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, 0.7933, 0.6083, -0.3763, -0.0231, -0.0292, 0.9985, -0.0154, 0.7891, 0.6037, -0.387, -0.0265, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4427, 9.7436, 1.7558, -0.0366, 0.1148, -0.1734, -1.0598, -1.0188, 10.3043, 1.8242, -0.0171, 0.1685, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b4a8bf3350b86f4c9a171b8f84c2f2a63a5fd6e0d8ea3430085e7d81d812c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa87d62ae2ef1e8cb32f2dbbc64d7d83afad70758e7d97ce563ebc41d0d7cad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:942b4847a1885b5907c68aefd777eec78c4acc1e0a2b34cbef610002f54af1b7",
      "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": [],
  "encrypted_content": "gAAAAABqtFr22ECou68aoWRO3BczNY6xUfxjPLK1aiRXyp4-R-1-0lZGm1Jc_428qBuW1lm8BLlyGr_ecrmLTu9yTXo-fXogxRqRmRj7v0Zyh_bN4BxWolpf2HwQF_p8_zyCr07pQkghIfQSUkf3aj83X4l_2kSAC3bURzZENyMXSg_EA1_xDSzXi8bWDwQinBXJrLj_CSF2Of-nzI4Ks9IT0g-FJD7FyrNYg0akuBv27Ie4ewad0UfBDWLbK_5Lu8kt6BO0i67-5CEYfRFw8lLNSqBXyp8M3-_Q0exYc3xXgcOOOcRKkCsS9VRETvmNzCtRldoJzn1gHY7ijqGbp96lo-gsrQRr7ooECCWgM0hN5LEgQEIAq_MygyMIKHEIlwviUn-qv5ibPMlB9NFg-JyneTk93lK5DNFT9_--Nz8LVjHJ2myKI-Hii4h00ZIXS4rTAQU_PZnpTQA5i3GBsfTLYv4TcxiPouqPY90oMd6JuKE9f9lK_a1FzYUcu0ZXfoPQNk4j7ITC0R3Qt3rMshQmkCpcyrfBIScvb0RSTyOz6PLXcoxYoBvuyGRqKOL3Y0IOr_5oRUvef9yqeWQGJO2L-GIT12Ewv6Lp260BClY9kUeqAjeS-pR8T5BUefEBNfmaja6bI0yyVdC5MiwAC-QDgILAtw9UxnLuMJ72GEg9SWj_aw0x0XCyVzsMun3ItqtC1fa-e09sW-ouiHn--QPOM7jrMXEp3GjHZLv_1dy7dsrACnfzy8QT6wqYK0BIUED999Tl0ivq69RN7BR1KcqghwWIGSSm76iEvC1byf-mAtTfcpC8Lsp8RGw_-tPGBR060TdpbUyjPG3W5co8-QGuQS0-pSKCteliNfyTuWN6RyTMgbVGm6yJqNqhm3hcCIKkn2o33RtCUpu23YSLa8bALUbJSPJAjQgNvQuQdrTMXVTy45NEZXVJNpc2GG39m_VJXAcP8rpggw0rS7Ymert5JDOA3qUMtJAaipee6s2OjfIXwOpcU15q8cBhAQFMWqwhjmXzfjdkMw0LKVgeXE6khzWX-zJ92Zhwcbz6N0jbK9a-Y9tXnCEUYGU-s_YdvscVp-8aHLiZqbd4IUwDhj-_o50-UBOWAhneZYB9blGXx_K__KKB0_8jQ8tp3gOxm3qGbVp28vxA2LvkE1aItKPt86JNUOdu7nuLRmT_hQ78EtXKk54yq05VuuUX16vXR26FAPPsQmSUBMkmS9uhALix6c-kNd2REYKzrkmSIuqID-5zXMzEcGVQA7afwF8aFm5FSf1tZ_kCUQXr8D1f_TXjUSfaNwAai4p0EX_gbs2jHoc2QhcxHuFtgbAdXqVkepLvhVFIGUWCg4Isop6S7JNZIwbEMIGzNNxW2ozOY26frkK0EyyBxUclLvkpCSyBCJnCrJlQ5GZtjJVNqxa0GM6Nj9OCW_uHsGValX2GDb5hZ3ZTli6tVcixwpj716tCA7TrPomISWjfCgmZWAiXGcziImS-N9j4KXB74iFeR3bTGpcuF-Sj3m1jRXbAxnkV3HH6DrDTJ-JU6Zhkj4swB3zzYGwTFfANTeRY0CL5o230BLKs__gFYxOlPc41YIJIRcUVMW-QCoeq9gREkZuAK5lPUuZaX7NPlMbcOV3YrJhc0hwId7aJdfWxGr_RnOWVhFPyZ-pa2zZd9pnuewG3PHbW57Vng-pChb56o-z2W48f-2_I0vB4SqW5jR7lx-4FuSxl72ULsQSOmwb3EFOkYsvMAR-AV-3Fx_6vUvvI8Ufrv_Q-3fe0dgKzVso6Ff09h4RMMzNvqlaZTCj3SPsGvUF6SuCC0jXfxrwiHrPL7vv2JB6Tg1AUzT4ALi4vmSxZdAf95AVErohHOVqW3W5QcHN5aT0wDpv8xBReoovCfDMQjn8hby5h8gTokA0yS-lMTGvrfcCY7F34jZT6KjyapiT2bD3Bxxh3-ifqRwWYG8tMML86gbhuqy5Aeg4ft3kVmp_hRQXGk0JjXsaEZ13c2SjX7kd8PdznAVcfLUP3X3TlXCEcx266SsPzRZ0QQlgYS4OraltqVBdODBDWnoZOi-oQIW9SwVYewpC4KLyqspRkQngxTDGdjM3DBDGebF-h704_EHHIPF9jc_J_UgYxXq8Pa1CwrtPpsOVmbX0Il4eLk6aqnuSFMzi0GINpZpNb0eeWV1LNJFrvQ9Osa4Bh8i-0705Bh073aTuKZMr8z6ItBBPqL9cz2ca8Kmn9_6rdFZIN8j3tqiki6wLzySHySWuYHBm3bAciqSUE7PDsaxiUF5eTns5b48yt_3JeZzRPlev_aseIlW_oAOvOc4s4Qa5AiLxBrSLmPkhzQSa9ZnQ_MoQoUDZJcj5p2tl_W8Ek-H6L670KIVkbCqjrMs3BmksAV_a57UirAlg5O9OkyFV7zJc5LKNoUt46kn0f_7MXGwPHESqLL-COIYcPK5MPbEhPz-bTqks8JoimmPzf-iOY-Zp-adB9RWOzm--CRYlWKkwv5zztYbbZJKeddUDWDE9oePi-pRZADkG_fEAj-UV17RKg268cdvhRo3-OtPwCUTTy9eix_F8L-QsTQFlkhziwR4Ba3Unyhs_FbLz6E9tOj-LQv0Zs2UEVdjXbGdbje_KmEds0-oRk_QQO-ph0pXOeYDRdow28iMhO07jySBYEZdAD-zk3sCLHKaYCLt8i18Tk__jcOYptaY85oBcRPcE0vze3-9QS7WHg8X1OCaEkYJfY-ylkwOD9aeK0e-9LJQGC-Vpu8hmv",
  "id": "rs_095f3cef19f3ec5b016ab45af09cf487d090b4790803fa34fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.135,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.20},\"note\":\"All three bottles are lying on their sides with their caps pointing toward the far end of the table. I’ll approach the left bottle’s neck so I can lift that end and let its heavier body swing downward.\"}",
  "call_id": "call_IphUTbYa4kHv9FKtibZk4btT",
  "id": "fc_095f3cef19f3ec5b016ab45af574e887d087cc5cf81e5bb049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IphUTbYa4kHv9FKtibZk4btT",
  "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]: [-0.5117, 1.4662, 0.7498, 0.0162, -0.411, -0.3008, 0.9985, -0.0143, 0.7982, 0.6498, -0.4801, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.38 left_y=-0.1283 left_z=0.1096 left_yaw=-0.0216 left_pitch=-0.0717 left_roll=0.0307 left_gripper=0.9985 right_x=0.2867 right_y=0.0046 right_z=0.1793 right_yaw=0.0059 right_pitch=-0.056 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.6256, 8.8957, 1.7802, -0.3297, -0.1587, -0.1685, -0.3487, -1.1829, 10.3453, 1.9219, 0.0024, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd9004039a6dd60fd282e6e8ed6325ef1ff93a279ad984a73734d517d6a40b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6be67698d8f6be22f485dd3dbff54f6099966bb5ed5611de0a11f2f9db81091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7d6ef20ab15c9ec21dcbb0f784d805230c3bb532e8d00c693582609967e323",
      "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, 0.7933, 0.6083, -0.3763, -0.0231, -0.0292, 0.9985, -0.0154, 0.7891, 0.6037, -0.387, -0.0265, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4427, 9.7436, 1.7558, -0.0366, 0.1148, -0.1734, -1.0598, -1.0188, 10.3043, 1.8242, -0.0171, 0.1685, -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]: [-0.5117, 1.4662, 0.7498, 0.0162, -0.411, -0.3008, 0.9985, -0.0143, 0.7982, 0.6498, -0.4801, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.38 left_y=-0.1283 left_z=0.1096 left_yaw=-0.0216 left_pitch=-0.0717 left_roll=0.0307 left_gripper=0.9985 right_x=0.2867 right_y=0.0046 right_z=0.1793 right_yaw=0.0059 right_pitch=-0.056 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.6256, 8.8957, 1.7802, -0.3297, -0.1587, -0.1685, -0.3487, -1.1829, 10.3453, 1.9219, 0.0024, 0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd9004039a6dd60fd282e6e8ed6325ef1ff93a279ad984a73734d517d6a40b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6be67698d8f6be22f485dd3dbff54f6099966bb5ed5611de0a11f2f9db81091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7d6ef20ab15c9ec21dcbb0f784d805230c3bb532e8d00c693582609967e323",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsAo6d38RDIwvQ_TMzj2fJShrh7KJMl134MgxS5TDLv13PCvvJpyAcfrsT9PZVBjkbxbxEInxkLiVMWql6aSKv09wS6W7faowlH62j_OW6mikttoPRC21ujhpFYX0qL5Lb1FcECYfPQAWynOjJVgpS5g0IydkIpXsHTtUCoyxyugQ1lDuaYEDZXAQFJAv3EEQNlejk9iFQ27Cyxo_lzOB272d_BbHcHMiiWqkvNHzVkhqssjLQVHZ3tqKzbyIA0Xbepo331OastTBTaZOR3UMxyVT7N7zsdZoNdOZKnqBJxHOf8j3S4vrxzW4TijNA1I3JEt58CV2mErMgsZmCuVHrINxr1BTAbOVD0MRHbzPkps9Lgt-g4gZ_S9LDk_GhSjgSUzpnf2LHBJaR66Hg5xKl8VJL0CH_m_ptNWxNUmln_05r4VLLogM1gXOR6mf9AS1vQ10BlSz-Qsd_C0CYTmXYpCEsA4GN_r_9Y602kR_vFig6xZ5r9M-7UH_NGj1ucj4_oBtKR53azkSttN6O9QcMRJ7O-ixyN1hB9wqkmgY3qvoGuCgluM40ucx8m247TNws0sATnum-pq9zXpdSZuXo5aq_URXz38nA0siC8RMRjbx6mU-kmTO8q-2TI6YHpiIq2mu9YEBP0rhKMOe1knjkX8tjiIX6nlMmJnS4vqYXvqL0hd0pX2QcYI3xXfCpvjPW0yOkK9SLZujvGc1dkEc32x9o02quBmo2fK3n3c6apAQ2gF-ouqm-IH1TVFtCjRGIfsprCHEwNSKHxxkw00p5isSs7TWc86H_v9JjaTIip_YE1ovgT4StcJDGHlXFyzPBafhSa08JdgMJQyVblar6oaN4gWXPJKcfui3ifuaRlb9LGiQw16n72PyWIOgVdb_erG3pYPQMY12ikEypf5lNM5HulXOb3FMZIIyPeMr6_PQo_5CvM7BiOt0uBdy4WohXs7uHEww4iClyG9S2xD0sDxh48XBZpOtNW2d01lSFIxI-RSefSaok6Z9YbqUdYkdCU897-pNN-0Qpa4J-uqY_fW8uNe4t_Y07w1FuKwIFmWC4xjh-QD4Z5PzCGbQ0pG9Rt03QrT8xRRV5rRaFpobMrsG-G9-UX_vUZRmZclxckPsvBXtoSH5iQjfn-bsfQO7pJGE0WtsucZmFhBnHkySF_dtmhA98MWcNKoxHj__fT_A5SK42HBjU084Eozx-WqhICFnOGlcoEjBaksN1YFrUSlyS7IAGQ1PDstc8bVvN6a6BlCw7bH5F46mvwM7ej8gFARmvUNlJXM2HKYWlJCjrEul_w3qV_kHypD1Gg35_fqBjQvZ-HZFdnSDxeizBm-BIJlYofes3pIO9eemEY_MvZlsO56ECqcz-i4o5VTgVg3bMeL_a8EUg3ebQkKxvd33Nf0jLb1hy0-Yj6dfp9oqNR9gdLep46tHfyY7TYIX_mW5W6W2lxLDvkLiGSl2uHT4ijFwk1n3CzcqhoH4yy2vPKaU2LtsiQ6vuCHcPs13C9nQkPO2V60fKIJHA-7stag4J56kLCKnb2AUS8I2JG2dwTZQB-dX0BA28RAvShABvsr4-aEJI0cQ8G5XhXnGuyj7NkBrRlOb3UeKINldgZbPou4nPoOxe-p24z9XDF-w-qpj-aIEPMcotFK84oG0lhs2KtQZV3JbdKB10aEcAC_JAe0P9RV0rCagPCwmi2Qjvm6pDsqHFjcSlu36d8rluwjfUWzQ7YuhF0u4SqyFBJZA34p4KQMGeJNsrVr76Afj0tvAEQWiH8bGF6i5sMw6CEwioe900JZdHT6B2L-JjnaFtACVKhEUcbVYnl3-hDdb2NzlbrAnHi2dtUwpfbVW_rJ-nn-m862WMwW9YA3ddkDE5UD_o-8caaWYUx1_r8T-YRwqjZSrADAtucwX-3NxvCezNInFV6F7w0wTJqtVuMY7iJ8XKqjIfLxLW4KKLnVEcRiHj_iGAbH3dYa1L_l_FILqOVkq0B8QjP73IW_XnkawH5UhnjUt-Ga_59v4N8C0J2AB-DD01KfTE0WkPPFlVSwHSd5qeKRpEJK4R7EL8tBdRTiJNtvniYYVo47T5nvzHJwP_-CbeDhsLhBy6EyI4YiS28goktd8uXJQOiR0yFf8pld6IJAqtT5kbwzWB0qQM_1Ri8RdlLaDrlqa9aOgzguLtfbHxVnWJydno2BaPXAfzSZDZPEvV0mHeIIc8_k55INohfou6F4M_-oG_8Deml8Y7HGX4Z_rhROoe3ap-KBY1n7LGAZloUXdUaC6k6qWISaBD5ViTqa2hrwvVAeXcOSby0VO6Dy5w51kaytLeJIfQ1cu_lflEv2PPS3-8oYdCbgVHJZAz7aaslkaat-0MDAqzShBd5hwnRTPOToQvcdRSGNen5lnOfqmuHhIRUO1cleiiKnYVX1KU7oVhkitE-9d7KBSOTpEQfPFqPbHOBRcK10N72U9YnOdj2NGc6_QGk5KVb9TI1f04rAPi1dU1ANiBc7xGcLiUi_3WjNCDeLnzVRT1SLqFdJQ8q_P3dr2mrKewN6FDFTFZ4d7lfpQqupl7ur7mQ5ovwETvyht4r1XBqNRM2SE1NWHd8NuRBQLF-kfp9_BFnAePUvuDWdge9J5bDYvaEs0u5GMYA2_xpEh5QsVNKRoT0UFCbAu7gOmwadt7nRwp3ZubdRNaRpZAEbA5wKZUBE-cjM2E3gMnEG2MGsw5nUPSHB9nzCsiARo6hGofDytKnrKNfEHyDMW95Gtuwx7-EzCq__7dBA5S4RBLQ3PfKfA-q2uksUHxLu1fcT8Q=",
  "id": "rs_095f3cef19f3ec5b016ab45af9c1d887d0bc3b9343d859d575",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.095,\"left_z\":0.065},\"note\":\"The left bottle’s cap is still left of the jaw centre in the wrist view. I’ll shift toward it and move farther forward, keeping the jaws open above the neck.\"}",
  "call_id": "call_NoOtsd82IQXq1O7mzVi5R0Hj",
  "id": "fc_095f3cef19f3ec5b016ab45aff627487d0962e4bbd7b0787e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NoOtsd82IQXq1O7mzVi5R0Hj",
  "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]: [-0.3111, 1.7763, 0.7818, 0.366, -0.2855, -0.2054, 0.9983, -0.0143, 0.7616, 0.5949, -0.4473, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4463 left_y=-0.0875 left_z=0.057 left_yaw=0.0238 left_pitch=-0.0387 left_roll=0.009 left_gripper=0.9983 right_x=0.2823 right_y=0.0048 right_z=0.1708 right_yaw=0.0062 right_pitch=-0.0415 right_roll=-0.0013 right_gripper=0.9999\nstate[joint_eff]: [0.3761, -7.8017, 7.3778, 1.7949, 0.0513, 0.2027, -0.0317, -0.3897, -1.4974, 6.8991, 2.0244, -0.0806, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afec137f1667f843693430bec70dbb07218d208416a5e6976554244ce22dc417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98993b559e6cb7d57939abbf29670a7fe6cd53b551c093b0405bdcd930af3df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b7e5b376509b1b77c2961a01c6a77695bd143b90fc3f32ffb130e6d5ff6875",
      "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]: [-0.5117, 1.4662, 0.7498, 0.0162, -0.411, -0.3008, 0.9985, -0.0143, 0.7982, 0.6498, -0.4801, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.38 left_y=-0.1283 left_z=0.1096 left_yaw=-0.0216 left_pitch=-0.0717 left_roll=0.0307 left_gripper=0.9985 right_x=0.2867 right_y=0.0046 right_z=0.1793 right_yaw=0.0059 right_pitch=-0.056 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.6256, 8.8957, 1.7802, -0.3297, -0.1587, -0.1685, -0.3487, -1.1829, 10.3453, 1.9219, 0.0024, 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]: [-0.3111, 1.7763, 0.7818, 0.366, -0.2855, -0.2054, 0.9983, -0.0143, 0.7616, 0.5949, -0.4473, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4463 left_y=-0.0875 left_z=0.057 left_yaw=0.0238 left_pitch=-0.0387 left_roll=0.009 left_gripper=0.9983 right_x=0.2823 right_y=0.0048 right_z=0.1708 right_yaw=0.0062 right_pitch=-0.0415 right_roll=-0.0013 right_gripper=0.9999\nstate[joint_eff]: [0.3761, -7.8017, 7.3778, 1.7949, 0.0513, 0.2027, -0.0317, -0.3897, -1.4974, 6.8991, 2.0244, -0.0806, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afec137f1667f843693430bec70dbb07218d208416a5e6976554244ce22dc417",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98993b559e6cb7d57939abbf29670a7fe6cd53b551c093b0405bdcd930af3df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b7e5b376509b1b77c2961a01c6a77695bd143b90fc3f32ffb130e6d5ff6875",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsGvbcQCHsZlGAUBpyQYLb3AYR8zsh1n1qydLfvApNmhzIkWcoHekcSoU1Lw8ASY1DxGg8Gp81rEU3lDmw763Q2vrV4O0nFZmjVB_8a3oxpkJtEFURWFvRiKDQHrDzgPwxzwwXcYCFgPohbJRpxrqpfbVboq_ZFVRUAgndSiF-5PmVSCPsEeMnZ0U1BP7K9vAPsbmvhtFuac2lqukOIVu_8LUSqvmb--6ToR-Sdz2fojt409EUrxavDmiYA6cM6q8b3EThy89sqcfjTsv1STOJPL95A_hHkWgY5rICDcmy7IWlO5ExvSlKac7kieT3_N0eUOfZuZF4Cvdl2tgSiwdffAQvdy84kUGWQg3ZJZOBW8N_7TMk88vflfj3EPUN5AmeVHU7ERv3hYIdOThCS9DKdSlUvU21NMQo1pPXYMr4jlSalQ1AX3bSRFDokvPgpP8ylHX3EhMUm6zJlt3nVBYzIyk7J2WYQ5L9W8usQwSRqexSYbz6u5gU1m5KwE2UWof4NW7tEySFN3UYPovf9HLOidnLhAkChgU8m5ws_zBh5Wx6iaKqqAdchHduBKxQDYaIudp3bGVl2ie8ZIY5DPi7zmmCpafI4aJsDvIyPeOrnrtAhuiwELBFXXRJL5oDaOCXXZ_NnY7VBWwrCCGf005E34_DI_EMILTa792YjnE348C1T-_wkpkaDFWTd36PupeP2hUsXiwHQqNSipnewF_nUFx76wyL7edvRn6pqbX1PC5IRGGG9ekNJn-8_9moycLunL7I8BohKq5IoXY5H40XufUv7N6Eb6QqIgoOTaCeUUiP5aP06QEDBowCUjVDrBQKBvROtb7LalmB2n-4PhMeaxBdKpqctrmupUJOvpfxfG3JJheV2hLPkKqfsTMyoR1_Ecq_i2iDpKs6Ov5CS8M5DZB78GdeHh6FBNazbrAx09Yql78CgC7rFHhBRJe3CXg3lZhkiu_RdLyfYsyfjstwERZUu9xopnLJ-nWLQnlg2FRbgAUb49CSLjGuarlZLcASjy7jc_-PvPJQ19b7tEShLc7arpYSLuxOqMXSCYE8HCR3YjcIds2gHbv8hw7n8UFBR_5eRVwCT9wFE38l6lldx3_2wP7FN-NyerBIHFmqApCz7H17Pw5udlqhn6rfoM-3hwE_TjA373ajdWIc71pqwmdrcPzQvOVxChGyWa5sbqwZv16D7l-ju3AN9Bz1dwuvBis2Eg5edxOyJAINHGan7x6Z2nLprACOQlkFh1Q0WU9a9B5-XHnvGUCI3JU-CL_IYYwHlBl9qRKEu7gttffr5TGjN4-_t7oRndrLzdhw-wsv_F4gr4-474Rnd2izhZar1CLf3XImKjDcDCtHE6Qr62X8xVElWcgqBw7sKtuH1LQgU1Uj2lFCK7jORhxH0cw8PC9wIwYEgFNitBctnffS9sAn7kPau8qZh9OnORTXXleLgLYNU8e3x4qUAoSHT-qI4ToK02GalM3o1CVPRpOCAxnWSViYZQg9yb0EdXaDnBad-GlAVEnl9xGtyzkDxmgGduXY8ow09nmSNyUALjRiy0v6ZdTAAZm2bjnquM_wm8MCP7v1DnyGIuLS4Pm_923MlStvfWXtoxnqf0jjEhvP-mhvXavV6RnJenakoiWrJAxnnecyVbj3P4uK4XRtvBKlGW8XuSCVbb0Ht3veCH79XFNhsC82KcKBZtqVG0vPtI5zGW9ogY6zlCetrBiKO1q6v-39ikUXyvo53e-sqLFv3-9LDGB3WVftm_L4WoGtRFAi3SDc62plol-UzjrU9UWXzxn2Zrlx1jSzRwSTnBlQgjWoBRTPMMQioIoOsD85WAMe3XuBiLjonWSg-lFSz10gPtghnyhALTZBcuq_GfJswmw==",
  "id": "rs_095f3cef19f3ec5b016ab45b02cbdc87d0af1a8246f3026adb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.055,\"left_z\":0.028},\"note\":\"The cap is near the left fingertip rather than between the jaws. I’ll shift the grasp leftward and lower to the neck’s height before closing.\"}",
  "call_id": "call_6Qpc5QiBmJPkaED8CpqR0Mol",
  "id": "fc_095f3cef19f3ec5b016ab45b05267c87d0a1ea9317ac368ec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Qpc5QiBmJPkaED8CpqR0Mol",
  "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]: [-0.2188, 1.8782, 0.7673, 0.5507, -0.2348, -0.16, 0.9981, -0.0143, 0.7383, 0.5549, -0.4267, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.0578 left_z=0.0424 left_yaw=0.0494 left_pitch=0.0177 left_roll=-0.0003 left_gripper=0.9981 right_x=0.279 right_y=0.0048 right_z=0.1628 right_yaw=0.0062 right_pitch=-0.0377 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -6.612, 4.6701, 1.1013, 0.1441, 0.0122, -0.0366, -0.4855, -1.6205, 7.0769, 1.9707, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ebdf95d1e2407fabf3fe20efa93c6b6574d98629593ea730f334c9959c2daf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9165e40f16a0d73ff38e463ea7a2d25885b8cb53410bebba0b2a6fbcd8b2fc13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6124d3715f39c04bc641825591e94deb140106370ed85a71fff51cbcbc73da62",
      "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, 0.7933, 0.6083, -0.3763, -0.0231, -0.0292, 0.9985, -0.0154, 0.7891, 0.6037, -0.387, -0.0265, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4427, 9.7436, 1.7558, -0.0366, 0.1148, -0.1734, -1.0598, -1.0188, 10.3043, 1.8242, -0.0171, 0.1685, -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]: [-0.3111, 1.7763, 0.7818, 0.366, -0.2855, -0.2054, 0.9983, -0.0143, 0.7616, 0.5949, -0.4473, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4463 left_y=-0.0875 left_z=0.057 left_yaw=0.0238 left_pitch=-0.0387 left_roll=0.009 left_gripper=0.9983 right_x=0.2823 right_y=0.0048 right_z=0.1708 right_yaw=0.0062 right_pitch=-0.0415 right_roll=-0.0013 right_gripper=0.9999\nstate[joint_eff]: [0.3761, -7.8017, 7.3778, 1.7949, 0.0513, 0.2027, -0.0317, -0.3897, -1.4974, 6.8991, 2.0244, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.2188, 1.8782, 0.7673, 0.5507, -0.2348, -0.16, 0.9981, -0.0143, 0.7383, 0.5549, -0.4267, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.0578 left_z=0.0424 left_yaw=0.0494 left_pitch=0.0177 left_roll=-0.0003 left_gripper=0.9981 right_x=0.279 right_y=0.0048 right_z=0.1628 right_yaw=0.0062 right_pitch=-0.0377 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -6.612, 4.6701, 1.1013, 0.1441, 0.0122, -0.0366, -0.4855, -1.6205, 7.0769, 1.9707, -0.105, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ebdf95d1e2407fabf3fe20efa93c6b6574d98629593ea730f334c9959c2daf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9165e40f16a0d73ff38e463ea7a2d25885b8cb53410bebba0b2a6fbcd8b2fc13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6124d3715f39c04bc641825591e94deb140106370ed85a71fff51cbcbc73da62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsNjuolRMMdLxa42ZAkWrCxb60NFUwgsxlX1-DpX0XDtaJCFCroBxrrbeGd2n7PfxQTR1M2TlALFL6Xe_q_9DfMtmD9P8r8hNlo7r-m_J-nK4X7pqEMVPKCiulyt2Fp0CTMnhCRhYfxv8TlOJklVIwqz-77OgQZskko2ooz39Tfy98c2Zbn7tLtVhXvq2kpOVXtoQul4Gsq6mOw-58sfIZ9wJNKwxE3TMUWydftwcQa8XisNg1V_hfc_jrjh9TfXWBjlUZmDz5Y7kImaGu8R1qSOD6wdkXGXm9ArZL51COFv0rq1Mh_3Cu3WwI0DdbJXqI_It0jrl_mva77ikpOPgxtnIyFg2u-_y8MLJxq0rXg91psZ5YTLlT-0p68cW8WYxpEl0yeg2NFaKSLRSoHUlcApaW056k8wgSzmGZiDb5W-rmhIp6ZNQjBO8-6kUg2gxu4sBTARF9rK3nlZmbRoJ641jtTiLPRIV5AzR0F83TeIc-GTveklo8MoKkSYT0YInPs6_MW-6IYsVCeoNxj46mpZeqhgjx0GMPida_VDySYNWMMZo9hzXfJvPRoXy6q1Hg9Kb3bFxoGT5wkWzYbwdcPZ73Bt0W9aUY8_1PN7i1i4jJDeVquyChdYs7o0Xylz47-63t1vEEzNy_6mYZxPev99hbWQD-2fZiHQ9pCVrloubg0vFfcZDdPKw4pbZVlDoFNT6TBnrIsuASQFtojXAyujgocopDZoOzbfjQYHE44Q5XivJFS1xQitf5jjfNed2DEFWDbBw9DK-ukj0tHqzo_aCtPkSynD0uHWZTxMXkSfErVLGTYpJPZdKmGPv6v6cfSkvVVizkvaiHkGegyX4nAMUF_nEQ8xI2tM6zV49HwlWiubw2tuMS0SXiBNgedASRAbLoBpVJ6WmYzoQr1lq0bldVQ-FTfRljrsiQetWAry5ZVrQbIsQBCRQKl5oJTg9Cb_tbd4JM7Z9fl938Zh7GMxgjMoHdxRcDSmrR89xVt7_0JO8DfATivnIr_O1ckXJ7HZXET_JbzIOeGH01Q8m9FVys9qYWecQvEh96tWXsR9-yCUmTAJjo5FXROUoXmVfurOHIf8psh8q2G3GtKttRW6YpMD25dEuZ6N3fUunY1CdcQl-QyIzC7c9FyI-_STeLorAR4V8WvsASg69L7JcduebJyEdZBBbS-iNA_8bvWvUD81HGN0jolwuAlbfvWTeYpjMHY_XpSxKiSNHDZETGnmtjlw2Nz7ElkzVfPKPD5ODjc7gQT-pUNbpq2JR4oWgDQybao61E_6Q9a28zmqXYiEm2fMo2Rmo4ORb2f_YdS1tyCIogptoadg4_vvfZbmSZgp2TslJB50xJXLwcIljw_QQHFZvElrBUR1QsHFAVcYVM8M1XgsUMoYQjOlx6ygqhhSR780bCELJRmdHdVb2z-4vuB-qqARMpGn7hJf4LKL_gfKpgScf7i-hE4Ek46K1pBqy4CV0suwvuHQQXTOWDtjhG5oquOIDChjNj5RXVNv3CmYTA5GgUB2HJaBwyQDd--Nk_9iV5pOQX-TZj98i3uwpSMhmbOEkpDKgIZr97o0ljdZC7DMCTTINXXmSoYxCE1Y_F_gI-7v6hcx5f_OQbm1CSe0xx4WB0lD2h3cU-hnHcabn_-gOx5zQYO3SX9siZK1jg__KaZJk6FSWEPyaAZdzawdMEgsY79x64lakSsvx5GYKDsdQEGCiBSsfcBpOVvZQ8zFsOa2FiQVoFNn86LglbUdTUEDY1ibEYpcBuILNRiWZpegxKLbDzRNvaw6Hj5BxFDaYXZdZgDRdYau98Uk8iVo9Khos-SDMhbCduhXzv9JqjDR9pAr_psWKGHTpMus7HoxUmoXMiebMPE-36gtFgvuy8QqV1_UWVW-nD7FwS1xzYkXlvjmzUhQ2SLdWe5yn7XG95APPIgNFg3QM680wQWVeT9YmdGnIQ6WzPuntt2xPoRMVVhWpMMC1NhVJFkYOtF0V_0xHVnQ1oc2dp1-1q8V5bIyScletKQ6yTff5NHPA8jj3-IgOnDIWauVIKws22cEBSQ7E2UiqHy53LHsuwqJZmBvCB0YZXYLAC_m4epd9SgQrOgZ5MBWhXDaUAujCv-SkuTiBUvvJvceV9l1aPIbu0FU6TVjEt9eKGMsBrovR9trWpDRniW6y2XU1xQ5ZigVKh4TQ-NgMl3J-R-uSMglx3PTYXVuLuRZtU2ye4vfFxebYBcfrShSHBPDAO0VNx772XnKPU8Lm5_F3sfr-Y3HnLfKJUQDQfhc5sUn6MtLyALl8WYuMEYHoULYQV7--91EM7AkN403yf-w2CT8rpdwg77mF5OVcg8bI2cAsgd99vD1tXSF38aw-_DTck1cz9iIMLMQW2-5czbAgDJFT0wR038qFax1ZsPdPJ03Z09mgLXrN9fGAN3WVAUA-9jC0aW4e_ywm-phaAWtFSzNIyT_0Qk2_nw50fWtRrZQwU=",
  "id": "rs_095f3cef19f3ec5b016ab45b08042c87d0baac680832d7419f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck has passed below the wrist camera’s view, where the fingertips meet. I’ll close around it and use the jaw opening and a short lift to check the grasp.\"}",
  "call_id": "call_MI32jqWf2LlQDexrjo0EpxRh",
  "id": "fc_095f3cef19f3ec5b016ab45b0be92c87d0abb1ffb710cccd04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MI32jqWf2LlQDexrjo0EpxRh",
  "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]: [-0.1967, 1.8961, 0.7673, 0.6415, -0.2165, -0.1566, 0.0136, -0.0143, 0.7174, 0.5205, -0.4091, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.0527 left_z=0.0529 left_yaw=0.0553 left_pitch=0.0858 left_roll=-0.0249 left_gripper=0.0136 right_x=0.276 right_y=0.0049 right_z=0.1562 right_yaw=0.006 right_pitch=-0.0335 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.2957, 4.3145, 1.2674, 0.1587, 0.1832, 0.6618, -0.294, -1.4838, 6.7897, 2.0049, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483f13b38ad66924f30816aafa3e0023c2dd0a07b74a695bf4142c707517d912",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74f9d350a4634deea69e42f9939f6676c94246123642173239cd93135d52175",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67ad23c4c8d136afab896c120a82cc1cabe62df5b15e895675e1d71e68ebd1c",
      "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]: [-0.5117, 1.4662, 0.7498, 0.0162, -0.411, -0.3008, 0.9985, -0.0143, 0.7982, 0.6498, -0.4801, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.38 left_y=-0.1283 left_z=0.1096 left_yaw=-0.0216 left_pitch=-0.0717 left_roll=0.0307 left_gripper=0.9985 right_x=0.2867 right_y=0.0046 right_z=0.1793 right_yaw=0.0059 right_pitch=-0.056 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -6.6256, 8.8957, 1.7802, -0.3297, -0.1587, -0.1685, -0.3487, -1.1829, 10.3453, 1.9219, 0.0024, 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]: [-0.2188, 1.8782, 0.7673, 0.5507, -0.2348, -0.16, 0.9981, -0.0143, 0.7383, 0.5549, -0.4267, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.0578 left_z=0.0424 left_yaw=0.0494 left_pitch=0.0177 left_roll=-0.0003 left_gripper=0.9981 right_x=0.279 right_y=0.0048 right_z=0.1628 right_yaw=0.0062 right_pitch=-0.0377 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -6.612, 4.6701, 1.1013, 0.1441, 0.0122, -0.0366, -0.4855, -1.6205, 7.0769, 1.9707, -0.105, -0.0562, -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]: [-0.1967, 1.8961, 0.7673, 0.6415, -0.2165, -0.1566, 0.0136, -0.0143, 0.7174, 0.5205, -0.4091, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.0527 left_z=0.0529 left_yaw=0.0553 left_pitch=0.0858 left_roll=-0.0249 left_gripper=0.0136 right_x=0.276 right_y=0.0049 right_z=0.1562 right_yaw=0.006 right_pitch=-0.0335 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.2957, 4.3145, 1.2674, 0.1587, 0.1832, 0.6618, -0.294, -1.4838, 6.7897, 2.0049, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483f13b38ad66924f30816aafa3e0023c2dd0a07b74a695bf4142c707517d912",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74f9d350a4634deea69e42f9939f6676c94246123642173239cd93135d52175",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67ad23c4c8d136afab896c120a82cc1cabe62df5b15e895675e1d71e68ebd1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsTTidam_fv_yOcOtnXXPJThzgVq48PWFnyzxjudIAj0COrUmVHUzQgnnVnFxiX89R_LeQ7cEzAirhOxcpb3SPZ9mHgCbP1JrGm8BZYqmdO0Ogk5UM_K1ODUs-JqpUsWBRQFtjyFQZjXNC12NJj2ivo2d_meACZsyeojk6w8MP-LS_hr_AjiKxjyWj7KiJAYgeau8rZ35NnuNqAzPShPOZLqLGULMIThYPgUoCvnBTtrDGuRpvJdYGGoRYozCFbFbv6W9sb4BVU_XTGeVloig3YOvNWtGteXBhk8NcFXixDFamvga8_VgvIPD0LtyW1rAWLySm-pcl_CWgWL0wGH1wVIzgFPHT96exQKkq6aq6zCCG9IA8VpwCNzGRrZLcS6o92GwGPJp3eOnJWBAMVCZ7Bd8Oca0jNBxBYHKKoLIE67lHS4PEifqP9WsGRAf_NLM1PBLZpnnbO085kBD7blHtwi_RMSXZTdsPPXNRBKwSv3lHI1d1RRBvKnLtiS2ntw095ivjxgBO3epemd9cWscvpVlmv9Hny1ScaR_BkDRyyeXQSyvD4Pc2N22Ss-8zsjFnnvAE7Rs7tiVWev9eWsQ9GOx-GLpkrbo6k968E4pvCyxvlYxfU23Mvm2yUqHdbOwiQksifJOlrWLX-xRYaDLyAtX-zekX0JLfjU4VOZc-dM2LQxJ0N8-bZQOwdsWfJqSMq437Irak-3wuFxBwzZ0aWvqtewuF5VoHKeUL08g7eLLJbDaTVZIVyW76bv5m4c1eyTVY-ih5c0e-b1Z4QqK_HwxYpxnUrY2Mgwvrrpa-0h53knH_BQdjhGmNajQH9xfU89YbY2Y7UIbh19Jcr3VVED1moIZ_ERq_IemafqAruoOqI0kxXmr5aoBfp1xwNJeVOx9x6-vZFTMdhhQpGQZh6kpX7JsgtTjOHL48w2c3ccNrORBmLJk6blE3OQg2cSEXfemJyt7mXLkWtZ6Tfthhx34-mRmKpNXNVhDiSYP5ePn2ltmxwXNhNQTKwey1zKR4gTQcSbBZwuj2VwzGRf5IugbO4Cli6ZXbstNqygNZCg25CnCRTpYHOoAsE2KF5jQA4OpDL3dyNPvTyF19joGtdSP-HKdZLesqzq1LIWcwaZhunMSUXjytSvoSs21uH4SXoOJ0cYdl-uNK4gq0ihjv8GVhxexjX5L_C9HBKKnL2mfvujalzJIDDQvDOqUjzU4JSfOnTTxPDl8_92aiqhiwBq8srybv7ri0IxGmbnHPnrh9ZcA8m8y8zSdBNdQrBAIKbDbAvC41d2vMCskE2gJgH5xwUdHguGHr6WCMiD1l_3xZ5GwVX8NHXJwIxlAIknEiXVWxWf1TEyadWF4Q0ydxCpVw2Qm6yw-dgmol_FtQFB7Z1P4uC2NiIDiJheif5PWeexpM8dyFV3stx_tmbshL0fziVXOzAYADTmT7vypnda6cmX6BAiD5RoRkEkv_jDXTRRZbBWgfPVWzF2s7ser57lwy9JK_lDnvxS6jzpRxYZoWgmhrY4QeTK91H-PxEhu5jJn-UqpT2H2x1Ch06R3Xmy8QVQWIEAnokz_ALvWfa-GIzM2uieMOcIvCtcoVp_8mFmVz6X1Whh-ZMYwg5ggF20cblDZ82b8Z5n-8jlLBFGrFME6QUISxFcfikhe3tpu5y0LH6RPepRTIMKTeaqPZHJap6CShmd0NSD2CX9Nco4davtRCU3fWXrVn9XiTzKLQRcBTdLodEJwdAXR90vzUp_JOqQ9PSKEDjJDdc2UnM5m7vehQQusxxnaPxL0ewSUA7anK-i4lsle_jDSKn8_NI3YFRozVLAij_yBIjyWZdo1uVSGuUuGW0MGcr-b-9twtZ_Ue08_90qvr00k1BULfFcDOkoY9vjiirpYqy8WmonCU=",
  "id": "rs_095f3cef19f3ec5b016ab45b0f91f887d0b8e7403063d753d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.08,\"left_z\":0.025,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.2},\"note\":\"The jaws closed fully, so that grasp was empty; the overhead view puts the bottle neck just behind and right of them. I’ll reopen and correct toward the visible neck, while returning the idle arm to its parked height.\"}",
  "call_id": "call_WOMBeJI15cLfTSBrozEgRuSd",
  "id": "fc_095f3cef19f3ec5b016ab45b12273487d0a534a9413fad5a99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WOMBeJI15cLfTSBrozEgRuSd",
  "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]: [-0.3008, 1.8774, 0.7143, 0.6491, -0.3122, -0.2104, 0.9959, -0.0147, 0.7967, 0.6426, -0.4763, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0809 left_z=0.0456 left_yaw=0.0597 left_pitch=0.0739 left_roll=-0.0207 left_gripper=0.9959 right_x=0.2862 right_y=0.0047 right_z=0.1772 right_yaw=0.0126 right_pitch=-0.0578 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4718, 3.1111, 1.1453, 0.0317, -0.1636, -0.0904, -0.7726, -0.841, 10.0718, 1.9756, -0.1343, 0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba02503516459211a0cdf463dcf9dda190bfa0b6d217920330717c3de6de69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:587a717d64f0652273f0c638231b5c2202894fe3f479ab3e8f877bc062fc5f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c28ce58136efb8082dd8cad00e6e6202ee4f5903c9af9f21a8c47c69cf44480",
      "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]: [-0.3111, 1.7763, 0.7818, 0.366, -0.2855, -0.2054, 0.9983, -0.0143, 0.7616, 0.5949, -0.4473, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4463 left_y=-0.0875 left_z=0.057 left_yaw=0.0238 left_pitch=-0.0387 left_roll=0.009 left_gripper=0.9983 right_x=0.2823 right_y=0.0048 right_z=0.1708 right_yaw=0.0062 right_pitch=-0.0415 right_roll=-0.0013 right_gripper=0.9999\nstate[joint_eff]: [0.3761, -7.8017, 7.3778, 1.7949, 0.0513, 0.2027, -0.0317, -0.3897, -1.4974, 6.8991, 2.0244, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.1967, 1.8961, 0.7673, 0.6415, -0.2165, -0.1566, 0.0136, -0.0143, 0.7174, 0.5205, -0.4091, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.0527 left_z=0.0529 left_yaw=0.0553 left_pitch=0.0858 left_roll=-0.0249 left_gripper=0.0136 right_x=0.276 right_y=0.0049 right_z=0.1562 right_yaw=0.006 right_pitch=-0.0335 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.2957, 4.3145, 1.2674, 0.1587, 0.1832, 0.6618, -0.294, -1.4838, 6.7897, 2.0049, -0.0757, -0.0611, -0.0122]\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]: [-0.3008, 1.8774, 0.7143, 0.6491, -0.3122, -0.2104, 0.9959, -0.0147, 0.7967, 0.6426, -0.4763, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0809 left_z=0.0456 left_yaw=0.0597 left_pitch=0.0739 left_roll=-0.0207 left_gripper=0.9959 right_x=0.2862 right_y=0.0047 right_z=0.1772 right_yaw=0.0126 right_pitch=-0.0578 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4718, 3.1111, 1.1453, 0.0317, -0.1636, -0.0904, -0.7726, -0.841, 10.0718, 1.9756, -0.1343, 0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba02503516459211a0cdf463dcf9dda190bfa0b6d217920330717c3de6de69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:587a717d64f0652273f0c638231b5c2202894fe3f479ab3e8f877bc062fc5f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c28ce58136efb8082dd8cad00e6e6202ee4f5903c9af9f21a8c47c69cf44480",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFse786d0Sh1P8-vxhYb0-YvUEUxAAHC-qugvS2oCsEuVCy8TlwQbo8rSUb9Zz0QANv0IKlkibekMsTi5Ak3FeDIOgTnc9WMsPJ9IbRsSBzyc1oGilIWPSqAAB3YalNmL2LIy0YbSVLFJQlp_tzu6esozjAFs5moCDi0385Z8k5seGwbYYdMqKfadJHxn-OMUlRTeStJiXM2vKBdhN4HuKJ_Ls17EjO1tFL198gZ3bUxaJdVT5kS7DR5_iyX-17v9nWM0OfqcvHALBXIdekpyhEfDIbFSasZCZWjoF948Y2l_zqc6bNIj836Ep5jIu8CQ8VTh9DboBFlZMD8p64T3W-haf138OolDpmeCfsKEwBGy7Nyp8vfdkRfUyDfuwK3GaWfnZ1zwwxo5ibkT3uBv2tjbkgS6JvrdyDFZKrixg2GHQ36HCNSEYPDkGhsgBjCrbxdcaf7sCAqGR-4w2v0pzrJFzItFGmyVhMYoIIQd9Pkr3jZQLaaKD2FIiHDURnmS-djTDBjy8HCBLq2lk0bgEL2VSuBCX_UTl3Oebi3G1tN-es9WZb-d5Hc--WE1AO8N2wBKfvWH4mlHo31Dy8P9BQPTmY7z4qsfDjDQTOvyz9poij6j_o8i8AqovNpTgS0E4891cLS9lcW8YMb3rvfVm1ccug9eqnvmZrZmaDk3QKmUhPDJCWhNZsDhCt6pjDmKNYowbn0hWVsRHNxkvSEOBI9Jbwkm6juYkuoM4JJ5Zdd6wmKn123nZUHdkyURHV8NxnjdvI7VXyS6ZHJxu_m_UDm0CXVnWngAy5QvrY7D1SVh35RhByOMs0AuUiFnReByz5M9rETQuRE9HkmrZcLaQNUYCgUR-SeDwyKyME15fZ0ShRTQe8OCaoF2wDHtSdlPw9-tWBGDNMfOzhrtjTsHACI4Mr2IIIR14r_rr51RzCu6LtUHGllFMIBuBJApOawiSNebjltxv0Vy-vqwlGLVRk-Ki5zFApCpcd_1281VQRYXVqdY8VpHeDLX2NfgNdFoxDPSCzpmCeQDjMLf2lqmU1WlDAtD4y3eC_p0DrXcU9FUlMaXSJzPERu5zcpJzXMKbRxp8higGzblkaAeZtDW-017RStXK35PNcBHHWZV6rHwZsucWe6exDOxkzRwjxuJnokkxJKC7i_e0g8uwEyDur5Hsoc5-sWWUDmaTwmW9uI8uDtNiPBbcd7vC5m3euotojFAprChmXtsMycSzB_pNDGdplcciz7-DCchkCGXrEt7y_CWUWqxCxRVRChAMaaHNdG2YKy5R4Gwg7DoI4yebq_Js-WQRU_mK6-vlc8kWh_LSBVzYvg1BANsIV81JRDyNF8O9RpUjmiYWYamXQ4Ft5LpGbJOPqGztPMUQtAPEhR_uWMwOl5mZ_6CydWBWo9GajOvr1YY1973zRv8skAfbrBt-Nzc5q24wcksPeeD6OjSOmUuHH3YWuh5b92AYi_beLUIl0omzft7U-4QqVf5oRZr9F4A0WQeVMpF25YDUtoEPlcraxGZfaBjBMSD-1ZNWXBalqV-_YANyEZ8hsGcLETsqxnzh7tyJ_05hEg3h7qHDN0KsRddDvXUqiw8V-g9cLpDHE9fF7NkgMxQDhzgHsIKkf42b5Y9TGooRr8cqpF7WHtCu2WDh4IOiJ624fEm1IgQZmHd70WQt7zPYF4kk9Ij50hwA_yLuZQh7JVSn7QQv9W2_iXjY7Glto06nOpMVaTVBs-ghFiRczPCVqwMcCe_o5WBVFNjl-K4izk0ocxnxWjlkKn5uKu3PMkcyPSC5RJSpud2vNle0zCGOpP9bQpAAJ_SwGMx2hQULuyUoPFXap8PBi7jm_XquOpVwmKURYFusm-DoyKJLXXH7foxTLhFI8kN4-1YxShL7ta3tNJzNDNygP-LV1u90V_q3Af9DGm1nsmOkTx8Ls41x3d2TZlKTaKjOvWnF7UW8iBJMwn7iLGUzR8C6o9PxwLyfCQur_tzloHFWUgcjY1kCIXkec7EU1wczRcw_5pXKmslIOmaLjHfhkvSq5LAmz0fnTik1CqJa3cNkiAOgtdhAk7pE7XMh8vYUx7bjp7jQwWAF3qCEMcvx1nq69ypu5SohXji8BqdJKNBetMW4zY9xkWg5Pg-ddZFP4TpPKABB-5p01kOjBDyrG-3bq2VHhiGByCsNNlEqKCghUHliwqxUKobnUIMIWsklML6P1zH1KAnDTWnhJwWL3al_BCRnx65rJ9tGkMdtBHekfEl_mEGWCuvkWenNJ-MeJAfF5kuUAAd0hatixzlsoN3eMPszdI_UnyrWc6VYd1M8G7-2bVpsew4U6iaxxqKtmiJImNi5RBS2oQ6GGWQ1n5NWqz1ZY8cL0vNfwBL0EVtUAXsZI8zYe_B2j_QjUa0iZPaIZ5fhxKedgQ5i8dIQ2HpiqzdifMnpjKfvAirNaWJ9ciSBzJYTHPCeE2enDOpifhnffwax61TjStCl2errKLbYRvWZPtOCroEO-iOInKFTMubWPOj1rTov4iBF_5kJhX-V7UgDLMBcC6FVrCcrjfSB1LQf_SzINJD8oHYB3g9l7L5h_OCvOnxGzMkT_EDF0NLE4IPc2KhpcsiKka-9PQ5aNWuvW_htkH_qwASIw_LuItkWPPzE3977tY9R8720Hu_BpKvVj71Uh-RbkWkQ-KzGC6cr6pKrYzto-MZBvEQTuNZmOBn5LcMfCJ5bEhRPI2GuQ9yA6pL-b4DZRAGiv68iPBwRJIEPiInzoJ1zIScoEsmv85nvQUuFgHjIQiyd1JMB3g-U7occKaGlzMyB7HnbcUtapeQ2zhnXNVTB5UACmaJ66Okaw0jcxd8eeXdGOZmH9A02RfgD5XdZETwJRVcFl_BDwfG5puaZBCT2A-FphGBE_VByVR4L3-nA==",
  "id": "rs_095f3cef19f3ec5b016ab45b16548487d0bb1a2ad0931392e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.055,\"left_z\":-0.005},\"note\":\"The cap is visible low on the left side of the wrist image, and the fingertips are still several centimetres above the table. I’ll centre over the cap and lower further to catch the narrow neck rather than closing above it.\"}",
  "call_id": "call_1gImcGQQ9se1Fvg6SYtbE6a4",
  "id": "fc_095f3cef19f3ec5b016ab45b1d110087d0b1a2c8d6a179b165",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1gImcGQQ9se1Fvg6SYtbE6a4",
  "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]: [-0.2447, 1.9385, 0.7013, 0.7956, -0.2695, -0.2089, 0.9965, -0.02, 0.7601, 0.5842, -0.4469, -0.0303, -0.054, 0.9998]\nstate[eef_state]: left_x=0.4676 left_y=-0.0646 left_z=0.044 left_yaw=0.0815 left_pitch=0.1355 left_roll=-0.0624 left_gripper=0.9965 right_x=0.281 right_y=0.0033 right_z=0.1664 right_yaw=0.0092 right_pitch=-0.0501 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -4.3145, 1.894, 0.4322, -0.0611, 0.2662, 0.0562, -0.5675, -1.4291, 7.1726, 2.0733, -0.1929, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727be794aec8f3460b453a06e54bed0e300cdcc2f4bc7b5c80b75ab9951846a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569f04477b5745a95fd1ca7ca6052223c23f7f915e52f0694c087799581a9155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5e50ad11cc637c9679a9dd4171b0fdb6bcebdc622f5e5035a1bb75b03f23f6",
      "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]: [-0.2188, 1.8782, 0.7673, 0.5507, -0.2348, -0.16, 0.9981, -0.0143, 0.7383, 0.5549, -0.4267, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.0578 left_z=0.0424 left_yaw=0.0494 left_pitch=0.0177 left_roll=-0.0003 left_gripper=0.9981 right_x=0.279 right_y=0.0048 right_z=0.1628 right_yaw=0.0062 right_pitch=-0.0377 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -6.612, 4.6701, 1.1013, 0.1441, 0.0122, -0.0366, -0.4855, -1.6205, 7.0769, 1.9707, -0.105, -0.0562, -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]: [-0.3008, 1.8774, 0.7143, 0.6491, -0.3122, -0.2104, 0.9959, -0.0147, 0.7967, 0.6426, -0.4763, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0809 left_z=0.0456 left_yaw=0.0597 left_pitch=0.0739 left_roll=-0.0207 left_gripper=0.9959 right_x=0.2862 right_y=0.0047 right_z=0.1772 right_yaw=0.0126 right_pitch=-0.0578 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4718, 3.1111, 1.1453, 0.0317, -0.1636, -0.0904, -0.7726, -0.841, 10.0718, 1.9756, -0.1343, 0.0366, -0.0073]\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]: [-0.2447, 1.9385, 0.7013, 0.7956, -0.2695, -0.2089, 0.9965, -0.02, 0.7601, 0.5842, -0.4469, -0.0303, -0.054, 0.9998]\nstate[eef_state]: left_x=0.4676 left_y=-0.0646 left_z=0.044 left_yaw=0.0815 left_pitch=0.1355 left_roll=-0.0624 left_gripper=0.9965 right_x=0.281 right_y=0.0033 right_z=0.1664 right_yaw=0.0092 right_pitch=-0.0501 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -4.3145, 1.894, 0.4322, -0.0611, 0.2662, 0.0562, -0.5675, -1.4291, 7.1726, 2.0733, -0.1929, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727be794aec8f3460b453a06e54bed0e300cdcc2f4bc7b5c80b75ab9951846a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569f04477b5745a95fd1ca7ca6052223c23f7f915e52f0694c087799581a9155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5e50ad11cc637c9679a9dd4171b0fdb6bcebdc622f5e5035a1bb75b03f23f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsj2XycCT-_Vp49-igNejBHbSmBR_Fb_xKDjuzkAoCrTUPygCtysTvCUsdjpud4C2eh5UXFGUQAulLvGV6bo5Z45xeSfusV0ZBcKLoZAFxKlj---z4KOrBffcEMK-LdMZnQBJOY4VBJ09irwDRWUNvNdI3hXVDru4UvolDAbKHf8lWf_ySosYPzRC8FEbxQ1xy2Sv6l1Chsogzxrjxj41DbyWGMpjvleNyOe6ug83vPT3rBVJpV2GHtRBg7UuPEyEWYLPz45TafAIqr5VsDBIUx9D7v88vKckYPVwXHzs7LR3mLntkEEertZ6hcMqJ61l2TJbKk1ow0nbwFlagUlFpwEvn0pCKAsQq93xgvynCSF7uY0a60olQTNlNVu48kimbX6bmLgZ-LZSjCKcBX9694AMqBVPIMY7qzjJvzTZmycuWU21ZpbqiWedgrKolosJYEuKwu2cyjvsLv_J1h4P8hB1yzaXo7fkDlWAYsBSb7fRDiQz5ZN20RmRDP0HRhV7_vVSlTK6MfAhH5CPtjtYAzFX8Bj-1UllwS6OUHaWPLj2kxmqhUC9IKIs-NHXsqcMzCXR0QSN0FkHGFIi-gvSBatd3jp7t5Brc7y7BuJa8tgLYZktwDQI-5AKAu0imf41FZJvcra1SnRkGSBQatmjDsvlYClNy7UeluLYSCAtCsND1cERo11GAlf12a06iPbAYT1UtJlYtEGM3v4OHG3sKVGxWngtXcCXW-w2hRBbZJazToazw1Jpkiyb9wqBNRbk7eEQiEwdWPPVbjTSUlx58fCqzc2aTm2Z3XiImyZG8qRVjXd9PjOXkhTVQ3tGqAUuK8Dr97QBTNe6Tgh8xkHJ5gs2nd3ptALuIxGhco7IAX4VPNoHHu0OmXImAiXDJWpIKj9qNYpbSaIM7GXcu87CHbm8sdbWdLT1JoQGqQSSfpVlvnikHI4WpSpeTa5VOryA_6pCXsdg-FbpjFIsduZGpa_buL9wz1m10O75uVN7I3ZkPfZ4r7kiR2SkpSqeRqUA0stiy6ctuGpPsjLogM8GpOTGxs9cBMhx9BL9Xd-Gk7ephhemT9ueL5av_SLfBV7mw0eSQ0kK49FnhjT6tb52MbaI34saCddWH3hYcYoo8WwKo8RvBqwkjjwgx7yF4MSejgGh2DHoHcp_rw-VFeWJ8-CCU6YbXF_0aPwviCAbQ6Zf22F1ulPbkZ5qkMzFlNurNaCXbE693f2D5bNsH6x-Wxr-C2zVmIrakeUMR_zVPGK6G7ZnD0cEO2MTzcRUEGsFYLsw-uC_bRNQm2jI_9TexIPm0W_J1wFcnij6T0QcMdfY8ocTEMYlmCyxNQS0BdCKx48wSzfOnI44xNODikfiYqwipF9uzM8XYQJVZYyHnfvpdkwj4Xl9tp0GereYY4LQd5fOS7Ltw1Yd6wz82uFuIoF-WQ3iJAbEkSy8hIYp1-RFMXvjUOBrHAGk6mnz5ThZnMn8yeafIGHQTEpzUvOKMe9IU_uGbSbMP5tvGIJIqGK-iPJKHOEJpeYU_yzpIryyUuPi4t4kFllPjDOwngsAz03vgexjAmE77VJN4EaGhIVZ4OWtPAWGGvNtR6tUsGmtARs-XUoELsp-ta-o9Mj8_py-qABCzg4T3u1iy7NnJmarHfB3DLKM5OXLhN2CUbXUnQHDFx6qDLOw8L6PsLTlSPOtAEPoO7lporycOnCkLFJb2Qus2hOae1IxvMrSWlLNsDTfQWI50oTQKjFOxj_SXugRgVm_sVzWh-wl0ppbvPK8I7fliGkUcqgrixa7ThtzUSBxjhchmkGk5uGSe0be-1y1pDsUlY3qnpF-eJsBlAom8qQrMWfD-dQqIrPzTbI3sXPXOoVPR_VtFulJ29T1COa3Q6ooS3fM3u1Erg7BjDCZM2xtm0TykesAjro32P5ozoaaUbg-ApHwq1WfYiQzqgguD-rQ8rg9vKwAbdUImJ0M38BY0AKU-lgiuixfFE-0sZluBhZz7EAsdSPLiRswV6rANmjl0TxAhGCmR3vLJ2HXs=",
  "id": "rs_095f3cef19f3ec5b016ab45b20288c87d0b3da6cae5f2d6e17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.105,\"left_z\":0.025},\"note\":\"The arm is not reaching the requested lower pose at this extension. I’ll move back along the bottle toward its shoulder, where the bottle is thicker and the arm can reach lower.\"}",
  "call_id": "call_Dh3vLxsnFJiqbNRPRYLHFfzG",
  "id": "fc_095f3cef19f3ec5b016ab45b22a26c87d0b98fc65e4deef311",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Dh3vLxsnFJiqbNRPRYLHFfzG",
  "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]: [-0.2359, 1.9572, 0.6888, 0.8761, -0.2539, -0.205, 0.9966, -0.0269, 0.73, 0.5373, -0.4194, -0.0368, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.0639 left_z=0.0485 left_yaw=0.0774 left_pitch=0.1804 left_roll=-0.0806 left_gripper=0.9966 right_x=0.2774 right_y=0.0026 right_z=0.1585 right_yaw=0.008 right_pitch=-0.0393 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -5.3402, 2.1949, 0.6667, -0.0611, 0.2418, -0.0073, -0.5265, -1.5658, 6.9128, 2.0147, -0.0757, 0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9800ad9d2d8b256902971c76153484d740897bf342f73820760e951fde6d0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6a510681b48dbfd193610dab8b2d61bada984eef520aacee650dd2fa4063aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c744585d354bea9f8a2a3c28a7511fb165bfd30b8cb716ac9195f9dd8e427f05",
      "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]: [-0.1967, 1.8961, 0.7673, 0.6415, -0.2165, -0.1566, 0.0136, -0.0143, 0.7174, 0.5205, -0.4091, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.0527 left_z=0.0529 left_yaw=0.0553 left_pitch=0.0858 left_roll=-0.0249 left_gripper=0.0136 right_x=0.276 right_y=0.0049 right_z=0.1562 right_yaw=0.006 right_pitch=-0.0335 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.2957, 4.3145, 1.2674, 0.1587, 0.1832, 0.6618, -0.294, -1.4838, 6.7897, 2.0049, -0.0757, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2447, 1.9385, 0.7013, 0.7956, -0.2695, -0.2089, 0.9965, -0.02, 0.7601, 0.5842, -0.4469, -0.0303, -0.054, 0.9998]\nstate[eef_state]: left_x=0.4676 left_y=-0.0646 left_z=0.044 left_yaw=0.0815 left_pitch=0.1355 left_roll=-0.0624 left_gripper=0.9965 right_x=0.281 right_y=0.0033 right_z=0.1664 right_yaw=0.0092 right_pitch=-0.0501 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -4.3145, 1.894, 0.4322, -0.0611, 0.2662, 0.0562, -0.5675, -1.4291, 7.1726, 2.0733, -0.1929, 0.022, -0.0122]",
      "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]: [-0.2359, 1.9572, 0.6888, 0.8761, -0.2539, -0.205, 0.9966, -0.0269, 0.73, 0.5373, -0.4194, -0.0368, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.0639 left_z=0.0485 left_yaw=0.0774 left_pitch=0.1804 left_roll=-0.0806 left_gripper=0.9966 right_x=0.2774 right_y=0.0026 right_z=0.1585 right_yaw=0.008 right_pitch=-0.0393 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -5.3402, 2.1949, 0.6667, -0.0611, 0.2418, -0.0073, -0.5265, -1.5658, 6.9128, 2.0147, -0.0757, 0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9800ad9d2d8b256902971c76153484d740897bf342f73820760e951fde6d0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6a510681b48dbfd193610dab8b2d61bada984eef520aacee650dd2fa4063aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c744585d354bea9f8a2a3c28a7511fb165bfd30b8cb716ac9195f9dd8e427f05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFsneTIs0ieqcBcgPTIV7Z5ZXR3pJPrEIn-t398Rhy_XMQLdiAV6u8OkaiH7WK3SSuIZZsC4dY5QjtEVGjSupThE6X2K42vclDtnOLA0ejj3x7wNf_KeSkF0rFEgo5Qef6vBriw42NRivWKrI5D2WXz4IaZdCN_8D83agAEboFUaQbLX8G5JY4qoE-MJOSnI7KGNVw_6eMqnta00D5GUjbiOR3uzWvsZKCdvUIJC4JwWzpOvgn4DqBxA6gKROkCtyCl2fHWC3hxeVkosCuXpnWGeEOKVbNllKN6RyJE59aOBWo6jXD0ywUXjjSqhiDaCnMyL0kKgSigie4474h_-ijCSZmGxeOqJUm7kqIPMvhtBJGqcQPVTW4imi1aKK6y3FOhpQGBAnywLNyP0JAPDFJh834C3gj20XlK0GQllmM5ilI1P6RBEKcZrXC9wI1sikTerFo7WfIB6jiFz8dzvHXbyP3UjEAJeKv053NlIMDX-fWkMuL-zi6CMoHSoLjD0j1ANyXPrufjgPnE3G0llalFqVvq8FuO1hNAnFJZNv6I5gHIq-XFX9uYlhJ3edg5NAONtxmqX929nlpDM3KP3jdAYOf8hZTo5hpOEGn3dmzeQni7VdHKT5wzD-aoAyH3yGiALEcc0WGeNPw-zFP1JjIKcAUko19ktuK4ncUc6LcaFB5hJHfkZkwMqVHkrN16pLLVGixeJL3z8Y3AIMv6myafOCKhK0jPoH42FPIHWVyxTls8suPliQ_tU3Od5sybRMjNzWFjV8x3_ZV71s2079VBNLzHNsOyb771H3jvLfX777YjbO6lE3YsKNOYx2tbPtR7ZclQlQ42uC3biSFKYgfIxLgKgm6KntFsDZYfyaPD7ztmyc3H8LMLHUl4nQZ3rSUTg3RDSSywrXklZgBT1eXjtzzg8H_3uccjYxdcvtme9eHjsObOOjWzUlqF5c_NjILcLIw_SZlntOhglSr7zVZ8EZ4l8sHFtJAHfTvx18nbfG9Nfesa5NQma2sZioRRiDeG8ckNeF6hQ0PdDwG9JGgVVQx5zHSocAC-VcIj_RKUgegXcPKvFYCIOTRu4qR5DyXd37JJeKNpuqth7gnCeY7v6Treds2S8mpypNNNd59F9dgK6Ug6MDiuxyksX8EIqJOV48ypT1TKd67c_A7NvcHvAuTRSDD6c85T9kh-1_rxHMlTZawJYf9Pa-B1Jf5YFmkHKntannCluHOK_BRxkwYRLPvSPF7_FEYAootCEJ7tdO67WfYdq8kaMFAtZtpvPUK0g8pXBJiwN62ehxx4AnSIT-_WKPeRxgW9D433nesUsTtpEngRXljzXnraqcw9Cec3gINVLsWU1IDvR2VI1TonDkOmWOdmmkB3sRvYJ1YxsUccvKOGWFM0titrZgwfo2p6druxShlNF2vK4Uv8INUDq4w==",
  "id": "rs_095f3cef19f3ec5b016ab45b25efcc87d0981e90fa20012f84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.10,\"left_z\":0.16},\"note\":\"The readback shows the arm has stayed extended instead of following the low backward move. I’ll lift clear and retract before making another approach, rather than pushing against that constraint.\"}",
  "call_id": "call_TFCYBDFTHJqRaOpSd6t1utgu",
  "id": "fc_095f3cef19f3ec5b016ab45b2699fc87d0b86b4a96c339fb03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TFCYBDFTHJqRaOpSd6t1utgu",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4534, 1.7409, 0.7612, 0.5503, -0.3889, -0.2913, 0.9967, -0.0284, 0.7052, 0.5018, -0.4007, -0.049, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1396 left_z=0.1052 left_yaw=0.0191 left_pitch=0.1634 left_roll=-0.0967 left_gripper=0.9967 right_x=0.2743 right_y=0.0045 right_z=0.1525 right_yaw=0.0167 right_pitch=-0.031 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [3.5214, -10.6735, 8.9231, 2.0977, -0.5788, 0.0024, -0.0073, -0.6906, -0.7863, 6.8308, 2.0342, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b6088337b721857ddfc0aa69dc06d5cb2e573858a938928a9180bbdbca915d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dea1ede25fc625560b67f6e68f1dcecd3a6809dc91fb9c26fa875dfeb181528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db0cb45d706b3054f0d6dc02563dd5dee544427ef6d8bf3ed48707f586d1732",
      "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]: [-0.3008, 1.8774, 0.7143, 0.6491, -0.3122, -0.2104, 0.9959, -0.0147, 0.7967, 0.6426, -0.4763, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.456 left_y=-0.0809 left_z=0.0456 left_yaw=0.0597 left_pitch=0.0739 left_roll=-0.0207 left_gripper=0.9959 right_x=0.2862 right_y=0.0047 right_z=0.1772 right_yaw=0.0126 right_pitch=-0.0578 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4718, 3.1111, 1.1453, 0.0317, -0.1636, -0.0904, -0.7726, -0.841, 10.0718, 1.9756, -0.1343, 0.0366, -0.0073]\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]: [-0.2359, 1.9572, 0.6888, 0.8761, -0.2539, -0.205, 0.9966, -0.0269, 0.73, 0.5373, -0.4194, -0.0368, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.0639 left_z=0.0485 left_yaw=0.0774 left_pitch=0.1804 left_roll=-0.0806 left_gripper=0.9966 right_x=0.2774 right_y=0.0026 right_z=0.1585 right_yaw=0.008 right_pitch=-0.0393 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -5.3402, 2.1949, 0.6667, -0.0611, 0.2418, -0.0073, -0.5265, -1.5658, 6.9128, 2.0147, -0.0757, 0.0122, -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]: [-0.4534, 1.7409, 0.7612, 0.5503, -0.3889, -0.2913, 0.9967, -0.0284, 0.7052, 0.5018, -0.4007, -0.049, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1396 left_z=0.1052 left_yaw=0.0191 left_pitch=0.1634 left_roll=-0.0967 left_gripper=0.9967 right_x=0.2743 right_y=0.0045 right_z=0.1525 right_yaw=0.0167 right_pitch=-0.031 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [3.5214, -10.6735, 8.9231, 2.0977, -0.5788, 0.0024, -0.0073, -0.6906, -0.7863, 6.8308, 2.0342, -0.0659, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b6088337b721857ddfc0aa69dc06d5cb2e573858a938928a9180bbdbca915d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dea1ede25fc625560b67f6e68f1dcecd3a6809dc91fb9c26fa875dfeb181528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db0cb45d706b3054f0d6dc02563dd5dee544427ef6d8bf3ed48707f586d1732",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095f3cef19f3ec5b016ab45b2a2a1c87d091a140bc16f8d79b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFs6xpg9wX3wUEz675li5VQ0hikcQd4J74QQnJ9hZREyxAA6Sa8cIZaHYteS9wAbZH7KpwJ5PiWGmE-X0GCXDTUd7rqyJWuMQPwv_Cx5EsSfuHL7VPOANq6cUfQBcLPFkdj2-wcHvP8KDZq1H6Sl2My0AqynyZSczqLr4B9TK_HgEj6tOr49QO1GaP0ZOHHKVjuM1nJgOVcJ2UQbn4HtjB9k1_DF1GK9XXiqHV2g2r70R3KSmkfu3JksYBzwbfj52Neupyg-X02_4PAsbzQSn-CwsR4dADRSO5NFE0t5exUVDLiTwaZUr7BOf-jYvthDFXyO7JklSdKUxqkB68W8_qMYLh4s0JNLjMTNG8eYhYKVVoEOh5Nn_lWfYuyNj3_hSwhA8PxoAY3Vrc_4h246pRTIfTwU4nuxootTRxncJVSuG2Irw4hMBF3C5tkJcZMCRMt6gpUg_f4zlqK_8ECk1h0FAuU50XmT5k1hGSv1xLKjZX6TudVhzQJ03BJWhHsfQ-oikBNjUJAx8-R_dIIn6wTB1WaJ5cUinC5XaKWBzRY3oUvz8gHpFuee8fXFnI0YtYI4K7EF0gncH_5md40JHKR3MPgqXqlEr1uhMpjGWRHeISOR_w-Z-cBki53I_gNnxOHPtFwAzqjDWvE24c434c8h_MZDGXixppjAkWAvgfXmujbwbH4cZ3RaoOwdfyq7tmmI5dt_BRUz1uoB-jX10n87DZVe3N7ExkAJqIRnHv3IQfyZ7bYj3J8oP2DF3VvVf6uo3xxdcTbbvNZeUzOLSasH3DxiuO1aChDwWDrj6OpwZ0V7v4Lgc1W2uHJW5sF0Jn574sjoiNqs_IkEDUtynawA175uJxPlCnWFLZv8-5_BoHoae_1vbWtjMIkNc_McQr6ONocxJCI7WQOuH9UC2r2uLDZ5gxDvAqUgJ07u7pRnfuhGn1OFgD-uiN0otdGfAsm0_zc8VW9BEDlc9JGq9wWxZcnGLmGVPgwNH-P25CEWk-2dXYp6dk6Pg_iNzawJQibmqnH0RW5Xp6f0H7kjwJ2NOQamLBI59YnYPbfJ_dopyRXhrHRJMrUkBNj91mPBejmkZHBpHzTo734x1BuOvRYOOAfgslg3uTZQjYrtg-vtxt_ASxNl07ED1SLMJ8x3-IqrqqLzjeVxseCQdHwze1Alar76EBI35bvtkOKKpEp5OsR863426OFWQEWj30gjeTBJHspezeKx9e1CWUUSOEPjFno-JHB3D79it_mRXrwVoRhJnGQaHauIAlcKevSGsu3UzMDj0inqaRcYg1ATNBEgQnO-7lmuTgI3DBK7u5mSA4K3cVLowrPF5zYBkGPFG_t65uz9jfndwYBEcXAPsxQpp-VnrBNKK8GlH6wYFeKURMXTOQBpu7ATQibdMRsN53diBY0PZ49Pt-KN-DhjjI6XN2WAcUiDZStHQExovzQBmh28qlrJf1ragY_y8Bj5laxq6y1BfgzSryYVktdTvHJoGvIHy5zr6afBXVVfRFfKqqwrr3U-wCx4y2Xphczs-WXtwaGaoldb_bV_7ptgwd-qKabW27E8uC0VZ0FxZ1uaqiAQGY9Cex9O-SJqj3WtRxSnE9EUbYYGZv1_ipFwZCGwgBmHpVMduZfwJYYLcv5kjOGWAiG3GbtTrrgRkO8GgBVKoy6rnMcrRlN7ozsZnDzMjj8FY-FHLsJaUsEu2ht0wOny9Tm5mKwdTOLUVe6fRKKNVL3pzWGbnCUho1FCt2ECHk1xA3BMH4Y0Wu_EeimM4Z05-ytWV8WXYvBWTiz89FcD2ksEqCUycAtpmlohp2j221qd6ZiMQ6-33yWDYFJzU-mM_cyKGTbmva5wArd4sJeadjAD6zHGKFsyLubhMm_lQ0bl3m5yHiBi5urET--4IoqWW4P4K-vsWy5UbmdV9h4RYzH-Azyzx15k95VdOSv3N1n2Z29t77szBQHpm7VIAN_AtNP6TXyl-P4WiSwzthDy084UEkduyLCWtHpK-4axmVmfAON3rYV08Obhr8ntgCpo0D5g5i83oGKc_z4-xQ7VKswVN5757hkq6mHV9EMrBst66KiZ39qWZzwdOqJrNo3xik6-l4VZsufo4qRCVcQxuydRxLtiLs5XXLzsdoEB9zEoqqzKLzGLW33DEpVCGn3hJztK1oZp1brUJFZUPZyfIAYs3GUdrGeHKy-8A4RLfhtA82Q2DaAkzwdOOO4Tx0BKJ6a_DhmNLprXvRkWqGT3U-q2VgPMZDzDjGoOzjWN6pm2SSdsICS9HPAz0H-FCq7DmbhdxEzDRtQ23GwjiE4stWd5ums70ZklgW-ksof7yz63MMRJVa2ty5UL8So5SMkGA1L1j8ETSheZCEBNmLxbdBn4JFb3m8XAcT3Ohw30JOjmBuwOHn0Z13xNDKkUEuj5p4amSqJ0CD4Vfi5yETEe1ZjgOdeO0uqfhLJinXPuxZoAjc0AVbSAFBUgCI02vRA-HzSj68e-k2eFX13qdO_bl1yDf3lkJGipn54D9LIvj7M_qUJlb7UgynBtrqv0mQMBV6gP6_CxP47aeBlklzDehw2ZQ9NehMLOqe0fYE3DXHyq5V9ZQ0Z6B7tx84yvoJSaY2V2gN5NeBCdNeBIoDMp8DKQHuG0ikAVGiUSvQtjtL_PXjK-CH3gBTB6RMzVpVLwgti-UUWNqgj4stUrqwjvqvLT_WtWgwMXZwOUVGBbZkrcy53KlrFLsBVyeMaeaowbNS6kb4NMUp6-cboJYBSIsV7a2IQ0lZMUfYu0HzYKS3CWjAnKLRsrF4M8EWRxxxxUo-ce6MlGrWUHTnhrAFMx7aMdN2GPqNMmMseVItQByIxCcFujUqcBL73r_en3v9pUTt3HROrkjOoMQqF3S57GoSj0klPIi1ylCykMbzZLaX6muc9zBN6YayKwSIlXSHw=",
  "id": "rs_095f3cef19f3ec5b016ab45b337a7c87d09a0261a2cf622e7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.165,\"left_z\":0.055},\"note\":\"A bottle neck is now visible to the right of the jaw centre. I’ll align with that neck at the current reach and lower cautiously for a grasp.\"}",
  "call_id": "call_df95TbgDW6ClUBzm0UjPaNoM",
  "id": "fc_095f3cef19f3ec5b016ab45b399f9087d09eb9d07da627e430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_df95TbgDW6ClUBzm0UjPaNoM",
  "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]: [-0.5247, 1.8709, 0.8783, 0.3515, -0.4618, -0.3416, 0.9966, -0.0284, 0.6868, 0.4721, -0.392, -0.0528, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1619 left_z=0.0555 left_yaw=0.0269 left_pitch=-0.0042 left_roll=-0.0051 left_gripper=0.9966 right_x=0.2709 right_y=0.0052 right_z=0.1454 right_yaw=0.0201 right_pitch=-0.0336 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.812, 6.0923, 0.5592, 0.0317, 0.6276, -0.0122, -0.6085, -1.0872, 7.0496, 2.0293, -0.0415, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3b903dfda5ab66e4878b05090b814922232b6c57a74fda99cc001f8c01f41c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3102b3eebabfa8197eec14bda669f716a45e8d8e212a0d6daec33cf3eb3a9460",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5726a4a0cdec1d047abfc66f61c9b569aa20ef683331908f233707a24150bcc9",
      "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 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2447, 1.9385, 0.7013, 0.7956, -0.2695, -0.2089, 0.9965, -0.02, 0.7601, 0.5842, -0.4469, -0.0303, -0.054, 0.9998]\nstate[eef_state]: left_x=0.4676 left_y=-0.0646 left_z=0.044 left_yaw=0.0815 left_pitch=0.1355 left_roll=-0.0624 left_gripper=0.9965 right_x=0.281 right_y=0.0033 right_z=0.1664 right_yaw=0.0092 right_pitch=-0.0501 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [0.8821, -4.3145, 1.894, 0.4322, -0.0611, 0.2662, 0.0562, -0.5675, -1.4291, 7.1726, 2.0733, -0.1929, 0.022, -0.0122]",
      "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]: [-0.4534, 1.7409, 0.7612, 0.5503, -0.3889, -0.2913, 0.9967, -0.0284, 0.7052, 0.5018, -0.4007, -0.049, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1396 left_z=0.1052 left_yaw=0.0191 left_pitch=0.1634 left_roll=-0.0967 left_gripper=0.9967 right_x=0.2743 right_y=0.0045 right_z=0.1525 right_yaw=0.0167 right_pitch=-0.031 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [3.5214, -10.6735, 8.9231, 2.0977, -0.5788, 0.0024, -0.0073, -0.6906, -0.7863, 6.8308, 2.0342, -0.0659, -0.0073, -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]: [-0.5247, 1.8709, 0.8783, 0.3515, -0.4618, -0.3416, 0.9966, -0.0284, 0.6868, 0.4721, -0.392, -0.0528, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1619 left_z=0.0555 left_yaw=0.0269 left_pitch=-0.0042 left_roll=-0.0051 left_gripper=0.9966 right_x=0.2709 right_y=0.0052 right_z=0.1454 right_yaw=0.0201 right_pitch=-0.0336 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.812, 6.0923, 0.5592, 0.0317, 0.6276, -0.0122, -0.6085, -1.0872, 7.0496, 2.0293, -0.0415, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3b903dfda5ab66e4878b05090b814922232b6c57a74fda99cc001f8c01f41c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3102b3eebabfa8197eec14bda669f716a45e8d8e212a0d6daec33cf3eb3a9460",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5726a4a0cdec1d047abfc66f61c9b569aa20ef683331908f233707a24150bcc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtE4q9dbykXyY_EOgvzOL29TWyyDLXI_PffIbx4lovbef0fKfZwP5QSmf42mt6Lwco2e3dyJUazTp1b1S2NjKvpsQhchRYR0wSCO56GDTDHD7umw7DAKxx8YnifO_pOJm_RfWmzHEI6WAyHdFkpYraexC-opW_AJjBR3-0xLFXf1s5hToEPnwFRj_vvvn8739q8oGNiWcRMHUttAB0xYFE95u1QJjzIXbHbiEMTzrdbGK5ZaPpfrtokiJv6pqcY1FwGMBA5H8ObNMghumb363-7i1u2pdIIOAPiqo5nFIR-ewN3vpWZtGgWtbpTVQ3wzQbfKU7CsqwV533maaxsIPz8wi1Pp6rJM82r9kYO_dCQ97dDnEvAv8bIa8WUhztvqt_W8SptqFzprQd-McOg3_WcbN-O11ZqJKkD3Y8ONmDOcJYNzxtEXSFUSxNX21H7gNWHkOCQWgAj9HxaQNDiT5wI5etONuivGxHifgPi2GcY-g1jGOpaaXtCgXLj1Mauso7NQjOrauN6zsZuoLbgvM-J-iJTY534twXHrJS2jiYfk9a561pUM5CUGw2NX-ShTYcasB5wCsDgTDWI-RXzSrrxwxoiIuHhELYzjt058SxUGwW8YAV42RYOiAeEfnrnJH63xB01KkbKxV4dsEuTc_lzoo-iooYvYPCIQxcI9zEr7435tjFJTazDqAdNEYFPwzOnkJesw6nTwvRUFqIyWeCGiLHc_LBK54caXZHv97BSy7C3wAHixRpjtl2gP-WanHJ8pqOQKy0Md3Ktu1RVQuuSNmhe56YTowXUxpIUrg8BEYfDda6VUrZi33GgkIYdqx78oT_sBeYklMOJlCVDlepVtysdsvpe4DWA8ab5exE2pQrYW2wFvF_hTNnE8wBcibX7me8tMAVZM82LF6AOj1Nu2zidLEAeU1wDGxPDTWj_3lVxPyGl87ndHiXzti6cLtKBAENCL8tsxD9tFPpcd5an44Wdcias1sHBc7BLQxlsqsf81oMRw-g5yeNlZzJv8ywbRJk1NLND3Ut3t5aRQm0cxFwGof8J7gl2hFuyZmrkMl1ezqXz8ssIBKQ2CtW8oPuHJsT0DoP9GPjESpWMg01YKmEW3oWhaWtzgnGbcCQ1yp5SF46_kUerkiAzy2aNVE48jdLIU6DaKHp-FJRIgwWbDTvUr0Sp5nRnGTmIHcfDGMD9xkz4aQVUE9NJSrtLxL53h3XT2ETrZnjRJ33PaQh1kcuJe86ebQbL9PoVfx7pqU4PK8jjLprLDuOJgoHVF-17prDOW24iFyblm4HykIwUsi7XzPG-BnbxKVzQyRugp8EzTjs-84NFM4OY8hFwiaBYspzxigts3X7RVYUoIPl5RrH6pIx8XyO2cBnUqqrgusawuBEEfKJj3D9SsjdqM_1NBmGwgYMNp4uhNWLnRwxQJ2fvDjD0Q1y0_Fi5nG1KInlemMReHiFOVSvwClyZ6yioKLNw9GPrDXQfrJpG3b-wN6Kpj1676SaX7tbW75JKnx6lE7_zf7ZsjeHMm8m49SrGoGvSA-gs8fkO9f0ZnMdduOWzbjB7aMFE7g-MhV-LEi5urXFzk0dLuqOQ9IUdH1hycRMT4iTFF-RSlGeB36QmTVrRH75ovLb7sCKSvxzFsuDh82SG4ToChYq8CDHem4KFKFjmRx0saPWMxDTf_INwHGzrFhxfavi8gFOOIkOdmagFbAOQIGGrGw_LZYMHOsA1vSanNoEeetE9Y2kwmdfkwtep9MrpPj5PkPK6eQQpPZFz3AXSbC92kN0PLE1ruC04OeG1g5sZVjr6ltugrB3mSnESw6VIFlKCrEcQYr1iwWSrUErEYFpPFt2QfCP-7AwV5HtjukfCym6ciDdG6S2uNVBYgijMKhulAY086keL4Iuy9OUZSkL3FDMrxJvuhQmIMSHzEc9l6ak3dxCoAB9eEms_bpRD_qt3XoBOu9MJp-Cs3NodT7HL8FIxdPTF6VbI3ngp1IFEoWfiI5XteMTKJjOcV68pBUJfmzkygualnYtpzFd43rLIvMz8FBkZV_6n3HuHCgZRVsEcIc7fA6xnm8uyFfXI8sZ5JZTtuNbayIYosZoxg0tigXR3X9YO4vyuUkrb4J4txXVMmJBNJc6OI6EjGeAyWTkHNfYsCCJmfHaz3SILzKK0HObofmIJxJZvGLl5ZyRcS4Y-WbGfuHJiC2SbjVaC-dOaBJKagYw9NGSp_qrayJG-GuoT8fwTzp7m7s-cI3MlF5vTbcHKG0aEHSzQhE6yiv0bG-xL-K7sik1uxUlZSp1L-n2nyGptsNZbIRU3wTKp4AJocWlKi6Xa_HGg5HWltZZiqvPDzHxFDvh5x--UKI74MQu2JdDlB-o-3oh02huV8Hpv7CREF7kFNpfEh0rYOh2IAqddkuHtEPsYYgomDivpVIrO2MMy-8b9zE9oGsKbgMpnPqhFnGmspx5PkUjnkGmejdizNtKgxzby9pPkuFnewO1zjC4w49JhZ-cTTYYMCau2HM5dAGuLX2Mq4h6ttSVwxh9OPaW4SkXcyiH6LT6FRx6MZTBxsKJs1aMx2e4EOW2ibyinZTXCVnPEfeYDsPElkh_IkYZYyb_IDW6wKIFBYM7RWpA8LOLjmzP04UYLipiwKd74eEQcNtAZUI__EYJYh3MPZ4w4tO8oXWBzgryoZZYt8hKX5RrsKW4Pr6TY5MfAYvtgFj1dYzd7zG41uCulbmWpFMBPii-ygrCswXeS0HIW5NuiAiMHnEZVvltfSB2H3aXlvSjS37BFzohfi-52s19DQ0ZCD5eO9jYEwr0yf9Smwx0LVrfD494WJSP0tS-TbIyL6csS7j5V-vfZ06CJklzFA0lW6QU=",
  "id": "rs_095f3cef19f3ec5b016ab45b3d54ec87d0a793ed52b8307906",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s upper body is now between the open fingers, with the cap visible beyond them. I’ll close here to establish a secure grip before lifting its upper end.\"}",
  "call_id": "call_3aL6iWzOy431iV3NFBwF10nf",
  "id": "fc_095f3cef19f3ec5b016ab45b431c2887d0a5e86998c7155f6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3aL6iWzOy431iV3NFBwF10nf",
  "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]: [-0.5289, 1.8729, 0.8799, 0.3607, -0.4652, -0.342, 0.0126, -0.0284, 0.667, 0.4419, -0.3767, -0.0536, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1639 left_z=0.057 left_yaw=0.0257 left_pitch=0.0044 left_roll=-0.0083 left_gripper=0.0126 right_x=0.2684 right_y=0.0054 right_z=0.1398 right_yaw=0.0222 right_pitch=-0.0286 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.0462, 5.2718, 1.5849, -0.1636, 0.0562, 1.1551, -0.3077, -1.1009, 6.9949, 1.917, -0.1245, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9310687136d7436cf7161fa3ba52a710c3cdaa8922f81a22132bf1354579489d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b650c1f7e5b433ab624e805334179a55917e76fa537b9fe2664b1a2ebdaf5b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60714f066e182ab5e24400fc0c7177dc86247eae3290ca35644ed1dec9aa0282",
      "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 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.9572, 0.6888, 0.8761, -0.2539, -0.205, 0.9966, -0.0269, 0.73, 0.5373, -0.4194, -0.0368, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.0639 left_z=0.0485 left_yaw=0.0774 left_pitch=0.1804 left_roll=-0.0806 left_gripper=0.9966 right_x=0.2774 right_y=0.0026 right_z=0.1585 right_yaw=0.008 right_pitch=-0.0393 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -5.3402, 2.1949, 0.6667, -0.0611, 0.2418, -0.0073, -0.5265, -1.5658, 6.9128, 2.0147, -0.0757, 0.0122, -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]: [-0.5247, 1.8709, 0.8783, 0.3515, -0.4618, -0.3416, 0.9966, -0.0284, 0.6868, 0.4721, -0.392, -0.0528, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1619 left_z=0.0555 left_yaw=0.0269 left_pitch=-0.0042 left_roll=-0.0051 left_gripper=0.9966 right_x=0.2709 right_y=0.0052 right_z=0.1454 right_yaw=0.0201 right_pitch=-0.0336 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.812, 6.0923, 0.5592, 0.0317, 0.6276, -0.0122, -0.6085, -1.0872, 7.0496, 2.0293, -0.0415, -0.0513, -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]: [-0.5289, 1.8729, 0.8799, 0.3607, -0.4652, -0.342, 0.0126, -0.0284, 0.667, 0.4419, -0.3767, -0.0536, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1639 left_z=0.057 left_yaw=0.0257 left_pitch=0.0044 left_roll=-0.0083 left_gripper=0.0126 right_x=0.2684 right_y=0.0054 right_z=0.1398 right_yaw=0.0222 right_pitch=-0.0286 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.0462, 5.2718, 1.5849, -0.1636, 0.0562, 1.1551, -0.3077, -1.1009, 6.9949, 1.917, -0.1245, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9310687136d7436cf7161fa3ba52a710c3cdaa8922f81a22132bf1354579489d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b650c1f7e5b433ab624e805334179a55917e76fa537b9fe2664b1a2ebdaf5b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60714f066e182ab5e24400fc0c7177dc86247eae3290ca35644ed1dec9aa0282",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095f3cef19f3ec5b016ab45b46ed5087d08b99ec7af9eaf6cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.225,\"left_z\":0.04,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.2},\"note\":\"This close was also empty; the visible bottle lies to the right of the closed jaw line. I’ll make a fresh alignment on the middle bottle’s neck, shifting right and slightly forward with the jaws open.\"}",
  "call_id": "call_GEMBy4bUsk4DZO4TyRVEYNnJ",
  "id": "fc_095f3cef19f3ec5b016ab45b51b5d487d0b2761484be8622d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GEMBy4bUsk4DZO4TyRVEYNnJ",
  "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]: [-0.6285, 2.0506, 1.0763, 0.2951, -0.551, -0.4229, 0.9945, -0.0288, 0.7933, 0.6399, -0.4721, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.2168 left_z=0.0388 left_yaw=0.0372 left_pitch=-0.0039 left_roll=-0.007 left_gripper=0.9945 right_x=0.2863 right_y=0.0053 right_z=0.1779 right_yaw=0.0286 right_pitch=-0.052 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.306, 7.6513, 1.4335, -0.1343, 0.1392, 0.0269, -1.0735, -0.4855, 10.1265, 1.9609, -0.1001, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1491fb56ff3ea16295777c1d2c80fb0cac9fa1b3d574cb5bb9fde442c8a9f0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb81e15770f6a24a384931b70093a05ee02498e9bf72c1a2316f621bacf2422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee1ca7df2a0c855368a1016a287ade762920883d7194a64ddd0460995ecfb26",
      "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 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4534, 1.7409, 0.7612, 0.5503, -0.3889, -0.2913, 0.9967, -0.0284, 0.7052, 0.5018, -0.4007, -0.049, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4477 left_y=-0.1396 left_z=0.1052 left_yaw=0.0191 left_pitch=0.1634 left_roll=-0.0967 left_gripper=0.9967 right_x=0.2743 right_y=0.0045 right_z=0.1525 right_yaw=0.0167 right_pitch=-0.031 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [3.5214, -10.6735, 8.9231, 2.0977, -0.5788, 0.0024, -0.0073, -0.6906, -0.7863, 6.8308, 2.0342, -0.0659, -0.0073, -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]: [-0.5289, 1.8729, 0.8799, 0.3607, -0.4652, -0.342, 0.0126, -0.0284, 0.667, 0.4419, -0.3767, -0.0536, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1639 left_z=0.057 left_yaw=0.0257 left_pitch=0.0044 left_roll=-0.0083 left_gripper=0.0126 right_x=0.2684 right_y=0.0054 right_z=0.1398 right_yaw=0.0222 right_pitch=-0.0286 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.0462, 5.2718, 1.5849, -0.1636, 0.0562, 1.1551, -0.3077, -1.1009, 6.9949, 1.917, -0.1245, -0.0415, -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]: [-0.6285, 2.0506, 1.0763, 0.2951, -0.551, -0.4229, 0.9945, -0.0288, 0.7933, 0.6399, -0.4721, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.2168 left_z=0.0388 left_yaw=0.0372 left_pitch=-0.0039 left_roll=-0.007 left_gripper=0.9945 right_x=0.2863 right_y=0.0053 right_z=0.1779 right_yaw=0.0286 right_pitch=-0.052 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.306, 7.6513, 1.4335, -0.1343, 0.1392, 0.0269, -1.0735, -0.4855, 10.1265, 1.9609, -0.1001, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1491fb56ff3ea16295777c1d2c80fb0cac9fa1b3d574cb5bb9fde442c8a9f0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb81e15770f6a24a384931b70093a05ee02498e9bf72c1a2316f621bacf2422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee1ca7df2a0c855368a1016a287ade762920883d7194a64ddd0460995ecfb26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtbfm6O1GTubh7qUn2ownOdJDzsQWF25mv36vO_CLXYSxufkfbOzh6T_DjBLwCfWEXPILoFDbH-S_-3y6638BV49vko1zVoW769nbO5PeJfAWdjHLPdrE0nfnD5DduerjTaXcMU3KjIfqlsfSTF2apwNx3I-zhZT1BL1PWQ70sBgQXHAEfwtvRyEUYE4pW6EuWez-L8VcKKOLAt9Q8qpfeUiWR2rCWrv8mZpm4k4FbPS89_izKGiDhGYBaJhMMrOZjij5SPXljpQnPNAKnSatoPu3AcME-14AViXrJR-ti_OI2U3luouIfor6NJIWQmaUKlbkpNZq82jdOsEBNZPbsssHc-yoJH4iEREQ9w9cCAaA5aNplLD0_pJ-NYucIZgxJ1O9_UZJ-zss5zj75hjxaAakSzQKd81vEPfjAEASwpWoMRTbOgRcnFkLW3LPyOZNB7B3xQxjeuxI5pYQXgIUR0SDPqpNIKIdXFqvJDP9ZHltSxU3N3h90TMXVJdCbIHl2pIq5l8RQWpStd6f3o7hHeBe_8tXAr1uyUnqdZAnU4l7UG_IVa9xLqVn4yoNqJwrQk28a2-GNAdaun5C1JlsoMauI30ueArIbvFoFHETdueMoqQr1VVwpBTZo6Z3D--zOlnuS1MeVhiy9hgCfXzUrX-sHhE-QmkmX53xdKQBcArUvQrkcA-oyVZ2fXDbvHZvO3Bn5jG5i_0p9KMlTQ1K2KPPc8gHkmN5t0ztxf6Hm_L864JB1S8WUMMJcv4FQEX7Bix5Onio2_aZV82WkO9cDCeZRJVh36ZPSJXxcCNyOS9wHYIuNnpxzhqupiigLf9qn0TaIbY2ocXpiw8_VjOmQJqTNqhS_8YvPDjW_MMA-I2jhp2IbSSW_f99roFtjoH7LShebXFgvhH0HIV35j0jZrxo6CLnfHaolc8uJgGlwrEJ7ZPVWi56PFPw18Oa3rQs7cASZUDkDGa8jf3HxEGWfUWJSYg7NAvg9KhTQi2bKXw80ihHNtS7BEIfcxm5hcXpGzp93-ZK4y60VXXEMI0IO5Bkh8NA1J6oaM71N0t4XzdVK0Gvp6yvZ9viSEBlI21m95zqBByCWzJmD60IN0MP4ra2rQ_JsRzPqOGwYJOhBB2dGbnfgnOu7Moklbs32bH7mInLsXEl4bHdsPxAsSuBkSaHui7p0NQYvUig2VLU_NhRWBlLsdsYAu5X6U-fJZfjVlCLXWkDx__oo7mDHG8OUCtn7cVNOk4ILhm7ZhpM8RXQg-gzyC1iF-8KxRun-meFP5_9oBBo0gjaOgfuw3CTfELq0ZghYNup7QWhhj-SDh4z3Rw0LRJqZdzef5JnnTIrIZPQYOEpLIZzjnTxRGKbIFQmSYDw0OdlOgLm3MsyrXzepp503LyEROlGLiezuMvik8ZKC8gR5KNaXF0DuQwRCCo1O7BEEl49YCGY848nRDz0mnwukVbjt0YMjcdxaJ_rJ_6BugBy5ZMghGj-VyNehCTmkfAfIvM-d02p6Tcmt0zTPrLxnDVC9ARmq7pEIAz8lhkjUvPOPjIpLGAQsRBazwvzrTfluVQ2IXir6wN3uLn_kRHsfCKcHFNb7nxEUdJ1yEJDF3ID_in6SO4jRoR2B2-Wl3Bz587XS7LMcDROcozCtuyf21MlCIjAgS-ausdmfya-73t-LXE3mBBOktiBM7E5Z-qg6e3vvARBdWNxXEngV7CEBCaNEm3lMM4O-JFWoG-fMk2wA-RFbxvP_0jmsMs2B5nS33AJR9G5J40u1gpdoQ2BKIJmSBz3Ui3qKGbsSr_-A2Wt_YbGYP5vL2xQl0LpY_FJijVWBVeoIv7cXxB4fG-n8D3tdhsIaAIK0uOdTqhu13vVi_i9kEBXD_fkDmratdD0TeuCbsycqD8Utwnsozf3DQY0_eFva5TEgbICuhs_f-nEhOXZeraS5tOb3hidnVGqu0R89pOn5Nug29MUWqCc0IUi8tXAg9H99EE5DFu9WGJwqaWTVhc4ddGHUEfVP30WCfY8pqh_I6M_-b5eP9vy96Ve3137t4wxib5AopDyIFr4BwD4bWIUpPx4F6uqC-CB5mOUsrlmB1XORm_3pGTn55siBqwPXrlVoVkvqUwKN5GANR26GqzQ2WGUounSSH0cFpcrIE0Oj50xZg3qTJlqOvF9-0aHg1EHxL79acmDGFex6IkIFy5jL27RLcAjN88AfYFHFf9Bv2NZixkQA347llhde8FSQ8TgiYO2okMuwmkGWEjpdI-jGetLrePV5PtMVfJA1nkTTb2l5XYSSZ6E5sKp4aRNCBBCAu0G1kSFqh37U_eolDMNTFLiUJylzlaGvKvGaVv_355vCOS-TpAdhiy_1-G3yplBh1w7Cx7fmVNs2F7jaNOEzs0DpkMjf_vd5xw4brMgNyhvgXqVE=",
  "id": "rs_095f3cef19f3ec5b016ab45b562c9087d08284d3ee0a8af926",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.28,\"left_z\":0.145},\"note\":\"The open fingers nudged the middle bottle sideways rather than enclosing it. I’ll lift above its new neck position so the next approach is vertical and avoids pushing it again.\"}",
  "call_id": "call_I8dqrdLa1QGlieFee9SBGq6S",
  "id": "fc_095f3cef19f3ec5b016ab45b5a386487d08a01db73b82452b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I8dqrdLa1QGlieFee9SBGq6S",
  "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]: [-0.6796, 2.0945, 1.6012, -0.1585, -0.5926, -0.4652, 0.9957, -0.0341, 0.7605, 0.5877, -0.4454, -0.0566, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5065 left_y=-0.2778 left_z=0.1462 left_yaw=0.0413 left_pitch=0.0333 left_roll=-0.041 left_gripper=0.9957 right_x=0.2817 right_y=0.004 right_z=0.1683 right_yaw=0.023 right_pitch=-0.0448 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6325, 8.0615, 1.243, -0.3541, 0.1685, 0.1148, -0.4718, -1.5385, 7.0222, 2.083, -0.1245, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457a1b59f6e92901d02bc8d7a17d9eac9ddd601b0990db2749982de86268a49f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a15255ffab2cf0f75a85ecf0a1acdd647bc72b7f61a70a5d6f10442dd6bf993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf072a006ee01036b73eb7cba975dbc2484c7982a9c2c21ed7a5ba5da40c260",
      "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 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5247, 1.8709, 0.8783, 0.3515, -0.4618, -0.3416, 0.9966, -0.0284, 0.6868, 0.4721, -0.392, -0.0528, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4439 left_y=-0.1619 left_z=0.0555 left_yaw=0.0269 left_pitch=-0.0042 left_roll=-0.0051 left_gripper=0.9966 right_x=0.2709 right_y=0.0052 right_z=0.1454 right_yaw=0.0201 right_pitch=-0.0336 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.812, 6.0923, 0.5592, 0.0317, 0.6276, -0.0122, -0.6085, -1.0872, 7.0496, 2.0293, -0.0415, -0.0513, -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]: [-0.6285, 2.0506, 1.0763, 0.2951, -0.551, -0.4229, 0.9945, -0.0288, 0.7933, 0.6399, -0.4721, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.2168 left_z=0.0388 left_yaw=0.0372 left_pitch=-0.0039 left_roll=-0.007 left_gripper=0.9945 right_x=0.2863 right_y=0.0053 right_z=0.1779 right_yaw=0.0286 right_pitch=-0.052 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.306, 7.6513, 1.4335, -0.1343, 0.1392, 0.0269, -1.0735, -0.4855, 10.1265, 1.9609, -0.1001, 0.0024, -0.0122]\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]: [-0.6796, 2.0945, 1.6012, -0.1585, -0.5926, -0.4652, 0.9957, -0.0341, 0.7605, 0.5877, -0.4454, -0.0566, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5065 left_y=-0.2778 left_z=0.1462 left_yaw=0.0413 left_pitch=0.0333 left_roll=-0.041 left_gripper=0.9957 right_x=0.2817 right_y=0.004 right_z=0.1683 right_yaw=0.023 right_pitch=-0.0448 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6325, 8.0615, 1.243, -0.3541, 0.1685, 0.1148, -0.4718, -1.5385, 7.0222, 2.083, -0.1245, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457a1b59f6e92901d02bc8d7a17d9eac9ddd601b0990db2749982de86268a49f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a15255ffab2cf0f75a85ecf0a1acdd647bc72b7f61a70a5d6f10442dd6bf993",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf072a006ee01036b73eb7cba975dbc2484c7982a9c2c21ed7a5ba5da40c260",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFthc9ke5ep8no1lEMJn3Hg4sjS2dvKMmutoXNulLSzI2xb3fUOWM_tJzpxBKn2jTznlAZAK0CrQXwAxegiy6mIKhk0hNu6g27NgDsCUJ4xcrnCHJF8hCPuLqTF-3hMxsmAqYAyvkNSReBxspaN_H-qxVgc2HBj7NYeqh76Ojy1IZfvMRk9rb7pTBBrK63Xux0W1DT8CjCsaZv0WZs-UXfEe7loRjh7gix7JCoLxUFvvU_dZrJYJ8iwR2FcmbMRrNqa8S9eRH_RprYYVT6MjZFbRAnF3YRyiVrlZdtahdztb6bJWgJTqik-Blf1j3QcO5RlLiLCZJl8SeU619Ei51v61XaIVf8Pa35B6zU4eDe2zQWsBTGhIAu_W9qHOfIRUrZHdgHgvQavf4Zax9puvtqLyb3OvgIkCQgmzZeAazK2c5UQQBqsImCWlhtwKliG1N7sQ1108kF_E51O8ChGd1XLJrO3XXVM-9WBikaaE2aBOc9lD0SDllCTZQs9Kq2DPpvpFfGtEhXFKT8fD4qsmZgJh7stYgOvAOLpEijV5_zJg3V0R0ZxsnLhQ7mLva18O4CgdVqYKjIHQ_mh5gI3q4dq8jKE1gnvYoRoe51kCz822XjgDmAhz_07l_wnoCwmpFmUCcpqUODDf-lqJnR6gEfzk68j71Xgu_j9uFmaiB333pxqI9FzqvkDnW30pdD8bx39Oq2QRgKocPTBu9Bq-FxQjxpikmzcumBrBimgXMX0HgrQ7zoZmzq3sHQI-idhNkqdAP1Copvm1c7MtaFERIZcZk6iioyzqTt_69YSgEpZgpD3lkq8txgSykd9rOafTZ4Yus33QzNpgk4BfLnlXsoh23qB9M_BgIeuvHTS6o-jAgN-p5vhA1mcNRPxCmfXPDiRubA45kVf20j0RyNNCEPv4zMkTfjkzRGa2dAvN8PZlFREeSKyJtZ7PcTrdIL2L3kNXf72WEqsj4qpQj9H9pu2BesYUvC25jLelFCQ7HQjrLHAgFmQgXe5kJ7F2IstAt_cPj8R8hyNTqB9xUODbOWeFgJzosBPT92UgPZeGaViJoLJC5pfueOdEcZxcidlN9i9j3Xga4xI6EZ55pnHsUO7MZO25IY2Zr5X6HmILcBnJyhIkyHPDn_ewgnTu6vhIkL47ndh6kUp5CDK2YO59H1j47ddpQ3fSSEyGb-2gONOgXA8n_0cnAw4hnv_-cAQM8YaMSUac-otINyzEMZpP-w7Nb1V0Ld42ZI_SpuOHSHVm5XMmaTYJdYlUOiS20SG3KAhiTHgTOukQka7tSSKAwH3sNGNh8EaZOPrY8iOvQAQEPXC_3Fm1PATe7jMetRdMXCDKFVMhB1ILY0KKqQy_54NKpsOqJvbjUYSjSM6g5cLQ1q_d-hxSAsRPLerCmoj1uYhNA0mKxe7oz7GYXb9e3H6sH3kQ1Ti9o7kAB94-L1q2UxNcJVSEMZSwrE5omqNPpxq74jGpWcfDMZzI4t3lj_RAOV6vTcCnZxbdSaa6uTnDB8_qPH7VOEmZewEStIuNEi0rc0injx-R-MufjD9_FUde1K5UNDzGntmkyOBZ_xq6XmpTDMO30LXLr7R43XbEC7c6tNohWvTUerabukEPF-v_6f3_o85wr_D4G08vBI6O05H_iyJayOHOkBo5OZ-O0eqwR-qlwGfeVog5zuNNFXwf1yB38eEj86dj3j_9bFtYh93G9zm06mCXyQqwg3ajfCpoExqyshh-KYV8ZisA7Ltsenfb4NLRQVBY22Op_0K6xmfeHBi_oCiFBki-dzUhhRrpN3DODQ35laExLQXhxPGmCtPEq8rZfpCa6TOG4_ImqRLKQhLsNNjxkSApBAvea6vatzwa5hJT1v_YN7XzF9UUhFkOdqk-3pFSY8zMAKyPOpx3osQHzlltm1apZ55n9MaQ1vTgNjJ7S8bPWhJa_jIThCHltBVVhLMih7enZQRKNzdQzPd85c5kpIxCZtpbYmJq",
  "id": "rs_095f3cef19f3ec5b016ab45b5dbf4087d0870ed6b77609fa4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.315,\"left_z\":0.055},\"note\":\"The middle bottle’s cap is visible just right of centre below the raised gripper. I’ll move toward the cap as I lower, aiming to hold the neck rather than the broad body.\"}",
  "call_id": "call_5Qnq1Of5YeN8eMjYiInJA0L6",
  "id": "fc_095f3cef19f3ec5b016ab45b60744c87d088ff31cd1f70aa0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Qnq1Of5YeN8eMjYiInJA0L6",
  "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]: [-0.6804, 2.4153, 1.8309, -0.1238, -0.6102, -0.4793, 0.9959, -0.0341, 0.7322, 0.5434, -0.4213, -0.0605, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5464 left_y=-0.3074 left_z=0.0626 left_yaw=0.0609 left_pitch=-0.0014 left_roll=-0.0071 left_gripper=0.9959 right_x=0.278 right_y=0.0048 right_z=0.1604 right_yaw=0.0262 right_pitch=-0.0367 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.5744, 7.8427, 1.3358, -0.2369, 0.1343, 0.0024, -0.6632, -1.1556, 7.3915, 1.9951, -0.1148, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35fc9efe1c45b6e548199c59795ea98510b83a5a256a63581da87a94e56b3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490068fe0c991b092f08cfdb3e9bd6c9381d30680be887740c7cb941f5a0738c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ccec7237edce0ddb9ed16c61eaccb49a3d6462cf4a0477371ef39c8f0dccff",
      "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 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.8729, 0.8799, 0.3607, -0.4652, -0.342, 0.0126, -0.0284, 0.667, 0.4419, -0.3767, -0.0536, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.1639 left_z=0.057 left_yaw=0.0257 left_pitch=0.0044 left_roll=-0.0083 left_gripper=0.0126 right_x=0.2684 right_y=0.0054 right_z=0.1398 right_yaw=0.0222 right_pitch=-0.0286 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.0462, 5.2718, 1.5849, -0.1636, 0.0562, 1.1551, -0.3077, -1.1009, 6.9949, 1.917, -0.1245, -0.0415, -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]: [-0.6796, 2.0945, 1.6012, -0.1585, -0.5926, -0.4652, 0.9957, -0.0341, 0.7605, 0.5877, -0.4454, -0.0566, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5065 left_y=-0.2778 left_z=0.1462 left_yaw=0.0413 left_pitch=0.0333 left_roll=-0.041 left_gripper=0.9957 right_x=0.2817 right_y=0.004 right_z=0.1683 right_yaw=0.023 right_pitch=-0.0448 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6325, 8.0615, 1.243, -0.3541, 0.1685, 0.1148, -0.4718, -1.5385, 7.0222, 2.083, -0.1245, -0.0073, -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]: [-0.6804, 2.4153, 1.8309, -0.1238, -0.6102, -0.4793, 0.9959, -0.0341, 0.7322, 0.5434, -0.4213, -0.0605, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5464 left_y=-0.3074 left_z=0.0626 left_yaw=0.0609 left_pitch=-0.0014 left_roll=-0.0071 left_gripper=0.9959 right_x=0.278 right_y=0.0048 right_z=0.1604 right_yaw=0.0262 right_pitch=-0.0367 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.5744, 7.8427, 1.3358, -0.2369, 0.1343, 0.0024, -0.6632, -1.1556, 7.3915, 1.9951, -0.1148, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35fc9efe1c45b6e548199c59795ea98510b83a5a256a63581da87a94e56b3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490068fe0c991b092f08cfdb3e9bd6c9381d30680be887740c7cb941f5a0738c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ccec7237edce0ddb9ed16c61eaccb49a3d6462cf4a0477371ef39c8f0dccff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtmMXSo5-qElo3o60MLagGv4pX-Xeuyy8p5YFqg1H4sMqjIVYiG4NKDexxLCWOEKyYGbsJx6Gza3T-_Lfqm7pYUW7k5GSwMlUjLcpg0UUJjRmRdLUH9UhFjX2ZYS3VxZQkFJ2r-U_ownQ9EXJf-5azfs4AWn8Jx2Bt2KB4VPwugr8mULenXhcUgCZau1PiVmxQcRASp4G1oVE02WFOUJxwNnm1grDyo3dQmlJlpLly4_kZtafMr1SibsqaQWSbQboQWiORTsMBrYjFtZqjvP3IiyEA1me_LXizA291empMgYEkVcnD_PqE4zp02MSGLShCE80l2Nk-59F_r20nx1VflfNu8akNtuZsxSlIvj0Q1-YE91N5XH_uQS27sJNGc808A24kkhTj39vQVzYIQHrEvQB0H8M5dnnwlg4bDryvPGJgF965a19NyJzznLYyGHx8fotMmKJkwl3aARujiopXfUXJhHaXqE0WzExJjSFgy7juJSQiTKuIywM5fC9mKGUr8y1aZ2i_csseTSzPF3tdEGnuqKFdAqYQ4FIj1SWqW_-qLxRGVDKEP9OttxxEE2ysFqQdYdnWrF8SVjQItr__qHMpIHViLiqncndZvxGMjgvJaZFOxllDK5ce8AotTnfet1fdYVE596T43QfgiUdR6wUsKy64qAmk19-Ekh40umTXkWcbKLfd2uTes0mxIQY2fvTjG4tvL96cA3tIWdkgyafAGZIhdyrkem_hX1Y0lDgFu7nXbKvPsCdd-_MM0VWzhOAvB0awLGoANZ8LqZtdMt9AD-_LpoV22uVDGmghtGHoBet4tR3HTWldvKBx4vyZnLd0J9BwBwPPZFpqRlTKd83YrZnVKkGeWZIAjeweAUQTTbdtP3suNCoYazHJCxfqYGMmWuAro2JEKn3UQwk51lA9F65dkPlkpWz40xjAQ07LSuXL9j2vrIWKCsN3lOhByO_ioY04PoOwM2Pn5a7dWpc84zk0B9bN4llr3AurrosOGbUeGorCZtpgDQq29ZBEGz52yUNnFI-278jABTBK07t1u7lvIvj7a_X0soZU24f4-QsNB4mU3SwrALRsJs-Jx1mP7BwwxD_Vew3Wiuou6jKy2Knkd_NIBkiBT0Zyztk6lMoL9d31lAQyj7TxeB27d1BOH-vaVf9AfjLw67IyaLj1rXkz_tonSneiYYOE_fWfv5LyAXDd-xxR9vCr6TkldzauSg5-AuEbp_S3hfbGj-5QP6nz_gJBemNSjXs8T-7ZUaoj8tq7LQyHUXtEB3kMuXx9zgRNe73o0PJCxPWW_nocdr29j-b_cFbqiWmRle6sCcikML2NYw1XNryo_q147gA5zt1xbN-eIT-BJrYp9M1Le6yWCmQHSCWVWDhAfsEwKpny7iK9T6_tyjWKqFCEQ9R0buEGkXMf1zl0svX4qurSxxgmwt5AdrVMoTjJzAFMR4y49iOO2OpJLwQY_j7exh_8nq0ByAJBRUieR8OakKQ==",
  "id": "rs_095f3cef19f3ec5b016ab45b6415b487d09851c68d4b0cabbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.34,\"left_z\":0.03},\"note\":\"The neck is now near the fingertips but remains slightly right of the jaw centre. I’ll make a small rightward and forward correction and lower to neck height.\"}",
  "call_id": "call_Ah9TgdiN1wMFKqIcIKJHggc6",
  "id": "fc_095f3cef19f3ec5b016ab45b6519f887d09623e47f94bd4393",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ah9TgdiN1wMFKqIcIKJHggc6",
  "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]: [-0.693, 2.5713, 2.0476, -0.1486, -0.6373, -0.5018, 0.9959, -0.0341, 0.7113, 0.5106, -0.4034, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5698 left_y=-0.3319 left_z=0.052 left_yaw=0.0814 left_pitch=0.0363 left_roll=-0.0385 left_gripper=0.9959 right_x=0.2753 right_y=0.0049 right_z=0.1545 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -12.8068, 6.9949, 1.0916, -0.2271, 0.0708, -0.0122, -0.4855, -1.0188, 7.0632, 1.9512, -0.1587, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b1c474a7d897c0c42364a5b02f041afd27feeabd954a731586892905487152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6da795e034e8fbd530212aa4d9b592e1db6e7ce0962f67452a7a025b5314a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90545b55053fb02f15f3fded36f4c048c50e1821d0de5c17e5887102144b7134",
      "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 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 2.0506, 1.0763, 0.2951, -0.551, -0.4229, 0.9945, -0.0288, 0.7933, 0.6399, -0.4721, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.2168 left_z=0.0388 left_yaw=0.0372 left_pitch=-0.0039 left_roll=-0.007 left_gripper=0.9945 right_x=0.2863 right_y=0.0053 right_z=0.1779 right_yaw=0.0286 right_pitch=-0.052 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.306, 7.6513, 1.4335, -0.1343, 0.1392, 0.0269, -1.0735, -0.4855, 10.1265, 1.9609, -0.1001, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6804, 2.4153, 1.8309, -0.1238, -0.6102, -0.4793, 0.9959, -0.0341, 0.7322, 0.5434, -0.4213, -0.0605, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5464 left_y=-0.3074 left_z=0.0626 left_yaw=0.0609 left_pitch=-0.0014 left_roll=-0.0071 left_gripper=0.9959 right_x=0.278 right_y=0.0048 right_z=0.1604 right_yaw=0.0262 right_pitch=-0.0367 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.5744, 7.8427, 1.3358, -0.2369, 0.1343, 0.0024, -0.6632, -1.1556, 7.3915, 1.9951, -0.1148, -0.0171, -0.0122]",
      "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]: [-0.693, 2.5713, 2.0476, -0.1486, -0.6373, -0.5018, 0.9959, -0.0341, 0.7113, 0.5106, -0.4034, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5698 left_y=-0.3319 left_z=0.052 left_yaw=0.0814 left_pitch=0.0363 left_roll=-0.0385 left_gripper=0.9959 right_x=0.2753 right_y=0.0049 right_z=0.1545 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -12.8068, 6.9949, 1.0916, -0.2271, 0.0708, -0.0122, -0.4855, -1.0188, 7.0632, 1.9512, -0.1587, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b1c474a7d897c0c42364a5b02f041afd27feeabd954a731586892905487152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6da795e034e8fbd530212aa4d9b592e1db6e7ce0962f67452a7a025b5314a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90545b55053fb02f15f3fded36f4c048c50e1821d0de5c17e5887102144b7134",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtq8siayaCl3GsMxgKKAOixSpPn_qGmBwWyhzMWOruKLDQ9-XJyTBoewVbih3MO6rUAx4TTjqULLzN7ps2noejtnWc0a3WzlBxgP7oMVbomwrWl0QJFURYsb9ijnXLqMFp_BoXVwEXHtvWqQdPbHmV14Sl2H18DTsE3Ellj5hMnIX_LbFWgbGJYoa8MZtJNA5Lg319m3WL42PDdnlJQMSUI08kJfaJW_dueM7e-nzWozEelsamCdovaTk5vFICY6oOf5gf9SD9NnO5Bhr26HeilYZwNQd-8zu73R199quwIzEHL2v2vJL0VXG1T3X7ZPI9ZHdxChVPUw2XHPI_OibBLpY8Ax1vySumtx-6KhFIj19Pfh49QsJilE65G0czhx7Ri_AuyRvut42Bv9Y2xIiXc-07T3UzCNwaZWtJnEMxc5qOvUWoJFwxLPoFoWG_5bvur52_Cnfdj6AZz4H8hBuqshZINP5niWUFNs4_fx6au8unXprfTSrbCGHSVba9p9u_J7xVo5zA40xT7qS7VjwAjV6kVCzjSxjZqS7wxaXVr5_75tNqnNT4xI_0odxDobCMho6Pyig2fpsjD0w7dWd4Fz__BNqgxlNkx8oSHFabeV3mbh7Os5WrvVf8fJmx-HTgZGT91f9fJle4eqebkxtNp48_Uji2I5au-OpsHj_Esc_dIljYmSoJEtKAjupqhAdUQXSDAk2QRVcT066W1DunZAKy-oV6S94VL_AkY_wUkdpwREOJ56BVNjZ-vXEvkHwkMZBAeMv0_E9-CyFWXD-Y-YFfMA0ivReKFWVYQi3q6FdTgB1TZ3E0uU7M7w8GYw8suvw82m7bb8gJU6P1PMNbqRPM0M7IjM0ccMK8xTjDJbgd5tNDdyIvAOipc9aI5HnooSBk8OenieN5WWLduBLwG97tvKKTUDS0AcJE3RDX-m5edgXxImQ4bDzgaYitVc6YNFdMHcrmDIeRd8VgIbpxDGU85P8d9MEJ54Fe07EsFG1yHmc28OtMB-zGz-tJmY6ITAqfh3USvJPFbbOGPyXMr6YpCSkM9ftpoyMq-whibR9Mr2zvJ3_9RuTYU2jtYGmJh3n6_QO0aJ8eI6_E_qlqYM1UdOuu9MK-vWTj6EwPJ77FIxO_ECBIvqTnRXtm1kxiNq7VJj1MasLUAFvtiBB0dsLFmxwl0kPKIeHCxnNKtwEXIDhdgajRlEz50oyPcRH3AsvcbQpFkV7h13PlymJrvO0IyV_5x07AOOQoPcHf2fNopawdaOdimD2qvqX7ytIssI3lA2ruNobbYeSJdqqikWwLHIKcE7u9n2-DRLTniCV2h16YcDXvr74wOLl_4GUZ6vFt8R4zUY5E8OvtG1ZfBlcdEPF47jm4GY8hW7WsEQBR-nmeekeYnodmVT3HbFMd6fdLDiHYqcD5ctw5jeSMwpmGjUb0BvgCYebgglamoFq8W5xSxZBeLKFYMUcN8me0o5tF5o702Ds6DAOA4mYroYOx0C7dxxGDlhmb4FcgSlyM=",
  "id": "rs_095f3cef19f3ec5b016ab45b68edc887d0a29b2ebfcece8f70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is centred at the bottom of the wrist image, directly at the jaw line. I’ll close on the neck and check whether the fingers stop on the bottle.\"}",
  "call_id": "call_uv1Iinx8UX6PKLZHU6zvyBGG",
  "id": "fc_095f3cef19f3ec5b016ab45b69ef3887d08825b22feebbb148",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uv1Iinx8UX6PKLZHU6zvyBGG",
  "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]: [-0.6914, 2.5919, 2.122, -0.2329, -0.6605, -0.5022, 0.0135, -0.0341, 0.6933, 0.4831, -0.3954, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5727 left_y=-0.3287 left_z=0.0571 left_yaw=0.1002 left_pitch=0.0251 left_roll=-0.0069 left_gripper=0.0135 right_x=0.2721 right_y=0.005 right_z=0.1482 right_yaw=0.0267 right_pitch=-0.0321 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -14.9675, 7.5829, 1.3065, -0.0513, -0.0317, 1.1893, -0.5538, -1.1145, 6.8581, 1.9609, -0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1af04cb022d3aa82bfcb1ffa979a1729dd0e719c3bb3f5f69bc400a1fcddac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f50768a5d3f1bd57bd2dcebf79a0367dda6938d03a42a0d6c8db6fb35437f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16410208cda7d365344f8c568067b5d19ce660fb192352181ee6fbbbd631724d",
      "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 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6796, 2.0945, 1.6012, -0.1585, -0.5926, -0.4652, 0.9957, -0.0341, 0.7605, 0.5877, -0.4454, -0.0566, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5065 left_y=-0.2778 left_z=0.1462 left_yaw=0.0413 left_pitch=0.0333 left_roll=-0.041 left_gripper=0.9957 right_x=0.2817 right_y=0.004 right_z=0.1683 right_yaw=0.023 right_pitch=-0.0448 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6325, 8.0615, 1.243, -0.3541, 0.1685, 0.1148, -0.4718, -1.5385, 7.0222, 2.083, -0.1245, -0.0073, -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]: [-0.693, 2.5713, 2.0476, -0.1486, -0.6373, -0.5018, 0.9959, -0.0341, 0.7113, 0.5106, -0.4034, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5698 left_y=-0.3319 left_z=0.052 left_yaw=0.0814 left_pitch=0.0363 left_roll=-0.0385 left_gripper=0.9959 right_x=0.2753 right_y=0.0049 right_z=0.1545 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -12.8068, 6.9949, 1.0916, -0.2271, 0.0708, -0.0122, -0.4855, -1.0188, 7.0632, 1.9512, -0.1587, -0.0415, -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]: [-0.6914, 2.5919, 2.122, -0.2329, -0.6605, -0.5022, 0.0135, -0.0341, 0.6933, 0.4831, -0.3954, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5727 left_y=-0.3287 left_z=0.0571 left_yaw=0.1002 left_pitch=0.0251 left_roll=-0.0069 left_gripper=0.0135 right_x=0.2721 right_y=0.005 right_z=0.1482 right_yaw=0.0267 right_pitch=-0.0321 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -14.9675, 7.5829, 1.3065, -0.0513, -0.0317, 1.1893, -0.5538, -1.1145, 6.8581, 1.9609, -0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1af04cb022d3aa82bfcb1ffa979a1729dd0e719c3bb3f5f69bc400a1fcddac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f50768a5d3f1bd57bd2dcebf79a0367dda6938d03a42a0d6c8db6fb35437f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16410208cda7d365344f8c568067b5d19ce660fb192352181ee6fbbbd631724d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFtzOJZwpBnKGNsVg-t3eIRsLtVJjSawbRx4aIiC-mApRnF2h9LzUXT8PURyrylftJfs_31IZUnhVHWFPtzlZ-g95xhm9c-er4omHrisG1BV-u8eQhJB7mTYBVLaGHw5L4rW4WtMhKfkFruC7GW5SJQJyYJEqCAt5ut2oH6Ae_TQUERhMaKSQq_1UdlWrej1HSyVCG-qwVmk23qNLnMOsYm_WtG61pgRFtQv4DIoBtFZrjkzjaP8XGorOW88UEL8mmkd702Ug7h28eePSe6QIZfwHYbBJYm6Vcjf9YZ1xp5VaFY_rN6esMbc2oYDk_7K5-mpfvyixTZvc0j4cUz3yT0DGvaurKH4ClBFsSj1Wj_HJCvTN7Tg-VG2IWFql53wElAXqCTAi66DpfLJz4-B9hysqH2JKsf6cVixHajardyp5C1YNILJ7MsH0w_I5gq68wquJxQ_Ot8TJ7YMulD5INO-fr0eRof2Ox-qekquGL1qw7QjoNMIvs8zKQiWezCM6m8pbIFyNNNubNY1cZ2xxvyr7-Iohms1cNGKNdLMojQlB1rNgfXStPRjk8K-ipCDIW_EIFBnuaFkcWcKxQxSfz6ZtbdCTUITG1dJpVHBhP8pYWkjABaQ2mgBv4YIiRzdy_EvHAH43hsNsRA_wb7PnfvHqJHnL2sM-k8XYxrOiIM9lI07RqlYhW00j76J3_3WFlnWYXsPQw-z41mSbf5N51NDVn_Ddn4e0nmaLmUpDV4rXk-38Wz2vrJuGyFErqFcninMct_oHHfUKFKmLQAN5kWH7NA2yzZy4JWc6GEKB6kWhUB860iCw7dOrrmlWTU7z3KmueoBgacRjWVlwu0Z5Q1Shr9_0Ez7nZufmDWJuU_bchPGhOJUsPYjVEMfNY54kOBW4HrPFK6o6qFt8s-l3YPA9yxZ3lkUQ133G_hyhMEKFJgsDhyMEDXqAHqmxXV5JlZi2qUssG2KVWxg5sZE_7Dwv86Y3JPhhhAmvZRQe0x6rYh_lGxGE7Sck5giWipljsuec3Y7gP2n66AmsGF1X_flybYi8lIMyJRcJQCUw7w8mqKb4tcPyzKy2S-mBQ8JepVWCNP4zeOsdS1y0f-adUEY-rW42n1xrXlvnf262uGdU-pIFtrz6YALPV9_DBwLRaWCEZASfGX-lIPqwBAWc_QKza9Guvm8EqbfSQYIr_9618vilXOKxzrLm_MAas6d3Bn4pFSCh2NGonRlcJ3BG3Gv05C16AtOgPxQOmONnp8ANinCcq6-GHxiM6DNMojKm706TPkSsjb49xu25ppZnx_fjHSNCkKgWEk-GDUACaHMSsf1fAZgNeyBP09Tb5ZuRCc5LSY15H4qOdeeB3mcg-U6Zo2lic2LtBmdThL2R-z1ARWihHsSmZ7DRYYI2kYRZh5TvzLBr2fWk8qsp21Z_BAvDiUoaeb5_rLTmQsgWpeyRDGE5RoIYsaBnpdQUraRiqxMcZMlBZ8Y7JYHVvVLf8SuVioez21yoEyiJprnNw11-6DrzMCx17rUWss-H6SQn-xvG7EBIIkRBFQlVWmbLK7hckW9y8dsJ5w-IeJgjfNPuhSo7mbpR43itL4aTFzJQ7L-Utf05d3naLY-aaiVicdfr91A2FRNV0SIEWSJ9le3gDte3PkTXjiFMXPohSNo_zCgKpKXxliqhRQeIAHTy-G__-r7FP03IhHDnryRwSgxMDBBZ9AGtPd76MJ4oBPEuxppZUoJ_CZOg8oypl9St4fbFAYQxTF76jTICQQdjgKTHtstBnZdOWmRCBRzrIqTL743VbVd0TkaPdMp7LskQ8ZEo0w16Ph38oYSWmMvhG4X-DKTMdkC3IQY4qJnKFdiU14qsP4s49LxpAs-ACj00pv4QzCycUZr37NAtM24HWf0OQmDmH2n2keMY2H5MA1dQ6M2SxyBr4dF6rYDAVe-YD267QBwph1Y0LXgciwfDPuXJmB8w9eqW6avxxmvPfrs84QK8HMlqnTonE_f52eslKrth-6lGp93vMsYy5qfvyCeqPuzXuP63Z0L_hbbXcHiEyYwuMU80_IMbZMqCzeLvkBQqMO3L9BrXpf9xHQkX-MKeC4mhs60X5E_jqFjmGfqUe1a1GZPcboInGUfy2vPICgWcQkHqOKRex-8HaBuKYYwwz7KoD_QdD-AcxReJBpfEhlh5WQGJRFKDvg2sJUhXdEyTD0GfGQizqMNDDucwhlqMNBgZPeZqRc93MHc3TLScdG0jAodfd3lHNisfp-Jx7ATzqyJlNkPpsHJoDy0jWxu_0kQamvz7_iyYhvN5x32Ch3jOxpUc2hEnFu0tsvg1s4VPc17OlGRNaCNJh1Y8j6BHInK1JFy-otsodLxomX_dRLsjWVrLxXBo4u5zQEmYWbCOg7eUHV4bRxIc0Lyo8_O4kS9cYstVTqascFcQW-DS_RHcqHhO6i82YcM4kUREj_owHnWZiE-baxuy6jLlmXABCg=",
  "id": "rs_095f3cef19f3ec5b016ab45b6d1c8c87d08772cbc4444c9d86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.34,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The close was empty, and the closed fingers show their meeting point higher in the image than the cap was. I’ll reopen, move slightly back toward the cap, and lower to bring it onto that actual grasp line.\"}",
  "call_id": "call_gfRqPCjpN2YBaFGc42RRuSY4",
  "id": "fc_095f3cef19f3ec5b016ab45b71eb8c87d0b162f0be5e298e3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gfRqPCjpN2YBaFGc42RRuSY4",
  "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]: [-0.7189, 2.5927, 2.0525, -0.0971, -0.7002, -0.5552, 0.9947, -0.0341, 0.6758, 0.4553, -0.3836, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5674 left_y=-0.3405 left_z=0.0533 left_yaw=0.1338 left_pitch=0.0869 left_roll=-0.0847 left_gripper=0.9947 right_x=0.2695 right_y=0.0051 right_z=0.1423 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-1.3744, -11.7949, 3.9316, 1.0183, -0.022, 0.0269, -0.0317, -0.7863, -0.8137, 6.8308, 1.9658, -0.1294, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f393fd2d5632eadb9cabbeb040f9b83f8c87f4f4e17eb52e926a901432c962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4993353cf8c296c02c6ba26457a5f6d46f3e9e15890a261b59007afe07fade9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa6bb997cca22fbdf3323384a9937a6252a0f5f3ff2e50ee5d7a3b541ed7ba0",
      "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 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6804, 2.4153, 1.8309, -0.1238, -0.6102, -0.4793, 0.9959, -0.0341, 0.7322, 0.5434, -0.4213, -0.0605, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.5464 left_y=-0.3074 left_z=0.0626 left_yaw=0.0609 left_pitch=-0.0014 left_roll=-0.0071 left_gripper=0.9959 right_x=0.278 right_y=0.0048 right_z=0.1604 right_yaw=0.0262 right_pitch=-0.0367 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.5744, 7.8427, 1.3358, -0.2369, 0.1343, 0.0024, -0.6632, -1.1556, 7.3915, 1.9951, -0.1148, -0.0171, -0.0122]",
      "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]: [-0.6914, 2.5919, 2.122, -0.2329, -0.6605, -0.5022, 0.0135, -0.0341, 0.6933, 0.4831, -0.3954, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5727 left_y=-0.3287 left_z=0.0571 left_yaw=0.1002 left_pitch=0.0251 left_roll=-0.0069 left_gripper=0.0135 right_x=0.2721 right_y=0.005 right_z=0.1482 right_yaw=0.0267 right_pitch=-0.0321 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -14.9675, 7.5829, 1.3065, -0.0513, -0.0317, 1.1893, -0.5538, -1.1145, 6.8581, 1.9609, -0.1538, -0.0171, -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]: [-0.7189, 2.5927, 2.0525, -0.0971, -0.7002, -0.5552, 0.9947, -0.0341, 0.6758, 0.4553, -0.3836, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5674 left_y=-0.3405 left_z=0.0533 left_yaw=0.1338 left_pitch=0.0869 left_roll=-0.0847 left_gripper=0.9947 right_x=0.2695 right_y=0.0051 right_z=0.1423 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-1.3744, -11.7949, 3.9316, 1.0183, -0.022, 0.0269, -0.0317, -0.7863, -0.8137, 6.8308, 1.9658, -0.1294, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f393fd2d5632eadb9cabbeb040f9b83f8c87f4f4e17eb52e926a901432c962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4993353cf8c296c02c6ba26457a5f6d46f3e9e15890a261b59007afe07fade9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa6bb997cca22fbdf3323384a9937a6252a0f5f3ff2e50ee5d7a3b541ed7ba0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFt6Uc65ZAXJU3lou67HTdQRbtDFPw3zpPI90PoZXTiFkyIFm-S8hL3b17JypKThmHAnyQYklIHT9lRDIc4Q0ODcp9ahtbHqlfIZREwUCcK_NqHOwQKsIEg14-0P6rv8YuOzPCWzhdC_QA7nHjPJl8iAflgaoMI4gJdFwcg2cA0xSi9OatxXr9kNo2SfzTEQr-rbP8yKBG9PKYnnPKd8nea-saokOIkWtWhr6zz9NzpjXrCmD_-XtDg8Cxm9VrJTtjIuWCkkZAUKDUE-0ks10g0o82CpnDm_GWZUSpTutfcC-ccVuFyUAZgGTGjTHVCt2OHtPlrY5GfIViO0Ig_N1JnoVr7_kGKNQzj4vYHwUuLrQ2tqiVijdm2gUaBEL5Y_n7KcXVMIeaNKzNt1lgMw4s4UH3ais0QMXXZ24X5lXg_USCV-dRxHVkL8-Fc_j6uUf-FBNZOTxzdpYaSHCSw8AtS6itzhPkTS6FkYRC7pJNWIjKLzjtX9M0kQlS5bItKluwEwUnZkPGzqd1c79uEwGTvsWTATI_Ng_Fy4kdxSTX9q606bmErnmcNLnrOAhtu7bWlsRrV1jigJwvCf2xbNQpyLg0aGVIn4ASAU-oyPVztwEayzN4K3sIxnx7P2TGUXoQtr-9VibQLrqE4tfwhadmar1R3AOpxfUH85ul5aMBB1ZCJwwluHAiuzPw0FlPTTugNLjSyXUnKfmUKgpDzM5hqv-pvE_8CXli2Hqxx0b3w8Mgk3SZpibYsE50z8dJ93Qe3sruc21i7k742A0EXcLVqooEkw9H50yjRWIft4hVArJrK4G-rK4c_BjE5Wn7lbuzBBVs674jqea8hrtrlQjYp964HH74iGjxpNj19Tdy0YwJUoDWOe8cz2mvhJN62w61Ht_-qWyzyhPgQ3CSZsnCM4idwzDhAlP7JAD8izUaipsExEhaE8iun9LWMBFXOE_aZI5CMMJ0bE_Ifm36-vNwKZOkdW_gh_5lqXqdoxVtIHT8EsBaM6m1fgDVnu6ue4LbRJJyQ9zWzc2TaKNiL5z9K9P766XCy4cjdyyVp9wjbnLre7SJ0zjYt85pa__JSQyReicABw8GFenre_pmm89gJD8by_kibL4LrdnVRLhibgitg-LYPG4-ft80zK_-7kDiWIEorBRY1L5Mh7y4nKhareJvbka1XWqmos2-JJn8iOxfz6KBSevmw-6UbGhRYlJqZTzykRNAWWYsaW8jjpOf65ENHc_UrfHza21snQice0LpDrBJOMXUTOr6jfCVNfn7Zd1SbsBv6qzC-jMy6amZe5_NN_wP9mbhAi-Odmzw5pVdp-bivq6Kz9iOq1Sdd5l7iwb0OE18WSAbzGYQ6FxbIHZXDaEyExh8zLgywlXwnPsOqHwozTo7zt8MSqwMbSk4wfNL-7_Luvny6VHAVNSb5vEvYttEwcV7cY7UFPfyxE6Kuc3V05xeu_MzkHx7051Bpy8VlrveRU2kRYK7DxNcB5WMGoS52U7yQtNOpYnlRWVUEfQjWYuflnkNieuj51s2-izFW9sdoGfhqjJXjw6ILPO2bi4b8kwrF2U8RhBDPno7AF4BSeFfZyx7bIe3CSCjL4a0hZOv2OZXOEQp9oomEWFZHKcL-qoV8kd-v2YsItlacUAf7T6AcYvrigsMXRlNQRvKdOqeUQxy_3Qpa7fu93rUwZbJHbIuRH97P8SaEzt0Owdni5TOjbSFu103iF1_0GjjbCNMrVDGqIcdsGJbYDpLsJUFgbl4CDvSX7_TXPqipfRROsQsloJWbSjw8fywVcg14sRlu9nZQcSjCE8JGUCrNfiWmC14NRHkYF6xKknxuIueazWyXB4y8gST5KpFeUJ1PcSYKMjUceJgIpf8rFjlY6e804pOYiFGHsOUA70P-XTw8RvPcQZ9Jqs83BHtbCTDjMqXWEcC00wyZP7P9BOTlxtFdDRUGLXbWBy63jrLgYOla8uUOtArPtjZUKmQg9oF5XRnaflwJ0ne-uGMsS3eYqAPvCT7vvvZ-q407RipYuoIPrCo6Xwb03MJn84hTr8_D9o_EHyuhXvxR_DvO8MTVbaCFZBg4I24XoXDChaN_Ghs-tEh0JugNiKhrDkY3JjobegogYylBJpRGrrdwgNd9XTI8Rb4R_lT7fn8NUbhY=",
  "id": "rs_095f3cef19f3ec5b016ab45b75de7087d08ef2ae01b8990cc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.33,\"left_z\":0.14},\"note\":\"The arm is again stopping above the low neck target at long reach. I’ll lift and retract to the bottle’s upper body, which is closer and offers a larger grasp area.\"}",
  "call_id": "call_WKaiCxxGasu3SYcfRnmWJclQ",
  "id": "fc_095f3cef19f3ec5b016ab45b78e66887d0b9e4fbeff0ec581e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WKaiCxxGasu3SYcfRnmWJclQ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8295, 2.2894, 1.8523, -0.4248, -0.749, -0.6601, 0.9958, -0.0341, 0.6582, 0.4271, -0.3733, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.477 left_y=-0.3376 left_z=0.1101 left_yaw=0.1096 left_pitch=-0.029 left_roll=0.0211 left_gripper=0.9958 right_x=0.2666 right_y=0.0058 right_z=0.1359 right_yaw=0.0294 right_pitch=-0.0308 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -16.759, 6.5026, 1.4481, -0.5006, -0.2271, 0.0952, -0.7726, -0.8547, 6.9402, 1.9414, -0.1197, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe64c5efbe15d7b7fae2d39e85f6dcd61081d559166f21030f22c06fce3d95d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194bf332afb4cb4652691e18b8f3cdd68dc6e35c4bc83349c38279691d2bf4da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42eb6566246693278e18a5f3dc1b1b020bc71068a2d53cb0e30d0d2acbe61e0",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.693, 2.5713, 2.0476, -0.1486, -0.6373, -0.5018, 0.9959, -0.0341, 0.7113, 0.5106, -0.4034, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5698 left_y=-0.3319 left_z=0.052 left_yaw=0.0814 left_pitch=0.0363 left_roll=-0.0385 left_gripper=0.9959 right_x=0.2753 right_y=0.0049 right_z=0.1545 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -12.8068, 6.9949, 1.0916, -0.2271, 0.0708, -0.0122, -0.4855, -1.0188, 7.0632, 1.9512, -0.1587, -0.0415, -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]: [-0.7189, 2.5927, 2.0525, -0.0971, -0.7002, -0.5552, 0.9947, -0.0341, 0.6758, 0.4553, -0.3836, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5674 left_y=-0.3405 left_z=0.0533 left_yaw=0.1338 left_pitch=0.0869 left_roll=-0.0847 left_gripper=0.9947 right_x=0.2695 right_y=0.0051 right_z=0.1423 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-1.3744, -11.7949, 3.9316, 1.0183, -0.022, 0.0269, -0.0317, -0.7863, -0.8137, 6.8308, 1.9658, -0.1294, -0.0464, -0.0073]\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]: [-0.8295, 2.2894, 1.8523, -0.4248, -0.749, -0.6601, 0.9958, -0.0341, 0.6582, 0.4271, -0.3733, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.477 left_y=-0.3376 left_z=0.1101 left_yaw=0.1096 left_pitch=-0.029 left_roll=0.0211 left_gripper=0.9958 right_x=0.2666 right_y=0.0058 right_z=0.1359 right_yaw=0.0294 right_pitch=-0.0308 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -16.759, 6.5026, 1.4481, -0.5006, -0.2271, 0.0952, -0.7726, -0.8547, 6.9402, 1.9414, -0.1197, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe64c5efbe15d7b7fae2d39e85f6dcd61081d559166f21030f22c06fce3d95d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194bf332afb4cb4652691e18b8f3cdd68dc6e35c4bc83349c38279691d2bf4da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42eb6566246693278e18a5f3dc1b1b020bc71068a2d53cb0e30d0d2acbe61e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuA9NiWhJDXkmMiea9fpekvoLe7VBtIVw7cH7mz-9M7FpBzJpz_9epfuTEjnIJF5yqGLvZC9B6KrwheRdRaXoEqyRfuhH1ZFDDn0GQH6n39mvOTHcmBbRwwWC_NAyHS38M4HzU4Zx29gDKIQHb5NeygU0ZW0oIpcYFMt5Qvj92Nh0ZD7yMnoiFPlgrg_U4I0WW9HP8TBNYPqt8PUlEqsqJslCfbdH03S8x4DYsLmUELNaSsVYkqtfJu9Hi56ovQNLGfTSykj1BbnFf2jR_TXtuZz3tn4CDQxlqDImFJzaiKE74m4Psa2IBMpb9OK-YZ-9FBZxNqX5kWbRa6FiarIpYIOIe0j1WB6ihFPrVE8V1LK330l0t5745O2onC08WDi2cnTDNfP5Z99Nn0o8hBPvTsmsTZoV2Neocz2lbPUlly9tCZ0JDPAV18GS8iNyuPpcGeIVi_ZvV_SrH_7OqYyBQ25seZWA7NV-7k4y6goub9AGzvx-sxoCobF4O9Qo46Y3uFMZEucFpU6_IzuVbH36Bl-gVlDF56kUxFz3aRtQ0C9YkLbxCL8Id2w4R1roymeFHFt0BwrGl8MywC-vVnnX2Jggdcagi0O_s_v8QAhQnsEz9vbdUK5lCjaWRPLaC4RQhL2jbyMfw_CI4biLCCi5K3o33OkQHa1nCLXKD7vbookFCfWn5x4UedhA1HcflOjd2CF60zs3NXNW1xXQX23fBVTBcrutTS7HAN08C48jXEJ5SwaTh37-yzY0ToL881Yumo8EygFlJNrkfzBx10cedJIiGO4nboSeq3ajanpBqUActsQskkqBIe_fTH6XG1dWzaXujYqH4pQ7aYSoNVSePtX9-_Ft1oywywZdTHP1wQCTPit6CTaBMtusqmcSh5aLN7Qvfo1FNjd9jj3ISXtFEZlgPecrF1AwmRroQtnUe5ReTEe59BwarKGAwZ5jApbOPtXN1v6uKF0FWAUg8ui3y_yhfUAzOeuymmfOkW3rPOS0TI9vBPZMCsFqtaec61UdAd3MuwFPEoxfBe9-3kqWtHR31OBD0_ksu4T0tNfVCzMEDN-L9G25Cbn065KIF3Ll7D2jMKO7eRJH7foREotF49H514xeeYtg6VmHTYjg0uoo3GPq5tahOThjuUF6RdCKa9Cw99rLH0lJaxVl0hYIg-kt68tNcF4F4Rx05Ee91bfxddFB5zOM_LozFQL74WQAsSBuOR9iVNd0eduH4FtBXo1HbCPwGGq_UUgyENsJJjjbF9_z8iF3JfOVojvNgyn2gS55wn7SofPlXKgCYKKENbraVd5k49ph4fQKUCPqSRwgTZ7ZIPeQB11s_B5g9Nv_ULddnxLiGukmTovqTdMGgVeRlk2cIqYHGpODpCxVv8MsWtOIRRJTZ1O7y4K8e10ZLkfhuGT6ry3TTep2mpje0a8yrA66u5z1sEVPYNpotRXRw1_g1qBdDvS-p6224lxWNsXAhpYRbPbx3v7XPw7Juz3DRKTeAhbuUMdgc3qLhi3bWjuwQlKUPo6Lk1OeiV9P70yJN1EjOf9KndBRXYgVGuo-XNu2bvWxtrUFjeup1PQg3Qk1xZk4pez9yeh778Qm5Hfobto_Qwz42_ZLj9ScnmiS6N1aelIciYOmWESsDcJO3tyLsuoNTd4E8Nl412b-Ux5_Dai2cLwMjy2_uHCAsAeA==",
  "id": "rs_095f3cef19f3ec5b016ab45b7d074487d096e5c318244217a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.33,\"left_z\":0.035},\"note\":\"The middle bottle is now centred between the jaws in the wrist view. I’ll descend straight onto its body without sweeping the fingers sideways.\"}",
  "call_id": "call_ASyvaZI7KF6mp2DzRra9gQc1",
  "id": "fc_095f3cef19f3ec5b016ab45b7f189087d0a87361e990899e13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ASyvaZI7KF6mp2DzRra9gQc1",
  "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]: [-0.8364, 2.3257, 1.6257, -0.1452, -0.762, -0.6731, 0.9959, -0.0341, 0.6392, 0.3992, -0.3649, -0.0639, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4673 left_y=-0.3303 left_z=0.0445 left_yaw=0.118 left_pitch=-0.0111 left_roll=0.0024 left_gripper=0.9959 right_x=0.2635 right_y=0.0059 right_z=0.1296 right_yaw=0.0291 right_pitch=-0.0312 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.5487, 4.4786, 1.3114, -0.315, 0.1587, -0.0024, -0.5128, -0.8684, 6.8855, 1.9512, -0.1099, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be36805c2d2e81a226bfe66e0b53d4caf9e177d0e8098ba637f66a8cb3106a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4ce542aedab98b2735bd5af2ec042cd7c283b58db991aa628d599d6a2168fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b28699d2f69b3b200375a6fb795ed31cc5fceaf3b25281599c0082ea3b3e1a",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6914, 2.5919, 2.122, -0.2329, -0.6605, -0.5022, 0.0135, -0.0341, 0.6933, 0.4831, -0.3954, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5727 left_y=-0.3287 left_z=0.0571 left_yaw=0.1002 left_pitch=0.0251 left_roll=-0.0069 left_gripper=0.0135 right_x=0.2721 right_y=0.005 right_z=0.1482 right_yaw=0.0267 right_pitch=-0.0321 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -14.9675, 7.5829, 1.3065, -0.0513, -0.0317, 1.1893, -0.5538, -1.1145, 6.8581, 1.9609, -0.1538, -0.0171, -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]: [-0.8295, 2.2894, 1.8523, -0.4248, -0.749, -0.6601, 0.9958, -0.0341, 0.6582, 0.4271, -0.3733, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.477 left_y=-0.3376 left_z=0.1101 left_yaw=0.1096 left_pitch=-0.029 left_roll=0.0211 left_gripper=0.9958 right_x=0.2666 right_y=0.0058 right_z=0.1359 right_yaw=0.0294 right_pitch=-0.0308 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -16.759, 6.5026, 1.4481, -0.5006, -0.2271, 0.0952, -0.7726, -0.8547, 6.9402, 1.9414, -0.1197, -0.022, -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]: [-0.8364, 2.3257, 1.6257, -0.1452, -0.762, -0.6731, 0.9959, -0.0341, 0.6392, 0.3992, -0.3649, -0.0639, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4673 left_y=-0.3303 left_z=0.0445 left_yaw=0.118 left_pitch=-0.0111 left_roll=0.0024 left_gripper=0.9959 right_x=0.2635 right_y=0.0059 right_z=0.1296 right_yaw=0.0291 right_pitch=-0.0312 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.5487, 4.4786, 1.3114, -0.315, 0.1587, -0.0024, -0.5128, -0.8684, 6.8855, 1.9512, -0.1099, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be36805c2d2e81a226bfe66e0b53d4caf9e177d0e8098ba637f66a8cb3106a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4ce542aedab98b2735bd5af2ec042cd7c283b58db991aa628d599d6a2168fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b28699d2f69b3b200375a6fb795ed31cc5fceaf3b25281599c0082ea3b3e1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuEClDUSQZMm0e1gEygI4JqKUBjMkF2qeIt5bjAWH7xF5lzV_KQosCzfpScDZpRCJDB6eDDRYu-Pi72Yn8hnnh-9YlhkjHKdm6jqcxwI_87YMCBM7Jnit161GphggFGzx9n2KXG5MvKPk8yNrZ3_6EeIBQ7BE7j8IMsE5MjRz2WHiRyI3HTZ7MuYHU86znOqdrclWLzVz6HRP6HU0djG1ugXR1JLLx0y4qsM6uqrgOG40th9QJMcLCilMQCMAHb_DL4ii6Py92u8_ZS224g-xfhQ7bqwDcoPc5oS_-YOlSijO9jAq_3TBCpO8Z1km6CbbxaIf_UDnfg4IiT94qCqLCP2F4t-GRP7Vzp69rnoH4hQXEPSIzXkA3MMf8i3r9iGArbUMHeJvnBn1MO4YK0hoS5E1y_gC_hfVKv2S_0iy-NM_VR8aQ7CABDR3b-BAG6T0G8Rw-imQ0j53ssl87EUWXYYMaKTBQC7XIfHYEgOW1e17JAaYHTYaXhUYmi7mfJK7wjqbvi6oXG0UrvJUx23c10XesEGHD-xrvGldLep40Bzipv_mhJkjcZjf78W9dVR6N5GYzvmdOl4kjsPh-Ghh4gLPp2krtK9McG8erWN1y7QKVOmJX7zZfYd1Vnrn-0RguQlbeopwpASaqGr7w2U9ws6VGBvvYDS8iAltUVhfx8Hz7BKzGzcxSFRSZrwa-9X1puLyqwg_iqJ5BBKEeDlibaX2uWE96WCFlXha7GfWnPioL2Bq6EZAOjmbuqahiKwT1j5ouyNrZxmMrMT6yWmJSOROnA2sHwyl1UgdFAs-r-G2HAUtvvYS8A9h_cZkCNNG32H25kfp4qyBm8o8Y7bay-zP6UXbQD3lkLimUo0P42EKS-lJaKVJ1ltnnUBoTqVHMs0dijBGUkl93BCWhCtMtb2pBvuQWqvnVMEU4fh0DTDAe-KUyNS7eVqyvEmXi6byREJI5x1yLwyHz-_1nDUmkyNYKNiipGAwX_xs4WI0-Op-1c1VkYmWFo3qm7Bnc-DEHbWUIAH6YR96voRrt2SCk3Y8FbHvbHHyJr4seS1qIvUyuSM3feq53kqJbIAj_Oas_FEY7IeOPu4W5zfJeA-7-xylJg3dGVlcuv_DGGCjoJW_d1oyRPEBUm5ZAmMovAS9Gd3jkes71rXDTMmP_qecm_QgAkeWO8RDtpqpRCdbJTZ_kiFmiiscYhqRXLXH7er3PkuSfm5-uHGWHWETyFEJ5UvUHU3IQGYu3UBVGjolt0am_j7CBHy3Artaa6_NkpG_wf",
  "id": "rs_095f3cef19f3ec5b016ab45b82dcf087d082d1e50088de60cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The middle bottle’s broad body fills the space between the fingers. I’ll close around it, then test whether it lifts with the gripper.\"}",
  "call_id": "call_EqJ52D1a7sHlzHnEdPvgNRn0",
  "id": "fc_095f3cef19f3ec5b016ab45b835f1887d0b6b6e88e8e1cbb95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EqJ52D1a7sHlzHnEdPvgNRn0",
  "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]: [-0.8383, 2.3234, 1.6173, -0.0589, -0.8059, -0.6811, 0.3411, -0.0341, 0.6197, 0.3733, -0.3504, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.3322 left_z=0.0583 left_yaw=0.152 left_pitch=0.0601 left_roll=-0.0529 left_gripper=0.3411 right_x=0.2616 right_y=0.006 right_z=0.1255 right_yaw=0.0294 right_pitch=-0.0232 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -13.1624, 6.0513, 0.8278, 0.0317, 0.0708, 0.2173, -0.6496, -0.6496, 6.7487, 1.9023, -0.1197, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd417bf168210821ed487fbb86ea2527771811f088f010ee114d53494db4c342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6aaeef8e4a4fa5741e027fb60c45001cc59db26413068d9c2f142923463fcf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58977d400e87dbc1e86a5d7eac27ef209670c1cfe6e75989b76bf3db219947b",
      "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 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7189, 2.5927, 2.0525, -0.0971, -0.7002, -0.5552, 0.9947, -0.0341, 0.6758, 0.4553, -0.3836, -0.0608, -0.065, 0.9998]\nstate[eef_state]: left_x=0.5674 left_y=-0.3405 left_z=0.0533 left_yaw=0.1338 left_pitch=0.0869 left_roll=-0.0847 left_gripper=0.9947 right_x=0.2695 right_y=0.0051 right_z=0.1423 right_yaw=0.0267 right_pitch=-0.0305 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-1.3744, -11.7949, 3.9316, 1.0183, -0.022, 0.0269, -0.0317, -0.7863, -0.8137, 6.8308, 1.9658, -0.1294, -0.0464, -0.0073]\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]: [-0.8364, 2.3257, 1.6257, -0.1452, -0.762, -0.6731, 0.9959, -0.0341, 0.6392, 0.3992, -0.3649, -0.0639, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4673 left_y=-0.3303 left_z=0.0445 left_yaw=0.118 left_pitch=-0.0111 left_roll=0.0024 left_gripper=0.9959 right_x=0.2635 right_y=0.0059 right_z=0.1296 right_yaw=0.0291 right_pitch=-0.0312 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.5487, 4.4786, 1.3114, -0.315, 0.1587, -0.0024, -0.5128, -0.8684, 6.8855, 1.9512, -0.1099, -0.0122, -0.0122]\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]: [-0.8383, 2.3234, 1.6173, -0.0589, -0.8059, -0.6811, 0.3411, -0.0341, 0.6197, 0.3733, -0.3504, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.3322 left_z=0.0583 left_yaw=0.152 left_pitch=0.0601 left_roll=-0.0529 left_gripper=0.3411 right_x=0.2616 right_y=0.006 right_z=0.1255 right_yaw=0.0294 right_pitch=-0.0232 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -13.1624, 6.0513, 0.8278, 0.0317, 0.0708, 0.2173, -0.6496, -0.6496, 6.7487, 1.9023, -0.1197, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd417bf168210821ed487fbb86ea2527771811f088f010ee114d53494db4c342",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6aaeef8e4a4fa5741e027fb60c45001cc59db26413068d9c2f142923463fcf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e58977d400e87dbc1e86a5d7eac27ef209670c1cfe6e75989b76bf3db219947b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuI_wDqAF3hLLMoKqLiMNxXVNzExoOSJ0Z0JNg5innVnIaTYpZiTw5d3NsasrgzQHiZuoTjEkDqqkr-CD890FqzNiY2ZWOeLz7UbdNXf6HMTmg0Gpvhebv4TsMvo3-Sk1HArjzx_noUJaWrX8rNTMfn2WiJ98xrz4CnKMXWdnO5AO9HbRMfUorSEv5w5zQTJC8la7qbdz3beZY9v7lZOeK0_bc5UahRswjIKfyR1TGXNhrvGekz3HGIOI1iSJCY0fyE9e-sRXYIyBw2E9EVellobFqoArQaaEenDnAiqA8VdlQXgGEaSJmfBm-QU9bbv4ThI2i-9oefEeSZUsGZaMHNt_89fiyu1T0FrjIwZhhqYUFx0AdzAU9Ir4kslAhRFLUD3AjCQourUZfg5tU0r45-JfaulcaIZ7_JF00iMYQ-6DuGhS3WtTdvz29x0wnvAXvsxx4Vp47fkhuYiT9f6_tatovG4bSiwIWYNZDEMWG0kgfIzvS2F0_WeMdn5aGdkO13G7Ud5UlM3tWTkyXT8WufWAYWMykg3nDGVPPLfYoeVtNoe6Am0zifpPV0w-oQ5P2T44pf9Yb58Mk8WmJjh0gShFa1vpizW6flC7u7Sb1q0DTrXhhVjAeBd1ah5D6LmL2SgSyQGr-iQ7dLTvZ5BaHlFM3YX-GkMPOpwTeAFMq6r3JHUzF4nyjsB5kTGsEiOjvZMn3euU7TTWJVCqwmgsafQj8Za-mSQVa7BSsMo5Okzsv0rVJhMxR9HlpJYqp3ZIoSBlKC6YLm-H8-lZYcfaKnzBEMcFH4EChmQUMA5_iUHFjF_USFF1r3dUS17FF4oYuxwr_l84qov6JKqFwZWmdP29KmnHfG6FziIEMHEjfs17cb7zWdLpuCcjlfrf8AMRYTj8bnv0GEG04Zw2yr68JioHtG8eG3W0X3cFiFxoGmAny6xS6k8jRlYWkm2kY_OFQbzxJ6eU_zmmf95TIMwaS5C-fkAyGoiUPY2x1PKGoVuhTwllmmjWrA9Oksrf276jFrbzA5DKltNQFsDFQu4ikaSgy79GgdqRAiQNaXcQiMFSmx6f4v2mYp1oWR9ibsxEu4Tp6nLE5vNRsWioogybuh0GciE8PzkTXTnkPnDB3yudT6I9e17FEeW6R82Rg8gOGRIxIiKEU9lFJum8s3FlFyJ-_b91-kX9p964AKDy6gQSHWZDcMmz3_OsqubVKgnwTAMu3aMO4_1YOF6w_uBSqRcw==",
  "id": "rs_095f3cef19f3ec5b016ab45b870f2887d0a365510a261d384e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.33,\"left_z\":0.12,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.2},\"note\":\"The jaws stopped with a substantial opening, indicating a bottle grasp. I’ll lift a few centimetres to confirm it moves with the hand, while restoring the idle arm’s clearance.\"}",
  "call_id": "call_eBi59JMz7uEqqPY04lFUFl9K",
  "id": "fc_095f3cef19f3ec5b016ab45b87508c87d0b291f4ce0cceea7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eBi59JMz7uEqqPY04lFUFl9K",
  "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]: [-0.8497, 2.294, 1.7317, -0.3496, -0.7975, -0.7155, 0.3403, -0.0372, 0.7856, 0.6292, -0.4496, -0.0753, -0.0761, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.3291 left_z=0.0772 left_yaw=0.1511 left_pitch=-0.0251 left_roll=0.0375 left_gripper=0.3403 right_x=0.2877 right_y=0.0062 right_z=0.1797 right_yaw=0.0418 right_pitch=-0.0318 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -18.1949, 9.4427, 1.37, -0.4225, -0.1294, -0.0855, -0.8821, -0.9504, 9.4427, 1.619, -0.0562, 0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06dcc2889d9f11c0e7e4a87bc88a389ce7a144f12b0b99c27afc9c69b0b48d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1708a6a10c63bf1ddfa292afb1f5cd0a45133d30c297e91f8afc519b98c5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44f13694f2193799aa39eefae8897b1558e319e1059914e2b7592f0c6487086",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8295, 2.2894, 1.8523, -0.4248, -0.749, -0.6601, 0.9958, -0.0341, 0.6582, 0.4271, -0.3733, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.477 left_y=-0.3376 left_z=0.1101 left_yaw=0.1096 left_pitch=-0.029 left_roll=0.0211 left_gripper=0.9958 right_x=0.2666 right_y=0.0058 right_z=0.1359 right_yaw=0.0294 right_pitch=-0.0308 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -16.759, 6.5026, 1.4481, -0.5006, -0.2271, 0.0952, -0.7726, -0.8547, 6.9402, 1.9414, -0.1197, -0.022, -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]: [-0.8383, 2.3234, 1.6173, -0.0589, -0.8059, -0.6811, 0.3411, -0.0341, 0.6197, 0.3733, -0.3504, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.3322 left_z=0.0583 left_yaw=0.152 left_pitch=0.0601 left_roll=-0.0529 left_gripper=0.3411 right_x=0.2616 right_y=0.006 right_z=0.1255 right_yaw=0.0294 right_pitch=-0.0232 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -13.1624, 6.0513, 0.8278, 0.0317, 0.0708, 0.2173, -0.6496, -0.6496, 6.7487, 1.9023, -0.1197, -0.022, -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]: [-0.8497, 2.294, 1.7317, -0.3496, -0.7975, -0.7155, 0.3403, -0.0372, 0.7856, 0.6292, -0.4496, -0.0753, -0.0761, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.3291 left_z=0.0772 left_yaw=0.1511 left_pitch=-0.0251 left_roll=0.0375 left_gripper=0.3403 right_x=0.2877 right_y=0.0062 right_z=0.1797 right_yaw=0.0418 right_pitch=-0.0318 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -18.1949, 9.4427, 1.37, -0.4225, -0.1294, -0.0855, -0.8821, -0.9504, 9.4427, 1.619, -0.0562, 0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06dcc2889d9f11c0e7e4a87bc88a389ce7a144f12b0b99c27afc9c69b0b48d9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a1708a6a10c63bf1ddfa292afb1f5cd0a45133d30c297e91f8afc519b98c5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44f13694f2193799aa39eefae8897b1558e319e1059914e2b7592f0c6487086",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuPKbEwpj38-fDR3C92cb5T1txZ60vll6aPtZwos27lGdh_MOF1AC0599Ud803596-5vky9prKsvCht2GJ1m_t-Fs040gDyeRY1bvxX4ROxQqbh2H5b7739g4CUSwt2OEX7MGC7l18Xu4mXAAb4LGVglmNzByZPm_CVxVvTRdRHGVXwt6TSBWrO7wrZrCIEHvUb7NlHLn3NE_V_SqtCX9JyBwDca3McQbUX0AxWYcQjg7iMxvIVE_589YWIl4qJy-VVdd41rGDW27cngG5qdkY8L76CYgHIOo87ppqosKqiunXSbA_GyR4yFZIKwNCkZCsCpe4Kd736v-OegOeuFjp1sCTTnNQOXwnk6YOkMbGUw5viwPM58d_kRdOD6y8cMJrVWb4JxKAv_KOIxYZVDQm8vgSRKvYeBJ_64qP7G3kYFr76Tew91NwOoZyO2HeIUD-Bg5AHqYO4zu-jC11T3r1U8VE79SKotrDs4RYdNIZJshA2lWzeHMP8EOyCchN2wHQhbiKNTDlUCXMTh91uMvQ-C4socS0ipVTu7uGmjqQbtdpYzp7y3rvHvADti_Ajno2-H2PEwGr9k9460WxXtTg-T-V_brcRvC0zFA_Ur4kS8YRgaxrd2BiIZBkiAwD-i1sEYuUX2x40TiZW-ElsSxl6q9zgMxrJUuWuGy_FSLLJfpmF4QumJtkwd7ZSxkb_mcnwSat85TzWkdzojJEXNzkbayv90ckyrY7835vUEJ6tmWFQk3xl_BTlClBoPWMywx98t8sqRV7kpH7l71odgJApZneBgkcydOaD2cJEYvn854vsETl15qs6DR__AUwrxT8SYUxLLsMmljpIwhxoDnlMERewiij0pwbW4tlO4Ly5L6saLutYPv5kD40GHZNw4_KujCK_Mca3nfdLhnIZW2emIIGW1Ztstq6ukimt_9k9gbTdgKI9lYS_JjJHppvyVC_amZelvdzgNVjnjDMsyu76BHmNRMr7X-dWigBkOdTGPuaVz1KYaDTe4JechD957VqBAPKzCTAB_J9ivdBgxG-tKFrG2SRdWtfwNOzZ_GXVK4H9A88KQFe9NWfyawEAKQ8fn1OwgX-EAatiYlygePaVLk-u1Gui2A-C8Pr7rTWDYVfuLpFENIIiN6blgu7-dYgZND94158DW9gPEXCsXV7HPZ6d3h6jtHj9TIdKEeuXWVYeyprEceXRLHd7vp5d7QfwfAgdgglhCQEoLZ6bP8gHFu7oCjNh0sZXuQdDUvaBzrH3h7-4J5V8JPzdEfUTH0xvKy3F7a59aNOHpH255nuXT8obeBhnUxuZSrHCX_kftZaT8RtsJHQTOhmtf6XyhZU_XB4q2BpW67nOvStKzdtRluN5dIom5TypKxsiahr-Fv6MCqoiOrRyA0xZoz9XQe7kupXcNGHoeFsIjoDImkrciSBFqEx-b0oaM3wH1YeNWRYOupMnDUZg9IljCVTYX6dq55-n1SYSU7bYKyJw5kcQtyB_zpenXiAp7tCvUP6kTT3d1xQOWinsaec8a4ym7Oc_WS71ZD_c1nj_VBrFqrJyHEA90mFFvpv5afhfB_WpSRgGirz4UMiCwmI2rxQXZAVfwZBpA7LrRodx6VzBD4RQlbsdrJYBfSkCWT2vfPA8kLnqmtV9i7P8hRnf8Lu5758aKxta1-iQi84xNBHmC1nDXLql8oYySKAYVwHIj0iYEyiuT59H0Txd2hciOCmQ8IXxrBduGTUM0Z92zB-5NO6a9iRnsFlFVqGUgwBuR0ZkqHtyd1cxRt6AgY9VGP7uPQ3gjdardRNo0I_I9FWN8WHhKDp-Zx_muzlo3lr0IrWCVjNeNY1mp9J4_1Dorlvw7_9jqOd_gRkmjCvfAeBF9cXtSbmPKhI5vlJu-H54wZJ2VgmExF8ftpY4xX4-D71DLDVHG_-ac3abgIEu0mROplg-S6ZM-xYdVxedauTC0NDzwDiZQAfQmh2hChAl_BVAGCnfYTVB0-8nHXnxY3y-vdLh88IwlotkShuZ-UjgiaoMNlGRoFueblVVSb73Z13_MBWhDrrD3mPGmr6TdXyVpyKASp8h5a4tIpMk506yflegdLhc7qyEjlThJxxobvsEDl8iuAcLaRz1YwKT_XDKSURnw48i_6cuBjA-HFID1M0Eueh3i_2hg_KFWzfdJ-in5g-99avdWb5WgIkL8iJFbkveRxkPqofiiYVF-wrNcyUCbcea8OBrIdSXF3OV__czEJeHZeDTczZ1TQCpgbLduWaKwNTowGlhf3LkpiMivs0JqLPuxxznzGWopmI6jdod9zbcy9kum3irJ2oDpqZU4Fc0gA==",
  "id": "rs_095f3cef19f3ec5b016ab45b8b006c87d0ab0465e1f2329c43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.25,\"left_z\":0.25},\"note\":\"The bottle remains in the jaws, though the lift is lagging below the target. I’ll raise it into clearer space and bring it closer, where the arm has better leverage for setting it upright.\"}",
  "call_id": "call_t5PDZ7qtZj6mTcvtyjI4PD34",
  "id": "fc_095f3cef19f3ec5b016ab45b8e8cf887d0a386a93978e56239",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t5PDZ7qtZj6mTcvtyjI4PD34",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.7844, 1.5658, -0.6807, -0.7944, -0.7376, 0.3402, -0.0406, 0.7704, 0.5964, -0.445, -0.083, -0.0799, 0.9998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2599 left_z=0.2238 left_yaw=0.1394 left_pitch=-0.0199 left_roll=0.0071 left_gripper=0.3402 right_x=0.2833 right_y=0.0067 right_z=0.1699 right_yaw=0.0469 right_pitch=-0.0443 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.7949, 9.6889, 1.199, -0.5641, -0.0952, -0.022, -0.5538, -1.5248, 7.0632, 2.0244, -0.1245, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf112d73d3f993fca07b9160d660fb248b54559abacc7771461a262d9814d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34200b4594c3071cd4868fa8c1e890b24474ea5c703c247ddae6b730c42fc12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c43a2deaf6aec0f75d44e30c52959718329a6959c86d69dfcf7f604b081675",
      "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 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8364, 2.3257, 1.6257, -0.1452, -0.762, -0.6731, 0.9959, -0.0341, 0.6392, 0.3992, -0.3649, -0.0639, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4673 left_y=-0.3303 left_z=0.0445 left_yaw=0.118 left_pitch=-0.0111 left_roll=0.0024 left_gripper=0.9959 right_x=0.2635 right_y=0.0059 right_z=0.1296 right_yaw=0.0291 right_pitch=-0.0312 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.5487, 4.4786, 1.3114, -0.315, 0.1587, -0.0024, -0.5128, -0.8684, 6.8855, 1.9512, -0.1099, -0.0122, -0.0122]\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]: [-0.8497, 2.294, 1.7317, -0.3496, -0.7975, -0.7155, 0.3403, -0.0372, 0.7856, 0.6292, -0.4496, -0.0753, -0.0761, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.3291 left_z=0.0772 left_yaw=0.1511 left_pitch=-0.0251 left_roll=0.0375 left_gripper=0.3403 right_x=0.2877 right_y=0.0062 right_z=0.1797 right_yaw=0.0418 right_pitch=-0.0318 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -18.1949, 9.4427, 1.37, -0.4225, -0.1294, -0.0855, -0.8821, -0.9504, 9.4427, 1.619, -0.0562, 0.1001, -0.0073]\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]: [-0.8711, 1.7844, 1.5658, -0.6807, -0.7944, -0.7376, 0.3402, -0.0406, 0.7704, 0.5964, -0.445, -0.083, -0.0799, 0.9998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2599 left_z=0.2238 left_yaw=0.1394 left_pitch=-0.0199 left_roll=0.0071 left_gripper=0.3402 right_x=0.2833 right_y=0.0067 right_z=0.1699 right_yaw=0.0469 right_pitch=-0.0443 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.7949, 9.6889, 1.199, -0.5641, -0.0952, -0.022, -0.5538, -1.5248, 7.0632, 2.0244, -0.1245, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf112d73d3f993fca07b9160d660fb248b54559abacc7771461a262d9814d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34200b4594c3071cd4868fa8c1e890b24474ea5c703c247ddae6b730c42fc12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c43a2deaf6aec0f75d44e30c52959718329a6959c86d69dfcf7f604b081675",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_095f3cef19f3ec5b016ab45b92deec87d08e61f0914e2753d1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFufaP3t_udEJXH01CU_Y61AxsjR2tLc2ryQHcuB4pz9jW3wF81QL3bZc8tHQjE_6Gnct-2wU89xtAq0AdAjHCjeggfw4qdNQoOrRWGjK20jFiEjKk_Dsv8xBECf_qRpxne47uFtaL7nc1mwSk_9SXd3mOR-V32mYCRpOyarCRTIX86ZiNvi8mzODrKVFdweKSKeGOjgam_RcET8KZVb76SRPIIb97WjBtT23ioztDlv_yZqT8K9BDTkVAK6_AHFYYB_UUL3nAXUhjo2DtOCICmuqHUnERiStoJYLP1DF6hev5SzHGRklDuGozDb662EfeH-49nR6etsRddVrLXO4fGVRREAJSDSwSBh59WlyCRCBTzu-8-t3VSDUyq7GGJ7xtKrEIBWoQakTDYq88bziBd-Zq17QSyhEPorPYDRerh2v-6ODo6GBE60LTF6cxq1-M62pbLmcKkW65x2K74nBkGafpt0_r2UVGAJivcQ4hyTPe-iu5YBUggwOYFXi7REeO9XaYB7QwEMJbMzlxWXTiSjDSbWXAK80V5MRG0QMVyWMRLtXngsRgq18xEhp2AqPihLREIbfKU8jqZ4S9fhkKySR0jutUDApH6oWIx-Q59uDnG-NXaFWDKwiGD_C7p2dxmSf6RsIlD21gxQAn9GYr9pXxJ-0MF-d9Q6vWG1CK9dO6ltpaOveaCL_yXiI2V-l4k02c4D5PoLkgJmbypH2S8tdhUq1TWIJQcn-SzCKN0FwNkAW-E7E5EVpsE-A-1VQMKFlthaZXGvDf-FrgB2qG7jCvRwaXzQlvSp85q-ABn8wvdXA4Evpj0KUsm4SzA2j2N_xth2fvLuWyYksbmBf7KtcuFMzZihQMRnlV5Vn3PX-y77YuWSAGYpedMTDANviyMiCFa8CdiuI0DK9LH3sT8HprbzUn-tPRZNUL5K6KVOnvstnCS94wAWs8KgxJYCAStizzfzGWS7q7fOBoxIKmhQRvGXjDhCliJJwxkBNek-nzQg11U-zWSSJo6XwX70SrXtqDnQefYdoTod7OKR965KKuWv6zGeIdrGTVE_mt4vji0lD6Xeidy5jU1fJv2j0F18yfzXO3MuLgf0yBMUuRVmCX2qiv0nY73jJE7Lze5rPH04Fi1U6OYLLySG5cON2Dnsb5CgoeXmPRc7tqZtDQoJUUPXKws9-X9J0ZaGhPoSAPdPAaWqFA2INCBt59ge8Cd4CHckU-9MHmRabg8J81ZJZbyt7eG6mv4WZ2cOCXIcox9PT8owY5iUJgpT2xMlMT3TLf81MJCM1ZAAbZhIw89xhlqQRCrLMpH2TnZxhKqodreTmZY_RDLwqpaP3Tbep23CcEBop1u0Crl359bpI7cwGylCB8E5wdM2LrOCyH5w_0JHtbVcdkGDoSiQ6x_x38qcq4zueFCBkm3ReEKZxleuqAFxa4oO496n24kkGQ66wtw9Blbeu4tCaiPweLaP1w8h7CqRRt-7ysHDDADX_HCWMXhGPgLv7VVVFOphAsRUkEn3H0H-xBkBYffRpdpJLmTMRw7wWLd-OmPHOIdJ4ojbFeOKOuJeNWczUsufCSnQ7BdwrZRwiN4RKX11QYwEMeqJ8-IgRsjZs4TMK2031TI2AOXtsenUxZHsYtGhg98JpU8pbY1LwgsMUH12Hkadctrnw-aGA-Xns6NIyw5M8jEmM97S3g3Z-Zo2DFmXHDVT8GigDiAjsBUM0bqgNqVvkpLD09LK33hyQDIckOhF1MWMu5fEKFwB_eEg1NmkUVEw6niGpkHaHo3EZt6d-8SC9F1xfvD5yzpWFT-umfBQXJAThGNFAV0CG6LjWZlNWTkNa2A=",
  "id": "rs_095f3cef19f3ec5b016ab45b9bced887d08400b4c6627c3341",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.11,\"left_z\":0.08,\"left_gripper\":1},\"note\":\"The overhead view shows the bottle stayed on the table, so it slipped rather than lifting securely. I’ll switch to the nearer left bottle’s neck, which is easier to reach without the arm fully extended.\"}",
  "call_id": "call_ueVEt0LUVp1sSE8Zf0AJjIiD",
  "id": "fc_095f3cef19f3ec5b016ab45b9e738887d0888ef6a92434cabb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ueVEt0LUVp1sSE8Zf0AJjIiD",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 1.821, 0.9646, 0.1734, -0.4919, -0.3649, 0.9969, -0.0406, 0.7448, 0.5522, -0.4198, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1073 left_z=0.0796 left_yaw=0.1759 left_pitch=-0.0293 left_roll=0.0137 left_gripper=0.9969 right_x=0.2799 right_y=0.0069 right_z=0.1616 right_yaw=0.0476 right_pitch=-0.0378 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.2667, 5.7641, 1.7021, -0.1001, 0.2613, -0.0415, -0.7863, -1.5932, 7.2, 1.956, -0.1685, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc5e4e364a6b4e89d0b380e3070e2bcb281b11ef374a350d3080b26148018dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4439793c529e169bb71daf66ab70854419a7a9b0e99af1eb800a34232d23304f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb86f55289474a08cd68d4bbf33a778fb5af9961e84496ac2326558ffa059022",
      "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 79 changed as sent

message 87 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 2.3234, 1.6173, -0.0589, -0.8059, -0.6811, 0.3411, -0.0341, 0.6197, 0.3733, -0.3504, -0.0643, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.475 left_y=-0.3322 left_z=0.0583 left_yaw=0.152 left_pitch=0.0601 left_roll=-0.0529 left_gripper=0.3411 right_x=0.2616 right_y=0.006 right_z=0.1255 right_yaw=0.0294 right_pitch=-0.0232 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -13.1624, 6.0513, 0.8278, 0.0317, 0.0708, 0.2173, -0.6496, -0.6496, 6.7487, 1.9023, -0.1197, -0.022, -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]: [-0.8711, 1.7844, 1.5658, -0.6807, -0.7944, -0.7376, 0.3402, -0.0406, 0.7704, 0.5964, -0.445, -0.083, -0.0799, 0.9998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2599 left_z=0.2238 left_yaw=0.1394 left_pitch=-0.0199 left_roll=0.0071 left_gripper=0.3402 right_x=0.2833 right_y=0.0067 right_z=0.1699 right_yaw=0.0469 right_pitch=-0.0443 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.7949, 9.6889, 1.199, -0.5641, -0.0952, -0.022, -0.5538, -1.5248, 7.0632, 2.0244, -0.1245, 0.0269, -0.0122]",
      "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]: [-0.4126, 1.821, 0.9646, 0.1734, -0.4919, -0.3649, 0.9969, -0.0406, 0.7448, 0.5522, -0.4198, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1073 left_z=0.0796 left_yaw=0.1759 left_pitch=-0.0293 left_roll=0.0137 left_gripper=0.9969 right_x=0.2799 right_y=0.0069 right_z=0.1616 right_yaw=0.0476 right_pitch=-0.0378 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.2667, 5.7641, 1.7021, -0.1001, 0.2613, -0.0415, -0.7863, -1.5932, 7.2, 1.956, -0.1685, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc5e4e364a6b4e89d0b380e3070e2bcb281b11ef374a350d3080b26148018dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4439793c529e169bb71daf66ab70854419a7a9b0e99af1eb800a34232d23304f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb86f55289474a08cd68d4bbf33a778fb5af9961e84496ac2326558ffa059022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFulZ5JGpwtmGASaJIWxY_zxeKB6OwzqHBMf73kcv5LFr_1WY4EGQ_moePAUf8SJpn1_Y27pQwabaoMnLh-vSCWEs7MFOM1GvRWCOfXlT7-tHJKfXXhKLE52YO-yFqcAUgji1CZVKamECYqgiaSCB5YqCN58Zh9QidghtdB1gxpSx-0PZFnXL2G_6aI5B1RXSKLBZLOiDFH10gGrZMbyLVmiIvG41bBakrIyZ10yafhvq40PFUzbXRBx4z24wo3Q_g8Ob8vgvbIwMYT6xx4dOBlqUGEcr1Tg-SpXZmZFGFdo182DxCn2n4J62gh2hUB2QL50Xb433FMKT-Ip1Fx6GgPsVzEeHICzYBTiWhUPwg79djUG3VAgrxEZzFbJ2eAdTYnblsxEpfySep_QC5XGwIy0UyO1CstHg_eDGqGmnM5b7RliRJk2Yg4mVUtj9ybblyuUXgqg3ibzt3adGLRWlpl_gMh7csHVq7F4M7Ec5nsna2WHiQrFma6xtMgNw-5hs5VEEUz5fpeonAR1Kxsnarxb62O_1qCWt1Ty7YXn0cOJG9es2x_3C0c_H5ZMZvVXpgh9c1WATHo0F4N_xuQeRNV_mK9Tyq5TnY6_xc8MATXvwvVYARyGoyYg551j7Fl_RiYNAmqw2ZL41x55jb661P5rIyo4pe_3EvRXycvwVlaV_JcyAX7gNkH0AhGFmztD4tBHEmEFqRYK0dU0O188G9XLFBxn31e89XbADZ-GDJt9Jmcpl81uW0fh4UhnMJpHAGKjgrIqp58h83wGLUz-zTTT4g2DbHeZVxF9LETySEk02WVoWRzq3O9108A9PaRhVzcOOs_9c3drZLKH5CSbASE4NGNcc-2wtVXYO6XMUjX_pudjPRI9CXrtbhbGuouarD2e8r-cpiep1QVCjNSlCmAPJXxGCbBE7tw5OUTDRPCJFFI3uZSIhJ9XCJyhG_O6IwB63VvaYH8fAUMJr94vInnvhBeDI1W6k_Bl4yjG_8LpQBzfr4SsX2rTijbr4fY-kjmrsSopkUIEUPbUFEI-gQ4J0tvCzTF4Qga95uGunYSw3xuviKoQ_IeyVU6U1F9K3Lk8JfUBtuZsAsgRjXOsc4r3EhCvi0bgdWM2uplViydM2SI05_ZQ5g9gMFfJg9u59iTi1OvICh4Ym2_0k2jTR2tGO721FuCST_AKovHWEHfFSSowwmfA47OIQFgwEeE4qFZjXDyua7tryO0tuBaxwZVvvaDF_20T9EEQu-1G2z64bx81hlw_PhalUGW7_wgpaE2HDmmrTSbJoz6ItAH--uF3AFvC6q73681gNxvSdKR77ivh0AliR1xSpA-ENjkM7av4zNbxYf91ryLY5hAEGkPjkjajD1yXguGcZaH4liJl3bqlyYR73UhY2dz5zTMcp8IR6xTNqhpRS8P6SD7E0sIYEQS62LNY8sv-chFw80te_n4povOb0LfiN0sxjcUlveNWvFa0A124SnNQGGzEiXvO8WGtTSZidCSJxeYIw5sQjaIbmY89Cy9viSoiU3cY4dOnbGKj_a70YFCULFowy08XPAPikhDC-nI8pStPQ7Ol7QqLTSTW--WkISWHKfFv6Bas",
  "id": "rs_095f3cef19f3ec5b016ab45ba2de2087d08726c44be24d5475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.078,\"left_z\":0.045},\"note\":\"The left bottle’s blue cap is visible below and left of the fingertips. I’ll shift left and slightly back while lowering so the neck meets the actual finger line.\"}",
  "call_id": "call_QOIDx29X7lTQnMCyBzAI8syF",
  "id": "fc_095f3cef19f3ec5b016ab45ba4713087d0bd190f7ab54efff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QOIDx29X7lTQnMCyBzAI8syF",
  "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]: [-0.3565, 1.8526, 0.8211, 0.3553, -0.4583, -0.3351, 0.9971, -0.0406, 0.725, 0.5186, -0.403, -0.0834, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0801 left_z=0.0433 left_yaw=0.1893 left_pitch=-0.0353 left_roll=0.0169 left_gripper=0.9971 right_x=0.277 right_y=0.0071 right_z=0.1549 right_yaw=0.0474 right_pitch=-0.0347 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.0752, 6.5709, 2.044, 0.0024, 0.2125, 0.0024, -0.7043, -1.5932, 6.7624, 2.0342, -0.1392, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ec5889829da6e7b528af1b78f7f39cdc8d534fe0852ef2f82d3bfda17b6978",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6842478fcbedfe35fb7d084f6ceb3ba6c9f2d681ffe1a612f972d8c4fbe3e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe4c5261964953fe03adaff27dd164f04f48d01923a683659c7d224fbeaf746",
      "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 83 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8497, 2.294, 1.7317, -0.3496, -0.7975, -0.7155, 0.3403, -0.0372, 0.7856, 0.6292, -0.4496, -0.0753, -0.0761, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.3291 left_z=0.0772 left_yaw=0.1511 left_pitch=-0.0251 left_roll=0.0375 left_gripper=0.3403 right_x=0.2877 right_y=0.0062 right_z=0.1797 right_yaw=0.0418 right_pitch=-0.0318 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -18.1949, 9.4427, 1.37, -0.4225, -0.1294, -0.0855, -0.8821, -0.9504, 9.4427, 1.619, -0.0562, 0.1001, -0.0073]\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]: [-0.4126, 1.821, 0.9646, 0.1734, -0.4919, -0.3649, 0.9969, -0.0406, 0.7448, 0.5522, -0.4198, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1073 left_z=0.0796 left_yaw=0.1759 left_pitch=-0.0293 left_roll=0.0137 left_gripper=0.9969 right_x=0.2799 right_y=0.0069 right_z=0.1616 right_yaw=0.0476 right_pitch=-0.0378 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.2667, 5.7641, 1.7021, -0.1001, 0.2613, -0.0415, -0.7863, -1.5932, 7.2, 1.956, -0.1685, -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]: [-0.3565, 1.8526, 0.8211, 0.3553, -0.4583, -0.3351, 0.9971, -0.0406, 0.725, 0.5186, -0.403, -0.0834, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0801 left_z=0.0433 left_yaw=0.1893 left_pitch=-0.0353 left_roll=0.0169 left_gripper=0.9971 right_x=0.277 right_y=0.0071 right_z=0.1549 right_yaw=0.0474 right_pitch=-0.0347 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.0752, 6.5709, 2.044, 0.0024, 0.2125, 0.0024, -0.7043, -1.5932, 6.7624, 2.0342, -0.1392, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31ec5889829da6e7b528af1b78f7f39cdc8d534fe0852ef2f82d3bfda17b6978",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6842478fcbedfe35fb7d084f6ceb3ba6c9f2d681ffe1a612f972d8c4fbe3e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe4c5261964953fe03adaff27dd164f04f48d01923a683659c7d224fbeaf746",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFuq4xMhYMM46uqdecNrk7nHV-LvL2k9yYoUsiXI40n3O0mV0O1LjAQvJ3khBF_QzGG0DNGEsvNheq2vnn59OoWmRscxMC--ZDz1MWzXYz5tb8pbY62fPwpHEjURWfgtJ_KfiRSDJ9yH6F_nESEiRQpm5eDCbH3hZz-LlpXNtuzgkLARTWcmz8jqybHLvzsQTbZLBp5TRdAKD2aaqrhFdi_bct1OWju-lrCxdQwxOecbtb5LtOJWmqTqSdQHl3GtuZDuDCCLYuVjDQ4Wxsym7qGfeKBZsroLN-jPrlNaxZzyKAnaoGDit-UHGPgo8cUA4q1iDq3VerlJsjuhiZKG0YzEbEJT9IXlcUYVNogh3plxL_KziJpl7CfhOc17zl4tIptNuSguxpj18-_l5BqO9Pj2TKNKEsyJVr11tP-sJ0t7hneW1kWJUP0BOoM_gcgpL-Hzv3IlobRPKswvOJgs9iVvC0MV1CZhu9B-4OrzaPU_ESaert-zpoF-wWLq4nQAJoYm4CydxUPEYpR4Fi869PU1V78fELQXu2dKxTH_wgvMeOz-NDIpkCMczMi2At07KDY4uDrVjK9BagWNQ7m7MgbClmwoyTckRT_5qW8XYbiCqHM78B7rZ5GcAOPxOKJdgfssJOGIYsWRoh4MxdKjCW0sZTf5T-vMcY0_3Wzl-JezK1SeUNtrs1n7rXC3fDK4iNK-pJqpQx9X6nXHfF2IW8J9T3ROsiT43G5V1b3fovZ40e2ntcH0eHyapjkEc6CkFxvZhKEga8q5v--_XHMHZMRym2lGOHO4luV0_LIDNM8-oQ6XfG6_zRM5kQbU2vDYmSQiR4cF6v4d_bSfNSkYllxG61AxErECRQrZl-NVmbuh1s2UL4llHs8MJbVynQqGfTgmwsQCplb7fp0jDV8GdmOy6jvRRG34gAUuxzIUQqJecremOsMBgob63ob3OVebfNiYcHzIt2cZqHGrHDbApIUNOIxdFA7WSFq6FeKXPwOdfTsJTW8pQogL2Qb2J6rP7X3quwbsuk06iIxERZi3kz-w9HsbxUe5IbUVTC5lxkoh40YnEZeh2ErPrz6lZbBP6cve41WYGxmF-6nKo3IQdweJym0eBBDDZiQEZ80mxerPABi2GkHTo7T8HJUwhQ4nnQNyz3jSaKYsOk_qIShM3lmZ_qdkR0FNB4FbKgyjjQlu9GfU5xLuL3oM5SDtxd6cMecMddviEsZxqk5I2xbZSYRWOXi4jge4_o2wZ7h1CtmjcIWrq4ebvASJh-zj2W5xAI7ahN06xvqWEvTBn7AbXsIc-qkJHvVxmc_7RyTBMqs2j6W5NH3cg_Pl4mQGh0D3L-PEAzN_w7Zs4tyTNGc7ac5Q8HvouSLJzPt483IPcjOvNy7AGdE1wdPtKIN7gTcm1Hx0wtRnEbbjQxDnugqvm0l4-gwvurFxn9mW_TRHsOn2CmYAZSzODSOTTu11At6PIW_t19D6702WrYtbMelo8TYOOWFWHGc3oPQU7dz49_7NqV3_REkC_Tuqi0PpQMblJzfefOUZp2Elw6Fizidd4z2WPfUlwKW199pDeq9hV51DLOg=",
  "id": "rs_095f3cef19f3ec5b016ab45ba7eda487d0901c36ff518a1cd5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.05,\"left_z\":0.025},\"note\":\"The cap has moved closer to the jaw line but is still left of centre. I’ll make one smaller leftward and backward correction to place the neck between the finger tips.\"}",
  "call_id": "call_4ts2nfinlmGhmyXhwbTlrs5Q",
  "id": "fc_095f3cef19f3ec5b016ab45ba996d887d0add69ea33335c9a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4ts2nfinlmGhmyXhwbTlrs5Q",
  "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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.7063, 0.4858, -0.3882, -0.083, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.2739 right_y=0.0071 right_z=0.1477 right_yaw=0.0473 right_pitch=-0.034 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.212, 5.2855, 1.8144, -0.0904, 0.1636, -0.0122, -0.7863, -1.3607, 7.0632, 1.9365, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bf4c791aff0978cf655ebdb40c0d38dd6d1fd89410d53d4e95aeedbfb66aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509417d05432cea2fb50b90a0b99963b36ecf504bafb05fb311d197bd90c78e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea928e4b911c8fbd94dc36a57b91d9f0d6f3a0374c528a08fbec1ba2b2732eb",
      "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 87 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.7844, 1.5658, -0.6807, -0.7944, -0.7376, 0.3402, -0.0406, 0.7704, 0.5964, -0.445, -0.083, -0.0799, 0.9998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2599 left_z=0.2238 left_yaw=0.1394 left_pitch=-0.0199 left_roll=0.0071 left_gripper=0.3402 right_x=0.2833 right_y=0.0067 right_z=0.1699 right_yaw=0.0469 right_pitch=-0.0443 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.7949, 9.6889, 1.199, -0.5641, -0.0952, -0.022, -0.5538, -1.5248, 7.0632, 2.0244, -0.1245, 0.0269, -0.0122]",
      "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]: [-0.3565, 1.8526, 0.8211, 0.3553, -0.4583, -0.3351, 0.9971, -0.0406, 0.725, 0.5186, -0.403, -0.0834, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0801 left_z=0.0433 left_yaw=0.1893 left_pitch=-0.0353 left_roll=0.0169 left_gripper=0.9971 right_x=0.277 right_y=0.0071 right_z=0.1549 right_yaw=0.0474 right_pitch=-0.0347 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.0752, 6.5709, 2.044, 0.0024, 0.2125, 0.0024, -0.7043, -1.5932, 6.7624, 2.0342, -0.1392, 0.0122, -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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.7063, 0.4858, -0.3882, -0.083, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.2739 right_y=0.0071 right_z=0.1477 right_yaw=0.0473 right_pitch=-0.034 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.212, 5.2855, 1.8144, -0.0904, 0.1636, -0.0122, -0.7863, -1.3607, 7.0632, 1.9365, -0.1636, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bf4c791aff0978cf655ebdb40c0d38dd6d1fd89410d53d4e95aeedbfb66aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509417d05432cea2fb50b90a0b99963b36ecf504bafb05fb311d197bd90c78e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea928e4b911c8fbd94dc36a57b91d9f0d6f3a0374c528a08fbec1ba2b2732eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFu1SHhTnT3qbTcnkDO54OTpqzWl922khGNGV8rfdCyZlY5awcrlzkL4UB5a6gN5Ohz3LjbXVBravtScF1XtmNEW3vLgLtMnLaysneB6iR1Qs9zE6cDT5WEu3GyVHt5Ro4taP4KwLJNJ6qooGDmRdW2igGV23l39bjDr3SsvGs6fpgh1IMqdzkmLnHBatjLojYv_uNdCLXeqTdUZbG3HG3y3rZ5af2AlQcstc4IF4WvDOJdueK_h3RzgrB-InbFqKX7t2XGOY4DUqq6rLrBbuIa0b_Zc1pTK9wE8vYSRuMfCKVT_tapaB4BIV8YHJRG6ElFRH50sCZ1KkptATF8bFs5OsnBvaPHdgFgwAsJvvTs7U5T_wSMROHxTmzdE2wbsd1KZdSdx5Bt_1Ty5mSv19FK5eaNp2JT-dZTJZpjezkQQHVMDsXLekkynRvbUsBqAst02KDJV_I96JYNchzvV2pRxVZIiDLziYThaGszOXCTmDGQIC18k55uMTqO61eMoa7o6SZqqqpYFv2Xke9yDzDd_EduKfIUXCC9LtIUh6urbgC40K0Mp14LvduGE0DYLdkghTSF42iE8fCtKQqq8EZZFg5lo5U2ojr24rCaqpxT6vf15Pkyo77nx3DE7EOyHS30vpj4qAfCfrnZLDY8eoNEH5kGAiSsbR6GUrZWh9hG-p4NU9Y7K_-Fkzu1J53CmVCp3s8d2SHkb5Dcr7K_hZyDtRR6KVRDM7ffnm7CAwu7hv47NGiRypVJfhj2Ppua_hV7_s8jamY2qp9MXed_y0VLsRWOB0oP1RUOLofYy-XAMVhdUD3xoz7nNmmFnYCy5IMUK3RinOmacmePKZg9z1_v1i2ysO8M1c2xH72nYnsLXMRBAjcFG6lAKISbNBdEJm91aoKK_vTOm-pJFlCLK_aLWlNeWXF0Yo4aEQcsKRSAPp8yY8iIsMEnf2Dfh_6VktqMr_5dKNr_5BaCvzpj3Ss_kTIK6B3ybx6V_C5SAbn7A0uehjIOAFoCKyBWpllr6mW_WobOx-wXUr3G3uGRywt3VVpqQslv-zzqYg4HBN4RW6wJZ8NThH1krKgmpry9aZi6cWD8H_Rd1QhQZYUT2oFxGBqpUtIoqWHL5R0Sqx9luOJYgf_MIcAAqFjntbKs_-lYzVcHZyRuEb2HazXc5DvjHu0Tj7vsJRF661AhidYYk80LmARCAy5Xj59O-r3-CTkTgwQYI3lJPaYMlTLscfehSGRglfWdLqTDm6m2hZDzhyAeAE6y6dl-JkUK2T3NARKYiIkdVs4BrPMBQ96hWv1jv7rJBXwU4cY173QbOi78wv81Yy-QFEPcK1wBISWQssbcym6XhqO0XrFutuoORJhwYaSZVzG7dTVuPw1Tk5yt5kF4TgTxVuYptbCloYXbuuevPTAdgKDzHSMrI3u-KwNllCPClawtr0LjOIg3yF1bEti1BeuZUfSoPC6bVYWTaRmCwhmbqENon937qocqO5OjjT-19Jg85lRUhV2oKx4xthjpf6MglxBchJA9HSOzM0yh2YMH9Y_nWOkPsQOssY5AS0-y9RR9vTcYTahTqP0E9Op04rAdKGoa_FY6251MMT7_8bb5yXwPjSckE0jlelnpmJPaiUw9TQKry5s-lb4vi8I0EIgPee_3rPfzaQrmCPFT5a5-BNI7bVPBdf6ESNQrbN7W7k6iyVbN4fGc--K9mZeoCsPyl-gjWEM-i4oPe_muVyC41riHnU4eQpGmKzXkCYcBARJ-Si4AUjzINiMKa_Xe2KOuRTtlvNPao22CZlDaazJho4LCkC8CmsbSjuWJUVVYWlAZ6hgu1TgyAGvZjwoSnCG5xbAhY2hbB5x1JEyp4iGyhTOLWV7bb6nvpsZ3ytEh2xn05v1ZpesK3GSzftblfgRsHApGbgBo6imx679YCYY0F9-oKBDtwmOKteiEOw72a0R4zDfQ-1yStLapb4PpHllsOgufsBwPBi6jMJbHKSNSeND5D9Z2F-bIo-sOisWT-UGzY-CuS8JhToxvF1HjoxrxPEL60_mZBzRsK-v_O",
  "id": "rs_095f3cef19f3ec5b016ab45bb1c4b087d0968efe14101cbbe1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.035,\"left_z\":0.105},\"note\":\"The low sideways correction did not track, so I’ll lift clear first and complete the alignment above the bottle instead of dragging the open fingers along it.\"}",
  "call_id": "call_CxOvbX0nnv6pg5EdoubcwH6q",
  "id": "fc_095f3cef19f3ec5b016ab45bb4357087d08323bdeb2f033736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CxOvbX0nnv6pg5EdoubcwH6q",
  "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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.688, 0.4553, -0.3752, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.271 right_y=0.0073 right_z=0.1411 right_yaw=0.0476 right_pitch=-0.0332 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.2803, 5.4632, 1.7851, -0.0855, 0.1832, -0.0073, -0.8547, -1.1829, 6.8308, 1.956, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce9dd538532214fe7f23d174dd0f2b783513c9747bf0bf02193f2fb71573da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbb60f332bf878c2aaf2637d4ece065e06f8ea61fdcf8f5cd842d4e5246e492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60371c6c0dfa048f557f9105e035bac9ee4c221227b2d8ad9ce6427a85a7c92",
      "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 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 1.821, 0.9646, 0.1734, -0.4919, -0.3649, 0.9969, -0.0406, 0.7448, 0.5522, -0.4198, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4622 left_y=-0.1073 left_z=0.0796 left_yaw=0.1759 left_pitch=-0.0293 left_roll=0.0137 left_gripper=0.9969 right_x=0.2799 right_y=0.0069 right_z=0.1616 right_yaw=0.0476 right_pitch=-0.0378 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.2667, 5.7641, 1.7021, -0.1001, 0.2613, -0.0415, -0.7863, -1.5932, 7.2, 1.956, -0.1685, -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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.7063, 0.4858, -0.3882, -0.083, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.2739 right_y=0.0071 right_z=0.1477 right_yaw=0.0473 right_pitch=-0.034 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.212, 5.2855, 1.8144, -0.0904, 0.1636, -0.0122, -0.7863, -1.3607, 7.0632, 1.9365, -0.1636, -0.0171, -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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.688, 0.4553, -0.3752, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.271 right_y=0.0073 right_z=0.1411 right_yaw=0.0476 right_pitch=-0.0332 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.2803, 5.4632, 1.7851, -0.0855, 0.1832, -0.0073, -0.8547, -1.1829, 6.8308, 1.956, -0.1685, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce9dd538532214fe7f23d174dd0f2b783513c9747bf0bf02193f2fb71573da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbb60f332bf878c2aaf2637d4ece065e06f8ea61fdcf8f5cd842d4e5246e492",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60371c6c0dfa048f557f9105e035bac9ee4c221227b2d8ad9ce6427a85a7c92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFu8Cuo6MqgTuCeCKGWUvl4muo9dUtWWYCeeqzHotacusqH5hk5GS8oDRbJ9VRMq4hDeZkAsI5UFiZUgCyeGoizLBI5nv8K4ienCWTtrT7eMCXT1r78VrGBIuQ5ZZ-FDzW-M4CvaqnLkxXEUHQuBn3ND4TjfCP54ORPH2PCAUUUnfSLhdZAdcbdvf54nhOO47yjeQreDXgA0Unoy5JB_KfYtNJALbHkPxnXQlVU_r6pj23TbRUN4fvRrVV386WFdv32w9vEe0RqOIUfeBwJONgTL3ne8qSwRqA1HNJtf3Ccd8CUGP6GlHi2oqUkmzXau_jalpIt0f07X_RLWghm1bTYL6Qx0JhzkFYm_18AGfacJi8Mmf0OpfAmctisUlnUDOCbJ8f1JHlq3CX-zfXALhx3gYtYe4wRpHoKeqNmus--RqLe8pmDZk_FeLu_UpHcPfRGuMTmF9uRgWHWpCFo0MDclB_bkrccB_ihVafYMHUfcWjnZkR9AylF6m5VJ0TyisflYZHAHbzGaum_5Kn2lQ8fiFrb8efa3ZWOOSX3d5L4Ue7_B08NETkIRjHj_yuGKsnikyBQLOLpJyljohF5uPZLhjVpnYkzzMMEAQWKho-T_-ZSunj99fd0GRCTzUp9sTfXYrP6nHkX8Y5y6pgPBzUcYpyqagn2GXz-V4WYUuIKawtEeHJIqi5oznfsvOJhNj22rj6AiwsYNGhbM-X2w1XIl85wUDUFJTQ7HWSgzCUVtwmlAijcMBLp5qmsHrkN-0-IZT8yMDkRULXIKh0VNSeZ-fhNhybLx4VlJVEKieMS2QmxT7vtAPIrm_aFKLjNihi88VdAB7Stnf_SsF41SC2qv6O5S1-T84lcsnnFczxEAQC0bK2q7MJDvsRgrLsEkomynypc3xDkFXmQ11oR_35R7Hjk03E3DfseKC3cw5ZxwkvT3oTkJsjVAAXv4siH1ybSWXzGDZAuV0tmLx3uN9z54GoSO-EIMmeYYyh1Hkr0K5TREpJ6b57yjVzGDiiPMHf_xjKTKM4gv0HBYJRk0LAInpRVudbI5gy1gBonYd7UjC8csrEoFNZU26gRag05aPVtD4azlq5gm3dvqCIs9FA1R9iXLInta5ZsbMlSy5O64jeT1J2BKo640IIvlxzkacSLO3h2sIGC8qws9Z1rFq9cEBwCH71-ZMv93Lh2Le4tvAvPEyTjg2lle7XvPdUmjl_XQoqZfE47XW3irKsyKTtR2tsmSK6rjaCZCsz_FSX_uKLil9A7Dzxb1TM8oybAyfXEz9Maz0W9A52ZqKhnj8yF_Zv_whZYYf29FvAeuoISggI0bNP3FaQIBEcr1ovVHS_NXceXSv2NC2ZxSDUDpenoU47lGaYOTVui4_QUIvTDiOC6bo-i7dRn2BqT2Mpnl_UZIO7YcMnZkHcrVUUteZNkAx5yNh2KJaUErzk8DnbNlgfUym5H1IHwQUP9FUjskRed1WzegrT6zSK1l-96twlTuF54mhnEfeddiJL-uuHq_9JJNFJR-YGM-Y6F8jtpUf7XHdnQ7-628562krI8irxhU1ke0_JndRC-muMwvz8E3AKP2WjUeJdAGD1F9fRZgfRX86Fa0a8-NbBL2vMWHWnmZ0TGZa62lxL2WQvvv8ftEWU8oeApOYwQhQ1wYL8jKmSclvP_CIIU3ICR5jaFSUOya80IZ8sub0N5jk48lELT3W2h3NjKWaV3ep2O44rxxEV1D",
  "id": "rs_095f3cef19f3ec5b016ab45bb8dbdc87d0bdd0b8e1bff9916d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm has stopped following even the lift, while its orientation has drifted from the starting pose. I’ll command a clear, retracted pose with the original orientation to recover controllable motion.\"}",
  "call_id": "call_zLfMJylUg0e3ZVmi6EyglfCV",
  "id": "fc_095f3cef19f3ec5b016ab45bbacfac87d0b80801bdbc983794",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zLfMJylUg0e3ZVmi6EyglfCV",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4744, 1.1984, 0.8753, -0.2981, -0.4221, -0.3138, 0.9971, -0.0254, 0.7952, 0.6403, -0.4713, -0.0513, -0.0593, 0.9998]\nstate[eef_state]: left_x=0.358 left_y=-0.0985 left_z=0.2026 left_yaw=0.0304 left_pitch=0.0011 left_roll=-0.0117 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.1777 right_yaw=0.0244 right_pitch=-0.053 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2991, 9.7299, 1.663, -0.0904, 0.1734, -0.0073, 0.5128, -0.7863, 10.1675, 1.9512, 0.1685, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db44276d9f671de239a3cc47d9cfcd893fa13fc188bffd1401e070bddac12d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85842b3e059e9d7def63d236694c1dd1c579dd228a9a6071bdfdf65cbbaa5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9f9057dcb6ddc7a1502b069d377d3d2b1ff9a37573e29db39f834c88c97881",
      "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 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3565, 1.8526, 0.8211, 0.3553, -0.4583, -0.3351, 0.9971, -0.0406, 0.725, 0.5186, -0.403, -0.0834, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0801 left_z=0.0433 left_yaw=0.1893 left_pitch=-0.0353 left_roll=0.0169 left_gripper=0.9971 right_x=0.277 right_y=0.0071 right_z=0.1549 right_yaw=0.0474 right_pitch=-0.0347 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -8.0752, 6.5709, 2.044, 0.0024, 0.2125, 0.0024, -0.7043, -1.5932, 6.7624, 2.0342, -0.1392, 0.0122, -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]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.688, 0.4553, -0.3752, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.271 right_y=0.0073 right_z=0.1411 right_yaw=0.0476 right_pitch=-0.0332 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.2803, 5.4632, 1.7851, -0.0855, 0.1832, -0.0073, -0.8547, -1.1829, 6.8308, 1.956, -0.1685, -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]: [-0.4744, 1.1984, 0.8753, -0.2981, -0.4221, -0.3138, 0.9971, -0.0254, 0.7952, 0.6403, -0.4713, -0.0513, -0.0593, 0.9998]\nstate[eef_state]: left_x=0.358 left_y=-0.0985 left_z=0.2026 left_yaw=0.0304 left_pitch=0.0011 left_roll=-0.0117 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.1777 right_yaw=0.0244 right_pitch=-0.053 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2991, 9.7299, 1.663, -0.0904, 0.1734, -0.0073, 0.5128, -0.7863, 10.1675, 1.9512, 0.1685, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db44276d9f671de239a3cc47d9cfcd893fa13fc188bffd1401e070bddac12d6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85842b3e059e9d7def63d236694c1dd1c579dd228a9a6071bdfdf65cbbaa5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9f9057dcb6ddc7a1502b069d377d3d2b1ff9a37573e29db39f834c88c97881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvEd42dbrv7J5LsuQAgZ8Kqun3QFFL2LKNRegFIxk7Z3eUxzKbi0worzxGdaoC8LoJHMsNccoL-T1S_o2F2mjypeD1CS8K6s9pXAF3LM6LBAJLfmneaF49qYcpLZBPfDm6ztT7qSEl7L6p7uuBeuX3DvxVBmM8UBhW-LHSbc98EU8hVnlHDBlCumV2r9Fg7W6hHAIUhSKdvtr3Od27M-N62ViRxgtGYEve7kfK3FGZXYkTwwkGSiLuUbDXjk3MgGsWMSYeztM5VzF4P3uAfUecaMxTorQLgwJtJK0vp0w4A1yhtStyn1U4eZFcbnjAB0QDbGcxE9TSE_snpPngNaBJXLVPVG0zNjlF8kFah7EXcYghDpOYZs1WGs_d_FtmeZxl39GbNaL8Gc_JoDZ2z14L6D_9ws0vePSK1G421v4MlB58I-bCEMOgjbqdtFlxm0Yjg80KFY_y1iTjO2Oc6rXkDhlD-v9J36Ql1LAQf_rPUUYttR1EU9w74rRAoiGEsDUcWniiDNQSc33K8S2j52eTQE_yHHUyHKBJ_KzYnkyqHCHPaLwzB0Lnt7zIDfot3_Tpb6qgCUVyaNNBzQ-_On5UjZUoH2u9LDUaYtut6jJVViMphEgw-eVYw_2c69u8hkZQ_P9wBmPfzWk8J3mu3gWKPiGNO3uWuJDyKYYGDorljLuoIMfTb0dG5-gTb4c7b00tUag4eYetS0kNvfo_v2BwGUmgr08aoXRc33zYNpIm6VoTCvXEzMTSRCTqVjCZvLe4jN1BbPWKQQhEl3YIyIiCHm5B4z1yHC1vVEYixvgGJE1q9uJs9JB6s2qL_vJTmLkcqRf3o_phfCiqCdcD7KsDJbFtdderCFHpMDb8R3IcPZ_fiJ605FW650jrqh33nLLuRNi4oUPY8mu3Iu_uzVaV9zzV5Us-qMimrvfub320UqpvS8CQJAScchU6PXqbmQ2syC-gUW7Yjw8GpNsZYT-sj2SE88Hm6Vi7S-Csygs0iLMU4gSxZr4mX-0Lg8-8qBAFuI7aCZu89u0x-oj-TclYI3Y4nqnyOXobESNWqIAmajgnLpWZxPN9VWm5D4mJEuop3cz0lgTMyAwYQqClJErPDEhhRV1TBcBQW53d5cDI-wqQX8lipDveh1mTdkRR_p3fbNa1CrazX8Vgt1OyFctlf6sRS5bSYSYWsJYGg54Fz14Rg-BAzv_9qULx3dlivpii_iHrnufjtsHn3DAcnyMRTjDYBiojpr-iwALoGC3lVCp89Rs2M3B1uy-TgdiGrRo0m9vXSLCpdYXSCDlSqdie-LpjIkrFIoMQ-7khuao8ypInUTPU8T6vLe2351PYCpDwe11Fps59ZuuwiAjqm5zKahSM5o2sKz2bKWuNoPeZMSz5UvdgLgfDpOw5hbICy9ZcLP2sQypp6vi0v1VjtCo8XQwoQaRYf0_018wv5PWoSTFAPbswXRU1wMCEu8GzsP5CzUzp3Kf7GmwBUdBCkQi2uREgsW1m6Eso6ITHIzEUl2zPBRdzo7YQftdKV8Sfx-McHtXWuQNwWgqfK3jejFEvXRsnAHx842oavqKvgMNp6JvyeVnmRpY2zmOCnrPB0lmRAqD825FlvBMenSZOOhVkLi5g5CrWSSu3JGMtRY8ePPRyCygnhb7FadWnbZPj4M57Qt9z8x6-jRHMPt_gc_7Pfqb74t2e5QdyP_pulVdV-TkKkgHJUhu1fvhLcyfSe76btze_kxZYd6i0hxCKBW1v88mi7ZdbPhtD0R4tr4DkVSO0r9OiUfiBbcaH_793gbU8wakUMmPwx6vTBVd1LZkwMMocXVoTqCOhIilIRzUx-sZoCGeGD5-rS5SwMTCdIB1isab3vnjPQnvAtr9oiVP_iojvmrxCIdjAuAuflFXFidu5T3l7E3ZvGX6jDorAFZUeBbJH34ocZvgathsW1SfPF9gaye4of3EcdMcmh2_PKsSREOO5LUNUJCI4JPMfc1SYQiu51f6-XbWKzZfqpyV6aMCarUlYbUePn18wKbwMtHK07v-N3gWZ065qFElT815cth90O_sLoZBNRWVQWUOSNsPps-xf_SN6sscaiasbZFEZwypSOyKJ1EBZZt7_8_rfsz_MV2LOtJil5ibYd1Tmgor6O3DKdNq1jsfj2C54sJCNBe5WCB9mJi93hDsZgPaSXro1zAmn6J6AQvPMAY4m8mg==",
  "id": "rs_095f3cef19f3ec5b016ab45bbfdb3487d09d457b1d509780d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.03,\"left_z\":0.055,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The arm is moving normally again, and the left bottle is isolated from the others. I’ll approach its neck with the original tool orientation explicitly maintained.\"}",
  "call_id": "call_n0AlK3IRxOjmj8LkRlfTKlhg",
  "id": "fc_095f3cef19f3ec5b016ab45bc3298487d091222a992f21befd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n0AlK3IRxOjmj8LkRlfTKlhg",
  "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]: [-0.1368, 1.6695, 0.6281, 0.424, -0.144, -0.1261, 0.9979, -0.0265, 0.7616, 0.5861, -0.4446, -0.0559, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4214 left_y=-0.0288 left_z=0.0519 left_yaw=0.0373 left_pitch=-0.0493 left_roll=-0.0084 left_gripper=0.9979 right_x=0.2816 right_y=0.006 right_z=0.1674 right_yaw=0.0265 right_pitch=-0.0468 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.294, -6.5162, 5.1897, 1.6239, -0.1587, 0.3834, -0.2369, -0.6496, -1.6068, 7.0632, 2.044, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bcfe0183d1027803aaa96045fee4263fa8fc51b59a7672a1fb0d0341604910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f774143e49e3be31f88d05a1e5f2cbad7d5c2dd01afe93c85b0235a323765f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac72f12d9a2bdb2d9b1b6197566f32b56cd7bb48ca2d91886bed8dc3994899c",
      "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 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.7063, 0.4858, -0.3882, -0.083, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.2739 right_y=0.0071 right_z=0.1477 right_yaw=0.0473 right_pitch=-0.034 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.212, 5.2855, 1.8144, -0.0904, 0.1636, -0.0122, -0.7863, -1.3607, 7.0632, 1.9365, -0.1636, -0.0171, -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]: [-0.4744, 1.1984, 0.8753, -0.2981, -0.4221, -0.3138, 0.9971, -0.0254, 0.7952, 0.6403, -0.4713, -0.0513, -0.0593, 0.9998]\nstate[eef_state]: left_x=0.358 left_y=-0.0985 left_z=0.2026 left_yaw=0.0304 left_pitch=0.0011 left_roll=-0.0117 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.1777 right_yaw=0.0244 right_pitch=-0.053 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2991, 9.7299, 1.663, -0.0904, 0.1734, -0.0073, 0.5128, -0.7863, 10.1675, 1.9512, 0.1685, 0.1734, -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]: [-0.1368, 1.6695, 0.6281, 0.424, -0.144, -0.1261, 0.9979, -0.0265, 0.7616, 0.5861, -0.4446, -0.0559, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4214 left_y=-0.0288 left_z=0.0519 left_yaw=0.0373 left_pitch=-0.0493 left_roll=-0.0084 left_gripper=0.9979 right_x=0.2816 right_y=0.006 right_z=0.1674 right_yaw=0.0265 right_pitch=-0.0468 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.294, -6.5162, 5.1897, 1.6239, -0.1587, 0.3834, -0.2369, -0.6496, -1.6068, 7.0632, 2.044, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bcfe0183d1027803aaa96045fee4263fa8fc51b59a7672a1fb0d0341604910",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f774143e49e3be31f88d05a1e5f2cbad7d5c2dd01afe93c85b0235a323765f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aac72f12d9a2bdb2d9b1b6197566f32b56cd7bb48ca2d91886bed8dc3994899c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvJ00uBp4h-CyoaUMtiW6FDe2XrvU_6H1YgENFzvYMLYS80StEz1Tej70WW2CzZC566Z7hRhYa8R4hDNZvI_MLPt6OxpxtfRBe12vOHIw0hPH6xmBN6C3X8DQjBy-tQG-yLHvNEWFTXrubW1JtWb1bGHZQ2_ZuuXVZ_471C53WLMdROqjD_OpLgi5LSa02IkBaKLbYw54W_y1N9Zx6L0zipjhRs69fYCWWZRrePtiZAbyBZVCtuL2WKJG0JhFnDbvIMPTTf8hKIBjdSyIkK3boy9Sql17713BYA_Tf8STQ2j1Fo9l2lAfa9HCsqrp0cLqeJbS4t3bmXnzBow_2pygMuRSJ7-E9xX333xRE3dSeN64LLmHeBa2qcL5Ey9_YESyc5VpEVfjJt1vHbFjyEgL6ELhhi0Vglp9ou_IOpaJRH1BjvIe8uTr1GvSykm2iOyxCjeCyJ3mAgzzIGZ06_H0Emca1bHzyzJVX2KMv0KN0MSOWOxA8sarNyUb4bPYgRBmqTUDjqPES33Kp7yOjNzT9XR3C_j4h0cBFLmNUxfYzDBTO7TwRhrTP1W4TflfgKR7_AWUqXDqDnomwk-QVW7b-lSRnP_By_C9lf-UjNuh0AnOQZEwhbba8iZqcjo4e5VWElDVSNyDKLb3q3VfOEdJlnJlpl6bx4nGnNgw2coMcUbUKX8C1FMS1hoHqC0Sv82v73vg-odI3pRcn3yNteoK5ZoYIwa5ql5_X-6qXE5MeAQj2qDXwWd2bBqKtCmwmvrVlXCbQR_iKm_P5abNmAvTu64I0rnZz8nSfh4k-HQskFQcGKZaIR2aqvczxKAZeYBeIhfixi7SZXaylFqShntB24cIya9E_Mmnb1T3aEXANs6NrTYtA_7BYhpCAEbwDyWazT2Qm-eQbJi5x_IaT_sB3ubFC9gQGpUK__zRdqwOwiVuY_2Y97gDcRlpmBqEp89TBQVF8UYmXdbBbew1aKeT8kkDIkUtwQmIjJwo7_84f7v_FNKgkOeXEpbrsUKZzd5qRSAjtmxuSsqYedOkOyePJs5hKLhYbAsmqDgaSKz21prPgaKstCKPd72UGK_Rq3H7alqEkH3NfictpB98ppltGTPrYAgHLBCyWzhJxHXdwzdg_jsWJ0m2_03u30R27WqNu7da9x8_nOFXbLD-cGC5i1Y5-YDTX6U6U_Pr1wP6BH585jGwgy8DfdEFwcGCv8xRuyQCR3UQMt_Yl3-MijJlPPSMUlp5Xow1q7QvFrMhvO7EgLpBEeMXaNxoskS5hUym9JGDkDc3tfbDqG28_JB3E08a1ZMSVCAK23bglAFrQMpa_EdtTLRKXm64MKQ_pKECxaH94SdaQbd0L38TkraCi39aZt1ah2NuYI6deNBIf3mn1uFxNrZKrGf1SM6gAKPHyFPvimN_Zg-iAUpsuDDpxj6AuSjqp9nJMKNeJyRH4vg4dRY8-juUdxOfk5r7AMyQeN7DQMU00ZE4asJLJljIgV-0kpjqYUEjcQzR94qDULp8o=",
  "id": "rs_095f3cef19f3ec5b016ab45bc7260c87d09d2fad5346bdf475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The left bottle’s cap and neck are finally centred between the fingers. I’ll lower a little and close around the narrow section, keeping the tool orientation fixed.\"}",
  "call_id": "call_RWVVkEOPRAz29ZDjJn42saZJ",
  "id": "fc_095f3cef19f3ec5b016ab45bc8a30c87d09b55e8a7c458696e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RWVVkEOPRAz29ZDjJn42saZJ",
  "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]: [-0.1287, 1.75, 0.58, 0.6914, -0.1307, -0.104, 0.013, -0.0265, 0.7326, 0.5396, -0.4194, -0.0559, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=-0.0296 left_z=0.0569 left_yaw=0.0226 left_pitch=0.0867 left_roll=-0.0188 left_gripper=0.013 right_x=0.2777 right_y=0.0061 right_z=0.1589 right_yaw=0.0263 right_pitch=-0.0392 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.1214, 3.0701, 1.2821, 0.2027, 0.2222, 0.6911, -0.4444, -1.2513, 7.0496, 2.0293, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e781d8162fd83c64abd8a26a02df6acaff84bea37ba322a83b64c0b3d7a472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab04080353674523c18952073f3ce65fd7064c83ad6abdef533a12d9e340ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22de48908b9be3c69ed5b327a33ea6411d448a5ba1254deb7a02fc83fcd2e2a1",
      "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 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.8614, 0.804, 0.4149, -0.4488, -0.3359, 0.9971, -0.0406, 0.688, 0.4553, -0.3752, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.4528 left_y=-0.0749 left_z=0.0438 left_yaw=0.1984 left_pitch=-0.0095 left_roll=-0.0061 left_gripper=0.9971 right_x=0.271 right_y=0.0073 right_z=0.1411 right_yaw=0.0476 right_pitch=-0.0332 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.2803, 5.4632, 1.7851, -0.0855, 0.1832, -0.0073, -0.8547, -1.1829, 6.8308, 1.956, -0.1685, -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]: [-0.1368, 1.6695, 0.6281, 0.424, -0.144, -0.1261, 0.9979, -0.0265, 0.7616, 0.5861, -0.4446, -0.0559, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4214 left_y=-0.0288 left_z=0.0519 left_yaw=0.0373 left_pitch=-0.0493 left_roll=-0.0084 left_gripper=0.9979 right_x=0.2816 right_y=0.006 right_z=0.1674 right_yaw=0.0265 right_pitch=-0.0468 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.294, -6.5162, 5.1897, 1.6239, -0.1587, 0.3834, -0.2369, -0.6496, -1.6068, 7.0632, 2.044, -0.0904, -0.0366, -0.0122]\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]: [-0.1287, 1.75, 0.58, 0.6914, -0.1307, -0.104, 0.013, -0.0265, 0.7326, 0.5396, -0.4194, -0.0559, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=-0.0296 left_z=0.0569 left_yaw=0.0226 left_pitch=0.0867 left_roll=-0.0188 left_gripper=0.013 right_x=0.2777 right_y=0.0061 right_z=0.1589 right_yaw=0.0263 right_pitch=-0.0392 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.1214, 3.0701, 1.2821, 0.2027, 0.2222, 0.6911, -0.4444, -1.2513, 7.0496, 2.0293, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e781d8162fd83c64abd8a26a02df6acaff84bea37ba322a83b64c0b3d7a472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab04080353674523c18952073f3ce65fd7064c83ad6abdef533a12d9e340ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22de48908b9be3c69ed5b327a33ea6411d448a5ba1254deb7a02fc83fcd2e2a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvTgV4ucdEFioS1VccsL5yHNNSC7u71AHT4i5aAxYhYPMyUxEIxBOW0hgxvjqUfEhH_WRD_7BCR1PubAzsXN1cq03Bkpv3e9jFHgwLcT78_WyOyVfPOxpfIQvstrmHyw4MsKTrVQLN1orpT9EWFs6FDNRD4nGZtJ87EcrqJAd0hJ2kp9iefZdRXleo6KSNFh7u2TOzHBILhcJhz5vFp62q7WxBwSIbs1T7DvGIsdglhdR_qtBoGr8GwVfceBnhhjPfz1aek_Qwb1zviMCdvzEaMJmhxLyfETG_bF-va-Lx4YYDqQnqp4AA4wP9AYjk2I676c4kQqUD3-z7ZVMRmxRy7BrWJlHOaTNPR9tz9tIUU9ZEoq9iZ1CYrUJBzX9adYO18pOebGJU8howeDvkUZkpHl9DO7qYu2thn_y3Eaw2BsyD7qTZB8SP8227W_ilkvY8j8QIEKvr0-kfGYFRibXgwhYqWlLFPvgmPxsWouNKqnfTr6xCZaVa8HrduYBlwUBqUUa_iY5rq7tbKC3MyH8H3ACYTSIv2fLv-b7WeX5sZTizu1Fuo3aq0G2ON9y5N_Tgh638ybZU8HeY3-PAwwICg7WhHmQeU9uriaHUEgvv06JtolUL9DsoTvzY-ddyO0y_w4No-IPDjDc-PJ5oQlJlPrScEtEr7_UYmRCUPh6N6-KUkTPCKWM_11omwaZ3eFleEs_oHv7QmhoJANCg2zGCBsyHp7ELDtHStBUJYXpHuNycXk_Ejm2wDTnYuX_0g6h-V8j1_yKwRY7vsho69gq15DwNy9u4ZDWZ2wiYALMTw6EV-pBEZqwJlpIeOaMyNo-Ggmi2p__uPQgb4_N_tAJeZGScDeDRhJAx8EIbOMGbj-Rn-5PQjXn0Dya8ta-2H5LxfHAxcAlnWjlAHJ94sh3O-fUNmpWZJFM7gNsFu7DohU6MWAZ3c1WSnDtQyaN_LTRYYtZaiJ2dNFzlLJG_icVIF4ZMmlMN8UjzxHiAC1jC_edhzgX_IRTPqL-q25uhZxctZuu-Cuz9PjHDButBDT0_f3SomPCZe159Ns_amiyU93jJhhTd-Heoe0tX1tUueNYsAz-1DScAadaEq57nQM8bQQUkH6RzxgQEqnBiuLh-fH8Uwj_H8yFIiV3YuF6d1TPU1-qRCjcs3jCi1ktGYAYkR_SAXwa-ysvmipG2egT_NEyuEcbNcsNebgFibGUpd057ti7rv7_ipouTgpmtiU21tgEcxt8w82U1P6vet0mTIQI_DqcLRnDCbaZKdJyLedsp8HDjf5IHJdf7gNvkycRuOByzI572hTN6vBotQl_vxvNEPRnUEYHqrzyZ6FilXmRIXV4sNz2ly7-W0NrZXsW2hXNTD7kgqgJ8uApDf25oUFRjG659XJ37OsJm_SVdW9WuaPGcV6cDBCntVUssp-VNblm0bYUComBNctaTdgAHAFHsegnQdMMThg0_rQP0eDj7XsBkFXOjqZVSDxQPq_p_Jtw4--XJVZMrgKM0C6Lyu3infbZbzheNZqb4jrsvZ4Es08vW81XET5W0NDZm4qNn7nquPnAu_55HSmmGxLPEpECQW672WCLoASLXcepx5DSzXJnoVUURNlyVptSusRUMikhSz2ltfijkzWZQqJP87BShwpI4JM-pc4q2Df4NdAp9TewKfjudZwlBtp-__Xf6JjXtferI6oh1gTX1qtw6kNATfVqDGvqHQkENmyxzZgQRt3o3eG5yRCrO9WYNuFcs9SndazgNmxjEYOv3-TES23oqiBilfxLqC9jJs_VPX3JWlhRC9aCKuPenG8PSUHoFHEBOrOQvuT1AIHFfNGG80YUEC7hAbMv6fxCZ-jDQnj8mvEu7DbGdC98M3FdVDpkHfElMspgCAKK4voNRFPDrvD5TvfVlkpH7OVp7PuO-S7inSQ0yl340H7LODuQmFtyQdqVi2mwhQa0GpdQc8Lu0grSmoTPCgopC_jFjGLQujb--8v03x-N1MGhXUHvfiWc5txOIgSvz-MP8f7gC-uJ1qiIDRdEISmNvwsGdIAG0ipznUpyMrHCr1YP2dBUN1TS_XMXXFKbnNcQUhIEidUSYmVuEDzwpHAsDPGe2LOz1eArTiSr84hJP34tVkiVEMtSR04FZ3NMJna_DZHOOg3k5u43rP6QJFAg6NeTrvS9Ft4veokEZh3Teqif5YxpUuo4LKQ4RAOUbAFTa8_waMAc3Z87KzbpO3laM7eWYNgen3TD9OqZwfLj8zJaG2AdP0QqbBnrZ0I45B4md0tw8EVbq3-k5bvbDNxoWFbqh5doUs6kp3ygbBI60jICGn6XQA22hDsLkupRBnJuV7eXZrQBuFs4c173OtZCyfRiJgEnUnoSuMSl7rTRnZP1MvxUSUobvMNFEmhYDV-KsPpJ3RfBM0btEsrRMt3axbLTKEdEhznCs44kWZcSpP12WTR3tCeLhxczk_tJOZoV0zjPaCHyrdGQNqlIbtosdwgOIkIrwRoOh-",
  "id": "rs_095f3cef19f3ec5b016ab45bcd2d9887d085caf10e23e4bcd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.065,\"left_yaw\":0.4,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The rounded neck slipped sideways during closure and the jaws ended empty. I’ll align the jaw angle with the bottle and move onto its shoulder for a less slippery hold.\"}",
  "call_id": "call_nxdKXJK5rrMjkJ5doXAou87C",
  "id": "fc_095f3cef19f3ec5b016ab45bd1e53087d09d62ece391d2d17f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nxdKXJK5rrMjkJ5doXAou87C",
  "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]: [-0.4732, 1.7012, 0.7162, 0.2443, -0.6491, -0.5266, 0.995, -0.0265, 0.7113, 0.5041, -0.4019, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4023 left_y=-0.082 left_z=0.0607 left_yaw=0.3226 left_pitch=-0.0067 left_roll=-0.006 left_gripper=0.995 right_x=0.2746 right_y=0.0062 right_z=0.1518 right_yaw=0.0268 right_pitch=-0.0357 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.2137, 7.9111, 1.2967, -0.3785, 0.105, -0.0904, -0.5265, -1.4838, 6.9949, 2.0684, -0.1148, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b009b2bab82b118924b77710584d76508f1496ed0cf0fa2ae4bd308123b220e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cf4356fef9f6757266befae6ab90e4175059e0bab0be2dd3bf04789bd4a024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa55f32e9b53a9e0fe1a59adbb774babeafd65823df1394c77b914844d525f21",
      "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 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4744, 1.1984, 0.8753, -0.2981, -0.4221, -0.3138, 0.9971, -0.0254, 0.7952, 0.6403, -0.4713, -0.0513, -0.0593, 0.9998]\nstate[eef_state]: left_x=0.358 left_y=-0.0985 left_z=0.2026 left_yaw=0.0304 left_pitch=0.0011 left_roll=-0.0117 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.1777 right_yaw=0.0244 right_pitch=-0.053 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -5.2991, 9.7299, 1.663, -0.0904, 0.1734, -0.0073, 0.5128, -0.7863, 10.1675, 1.9512, 0.1685, 0.1734, -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]: [-0.1287, 1.75, 0.58, 0.6914, -0.1307, -0.104, 0.013, -0.0265, 0.7326, 0.5396, -0.4194, -0.0559, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=-0.0296 left_z=0.0569 left_yaw=0.0226 left_pitch=0.0867 left_roll=-0.0188 left_gripper=0.013 right_x=0.2777 right_y=0.0061 right_z=0.1589 right_yaw=0.0263 right_pitch=-0.0392 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.1214, 3.0701, 1.2821, 0.2027, 0.2222, 0.6911, -0.4444, -1.2513, 7.0496, 2.0293, -0.0904, -0.0171, -0.0073]\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]: [-0.4732, 1.7012, 0.7162, 0.2443, -0.6491, -0.5266, 0.995, -0.0265, 0.7113, 0.5041, -0.4019, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4023 left_y=-0.082 left_z=0.0607 left_yaw=0.3226 left_pitch=-0.0067 left_roll=-0.006 left_gripper=0.995 right_x=0.2746 right_y=0.0062 right_z=0.1518 right_yaw=0.0268 right_pitch=-0.0357 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.2137, 7.9111, 1.2967, -0.3785, 0.105, -0.0904, -0.5265, -1.4838, 6.9949, 2.0684, -0.1148, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b009b2bab82b118924b77710584d76508f1496ed0cf0fa2ae4bd308123b220e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cf4356fef9f6757266befae6ab90e4175059e0bab0be2dd3bf04789bd4a024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa55f32e9b53a9e0fe1a59adbb774babeafd65823df1394c77b914844d525f21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvYBTknl0huFiaFASqlDaumeayNEA0ae6iiBME43ln1Gkne7AFCNilBc-C3_PO6UcWoZiDI1uGiLuPQermXmu7ONHQHvKQZe7c5Yv_b3N7N-_oaAddncdiT8zIATT_EKFUHovQyw-nCl0ZCCmxIpYPziDMSAWFYSHeuOrvcB4G1fcd35UYwYIXl95zIErEocIldIFAndp55qan4OHP0wbKY1_pqSlwg7hFkUPQdQiT-ZtQA3DOLqiDqo2QupQAqB9DBYvfFMufYD-3YuKl1QygE3jbExuP3MPQFCD9r6GcaV2L8V0PTVyn9As3ERQLNkOKn7QtR_8Wef89uBbsBnroaB06Q-Q29lXNVnbKjNXSyTqxP3Bb0T580fUTI4DmUnixWXL5zXvRtacxpmc2imvGWizoQHByMQjr_2u1WAc71S-5R3H4UTNUFGxUQXrPav0t5PcHuwY8vs-CW27xyy1fJVIy1XCJ7BFixmmLMOx41kxPeX-PuTc_sOvrcbQ-BzOJVrUrdxewRqKGIrP3d-st6XmAA1nJPzGf-AlV4LR6ZyP4NeN9NEYmgU-YJdiAjZi-x2c2mPvPwbi_Sy6Km4fsdiGPfFo0HEPYWiwQ_MDSE3hY8d9JXc7EF2twUw5AyKPnXwLmruWDyTob8b3MnqFk5-1DYY5kvl8wQoLmLsu9dEbZ26Qu23mnfWwtCu8R2Lru0UtVbk8CWnOO1zkueo0ecpSMDfck5Z1CGQ0tu3SiwLOk4b3BYPvD-ryYdekKGMKcCkPzUXDkeqLUfbXqJmJBF-wRBniTNALpD-0MAQipTKOsj4rtBilqbVi5yyx244DAfFfD9vVqkuT_I1GiZVeNgLqnXZYHKFbJd0PY5yfbFdFq51XCB3x5Am6wMgLXnhQKvbTXLvxQDkIPzUu8wLqhG2OGym_xZNkNLFzPJ11gAGGdlwbdQBSbw2gMx5eDaKB00ytNrygodK7Ss-ex-zCGFTlgGq3ngONNVVDjrkNfbIlgHEhY0pEM2h0TLXTVO5v2H1a7DFMzLgOZSWkyw5ivEp09r-0uuR7oU3rfXhBSoafB42yFs2Wa3e05iNMxGKjYqqEXMegnZYDj1ltCf2emUH-Fc1jq53XEvfThzeXOHu6eHmSzbVlROAYi6onleYrOTwHIyvKq77Bv17HbyW8j6sJtDMUBNZYzRC4yGBSgsjsNN1HEE9vvZCFsi76HNKLrYzLbjqgRCAYpRzOJDJ9tSDNTG8JEPXEma_gNzqkq88B9wDT2ntFhq_aC1s9XlRvDZ9bF6iClMAYOiF7eYgtHflkn1NcGzfAnl-lyRT_WXP6D8WScBlJOoKQWDVNiVHhnEPCfUYn7vgd57Ddt04GbfSpjorhQcAnJU7x3v8zofw4oqkBkW1A9rzFDlTLZSyFOiS9zgEE7T7TSFFCYN7MYu5IdUs0Lb8cWH082vrxh2FPYbjtVETvQdJIrlu28y8xb3yHydocG-42pCMU4IgmTNkwX-I9yGLlVPFXQibwUHwtY=",
  "id": "rs_095f3cef19f3ec5b016ab45bd5fb5487d08def953b38f41f7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.005,\"left_z\":0.065,\"left_yaw\":0.4,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle is still left of the jaw centre after rotating the hand. I’ll shift directly left at this height to centre the shoulder without advancing into it.\"}",
  "call_id": "call_RCDGZwtKmuj3w0ZUWgxuqYVQ",
  "id": "fc_095f3cef19f3ec5b016ab45bd7a8c487d0a7ac87e05186cc57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RCDGZwtKmuj3w0ZUWgxuqYVQ",
  "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]: [-0.2657, 1.6493, 0.6304, 0.3103, -0.569, -0.4362, 0.9959, -0.0265, 0.6914, 0.4713, -0.3874, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0062 left_z=0.0557 left_yaw=0.4212 left_pitch=-0.0196 left_roll=0.0091 left_gripper=0.9959 right_x=0.2716 right_y=0.0063 right_z=0.1449 right_yaw=0.0268 right_pitch=-0.0342 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.1692, 4.9983, 1.707, -0.1929, 0.1783, 0.0757, -0.4581, -1.3197, 6.8444, 1.9707, -0.105, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e9bb8cf4a4320e38abbf6ad186f52a222d58432c4612c26b9904012a1ce8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf71c4faca2fb8ee573be77fa9171d057f15ee29750b51b43e6f87d824f37f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cebd8b7b3940d29ba6a931c81e11040228445316602baae3124330551b27b3",
      "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 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1368, 1.6695, 0.6281, 0.424, -0.144, -0.1261, 0.9979, -0.0265, 0.7616, 0.5861, -0.4446, -0.0559, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4214 left_y=-0.0288 left_z=0.0519 left_yaw=0.0373 left_pitch=-0.0493 left_roll=-0.0084 left_gripper=0.9979 right_x=0.2816 right_y=0.006 right_z=0.1674 right_yaw=0.0265 right_pitch=-0.0468 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.294, -6.5162, 5.1897, 1.6239, -0.1587, 0.3834, -0.2369, -0.6496, -1.6068, 7.0632, 2.044, -0.0904, -0.0366, -0.0122]\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]: [-0.4732, 1.7012, 0.7162, 0.2443, -0.6491, -0.5266, 0.995, -0.0265, 0.7113, 0.5041, -0.4019, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4023 left_y=-0.082 left_z=0.0607 left_yaw=0.3226 left_pitch=-0.0067 left_roll=-0.006 left_gripper=0.995 right_x=0.2746 right_y=0.0062 right_z=0.1518 right_yaw=0.0268 right_pitch=-0.0357 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.2137, 7.9111, 1.2967, -0.3785, 0.105, -0.0904, -0.5265, -1.4838, 6.9949, 2.0684, -0.1148, -0.0611, -0.0122]\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]: [-0.2657, 1.6493, 0.6304, 0.3103, -0.569, -0.4362, 0.9959, -0.0265, 0.6914, 0.4713, -0.3874, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0062 left_z=0.0557 left_yaw=0.4212 left_pitch=-0.0196 left_roll=0.0091 left_gripper=0.9959 right_x=0.2716 right_y=0.0063 right_z=0.1449 right_yaw=0.0268 right_pitch=-0.0342 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.1692, 4.9983, 1.707, -0.1929, 0.1783, 0.0757, -0.4581, -1.3197, 6.8444, 1.9707, -0.105, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e9bb8cf4a4320e38abbf6ad186f52a222d58432c4612c26b9904012a1ce8b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf71c4faca2fb8ee573be77fa9171d057f15ee29750b51b43e6f87d824f37f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47cebd8b7b3940d29ba6a931c81e11040228445316602baae3124330551b27b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFveMEzHRomHsV90nJhOkUDREqQIDodrezggBt1nWUCaaerdCOxS0wd_AstT36dN-AieV6zz9BYtB102OKu7-DkiblYsvm0cMxZiEEPcgIxp8ngEQZYXCsznJUD3FgjkJ-pT-NIAJjBXt1hjBDbKm4QZRABzwqufOlxwOsDFpteiifg8A2lXketmSf9iDvDUv7cpEp3Hjllf1SpW-XFo9Ak9bALD4t3Z0jchyQKD947wGjmMjXm4WxmqVa2KT4omyAz-_Ud4rL3-_wboqPKfX67jMSxTsxE2MAf_rWVznuo4dofBd-yMMgeuow47ShJulDvYPJ0M33vaDwJ5zJI_OeK7_ScDbr1DqM-mXa1fzIaJY8et6qxsQMATCcncorQI8xfo1iSHBoEoKpY58Xf1Hp9MIfZkFmnte7u2RFqJAFioTmMWclzC0FA0CpytvpqXJySny1UJvGtype_a_ZNBVQ0K9hYbNZl1TiA1et-OJUpVmJO0Ms0Y4mMeHVLZ8PgriGmkTjmm5qQ6gDttckijsCduWGq9VHUulDotKKeD237G4xGYRxwERZUfszTzHdrI0wFHk4EVuUeP0AHwMggjNDD2xLm6ypZJWhtPGS2M_Ncmyqx_oqD4mlnBbl-0DoCwBUaE_G6fKSupARzEv79_J-A2bYl9pPHhHpG0xVjSyGZKKn0h4vaaXd_2X21g2GB5j7v33DFgWp-hZEHLjk-b9Ni6GMp70MtIAmWia59p8jnppheJTFAUvqgifruSnsgL3sYTeb71aX__PO7xHzf4vj17I0Y1ryxPyo1wpeR6lDABLbO5nQyfAvvyloQ5VzQw3F5OIjEyXMFogHPRpCjwIVE8sgNB1k8NNqitI5TWM5ZzFN1IIXME81yS6_tz12c9usZCtO4CzeZQLWQppXFyI3mklK037JwqJZshavynX7GPYwarh-8IgTF7moOUqdUq-NDKygm9cL3h8vYJl-4sSxhsp-kF7Qy3aOb1bgBhEWfP0l_shurckxF5YOBD3R7Uu3ZUiMtq99NcvcqCv_coGzdU7kVc2H_XoQiboro4QCmFsp5ytXeE3ZroOEy0ncr4pStXP0tEiJ3H2jOWBG_9CIugrgJz3vcAdjukgHYVOToypEs8ScFwVmVcvHghVi5iKypBmHq-LREMruOGWOLbk6xl2o64-HQW3wKF6C_bYOiPqwCwWJbsPNHiqlT353KVyBeHrr-AiGNMlFM6Uc9gBrukCyWVjkEYj-G2ra8tArSf0I_JhaqXHGTHoH0zvEABTNRlgFx8PZIdmAlo-tpzbztodLEw_xRNkCFGZm8_jZLkrf40QQzf8vZdsJfbZY1M4x_OCB7X-rF_07_5aYveeAXt0tlKiYUdF_yn88N2_bjMRczv_xx5w32pofuTERC-on85U1okrd0j8xdn0UmhhxDB5lD0Qrz8Ah7ajEZLjTT01eyK2tJk2JNHhdQ3Y79m7AaXRHyKFYM-zFSQLAcRQ76RaE5blh6ive-RNV1OMF6MrNbaz1yKXwYqdKQWtwKRUEMkoEHf74GUw7gLOxYugCesgZvgiB2PiXBaGosfhGO-nGg5K6nENBu9ePUWhQEPFTHrQuBynLpnGxIjMxUfkS62fVmecZhfxUb8dy6aZrsYnC1jeDAEc-i4EjORCC47sfhTKOX4_L8TVAfoI4Hy8OTZv75O93CpzKtw5u4-eaCz1wXUkY5x5MkPlS_roxsYfbfn7M79pBj1uUwbYdhkl6koRw==",
  "id": "rs_095f3cef19f3ec5b016ab45bdbb3e087d0b02368f87ce5b1b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_yaw\":0.4,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle has shifted toward the near edge and is now beneath the hand rather than ahead of it. I’ll close once to check whether its shoulder is between the fingers.\"}",
  "call_id": "call_29bHJ8HgDGy1T3PfBp9OgfDd",
  "id": "fc_095f3cef19f3ec5b016ab45bdd87ec87d08cd5153ba707c800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_29bHJ8HgDGy1T3PfBp9OgfDd",
  "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]: [-0.2619, 1.6489, 0.6098, 0.363, -0.5568, -0.4191, 0.0132, -0.0265, 0.672, 0.44, -0.3759, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4001 left_y=-0.0069 left_z=0.0569 left_yaw=0.4062 left_pitch=0.0007 left_roll=-0.0028 left_gripper=0.0132 right_x=0.2683 right_y=0.0064 right_z=0.1378 right_yaw=0.0266 right_pitch=-0.0346 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -6.9402, 4.7111, 1.6777, -0.1343, 0.0611, 1.16, -0.5675, -1.0325, 6.8855, 1.9463, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bbfcb7ba9061367968f8d22f9a1c4621a0fe04ce0d85ce64acd86572ecee09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1c16da34207fef23fd1cad40cf34e8c92d0a019328483b55d5618f5433f533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3530a6f9a2cab934344c24d93de08df40eaf63faf2e11d70a37fe1c7a6a0e8",
      "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 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1287, 1.75, 0.58, 0.6914, -0.1307, -0.104, 0.013, -0.0265, 0.7326, 0.5396, -0.4194, -0.0559, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4356 left_y=-0.0296 left_z=0.0569 left_yaw=0.0226 left_pitch=0.0867 left_roll=-0.0188 left_gripper=0.013 right_x=0.2777 right_y=0.0061 right_z=0.1589 right_yaw=0.0263 right_pitch=-0.0392 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.1214, 3.0701, 1.2821, 0.2027, 0.2222, 0.6911, -0.4444, -1.2513, 7.0496, 2.0293, -0.0904, -0.0171, -0.0073]\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]: [-0.2657, 1.6493, 0.6304, 0.3103, -0.569, -0.4362, 0.9959, -0.0265, 0.6914, 0.4713, -0.3874, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0062 left_z=0.0557 left_yaw=0.4212 left_pitch=-0.0196 left_roll=0.0091 left_gripper=0.9959 right_x=0.2716 right_y=0.0063 right_z=0.1449 right_yaw=0.0268 right_pitch=-0.0342 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.1692, 4.9983, 1.707, -0.1929, 0.1783, 0.0757, -0.4581, -1.3197, 6.8444, 1.9707, -0.105, -0.0513, -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]: [-0.2619, 1.6489, 0.6098, 0.363, -0.5568, -0.4191, 0.0132, -0.0265, 0.672, 0.44, -0.3759, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4001 left_y=-0.0069 left_z=0.0569 left_yaw=0.4062 left_pitch=0.0007 left_roll=-0.0028 left_gripper=0.0132 right_x=0.2683 right_y=0.0064 right_z=0.1378 right_yaw=0.0266 right_pitch=-0.0346 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -6.9402, 4.7111, 1.6777, -0.1343, 0.0611, 1.16, -0.5675, -1.0325, 6.8855, 1.9463, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62bbfcb7ba9061367968f8d22f9a1c4621a0fe04ce0d85ce64acd86572ecee09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b1c16da34207fef23fd1cad40cf34e8c92d0a019328483b55d5618f5433f533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3530a6f9a2cab934344c24d93de08df40eaf63faf2e11d70a37fe1c7a6a0e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFvk0WdVHN1Md5twj-fL3M7K9lDd9Tc6wihbBCvbiGa3i542MzyjJs5g3DfBtSWqCJfR3UaF0OzYxedgAQ_C8JEkqpwIV3VE5MayHGZCLegdMaWjHCy2T5njIMA58yjdDIrSRJ2zf368-jXer3NKr_hAFc7YAjj236ffZU0VIeKxAYm8YTKx5Uod8i-kIyXT0jO4OsZNYyBD6dIfFgdRPmS4D5DjSi4Wm66G3IgL3_1BKo6qaD4KkaLJJoI04PPkgBFPMO6DIoC84FeKqwxc1nrwRsrrAh6_Spl94qrgCWBtUKtRtDlZjJZK2_1sNeoM79DeE1Ak-_EfLMawXtw74zMeHMFqxx3MMgqmeSR4-HIz_-PVwx5kIzsPJARNamxImGIbIBBoHzO9Z-bVbeoV0zwbckGOfOPTGRlYq1b8ezlxVlILw6fRSThWNmPYHDmm1d9ziargO-38YdwmPDkN0j29yrtAjW0yCCceNNHvS6Oqw9UhKyOfiq6OWB0vKAfMj-UV3FV3lgzvXA8mu01nEcI1AAB2ZwMLBSLOUte2ICB-c1NfT_nrZdomq1O0q9BaRQBRRBSJ2hEfi0fnZoSSgMqPCp2N5NiY7p_XgylhLgvJrR6AWDxBrWQy3goRdJ_nfWfaUFFWE1ObsiASykUcsCuV96ezn6KIyHLxMMcr35ESV8eoSb2u-S7P20Xyo9DZ9I0LGNj0qCas-o04GDsgow8W1BkWJ-poQJZiphgdL700wiWTiyKYRdEHM_MoaxelXQjeygmEXeVVGmBXYq5n9IGJ0EgrS8N7ZY6tIZaqaBRi80o8wprroievWDzRZ9N94z8TyQlInd98Ug3A_RwIdyQkvck9rfMnrP1RBi-sNwj8mJhsUoDCrA7WDulXpoR_jeLo9RKPhc0yzhh5-reuReBxE5-vpbfFNZER5UUH22k93KCAFBYO_glcmlHoZCLThHLBFBSwrTFtDelDHrSRH6yMGMfxPpQ1OChgibdu6DSsZWTrnONpPj6tdnEyGWYyejBlE4pPcC8r1YIwK-5KocztJFCucZFX3oTSuJRN_wsc_4FDfA0pB-IE0zcWUDw0wBw-AgtwOpUXp7R-_b4aKxoz9qQ9kts-705MNdrhVT94qStnDVWA8b9_wHVBF_Q8V8vwJAc4Wtvor1kRMklkzoxDyEqCL6Ic7CRaaWZ8w6AHU4_vFos07Fz_Epw5WInBu7TW3u0EzFshKoCWgwJml0iv_uYQq7F2nWF8_1bpA24t6livSdWg70feCHL_DU89E6r20sT-a8dGy3mjAAsralg8VZjN8eRye7Sc9sBIhSpvNh-gh_8IPIcjIFyHQLRoRKbcv5FqDCCUww-e3kvvjeFJsKLDi5LWaXvcNObmKeaYYNyJrZNYAw1nFEP7uIQHKB-iAHi2SEbniHz6GFgdBZDVw0fnIIFNwdW86vSt5IxYdTIH-hi7CxPPoVYrS-k0I94VZIdmb7JmqeqVC06GMeIx7r_vCLjOi0kT67ZY-B0d-M-EpVO_07qFnwoQUzSw2HrD1cLGXPgppwcdGhg2GvI5Nw==",
  "id": "rs_095f3cef19f3ec5b016ab45be1718087d098a387bcb86f1a5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.2957,\"left_y\":0.0017,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0037,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"That grasp was empty and pushed the left bottle farther toward the near edge. I’ll stop further contact and return both arms to clear parked positions rather than risk pushing it off the table.\"}",
  "call_id": "call_hFpJHUmIMqUuTuyqKvM1qT5z",
  "id": "fc_095f3cef19f3ec5b016ab45be292e087d0a8bfefcf607b06b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hFpJHUmIMqUuTuyqKvM1qT5z",
  "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]: [-0.0353, 0.8257, 0.6315, -0.3431, -0.1081, -0.0971, 0.9951, -0.0189, 0.7929, 0.6407, -0.4728, -0.0456, -0.057, 0.9999]\nstate[eef_state]: left_x=0.3048 left_y=0.0119 left_z=0.1921 left_yaw=0.0929 left_pitch=0.027 left_roll=-0.0155 left_gripper=0.9951 right_x=0.2862 right_y=0.0062 right_z=0.1781 right_yaw=0.0248 right_pitch=-0.052 right_roll=-0.0063 right_gripper=0.9999\nstate[joint_eff]: [0.2667, -1.4017, 9.5932, 1.6532, 0.1832, 0.2466, -0.105, 0.1573, -0.5812, 9.9214, 1.956, 0.1441, 0.1734, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cc9000c6b24a99ab2a70689937a69a235678efa969cfd0d1813cebc7e26fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7a3bdda2e4ac7af7ecd85f320493c9ab2bde018cef252b932b0399c79eb5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b222858ef73c0e4aef54e4859144baef3accd9849c175f2dd87533376fd04b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}