.0695 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -1.3333, 9.0051, 1.9707, 0.1294, 0.1929, 0.0171, -0.0342, -8.294, 8.4444, 1.9365, 0.3785, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5616217dd51b708ebd50d99e0be808e8b14252c91205e53d3d2e2440372a967e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2eb116464d44f1441d1575d705da6e067bc1f23adc11d9189e57699b721a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc953088f3b03f6f00e34e2b1d55cb65e703afc104999cc4c9f8f013da0a6f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 2.1674, 1.2541, 0.2619, -0.6971, -0.5251, 0.6449, -0.0349, 0.7647, 0.5514, -0.4004, -0.0303, -0.0563, 0.9981]\nstate[eef_state]: left_x=0.5417 left_y=0.0147 left_z=0.0487 left_yaw=0.6421 left_pitch=0.0751 left_roll=-0.0524 left_gripper=0.6449 right_x=0.2836 right_y=-0.001 right_z=0.1597 right_yaw=-0.0016 right_pitch=-0.0429 right_roll=-0.013 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -7.1453, 5.7778, 1.033, 0.0562, 0.0269, 0.0317, -0.759, -1.7983, 6.9402, 2.0244, -0.188, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 2.0624, 1.1671, 0.104, -0.831, -0.7078, 0.0107, -0.0483, 0.7223, 0.4728, -0.3573, -0.0383, -0.057, 0.9981]\nstate[eef_state]: left_x=0.4941 left_y=-0.0452 left_z=0.0566 left_yaw=0.6549 left_pitch=0.0585 left_roll=-0.0485 left_gripper=0.0107 right_x=0.2771 right_y=-0.003 right_z=0.1437 right_yaw=-0.0078 right_pitch=-0.0358 right_roll=-0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.1709, -9.6205, 5.7094, 0.8132, 0.0415, 0.0317, 0.8864, -0.4991, -1.347, 7.0496, 1.9805, -0.1392, 0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0555, 0.8234, 0.6506, -0.3546, -0.1329, -0.1059, 0.9967, 0.5236, 1.771, 0.9512, 0.115, 0.3988, 0.247, 0.9981]\nstate[eef_state]: left_x=0.3053 left_y=0.0101 left_z=0.1994 left_yaw=0.0977 left_pitch=0.0367 left_roll=-0.0159 left_gripper=0.9967 right_x=0.4318 right_y=0.1742 right_z=0.0819 right_yaw=0.0346 right_pitch=-0.0695 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -1.3333, 9.0051, 1.9707, 0.1294, 0.1929, 0.0171, -0.0342, -8.294, 8.4444, 1.9365, 0.3785, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5616217dd51b708ebd50d99e0be808e8b14252c91205e53d3d2e2440372a967e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2eb116464d44f1441d1575d705da6e067bc1f23adc11d9189e57699b721a72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc953088f3b03f6f00e34e2b1d55cb65e703afc104999cc4c9f8f013da0a6f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRQRh3z0wNFietxxp_l_rN9cBYyDo2HdIwqOhOwFne8fcMzwXKOK8xDQdrTA-0RbEactvWKW5mTea7-ztFacfv2UFujUyLcWjhS8XNAVoyT8RXf2MPV-d3ZPxQfpz6eEgKfAVXhTUJV6-zIQhENIHvtG-ekdEzFE5n5LxbZeSnVlGPXaNx2beYzflUFfS_0fLKv_HQHZGSkM001ZcHMcaambyE9qI_8iqcwuEpe735wWz8XIZ1pbi0IB1Z1XDklslaGPfeTMGOBZXVt4rFdWdG1bQ4AOSC7EQlbEf0x84n_tjIzTQSCe8nAUVgFUTa-F9znjC9hVFk9COYlTTxUOIBDbeor_1xrM_vj3B0Z7TvhHRFbsytlEfe3dwsUW6VUqlRs5CtjX-WyrEfHuYX76Lq1q9PxJqiOO7y8TiOyN1IeDLd8Gw2eDA3yNiPo8X66f8LF46ipqipoeRra4LNNxazlAIJAV79nXNHDB16um9g_-vJjzXo50XLUz7w2IphXsk_nyyGpgv5SXobvDOSvhZimtiZR851cpOw2XT5RWOINkfByNKN8awhrdMp-p-XHTixigTR2SkjWQu2tn1Ae3dNmAK3ggvM83FrpwqgJOpiN75LPYBa9LjjnMrXJpPqxnbJuEjn8T0URujxbp92-TCBOO3G5G9Jie3i_B0tcDJ5U4In1nZjJ4CUhCyIkzdhWSCv1qKmnKgJeDCA0ain8XL-7yEqXUHw0HtrGrkeFR2RsU2Q3lTymTv2uA0S2yVYq-Qhqs2sxKQKOaBa9FWJXN9ZJySAmf70efCK1_58Fatk8_V_4dZbd6xgU9WCNVlbp8nUcVGrJSSyGqk9_HANpuRFQVyG6exB0MgZjxgPr_he0oUJtm7HBlLgpvhFlvtTDn0qeI6ohbEqDKA6-cUYCTAV5eq5YJISq-cYlS1TY21PBlSWWLPsawHkfU0G49XnsTp5KD4e_j9yc3D9N1oYBqYLIwBAiwwOHhttkyjUFKn3-Tayyvn8xYKB9Hrq21YHnX7U-YyRka4OYOodC3QRj-HSmP-J5DKLofjO2bxBZuWVLMOVGO2M2RYWrgtJCq2Oh_tAruKAf1r0hHNHqGz8RojSFyJ2CvhrK7Lv3LHZYdO1oyXkuHb8Vv4RihsFzZDgb_-zLd2my56S203TvAfD3WjKdOEhPgzWIwwNKi1McAFWEwET9UAVKy74fJHIs2n2OJUc-G7EBr3zWyxDFsBGQLzxPVKaYTf77Ldap2f7Z69OaDHdkfpD1rAFdsZGXqsqPorCHodf6Zn_ZsBSUYbcuuQwHOw68ool5_jrLpxNHITwJuVte1jxUDYur5BgVJar2bCVY5VdnJf6nCJvyTpXHE-IcHYXBe2H-C8cYOTVYzhY_jbpGKfhBiFi7hRp0dVqx6dODzxf0MetqBGpISEOKmrGsdrrz5-F7ZQL3To4bd67DGZALUtzsqd1tvH69sBm6xajG0A8S5_5aJdC4pdbo-kCfEqCkG2ZsT7fZmwp7bHESOcfs6SucrrtFQSnXcN6bG6t4r-CANteY9HVjP8qVN2-KoDJqHEpcoGslG56O7PGA8-bdzCi5j92miK_0mjMjUBsZtNJ1hsTNyE_ny51QbrjQeK33euXdiV6Cfj-zX-NSkIP_qhAfducTmj1FS_5HtD8INjK3YgLDgyAdYndsaxt_BD7fQ-eVt3xJj9NeSv0btR5DtfoPfrzHDwrBGpR7hfprwzukOv8FCYSXvzTS8PbCfJEb-hiha7at8DHLXjJMuZMR9V4K-PXOx83rcVZFoLquHnp2hZ5geEYh3wlAt1XG1HEFnq5i0r7CAr9tyvei02SMm17_mBBr4qtAzrMR-LCo5FhJosJ_iwuPbhoQ30xNbw==",
  "id": "rs_04d9ce665b00e700016ab4944c1adc87d082d4f984d9d04dfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.15,\"right_z\":0.018},\"note\":\"The right bottle is visible just to the right of the jaw column. I’m shifting over its upper body and descending so the jaws can close below its curved shoulder, rather than above the plastic.\"}",
  "call_id": "call_1uhUowDB3KCyV1HmeLZOq9V9",
  "id": "fc_04d9ce665b00e700016ab4944f2fd887d0bf3b29044438b14a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1uhUowDB3KCyV1HmeLZOq9V9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8566, 0.6582, -0.4202, -0.1329, -0.0978, 0.997, 0.424, 1.953, 0.873, 0.4774, 0.3504, 0.1776, 0.9981]\nstate[eef_state]: left_x=0.3001 left_y=0.0083 left_z=0.18 left_yaw=0.0867 left_pitch=-0.0535 left_roll=0.0046 left_gripper=0.997 right_x=0.4623 right_y=0.1461 right_z=0.0356 right_yaw=0.0132 right_pitch=0.0091 right_roll=-0.0292 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.0718, 9.5521, 1.8193, -0.1538, -0.0464, 0.0171, -0.9641, -5.2034, 5.3128, 1.2821, -0.2076, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d5a91cb400de23f285e697742e5863ffebed922d76840b70f5f06a7559087",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29975b515de37ce0bf7ed1ad0ebcb36fbf1fb272503d6c6c537f1870a202e7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864eac7fc86123fdda04f9cbe8762476ec423980cff35a22c927f958ae7e91d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3698, 2.0731, 1.1004, 0.1955, -0.8162, -0.6834, 0.8977, -0.0414, 0.7429, 0.5106, -0.3767, -0.0303, -0.0574, 0.9981]\nstate[eef_state]: left_x=0.4869 left_y=-0.0469 left_z=0.0408 left_yaw=0.6275 left_pitch=0.0576 left_roll=-0.0446 left_gripper=0.8977 right_x=0.2804 right_y=-0.0027 right_z=0.1516 right_yaw=-0.0075 right_pitch=-0.0383 right_roll=-0.014 right_gripper=0.9981\nstate[joint_eff]: [-0.3897, -10.2632, 3.6308, 0.7155, 0.0366, -0.3199, -0.0806, -0.6496, -1.812, 6.9128, 1.9853, -0.2027, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0555, 0.8234, 0.6506, -0.3546, -0.1329, -0.1059, 0.9967, 0.5236, 1.771, 0.9512, 0.115, 0.3988, 0.247, 0.9981]\nstate[eef_state]: left_x=0.3053 left_y=0.0101 left_z=0.1994 left_yaw=0.0977 left_pitch=0.0367 left_roll=-0.0159 left_gripper=0.9967 right_x=0.4318 right_y=0.1742 right_z=0.0819 right_yaw=0.0346 right_pitch=-0.0695 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -1.3333, 9.0051, 1.9707, 0.1294, 0.1929, 0.0171, -0.0342, -8.294, 8.4444, 1.9365, 0.3785, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8566, 0.6582, -0.4202, -0.1329, -0.0978, 0.997, 0.424, 1.953, 0.873, 0.4774, 0.3504, 0.1776, 0.9981]\nstate[eef_state]: left_x=0.3001 left_y=0.0083 left_z=0.18 left_yaw=0.0867 left_pitch=-0.0535 left_roll=0.0046 left_gripper=0.997 right_x=0.4623 right_y=0.1461 right_z=0.0356 right_yaw=0.0132 right_pitch=0.0091 right_roll=-0.0292 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.0718, 9.5521, 1.8193, -0.1538, -0.0464, 0.0171, -0.9641, -5.2034, 5.3128, 1.2821, -0.2076, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d5a91cb400de23f285e697742e5863ffebed922d76840b70f5f06a7559087",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29975b515de37ce0bf7ed1ad0ebcb36fbf1fb272503d6c6c537f1870a202e7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864eac7fc86123fdda04f9cbe8762476ec423980cff35a22c927f958ae7e91d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRW6BV795zfzNgqIaHZebG49h_X3gqT2vrKIV9DviapEGj2EjJq9bbQSs4Hhv9F_bFQgD0yHSMe1oqNBc_g8O4HqqwIHIrbDCKGEXpshkSCYW3rITvLrXfDuiawdQ4dwjXykbAk5L2CohP6Xq8FBqQy6W_4mROe-njWiFb0pTftezGQvgfqWMo35X2cZCFQtOc5CprKRfmHAAzVKDvddQU4aAs7-9xmr23FkRfLUBjGB0OX3AG9hx98hUsoawccQC7kIiYhp7Ab0pPZ8uFfDcUq5vtPnMtkLABs3aumxyBf6NcQlf-kAKHXAf9Oc0HRmivG6RfmIiN2_XZjn37UzzA2_LyjSqU7af5lbKQCnVQD8gBvFoO5WHtDyEGqdOpimrRVKAxw24VM971lZAENZ_ZXb-dD8OZ-CT_Wr9xxnBBgI3RNVp6YRWyHOQvjzvZKYdiA80oENNKrPL-wP1u67FkTG40z2-NGz2W-TLUcOOmPfLzTdmBtSVM45jUKaSrb0RtPK6kBp58s84V-E_PPsa7AEjl8o8_tV3wuj92Q_jPNpdVt8FJKj-Wg9GOSsVphbLgo77nu88iS6vangiFFAjlUVL5yXsmiGpg_D9uzVkp9ncZOoWrYQVndJngGPaXJcMtGd5lGWI7Zy0C4YOwoj8PZUtgjFDK0QEt4-TjacX-xfbK51EOjDG74hxxiZa1ym9V-n9o8DZw0L1UR--7_kpptiN7DWJfgdfn4PsgCWGharl7npjLL_m7tHlZ4n9sZ9Bw6YcL06Ghg5MZYjYQBZpdQ4u5xZAiVeIC3-lmgb_Y4c0IrJnANi-YNMGTuep7JokQAP9v31AC8RuaSXEXenRoFzX7At-1nBqDbMbhz3mRNx0anhMNipxxQZl9IfFQyEfKMy0wPA_lYS407eEMLLRExv6sbUP6KBp9lOShmEZ7yhgveZq-neYBdEXaOX4vkqJq9ZkLMSGgxd-T6hTKibO47pOodXWLwYh2J940gxS_eVRqBEkX-oddOsFktBunCnbgmBn2Q7rmptOlV41BWd9Gus-2nNqMrelwp9aFOE0B2LVk6ZUrvZO6_zyoMyjbtOwHoEDx7cFtYQxzvPSktVB5fkf2xa6MHAxKT9jMMI0NqrRsQ2UX1RdWuFqVx7hzbVvOhuquuZ9797HM7pK9eNtd5PmoBwJikb-1FHALduFvu-12BWJiwJPyQs0k5FyKztWu7l9vxoCKvlIklcXyvGdiwv04b0vLP_CmUOrGUgRwCiR8FuPBNXfj_qqjaRr73gEPkYFiLRwZtFUZy4-1Nd7z1Y0rqDnNVnrTmJHrXBZ1NcuCUMJbS6rIPHsS8ANKrvV-eMg90vpz9OydgPLYDAaR9PFcAvnBWJ3ca2uqfJjO3qrj1QSnPi4on7jjuZawVgoQtwMawGto84eCNIks7Z8_cotYU63JknA6QWbWO70LRjPxImxljTW9reek0SGWxIoWYa9APCs4DIZLiZ7bS1wgfIXvbBlIgvieKEVdc5aONcSrYezrTxQuRHQB4zNwvTtKEIvXvKsFaOUNHpUvsQ5J-KTVblvoLFCCN-rZ3Kn4J_LVo6IFB8je_lL6t5Wwh8x2lPUuehCE5L0tJcvbJqftiuAG7gyfqjLONPz0YqpZwTjdxm9PoN3txVOZVaRWIkeWk9kQlbTzkXi6NilRb5W8v80IIi2kHzFV-vE2TIyNbrEM=",
  "id": "rs_04d9ce665b00e700016ab49452734887d0be615f1e0a85e442",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The right bottle’s upper body is centered, and the fingertips are down at bottle height. I’m narrowing the jaws to hold the bottle without fully crushing the thin plastic.\"}",
  "call_id": "call_6gUe3gau01RW3CPwu6ccoIk8",
  "id": "fc_04d9ce665b00e700016ab49454e63c87d09dc8599b4e109699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6gUe3gau01RW3CPwu6ccoIk8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8253, 0.6025, -0.371, -0.139, -0.1047, 0.997, 0.4229, 1.9469, 0.8749, 0.522, 0.3283, 0.1745, 0.4083]\nstate[eef_state]: left_x=0.2975 left_y=0.0095 left_z=0.1734 left_yaw=0.0953 left_pitch=-0.0284 left_roll=-0.0015 left_gripper=0.997 right_x=0.4681 right_y=0.1521 right_z=0.0473 right_yaw=0.0313 right_pitch=0.0528 right_roll=-0.0001 right_gripper=0.4083\nstate[joint_eff]: [-0.2803, -1.9897, 7.0906, 1.9707, -0.0708, 0.0806, -0.0073, -0.9094, -8.9778, 5.3538, 1.2234, 0.105, 0.1685, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc53611a62ffca3c0e53d3b3bcbb5d1b032cce1e109108e76949f0a32c401cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe2d9559d01d01ca1f2eb7e3155df41690fb39ba00412f2ef4a04b2c747ecc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b3435a14d49e00c704b3eae02ec183df705b437a6466a1be266cba49c33436",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 2.0624, 1.1671, 0.104, -0.831, -0.7078, 0.0107, -0.0483, 0.7223, 0.4728, -0.3573, -0.0383, -0.057, 0.9981]\nstate[eef_state]: left_x=0.4941 left_y=-0.0452 left_z=0.0566 left_yaw=0.6549 left_pitch=0.0585 left_roll=-0.0485 left_gripper=0.0107 right_x=0.2771 right_y=-0.003 right_z=0.1437 right_yaw=-0.0078 right_pitch=-0.0358 right_roll=-0.0092 right_gripper=0.9981\nstate[joint_eff]: [0.1709, -9.6205, 5.7094, 0.8132, 0.0415, 0.0317, 0.8864, -0.4991, -1.347, 7.0496, 1.9805, -0.1392, 0.022, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8566, 0.6582, -0.4202, -0.1329, -0.0978, 0.997, 0.424, 1.953, 0.873, 0.4774, 0.3504, 0.1776, 0.9981]\nstate[eef_state]: left_x=0.3001 left_y=0.0083 left_z=0.18 left_yaw=0.0867 left_pitch=-0.0535 left_roll=0.0046 left_gripper=0.997 right_x=0.4623 right_y=0.1461 right_z=0.0356 right_yaw=0.0132 right_pitch=0.0091 right_roll=-0.0292 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.0718, 9.5521, 1.8193, -0.1538, -0.0464, 0.0171, -0.9641, -5.2034, 5.3128, 1.2821, -0.2076, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8253, 0.6025, -0.371, -0.139, -0.1047, 0.997, 0.4229, 1.9469, 0.8749, 0.522, 0.3283, 0.1745, 0.4083]\nstate[eef_state]: left_x=0.2975 left_y=0.0095 left_z=0.1734 left_yaw=0.0953 left_pitch=-0.0284 left_roll=-0.0015 left_gripper=0.997 right_x=0.4681 right_y=0.1521 right_z=0.0473 right_yaw=0.0313 right_pitch=0.0528 right_roll=-0.0001 right_gripper=0.4083\nstate[joint_eff]: [-0.2803, -1.9897, 7.0906, 1.9707, -0.0708, 0.0806, -0.0073, -0.9094, -8.9778, 5.3538, 1.2234, 0.105, 0.1685, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc53611a62ffca3c0e53d3b3bcbb5d1b032cce1e109108e76949f0a32c401cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe2d9559d01d01ca1f2eb7e3155df41690fb39ba00412f2ef4a04b2c747ecc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b3435a14d49e00c704b3eae02ec183df705b437a6466a1be266cba49c33436",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRbj7f6Hc7AeWaKUiDRQH-RMjQIfNbtAAERGCfT12NcGsawez2QQo86U2Vw-pqGFt7393-Zy3SksIbh1z6YtKT7OGAQuaBmPnc8JebxEZo6zVFBgsU45nD3fYLlDt13_INzJn8-2d1iFK33URDF6fVbt_T6Q-mFvAdIAqrEmdIofgs6hmiywnaTjS7IvHf5oR8ZrmAFjeRa0KKI92lAlW5CM2aeD0kz0lJZVbuplY336UKcH20jOgpSRap0dK17LRTq-6GZw8KnJt5e7KMSgvUSWNWbgR5Q3TK0ocaAzPFK_5MDXaCSGUO-iUjpqbbYQI94oK7AbiiMTweXUcrNAssRcuU-eKon1k1RunU8-OQf3uKjL2M3sNjQobVXDTKKCq3Re7uG3SUdZAHhf9GB14dSslaMOF67frlA9HmwkEHDz-iBJ0mN0MnqOAWUFq-YySTRdiJkxV-pz8jylvO1GYQxKc1MZQWyAHNasw7BFydMR04cRb2dIdgPmH31AAMtIrOw9sm9laouYFq1NDIaze7pvx4KHd0nPNjUNcOo6Q-oL-2QBNs0ORP-m_0q1GKr-3wTdyhwBGn4ci6c2Y_ZiCS7CcPjSPozTuJmKgGIc0UnoOnk_GC6hzSBkhvM2nHaGsAF_Qdf7FJcTzIrJ3S7KGoMuZZKLou3v0dVeSPCyZqUoawBPwj192g0Mzjb7QP44aZ-lQqh5eamt2N5domTIkSyUzJ7G3QMZ_hcMpMOpYGJjchGqU8y2OX34zqFA0pflhpfAeCeuRrMhcNpXq_fEXODIKAuQ_vDJcgknz3DvyuGoHDez3GekBHfzDia-WFinPzYrWQ1ez53Z1GhzgP2WmN23BXl7PPErx3h-UQIAXlaMG5FcJOXhYvf45rqVevL0_kwnk8_WkAU9nH9q4CfqUtRfvJjzznSlWrRmDn9fhh4Qt3NvUXLqRmUw7vD1dxSeNIBxCzXhHdQSLt5Z6lyb8GNyi39W1kCpzuqjD3dx11fWnrt553jFL4nqdspZqB9dRCvpLM4g2-QDO8gmBvaop-8mu-WsceDwYK_B6M_ajE_wfw2bCPviCg3lJjYkfJgzirdF2JN_bRDz0Y2E2cibJ2JF0AH3Z3V8HIRmIzvX_wyDargnOjbgqtUOFJuP9VaapzeO9HAeDX_5PFQpSOrx3mrnWO4alo9ybJo4EAwZ0D5Z5AFENwmevll-m3xbaW7wysq0ibSoDv2_Ex4nldyEecNnIZHQsT2Sc9eogt7Lakhqx247HiIs4NXnFooYAP01JeC9E1YsUBuwAxqWDNcJGlYya3MUSCJIVY_u8Et0seYic70E5K2h8mVcD5mJ2cknsMXt_fbG3pXF3qfNhNGFoyb8lGs9JXCctvws9-cEAOIjEk_mXFFUyjeVnKNhWNDtvyW3-bH1QCViZJaCC3pjonVO6G5O8n79rD1gWLdhUArxwFmPbx4eTnIQNQVLdrT444Yv0p_8E1Ra5buZ6EWziEkEVMZK35-8psIp0L034Di-YyCIzFtNRbrYmIxLshJIOWfkY1b7GXBX9g_JBN-K9-B3i5Xv57YacEEBDyimy1sdEI=",
  "id": "rs_04d9ce665b00e700016ab494586b1087d0b08d8142870965e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.115},\"note\":\"The jaws have closed around the upper section rather than all the way shut. I’m lifting a few centimeters and drawing inward slightly to test the hold and encourage the heavier base to hang below the neck.\"}",
  "call_id": "call_vc2BzDQ4D5Gjgtnb6SOQJfBW",
  "id": "fc_04d9ce665b00e700016ab4945a03dc87d087e884da7ae168d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vc2BzDQ4D5Gjgtnb6SOQJfBW",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0643, 0.8169, 0.58, -0.3485, -0.1398, -0.1051, 0.997, 0.461, 1.6894, 0.8776, 0.2123, 0.3374, 0.1982, 0.4072]\nstate[eef_state]: left_x=0.2971 left_y=0.0091 left_z=0.1701 left_yaw=0.0942 left_pitch=-0.0201 left_roll=-0.0027 left_gripper=0.997 right_x=0.4355 right_y=0.155 right_z=0.1043 right_yaw=0.0497 right_pitch=0.0089 right_roll=-0.0038 right_gripper=0.4072\nstate[joint_eff]: [-0.3761, -1.8667, 6.5436, 1.8926, -0.1538, -0.0122, -0.0122, 0.3077, -9.2923, 7.241, 1.8242, 0.2125, 0.1685, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad352febdb9ed6b1f30d376663ea60bbb9c644de2afdbf7af086da11a1feaacd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1392edce015b88e3856190f4601137ecc12e0ca8ade4ba24515072e96839787c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1ffb6f02188ed1f8e2895e2b0c81c6b88a72b785977c315574d289c810cba0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0555, 0.8234, 0.6506, -0.3546, -0.1329, -0.1059, 0.9967, 0.5236, 1.771, 0.9512, 0.115, 0.3988, 0.247, 0.9981]\nstate[eef_state]: left_x=0.3053 left_y=0.0101 left_z=0.1994 left_yaw=0.0977 left_pitch=0.0367 left_roll=-0.0159 left_gripper=0.9967 right_x=0.4318 right_y=0.1742 right_z=0.0819 right_yaw=0.0346 right_pitch=-0.0695 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [0.2256, -1.3333, 9.0051, 1.9707, 0.1294, 0.1929, 0.0171, -0.0342, -8.294, 8.4444, 1.9365, 0.3785, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8253, 0.6025, -0.371, -0.139, -0.1047, 0.997, 0.4229, 1.9469, 0.8749, 0.522, 0.3283, 0.1745, 0.4083]\nstate[eef_state]: left_x=0.2975 left_y=0.0095 left_z=0.1734 left_yaw=0.0953 left_pitch=-0.0284 left_roll=-0.0015 left_gripper=0.997 right_x=0.4681 right_y=0.1521 right_z=0.0473 right_yaw=0.0313 right_pitch=0.0528 right_roll=-0.0001 right_gripper=0.4083\nstate[joint_eff]: [-0.2803, -1.9897, 7.0906, 1.9707, -0.0708, 0.0806, -0.0073, -0.9094, -8.9778, 5.3538, 1.2234, 0.105, 0.1685, 0.4469]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0643, 0.8169, 0.58, -0.3485, -0.1398, -0.1051, 0.997, 0.461, 1.6894, 0.8776, 0.2123, 0.3374, 0.1982, 0.4072]\nstate[eef_state]: left_x=0.2971 left_y=0.0091 left_z=0.1701 left_yaw=0.0942 left_pitch=-0.0201 left_roll=-0.0027 left_gripper=0.997 right_x=0.4355 right_y=0.155 right_z=0.1043 right_yaw=0.0497 right_pitch=0.0089 right_roll=-0.0038 right_gripper=0.4072\nstate[joint_eff]: [-0.3761, -1.8667, 6.5436, 1.8926, -0.1538, -0.0122, -0.0122, 0.3077, -9.2923, 7.241, 1.8242, 0.2125, 0.1685, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad352febdb9ed6b1f30d376663ea60bbb9c644de2afdbf7af086da11a1feaacd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1392edce015b88e3856190f4601137ecc12e0ca8ade4ba24515072e96839787c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1ffb6f02188ed1f8e2895e2b0c81c6b88a72b785977c315574d289c810cba0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRhpFET3CYbK-hWqRk7WsWpSTmV76ear0ZOiBMNN98hRx91GK_68qmoC2QB7u7Sg7L2RKhqYi4xql8Vq84-aO7rY33JEgFLas9Xt4zpYlF7Zx7GX1aWhBvIVYUG6EmInh4MxYAKOCiY45M1-VP64LR5NFDXhyfeBO48nny61evAmqghKWMVTNivvCoFPT54t0pQNce6blqAe63enilZo9s6b02x1bJTB-aIBDhM7K7BrCnczDtKBMd-wg9TT1jE9tWy93TdQmDRIIzE2xmmXgUutJ_ZecQ-OaGK3sg67vsQ3-ATVbXWzHL6DvJwtGKX7qGBKZPLI_aj8STP0HpN5E-54TjPo6t2tMQX_g2cozrW-aApp6eO-VYAv7m0YrCcJ5r4qYlwgAt7biK6iVuym_5bx4B5EO-XWVHhr3bJzF4pPqGZq06vshr26fHqWRio7V1cabB_YU6DbZ-qQ8w6zJ78ZQeZb7J9k-2C-zRgU6EZaKxIbcz_oojdWwsYVaFI_lz87GRJykY0Ze_fUsjQIzvtM-u8yNg1OiHKNggWu_VwzRpdhILsM0DSqKTAdbmauO8Cb3mHp74BpV30Qf6AG8Qjmahg5erBlsAZgReW9N6vMX4Zja8crCwLyYaUdayUf5kNgTzX1B2T48_WBnSxhBX5vi9QCkjPcC_kH5GMDM2uExAckUNvAN_rheSlsNt0PCIjPNi8EKXtBU6DWwnUlZU_llLS6iU_8JspVcIebt99ci0vqSvSEuJw0Vij5gpFXLlWWania23g1BlULEQO1PLdEwVudAy-XTPo-MN9V2Lhvsm4YrlrZ5JbVdjxqDUNZdMYnTfXKzpHjfz9VfeL-dcsTlS1DgsB11Uta-qBwjB5thqjyEc3MGAO3dYcmfFjwj7CBvs-UcwRUZaw8QBENfvK5daFtuaSZLUxM1wWNZfyBTbyLO-mHSRfrVk8qykgGOirU0D_hMXw01Zm7weuDpD5Zqa1tzhGTRyQgm5xf3YTyVSt1vwYKZKoj_G8_GRFCncS9qID5dxWfeW6NxRFTNKdqLUYwVqrTroQSqLHjBBt8S_aNJVMI_7sWAURcaliLtZFHwup4mpL9JOA8fBKSgMMgUuRA_wHySGMktNiqZ7M6_2Gthfc1f7riGpQpE0SWiprIcdZT2ixFOTB8hHRmEYPsAb-LGGlcj83EE7fItBEzldCX1c6ZAGQ42jiPKEMm6-_MxQRzxmj4h11q3fCP71I7ycSu9SFJWpxoZMPD7oX3UkDlILk8OgAdrNtAHQvLHPpvOUghAZfq-qPw-g4EH0YOx2_GI3IJXmk4HNtxKn-c7nluhsSIEQBrNkrc5xDdaeXZdrQPqblAB6tAFunwv4HuJi7f3WT8ChU4_uXMF3X-nyywlDdiJxIns_dJ5V7qwABYij6Yjj5Gul7maw6VSYEGIH5wdJGzhuuRInGn4DV0e7mZCTVy4wcDpWcdmqyqKCSzper09GcAjV-d8AUOt_7u6P-QOGBEPisFwwHW0FnWgom4G-soe1_bx4ooXKfmFXkyDPRJT9KWiSRVhWwpsghTS44ZMEH2w79cjr8mcCIpkbSHqakXCnlHGaFhihqutR5HSqvMPf-VWufratQFqA_Lt2DQGHKfS_CsbcGUFyR80GSW4SpluDaofdtPdES30vPGbFoXjc6lXoVeKZVUlopBVX7B-HyYMVeNbtYk3ExhrbZr1j2CZBqrnkNi92rtSGp1H20vKKkzeedvkPWAWnF3pPuL0fTtkg1RLhdwyIa7ljWgLi9_0cIpbfMVHllhqGQATiLPAYi9bmKT_8fB0jJ3R4GLjeLVC5zCbQ-vSR90wfS2jxfe8Whmb3vnJodcIEwTV9UPjA7Bglvz_s_fDtCPHss8BjKpBK9MiSTmx07530x753leawQwFOHIi2SVE3-E_HpKYwM9QK3-_P3v_JbBOMr9OR85M_-_BaHGnbr4MAhwTR2N2hFLjXNKqsjPeoEE8D9J-zgFwtZVswYEYccAkN_hSrpuJHeC0ICq9xGu_RKvBgWoPc_TeiCUyX3QXXrHHazBjQzYn7X_v5ve0UqWx4kYAVB-s-YvTRgaTi3hpE=",
  "id": "rs_04d9ce665b00e700016ab4945d65e487d09d6d0ca67aef83f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.255,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The right bottle moved with the gripper, confirming a hold. I’m lifting it clear of the table and bringing it inward so its base has room to swing down under gravity.\"}",
  "call_id": "call_vVKUTgLpZWHlfL5FD4DQzTkG",
  "id": "fc_04d9ce665b00e700016ab49460687487d0b3708b9906ebe4ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vVKUTgLpZWHlfL5FD4DQzTkG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.8112, 0.6411, -0.4397, -0.189, -0.1345, 0.997, 0.4656, 1.6592, 0.878, 0.1268, 0.3363, 0.2054, 0.407]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1817 left_yaw=0.0908 left_pitch=-0.0386 left_roll=0.0046 left_gripper=0.997 right_x=0.4245 right_y=0.152 right_z=0.101 right_yaw=0.0509 right_pitch=-0.0417 right_roll=-0.0192 right_gripper=0.407\nstate[joint_eff]: [-0.8137, -1.6205, 10.4, 1.7607, -0.1636, -0.0513, -0.0122, 0.1573, -9.7162, 7.665, 1.6581, 0.0952, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f657114e3cf805539723bf984c166fac3ec724512a38e813772a4cc509866af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e27e73394832f9cc76a11abed4cff24e0b09e4b7c84e65a89091fe3c6b1c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a462367bbd1e0356c231508de0313d5496e757cd77647494886481df4070bc0f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8566, 0.6582, -0.4202, -0.1329, -0.0978, 0.997, 0.424, 1.953, 0.873, 0.4774, 0.3504, 0.1776, 0.9981]\nstate[eef_state]: left_x=0.3001 left_y=0.0083 left_z=0.18 left_yaw=0.0867 left_pitch=-0.0535 left_roll=0.0046 left_gripper=0.997 right_x=0.4623 right_y=0.1461 right_z=0.0356 right_yaw=0.0132 right_pitch=0.0091 right_roll=-0.0292 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -2.0718, 9.5521, 1.8193, -0.1538, -0.0464, 0.0171, -0.9641, -5.2034, 5.3128, 1.2821, -0.2076, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0643, 0.8169, 0.58, -0.3485, -0.1398, -0.1051, 0.997, 0.461, 1.6894, 0.8776, 0.2123, 0.3374, 0.1982, 0.4072]\nstate[eef_state]: left_x=0.2971 left_y=0.0091 left_z=0.1701 left_yaw=0.0942 left_pitch=-0.0201 left_roll=-0.0027 left_gripper=0.997 right_x=0.4355 right_y=0.155 right_z=0.1043 right_yaw=0.0497 right_pitch=0.0089 right_roll=-0.0038 right_gripper=0.4072\nstate[joint_eff]: [-0.3761, -1.8667, 6.5436, 1.8926, -0.1538, -0.0122, -0.0122, 0.3077, -9.2923, 7.241, 1.8242, 0.2125, 0.1685, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.8112, 0.6411, -0.4397, -0.189, -0.1345, 0.997, 0.4656, 1.6592, 0.878, 0.1268, 0.3363, 0.2054, 0.407]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1817 left_yaw=0.0908 left_pitch=-0.0386 left_roll=0.0046 left_gripper=0.997 right_x=0.4245 right_y=0.152 right_z=0.101 right_yaw=0.0509 right_pitch=-0.0417 right_roll=-0.0192 right_gripper=0.407\nstate[joint_eff]: [-0.8137, -1.6205, 10.4, 1.7607, -0.1636, -0.0513, -0.0122, 0.1573, -9.7162, 7.665, 1.6581, 0.0952, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f657114e3cf805539723bf984c166fac3ec724512a38e813772a4cc509866af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e27e73394832f9cc76a11abed4cff24e0b09e4b7c84e65a89091fe3c6b1c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a462367bbd1e0356c231508de0313d5496e757cd77647494886481df4070bc0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRn2IbFB-jUnPpZokhSRk20pIAq0EayiH30tOTfiLiMha1rXbZGQf5UD4dq-fOPHxwwp1lfQHvNTDrWSHzXNsgNzU8pPVKqmhqaT4DQBQFeD5y3NjBkKkuBo1_adREF__NOPbaOrF5uQxSoLPKihFAwk_ptUzX_QvsCZl-SEItfWTSHzbH77s-UTu_ebwm1bPZyxJUFwSVSvtKf5FhC0Hg7LdobwDU7XiuaRq4cIuhH3NxS-sEWtSdMUSbvUvWJ-r98ux6qTmMMKxE67lLof4aKlF5W3W50cCuiIquv9bXaGyTTNjihy4tV-Yflb5PPFYwEMvPUzPy_KfSfZv6h8QeMHbZ9BSkpRUB6tllTkqWLYdLGO3k0baBiUzYR5-Po0stsvStI_TigOlYRyZocCvs8-pUAe2WlAWzlhfTMvyHwUjf00Y2gAhI3-TEwj6-UlxTHgX0S075mXsgplGEEhdkfaojqbsXdb37O1yCoBz9kXxSLStAxN3EFO8DR3DDYJMskGLJ2QXcqdwM0QKo_s91qynh2etfMvj3jueIh_I7-eHfRy5JQdQrq_cDuKqC-vy6iw3QwjCT10FToGgfEoxc2EcsPClTmI39Z27yFrFUgxOjztzHhwOa7nr1AXCjoX2pzgAqwbobi8_gI1rJxOWmwbmkCQ3r4DvceDSfJzd7_c9twv2-B3agO9zqawaFmn9I8WMaipJsAw22uHya1eCu-GqSZe0Vfd0qz5nJTxIk7_lfQ2gNE_Y2L3aSnkOB_yMzuAhFhBTbZozinrO-rPxbMWXFLd40mNddg4YG_XC22DAxr9hGjhxvZebsamkjo5MTAUsi45qQRC5SH0I1IepqCr7oG9ZPHusIFxamKI1JxmmupyVnMwDWXavVD_htCO2J0ALkOXn4cUM1NZFzOrWnMjHfnmbo7pOEI_f1Ui06YUzor78h_FB7TkNOIO5dsfxStMy2uKfnWC804PuFOPTDjDafu9_HjEx8vEosrlo9yP30v0ENSrCjzJAYSxS_xOYeg-MPcfRhLIpM--0Pmw4HmqvsLGUvx4G98w-HGHuI22VHdJSuoeT24RBHDXXR_gNVtvtXgbBYPI3p7vHYW75GIB3fdCoFVmpH3bExr6FnHn4AKtfv4qjPALSFqEd6e8dkftzbA2GlM4fbwGnZ32FrMyoMRWnR3MwRLV0rewz8UrFhC5CLomd4JgVGBZKWz1Mn18scPHDdqTFCz3iKXA2UKIKDdJqNdpClVAZ1opU1LMHIgiqJaG5Oju-7x1vVXuxT4Bvn3WCFpmKyirGxCMzi53OtETv1pinwYL30b-tanS_yXmI0z7XG4IhHbmwscl_T10rGoumqOKtHcOMdzCtaOgn-ZHFMkGc4b-uQ0MwvwWlWeos7mX74Jmp-bG8D6T1P15BOjHbnEpd-F-suSSHXqK47sjtR0rs6Qp3RpSBJyzIpMEFmeyvFPaD4gMB_aqsiI9zAyzWDYa_ryGaazY00m4X6jQuDxRlzOfl0YcM7sb5t6aDR1botzzb7Dh-50OtEg2hJpIFxxHi1z_SOPDvplo4bF5LTd8xmUNhB5tYSOgwcuORY6yFf9XqEGkBh8ZJR9chiCY2nPgIray6qeT7zMM1efFQw3CkSQi5EAfHRr1y_oBNB_c1UnnV5FYObZT5mCsSksxwclx2zNvi1PGD4O4NOq-MIj8E_3jJmTrTImeR7Dk9G_XCtQQYCTCMtm6dcyY7Y0WYcxbmmzVTwp9lT2YQRw58DmhduHr25v9zkXvdRWMrB9fAnUO24dMvgy9gis0YmmFkSZ_vXc9TXoF5puuiY41p47fCOpDKDjwJ6_tD8Ak2meRPkJQqx8jutBKC_MDNNw54WohounKZo8UwLj0h8Rt55jXzeXXxvbCvDNBUdpRaBptY1NqudWBmH5CFRdx-Qa9ArCtQFRXmxI4f5RRxhKzL0322qGY1e3W26qpgI=",
  "id": "rs_04d9ce665b00e700016ab494640e2087d0ba6779eb5844f6c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":0.17},\"note\":\"The right arm did not track the larger diagonal lift; its height stayed near 10 cm. I’m switching to a smaller, straight-up motion to clear that awkward pose before attempting any placement.\"}",
  "call_id": "call_Y3uW4MrG8aqdW8zPwOhqWsbY",
  "id": "fc_04d9ce665b00e700016ab49466cb4487d0ba29f70a2155f1d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y3uW4MrG8aqdW8zPwOhqWsbY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7906, 0.6044, -0.4164, -0.1925, -0.1345, 0.997, 0.4644, 1.5566, 0.971, -0.0498, 0.3309, 0.1932, 0.407]\nstate[eef_state]: left_x=0.2893 left_y=0.0013 left_z=0.1754 left_yaw=0.0936 left_pitch=-0.0311 left_roll=0.005 left_gripper=0.997 right_x=0.4216 right_y=0.151 right_z=0.15 right_yaw=0.061 right_pitch=-0.0255 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.5538, -1.8256, 6.7624, 1.9609, -0.0952, -0.0122, -0.0073, -0.5265, -8.8684, 9.2513, 1.6484, 0.0708, 0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437e633b1ca13e25ffabb4b6ec59477c5498db67fb99a13e661f0e1794fcb140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553e9841d9359945a244aa3fcf4abf68322076fa22df3cf4c9ed04f6b36e6392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1780e0785dfceffaa58e13e89fdb888eaa9589266908e8fdcbf0e2a44c0301c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0624, 0.8253, 0.6025, -0.371, -0.139, -0.1047, 0.997, 0.4229, 1.9469, 0.8749, 0.522, 0.3283, 0.1745, 0.4083]\nstate[eef_state]: left_x=0.2975 left_y=0.0095 left_z=0.1734 left_yaw=0.0953 left_pitch=-0.0284 left_roll=-0.0015 left_gripper=0.997 right_x=0.4681 right_y=0.1521 right_z=0.0473 right_yaw=0.0313 right_pitch=0.0528 right_roll=-0.0001 right_gripper=0.4083\nstate[joint_eff]: [-0.2803, -1.9897, 7.0906, 1.9707, -0.0708, 0.0806, -0.0073, -0.9094, -8.9778, 5.3538, 1.2234, 0.105, 0.1685, 0.4469]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.8112, 0.6411, -0.4397, -0.189, -0.1345, 0.997, 0.4656, 1.6592, 0.878, 0.1268, 0.3363, 0.2054, 0.407]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1817 left_yaw=0.0908 left_pitch=-0.0386 left_roll=0.0046 left_gripper=0.997 right_x=0.4245 right_y=0.152 right_z=0.101 right_yaw=0.0509 right_pitch=-0.0417 right_roll=-0.0192 right_gripper=0.407\nstate[joint_eff]: [-0.8137, -1.6205, 10.4, 1.7607, -0.1636, -0.0513, -0.0122, 0.1573, -9.7162, 7.665, 1.6581, 0.0952, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7906, 0.6044, -0.4164, -0.1925, -0.1345, 0.997, 0.4644, 1.5566, 0.971, -0.0498, 0.3309, 0.1932, 0.407]\nstate[eef_state]: left_x=0.2893 left_y=0.0013 left_z=0.1754 left_yaw=0.0936 left_pitch=-0.0311 left_roll=0.005 left_gripper=0.997 right_x=0.4216 right_y=0.151 right_z=0.15 right_yaw=0.061 right_pitch=-0.0255 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.5538, -1.8256, 6.7624, 1.9609, -0.0952, -0.0122, -0.0073, -0.5265, -8.8684, 9.2513, 1.6484, 0.0708, 0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437e633b1ca13e25ffabb4b6ec59477c5498db67fb99a13e661f0e1794fcb140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:553e9841d9359945a244aa3fcf4abf68322076fa22df3cf4c9ed04f6b36e6392",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1780e0785dfceffaa58e13e89fdb888eaa9589266908e8fdcbf0e2a44c0301c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRvPqhvzch-GFisIjEJmrjZWY5OJYR-rz2VawKi2ZxUYNjBBfZAHc1yNYuY1iM0PCDP0DSQfAe-4Y1ZxwWfS_aQzRK8VlZ3C94KjjsL3XqyFS5iMo9Jhfc4kf1G6PcApuUFr9qGUZGof9Ar62qJkrUDRIOssjcFAe0pduEOiyZxV_FRKXNbIrQ02QJ1qN5ZHjPhMfpiGs2If7d2THDyqyaGVeEgaIt1VEFX4XE1A6jl5NlLvIOOYUEDsIf0j9Vvc9uZCyDoRHB6RkNDK4GDw2asvTSQZz1vBF30rtmKCk2SWhv7LbB7esMKEcvvcqdWy6Y_HZz-UVGDhiz0dbG621W9bT04QSdZ7F_CCHPK16XMOS3QcvWEGB_1MlGB1myukWCwULrtKWHui5OPTryX72038ZPPfhnisbJWYeR5zIr1W2m5cff3txou8VkLF_XVpKoQ6lNnmDJQXajfyNxr2tnWaRmPELH_LQBznrYtSZJO2vRQFrxr8LjOlOyvNilqPVw52d6ZRgOV33kqNxAjedI3z4Gwm7djIFF57VPaLJHOcXRddtGxFlAsM1pUrVcQ923EVi51v_4Gwa9kqsnJrdgJJhJg6uNz48clhoYVN7mD5S5k2FdSTmf5yhcrHb2zH4Y24UbsR2W_nxCn0dvbF50F5A-WtOJUjpo30a5zSyrriUq-YEqgp4W7NwBcD_FU_CBaY4THPz1L02MehhyP4z1TEpVo4ZB7P1O2Fu579wE56P70sbtIlpy6ges6C-1SQxX5a99X7bRdoD3LogOqtfXlk8cZBMKZi6Fm7WkgvUGkPbvO4InJGu01Rs4csSg3usugt61FM1c0Tqz78u8q4PO0I5eQGuIRssPpJDjnoSXCwNwF3lfPV_NtcynRZ_zN7d7OR7RAZllU9u_AU579Q3PN8nfLB3sbbklhB8Jtoejrj45T3AFozBIN_bkkSfyDVGq6mpXleeZ-bWJOXhfFvYmVvwgyJfWOkoG0LJK4gzrsSCaeLtwp5yfv17-AdLjT4V7bkZveTq4Hpgbom0502_qMsf382XUvr3PWnHsw0gW6-DXPWxhFdpCj_05N9mhV6u0YIvpPejhYqSK7A5U7vU-Z5jylOxH4uMy1yGEu4lHGJfvHtPw5gMX8eSFvq9ANXtA_gD2SPkIGWTCOZ1tCv8K4-HyjExpmWBFifKUYgcGi6VBwWIUXaeUDzMLdf9RswM1e3HouBySIbMhuXPekfR1pdqk0YOIcTCqUffJ_KyAj3ifboAQmPNqqrg1ZkxMh5CYAIPWRgDth0scn76aREq3xlHLEIuQkVhP4H3p07jz7BQA_5BuZyC6HHg6ktYcUKhBJj5_RZwjQPA1xddyd9bHppsDLgs_T8ZEbAyF7W8sTWAp2TbGroEgw2tgmvCmYYtaLvIi18T_BA8bNINqQ4DSn3sCxG2vYvlA65eabb96lpae1j3yowTMs-LQ-s-KlnYdfGcPHYEIb24SptOcytbygas4gM3ilWdmjO_zDkHOgucg_dyoBRINagyo8qTmvViXeBdW4g1GssW_FEzU59e_IagndAm8U9t-t2vI0U-clYsvwIUHVfPZ7pl-OHZBezStVPaMyFogVIYya1CzIrb5rnLHH6Aql_kaVHNlAnQ3yyJ4mWG0J8wX6FYDxtwZYtC-RGDu9OipPlB4R3a0CRzBfn4QVf4TQfFxXXk-NTx6tF3ld2NcjLB9q6Pn03uyuRd9diVpXfDFEuf0ayBsDyJ51mZAjwqcyL3haje_3Hbg5XeGJDhW1WJPIO3nWgnrR2wHjdL2mQI82KjZ1y70z24ITomlxTGDi1VS4EvNQGwLjw28qPTxTP6ptq-kQRypxnC2ZmEyTIEWl32_hwtdmv-y1rF5rq1xKxQpNV3wBW3txDSLPxR4R2-znqxT8WssHWIMl7I8cnfX4T2qWAySCOIyefQPW-L0KqVG-yjtTKh2s5Lmgmo61IH3LLDbbLc_szV5MIAHMOXPIP_v6r_a_Jz_srDw4XBhts-OVmtv096Mut4AoB6LFq8gUlVTo97HdidRzB_bes2M-YZO4GEb3LQrNo6zskKXyOY2OdWWUsZVV8c0=",
  "id": "rs_04d9ce665b00e700016ab49469fa8487d0a22a3607774ec96b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":-0.01,\"right_gripper\":0.9},\"note\":\"The overhead view shows the right bottle’s base still resting in its original spot, so the earlier partial close was not a confirmed lift. I’m reopening and descending to table level over the body for a definite grasp.\"}",
  "call_id": "call_16rChGklgSciKLsIUbY9Xkj7",
  "id": "fc_04d9ce665b00e700016ab4946dd64c87d0b6089cc9923898c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_16rChGklgSciKLsIUbY9Xkj7",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7757, 0.58, -0.3943, -0.1921, -0.1349, 0.997, 0.4637, 1.5547, 0.9825, -0.091, 0.3286, 0.1902, 0.8974]\nstate[eef_state]: left_x=0.2884 left_y=0.0014 left_z=0.1728 left_yaw=0.0934 left_pitch=-0.0189 left_roll=0.0017 left_gripper=0.997 right_x=0.4186 right_y=0.1496 right_z=0.1478 right_yaw=0.0634 right_pitch=-0.0516 right_roll=-0.0308 right_gripper=0.8974\nstate[joint_eff]: [-0.4444, -1.7573, 6.5026, 1.8632, -0.105, -0.0415, -0.0122, -0.7316, -8.9094, 9.0735, 1.7265, 0.0708, 0.1099, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033d90ea9f06d0d49700554f4e8c2c3d9e75b33e14bbac8350868b4d9bcb76dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb3192963402b53404e4d320b76f9960659d7a47a7324feecfaab218d3d0ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455ac171641ad7d0d35826515b8eda49849aa0d4d89b3fbb20f645dd2a121310",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0643, 0.8169, 0.58, -0.3485, -0.1398, -0.1051, 0.997, 0.461, 1.6894, 0.8776, 0.2123, 0.3374, 0.1982, 0.4072]\nstate[eef_state]: left_x=0.2971 left_y=0.0091 left_z=0.1701 left_yaw=0.0942 left_pitch=-0.0201 left_roll=-0.0027 left_gripper=0.997 right_x=0.4355 right_y=0.155 right_z=0.1043 right_yaw=0.0497 right_pitch=0.0089 right_roll=-0.0038 right_gripper=0.4072\nstate[joint_eff]: [-0.3761, -1.8667, 6.5436, 1.8926, -0.1538, -0.0122, -0.0122, 0.3077, -9.2923, 7.241, 1.8242, 0.2125, 0.1685, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7906, 0.6044, -0.4164, -0.1925, -0.1345, 0.997, 0.4644, 1.5566, 0.971, -0.0498, 0.3309, 0.1932, 0.407]\nstate[eef_state]: left_x=0.2893 left_y=0.0013 left_z=0.1754 left_yaw=0.0936 left_pitch=-0.0311 left_roll=0.005 left_gripper=0.997 right_x=0.4216 right_y=0.151 right_z=0.15 right_yaw=0.061 right_pitch=-0.0255 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.5538, -1.8256, 6.7624, 1.9609, -0.0952, -0.0122, -0.0073, -0.5265, -8.8684, 9.2513, 1.6484, 0.0708, 0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7757, 0.58, -0.3943, -0.1921, -0.1349, 0.997, 0.4637, 1.5547, 0.9825, -0.091, 0.3286, 0.1902, 0.8974]\nstate[eef_state]: left_x=0.2884 left_y=0.0014 left_z=0.1728 left_yaw=0.0934 left_pitch=-0.0189 left_roll=0.0017 left_gripper=0.997 right_x=0.4186 right_y=0.1496 right_z=0.1478 right_yaw=0.0634 right_pitch=-0.0516 right_roll=-0.0308 right_gripper=0.8974\nstate[joint_eff]: [-0.4444, -1.7573, 6.5026, 1.8632, -0.105, -0.0415, -0.0122, -0.7316, -8.9094, 9.0735, 1.7265, 0.0708, 0.1099, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:033d90ea9f06d0d49700554f4e8c2c3d9e75b33e14bbac8350868b4d9bcb76dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb3192963402b53404e4d320b76f9960659d7a47a7324feecfaab218d3d0ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455ac171641ad7d0d35826515b8eda49849aa0d4d89b3fbb20f645dd2a121310",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR0vd6-T-zApVFvw_YhnOZjLxuY7AqZ-HSVY7RoLKePclxG1DhAic53GB_QpWrCGGRNBWa4WVBRoGdZXOoHVDSFOLusHT6RagQQVl8mW2CzLl8iFAxq7dLRWZ7j3XQlYBbSNmn39yIhqe5LeyrN4hxnxfrjea7l7pBLKa1d4nhC-x3ornfKynbGzDMcVatRa3IveyBWOj8qZp4QDKyCxlrvCb19PouTxuEP3gbJWEmj4EDLR4HxQWxv2TwIn5MMTsfosoWSzIMqS5_B3VJ0DzjqpBfmJmsOVchqaQV89AmDOG0zExdfiu9W1OoeJViSGB7aYMWO5QuyJtk63pX2HchL061RdpSiRFfM0JAWagVsOgvbGG00NEAMYDQyAZiZg_c2LMtRntBz4dwRFhU88grqcSW9SjlBWaWfaQ2eOSK6LIm56Rb0PMUZe2CCtA8GDwSNM_wnHkcMyOp7pCTHjmnFjqCbImmJoHnh-dVTrqGMTBh9BxYcu4pbR7N7bqQNTHGBMLR8XA9utyLd3YVr11MR8dShe_IddeeNllzBjAS7M-bkCs1qBX3RaxorAJGEymktDf-ZrbScRfw1pKUHB5LsIiu6t0FstoPUzAYtlpCbt3WO4Yh3Q2xfBWHHnpHvsOSHJXuoXXz1wIjKKWvaMpw0pUuN9fUxTy4oGnCt_tU3A-XKAqISxUaGgSZmlLsjXLOJHnvwi1L3X17AB_SS266SuMC69E1bCfadRO0863pgj9jbIENZWpudujDKfcDUzk0RMFHKcy0zS00zdlV6PAOOLQ4Q3KJ3v9tn7F4IN0qzBT_nueK1gmnnwTy7yO3LpdlQBJ-N9ZC_ZiflbgkKV2VK9IONHe47uu3PUxzD41qHE0OnKTKjvMvk2Qe5EeylXPjdtUXRYTNki554BR010bmB3oUxDfoOxS49Pwhm-UyroMEkApfxumNXMX4wN_dbyQ2nrWfk3a7GQq1uV9Zioz29ujswRsxo4QDAEf3QeV_tlyjovWrUjR0oEoFd91HjGT6xcHfB9zBPupNa1l4y6y_26zr9ktn_DaEksJfVyDrikE7OYLJclZd4HQhWJFJBerq9JVWN7BtoJeutuvDbUV6UmphSc6aeFH2x4EBlOJF4wOqT08OsaKO1nqUHlVCIJNov0xScZ3xtMIxE95wPZ_VNA5KHDsdBIOK9npZ1cvlnbY7z1XP586IS3n8N4PYuycRxvpOKBnhpp36QbMIv9GaZ3iRHdaxeePZQJ5zOTz-FNxEcawSwF6xtq2JUDGYhsGrjWXBlQuoERqiOrm986gDhVzFZnhZo8AQ_q_Xzrlw49U1c0enbsC97LrzUXiNnkd0KAkh2-Wd3KPY2k9LUp2hXZ6EC4XHLKaxq5-05yruNiKGF3jMF94-fJ1l0pbzApxKduFzoywGOcbYlLGwhIooL96FLqTOPqTfPPoaNX0JT_cMB-bp2pWg1ccS9WLmLm_OA",
  "id": "rs_04d9ce665b00e700016ab494728b2887d0a8e4229467d08506",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The large descent was held by the controller; the actual height is still about 15 cm. I’m breaking the descent into a 6 cm step and checking the measured pose before going lower.\"}",
  "call_id": "call_KVgARBYtE0sEH8qJXA6rMcj9",
  "id": "fc_04d9ce665b00e700016ab4947355d487d08789416b8e336d49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KVgARBYtE0sEH8qJXA6rMcj9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7662, 0.5671, -0.3904, -0.1925, -0.1345, 0.997, 0.4637, 1.7077, 0.7349, 0.1802, 0.3134, 0.186, 0.8992]\nstate[eef_state]: left_x=0.2867 left_y=0.0017 left_z=0.1702 left_yaw=0.0935 left_pitch=-0.0185 left_roll=0.0022 left_gripper=0.997 right_x=0.3902 right_y=0.1382 right_z=0.0354 right_yaw=0.0724 right_pitch=-0.175 right_roll=-0.0748 right_gripper=0.8992\nstate[joint_eff]: [-0.3487, -1.3607, 6.5709, 1.9072, -0.1099, -0.0317, -0.0073, -0.1026, -9.4838, 8.9231, 1.8974, 0.3101, 0.0659, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684cb78d0f45595dbf80b434f4a49b44abbfe437c687e09443d48c89a50f0e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0e347d549b359195958488f0551d70edfd23beb5a40719a7bdb2163404697e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a203ff729dc00bc21d81786bb2ea4bfad46d68376b2972c4e6898f43d4363e69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.8112, 0.6411, -0.4397, -0.189, -0.1345, 0.997, 0.4656, 1.6592, 0.878, 0.1268, 0.3363, 0.2054, 0.407]\nstate[eef_state]: left_x=0.292 left_y=0.0004 left_z=0.1817 left_yaw=0.0908 left_pitch=-0.0386 left_roll=0.0046 left_gripper=0.997 right_x=0.4245 right_y=0.152 right_z=0.101 right_yaw=0.0509 right_pitch=-0.0417 right_roll=-0.0192 right_gripper=0.407\nstate[joint_eff]: [-0.8137, -1.6205, 10.4, 1.7607, -0.1636, -0.0513, -0.0122, 0.1573, -9.7162, 7.665, 1.6581, 0.0952, 0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7757, 0.58, -0.3943, -0.1921, -0.1349, 0.997, 0.4637, 1.5547, 0.9825, -0.091, 0.3286, 0.1902, 0.8974]\nstate[eef_state]: left_x=0.2884 left_y=0.0014 left_z=0.1728 left_yaw=0.0934 left_pitch=-0.0189 left_roll=0.0017 left_gripper=0.997 right_x=0.4186 right_y=0.1496 right_z=0.1478 right_yaw=0.0634 right_pitch=-0.0516 right_roll=-0.0308 right_gripper=0.8974\nstate[joint_eff]: [-0.4444, -1.7573, 6.5026, 1.8632, -0.105, -0.0415, -0.0122, -0.7316, -8.9094, 9.0735, 1.7265, 0.0708, 0.1099, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7662, 0.5671, -0.3904, -0.1925, -0.1345, 0.997, 0.4637, 1.7077, 0.7349, 0.1802, 0.3134, 0.186, 0.8992]\nstate[eef_state]: left_x=0.2867 left_y=0.0017 left_z=0.1702 left_yaw=0.0935 left_pitch=-0.0185 left_roll=0.0022 left_gripper=0.997 right_x=0.3902 right_y=0.1382 right_z=0.0354 right_yaw=0.0724 right_pitch=-0.175 right_roll=-0.0748 right_gripper=0.8992\nstate[joint_eff]: [-0.3487, -1.3607, 6.5709, 1.9072, -0.1099, -0.0317, -0.0073, -0.1026, -9.4838, 8.9231, 1.8974, 0.3101, 0.0659, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684cb78d0f45595dbf80b434f4a49b44abbfe437c687e09443d48c89a50f0e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0e347d549b359195958488f0551d70edfd23beb5a40719a7bdb2163404697e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a203ff729dc00bc21d81786bb2ea4bfad46d68376b2972c4e6898f43d4363e69",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR5nPuZ3Z07lzYcfrtvuKFgqmahNZvNtzTK5q9owNd6iGA5p__T819bzvrvgNYJ_PpaJasssCuJX05LY4577Et6_6B12DVM3QlhSIb_qh5S886FwyROwQbR3Oiettrte200HBbeOD2fS1yhOU84Xm2tX-uadmDzlhH6GmxY5VY7xl1E5SOwooegNPSMmVggA6YuNbmXEdbcvJxkqnjEmgHRjcK7T4JrpxfR_MjQHT_gJw1A4kwnJIwCmPlNBTnC96qzqxBdJu_p6t9H-YG0tAtS-FXijJlgWicb7LlpQq1dpQWaYZ7xydFy6RGuD9MjvIlUCGYfEtm4PEavvBvMn5Dk7uayi281vvcZ8OgBqdmEkSPJMyARfRBo7YWTtaU75ia1efo18bS-3F14-t_VxBT6MDDRwAnPcvrx3nLhmOk0zq67gwetjs_y9cbR2yjDXDYwbbJtK_KZNH2xWtmhjyJThKSOluLoYUKH7KJ8MLx14HpPTo4HkMpBKofxrdD1qU3rzKXNtbMoZi7KuVfmgK_jNWf5NDHfRL-o7LSIOy70Bw8e79tom-IrMbpdzy3tNdpJSaFxvQ6WGFmK9okJWEMSi_RXU4JEL3vFy5Y7etW05Ci7pdds3uTSi6vmnH0KOOhW4zjkSWIBsAIrqQ12ExdQd2C_w_JIKnYIzKW7Wknj79fbKDntkNIkCz4B5vIf0jHIflE0rlVED-M-deYO6Ff_UY6DppamYJra_W826kLSA-BC0itU_0U0S6apKnE4vLqoFs2_gTzDDt0zT-lyLT218VFb_op8jocDn_fqVvA0jr7_9Vj8dksDO_-e5c14dkkXgBEA_uslv9hrVjppWXCC09q3YP9dS4lGfLb76muPLD38UpysR_w1DKHZ8iRw1i6Nz7nCZRjT6xNAJCELXerwDkVDKijys3-M4Jlioq2Vh5vx3ZeqboUMisEUpy5ubMLnaGJLwbmEm5vyByZFaLcRrQn6c4YsFm_QJ0s0Mg5Y63rxuifrV3bqZOTM7G8nEdV4wl0zvYcc5U7bYn8K1q7GTKP3V9zpcNHzaSGLJcFuC2j64vpr_qtmeyDgZKHYkyjo9TBwWdBuov_8O2eXsFRc5uSkbiHuA-sRJLDGlj80MW8-G7S4M_mxWFepGr3qu_QVyE9q_04mMOz-dlF71o0q9ZFYZJC5YUuyPcVaKIEW8YjVshdvQq-Kl50BDo5ejdTKW3-GsbmiAcko345_Zbnk-z2nmvPshivIEzVBL6QIhFqolocXtHL7TYnrPqLlrYM8YD0pWCVs0osikvocFEC007WqXDsafrPrxOwpqALWbTHaWwATNV7kfJsRbxlfCN-hj7s8_xbIXxmzc9UmHef7_yD7jC8nLDcpQxUHJI_8L44fw69VWoPoiJBUmaqD_rptzk__BF3CLRBBaC2dpc4TaD4SX2UyGzS5zYZvxkO15R_k_XdenbkXsw-s86YxDc6sfeunEQjTObCBMGJ6rpFvEhIdg1ZD3S456DR1T8OgZ93mB7Bj5PLuvt-QmK_BqR6wA99Y1jyXeHTwUrfVDvHKC1heNT0-PTlGSunOTM1nu6A=",
  "id": "rs_04d9ce665b00e700016ab49476a69087d0bb1a3795728741ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.14,\"right_z\":0.005},\"note\":\"The arm has now descended, and the bottle body fills the wrist view between the jaws. I’m making a small forward correction and lowering the grasp point the last few centimeters to capture the bottle below its shoulder.\"}",
  "call_id": "call_Q8yFVoeOTZ7kKMtBkeY2rgt7",
  "id": "fc_04d9ce665b00e700016ab49477d8f487d0afe64011e8c5ad96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q8yFVoeOTZ7kKMtBkeY2rgt7",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.765, 0.5632, -0.3893, -0.1925, -0.1349, 0.997, 0.4583, 1.673, 0.6868, 0.345, 0.3054, 0.1822, 0.8994]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.169 left_yaw=0.0937 left_pitch=-0.0199 left_roll=0.0022 left_gripper=0.997 right_x=0.4017 right_y=0.143 right_z=0.0609 right_yaw=0.0818 right_pitch=-0.0365 right_roll=-0.0159 right_gripper=0.8994\nstate[joint_eff]: [-0.4581, -1.812, 5.9966, 1.9121, -0.1343, -0.0464, -0.0073, -0.7453, -6.065, 5.7778, 1.9756, 0.0904, -0.0366, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e862a7a11ef01716df2859159c2720f38b49f7cd45e72c45567d68d5a693d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d11970855863e9f7e1ab73590c439fb347b4464d7d44c0d3a2f2a825a85370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab73b32a14dbe0d4796eb6836e2b8c8dcbc49d11972542926073b84bef1f416",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7906, 0.6044, -0.4164, -0.1925, -0.1345, 0.997, 0.4644, 1.5566, 0.971, -0.0498, 0.3309, 0.1932, 0.407]\nstate[eef_state]: left_x=0.2893 left_y=0.0013 left_z=0.1754 left_yaw=0.0936 left_pitch=-0.0311 left_roll=0.005 left_gripper=0.997 right_x=0.4216 right_y=0.151 right_z=0.15 right_yaw=0.061 right_pitch=-0.0255 right_roll=-0.0187 right_gripper=0.407\nstate[joint_eff]: [-0.5538, -1.8256, 6.7624, 1.9609, -0.0952, -0.0122, -0.0073, -0.5265, -8.8684, 9.2513, 1.6484, 0.0708, 0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7662, 0.5671, -0.3904, -0.1925, -0.1345, 0.997, 0.4637, 1.7077, 0.7349, 0.1802, 0.3134, 0.186, 0.8992]\nstate[eef_state]: left_x=0.2867 left_y=0.0017 left_z=0.1702 left_yaw=0.0935 left_pitch=-0.0185 left_roll=0.0022 left_gripper=0.997 right_x=0.3902 right_y=0.1382 right_z=0.0354 right_yaw=0.0724 right_pitch=-0.175 right_roll=-0.0748 right_gripper=0.8992\nstate[joint_eff]: [-0.3487, -1.3607, 6.5709, 1.9072, -0.1099, -0.0317, -0.0073, -0.1026, -9.4838, 8.9231, 1.8974, 0.3101, 0.0659, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.765, 0.5632, -0.3893, -0.1925, -0.1349, 0.997, 0.4583, 1.673, 0.6868, 0.345, 0.3054, 0.1822, 0.8994]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.169 left_yaw=0.0937 left_pitch=-0.0199 left_roll=0.0022 left_gripper=0.997 right_x=0.4017 right_y=0.143 right_z=0.0609 right_yaw=0.0818 right_pitch=-0.0365 right_roll=-0.0159 right_gripper=0.8994\nstate[joint_eff]: [-0.4581, -1.812, 5.9966, 1.9121, -0.1343, -0.0464, -0.0073, -0.7453, -6.065, 5.7778, 1.9756, 0.0904, -0.0366, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e862a7a11ef01716df2859159c2720f38b49f7cd45e72c45567d68d5a693d09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d11970855863e9f7e1ab73590c439fb347b4464d7d44c0d3a2f2a825a85370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab73b32a14dbe0d4796eb6836e2b8c8dcbc49d11972542926073b84bef1f416",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR_mRcklT71OSWzxOWQgr2dVJ8w8G5W2O7nND-jcJVUX4BGmWZKAX5vIvr6_Pfjy8qE7W09Svmaaa_3W9r8b6qIblVT_Sxgf3v-bcVIQ2EX9D0Pki5n7riL8wUOliFc5OyCndJJ3XR6GQtVs9NoCZ3SIuqYl-bBRovYWA4l584oC2Gpyiv_ROzZm5urICs70kogAsfyhBaZm07v0xPh64a6UkbJgVH4w9x-W704k-sFqpasWtpZQdufxRwLBSEMt8vc8elGjgawLRDxK1BnFI6L904KufF4rfpaH_IsTay6Gt1tHaK4l11NrmGtAWwdP4UdREVfFhBp2zaSgrXVlVDx3HKAQrctkKW9OkAxEm2nJXFZm5cRnptu_DGwpveNcn-mU_ETKGaIFzqObDJ9SyixkqwlhMYB2F3JkWlJyVb1yidsCMW-GjlRlLwJl-UkVa1TlynaTjVYYPiSUQDUPAz47VNFrZFpEdvQfROI8lZmEA8JyVfz-Rbub8SJsy9iBl73FEFSrP1-H1Ofje_pKARdDU8R5ThVF9JHfBVnFXDhChTeITWgBijumqPbtC28VpLzus08VaintckTSyMbrqxCw4wsTX625fD944EY2M_MzzyRYWXMJMriwZTx9hCCNKkTQkyovZkAukVG4N0ZB8yv2h_mtqlctMUPGI5hCjZxyHZosqJTwQmcgX95u0GlyQHXgdnndmSIUduv0TasB2Thm0g61rll6C5cJJ1JKNit1eUWGH4W6GHjI7_CPfoDwAUyMATVNGu2FNV3Or7fxDT0yjA9Vti0OBtYyuFb4GUEBm_SobccNiesmtbotDAkfRbSNds67jcXcYBIoOZKS0PLEdL8MRSScrSe881Wh37drvapintNd0fv03tujlJNXJoPh6hW5qprYSOVHcwDaswKbbzo6jgGxLnBfuS_7_AKIfg7EmYwIYJI68gSgz9DnF1VXsMnnAfx2l5ncXlkbAgLy4m75zek6ydMN6JUk2XzVHH10KXf8oaADph_dzjIxZIyJ98-KXSxQiZlMd7F3jA3BRjlZIwBFwSwdozxa7ENoDBp8lHq1Bt6yZziZC0DUVlgkq6IwF01ovvK1YJt0VaVxsgKj9RDH5pcSR0j3q3sFL_GSYIpfCLIpGnl4xL8BRf3Fiy-HD4xgpF8Z9RqMB7PZKSlVY4FDRKH18zdZ6AVQkzg03gzmLgwOeEy5AqLqonUzvU9cazyLrQqF6rWeJo8JI7sl_1qkQNB5AZaDPtl0oex0fK-1kfO_hhIFCGx2YsD26zLMmOCTHJQaTI0Vjnw3Y7svsDtSeqn3PhOVno4cY8GagTt8NU15uMy_NCA7ded40MPyxUb1gYLkFONcP6d6RPpfaosuLbkwen5dVeNXZ1lHuCnuUKP7XuDSF4QDMJypU6nyIbDXvc63QKm8oB7ENONXyDfF9DVYUfyi7m0TdoJhpkHUyN1qG5OJd1ubu3afN3qz5zY1kkctQhwTWUkWqQpHKqlLXh8PCf9SZf9iBDf8-OE0KVUtMm2pts2AV-sPTdZVxtbwOppUe2KWCvCDqY9ywEHLp6DI8w880fNrE11HV8CK6FDiM3O0giY979bU_myUbM9OQJGTxMILP4lUTbHt8f7ZGFjziQRXHM49mnD4wsNjlCSG_4CBk_v9Vna7R1DvI7EOjobMBCxx2OJ0rl5K2RxjY_iDSneIvkqUDe62dkF7d47lTZSaMkj_8FLiAzcH0Itjf2BSGrvcl17ROWbkGuWe-pfJ-dkU_bAIY_Rh2tHwHFMsXBfqxshffhPZFtWjl6WaK41zi1KvxgCARZGvqQwy1MRgcbCUVT4YJpWLNjfdAmwNv0ZWDPJEAh4md4n0Btr_tYDHRIUc-n4PuQ9fkOBCqUs8zfScJz8FBKzfbFxlQbQPNvM3iz1kTnq-487Lnz0-Fr-zc-82d32A35xjW2G2vhFKoREbtnLF30ziZJgEmoEeL5fMlhFxekgFG8lGrihCOR30KztZsFZblT9AqN0iXLJvo6xoAW2MWU=",
  "id": "rs_04d9ce665b00e700016ab4947b0ee487d0ab5f7ca3c1324c35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.14,\"right_z\":-0.02,\"right_gripper\":0},\"note\":\"The pose is still settling above the requested height, but the bottle is centered between the fingers. I’m using a slightly shorter reach and a full close at table level so the final jaw opening will tell us whether there is a real grasp.\"}",
  "call_id": "call_rF1XbAp6npUciuRUto9a5fsK",
  "id": "fc_04d9ce665b00e700016ab4947dcc3c87d09d91fb37ea8d5acb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rF1XbAp6npUciuRUto9a5fsK",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7605, 0.5499, -0.3748, -0.1925, -0.1349, 0.997, 0.4511, 1.6817, 0.6388, 0.4507, 0.3016, 0.1749, 0.0195]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.1671 left_yaw=0.0937 left_pitch=-0.0144 left_roll=0.0009 left_gripper=0.997 right_x=0.4017 right_y=0.1403 right_z=0.0598 right_yaw=0.0819 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.0195\nstate[joint_eff]: [-0.3077, -1.853, 6.4889, 1.8193, -0.1294, -0.0562, -0.0122, -0.5402, -6.8991, 6.1333, 1.5849, 0.1343, 0.0464, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f95ffc09dbc10a3b89d5e0714c30193f3efe46ea569ac3d4c65a889d6bccd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20d8878dd70887c126b5d0c8605992bd32e8c66e66ba434aaaa669a924fd521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995d0acd6dad2c42b01aa38d0ac53aff0166964bc2adf85dfc5b3297ac807d85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7757, 0.58, -0.3943, -0.1921, -0.1349, 0.997, 0.4637, 1.5547, 0.9825, -0.091, 0.3286, 0.1902, 0.8974]\nstate[eef_state]: left_x=0.2884 left_y=0.0014 left_z=0.1728 left_yaw=0.0934 left_pitch=-0.0189 left_roll=0.0017 left_gripper=0.997 right_x=0.4186 right_y=0.1496 right_z=0.1478 right_yaw=0.0634 right_pitch=-0.0516 right_roll=-0.0308 right_gripper=0.8974\nstate[joint_eff]: [-0.4444, -1.7573, 6.5026, 1.8632, -0.105, -0.0415, -0.0122, -0.7316, -8.9094, 9.0735, 1.7265, 0.0708, 0.1099, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.765, 0.5632, -0.3893, -0.1925, -0.1349, 0.997, 0.4583, 1.673, 0.6868, 0.345, 0.3054, 0.1822, 0.8994]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.169 left_yaw=0.0937 left_pitch=-0.0199 left_roll=0.0022 left_gripper=0.997 right_x=0.4017 right_y=0.143 right_z=0.0609 right_yaw=0.0818 right_pitch=-0.0365 right_roll=-0.0159 right_gripper=0.8994\nstate[joint_eff]: [-0.4581, -1.812, 5.9966, 1.9121, -0.1343, -0.0464, -0.0073, -0.7453, -6.065, 5.7778, 1.9756, 0.0904, -0.0366, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7605, 0.5499, -0.3748, -0.1925, -0.1349, 0.997, 0.4511, 1.6817, 0.6388, 0.4507, 0.3016, 0.1749, 0.0195]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.1671 left_yaw=0.0937 left_pitch=-0.0144 left_roll=0.0009 left_gripper=0.997 right_x=0.4017 right_y=0.1403 right_z=0.0598 right_yaw=0.0819 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.0195\nstate[joint_eff]: [-0.3077, -1.853, 6.4889, 1.8193, -0.1294, -0.0562, -0.0122, -0.5402, -6.8991, 6.1333, 1.5849, 0.1343, 0.0464, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f95ffc09dbc10a3b89d5e0714c30193f3efe46ea569ac3d4c65a889d6bccd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20d8878dd70887c126b5d0c8605992bd32e8c66e66ba434aaaa669a924fd521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995d0acd6dad2c42b01aa38d0ac53aff0166964bc2adf85dfc5b3297ac807d85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSNwAGd6AqEt9ZxQM-qvIQGLjZVmi3lqd-xfLeoUFev2FeWIO1L3F6a8KK_mQ8r8fwi-1zKVi7NlWhZW9DCTsV1nfYsL1lPmbzbRM1lcqLL6U8xYpMQime4LVkL0pbpSK4uVPav49hTVITnqri2TLIqzOgm_z-0nGPRB95nZwA4csS5TWfkl-n6Ytp1N1kOko9aQadx4r8-TnBQRUsRYzFwZgI8lOAA5apLLfzfHef1lyoDwHjQYi3mcLczUtVH7wayK9eDh-2cSKZRX_3IwNSRNSFDTpu0pbEmpYkBIMQIezWLBo_iNf5AOSSKIBR8JJnkx6pRWmQ8Am9fDEtH7CTZSgkE68ewJ61VJ8UNCojezpgC2huDmnuy4BphtBZzD8gSU-yBXSUZvY6Mh5ixEu_L2lCadW5En-s2aVyBS1pnv4RUckEG6higuM9aEFtSOlbtYm4mBLRjR3V3TIB9lEBXYutnSzAaPPskxv6QZwf_axNWTh5aX7GGBUQdbwq_VBJ17Px83pb0649qmWbMr1WAXOd4nFK8h_czMK05AJWIH_SzKh_ULAaNuS6vvWvFQYLcURZTfQ94iAci4NBEG2tPIuCo_Lzgz-LqqggtTHnA2ium30aaur2GePhNefH-hgXHCFAqKe9_CkAMws5I1Sc9dBf_h1syC8IsHT9avOjxnLZXWS56CqznuTFKo1Qj24su3uLIQdXypahXvLBILbbHj2Hodf1U-dcjqPKLmWHmTv0PwmCA3HUktfodlABUZnp5Xx3ZsflAmbhXiISr2-R0kZAFDh1k42Oy_a-U62lYMW27aYDI2Jmt97U99WjGIU66DziZB09PCRHxHZwwtD-3g62ZhPD18ptq8_QiDgieTVfb5JHj_ZTUVEcRCV8CXObh7qyxQHUjdiee3kkEmDTVhAaRya2q1KVpVdYJPSy0_zXKYZJwzzrTLkSRWA7AW-n0XnZ4lZd3d9_KDX_Gw1Ez2WiFKuwQUnQ-FYUL-8mMELvlEs0JBx4GNtJF6x6kuoadaNmeWGPrF6Zs_NODVFxJh2RKPjZGT8Xqc1MeNXFQ2c3mUiCZHdgomOEaRFSheMaqy1bUhMta-7u0IU-C2OfF4DcoSaen_SFlaDepkr14xH63DNkh0uzAZcwXluWE9BMF-1OMGd8gNs_4PRcUDCE2maan9dtpn-JvrhQ0G9s4olx0Qu0VzGWbFvO7oPKM7PPBnqXS03J6tqJ_66mcgfNeXHsMvvDfI3APqfgb7JxNgQOK4M2_-b7bYbv43_EFxsgGzb1iQva7zxLc0vo-lATWpmwbdnRTF8FcfFEF9leuIztVkiCEhf9RsksmvkyFFtj6k-iPpSKw19VVpLE_PLfRmhuU781oQt5KxCB-aShzTfd9nkCmF0DYG32WIHksLmrbjzM4JX7cnJxb44SXJhZCCtNJokyemDAym9WL4b-0NsWS86wcfl_9-J24Qaktpn31JolKDUyIGvv5cWihES1R3biihXDobeaNZNmTxKCDQQK9W41PIuVIe7N-8twUuYqqYwV0tS5HWRKs1H-wrAuOXool5X7zi7tzByYOk9K-hp3B5UU96BXXSaA8D8-ZKtZiUKkpbyhQpJ1m2qr9kYDEPbnBbTi37WTdd1gx_pJQfzvW7px-jxkNam6RVGOIzVAlJnpClMiWc-9BLjdiEEiCe36unpHYZfqzNnEHn_FLquK6K9jYlh1QzkSno-iSXl-UdakAbn-EZS1ZKndXlohXt7yy6eCEF381lLa_knvX8kWb3bdeapgS2XCa6HPipw9SGc9H4NziJZz7u4JTYVqleG5q82lu_k9JEtJipqvqkgOCWXANYlFPQpTJYY_XzCNxDIY63vK9B1BYTzYRrVdPp3dq6wwPIauqZxQtMoENEP8q7LhGxsdwi1jjDtWaxO5auHp6zsO0Meh_vfVjyEVElWUlBNBfouBbkdibCreOoNpUnlvuAJKQYrdv7K6mNHCk4A3fofaapVx07VjI3h0HR28Sj8njknQkmS3x1SchZfCO0U2b_IDU8BAMtv1ag6vJP04EfTwyUC6fZw3Zlel-L7jmkbhlHSrp9UzwlGiFo_Wm0tdvaXqxaDV7ADhtNckPQVYQDjf3g8ld-R2aSRXdSTE4Gowad1W8A1K9YTasRSY0iHDirc1AKiqvyMeiySMzyLXr854Q-J0jy5NBVe7Glp_R8cJtuHbs5Saf1GgD0tp1l2qKha-N7uBO9dywMHkBrMjCjmh2bfyLkKvTwuDSG0OH2Kb8sUwD37u6S3KGmxknWLRE4e2k-hKpXBigu2jsLvu5ewZhMIFpAEnyMKu3Tz7EVSxrDcNxFe85N4m5jannzdz_WHUe4Nlt6Fbg5OgHW1DlbfY7MSQ1KenxDDoftSc5zGD_r0g6lh3zE3qOh1eZ8dPhbMgL0wtBx0vSQ6J5Sh9F8gBi6Ege3fEwgO87kyZg_3mrilsiTnuxtpKtWNsZvIskrNX3isEoGQQTE9bRjVeqAvvp-qZnk1_piGzf4PAiN8rL7S7ELrWsps6yae2-3YmAAVrqntyroxHrIZSauLfaO7KzAG2sM19WZCNIjy7jigCzRdjdU-LR-bRRJiRms9s0KENWMRrWwDsqbM7OyTfRyCyI2T3FVFUQoX0Fk2L2mSSl4eND3MvLPgD7VysOaoZxDETsbvQ-EUH86UkHvXA7j0XwIrsAMyZzFpDfhFeFkP7N8KzBPTqPryuZPpj0KT5fbQX3hd2ORI9nA83PDF9knDSEUmTK3J3xKAo1JMOu8W8aLSRX5mnD2SJ7h92tu0oJffdBSBG6A_-vZmc4GUXrV9WzCGwQmX5ViVfohY539KfgZTYSYBIw-KSJD-E1woxeZDcmesILFToCeLu3PxZ7lwub7XExakCoKo7R7e3FGD0SYKrb5R7AajyTnK1PqheiPXl16T-bEkoJJLyZ2JOscRN6YdcCfshUB23qCGzzd0fwoc_8OoolbF0u0FW3P-n1mcD7Ttt7vH4UeG_MBwbiCHRi9q-psSIZQZ3zv2O5qHD1LdgBs7aO5zppX8AP3MqMWMhIn4tprHVXS_dIGsP_9f-0e8Q5coPlWPg10LtD3VUlesQIss-IpaU30b0qcYujkBfT6eqVgd3E-k9pVP4mt5TyWZ0xHekwo5kKFQtErWMT-W_bn00AthiZ3hCnx9HuJkk0jpMe-DM3R3o56c0r-Rfn1_3J4Y_KsDlCC58TtlVV4U0HINdcTUnq_O2PNwZdJZPrVE2t162mfRqmcZRpZT4uDyAYgrfOnRYi3JUerkKV9E13Lw_CpMEvUqV3dDKgMEuKXwxGhO5p-ezIXRkGrWqF1HfJjgNq-GAK59CDRVitpXvCk5x3M00vjGhvmN4sjNDyYPXP88c4LGdWPF3D8A8WmRz628FcflzFKCG53MqLgDZPGso7L-nBrRhk-wPwuw-mRwxP_MQpwhxneOz-oKfs1sJVbRP-OcvrBpVDQj7gyXfIlpdHcCkRGzuEBXNzol9wrY8K-aZUv53H7xps23X9_M8CqFXjw8NgRoOO-Z1K4Qq5ktD4ayD_N0kPkjkctxnpBOG-spc2gIKHS2aJxy4Qf80kiuKpHgNmrCvMWLtgD48YMSZgtzs1Bc1IKYhNo6aHO6RjVV1wTg-ysjpko57Ipqn1N_GhXS-c6sm_lHl963ZGRzMALLmVE7EwjCDHi8v-n1M3P6YcSUVQgX-pahdb_UK-M4A-mYA7NnoeUWNICbuLqqFRk2ONVPVrdUJtUsZNjgiFDr1yJ5GcdIF6QFt7SA1hy1tKmXkIamGnxN8em9k5FEzwHCaBPfcevb8rVX0gK6Fw688elN160OmPexDnCKZulMCIJdpvRD4nCa8RE2G0O9mBION2Wbn-doFidkR4yr9XfMyyxIOiRf27-lGS_29X2WL4juGkLAkQoPGgv78Efzy1IxYyC5c6SCfMa-NyUOpYYFH6k9NLlSOEkZO_8ds8C53Ih26nED1Swd_ej39ePvxdS_ZECuGGiF2Em-TOCGk5gmss-Kx_ZXTgSHOwhKYBuL2qu5VuWB5rh-5JmdZXN30DmbS637AOAFB2qXMKnALnUz2bo2bos72VqYZV-bBb83DMEy7213tNjx34Z-Rx3zYCFbR3dQiQArbrLLfDhFaEehz2gy6Px5rbcsxoR6xti2OLwCDAdkx6i79UUWwbPOmigGm1EFvswq9-YjrXghkrJ65yFnBj",
  "id": "rs_04d9ce665b00e700016ab494823d1487d0878b06dc71369c24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.14,\"right_z\":0.015,\"right_gripper\":1,\"left_x\":0.39,\"left_y\":-0.035,\"left_z\":0.06,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The right gripper also closed empty, and its measured height is staying above the requested table-level pose. I’m reopening it and trying the now-accessible body of the left bottle with the other arm, keeping the two arms well separated.\"}",
  "call_id": "call_97xUeCDcQ2F4Rztpfle52JB1",
  "id": "fc_04d9ce665b00e700016ab4948c311087d0ad8860da238ec4b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_97xUeCDcQ2F4Rztpfle52JB1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 1.5105, 0.4507, 0.387, -0.1638, -0.1307, 0.9978, 0.4778, 1.7638, 0.5388, 0.7017, 0.3138, 0.1822, 0.9948]\nstate[eef_state]: left_x=0.368 left_y=-0.0257 left_z=0.0391 left_yaw=0.0356 left_pitch=-0.1033 left_roll=0.0057 left_gripper=0.9978 right_x=0.3933 right_y=0.1463 right_z=0.0422 right_yaw=0.0935 right_pitch=0.0746 right_roll=0.0236 right_gripper=0.9948\nstate[joint_eff]: [-0.7726, -6.1333, 7.8017, 1.9023, 0.0073, 0.232, -0.2418, 0.2393, -4.0, 3.0427, 1.1941, 0.1392, 0.1001, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074a958ed3a7acbb7ec6961ca3752f2dc32c43e066413e5567e6ca083ee11bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0b6ea327b9af90fbb50905bec2cbb51a312b7fe8c4328a93b5c1bdcdeb9e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470134259789827910adb4bb1c770eb792e3a12e42eb8993bc4140e5cd4f2109",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7662, 0.5671, -0.3904, -0.1925, -0.1345, 0.997, 0.4637, 1.7077, 0.7349, 0.1802, 0.3134, 0.186, 0.8992]\nstate[eef_state]: left_x=0.2867 left_y=0.0017 left_z=0.1702 left_yaw=0.0935 left_pitch=-0.0185 left_roll=0.0022 left_gripper=0.997 right_x=0.3902 right_y=0.1382 right_z=0.0354 right_yaw=0.0724 right_pitch=-0.175 right_roll=-0.0748 right_gripper=0.8992\nstate[joint_eff]: [-0.3487, -1.3607, 6.5709, 1.9072, -0.1099, -0.0317, -0.0073, -0.1026, -9.4838, 8.9231, 1.8974, 0.3101, 0.0659, 0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7605, 0.5499, -0.3748, -0.1925, -0.1349, 0.997, 0.4511, 1.6817, 0.6388, 0.4507, 0.3016, 0.1749, 0.0195]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.1671 left_yaw=0.0937 left_pitch=-0.0144 left_roll=0.0009 left_gripper=0.997 right_x=0.4017 right_y=0.1403 right_z=0.0598 right_yaw=0.0819 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.0195\nstate[joint_eff]: [-0.3077, -1.853, 6.4889, 1.8193, -0.1294, -0.0562, -0.0122, -0.5402, -6.8991, 6.1333, 1.5849, 0.1343, 0.0464, 0.8669]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 1.5105, 0.4507, 0.387, -0.1638, -0.1307, 0.9978, 0.4778, 1.7638, 0.5388, 0.7017, 0.3138, 0.1822, 0.9948]\nstate[eef_state]: left_x=0.368 left_y=-0.0257 left_z=0.0391 left_yaw=0.0356 left_pitch=-0.1033 left_roll=0.0057 left_gripper=0.9978 right_x=0.3933 right_y=0.1463 right_z=0.0422 right_yaw=0.0935 right_pitch=0.0746 right_roll=0.0236 right_gripper=0.9948\nstate[joint_eff]: [-0.7726, -6.1333, 7.8017, 1.9023, 0.0073, 0.232, -0.2418, 0.2393, -4.0, 3.0427, 1.1941, 0.1392, 0.1001, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074a958ed3a7acbb7ec6961ca3752f2dc32c43e066413e5567e6ca083ee11bf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0b6ea327b9af90fbb50905bec2cbb51a312b7fe8c4328a93b5c1bdcdeb9e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470134259789827910adb4bb1c770eb792e3a12e42eb8993bc4140e5cd4f2109",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSWW9uLlSLT8M0LbODktuQzWvIB3xuOmr8uj2ZxcYXxLtQiV_JTG-kJSaen2_CazX3MijpzzyhdQfuE2uqc-g0OVvTtakF-_65UHDImmnUMyqHwvS2d7xQAEDI6iJyFKY4Tw1CArA0BrkTkLlIMv4zKPhPyVmT17O1V2fyF6RRDmWBMHm5h2esMSbFxVtrsvd142OAA-iF4vfbTl5lPaOn2unnMLNl_-3GpYeO0DDW1MHnG7lSCaK-0miMjo81C2Orvo5jORfX-2f9hMaDUmiL65AS42mSsk3FY7tmY-54BEAjdLqFXd_UUPu9Q269Jm2viYFCgGRz68R7lIihKvu2ugTjzMYIfnHyarfJ_x1uqZz-AvqqeyRPM7hfsZ3b8PmjlrDkvSkgRJm5rrr8ai9lqaFgYS2h_CIMZpPZtehS9aQwJyBhxp1PEFa1bwgX3CIkvWTfkobG52ipDaUR41buRxBKsPKTd28vqKk1fXASMWSrs6cYuiphtqOUYEo7_I0RdU4mEwYx5NXxkKNhrz_nfOt3ywWmV7ZjiLaUy_Pu8TG404SfmaEnBWW2Qm8zRn6BJ_xwOxFQMzpHhhXWIdJa6387Bc0PvbYONJk-FtvKHilOWMUKLK4pO-vjLqEJZg6gzdbuVvgm7giR5GCzoz66cMBjEf_f02xSEf3HUiE4Xbytj57MV-iS2h82oE5RLqzPTEB9PHmLFi8aJe_MF_c6vJtO_HvaXBdDtjVAPVNyfxBWObBlzheCTIcRsi4tzt8mntVlKaEjSzLCWVZS5oWXssAeH_iI-B4aPMugb4mdcA9JVesWBDGDLRiyArKLg6lWLGXoS1qiTnIFK4NWASOAXn99faDZJOwVZp1eWstMnJiMz6Sam7MdCKmP1zhMWTf_ykVCuwR8cOk_xLbb7Pe6T9x5rSmR9dGdHnY7Z0y63DhUc2AjJYxVKgWxQYzX6lVFqinIJZUp57v4J4MOT6VgP5KuMM2cuxFS12o9ns---2urZyuDy9UUTCtPsKqZl3GOU1O_iX49k9hytrRaVBw74IOgRktw669fr6us1mbLTFRakwngj-1LM8TpMrELjNjpp88MaiVJOqSH1LH4TGybjfUmGe6RMg6KCKuepKp05FHjhyjfxuvc6QZNqBXhTl7IsM9OdzK_vAqPgB_IGvkApATACnlTuWVAJUo5Nzr0sXDNBfregbsY61RvrvYPpQbGVqhhItOvSGjw4KKDo6pTdbmza-67NNpvmvwljTP8ACWCJPYZrDpZi-fbZbVgYp1AFr3JB5oRVjr0lc2L5-6VY0mQXT_ZjSm_fwFPAP2PYwtQQfA6NsN465dzj1_iMXGqvXJJ0102NNJ0ke_PMKEkW6flcbGbuFtvmDvQLh3ojhX7zPYItNrQUl7IdBgcXSXqS4iBpOXBockoizVsZuPoutLOlos6OMmT1tqjZcVZlU0OMjt7JE3R1QvqkamUxAqYpCfB7KBXFWOxEyCzzKrUOU-RecEanzkXMSrjZ9sPJQf8U3bCBEc6GwsrJJ_OL2ftz9ZfBSlcxNd459eLy1AjO-W0yKE4Xw3XugE6ZdNYsebpcI_59ChWdyDXOOeY9eQiHg3fS_AgiXITCIptgAK84JWlya2iHPRAk0iiSmUmWI0pAYPEbI5wEs3OBwTu-aCfWPLzD86TctUr6uK0dp6UlDH3J1crPlsmMB3C1Pp1__HzbD42Jei4EaMaNFxXV0x4FX0gpymm0MJ0L1ekIKxTJ-NjXUrVcZ4n1CgGOzguwa5epNBD_2PZ4w7yUFT23mfDzl1S4K92SkXw0f4zT0dWkfEOOOBH6C2dsGVHz_f03EXZB0ekD8e2OnxuPRlj86xHvbQj7gkjRYcAi3qo16ZS_VKyGKZYqxH-97NzGM_8BOd_7ZfnsKjyXvO_jqfYJURYm1s5xYR3QAB-n5WpGADDJygvmN1OxrwOXxX2xfbMIav9ZJTXt6Lk7Outx9c-TQh06m4ov5xqX6BRoh8YQJNakMgR0w4dLZmuuLJ6Dh9M4x0bdQ4jS8oAfPgnvbsRsz82eE5xKOtrcox_h1vewm9c4NS43k2pbeO8fZoRw0_LZ1h5OQUxxVhaQ5oFYA_mjeeqMKo7KFQPQ-NwG-A0WxXROzwY6kMh7pBFAgzDcnEW_RskJaADj09pLfAzFPZ63wcOFsNYIEex1m8Hp3h9tR6cAhklXPr-eXmrvAABQLEIr0WVJHfNMxWLwelYQN1b-GX0mvjP4m2xWZvQ5CjjsRC6va5yUH-pLPrSe7nNvu55O0fWiyBXiaklocplKSueX8YlS4FiSmJPRS1dioHYkg0VPjXV-sIgtqzYNyPKz7lgQo9glCjVAYQvuplH2CHyd9Oy_eHsbdb2AJn5C6eHhGyxsZg==",
  "id": "rs_04d9ce665b00e700016ab49490a11c87d0bcb08b2b105059cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.02,\"left_z\":0,\"left_gripper\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The left bottle’s broad body is now centered between the open fingers at close range. I’m closing at a slightly deeper pose while parking the right arm out of the way.\"}",
  "call_id": "call_OhppINptDgj1K4vvCf79rGNx",
  "id": "fc_04d9ce665b00e700016ab494952b3487d0bd1685b69511ea14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OhppINptDgj1K4vvCf79rGNx",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1265, 1.8122, 0.4595, 1.0096, -0.1654, -0.1238, 0.0095, -0.1032, 0.833, 0.6449, -0.3897, -0.1257, -0.1116, 0.9966]\nstate[eef_state]: left_x=0.4257 left_y=-0.0212 left_z=0.0601 left_yaw=0.0682 left_pitch=0.2203 left_roll=-0.0509 left_gripper=0.0095 right_x=0.301 right_y=-0.0053 right_z=0.1867 right_yaw=0.0401 right_pitch=-0.0022 right_roll=-0.0087 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -2.9607, 2.9744, 0.1148, 0.2271, 0.149, 0.779, 0.4171, -1.6752, 9.7299, 1.7705, -0.3053, 0.0122, 0.1783]\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,$blob:014aa1e942c3556d3c34b1d3bd2313f425a5a141b246faefe0bc9ef51bd2f5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576b22afb713afbf4c6815d75abf0b035456ab6ef7878f91d3a9b9720c306bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec464b93e92d059b58ab7360861a4fd547661ed19fddd336a55bd3470eb1709d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.765, 0.5632, -0.3893, -0.1925, -0.1349, 0.997, 0.4583, 1.673, 0.6868, 0.345, 0.3054, 0.1822, 0.8994]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.169 left_yaw=0.0937 left_pitch=-0.0199 left_roll=0.0022 left_gripper=0.997 right_x=0.4017 right_y=0.143 right_z=0.0609 right_yaw=0.0818 right_pitch=-0.0365 right_roll=-0.0159 right_gripper=0.8994\nstate[joint_eff]: [-0.4581, -1.812, 5.9966, 1.9121, -0.1343, -0.0464, -0.0073, -0.7453, -6.065, 5.7778, 1.9756, 0.0904, -0.0366, 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": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 1.5105, 0.4507, 0.387, -0.1638, -0.1307, 0.9978, 0.4778, 1.7638, 0.5388, 0.7017, 0.3138, 0.1822, 0.9948]\nstate[eef_state]: left_x=0.368 left_y=-0.0257 left_z=0.0391 left_yaw=0.0356 left_pitch=-0.1033 left_roll=0.0057 left_gripper=0.9978 right_x=0.3933 right_y=0.1463 right_z=0.0422 right_yaw=0.0935 right_pitch=0.0746 right_roll=0.0236 right_gripper=0.9948\nstate[joint_eff]: [-0.7726, -6.1333, 7.8017, 1.9023, 0.0073, 0.232, -0.2418, 0.2393, -4.0, 3.0427, 1.1941, 0.1392, 0.1001, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1265, 1.8122, 0.4595, 1.0096, -0.1654, -0.1238, 0.0095, -0.1032, 0.833, 0.6449, -0.3897, -0.1257, -0.1116, 0.9966]\nstate[eef_state]: left_x=0.4257 left_y=-0.0212 left_z=0.0601 left_yaw=0.0682 left_pitch=0.2203 left_roll=-0.0509 left_gripper=0.0095 right_x=0.301 right_y=-0.0053 right_z=0.1867 right_yaw=0.0401 right_pitch=-0.0022 right_roll=-0.0087 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -2.9607, 2.9744, 0.1148, 0.2271, 0.149, 0.779, 0.4171, -1.6752, 9.7299, 1.7705, -0.3053, 0.0122, 0.1783]\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,$blob:014aa1e942c3556d3c34b1d3bd2313f425a5a141b246faefe0bc9ef51bd2f5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576b22afb713afbf4c6815d75abf0b035456ab6ef7878f91d3a9b9720c306bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec464b93e92d059b58ab7360861a4fd547661ed19fddd336a55bd3470eb1709d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSktioc2TRFgejG_0vPn619yNH58xOwJStMwtRs3MXeuUhW4dBF_X9OGjUtIP6g3SDBnBPtYZ8GI_uN9VB2Xmlob62at_DOP_EVV2mw95EN93qLv-dyFr5HQQ3oco7diHprfQgUlH6v1gHe-UK5P7mKf6lWpNSmvl9Zx7XuSLk_nFYQL2RNDcAn3fgxK_0re_U67nlh3ekAae_6t3RK1iYW4IVeYyylS4LaYMyLH41AfS6_mDLU5GqKEuRb35NOksa6HcN8jqG-UAyxPqZrEJ90hCRAS9Vd6f6mvj3gTrULERLicq5vs2Z421badvmrb1dTPbD2wM8poGFSDoJmNj4WwlwQM45pckwMFL5sdOxBAD0pUwukFQC9_xP5TpXItYGiFjFMZVCdcj9XVeIV8B404jQOTCIcQnNKEjxjnu0VZV9Rp5SI64zsWPIE8sEkza8P3cl1UJsTqIwKha2e2Iwr7KwhMsco5ZC-iWW7CIzJKHABCHch6HrJGNyKsZmpmYjC1cVeQ6uZ72yp2H2iIqGvSsMGF0aSiMi-ejHH0OX5TMyT7LNcOMNu1Bx8-rZIldakuSND4HTT7C5sIJOt3RxfNQ0-rwmBbD_wT2p6oeIXTS_scrpfDoW45eRffupC7qZ3_M0_15p_AhwY7vK6M5EovnUHoYlfrqdna6rgqy854Ga2NmEfsGnH_86FaCLSVN7NqcdRxsuEGk0dU38nEYcfYuPpPb8PFPuJvm_yOjd-cPqbuj0CTrniFlJxrjTmOxH9rvhD655aoyFPub3ScPS-7P1BgdCNpM0HQJqGOYFdymETJUaw7OjyjvWZPcWpZOwr521tKMpONhoKijtAcjzoDqNgZyIt7YreG7HF-zK7vSmvgavkUvDIHCGM8iLOW-piewQlbIJip4gESS71UXA_A-paWi5F0DJSUSl8oorrG64n_hA8PSwSE5YrEMsC_x12TLcMTK2UVfz74_25A0V4IQxjS1RJSpPr_SeWN9FK9jyArmQ_Kwyn5VmS-vRkbxXJs-O9qMhe7ylDoi6UiQSBOYLCsMxbaMbEkxhFVNnsDwWDF6GvtKA0BEQgX701ngQ2PX7-6No22_hWZMBipCrsz3Tnn3ZIECITBpYY_UNmQibV4vjf5yzM-1_K1PQAmaMYByeFGg2AM0D55v3uj4ezHPPKtq3SZR4GLRo9_a2tDXFX-zfllBkI6XeeFTSXA7LwvvuaaSgRl1vLJkYRrIjhYjT8AjvdaukP1Pusb1y_kF1hTlmf5jJvEqFMxE5lfYLr24vgVBqDhyQdArk82UZeObA9wCri2io5FSmgKVUJ8SHfY6S985CwPybD10VCzOax3XqKeifJmuCxJcVSKHfUkLeBu3z1ifJ6GozA_vSLIQkGwiCwwKugi9QLaUjLfYtskyIaF502N4E9tWD7F8XwWMvj_6v4FtsJPYpX5OQnV_0SqHO0a7LLIX7Rijhtk5NC8ixdWyJ2hH4dSHd0Fz0tEeShw5et2wvCjKhMtWWuDxuhInugMJP7OpX2TFjHmSPVFhFh4vE6RGvGAZMndbtRnkUz_AnL1jimgKSgwj-OJd0UPLsmAOpabJQhKkBxYO9PSFcanho-WgDzH3tomvAcwZTS_voZERsWNRXo__fP5LwlEn_-UtZ2JvsxcZBZ0en3oZfnF1TosJhNPd8NwAP4mJGE_-oUwB5VuklongSIgufFUYSW0x4XS7K6LC2pKZAoF0qp0VIML4gH9__19w--gEtCYNULs4ta4Vc5zNWdXG-ZFx-KpeYAKXIWe10-4YANOCccoE3c_dtINSDJSGT25tPgfrELkO_K5q5ewHeHJJpkOWkeUDKG_yUkSaK_mxQazB6EHiI4rpswgaBBJzd57mBtq47Qm3rrw3oOiAcr89vrBMXtofs9wpKHSFwk3abPROLK4zcG7y9s8QI65ZrxdkFNv4oZTixuZ7c6LhrpsynSoZSysRlpTGhqQyhieCJMex0fsPbj4yMyiHZ6swNbwzRpetbUc7F93y8sVyMtRNr8HJXwWn_9D_3Lo0roP-2kCny-CLeG2xItwBIiYYcM7ZjLPuVWNi0VaKYRWuTiLLvmZB2c9ATt2BTDsN8iXuWP0OGVqg3wXJWCia-hKvZ-v42SUfPv3qPgnLSAB9tJRZWw_kq7Trh08udmXuhEZWlaP0XRKlPJjL4NdBVJ9J5EJp_XY9pS1wZNYrygm_8cvgi9nc2nYwiowOBeo4YfHnmKyWZY9Imn0NaCNzihqsCE6IBA3VN98sW2yl-2G7kIBZxa0k9BF-yhB5DoIciz7YgLS69Tbccbxe5B1fW3DlIbibf6Kd5nsErdtb4uNjcmQTQgDSIp07zK5v3vpyIPCf6jJkbwMZQnlRk99t8QToxtuq-DkB-h46gOsAbrY9OQXJcmjrM9Lo0xiiuVCK6qO8igaT01-DeuFe575CNfx0-0opvXYZQbrinctC8RI87XEZcLikoFOToD42KCym2IRnO9Dy0CWFM_Mr47xBxv7XjKHynUHfoKat0-s4GOl7SrXkU1K0mV9TkPSMpknAnHNHwwtWVU1iPG_gvoEE-WepuvE7VwMniFHvSUiyF8PLzwcja9kO4V5eVQiOsGMbIzqa0q_ClaCJOPgH6Qt5eNUjpOPq6c_FraySJ104ZlNXvrF1RkfJq622F41ahi9UluwO0QRVQs6YQLntq17ERWZqU6k9v-i1pD69ow_ssMiErhaboTJdZmVWItyOu4Nwi-DjiuNTZv-x1uXXp2D1Rayb5DdXj_LVRRDoOQt4Z8CMv9iueV723hQb_bSAZJsBVsHjMu_HzdL1gW4di-AZPQg4nM4P-7-7ErHBxQ44gGbbHjL7Ks-avGAlhP_twHGjwEaz-qUrm5MCpmsSRoFIO4JxWaBCDz5XvJ7zGS5JART3H0KXlCdOHCzoE_L8dwqjf7pHrsJbjKhbJMrg7kLfxZSDmuPQ1Jb-XyfgD5Z-BW9IasEd5I_MJskZ4esltOgu4Abpr890QnJqnO_LdWSiogT46P-ugzUGMc96D_qspL2M-YM0AFKf_Iqavj2lSpOB5c0NLAYZANfeTQLBJoN2lPJB2IMTt5bt2RLfrLrHwU7qMhLeV5ZRAl5xsWPK8JsQpcJVcvsfCZtldNT7Z3lDt8jPkt5rojeonbsdQDkXqiid2ZLNZk9CPVXPSgUDl1Kq64-V_eZR5pqs3i8u2Q5OJ1tNMW3xv1Pp8i48CfPx8gsumX00vw4XcbgGIhMCiYFUy9FMjGES4eAV5lEH5dAmtlXGjmtS-mkoric4BJmIWZDsiHG4pVYgbFLwdB2SwoqHTOAglOjcFodb5nOAvDDVp3QlR7IcHhAyELiQK_iEVAVRWMd9YvQ-2ygDOEf7vEe9BWiR87H_9RYC3ulFAohflxVvBjlGoBh0H-zQ8RqUqlT6nz_sO-Dbmr3zmnXskoLKSRc3Gt0t9iD2rNdEoCIh-tqnp-o5N6dWgQ9RsV951ncNZr1MVWyA1nx2b9AFDeECA6jADIkZtkM5vQA6X6LWh6yYhb_lnjdhyDbqN2y1KFdaLpl96BJdQczhuCH04WqFt48wmTNWzBaPUH5ZcQpFPTkPxY49s_YFMZ_dSqfcIdfWmEiLy_v-pOwQqQaQCgUt97Qdp9iPrVIXIaf4USpwW_UDo1IXD8SVWpcEW7iqxGxyS-eGtbvxVIcl0n96-1fLu0bSTe69fzdaPs0oES2dtnNIE0J1nLiRSLx-jTeN1B3aEK99WareDd66mj-LV2hveRwUIAe7BOel1uxfW61PvEFTNmIxAFV47oI9daAmUyi-_iVzHOEqN--O3EHNLkOJt5GvDuvHX9swTKVEoAyuUUzV1e62lU-8KXZmxYMkyfHF-A6s3QcqAmz3t5XY_rIom0_nBqJxR76frqn98tyDiJEoC91st_iJjAxH5iQGgs9627x6twoZxfsgt5nZVTjN4u3lQKKHG8PNsrDkA4dad8THkntymc-pgNq_zCA63P77SK1QM=",
  "id": "rs_04d9ce665b00e700016ab494999c5887d0943953e09459091b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.455,\"right_y\":0.15,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The left bottle slid forward as the jaws closed near its rounded end, so that close was empty too. I’m making one measured attempt on the labeled middle of the untouched right bottle, where the sides are less likely to eject it.\"}",
  "call_id": "call_kv0hn9wz7lnQ5yjLanXgl2uB",
  "id": "fc_04d9ce665b00e700016ab494a35eb487d0abb97348cd0f2967",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kv0hn9wz7lnQ5yjLanXgl2uB",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1104, 0.8272, 0.6395, -0.3542, -0.165, -0.1303, 0.9963, 0.4156, 1.8675, 0.8089, 0.3676, 0.2726, 0.1532, 0.9981]\nstate[eef_state]: left_x=0.3044 left_y=-0.001 left_z=0.1937 left_yaw=0.0827 left_pitch=0.0252 left_roll=-0.0184 left_gripper=0.9963 right_x=0.4338 right_y=0.1434 right_z=0.0274 right_yaw=0.0807 right_pitch=-0.0906 right_roll=-0.0377 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -1.4154, 9.5521, 1.6435, -0.0024, 0.2271, 0.0122, 0.2667, -8.9504, 7.0906, 1.9805, 0.2369, 0.2466, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f93d04a9b256e14a5a0faa6697228d87ddf6b7eb4cdd79947a859d44d69a57f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137828adda5d60c3c14b123113e1806864f3f94ac13d8360bdb829315d529d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e180de8679cd0cf4e6d7d4ef0c8672c2f2b1d95ef7513436bcbf64f7a2f5831e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1249, 0.7605, 0.5499, -0.3748, -0.1925, -0.1349, 0.997, 0.4511, 1.6817, 0.6388, 0.4507, 0.3016, 0.1749, 0.0195]\nstate[eef_state]: left_x=0.2864 left_y=0.0017 left_z=0.1671 left_yaw=0.0937 left_pitch=-0.0144 left_roll=0.0009 left_gripper=0.997 right_x=0.4017 right_y=0.1403 right_z=0.0598 right_yaw=0.0819 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.0195\nstate[joint_eff]: [-0.3077, -1.853, 6.4889, 1.8193, -0.1294, -0.0562, -0.0122, -0.5402, -6.8991, 6.1333, 1.5849, 0.1343, 0.0464, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1265, 1.8122, 0.4595, 1.0096, -0.1654, -0.1238, 0.0095, -0.1032, 0.833, 0.6449, -0.3897, -0.1257, -0.1116, 0.9966]\nstate[eef_state]: left_x=0.4257 left_y=-0.0212 left_z=0.0601 left_yaw=0.0682 left_pitch=0.2203 left_roll=-0.0509 left_gripper=0.0095 right_x=0.301 right_y=-0.0053 right_z=0.1867 right_yaw=0.0401 right_pitch=-0.0022 right_roll=-0.0087 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -2.9607, 2.9744, 0.1148, 0.2271, 0.149, 0.779, 0.4171, -1.6752, 9.7299, 1.7705, -0.3053, 0.0122, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1104, 0.8272, 0.6395, -0.3542, -0.165, -0.1303, 0.9963, 0.4156, 1.8675, 0.8089, 0.3676, 0.2726, 0.1532, 0.9981]\nstate[eef_state]: left_x=0.3044 left_y=-0.001 left_z=0.1937 left_yaw=0.0827 left_pitch=0.0252 left_roll=-0.0184 left_gripper=0.9963 right_x=0.4338 right_y=0.1434 right_z=0.0274 right_yaw=0.0807 right_pitch=-0.0906 right_roll=-0.0377 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -1.4154, 9.5521, 1.6435, -0.0024, 0.2271, 0.0122, 0.2667, -8.9504, 7.0906, 1.9805, 0.2369, 0.2466, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f93d04a9b256e14a5a0faa6697228d87ddf6b7eb4cdd79947a859d44d69a57f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137828adda5d60c3c14b123113e1806864f3f94ac13d8360bdb829315d529d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e180de8679cd0cf4e6d7d4ef0c8672c2f2b1d95ef7513436bcbf64f7a2f5831e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSqpv3fmfwODojssiUr4C3FnLplGKH-2kQ9uc9vDHDO7WJ1cBhhUlTDpD9tFwzzn_T-9ZLBTbo7yeeueygBF1rRwFR9hXxOvccsK7aQEkQPVUGf7nPMVzsZp-8u1tTUKvrbkY6WF1mwjN4pp8yzVhXTvJ2Y67LlKfAt0uPdO1496se9-WSgLoWTXWw95j7K20oIwUyO5nWXGRw9noclQ8cfTbrwz4jCrBZtDWyMcI5lg-fi2QB34dSapDcFXqpgcawLcKUE5j1I7GR7QEHnTojoQx6poA9iJ1tVchsq2_nNNY8hiD0Hgn3gK5Xwh9QFgC8BINfHtCoCHyoH7tSjalEzjjK_Vs9W4ioaJILSMkr4EEjZeDmRtogsE2LbzZJxF7tLt2mDWrkmZN07gP7yND5ERc5WXq-T2149JuqyLtbu_h9WqhBtg8QaXcw6cavvBi8qgXKUrzPzDIh4KMKtphEU_L6AbQZzkwWW2oP8O8lX8C1ur9qhVHabUUPHzEEpqyUQG5MqUPYR42soelE4qr21633TzAailEs3V1adyiHBGnDGhx5Z-HguASfnvy5SZGz5bUR-62bzLW-1fgIczqbpjTb0U4kIi2G75k6vyOhpoTvXbhhTjK4Itjb0nSEjGMvGbYGFE9U6ogJZhd_isrorE3RMdNgeEZxfAPBuknwo9h6aqXWuuhzWJW3lusZ5l_kLxKuSZPiqwQ2-AJ-rD-Td94RZGlk_oXY93KBMtJ5fvrAFZzqw5GqfbCJVwErw_iOy_pXWAxMKWw71F9Og3iELGhZ00RJaadQrXNvd1A2LaRlVLEgOqC8isKGcb8qBdfgH-f7cfcuKrownjNVV6jyXk-bpjV3dsiPvLaFw5qCg-0u6zC9cdlgfxLjXWOccQSATWXCbpezDc8RkzdshLVvmFxa252K5NN1Ofgwj4I7zN9iC8JJt9H4T1St_4vGEnUHQxeN9960Tef0l0XnOCSmhRwitUB8Zxzx0v-T9Y8FRlOWgqeWgv3NyjMr2KHeD3b7s3hHozT6QMbo_9DaBkczgywrs0jrl59D8dLoiMC_yG6O4t1i1Xh2_fRejxcpTqDcgRIpljnb_ClpSCl3rufWE0eXfGnimzOsjyug5i10h8Q2nZUCZIasVNinw1ps8yiIR6GEXwXsLFn9pAzhEqEHyaWAB1HHCo_rWXli5pTYJoe6sFR93OfdQATyXbtqL2Gf3tOu1-QITyvS-vnPlsec1pv1heSLNLX99FidF-Zbc42JctuamK7Qh0A-uhwA3vxJdo3hgQxF2bY7OVpwX7IvKJoyKQBPUvsBD45jcz31DdUUS_DmBfcxpyTFraj0x6tY5HGS-DPMyPjI8GK-y2s-LOdL7d3ZqH0zy9Ye53I8223A=",
  "id": "rs_04d9ce665b00e700016ab494a8400887d0accd186099a9aa97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm is now genuinely low, with a measured grasp height of 2.7 cm, and the bottle is centered. I’m holding the arm still and fully closing so motion during closure cannot push the bottle ahead.\"}",
  "call_id": "call_MAoGq5nuxj6smfZQAyyrmhqr",
  "id": "fc_04d9ce665b00e700016ab494a933fc87d0a874d958f759b3b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MAoGq5nuxj6smfZQAyyrmhqr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8543, 0.6571, -0.4168, -0.1738, -0.1314, 0.9968, 0.4187, 1.8877, 0.7425, 0.593, 0.268, 0.1459, 0.4782]\nstate[eef_state]: left_x=0.3002 left_y=-0.0012 left_z=0.1815 left_yaw=0.0832 left_pitch=-0.0446 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4405 right_y=0.1487 right_z=0.0385 right_yaw=0.0926 right_pitch=0.0399 right_roll=0.0039 right_gripper=0.4782\nstate[joint_eff]: [-0.3487, -2.2769, 7.8017, 1.956, -0.1636, 0.0073, 0.0513, -0.5128, -8.2256, 4.041, 1.5067, 0.0269, 0.0415, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8554c15dc39329921da2d20cf309b415f611c41857b066e955d66e4e6fb68650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd197385558741f53b2ed272a9a1be52ad740e752f27413ae2fc2c714239e581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd2d1461b4d48ef6f81720463f496199462921ecbd9bcdce2a05f79cee45a9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 1.5105, 0.4507, 0.387, -0.1638, -0.1307, 0.9978, 0.4778, 1.7638, 0.5388, 0.7017, 0.3138, 0.1822, 0.9948]\nstate[eef_state]: left_x=0.368 left_y=-0.0257 left_z=0.0391 left_yaw=0.0356 left_pitch=-0.1033 left_roll=0.0057 left_gripper=0.9978 right_x=0.3933 right_y=0.1463 right_z=0.0422 right_yaw=0.0935 right_pitch=0.0746 right_roll=0.0236 right_gripper=0.9948\nstate[joint_eff]: [-0.7726, -6.1333, 7.8017, 1.9023, 0.0073, 0.232, -0.2418, 0.2393, -4.0, 3.0427, 1.1941, 0.1392, 0.1001, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1104, 0.8272, 0.6395, -0.3542, -0.165, -0.1303, 0.9963, 0.4156, 1.8675, 0.8089, 0.3676, 0.2726, 0.1532, 0.9981]\nstate[eef_state]: left_x=0.3044 left_y=-0.001 left_z=0.1937 left_yaw=0.0827 left_pitch=0.0252 left_roll=-0.0184 left_gripper=0.9963 right_x=0.4338 right_y=0.1434 right_z=0.0274 right_yaw=0.0807 right_pitch=-0.0906 right_roll=-0.0377 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -1.4154, 9.5521, 1.6435, -0.0024, 0.2271, 0.0122, 0.2667, -8.9504, 7.0906, 1.9805, 0.2369, 0.2466, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8543, 0.6571, -0.4168, -0.1738, -0.1314, 0.9968, 0.4187, 1.8877, 0.7425, 0.593, 0.268, 0.1459, 0.4782]\nstate[eef_state]: left_x=0.3002 left_y=-0.0012 left_z=0.1815 left_yaw=0.0832 left_pitch=-0.0446 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4405 right_y=0.1487 right_z=0.0385 right_yaw=0.0926 right_pitch=0.0399 right_roll=0.0039 right_gripper=0.4782\nstate[joint_eff]: [-0.3487, -2.2769, 7.8017, 1.956, -0.1636, 0.0073, 0.0513, -0.5128, -8.2256, 4.041, 1.5067, 0.0269, 0.0415, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8554c15dc39329921da2d20cf309b415f611c41857b066e955d66e4e6fb68650",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd197385558741f53b2ed272a9a1be52ad740e752f27413ae2fc2c714239e581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd2d1461b4d48ef6f81720463f496199462921ecbd9bcdce2a05f79cee45a9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSue81HdQarNYGvoFTZhfzfjZ7wfumw4osKLCXc1pPICDcUUkbfZww0pm_BH_JIBrUCVwVQ7iIXz-HZz7tNfBD_u1bKDpu-lznoVBqI3fF4SfResDYUeAOQLVwvQARIaH6yAslXad9q_9TJ4QCX1nXxDCMGVVJDcXuX5OuiUdOVZex81I1UPFg0eU2qmy-Twp9tEgg5YKU9G37y5xYeD13N2VehULPfc6Fmt4ka2uoR97OTbCR0yU5nsple9MYR6yGKNosZ7Hww5tswlUH_JicsxTjSGQq5pdV32q33xWovDaHdyFvRzkTYrIamQiBtlZMNffy2lSo_t8-LrXGR0f31TVeSFtaG_tO1BL5eyC18f3fBrBo8Z1CHRiSvlEQwm1tOLiwl8l5kmXn5yQY86sUGN8wz5TK-oapU0GROna9BWdD6brNEaGJwbU_a461HSlzr6sAKmf01vZMGfDpbmw-i_OgLY5qO0C_796H7xGwDwAINlBtN1GXd_P1wRXF95nv3hSfHjzWKyZ2VJ5rabxQSq1U-RCSDGNcdtyf3u5Qh_8ThGzfuvNxtmf5y9YskoTEwKs4o76Uxieh53y1kXsbHJlfFtLfjUVMBNQP24-qFc_PyCupJLd25rJunfjv2HBzroW5m4bDXpuofNFN-fdyL5R3AIz7iZbnYZzGH1Z883daDh6wXkO30sGSQZ4bBgJyolbxUr799lKys2KQhHZNzyzakAIu38BU9-BPP232ZN-_oheXHdNCGhOvWLH37Mne0mCpP4oSzh1V0-LN63lc7HcgisDxGQtd_uxrBCBA6z7eLjpvKP-ZIr0l0ibXFskPpYfLlSu2IVDzR9A7xb_q5sxyiTz5fM66g2-b2Sb9s884_4gLwENc3JMuQHzpgMIGujKOHoIRjEj5pJolvLpHoMTXtsogaY2PZjbC7dGuNpgng4UeJw7cbOcPQNFyQdz54i-NdL4RQpizkCrRNys2Emy15NN_sQWfAfSQlaaAXnH-uXwEULQJf49twbe3FjMPVmaC6LxBL38AqejHe6SKmz4uESRKpyuUCvLu78wdIUOgU38avbC29ovlMktSlaYhCRkbmS-rIwuxPyWcxSfY0FILevM9RqEfSt0N_f6LAxS3jHhqT8J52usXJv5x2CBX15TiCvjeF-jjblobWmwhfrJPxL6Jfq1Vsmc9WmtnZt0ujpmM52ZO6znsi86pjERuT70cBZeh4-3Vwekt39Qvruw==",
  "id": "rs_04d9ce665b00e700016ab494ad554c87d09b61b64220c91f3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.1},\"note\":\"This time the fully commanded close stopped at a 4.5 cm opening, which indicates a real bottle grasp. I’m lifting straight up by about 6 cm to verify that the bottle rises with the jaws.\"}",
  "call_id": "call_tP2JPyB6JqilOywvmnG5FI8j",
  "id": "fc_04d9ce665b00e700016ab494ada5dc87d09a198a289d3e96c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tP2JPyB6JqilOywvmnG5FI8j",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8318, 0.6155, -0.3874, -0.1741, -0.1314, 0.9969, 0.4198, 1.7332, 0.8314, 0.3134, 0.2577, 0.1448, 0.3963]\nstate[eef_state]: left_x=0.2974 left_y=-0.0008 left_z=0.1748 left_yaw=0.0834 left_pitch=-0.0344 left_roll=-0.0024 left_gripper=0.9969 right_x=0.439 right_y=0.1506 right_z=0.084 right_yaw=0.1031 right_pitch=0.0038 right_roll=-0.0033 right_gripper=0.3963\nstate[joint_eff]: [-0.6906, -2.1538, 6.9128, 1.9853, -0.2271, -0.0122, -0.0024, -0.0205, -9.3333, 8.759, 1.7314, 0.0952, 0.0562, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52b979c8b24fcb3dc35cd13dc746d18eeb3533b090dee5bb1cbe5eabea30300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa8db42bb592e78066764f26a5db3824216404d1eb1c3ed0b7cc3ae3fc5614a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e894201c9bc15b38f6e170190759bf683fb2ea97eef40ca255852909ebabdcd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1265, 1.8122, 0.4595, 1.0096, -0.1654, -0.1238, 0.0095, -0.1032, 0.833, 0.6449, -0.3897, -0.1257, -0.1116, 0.9966]\nstate[eef_state]: left_x=0.4257 left_y=-0.0212 left_z=0.0601 left_yaw=0.0682 left_pitch=0.2203 left_roll=-0.0509 left_gripper=0.0095 right_x=0.301 right_y=-0.0053 right_z=0.1867 right_yaw=0.0401 right_pitch=-0.0022 right_roll=-0.0087 right_gripper=0.9966\nstate[joint_eff]: [0.3077, -2.9607, 2.9744, 0.1148, 0.2271, 0.149, 0.779, 0.4171, -1.6752, 9.7299, 1.7705, -0.3053, 0.0122, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8543, 0.6571, -0.4168, -0.1738, -0.1314, 0.9968, 0.4187, 1.8877, 0.7425, 0.593, 0.268, 0.1459, 0.4782]\nstate[eef_state]: left_x=0.3002 left_y=-0.0012 left_z=0.1815 left_yaw=0.0832 left_pitch=-0.0446 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4405 right_y=0.1487 right_z=0.0385 right_yaw=0.0926 right_pitch=0.0399 right_roll=0.0039 right_gripper=0.4782\nstate[joint_eff]: [-0.3487, -2.2769, 7.8017, 1.956, -0.1636, 0.0073, 0.0513, -0.5128, -8.2256, 4.041, 1.5067, 0.0269, 0.0415, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8318, 0.6155, -0.3874, -0.1741, -0.1314, 0.9969, 0.4198, 1.7332, 0.8314, 0.3134, 0.2577, 0.1448, 0.3963]\nstate[eef_state]: left_x=0.2974 left_y=-0.0008 left_z=0.1748 left_yaw=0.0834 left_pitch=-0.0344 left_roll=-0.0024 left_gripper=0.9969 right_x=0.439 right_y=0.1506 right_z=0.084 right_yaw=0.1031 right_pitch=0.0038 right_roll=-0.0033 right_gripper=0.3963\nstate[joint_eff]: [-0.6906, -2.1538, 6.9128, 1.9853, -0.2271, -0.0122, -0.0024, -0.0205, -9.3333, 8.759, 1.7314, 0.0952, 0.0562, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52b979c8b24fcb3dc35cd13dc746d18eeb3533b090dee5bb1cbe5eabea30300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa8db42bb592e78066764f26a5db3824216404d1eb1c3ed0b7cc3ae3fc5614a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e894201c9bc15b38f6e170190759bf683fb2ea97eef40ca255852909ebabdcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSzfy3kT16foI5Ty3oxmbE2_9Db4C2M809mXTKHLyQG06TcCCjBfdOhGk7aOF_ilC6bgKJy5Ao5ImoTiq6KrgrQrwnb108XfwfxrWdo-_9zqg0HxOw-aLIxPynq49I2lo8HpDUbLdnK6nIap7LCx_DcoTc_dB8_3UgNiUgafePrEtB5kkK8zG7-y0PbVfVWkxTwVFU_3Kmutf1QHyRnwlR5pBz43EfyhI81Ql5UTvV1BFddwYQkeCWsYonV4wNn3UfxnAHUP8UNguvqlLkYV5uglyT1i-QCMcnfAaktK7vc-1YyjpLceJEQshhoLfJpTQrR7Ig0h0OaWjSyXihyxjTAoA-nkoE-PCfEC7S3mqTOsrXNRk1NFs9Kmap1W3k9FyNI5uNRpAREonmUlQXBj2AQobKbkIOo1nic1_-G9MKNfgBti5pZUhxsoBRvNZpQoq7Nt8NpN7K52rg9tuHe5dr-CcqzPXFM5U7Lj_fD2q-2DTg6KMASgksFb0sYOkExABiqrCCl03gqxa_JF2EZ7HZ_CLXqF75lCrPLs06-2uHgWsaLqBJPJcv8GwaThnJL7ipG0cbN9gSLxoWBbBytmgnP8xhWWED6rM2VFXiw-kjUON6CjABcDS2TZPsLEb-4wjmrxUDkpa2VvFVuvCmBgRwJI1Aj6zIsA4v9eegZnSZ2QV3ikd9h-P6NBST8BoLnfdqWsIJITwNVsrqiDg3iT5STiQOM2VNCFwqYjSiPAAWBL0jwnjnTcJL3ixG9OMTNwyfzG_VVo6XKkvpje4eObYFrsIlBRVy8pbUZBK5QMq5KNHh7LBL17Uvx38c8fnWUbNbefYkRzAPcO3RcgGDfg3sU9KGVBWMQ336ms7rm5oFBiw2ODBowkJDGmnt3T3J2oWszV9K3pQzjNBEnJEDPWkdqj00dJ7w8gMAYdMQh5yMsGznQ13goAKVacHbeDvC91ScEIZucU_B1FVeOorKqIbdmR2FDxiHe1rCw6SWPMiFATwreRjbcWF5gWRLd2sCWB24pKhHbAj9zEadm7yqtO8xxUjoj8JFFDD3o1061xuOrGKDy6GYe_qvunRLNzJAeJNMSgeqdRnuhBem9Gx7KZF5itk-sJOygNDTB6xRVUrNohscR3VG_oR-KnFs-dRMVD1QcUusYllDul42wZMVSChaHGtC2cfGqdWU4jmHFplpyXiF2yEsAJiWgMKnd9A2551m7EZx2O2tCtlPZeUlhx6PTMScahCFe3fvm6ucD-4uEdQjUfF-8HAxl6QhvCEnOqsbhfNZef-p7riMvyqheMqhh7hcsVAyUaYFkri2SALJNVodjXQNMnJ69RQa4SSDiJMbpZCVpsB6g15-_yKvuhVjwVg==",
  "id": "rs_04d9ce665b00e700016ab494b0ea9c87d0acb6063fe36c262a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_z\":0.16},\"note\":\"The right bottle is rising with the jaws, and its lower end is beginning to hang. I’m continuing the lift in a short step so the base can clear the table completely.\"}",
  "call_id": "call_gBQpu6YnqCLyaQZjoH6SRzzn",
  "id": "fc_04d9ce665b00e700016ab494b17ce487d099e010cf4413fa7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gBQpu6YnqCLyaQZjoH6SRzzn",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5823, -0.3557, -0.1741, -0.1314, 0.9969, 0.4393, 1.5711, 0.9195, 0.0212, 0.2577, 0.1452, 0.3965]\nstate[eef_state]: left_x=0.2964 left_y=-0.0007 left_z=0.1702 left_yaw=0.0834 left_pitch=-0.0213 left_roll=-0.0051 left_gripper=0.9969 right_x=0.4213 right_y=0.1522 right_z=0.1333 right_yaw=0.1222 right_pitch=-0.0361 right_roll=-0.016 right_gripper=0.3965\nstate[joint_eff]: [-0.4718, -2.1128, 6.9402, 1.8632, -0.2076, 0.0464, -0.0073, -0.1162, -8.5265, 9.6615, 1.8242, 0.1636, 0.0562, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed33ca530023a19229b2c0537f87fced0f604c481cdeb21e30336508c324bb62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ba494ed1c7d69f444f8d65d3a2ee747aadcfee9695d16183f706bcca5ab0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68735abf288e412cdf6c110ea9e9ea0284ee6ec32e8d096aa594beaa8c82d40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1104, 0.8272, 0.6395, -0.3542, -0.165, -0.1303, 0.9963, 0.4156, 1.8675, 0.8089, 0.3676, 0.2726, 0.1532, 0.9981]\nstate[eef_state]: left_x=0.3044 left_y=-0.001 left_z=0.1937 left_yaw=0.0827 left_pitch=0.0252 left_roll=-0.0184 left_gripper=0.9963 right_x=0.4338 right_y=0.1434 right_z=0.0274 right_yaw=0.0807 right_pitch=-0.0906 right_roll=-0.0377 right_gripper=0.9981\nstate[joint_eff]: [0.4308, -1.4154, 9.5521, 1.6435, -0.0024, 0.2271, 0.0122, 0.2667, -8.9504, 7.0906, 1.9805, 0.2369, 0.2466, -0.2125]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8318, 0.6155, -0.3874, -0.1741, -0.1314, 0.9969, 0.4198, 1.7332, 0.8314, 0.3134, 0.2577, 0.1448, 0.3963]\nstate[eef_state]: left_x=0.2974 left_y=-0.0008 left_z=0.1748 left_yaw=0.0834 left_pitch=-0.0344 left_roll=-0.0024 left_gripper=0.9969 right_x=0.439 right_y=0.1506 right_z=0.084 right_yaw=0.1031 right_pitch=0.0038 right_roll=-0.0033 right_gripper=0.3963\nstate[joint_eff]: [-0.6906, -2.1538, 6.9128, 1.9853, -0.2271, -0.0122, -0.0024, -0.0205, -9.3333, 8.759, 1.7314, 0.0952, 0.0562, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5823, -0.3557, -0.1741, -0.1314, 0.9969, 0.4393, 1.5711, 0.9195, 0.0212, 0.2577, 0.1452, 0.3965]\nstate[eef_state]: left_x=0.2964 left_y=-0.0007 left_z=0.1702 left_yaw=0.0834 left_pitch=-0.0213 left_roll=-0.0051 left_gripper=0.9969 right_x=0.4213 right_y=0.1522 right_z=0.1333 right_yaw=0.1222 right_pitch=-0.0361 right_roll=-0.016 right_gripper=0.3965\nstate[joint_eff]: [-0.4718, -2.1128, 6.9402, 1.8632, -0.2076, 0.0464, -0.0073, -0.1162, -8.5265, 9.6615, 1.8242, 0.1636, 0.0562, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed33ca530023a19229b2c0537f87fced0f604c481cdeb21e30336508c324bb62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ba494ed1c7d69f444f8d65d3a2ee747aadcfee9695d16183f706bcca5ab0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68735abf288e412cdf6c110ea9e9ea0284ee6ec32e8d096aa594beaa8c82d40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS42SqiCsCI_idQC3OgAkAervovTNNEwls4k5QZ7mOq8svXxTkvvBvjYvHGJmKKMqwMaRfAOkk6qTuCFxXbMoohh4_D0lQS6YOMmP0J345a9iD9QAhwOZNZYPKSNdJNJz1OutwpN_U7EVSvDLkEYYdYCivl9NVWuHdX2JKorExS61jEQEaFGfwtyca-nv1fRUHSndnGgqJECQQSpYErV8z4bzeznzF8fs__zxFZUdZRdwsOY5BQPCDpnKQBzCqJabVlKE0yreCzN6-ypwea2PSoyNkKlk7-r7dMXe-gQA_aIY0WbUrynMsN-A_6mE1xr65jZbhpE1gesUScPx87ZOabpQED91pBQD8HJCapUbo8fXETRHCfPA3xGTktHTVkuLdMjABvAPKAKHCcBJR88jjbQa09onOFqI7PGQ90yUDxybRHM9rX6_qA2t5EN76UXBz6lp38lTrgek-7YQktZSV_GEA8WQ_FqVg83baGRfECT7MlWTLi_IDoecv7oX8ecj9RHi0uWix3M5IL1xr_PK-xVmfGs2K7-RSzcoP8w8PwxT0LLMclWqStL_lYEpPSl37lCbtMKn5b95rM_g5JwhsJL6TzILd8hNVlCqt_TfgWR1EvBH1as8faCBBM9TTCOIaD2LH3vq6FWmNbZG5y7J4PwQkf7_Yzscccy4ziS-1lrM0LhE4A9fF-EuSk0cZC3cawHjI-WsP8Gt1ltmAZOueKnmkBK-LEz2QKYymp49Go4h-KeFze-dFfBuBl9WPhnEd9Zsf4Jtz-2LkHj5oIvHAIJ63kbKuSpTeu2ZOHxmsyUQECqsXxQA-6pOoOPKFC0i9XDjzWIEDqQdHAMdKGMreDxU8QP3_ZudPuMnH0hTnBGlGcvB-EGQtaUPbSxh_-Ry_3EMbjgIONXGLpJVaZlVtOn9xQ2M9KsE1oFP5MPof1BEiZHQ8kPj9ZmwFEaQQlrgwLCZKFvdZ1LfkBkcbPtVa3pzGhwHnTJDw8kOomqcWSrR4dIvnnRvcnltoSUN0asGcSm6wkL6ZfaQ_4koS-cwjcoqhKYMl6V1ElsSBdvN3jx_eUFwQgEET5f6XzF30NCwXJ6308T1_62JxjuYavwFMVPphLiKHboQUDRFsVd-Gvn_CB19tsfLmwJ_33h_3JuOxYX4BfhlWPgn2z6wYvW64CaNAWhK9MDGPN6Z0mqzJMcRBaZy_qkmCKZvyO16gcsqg7pLVeh2srs_017ln-uFzjS9Q6rvGc4KStFpL00XJXYiKG8srJextjoGUQFZ5-Vux1s0UrnIQCiTCH6olhNxMnv-jfU27xZYTSsT_Hkc35cLA44YW1Xsw3-szT96UMLBo9UZ1qpwUyFmEnW-UWDEwei3KkhHBf5_AjC0twi7fz4Thz7qRozdOdz3q_XOonEIstNai8pHicHpTgHGWrluByP1QCHA6TW5oPDahICeoW_fsGXV23eneYmNVWOBq5ZPx8YDuu-_dymxN12adzwEE8imdBcUuA9Kmr9tWlkr6MM2QhDK813pscEQq9_tU2-vb6abd--HszerQb2r-qSqyJQ-Qjmgu5mZMGn7JvuOHUfpRHl-YEvpgZ6xmVZCwhnFU44gLr_Rpnb2IfMatJ-szCGx710wXxyUMmJMBc4HH1CoCGE7ee0H2-z5MeaKEKAy1utULPzl2VT_oYReusKyEJww==",
  "id": "rs_04d9ce665b00e700016ab494b5a22087d0a8e663b690b2228c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_gripper\":0.47},\"note\":\"The bottle is held off the table but remains tilted in the tight grasp. I’m raising it a little more and easing the jaws by a few millimeters so gravity can turn its heavier base downward.\"}",
  "call_id": "call_2Z3mS1HrOf1BhflrOIPdQ1Zm",
  "id": "fc_04d9ce665b00e700016ab494b74e6487d096fecfeb95228e8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Z3mS1HrOf1BhflrOIPdQ1Zm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5663, -0.3447, -0.1776, -0.1314, 0.9969, 0.4374, 1.5501, 0.9443, -0.0387, 0.2581, 0.1459, 0.4691]\nstate[eef_state]: left_x=0.2957 left_y=-0.0 left_z=0.1652 left_yaw=0.0863 left_pitch=-0.0258 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4187 right_y=0.15 right_z=0.1412 right_yaw=0.1194 right_pitch=-0.0494 right_roll=-0.02 right_gripper=0.4691\nstate[joint_eff]: [-0.4991, -2.359, 6.612, 1.9023, -0.1978, 0.0122, -0.0073, -0.2667, -8.3487, 8.6496, 1.7558, 0.1245, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34895323bed4945e5515e22ef98e553cc4c3210e67c6e05ed958aa009714967e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf9fd894d3bfe3fbc3423915385539bbe8f674577cecd4920379a395c2366e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578e45582c25f1a1326bcd6d2ea1482c43a36d6d3d6598602bd7fc933011d958",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8543, 0.6571, -0.4168, -0.1738, -0.1314, 0.9968, 0.4187, 1.8877, 0.7425, 0.593, 0.268, 0.1459, 0.4782]\nstate[eef_state]: left_x=0.3002 left_y=-0.0012 left_z=0.1815 left_yaw=0.0832 left_pitch=-0.0446 left_roll=-0.0006 left_gripper=0.9968 right_x=0.4405 right_y=0.1487 right_z=0.0385 right_yaw=0.0926 right_pitch=0.0399 right_roll=0.0039 right_gripper=0.4782\nstate[joint_eff]: [-0.3487, -2.2769, 7.8017, 1.956, -0.1636, 0.0073, 0.0513, -0.5128, -8.2256, 4.041, 1.5067, 0.0269, 0.0415, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5823, -0.3557, -0.1741, -0.1314, 0.9969, 0.4393, 1.5711, 0.9195, 0.0212, 0.2577, 0.1452, 0.3965]\nstate[eef_state]: left_x=0.2964 left_y=-0.0007 left_z=0.1702 left_yaw=0.0834 left_pitch=-0.0213 left_roll=-0.0051 left_gripper=0.9969 right_x=0.4213 right_y=0.1522 right_z=0.1333 right_yaw=0.1222 right_pitch=-0.0361 right_roll=-0.016 right_gripper=0.3965\nstate[joint_eff]: [-0.4718, -2.1128, 6.9402, 1.8632, -0.2076, 0.0464, -0.0073, -0.1162, -8.5265, 9.6615, 1.8242, 0.1636, 0.0562, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5663, -0.3447, -0.1776, -0.1314, 0.9969, 0.4374, 1.5501, 0.9443, -0.0387, 0.2581, 0.1459, 0.4691]\nstate[eef_state]: left_x=0.2957 left_y=-0.0 left_z=0.1652 left_yaw=0.0863 left_pitch=-0.0258 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4187 right_y=0.15 right_z=0.1412 right_yaw=0.1194 right_pitch=-0.0494 right_roll=-0.02 right_gripper=0.4691\nstate[joint_eff]: [-0.4991, -2.359, 6.612, 1.9023, -0.1978, 0.0122, -0.0073, -0.2667, -8.3487, 8.6496, 1.7558, 0.1245, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34895323bed4945e5515e22ef98e553cc4c3210e67c6e05ed958aa009714967e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf9fd894d3bfe3fbc3423915385539bbe8f674577cecd4920379a395c2366e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578e45582c25f1a1326bcd6d2ea1482c43a36d6d3d6598602bd7fc933011d958",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS8dLF-4c9My9iNEqFd2C5M41Zd7a8odKYWNp01jOWWZcNjOxQact7h8zM1c1bWc7EmTaCwsdyLueU6eOFFIsZ9xM1FRHGIZbeaS3TS-UeDMH5OCnCLZ_WjShTTYayw2enxrPStiPO2JhEGj9ske177MfAx-bn3AmKiuv9MJfrYsB8LdGhejcZS0CE4Xudrmo1y1pjXZI1PXom5yDA8cnOySXI0gwc9UwxSALG4-gyswqEOJCjVroJTmVdhrtK8cGnXN0-fE31uB9hY_IXF2PiJxT1g5IEBiwJeSNfPCB33FfZmf8GcvT1S4fbp9NzeHCXWyPcv7lNWpSqXq4cbbhdNRwOGAJpSHzPgp6QenQJfEOl05C_G2gOE3ir6FO1wbEF565g4xLkc0ziEXV5swl3kTZe7lpQPwrxyVjLM63Xw3PWkE4E8f_q3ZVKSQUdvngrfGoKwnVtDuiSupHTDL8PJDwIoUolN9kJSTcTgETkPnT8Ouko5-3QN_Aukm1DeNn7FAVQxZF7QnDj1X7xfhQsUhjX_YBOvl4AMPSHF3xojt3d_DlOCmzczq5v356BevOP5P6qR4Kw-Ij0OeMS6ntdcM0ZwDjEKlsIsxK59HGlOvZqaOroOQZuU-zUxYJy_jwhcuXgeA8Xu6b92OjVN-uEjyHGY8bGlxrRFrZeJDvbcRggD4yWVEe5cVZL7Qu3_lsrtUk2cqC2tUw3Osoov1MLJvUtHZOSD2wCgdHignmQrR-mLY2yGfiXdzPHV3dRrVw6DCovDBn2cOnhxSuBzgNquxrFMAgstBi3AG8u9zyItaVIqGaUNJa-1Lyc86w0xlIoMIuWgcbVKgfqymHyIoRDRpqz8X468EVlGxNr9ZzBUTqjBNvfBGuKB9-w_eAvAEmLELZkn5bM01f7NhRG6AgnChFo7Tt_pDiBbpTXO5tASOMtj0VPBwTvk8b86n3PvYSHVK-hg97yy4bKCMhdfiQAKtBOXSSK62VOB_D_-JJJSrGQMTGGIf0P5EeCyHCAqeVNVRxb4bnpm2RWcUdRsqy4UKUs3uq8RAAmzk7-y67Yq7JknRza3OkSMA9LTTEOcGfrAFHgjroqNUYA-m1C_jI-fX2u3mtUVLqvxOhHfCUQbapM2A_Fd6AtLrmpEj9CZCVVFxvqufgMzA8zyOG5bjUX-bZaj77jIDMch-wznnwccqugwAvs-CcoAjEI_BNlV6oS-erCB9W2cm84qwxh-oPEWX06ZEjXmDDR5tjrxaAtwIe4-vFlN2fHqrZI9QBkjetIzbHoZBDA3v9ceuH3yw-eTZxSzz6FHO38FfKSt340JAkd7Wr9nWRs3bAKB1dyhtBUuNyeC0HH8Tz5uIu-noPKIWgkzY_E4m3bhxzWtjNkb7ZPhd2lNYfDQvZ1zve5Q-K_v",
  "id": "rs_04d9ce665b00e700016ab494baaf2887d0b1829597e3b931b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_z\":0.205,\"right_gripper\":0.52,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The bottle has not yet swung upright, and the last vertical command only raised the arm slightly. I’m drawing inward to improve reach and easing the grip another small amount while keeping the bottle above clear table space.\"}",
  "call_id": "call_k7oWCmsm3ymVpeDoVl09T3jN",
  "id": "fc_04d9ce665b00e700016ab494bb71e487d0a3acc47bb5485d67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k7oWCmsm3ymVpeDoVl09T3jN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8112, 0.638, -0.4232, -0.1776, -0.1318, 0.997, 0.4374, 1.5501, 0.9443, -0.0383, 0.2584, 0.1459, 0.5186]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1835 left_yaw=0.0865 left_pitch=-0.0269 left_roll=-0.0023 left_gripper=0.997 right_x=0.4188 right_y=0.1499 right_z=0.1413 right_yaw=0.1191 right_pitch=-0.049 right_roll=-0.0201 right_gripper=0.5186\nstate[joint_eff]: [-0.4308, -1.7162, 9.5932, 1.6532, -0.1636, 0.0269, -0.0073, -0.2803, -8.3214, 8.8547, 1.8339, 0.1392, 0.0757, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87097e19e29e4128b6a161cfac1c1b2c11345e289a284dfb5473093baf90f891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e9a956f82bdbb0fd8b77aa93fc19800560408f04ffee09d4f07b972acc96b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcee20f91cd12c25740a6f3b6ac107f8cb33e39d7e8d6203ec766c6ea77de65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8318, 0.6155, -0.3874, -0.1741, -0.1314, 0.9969, 0.4198, 1.7332, 0.8314, 0.3134, 0.2577, 0.1448, 0.3963]\nstate[eef_state]: left_x=0.2974 left_y=-0.0008 left_z=0.1748 left_yaw=0.0834 left_pitch=-0.0344 left_roll=-0.0024 left_gripper=0.9969 right_x=0.439 right_y=0.1506 right_z=0.084 right_yaw=0.1031 right_pitch=0.0038 right_roll=-0.0033 right_gripper=0.3963\nstate[joint_eff]: [-0.6906, -2.1538, 6.9128, 1.9853, -0.2271, -0.0122, -0.0024, -0.0205, -9.3333, 8.759, 1.7314, 0.0952, 0.0562, -0.1685]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5663, -0.3447, -0.1776, -0.1314, 0.9969, 0.4374, 1.5501, 0.9443, -0.0387, 0.2581, 0.1459, 0.4691]\nstate[eef_state]: left_x=0.2957 left_y=-0.0 left_z=0.1652 left_yaw=0.0863 left_pitch=-0.0258 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4187 right_y=0.15 right_z=0.1412 right_yaw=0.1194 right_pitch=-0.0494 right_roll=-0.02 right_gripper=0.4691\nstate[joint_eff]: [-0.4991, -2.359, 6.612, 1.9023, -0.1978, 0.0122, -0.0073, -0.2667, -8.3487, 8.6496, 1.7558, 0.1245, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8112, 0.638, -0.4232, -0.1776, -0.1318, 0.997, 0.4374, 1.5501, 0.9443, -0.0383, 0.2584, 0.1459, 0.5186]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1835 left_yaw=0.0865 left_pitch=-0.0269 left_roll=-0.0023 left_gripper=0.997 right_x=0.4188 right_y=0.1499 right_z=0.1413 right_yaw=0.1191 right_pitch=-0.049 right_roll=-0.0201 right_gripper=0.5186\nstate[joint_eff]: [-0.4308, -1.7162, 9.5932, 1.6532, -0.1636, 0.0269, -0.0073, -0.2803, -8.3214, 8.8547, 1.8339, 0.1392, 0.0757, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87097e19e29e4128b6a161cfac1c1b2c11345e289a284dfb5473093baf90f891",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e9a956f82bdbb0fd8b77aa93fc19800560408f04ffee09d4f07b972acc96b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcee20f91cd12c25740a6f3b6ac107f8cb33e39d7e8d6203ec766c6ea77de65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTCEhtbxwhWGmWR1uJgzCsc3k0Na65oq0KJsNKOWJZ9TxO3raE2Dzg7eHF3zGROmQ5aLAT_y0CDl4AiZgdX6UaXY4VDxVIVxQjtmLAnpkfwvMqptcFOuyvRinxIQplNNNgodcVTpCQNoiToZ1L7DwvK-zho2JobGUdxxJgbTnRxaapvpBESlpadSaMX2vL575i16IWJJMKphEGvcppZMgiN6Qyri9h7_S3_2iM0pxCqCKNPYrYud-9DfyEh_AVRLc70xOUTSBYN4p0P04PS81tT4ztzOHoc4ky7ICRzK7N6bmBIwRj-5G1SABLKaMgQXk6AXUv3qyiHlKMOzToLHCRPoRLFA9WzxP94zOCKSDc92_2PtPd7Nty9GfDtxsxtBfBRhmobbVtnRf21KBMPUBOKJLci96ThGEBErmBzN9mL5yt1z4B9I1rjP-rPZuJYW6fi-KYQCq5N-nkm3sBdd2IDdKOo1TTM4lTzhna4_p07GggGvYKNYunbWEbfI98LFYqaf-eTuV_Him5SwqAT0JZq0EWqjjn4jcdHTrwotjExG2n8JSDPgb64iJsFb-L2YqQtphW8Wf7pyplWEmopezVpE0s1CV5kN8ciBZ6wnzoUjTmpt1FuvOOf0ni_2-TFQtC7APG4bJoNl477XnVOWqAUrFkNCLg86oiXj_HurZjckoU4p9uf5Tncj1hSjUwmdqmtiIqDLvv--IHk8bQf3t52YpMpz1CMRTcK-d9oph3-_aimN2m_91kVcAptmKF6GQ9UZduknxN9KinU3G-NbDWyVb14RzHI-xnKdcjBUIlTWHEBQB-JdWJ0P_Jr3-fKgpSiLSzYgEch3nzChzwpum49AiCkcWcmA6oFBaXY5Nz2ej86FKU-HjEbTFYqm9aKA4jDfOgxY_wvMr7RTdzC2xAcBvET92QeD4_L8HLYPwfdnjJVoAa5y55ztaSA52C4Iz5yH8jk1gzh9dqsznYqVmt62RSoM1Wd6YVxS0rSUxRMM-RPZ1rqpNE5liZpy0VXkg5RXzjHQ3Pn3GiaZT-w-WAlklNKLFYd4G8p1emZaXzg9pYbhk0gpx3VwPNbQvvPjKLy9quUoqSA_dPUNL5JgYOQA5Iad5kwkUznR_3qO51blKAb8vgheDYwGPAzMNQQg00l69EKE2Rug1--JX6X47cc9aXsoNzVNsLx1KWFPRKcn85AJ14XSUknhCBe6aYaX4-75OI0qzfPBpWEFPCUswRqs6y7iXfwCT9QxE2OC4rq9Sp0islfzXWQ8HNcJ7CMXsttwvSx3N7mFMQ2mAgJl6kZD5zPIKLDwXvHZ2rionLIohejsoP7ME1l8mYMaT4hN7qhLCEUkPe5EWH6WmDLq2CaQuWZhgNdpunBMwW0RIEj_PNVNDnSo5GJrW7EgnzSCOsjvs1kvgJ8PC5xIhI5GsOlAtqsYrgTAQq-voEoowLy6uxNz8xgItgnrzUaz95fiLn5TrH7g4bxc-O2EykG--i0GhLAJP1R2psvN_48Ar20fWxeK1mP_nfCKtfi6UwswV20d7Fb64nIAvm2y1xKoz7r_Fi5N3G31ijVxyzss-dkoGHTtejMdXyz0JG7s4yYYLImfl8fqoAjKyv9qyzcF7FB1A==",
  "id": "rs_04d9ce665b00e700016ab494bf122887d0b91ac89b815834a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.418,\"right_y\":0.15,\"right_z\":0.175,\"right_gripper\":0.55},\"note\":\"The arm is holding its previous pose rather than following the inward lift. I’m reducing the next lift to just 3 cm and loosening the jaws slightly more to see whether the bottle can pivot without being squeezed.\"}",
  "call_id": "call_l1O4rAqmZXu4Bm60vE8KwRQJ",
  "id": "fc_04d9ce665b00e700016ab494c05a5887d0be9bc328a4fae1ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l1O4rAqmZXu4Bm60vE8KwRQJ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8009, 0.6159, -0.4168, -0.181, -0.1314, 0.997, 0.4374, 1.5291, 0.9459, -0.0685, 0.2577, 0.1455, 0.5486]\nstate[eef_state]: left_x=0.2914 left_y=0.0011 left_z=0.1776 left_yaw=0.0892 left_pitch=-0.0318 left_roll=0.001 left_gripper=0.997 right_x=0.4145 right_y=0.1481 right_z=0.1449 right_yaw=0.1198 right_pitch=-0.0564 right_roll=-0.0224 right_gripper=0.5486\nstate[joint_eff]: [-0.4855, -1.5932, 6.9265, 2.044, -0.1392, -0.0024, -0.0122, -0.1299, -9.4017, 10.2632, 1.7949, 0.0757, -0.0317, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786235fdce4fd9578d6530f848e8d2500495dfc44ccc18ffd907f9c9a1ae3227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07311aa6f07b057a1d20c97c832fed9e4306b9abb12c6fbdf61b0abee679d3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca1eff7d0edfe6b131de9338003b0612b2eae30cbce0e18e0e4e957be4c5c75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5823, -0.3557, -0.1741, -0.1314, 0.9969, 0.4393, 1.5711, 0.9195, 0.0212, 0.2577, 0.1452, 0.3965]\nstate[eef_state]: left_x=0.2964 left_y=-0.0007 left_z=0.1702 left_yaw=0.0834 left_pitch=-0.0213 left_roll=-0.0051 left_gripper=0.9969 right_x=0.4213 right_y=0.1522 right_z=0.1333 right_yaw=0.1222 right_pitch=-0.0361 right_roll=-0.016 right_gripper=0.3965\nstate[joint_eff]: [-0.4718, -2.1128, 6.9402, 1.8632, -0.2076, 0.0464, -0.0073, -0.1162, -8.5265, 9.6615, 1.8242, 0.1636, 0.0562, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8112, 0.638, -0.4232, -0.1776, -0.1318, 0.997, 0.4374, 1.5501, 0.9443, -0.0383, 0.2584, 0.1459, 0.5186]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1835 left_yaw=0.0865 left_pitch=-0.0269 left_roll=-0.0023 left_gripper=0.997 right_x=0.4188 right_y=0.1499 right_z=0.1413 right_yaw=0.1191 right_pitch=-0.049 right_roll=-0.0201 right_gripper=0.5186\nstate[joint_eff]: [-0.4308, -1.7162, 9.5932, 1.6532, -0.1636, 0.0269, -0.0073, -0.2803, -8.3214, 8.8547, 1.8339, 0.1392, 0.0757, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8009, 0.6159, -0.4168, -0.181, -0.1314, 0.997, 0.4374, 1.5291, 0.9459, -0.0685, 0.2577, 0.1455, 0.5486]\nstate[eef_state]: left_x=0.2914 left_y=0.0011 left_z=0.1776 left_yaw=0.0892 left_pitch=-0.0318 left_roll=0.001 left_gripper=0.997 right_x=0.4145 right_y=0.1481 right_z=0.1449 right_yaw=0.1198 right_pitch=-0.0564 right_roll=-0.0224 right_gripper=0.5486\nstate[joint_eff]: [-0.4855, -1.5932, 6.9265, 2.044, -0.1392, -0.0024, -0.0122, -0.1299, -9.4017, 10.2632, 1.7949, 0.0757, -0.0317, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786235fdce4fd9578d6530f848e8d2500495dfc44ccc18ffd907f9c9a1ae3227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07311aa6f07b057a1d20c97c832fed9e4306b9abb12c6fbdf61b0abee679d3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca1eff7d0edfe6b131de9338003b0612b2eae30cbce0e18e0e4e957be4c5c75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTP_Lfn3WCIpPjNHtF0D9emhgQHpvKxH1A3wBlAe7OYOMC5hrHQfMrD3zkxxiBT8Z-iwjHAtxLSVDhgKZneNxhSizATZbYlK7w0MfvP0ACUvvvx26d3N4KNNBKB2BfZWe-2jKqCjtJdjJPjIQOjaleQ2Kay0Vi2B4vg9DyJng41ccJNFq9OaY_W7T3NxWyrO4P4CW7aFMqcHWfvDeVmURoQNWHA9FFIZpi_FQlwUaBUMh-eq1WFHjjwarzAeoKtoqbj67lTSePUyboBsk4_Ezyr30eAISfvTPe22ZC2bM_z7Md12tLyRPC-vTJdV0xU7efrdHr2JAXjE4SoZyMl7zEfg-f3cF1sj9Fjg_zsKxfHLokH9DHblTBExcO369ww8okKKQsrdA2VeCRSkqDYa5qJ8Rgq25QW5k3cNULwfA4JGvMMgssqxU9PTHNY3u2E6YAVQEM92nx2YfUyfLsiCpwZ3Jj1MkZAk6P_HzbBWFMw2I1g7UJHap4n1cIpGu2d9mmC6Ct-7LD6Elk-15Qlb6egzzekptBsNGi1R8Qowltvo0KM16drrTDMA5rqjxSDPZO2mCX41P9VXaJbCrKYtFlZCnMt-sgOyyfWzb0pc9tLJZpqCeQYLhlW5EpVHmr5WOdSz2RjtxmMr7yKoYtrDo8fP6jhGuSrWzeGvdaX6WMjkMGujh_xUDflBVE0Y-smYm-V5ZGtGR0egghIxXOAEAaA0ursrUhCbhnA16OOXeT5ZFAf8ae5GyO33vxdtYS7KgbJ5QF2lLF14QqML849asLpigyma1_FqNFF3QfzHX0-tNmEUrYeaE1u_I9cTP-Uvb57_NlEWJa61Za-Ob5sylbOXbKCbWwE45LoKYM8C23AyA9TFBUffuwwASOwfTMhxEffAqxbSZarU-T9wPRqfsU9Vw8C1sJSOHLbOuZOK2-H2Gsd-p4AViGYrLki00K5rizljtSXLoU8HD6GxfSE8JOVEUxGZJvjRl4-OwA1zYfV8YbNyGJvg4tzTmhVdaP7KWI3I8saNz23KRUsCOnX3cbJ4Ai3YM7RQmux-kSVmCkBKkNGw4-EVdq85KGlQOJuigpDtPmZvehwoEwrgqVQgpyh7NTPcMkN4fPxn9hYnQ7FqFwOfWNLXZXR_9_U7TFvRopkMI5pXxGrv0fUkrnr2VuixcGLMEwVf6sUfoxxehSzAzJkNHhMs67iDK8YM-CT-lM0eHCWJXxeWj2jbtP82YHrQe8klE50UZ7pnw7-q4QE4Xuwby7d3qyMijL2lx3bL1nf7v_hArmUIyJpiDgjka7MlDIQKNQEWX67okHLGIZK0t1YszIlPG2v2XiLnAgeBOYfGk-ka5FX59bk3M4urQ3Uo5t6gIjy6c3B1Nl70pRZ4QX3UJPk1POXtPmgIIoj-s_W6bbpgoNMXrwP8XOgPi3wr0mD_jq60R2H7SOSaq0dRqTNjXzFALwKDR6fuW8dU36qkU6KR9FmX2m18EDD5U5KDZqX0ey6wENMLhuqz8m03mQrmsKwsQzab-ZpsoGyKXwzZr0n4RVKDDYJb6_4ZDRCYF_bnH1KPClMNSICziKr3jZidtkFr5NQpYnnhtCct8_leULYVl30WRFuNJghX65VU_k3Ow4LfmaiknUHre1FhB3TQtiKiRbJDTfEDoss_YhJfLvw9fV4wWeebDeUd3frS5J4ofOGkaF4RvvDX9G58fIge-lse4YEiRVK5TVTWwKbUQwtF7qGyOXZPyrNV8PzGsdJp96s6fhfF5sLMP80_q4GY7raE254pC2X6kKwzeeBG4UWDf3oIezum4lY7Bh47zSPovVtoNKAzAW1-tkiwVjcMGEaYkHrINeqik7ApGojdOh5J-lF_8RH1u0Br8gdVoRURyzVwbAEWMJG9Yla97pzXi5C7n5d8x2GHw3G-D3OIutzWPUJCH5p1YEOBKH81fmj1-7ZId5gc2l_WX0uBfPKy630yEJzQvveyUZXoRIr1G6QGiE5Q21vYxD2V5BwCtmY8XgkYud45QuEayoHshMdLBfc3PqTfkux5v0r_Z0px51sdAfYZ_mSqgHTuxRkyVsfsAdsHAZdvNH3g21WG9i-OGRqnkM33XdYsT94yjtvmusfl3o6iMy2mUCIkuoCrZrCJaf91Q8s6Z4ndZntHWF-lU7lsnX-P3epYcsSej6x-8sdnRgOb59gvft_PY5cTX9Wuir5Zq_qwbuVwpXFvag0tq4u4lk7eGG9tG6XbkLS06ihFOzMN4yOg5VxnmayO9KprWtotFkHKb8nTQlh0wCOFT0BzwP7iF_1RhmXQh9GIX-tXEYPGXO-4Yl66YuTv914mT50ONpGqdDAaxf6V4eqkfsiWKy8tCNJr3nJBLoUktlBB91FVhK_1oZXOEiuE2V1aChORFamyCII3ryz8CnMIw9EPBcl9nVCcjDe74_4Lp9HjWBTKccK10K4xZvD4yUmEvsnGE-ueX9juN4upkRJRm15mSCi2xM8CCmWtj3GHFqQzDbsEgKOn_zFknSKXEAlxdNINmEDYeEAbRBJVb2mUwMKiRcLhNR_BjM8GoxC1EhO9LQFJTmWsU7fe9YKbpXslj_Sds4UntXi7Y__1R3YJYpiCP3yNLqCiMq91NbRnyKmDYdpMb5lZOh1MTH8WMIKnT1WGV-ZlwFLqz3vUfDq8HorkYSU4ovPJGU3jBRrvrrwoIh7oF2nbcYFxF-SU_LBWtLdmqc2mPccjvcXh1R-R5byKxBNgtSQ12x5ixdeDgF26kHpUgUTjBPqPuouKpcp3T3vjbPWRm9qcQszcsTTOqGj68E5FOByvnufU-gv5vKZAbn5-zr5uqOmlNfODtE4iLRUX8kabFa3OFao3QBKvYOUbyc-6VYUOEsJbyIVx-7BMf5H591CK4xh-xFpupRzndYBogAs4U0Uf6A8F0GXs59sKaG3JHTRcZLuByXdgeyCg3Mmf1FBf6aRDRcToQeWMOjz1l6etwcHwrK8ye7zXxQkNCWh-p200dl5rO4IHoohGa9vfRewRwgtN3dsMYtQSm7wwfAu1NxKjmFFNwXyZB9_d9BMXcYSCHC5b8I-Wd-YLg1FS2CpSgUGJhetx1eV6XBoNrlOZzDy3wvteDg3yVhjF8N3o-cQWGijvzzheGLdfIRsac1SY9UFlrLN7qK2aRYiE8N_BT0-lcsTWHLurbR9Nf31_9oghi14eyYl0a90bFEBk1w6u_2FmBjD7Cv8ZoUFY1sKUboxnbV37p8oZ1lobvyotfkpWQrOuKDAxCGf3L2oPKsK7q459p-HLlxbTfZ2MvqrFm5K6c3gjHbB_JbbpOE09cFaSl7U2LUU4LlIE65hUKVz9AuK5Q2CvjUpZEui-yi2WGLibVdsh4e6fbLR8AG0MlJssLxZy2JZM3LzSAhqZTmwmEjY3_GAhH7M-ExKXBD4WQHkUcIcTe6ahKaf31H_wZ3c28FjGEIJ3EQoyB_wvExVwLOXcBoPoZyBx-4DaIs9icJWuW-uEXBB9FCzw0Lw1-suoesHpG7eQBMAI9laqM6rCBnx43CJ4kPzEaNQTut8RVbndeNLb2cKGAYPwZRl85H6uVQHe9b6qEeAc9L6UagW2D-B8sgne6OQ7laA6xnpkQr8BENvVR61Nca-vyBj9BSr7xWn3q4GTAljgtnZkVg23OO1pVorcId98Z4Fk7motFjpt47VOTeV3axKlSFUdPFjX2lGnw6iRASVWxfxjVgmwldO5YkDUIxAwuwvoxaJnamt2aUBEH0J6LL8SpPB3VyTgnK6otGZivMgAw4cJF-TG1tdQt0GIHPpTG7WKZLZvWvmsRHkj6EJN4tlnrdaulCNhsBZ-uITciJIlydO5ZTUjlUpS8PODL6A7_N6HtZhwOf_yIoxdyMeu6w5i636yJjPfBA7tb_Cw4u2qTX8nlAqRgpH3b4sMcj_7egf1JFDOzGWo-jVgiTpfKXUYK6_G-kB0lKA-xxH0XEzzKqVql8DzV1JcubiW3rHHirLo-_roJ0SagLmJNjEW_l7xlP9g97cMqIznGrVvmMqfUke6FkbKKXf6xMRs5hkSlPWbcN2_mBh1EcTB76cgUhxH0VX5gX-zdD42_B2KgGmkBqkTqW-MdFPFcTVlYcPoFY8WWKWuB-lbb6Tt0mp66A2dd8mfSg4nNM6YOzqfOE3t6LcWikLZicFm5rdcA==",
  "id": "rs_04d9ce665b00e700016ab494c40f6487d09b494a64df718a0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.15,\"right_z\":0.12,\"right_gripper\":0.58},\"note\":\"The bottle’s lower end appears close to the tabletop beneath the gripper. I’m lowering a small amount with a light grip to let its base take the weight before releasing.\"}",
  "call_id": "call_6QAd4C60lViequVV6hSSSunw",
  "id": "fc_04d9ce665b00e700016ab494cdcf2087d091410cb2c332256d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6QAd4C60lViequVV6hSSSunw",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7902, 0.598, -0.3923, -0.1814, -0.1341, 0.997, 0.4397, 1.5139, 0.8665, 0.0288, 0.2596, 0.1467, 0.5781]\nstate[eef_state]: left_x=0.2918 left_y=0.0011 left_z=0.1773 left_yaw=0.0909 left_pitch=-0.0149 left_roll=-0.0046 left_gripper=0.997 right_x=0.4095 right_y=0.1465 right_z=0.1362 right_yaw=0.1203 right_pitch=-0.0245 right_roll=-0.0121 right_gripper=0.5781\nstate[joint_eff]: [-0.6085, -1.6615, 6.8718, 1.9023, -0.1441, 0.0073, -0.0122, 0.6085, -4.3692, 6.0103, 1.79, 0.1148, 0.0952, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc14d2be94ef885667668e38020d483e33d2183d21f83732aab3118ed49e03e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cda853393df2feadbda2a7826b0081f5fdb2c8a388e0dc49248c22860f4a842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97fe27bd5ee896232b6f389595197fdab8fb098ab9018da7665cf00e537a1c47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8169, 0.5663, -0.3447, -0.1776, -0.1314, 0.9969, 0.4374, 1.5501, 0.9443, -0.0387, 0.2581, 0.1459, 0.4691]\nstate[eef_state]: left_x=0.2957 left_y=-0.0 left_z=0.1652 left_yaw=0.0863 left_pitch=-0.0258 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4187 right_y=0.15 right_z=0.1412 right_yaw=0.1194 right_pitch=-0.0494 right_roll=-0.02 right_gripper=0.4691\nstate[joint_eff]: [-0.4991, -2.359, 6.612, 1.9023, -0.1978, 0.0122, -0.0073, -0.2667, -8.3487, 8.6496, 1.7558, 0.1245, 0.0415, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8009, 0.6159, -0.4168, -0.181, -0.1314, 0.997, 0.4374, 1.5291, 0.9459, -0.0685, 0.2577, 0.1455, 0.5486]\nstate[eef_state]: left_x=0.2914 left_y=0.0011 left_z=0.1776 left_yaw=0.0892 left_pitch=-0.0318 left_roll=0.001 left_gripper=0.997 right_x=0.4145 right_y=0.1481 right_z=0.1449 right_yaw=0.1198 right_pitch=-0.0564 right_roll=-0.0224 right_gripper=0.5486\nstate[joint_eff]: [-0.4855, -1.5932, 6.9265, 2.044, -0.1392, -0.0024, -0.0122, -0.1299, -9.4017, 10.2632, 1.7949, 0.0757, -0.0317, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7902, 0.598, -0.3923, -0.1814, -0.1341, 0.997, 0.4397, 1.5139, 0.8665, 0.0288, 0.2596, 0.1467, 0.5781]\nstate[eef_state]: left_x=0.2918 left_y=0.0011 left_z=0.1773 left_yaw=0.0909 left_pitch=-0.0149 left_roll=-0.0046 left_gripper=0.997 right_x=0.4095 right_y=0.1465 right_z=0.1362 right_yaw=0.1203 right_pitch=-0.0245 right_roll=-0.0121 right_gripper=0.5781\nstate[joint_eff]: [-0.6085, -1.6615, 6.8718, 1.9023, -0.1441, 0.0073, -0.0122, 0.6085, -4.3692, 6.0103, 1.79, 0.1148, 0.0952, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc14d2be94ef885667668e38020d483e33d2183d21f83732aab3118ed49e03e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cda853393df2feadbda2a7826b0081f5fdb2c8a388e0dc49248c22860f4a842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97fe27bd5ee896232b6f389595197fdab8fb098ab9018da7665cf00e537a1c47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTR2KOuGJsOJNXSGs14htd16wN0h803DHPEWIThcfr3Q4LQtOsbOmiG8lDKf7-zDax6dBUhlcgIr_r7DpLUUedaJfZE0GeeHrv3Us-iGmrR0YvMmJGjmosZEbagW30LtNdahmWHHqlmyvvvjIvoJd6503qzYIwMEurAunplXuRQvJMxodqBfpF7WB73qUin2BJhUACkQ7IBjcHuL2GTO-1UtRaPd_iV3YIwN5yihK0cPZHYab_CwbAYatTajAmpwY1L7v0isLWmddBrlZHk6EchkMHAbFmh8HEB0q6Q0qBRT4ATeaBlXXYWAQXAKyuk0ABH69kz5IOckxvzC1GIckCinEx1lexFVXcBjM6q4T8_3jGl_c4n05IKSegwCUM_Q-cx4Wd1oZsUdN9EEzeoaU6S_SKphVWZHRkL9yp1AlT_b2GxI4XXQQW9UBrNuhkODORbRNShzm1QJsjmBCk7gT6livBPgyX1_yhB938mEYrCsAdOySPZWwmww-Hn-nGzpSS8LgarbcU90T4y5oTSNbFyXtPg4DtnxB2Qj6z30pwaVCNNjqWcgdIPwjINYMSG24UAquEGeLBR_SZ1XMR8qEDFnMHv1Suw9VArOHSAW0Mvigyq9LV5ou6YWTCW-9-FThfQrS8XGBOeuBf1QXMBOABK9odrUHmL_ykdNy89t3B2YhTfh6jhNZNzMsL6pDGVyl2KaKOYFHKw2SLsKuVnJsO7StDv0qHABRPLHXOFIk0CS3t8WHzKDTc-wM01cMlL-x9bjH-sC2ygRvgvRvW1qVkB6w9HXUTPGs_ZSfQwpQtKE7_5-T4X9vt-u5nWyXnvQkXJqUKQm-jCXfvbrFjT1TtC4G57mz4lM9AT2zfEdVDygZIqAcGsvYzVFS1rkFkxMm72ae07F3tsFxZ_oHBOlRT7ZQw9jUWIAjuo2wQ2OXwqzpOMu-AWLc6uZmp-GX0MQ_a1kWxH6n9FLeGL0MYLzHWFpZcWPiL0jdVNeatkc6fkJVZm_wxWyRKhhQm3vjS-kelz6MCcnj2gM4BxtIrcDE515jkfsdsgy68X-6TEX1Bfp5QNymgGUMvwC_7C4B4o3U9oBjaTry2FiAmU4_vmI3a6IJJCUQm46SgoiBi83rg9-nAUsQy88bO5-a0sm0sfHuFvjUwdrxG22flnq0BoE9FCWDBjTc98kZNEosT6Pfxt8XyNgJGisljdetnPibwEvAV5",
  "id": "rs_04d9ce665b00e700016ab494d0c63087d09472ef5150259e52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"I’m opening the jaws fully so the bottle can settle onto its base. After that I’ll move the arm clear and check its actual orientation from above.\"}",
  "call_id": "call_5XowH2MHpQhcnqqsPBbH27yI",
  "id": "fc_04d9ce665b00e700016ab494d0e71c87d0ae422e745e970da2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5XowH2MHpQhcnqqsPBbH27yI",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.5838, -0.3931, -0.1818, -0.1341, 0.997, 0.445, 1.5524, 0.7933, 0.1066, 0.2577, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.2896 left_y=0.0014 left_z=0.1721 left_yaw=0.0912 left_pitch=-0.0242 left_roll=-0.0024 left_gripper=0.997 right_x=0.4021 right_y=0.1458 right_z=0.1047 right_yaw=0.1272 right_pitch=-0.0571 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.5949, -1.4017, 6.9675, 1.9023, -0.1832, -0.0073, -0.0122, 0.0889, -7.241, 7.2547, 2.0586, 0.1392, 0.0708, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f410cf45b24966ed8bf85b73854c8c9719c94a79c827cd7b808f9a1f2001c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993c0b790efb0d06a51e389a77cc85020292d57cf9a833d231e5cbbec883afbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a2efab0fbc84be2c5b5bbc93103e8cdb3bebb4c975ba389a0de22d3e554ec6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.8112, 0.638, -0.4232, -0.1776, -0.1318, 0.997, 0.4374, 1.5501, 0.9443, -0.0383, 0.2584, 0.1459, 0.5186]\nstate[eef_state]: left_x=0.2939 left_y=0.0002 left_z=0.1835 left_yaw=0.0865 left_pitch=-0.0269 left_roll=-0.0023 left_gripper=0.997 right_x=0.4188 right_y=0.1499 right_z=0.1413 right_yaw=0.1191 right_pitch=-0.049 right_roll=-0.0201 right_gripper=0.5186\nstate[joint_eff]: [-0.4308, -1.7162, 9.5932, 1.6532, -0.1636, 0.0269, -0.0073, -0.2803, -8.3214, 8.8547, 1.8339, 0.1392, 0.0757, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7902, 0.598, -0.3923, -0.1814, -0.1341, 0.997, 0.4397, 1.5139, 0.8665, 0.0288, 0.2596, 0.1467, 0.5781]\nstate[eef_state]: left_x=0.2918 left_y=0.0011 left_z=0.1773 left_yaw=0.0909 left_pitch=-0.0149 left_roll=-0.0046 left_gripper=0.997 right_x=0.4095 right_y=0.1465 right_z=0.1362 right_yaw=0.1203 right_pitch=-0.0245 right_roll=-0.0121 right_gripper=0.5781\nstate[joint_eff]: [-0.6085, -1.6615, 6.8718, 1.9023, -0.1441, 0.0073, -0.0122, 0.6085, -4.3692, 6.0103, 1.79, 0.1148, 0.0952, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1181, 0.7849, 0.5838, -0.3931, -0.1818, -0.1341, 0.997, 0.445, 1.5524, 0.7933, 0.1066, 0.2577, 0.1459, 0.9956]\nstate[eef_state]: left_x=0.2896 left_y=0.0014 left_z=0.1721 left_yaw=0.0912 left_pitch=-0.0242 left_roll=-0.0024 left_gripper=0.997 right_x=0.4021 right_y=0.1458 right_z=0.1047 right_yaw=0.1272 right_pitch=-0.0571 right_roll=-0.0223 right_gripper=0.9956\nstate[joint_eff]: [-0.5949, -1.4017, 6.9675, 1.9023, -0.1832, -0.0073, -0.0122, 0.0889, -7.241, 7.2547, 2.0586, 0.1392, 0.0708, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f410cf45b24966ed8bf85b73854c8c9719c94a79c827cd7b808f9a1f2001c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993c0b790efb0d06a51e389a77cc85020292d57cf9a833d231e5cbbec883afbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a2efab0fbc84be2c5b5bbc93103e8cdb3bebb4c975ba389a0de22d3e554ec6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTWZ5BpKiH-1kRA-Ih0czbJUg2iDMI9xssoAcyjA0MPYRUZJ8qU7_R9dCupihtppLo4AjBQ_vKbnexUaVB0VN57bv_G2IAkd4-qajB5ya0l3owb0nDXAaF9MWweAfkDJ2mzmd-OL0Iw-qRp0fEqomNvxnIurNlGgdPVFDiPnl0MIEMSpMqZtWrjwDDqYMAY8Is_GZ9DEbuWRYALfVmagyQM4G8r7vFg8TGAfrrm-V3xRuoGgsMsnUUmtlop4VU6zZhCa4bPFljRG_xuNwhsoBQ1JM8toHoXQIGPrBz-itK2nd-pOEKvzuavrrRjm_8qWwT8EjwY41pa_DY5nMqY9gYMZdQcLxvjoiTaN4AfF_R1Bh3WPI5ZaPyatRvFQh67sCs1wXP5cESqSJFcqu4cwb4GlPqZNZrgFZg7CtCmr5lXhqKcA3XUP5VNMB6Ex3arwEcUaQv5l338sWFtRvRLZ6HO-57ZQu53wquL_9K2b64rUMbCrU5c-03Zf-J7VuDbdDW9jYNlUTDC-B3UF2D3ESSDmcVjmFp9sqfG5YKcd7gU9-moibjTwfAUp1kqk87MAG1DLFNo4FvVnkBG_RGQtN3xuDpNcXi5QsNU3Y3lRD9qK6MKW_uzCUqIh_mOsmemlWp1T0zSZ5I8fkhsV5x7bmFlU3hZmPl2j9axY1f2GJ5irPM4uny9kQk8bgeZe00tyy8ANxPdN8dNI5wmiQTL-YtwuUlu8nGWVENJb3NRS0hYvEsHpk5wG7ssG8RFRZXkFZ5F4RxE8YfjaOErPqulGyiYIZcJxPPhEx3hNT870TOGV4NECcDRU95mXLOHcn7e-mWC3ie0zdYW0SkrKAntAfNPhp5O4c0SANSu90SFoQptsV2plfxywt-tMtofYNcUO6s7FBM4UwGjfSU8sF7stJ6Qb8P9iZLx51kSmAZ8V767zjhvqTPldre3O_7V7Wa5Rkl7nNirwdfX_0tg5HB__2-XFd-WJuWs3YTs7D0iLPu8ikJdt4ALwqOP9OWtqJn9-5kgd8FdhBMxx-Hex7bbGEX_R3oTRXTdSG4NSfUVrES_1dGIouzkru8Ecaa6K8PkVo5M9i6vLX7f3KoetbY95VgOa4_KkfyFW7m4dHkLUZElv6Wsi5cuMJwps7WHRXeeVER6d9RFgSVusXtmpu4tW4mW7mbiDCXrhZ35GftUjVn28LaV2alT24r-d7kLQtg2l2hfEw8KCwupjFbqRSBwOzGfg_1tvQ00YoZOwj3AD1SSQqohhuG8bO4u9O2oFjp9cckmgQgpuLLP6SpD0zaIiTJWhw9shKN-0QLls67S0-pb0rf61Z4yaus6auTb_gtuhyjyec9eNs05RBnMHMgiOpoivmyaL-98QLxXScoaO141ra7b8Np46NOGr18YmCldQXfRloA-BDalFWFlKxDiMEp-Df9mYAlPDfOGnYd9q1TkNSOsSXzbhSJ4mqeIi4XkbPXb0akPhZkE1E5LE0CiJ8Ikm6FGV-6binHIvGs3dt7Sp0FBh1KzfpoFi7vBnPAnCmogIp8B8WS7Qa0E64ZovTrGfqZZgEbQNE7DPPq0qrH6XSRypwdyys-k0P7eeptC4wNlelfAt7YDLTGWQgai5Fk4kXh2Ybx1-TEH7-jeUOORpVBl5R9IZunuErrElLD88CLY",
  "id": "rs_04d9ce665b00e700016ab494d3817087d0ac3a19ce69155fc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The right bottle has settled back onto its side rather than standing. I’m withdrawing both open grippers to their home positions to leave the bottles and workspace clear.\"}",
  "call_id": "call_0wrFWdEsWrN0J42pW2v4asVD",
  "id": "fc_04d9ce665b00e700016ab494d5553887d0aad1752a02faa638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0wrFWdEsWrN0J42pW2v4asVD",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1246, 0.8051, 0.6411, -0.4473, -0.1921, -0.1349, 0.997, -0.1341, 0.8474, 0.6514, -0.4076, -0.1745, -0.1425, 0.9973]\nstate[eef_state]: left_x=0.2905 left_y=0.0012 left_z=0.1819 left_yaw=0.0939 left_pitch=-0.0397 left_roll=0.0064 left_gripper=0.997 right_x=0.3002 right_y=-0.0059 right_z=0.1826 right_yaw=0.0669 right_pitch=-0.0229 right_roll=-0.0033 right_gripper=0.9973\nstate[joint_eff]: [-0.6359, -0.9094, 10.4274, 1.7411, -0.0904, -0.0464, -0.0122, -0.1026, -2.4274, 10.5504, 1.8388, -0.2857, -0.0366, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3921bfa0c58f2f0dae90814d919cd65d8d06510a5ca7aacc1db9d2e700b4f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b463183c2ab3bdfc082929f51ee7000a56dd48a6448972b2b0f42474c5cbc470",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbe18ed416605b3b54972bb3724466ba2d4718fbededf95ddbf59b3e81b07d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}