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]: [-0.0204, 0.7933, 0.6086, -0.3763, -0.0166, -0.0288, 0.9987, -0.0154, 0.7883, 0.6025, -0.3889, -0.0261, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.293 right_y=0.0037 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.5932, 9.6479, 1.7509, -0.0806, 0.1245, -0.1441, -1.0462, -0.9778, 10.3316, 1.8974, 0.0171, 0.2076, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998584adf24303e2ce7ea87e09630834bc6e791f917f0d313ad2e28b835b0f74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac09309f3a78e323254bdd842b1419a7bc93e2d668a671a0900b8b79fd3ee12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcaf7fdd5fde52917b50b366b041f19043f198c39e5a063110879a1b04d03b5e",
      "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": "gAAAAABqtGfNOeoEGvOqnwjIK_eHCUDZknNOXCpzvwY8H0NEaBDZaR8nr8wIEU3jD-ZkSDuV4FcW7vuoTBKRNP8YyjiTPPqiLS7wACUbKxARvC9_d29LaOM-1JxKpnj_AVc-28IxkNYyxcIASuu-KYkb2Lplx3OQLy8HuZh6W3w8yFbBOA-z9hwF-nBoclgZjpkgWXcBUzbcQQaJUC18pjBFOCJYdOfXq5hbKBH5jpA0Hmu_k-bu1BOxuyH4lXzB5cec5LboSsBZ7lg2LE12svi2fgudyaAhiuRiHHBLqrWJ6XtoKQQPd4e2oYWD9qgZizzu7yNP3Nu7W0leOGCJUtLZKxheqCdJZEqTZaJ97E-EWyZqug1ZuFhYCdc_L9ex5HRc1RaC64y192jpP6l0a5esZ0bguBz5KflZPCLXGt2STuYkea9qZt2fommV0CwQWl8VNiQd2jNhdBlKGiCy_pgL4FTbg3PCBVrmT79OAZZ2cmoj4tm4NubsReMR_kJ-JPqPzfDSBBp1RWikgXCFX5zffqKBwC3hwkeiokvXL0sRzlw4cXRfPK74HmI5UBp2Bc4zWdXIg_Xx8A99s8Yigvkzv1dzmYzc1W66iclOQWAbw38h5Nd9UA7XT19JEo0DMfam5uzCC4xfv1ngIurFsmXB62lriDlF2ZGHrkwnLQVvmTHbCHGZocwqOwwG-sLxQNWNxiq8TD5fQloPt9oTFRj5v9gjUsoRaaDXAgDVpjcNfXQ4RwXAZD31OBFLg9plc5ubm_nnEOZk2zt-2PIKCUukqNWCBnPRIGebCZlabH4xcJnl4xOA4xLyJ5tb-Gh8w5QnEgEEe8zUjb2bqXAyoGBLW75r4jOQTdMwj0myOi7zYlvjJ_3VsrLOy2TxXueK3LN7gzZbN76yVIrzs5IbDEVHuWm2klg326GJ_v9CwLFCM5HHIrc2o9Bwll-UqBUigWfD_Usna-oLPuLKRKJqfMi89H4ja9ORDZHFrt5lHhlcQk5Jz-KC2wYq9VEKhS47JWrL-Sbw1uSMra2IXbkYIqfnsnTBdQnUsVWavkjBe21E63KypOZAkFSO5mMWnwKAmDFBb9qOwwewr2abpe85UVg70veZXsvTIvro3IgOllg1b3HlTB6gB6mYf6rtMFfqtJBLLPOzucU3tVfu7Ier4ePFOg1UwZXcRxXgxIIBoMlYK8guW3g-AWbs5u92Yy-PeySgetPimRZUKCFZECDOYtGix_Zf_dglwMRn7RkuANQcFYe4UtwGVEvteA9yjQZrXYWel1FB_TnIBjRycGpaP6mfELLvzTQK-Sl7J7lGu8nymLc0p_NJF57OOfpuUSySwFkV_5unPmXbzhI7qwDw4jpAC2zFsP3IWyTE1apFXAhoiA0Ro7AR7HXooA3vVX0diGOAs7c2Iyxawbd97FviT3b_IrsSg-XBfJtDreGH96VJh3cw3FyfP_I6XSCm4ROsNPcv7AhMU2h56eKC3nadRCQx0u2QG4TvCkDgwWJjvOojx7Ugi--rmNUiTBE6Y4eL6affreufDqNd4WNO9HmkCmEy--lXCV7L_4jkuVLNdJoFoP6FKYJN9weGUd4cwtcwBgoF30MVDjhpoJbMTVLMEGlVOL3erVnbMdifJMUquM9PL4VECnHyxmSrvXFRJuYXs8a5GAHO3R7obdf7cfmS7IHlORc7fhwNwsqhKFNCBEoo8NbLgxhoe6cAIGaQo4_OcBSncAeXW6B6LpKFqxyBoB23abrjwXBvlGAdaD55azjppfsXPPu-u-bI2PII6zn72MaVJfLTKfSbaOHrcxPkZm8mol3OcTm_IlnyHTwMTzZes0PjUvHqNbgWhbGTCPnTDtzfMmZmaGWB2lYXlLwUnxIR6WzWdcD0OpFh1Y1lmDF140xJA7NlqWWXNADjos68DQ5oPZWNf_mQCiGFN_U7JsQ733NL08-mMEx_rGy0M9xLh76osevT8h2oLyOMSr3n1Tg2bycARtbeGsOaQ6cMHdr0wP_Tt0ZWWWJYNxCw55592Ogvi4ZxXOg82wJn8LshXM23DH2ifz2aGdov7tUO7Y1HBle0a1ZyZ9SL0MaybsTEk4oF83bCBGOUlggpzFldEHhjD5kmzbBpIF1KxJw_heWQLC-mb1Ynz6j3Yi8qAJ4bOlEGYwC9KfsyR4Nf02vqDuHHldS7-KErjYjt4_l3hgW_AxXPkyEmPh8XRo3S0iexTQZdOexb2WF4i4IrxpDJO4VF-K5OlHu06oWVgH6ppSRfGUZc_QUanUwxO6puhtaDor1l-yqQGOGM1EXSKXuD69ZC3bWUMtUNIVzg2H9zG0aAYbYA7Veh463I-q-RlOvP3nT-TZZq3evBu1tvxR4OqbTY9q8ixyrqjV-H1q1PeP6KaObqe-bLMvpSyw84eEcHiVcWTa18I_4DHOmtXZNAeTFauX4jJidmiRIqdtxQhdeo1sNdDeQST6YRpHy8jfiu0Y4MCxeZhxRO3awKQmaAxCMcO1dPaw_XJtY1un_atYVso-li-93_2utfvoB9D9Zyuw7QHuUIxdJYeXmRpZ9WcSeS62pwJkmCapXJrP0Wz2hu60RCjc-g2r7qL-cpS-acTQz01qpY6zyD6PxLJ82LFqPEyyu7nqc1FBwZokE4-mjyyzsHJtbpCURj7kcmN5GGGtnTDl9V0TQrLqSt_OwEIERsgsil0D9U_jFQnKFKmlxRmIEXeazEp8ynrhvse1PJe6ymr_YAc4m12eE4wkXivq5JicE-_uD7VN79o7uK1ySa1tneJK_q263ovI-G54TSoIBHojspjw8_CXbDBQHLCM-6X55Rmmjc6YUng4vFDrio__8db65IUxDsiKITtEKDQoPvn4UXsailWDoETOcF6EpIAAN8CMEvLZYzGPsEXYL3wwSt0VNUEdZcLI5BoRZ_h3906bSHKWh4ZcsAH5TOakehtgK9VMCipeshH0CVdfHeWjoYHPamYRmpZJIMxRy_7EhjYmZ-uBTCpXmY2pPFnpHO4Id9CGuteUyQlUzAVISmCTjW_TnOTQ==",
  "id": "rs_0829b13ddf017f60016ab467c091a887d0b039f0ea1de80d03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.20,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.20},\"note\":\"All three bottles are lying on their sides, with their caps toward the far side of the table. I will approach the leftmost bottle near its neck, aiming to lift it so the heavier body can swing downward.\"}",
  "call_id": "call_2CKV97hLaIPrnKOJzfg7hVSo",
  "id": "fc_0829b13ddf017f60016ab467c864ac87d0a40f572c8c10bcb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2CKV97hLaIPrnKOJzfg7hVSo",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6579, 1.6207, 0.9947, -0.1009, -0.5262, -0.4053, 0.9988, -0.0143, 0.7944, 0.6502, -0.487, -0.0288, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.192 left_z=0.1328 left_yaw=-0.0139 left_pitch=-0.0515 left_roll=0.0272 left_gripper=0.9988 right_x=0.2855 right_y=0.0046 right_z=0.1791 right_yaw=0.008 right_pitch=-0.0563 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8701, 9.0051, 1.6435, -0.4322, -0.1099, -0.1343, -0.2667, -0.6496, 10.5915, 1.873, 0.022, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8541cd460a4d7d09187e5f2521b26f65f12c413b0c7bef434f10275f6e7105e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55007f471fa187aa8a57ac0629e6360ca036215237da5e0a5fc8bb2d04ed646c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af912c62c53c246bd1b810a27d9501938318c9589a405b581b3e9530b134569",
      "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]: [-0.0204, 0.7933, 0.6086, -0.3763, -0.0166, -0.0288, 0.9987, -0.0154, 0.7883, 0.6025, -0.3889, -0.0261, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.293 right_y=0.0037 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.5932, 9.6479, 1.7509, -0.0806, 0.1245, -0.1441, -1.0462, -0.9778, 10.3316, 1.8974, 0.0171, 0.2076, -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]: [-0.6579, 1.6207, 0.9947, -0.1009, -0.5262, -0.4053, 0.9988, -0.0143, 0.7944, 0.6502, -0.487, -0.0288, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.192 left_z=0.1328 left_yaw=-0.0139 left_pitch=-0.0515 left_roll=0.0272 left_gripper=0.9988 right_x=0.2855 right_y=0.0046 right_z=0.1791 right_yaw=0.008 right_pitch=-0.0563 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8701, 9.0051, 1.6435, -0.4322, -0.1099, -0.1343, -0.2667, -0.6496, 10.5915, 1.873, 0.022, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8541cd460a4d7d09187e5f2521b26f65f12c413b0c7bef434f10275f6e7105e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55007f471fa187aa8a57ac0629e6360ca036215237da5e0a5fc8bb2d04ed646c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af912c62c53c246bd1b810a27d9501938318c9589a405b581b3e9530b134569",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGfVTMks_bNwEbhDlSC8v42aaFI3O96V8xHZGuu3XwLWnXACMdeS-99Y6OOWG2XAmiV--wBnwljAorD7epTgVtUptc8wAICnh36Va7seMoDHuNbp1ScywKEHzUWYaNSp82WSNxEWfdkHnKFMbqNbzCt3rTYfF2MS2tPkFC-85q11twfXf2gNnMo_VQc5eIjUe_dSRWX2QyJb917OhZJb4_eFaPbU2mCGzGvKtYLB8QZsFWCtx485cQ8EdFSMfpI65B2ZPq67U00K_COH1l35YtSAzZA9Gr2TrIvGBneXyJACbQRMz4PRhOFnveK8GPumaht5OgMtlMz28u5-Pwf9RGv8jiQkRz0QMHjG4O6tqTxCiRpFWoHSix611RLVgTBQ2uDQ7gdkc-7GnNaqQRMeV8G7ZJ_EO7JsOFHzesuwqZI7dqZc1aWBekXedWAiPpbwZKiUi3aoiovjm6mSHwSYRPaMooccje-pntxFvz7Rf7cktnOkNZaD-zJNpUWw-2jbSgawg_khrpWu5yGr2dLS6NriP_AZl_t5vub2Gk2LRoXL7S-c3VSkXVTT1Gr_EoZC2t7fXaExN7UzTMwTSC1HTeD2IhJDlhJK0DtvrPKgQxQMWJ2FLKyEfg51nf-97LtHzUcBPpgSnVTNnqLVF3s02QOLu4zM4ydrR-i_UYNSQoIIhwxOi8FYWRnfaOaZSMk7gHBrla5UOHCdYA_sT802J8IcYqtJgRey_y_nGqP3Rf9XvNj_jERN87IWXCRf7v_-_jQlLO0OtMsY-RDfyGWoj6uTe94KOUtdRMTVlrkc3DaiKVSm68zZ851VdJNm0RjQOemGHVoczSMMAQt9f7nPJhW2Xa8cZI0ytjQ8opzkGupCm-QLDQ7mfS_p8Uzi_4mvazH1btPutw5SXi1lrmxepnDQqT35FQMWtrJXyYLleSsjlcT_TIhlw3_1rKrpaclU010mQXfO_iC2L0jffYpmcF5qDirFHgMJfz2um1xV92e18cwKpAVBmra89VO3Mn3dOROjoCXX2S7RUiu91UB98To6gHYVVODKGc481EhX7VedEFiv-Ww8J00XBd4imM_oHaqG8tS8HcgMCiy8hsx2t4-wrsnCJT-EnuRx7dmJwrLl0jhY7iORnJ4FXA-kFFESZKNm4AJr65mke4Pq_InxuTD8v4Y4Ja5TQvsWyB6Nr5WzLMTfF_lR-x2u8HOd8dbeAbNkRuDg8Wjme3iks0DM28kzKMviSDJZOvcmfp76aUF9m50oyk93iOr_cF1276YHGzG3G6P8ksJFPGXmnIl2c8lFafylkeSsML25KgrcyOgFqkeuK2hUE21OyfR0tYHVr2gbiSYBYW4lsppL47dtBwc41UdRWejtkmTJ4DWLzUIDdTjS4jEAFB-Wpt-Lx9KX9P2VWJiwljPmI4wbAnQ86yTTsWphF5dyh4HhHL9DHLQ2n1p8DvzC3A6_FHFVGIph5IQwbl1mERgkp-MOooE2yeqdAh8ef-hU_ZWE1SsgcbJSBE1KbqS3iMw-YWV51B-WV8AA-LjC9Wjb0SL4V75EhhC_t1quU4PB9VC_1zp-GN-jtyLYq-x5WQvEo7sL370irLbeRBNR5tyf47Omi8qkJ7HtciMdwMo6nqgox0YqCIG-iNTxwefSJ1SAbf9wawiYZSdITf4pCbioSvutc5nWImOmc-2ndzhLTdDfVsaQTxea4LBvQQ9elBOsv7B2Z-N4a2YEG6-IHWLU-d0rq_49io_18nL9dfXMNI16OaPl-QoLynZ_i69iUrpDwHehcJ91oZpXNlzW6wr_XX4TFr9Fnj2mITA9QIaaHUnl_JnQioJP0GvtngnqPauF9bgbuboOk_fN8ozhxWQ6LilXbkoZAfNB5BoL8qt-N8zZ9iOL_sjjatVirUNORVt6dx0BRLDdzzSwKkaOoEZAlWG4FncuQB0eC4MAjS3p-FJxOoTTZC2pddf5Nbba4e37j2NVWr7LKEyfVv5snlQ_aXOpMRdss3ww6kdshKuf-psoTELMwQOeJNkPqA24RN4nQ_82q_Aey7zDETHB2mjwJsm3Bwv0Zf0X4OgD7bXYfgwDffTqsvQU6qOBjoTssuDSMHZQHHdA02hfkxVC5aAaVN6RR8AqhgOf92whB_oW_Bj0TF_i9ah7HlrEf-Zaol507-lyqzW9oCLaHs09kTDo3GURILZKxAVAbFLgHEsH8_i27rtxGCPeR3u1T1nAixSuRXuHGG8SMnmLe4PifwgodkViPMgqgE2X7UzMDyjw2NgPg9id4DalK-GWgGzkr9PJ6hjiYAr5mVkxauijJ3YOnwNiO_GrwD7Z97Apdawj7f3iMqTMFINmUTaxHd9a79devSdzQdGmGoDDne-JgywU2sRxEt6Ut0WCnxLIj_Bu5Ua0bnX4er-dFk4Vowj1F1a6QxpCKOfv2016iNLu5u5Ef6Fx8B_YS-dKIA==",
  "id": "rs_0829b13ddf017f60016ab467d0960c87d0b818d8d91add2dd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.145,\"left_z\":0.075,\"left_yaw\":0.55},\"note\":\"The leftmost bottle’s neck is left and forward of the current fingertips. I will shift toward it and lower the open jaws, turning them to pinch across the neck rather than along the bottle.\"}",
  "call_id": "call_3M9Sevt1mwVfvWCh3gTbNrUv",
  "id": "fc_0829b13ddf017f60016ab467d47d7087d0b0ac33619d45f5ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3M9Sevt1mwVfvWCh3gTbNrUv",
  "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]: [-0.6369, 1.9678, 1.1809, -0.1886, -0.8059, -0.7921, 0.9985, -0.0143, 0.7582, 0.5953, -0.4492, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.1595 left_z=0.0651 left_yaw=0.4179 left_pitch=-0.0502 left_roll=0.0356 left_gripper=0.9985 right_x=0.2819 right_y=0.0048 right_z=0.1714 right_yaw=0.0088 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.6872, 6.9812, 0.9011, -0.6227, 0.0562, -0.0513, -0.6632, -1.5111, 6.9675, 2.0049, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd30f1f9c64f6be2bc9e82548d456d30ca459df07d120fc1357d4b5bbf0542f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2012cf7d364118a00f024e1569e973ffa03640b4d868c6f3a8c84a0a814b43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80efa86ceb286b4b44b053b6dc0613dbc688c94a6a6e7a7013d6bc7a42afe4f6",
      "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]: [-0.6579, 1.6207, 0.9947, -0.1009, -0.5262, -0.4053, 0.9988, -0.0143, 0.7944, 0.6502, -0.487, -0.0288, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.192 left_z=0.1328 left_yaw=-0.0139 left_pitch=-0.0515 left_roll=0.0272 left_gripper=0.9988 right_x=0.2855 right_y=0.0046 right_z=0.1791 right_yaw=0.008 right_pitch=-0.0563 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8701, 9.0051, 1.6435, -0.4322, -0.1099, -0.1343, -0.2667, -0.6496, 10.5915, 1.873, 0.022, 0.0513, -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]: [-0.6369, 1.9678, 1.1809, -0.1886, -0.8059, -0.7921, 0.9985, -0.0143, 0.7582, 0.5953, -0.4492, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.1595 left_z=0.0651 left_yaw=0.4179 left_pitch=-0.0502 left_roll=0.0356 left_gripper=0.9985 right_x=0.2819 right_y=0.0048 right_z=0.1714 right_yaw=0.0088 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.6872, 6.9812, 0.9011, -0.6227, 0.0562, -0.0513, -0.6632, -1.5111, 6.9675, 2.0049, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fd30f1f9c64f6be2bc9e82548d456d30ca459df07d120fc1357d4b5bbf0542f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2012cf7d364118a00f024e1569e973ffa03640b4d868c6f3a8c84a0a814b43b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80efa86ceb286b4b44b053b6dc0613dbc688c94a6a6e7a7013d6bc7a42afe4f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGfeSBRnSAmkigrmtrFWy9gmWyZB1-baVGb1LXYAvwksBrS3PBORspI4ms6OW0uQjqj_N-LGRivBQRoAa2WfIdUM8JcvMormGzRPVFL2gQKmhS4mVYzsdYWqIZaJQI6q1QrPXDcIKloJK1sbEdpUqAQxiMoplBTUOXITe0KZ_f6Mq2BZej1jmMdvVXGqI21CXzb6-PwXYohzG6bqidL1nx7xNSBT2F6R_mxgZAojh4Goyg-HJL6YBGxX5fgDondM4Q5mjixTydctS-Gup6gmz7-542o1p5cnyJm5a_z0mIeYfsu20goUirT_ICPuKNQaeNI4Pcycf0rpH19o-MsYQK86JSFp5-5xQon-myFc4AKJb15WAXJUke8UcQ59uANFnOgfz9RNYNzr_XeYMnBSc3aC5j6AQVocY_2miuNW25hqgVHIbDXT__Fh43Y9dVRjWbx31zlIninEHQ-hWdjgIS3hgPhbHzbo39kf2SLhdHCiy8l3Onw3pH7FCfNcS2evpcQT4RN4yglURWSlxKCvHsboYF8lINxojI7kGS_Plx0HRPOy-poRh3fZEmbrNBdWOfsQr8QV7nicwX5iz6B0buKsWEnzQ2e3Ecnd0HpQfJI1tfjAPYUfpNiH7Sv3_BEbi7l3FafI1lBqpax1VY-qZd35lzX1zWG72c-51-rEBVc-PnO2OV7nM0HsgM3eJra1cUSmxBPx3Vne49ZDFAzCTvVn1kKyBlJ6lwHJB1tJLGI63wQmNlY1syiaKbPOy_zabI7JyvkVGg4ufFFugQ3gM3OD6vWzM006O8m_q0m74m3nir3ZGeD-H524x6cG8PmIf1wENi0xMYeT39CojrrttvE2dxnsKFhApHmbUAZGz4rEFORWia33nBF19RiG1jBPM0VPaB4jjnla9xvmXx4hNVSlXZ_XkTNcfJMTMImoMGZbMVK3kWgbBUns4aPieqpF1EXN5g92mg64OgxRQo49YeOuio0u3ZzvusD9lpWbU8fQ4jkdX2TdNDU8Z4g3sJLFzdNNLZXTJXNLVCq5chElAUc_xBx9tsWBAVADokyjZ3gYqSstrPE3C7uSKccdTOVF28DQUWM_tRGDqJ17wpF3XWvtNDg8Te0Co5CvTgqb5DdBx90xOBwJwoP5txKbWQ96EFmOzkKCoDJTbjwUiNye19n-9aR26HpeW9AuifggRQC2mQKcJ9QjmSYANs9NyxwYJhBMHHfjG0eJLZPKfClvTyoiMCbCPL66cDXeX0_S_7CpXfidJ0RsT44Zwk2Ek5LjIzIB7zU_HBgS6pWyMJnUf5Ox-BaGB57e7rhiO3ql0CxSTv6TCwPV_kfp8vE_TU9lCQExSFoa5ZHpb0lRx9p3MDBXwjLmYzyECpYuFBLnV9VViZ2jFjeoH6hBKJ1HT_OtJa97M0spWD29e9idcPdVgdv1N3wCR5BkEQVD5Q9KXBQuF1rXQD44V8nma0ULkAWBQXCUWn_1FeqvQ_xF05mSdMFtCILkjNvp_gh5t1rE7X53aV-_DGfNlufGiQnZt6aVRi4A31QUgLB3AtIQdMULyCBfX6M4U9K96DShX9PSsok_8dGbtLW9dpCD3HGdg1Rft5kdp3i19e0lo-mkduWft_GKnVse2BAtBn3jkPk6Tefcch7c-AIfqgotzrZs1NH1ryHe0IUx2QM0Gsg0YnhhPuo28BdTGYjsKxTAAI7kD8a60INlq31mGCgbgRauApB1v2p9bU9_Sj0PkyN3pTVbjlfjHPEols-2tsEZF32z7JhljY6YxGChuLeoFSkAjwF2jNonEJNg5azazwH_y0x4DZmIQdR6hj1SFZqCK5ED71L5mV_mb7irSrMLY_-90Hxt-n5wbkzPQJomYSKZIowx2xhnZXc1n8vKlQeN49Ka7JloqJcRa3NtNTUVOz8_fMF-qqyaQehOqS-xk164yR0hfld3ie5el5NRLL7DORDNStJ0H9wwfje5f7JY-Z1WZnjkJGulALLUZ0Nv_Uurd4zWvuinnaG2_qi9Atl3CJMVLRMB6UxWQZddKjn__oZ1kwRShqdjaYY2Lt1KoxIJ0NXjSkKyYWeKGuXGwesmvcM2rn5OkGQsz6f9M5fNkevdhlr1V56Hmk6D2UB8P_yrDjGEFby7GySITXCWWi3Xlw3lFYF2vFet4gQqEyCb1bB5cxJL5Za6puBepigqCZCGLq6qBKcmGfwae9aEwMm8mMhr0VrEWaloPvhuLxj01OpisaptPQALcnvG4ABEVJfpVEJM4gVaMKbIGE0WGho_26qdkI3-0i6jK92jwq5sfhookJC_p6TxqE3AGaGRlC_xcRm0Pft47f_3hOg4QuAHEUW_t0mQyUdYJiVNzCOfWQkzId_iShSQZvpixesw9H3GjwNT329RkPaYpKGzc7w-gWdVQop_AaOf0SJqCAcw96ZIVnIM9wlfWpBLrGkoOe78AX_ixjwQTgS-akgMzpZ7vn6y5bm5M0YJ6V-ExHhjQl5af7HnZuK02MOyBvuEVBB__BmZklj-1R1gyVZ1QCP6zgM1iUGrikNrmTQSmWQ36yaKx1fjQfUu4iN0HlAuVmfR_6SPjbQAi9j0fFh75K-mvwcHLz479uuSqKGvT2rodJVaof4zg4q04n9kaM3gAc9UX5wZ5zZJ4xhaArbMFJ0M6GQ3dz_0uTfVA6NZ9gXkKXb7mfCw1PRZS-dapI54zoo3nKg-VvQgvtldFFy__D1dRLmkVpe43BY4cu-qPWyoeZat4P7StAdS",
  "id": "rs_0829b13ddf017f60016ab467d7a9a087d09c3f3ea35c270533",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.11,\"left_z\":0.038,\"left_yaw\":0.55},\"note\":\"The neck is still to the left of the jaw center in the wrist view. I will make a smaller leftward and forward correction and bring the fingertips down to neck height.\"}",
  "call_id": "call_SjxGGtKYmTif4NP2lU1ZafdL",
  "id": "fc_0829b13ddf017f60016ab467dd6acc87d0b719cf05619f9788",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SjxGGtKYmTif4NP2lU1ZafdL",
  "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]: [-0.6285, 1.9965, 1.2175, -0.2634, -0.8772, -0.9211, 0.9984, -0.0143, 0.7383, 0.5571, -0.429, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4361 left_y=-0.1446 left_z=0.0651 left_yaw=0.5362 left_pitch=-0.0241 left_roll=0.0156 left_gripper=0.9984 right_x=0.2789 right_y=0.0049 right_z=0.1634 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.6051, 7.2821, 0.9988, -0.6716, -0.105, -0.022, -0.6632, -1.2786, 7.2274, 1.9414, -0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9610e2a9cd51bc81b194917cf361472d5004134c80f0fcde3c948e82176a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780f41a36386d1e548bed805d96ed42a037e376e9bd23528fddfc514ae928d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79fb7b0d4afd3113246185ae8df7f81f9275511987b4cd9c3127b3afeaf51f31",
      "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]: [-0.0204, 0.7933, 0.6086, -0.3763, -0.0166, -0.0288, 0.9987, -0.0154, 0.7883, 0.6025, -0.3889, -0.0261, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1831 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.293 right_y=0.0037 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.5932, 9.6479, 1.7509, -0.0806, 0.1245, -0.1441, -1.0462, -0.9778, 10.3316, 1.8974, 0.0171, 0.2076, -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]: [-0.6369, 1.9678, 1.1809, -0.1886, -0.8059, -0.7921, 0.9985, -0.0143, 0.7582, 0.5953, -0.4492, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.1595 left_z=0.0651 left_yaw=0.4179 left_pitch=-0.0502 left_roll=0.0356 left_gripper=0.9985 right_x=0.2819 right_y=0.0048 right_z=0.1714 right_yaw=0.0088 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.6872, 6.9812, 0.9011, -0.6227, 0.0562, -0.0513, -0.6632, -1.5111, 6.9675, 2.0049, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 1.9965, 1.2175, -0.2634, -0.8772, -0.9211, 0.9984, -0.0143, 0.7383, 0.5571, -0.429, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4361 left_y=-0.1446 left_z=0.0651 left_yaw=0.5362 left_pitch=-0.0241 left_roll=0.0156 left_gripper=0.9984 right_x=0.2789 right_y=0.0049 right_z=0.1634 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.6051, 7.2821, 0.9988, -0.6716, -0.105, -0.022, -0.6632, -1.2786, 7.2274, 1.9414, -0.1245, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9610e2a9cd51bc81b194917cf361472d5004134c80f0fcde3c948e82176a22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780f41a36386d1e548bed805d96ed42a037e376e9bd23528fddfc514ae928d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79fb7b0d4afd3113246185ae8df7f81f9275511987b4cd9c3127b3afeaf51f31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGfoblTpmkEkq8vmcguG3mbCvA7spk_IuEQBZDBU7z4_BoT9UTqX76ZGppEFrCz3FStwnRgu1MKEmncDaXoUewSDxszLabTyCQgBtfs5c5jmnT7YlODv0Mh8XNscC4uK0X-TR1wRjQEpIReGFWt1uzPObB5Z-wZ8x8Rd6tmYFOKmIaDbfLPL0XiAbou-Y-IPiD67hYebmGKVpeYpkE_4o4lWTM6LIn9ZNXJLX247PZSHoCqVZpfbUP48RY2qGZymarPY9Qw59TiYBqldBPIs519hhxzUTYr3cgng3J4sA3xyE6BTP6_VpioQdILUKbz--YGzh5anSTHmTxpeDOz0ldnNvWDwGnd2fzBYfpH7vFswX4R5TJc412OeMuehCTpDBdLVbzimZuw8Vy7v2gr7Cj4PecZXHxK_MkbUkhfhwmXbNiJgCounZbAA2PstN3uxMxVfJaQK3HdEH91OOkSsi_UHAK3THT44cn5yQaZLlB5sgjpU3tBj9A4C-Fa6iBVc1lh621qBQV8oNgd2PjSR_DSxFWwKqani7H265IxabQVJdR6rYaW6xBN56-GYfYiX5NEv_1fOvbliusJW6hPyv8Ov8C2BUKvRyLO_GZBew02J_3b6l8bHe3YjkGdUTzLntaveIznJpWuYOYK2MGEhbLJw8FFa42i_tUBDNPMTb_u9KRHmZMSeLagcRErmo_KJWlSzSuT1tdMrhO6QipsIc6TLjPQbBR_2XFNM27dyTYUydAxDgkS6AByEI5MKhAH2s1YieXQyx3f-P8eLlekdmB6Ec_ZSHXKraX8PyogTN7qI66rLAbTC7ClzGIKbORIkgcNc_qTwhbCXpPd4RKuJBww3xHtDK9odsjbiEne9_CBtthNwNBsih9O1EIzTonw8zN18aFDgRez1SR2e3xBz5CQnhvCkDZr28ZilGPSmaZly9kJIKnA6vMgo8U7XBjQ2GgFT5eo4o2AHAkZOkIG4TPCrNHwujgD5J3-4XjGChD92Zgbu2sQr1fxeN67xVln6hg_WSBtSwpFzJNS4-Wk1mZwoms2S2F6-d_jAtQSqRp1IK3_n36USyUMg9kFYus2_8Ksu1u6zs3prps6lheQyERJHBImwZN42AzysCT4QT2Lu6SLMeK_97sRqAaBI4PgqBn6Tb9-sL9HlQeBUPva52bRleyYUc00T2W2Uh_uxsIwEowSpGbTPztOTojGp9zRoxWMq6qoJmnn8P2bYQeB6OtMhlQ5nZYgSy7IkJ0fiWOf7M405gqHax4e___k9XlHD4y4MBG_lwv2o0nH1lrkNNF35gdf5p-r6ZIwQGL-lUTvbf4-KR35DdvkCNhqKgfMBaUNBRa31bc6kbe_w-9j3G8tpxToerp9sVAIpLDtm--7RtEShpQFbpUMC-3CXaLzbVKmzf81xtj_n0l7KvA46QtBIypfdNao0bo4VEuOT5e1LXHbxhld-PcsGPC_Cs_-613HKJiEWTQziJsViB10XBRFu9fB62Mxk5o-H2IZTAPUpDSiSJ9ihVLYIxa8T-9pV1MLn9V22sdHjEo3KGbvHZsF7_9TUryNQPwwQ3RiHlSyv81fhs1kfxy6_aCkgRyuEobKqX0RrYXVBagVKv_2eb2X95AZ6DjRA093SZ1Ej9BvaS9J3aIBSFY2c5x30RaYm6b_hiXy8axmikWI5Ew_9H3RYVjI_hbCFVo1ctYsMZEHtmOIIzB3C8zBfIbgykuvWSl_Y1BD07OWEWH59ixOoqBIvV5y2CgaTpGZe6A60JozP30vhjc2V_ZDO7dnxNCQwKUTTDc8jCR3hOWdk-ADfwEGWGWG9hUzzS73EidgASVU4K4VWoXoc48xYd_oYNLveN2hiV49EzLIo1IOlv1j1Kj3xiRVUjOVX0U7plVP83Sw4tzY1pUaMmo5T988hcIAZuM1rUoMoxuJJm4R8U_vQqzbjxPZBwN20u235bJkkeLe6S4qrkuZm6ca50wXFdmNk7lrVqXsijF6371vpLWax4yY3INTeqgU_exGWg9UwCHirTGER8lWoS4e9KSHc-creaOzSTxfjgh8DwdUyFXYljSQfNQmHLIx3UNt9r_6iMPrpqDflDJXeV29AdA91VkvzlILo2YDRDa6XfEmQxbbZEtERavEaU1aaeCcXt_KXaNOmt3IrAfstWBLUb7_NH27IyUOz5oOgiEkGGNwl9vg0bQQWdh3SeHfS7WcQqXphMw2_Ypq8nMIya7sq-pxfeWo8diLv7rXr7NFs28aPTW0s33GHWUDvNffdWmu9lcS4bj6Kk3CNXyeUQdt07_4WykDXGrxLhbbHbLZCWQhC-zmZUSuepzN09x9Reka5J88eqn749fju5F4orewzck7zHgZDGHOjJmX6z1Dbej3FpPtsRIovJKX0imyx14DQDg_YFRE6DzOSoHm2c2RJ8_Bs3_bDN-Y_Wexnk80Cfta7l-Fj4aMDpRG2cBLFtwEslBevFHOw177VU0a5EhYXSz11VmFivYuQCKJMC63k6Ubkt0-tMBQKgNgUy_GZk8cuRsk8nuroUVbp9wlYs9W3WSBtF5QxgQNXYRw9pnlVnUlbDbHRVd1EX_kAtEaTOOjWWOdYVMu_TY0E7pxdtur_Xn2ImSJEEnR39YVnmEIG4cnJsS8QYpSH_qwrqlmX_mv2veyjsr-2NL2xf06fqifTG_y0LoRgk6YJgYIqgrSuFSKL43udgBy0G7YLOy-tMNGIHmBQqOZPnJIrCDXlBsOpNqAjgKl1Xj1xRHFEgA8XFXIC2K8ksSNyXEfqmQ5tUGxo6druDJZQ9alNzLuKgHvvAgmjWC2OsRX5NegKg-MfvQWbmDHmkFb9xw3u4YYwW2_9NwXu_nlSAhxU2vDNjF5Im5tJHdRCVPSs8vjVweDyCwSZfZnSgRU58AGM6oJ60LHY7xXTxb-trHfWTbHIK7z2KtVdJYSWv6CkuvhJ_VDks6ib-Dq0VPG_5rTE1NzjaRZPGRfqdSKU7JEhyr0wUlQs8PPlR5QhL3Zr9uPk1Oql2f94KyleXu_CbtqBS8YiaCbq515j1kK4iHk6KpAk3e8LlaAEBDp8QXETFA_08WW3py_-_nPfTlY3bV6Ic266bQPQ10FuBjwg8-it4FlhFuzYnVegww6b6Ng-By_fi94StDv4UqpjctgEr8JjATOzxOcICVHiKZInv_oJCMplW51hZm5VPiqTRXWuJRY0Yd54lY6lJD0Wp62jsfcfvWD76_IwnAiknXUkPENy8KwZJvxNppdHCtsEpNXfsu5W2M8iBEkE8eb5LTWOvA==",
  "id": "rs_0829b13ddf017f60016ab467e076ac87d0afe7c8bb84d71c9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.085,\"left_z\":0.025,\"left_yaw\":0.15,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The arm stopped short of the last target, and the neck remains left of center. I will reduce the forward reach and wrist rotation while moving left and lower, rather than repeat the stalled target.\"}",
  "call_id": "call_MtVdbZU1mBmFvNLZb80Vura0",
  "id": "fc_0829b13ddf017f60016ab467e77eec87d0aba84e26e7f44b72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MtVdbZU1mBmFvNLZb80Vura0",
  "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]: [-0.6285, 1.9965, 1.2175, -0.2638, -0.8776, -0.9211, 0.9983, -0.0147, 0.7925, 0.6407, -0.4789, -0.0299, -0.0544, 0.9999]\nstate[eef_state]: left_x=0.436 left_y=-0.1445 left_z=0.0651 left_yaw=0.5364 left_pitch=-0.0239 left_roll=0.0161 left_gripper=0.9983 right_x=0.2853 right_y=0.0047 right_z=0.1769 right_yaw=0.015 right_pitch=-0.0558 right_roll=-0.0132 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.5368, 7.2957, 1.0183, -0.6716, -0.1197, -0.0122, -0.9231, -0.5128, 9.9761, 1.9414, -0.1392, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd511b7cf8b72178456989ad006b4ea029606ae6e1b96da7599accc9136d064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7fb5d17eb92d5e2dfb81482292fa0a4dbccc0bf285e89590b232ad0bc19ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0f710631222586bd6abd5c8b4f1e2996093c666842695d1db5d7fc49d449a0",
      "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]: [-0.6579, 1.6207, 0.9947, -0.1009, -0.5262, -0.4053, 0.9988, -0.0143, 0.7944, 0.6502, -0.487, -0.0288, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.192 left_z=0.1328 left_yaw=-0.0139 left_pitch=-0.0515 left_roll=0.0272 left_gripper=0.9988 right_x=0.2855 right_y=0.0046 right_z=0.1791 right_yaw=0.008 right_pitch=-0.0563 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8701, 9.0051, 1.6435, -0.4322, -0.1099, -0.1343, -0.2667, -0.6496, 10.5915, 1.873, 0.022, 0.0513, -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]: [-0.6285, 1.9965, 1.2175, -0.2634, -0.8772, -0.9211, 0.9984, -0.0143, 0.7383, 0.5571, -0.429, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4361 left_y=-0.1446 left_z=0.0651 left_yaw=0.5362 left_pitch=-0.0241 left_roll=0.0156 left_gripper=0.9984 right_x=0.2789 right_y=0.0049 right_z=0.1634 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.6051, 7.2821, 0.9988, -0.6716, -0.105, -0.022, -0.6632, -1.2786, 7.2274, 1.9414, -0.1245, -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]: [-0.6285, 1.9965, 1.2175, -0.2638, -0.8776, -0.9211, 0.9983, -0.0147, 0.7925, 0.6407, -0.4789, -0.0299, -0.0544, 0.9999]\nstate[eef_state]: left_x=0.436 left_y=-0.1445 left_z=0.0651 left_yaw=0.5364 left_pitch=-0.0239 left_roll=0.0161 left_gripper=0.9983 right_x=0.2853 right_y=0.0047 right_z=0.1769 right_yaw=0.015 right_pitch=-0.0558 right_roll=-0.0132 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.5368, 7.2957, 1.0183, -0.6716, -0.1197, -0.0122, -0.9231, -0.5128, 9.9761, 1.9414, -0.1392, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd511b7cf8b72178456989ad006b4ea029606ae6e1b96da7599accc9136d064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7fb5d17eb92d5e2dfb81482292fa0a4dbccc0bf285e89590b232ad0bc19ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf0f710631222586bd6abd5c8b4f1e2996093c666842695d1db5d7fc49d449a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGfsxacjLgYlfXHLacYpt4rJvCTAHCOmn3rOfmaZ17Acb9PvwQ9p3wtFCz9o50Lv6N510BGqPcPJiQH7LAtmO0gnyemZ6HoLnKPL7TcgA5MjUGDV6Yqa0jvjZrZezsavES6y3tzR0MR6z86kUW6bXsFT4sO5heXpOD_Ng2hk1PtC6MJIKmqr5y8yCZG9XMeTZyTJEYl78ojfeyetzlbqHD6utI-auePWvROxH10pBXBTACs49EyM__FsByR8TTY7RecrYtG1avBzlzM0Ki7VF6TX0F8fJmo1rXwpqGzKbnAs67jAF0XzF3x8aiA_bEyZHhy6SiH6uotiM6m15uLIHayizpXc5uw7YUsRLdGx35_oF52J9NBAhKGerdH2FHL3nTuJ-m4TF7pn937KX0QwCb3TjbN5ey2j1Lc1mXVJdhuD2smkkq18njaRL0hJWq9XVutQtFiaqNC9gS6KiDoZ8g6uJpB7H7X9NhFrmxBUSwz5zvO4uUKdyj0k3O75dIPU2wftx9xgy0Bdv2fGiBej-jP2aA-6pAaxNUWxsRYvtvwn4H-fpS32ca0V3yZxbn3R5UqK6asOEj8wDOnVi1M91HIU3sF-bMvfdIFNOx3VI-CFazuBs5ItIbtnVzbqz6XM6bZO7Mg4-7wlrlrKiOCtgcrpWQuzztiT3o8mnSkRvbDW7jUj6EJaygPpLr4FgvQ9yqE3FBAXTE8iUI5oAWsuVDGo1gG-_QFsAPu5Mhr_uzj5jocaQgwltxK5c_10BWBfL39UOKGqIxa7dm1XTln-1kjy4KBm418tVZ22qvJSXHHKAU_lbbc6xLk4GmiPC-CgzDV6ezRx4jrczkjwA3xd6BS-B10GHvw0hgAh8HLuggwQSFqPpEvuROXeDQOoeanNKcRtDuf-MLvBGwSO5FHuqTLRaGskXtjcDKtPLsRJGJoxGZBMYdOiTCXAhC6ZfnRq3B7K47yyWEg-C4KqnX0zNVDW1tWjYyoPu7sA9aZCfUnTK1au1d7Om_4iB2YreLqUWzovTmu4fWuE9QZgb4y4sYyjDLU03mho13xsP17qx46Pn5pW8JaJF_7sSLCVIeGpNW-LT5M7FyBxyiKZGb9OX6UQC_KX6qKsuBDq8-tuCasiN2dWkVTCyhxJOKoQuuaLz9g-j6ynM4xBCe8z9CjzPnk6RUCphEutxPrVV5hH6FaFqJXCYBvohUkpg7H5ENX5FBoBKJDwI4aByPwemqeyjI8yFOj_ALkjSN_bRYl4Fm8RpcKpYV9X3xiP89KnApSeVo_ruybcwC5RjLupVRMMbNuBjelZkkOfzoMFNH4vi-VzCOo=",
  "id": "rs_0829b13ddf017f60016ab467eb0c0087d0ade5a3f15d9a3622",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.12,\"left_z\":0.16,\"left_yaw\":0.3},\"note\":\"The left arm did not move at all toward the revised low target, so this appears to be a configuration limit rather than a successful approach. I will lift and draw it back to regain a movable pose.\"}",
  "call_id": "call_kHRfWeqygglNnAVt2RPO3Uf3",
  "id": "fc_0829b13ddf017f60016ab467eb5a4c87d0bedf372037326f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kHRfWeqygglNnAVt2RPO3Uf3",
  "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]: [-0.6136, 1.5467, 0.9817, -0.2413, -0.7589, -0.6819, 0.9983, -0.0212, 0.757, 0.5842, -0.4469, -0.038, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.3909 left_y=-0.1222 left_z=0.1525 left_yaw=0.3494 left_pitch=0.0093 left_roll=-0.0351 left_gripper=0.9983 right_x=0.2808 right_y=0.0043 right_z=0.1672 right_yaw=0.0152 right_pitch=-0.0446 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -7.9385, 6.3795, 1.4579, -0.2125, 0.1929, -0.0171, -0.4581, -1.6068, 7.0222, 2.0781, -0.1245, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e703964d34aff635f6588702c5d4fc6e2b60ebe1330bb5161bcbf4c29e96292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94dc7d002de82aee43fb26357d712a97f560eed87e54068de676c66b3ab6ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47691781b2e073a3fd412ede1f862f32b45e50282b6662f6f88c9c5cf12b315",
      "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]: [-0.6369, 1.9678, 1.1809, -0.1886, -0.8059, -0.7921, 0.9985, -0.0143, 0.7582, 0.5953, -0.4492, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=-0.1595 left_z=0.0651 left_yaw=0.4179 left_pitch=-0.0502 left_roll=0.0356 left_gripper=0.9985 right_x=0.2819 right_y=0.0048 right_z=0.1714 right_yaw=0.0088 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.6872, 6.9812, 0.9011, -0.6227, 0.0562, -0.0513, -0.6632, -1.5111, 6.9675, 2.0049, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 1.9965, 1.2175, -0.2638, -0.8776, -0.9211, 0.9983, -0.0147, 0.7925, 0.6407, -0.4789, -0.0299, -0.0544, 0.9999]\nstate[eef_state]: left_x=0.436 left_y=-0.1445 left_z=0.0651 left_yaw=0.5364 left_pitch=-0.0239 left_roll=0.0161 left_gripper=0.9983 right_x=0.2853 right_y=0.0047 right_z=0.1769 right_yaw=0.015 right_pitch=-0.0558 right_roll=-0.0132 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.5368, 7.2957, 1.0183, -0.6716, -0.1197, -0.0122, -0.9231, -0.5128, 9.9761, 1.9414, -0.1392, 0.0562, -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]: [-0.6136, 1.5467, 0.9817, -0.2413, -0.7589, -0.6819, 0.9983, -0.0212, 0.757, 0.5842, -0.4469, -0.038, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.3909 left_y=-0.1222 left_z=0.1525 left_yaw=0.3494 left_pitch=0.0093 left_roll=-0.0351 left_gripper=0.9983 right_x=0.2808 right_y=0.0043 right_z=0.1672 right_yaw=0.0152 right_pitch=-0.0446 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -7.9385, 6.3795, 1.4579, -0.2125, 0.1929, -0.0171, -0.4581, -1.6068, 7.0222, 2.0781, -0.1245, 0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e703964d34aff635f6588702c5d4fc6e2b60ebe1330bb5161bcbf4c29e96292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94dc7d002de82aee43fb26357d712a97f560eed87e54068de676c66b3ab6ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47691781b2e073a3fd412ede1f862f32b45e50282b6662f6f88c9c5cf12b315",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGfxqLkJaiUNnVToafEbM1US94kmlXj_Z08gsZma7iB3-q4uXkWmqEygSEcUAZlo0dUQKipxuHxIeiGCVa5OviFb-j5jqoaZVyLTlPRnCznt47g0G3daHEFnLK__GrNL5nxtxwMneh0_6tm-HcaphnQiO3Yqene23tZzfauhAHWr20X9iYoLrMGJz86eVSWm41CblTOamFG-pCt-eMGjKUHYm_q0HrSmMrAIjnV9UoDQE-mN7pAj7DyyLgmzZxhLzSNf7D4SxkdAF0v1U49W3QkMWt1GSv9ar-GWyg49RD5LkGHEDVou-j1ee3TAbFBNC_2qD2N4ivIk1ipqWEYYhzsLrW16gYhewqIkOdezfkDOdVmHbDRxOo1_psa4xhUhNLejN0y2yWstLXBOo-0J8JlI_sBAKV1NEfd-pfZb9891H-eNoYXiZVFSEbKcyC1VhiEoLxPQTgwzoBHKvWqaMQsSTOco4-sLwO3camgyLu6VlYJavcY4lqJnIfwprxyreu5TE0CsLFWhYKh0cXm8EYyvj0rujhNWxlqz1NBV6I7ZEYmIM7oHrhVdQmeurw-e7R8WBQfQnrlMPxXSy3ukXNzZ7254I61mvOkM-jjroDtQNoYFMhMpsOu77cfsvsL5ZdBLm2l58NEA_lcjYcVJyXIb1ECCptmbPGMWc4A5AM-rU3L5EOFHs6pPnPspuClYXS1TCtEVElu-Q1Tok0NdziUAFREPUiAxLhjWhh6LSe7bwkgFFzyWu7dIAFbYSFUynh2bJzuaacOduYNFcNEVfGq08XVzjQ5swmG3eOIqK6juB_AWN0i5SBYm1Iv9y7FgFBBfbOluWkBtq2qByiBkqM3rX45gksHcKTi5jJHxPelFpPV8eZrghwtiQEaoI_sqwVEEmVPHSTeoOIli6J-Oj8WH3nsvhyB7_NQaCoO9kSbf3gRC9U6tJKxXHQPYlT_VyS9aUf7zA-gY9cA-3mm_hgsYm6DC6ixBVbnlciwlPUwiDpzOd804fcqTOQvQ-tE5EIJOZO6TNI9egQKkCtZA6bYNjwKZKCaWkBoCmObkuekaxgTUeBs8wP835h-l1HepCso3Ecm8ZwraoyqPpIsB_Om1hiYmmE7ZiOIcFsk72wm4Svl1sqWjtjamgl5SFAe4_d8Ih-mtS6XPX4YltLiNP3rSZk5-nPcAKZ7hmhjben844ZgaQlMfPzYG6li-IxO0oPHBD7WRXVdkKxTLp_jCzOzlHJUWOigFX72BZa4TS2jO-w853KfuFook_XEi3tlN6UQ9TQ0ZF2Q_axbUBBI2PFBzUiXWiZKRxgbP8gwhJ8TgABEfxl6v9GlOa26APb2XcLmZ6xsjrYGmQmaZ3F5ZBgorPrRMGlCSC9CWpdfjCwJg1XPUMtKFFGNl4P1oROflg-LyEagbBycfbUhyMNkxaoZ8tYmT6BogfzefEBMa08TbHSNT-vbFV0j_x5YLpr8q9ENNXsvcCQWroBRBPv2uhqu0HiUHGtexN-L9-CISI6SM3iYXv_boo8iCaGkpMNW3a50RxWS70eRHNBS4GbJMeFFv5rmK0uqIjxmKoYyqXZLViMUcIw1-A4HmnTaF2X_l9CMVMUCewk7G8lx4hRLyfBL3kL9B_QtU_z8p4lWpg6q8oST_2-6JjlLiGlcxQcdPgKcb",
  "id": "rs_0829b13ddf017f60016ab467ef1f6c87d0a32ef15af2b6fba4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.095,\"left_z\":0.065,\"left_yaw\":0.3},\"note\":\"The raised pose is movable again, and the leftmost neck is now much closer to the jaw column. I will approach it with a modest forward-left descent, keeping the simpler wrist angle.\"}",
  "call_id": "call_6lgN3Xf9mPESU4ASNMdvpalp",
  "id": "fc_0829b13ddf017f60016ab467f0d7b487d0b26b7c86b5bd90db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6lgN3Xf9mPESU4ASNMdvpalp",
  "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]: [-0.4877, 1.7321, 0.8047, 0.1253, -0.6605, -0.543, 0.9983, -0.0269, 0.7307, 0.5411, -0.424, -0.0383, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4086 left_y=-0.09 left_z=0.0621 left_yaw=0.3323 left_pitch=-0.0431 left_roll=0.0335 left_gripper=0.9983 right_x=0.2772 right_y=0.0029 right_z=0.1591 right_yaw=0.01 right_pitch=-0.0385 right_roll=-0.0092 right_gripper=0.9999\nstate[joint_eff]: [0.5265, -7.2684, 5.2991, 1.5263, -0.1978, 0.1783, -0.0171, -0.5402, -1.5521, 6.9538, 1.9951, -0.1392, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18bfea88a6a673e61e588b07460a76370525b2f0d28ac57ccee2d5d5a2b5734f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cefb8cc5d3c6da697bb81191da337e2ed392840ca01664d3cc2867453e837f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b606828f8ac3d5c0a1b95a0eda1adaa47d344905e66b8c14134e64c16302958",
      "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]: [-0.6285, 1.9965, 1.2175, -0.2634, -0.8772, -0.9211, 0.9984, -0.0143, 0.7383, 0.5571, -0.429, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4361 left_y=-0.1446 left_z=0.0651 left_yaw=0.5362 left_pitch=-0.0241 left_roll=0.0156 left_gripper=0.9984 right_x=0.2789 right_y=0.0049 right_z=0.1634 right_yaw=0.0091 right_pitch=-0.0353 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -10.6051, 7.2821, 0.9988, -0.6716, -0.105, -0.022, -0.6632, -1.2786, 7.2274, 1.9414, -0.1245, -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]: [-0.6136, 1.5467, 0.9817, -0.2413, -0.7589, -0.6819, 0.9983, -0.0212, 0.757, 0.5842, -0.4469, -0.038, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.3909 left_y=-0.1222 left_z=0.1525 left_yaw=0.3494 left_pitch=0.0093 left_roll=-0.0351 left_gripper=0.9983 right_x=0.2808 right_y=0.0043 right_z=0.1672 right_yaw=0.0152 right_pitch=-0.0446 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -7.9385, 6.3795, 1.4579, -0.2125, 0.1929, -0.0171, -0.4581, -1.6068, 7.0222, 2.0781, -0.1245, 0.022, -0.0171]\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]: [-0.4877, 1.7321, 0.8047, 0.1253, -0.6605, -0.543, 0.9983, -0.0269, 0.7307, 0.5411, -0.424, -0.0383, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4086 left_y=-0.09 left_z=0.0621 left_yaw=0.3323 left_pitch=-0.0431 left_roll=0.0335 left_gripper=0.9983 right_x=0.2772 right_y=0.0029 right_z=0.1591 right_yaw=0.01 right_pitch=-0.0385 right_roll=-0.0092 right_gripper=0.9999\nstate[joint_eff]: [0.5265, -7.2684, 5.2991, 1.5263, -0.1978, 0.1783, -0.0171, -0.5402, -1.5521, 6.9538, 1.9951, -0.1392, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18bfea88a6a673e61e588b07460a76370525b2f0d28ac57ccee2d5d5a2b5734f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cefb8cc5d3c6da697bb81191da337e2ed392840ca01664d3cc2867453e837f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b606828f8ac3d5c0a1b95a0eda1adaa47d344905e66b8c14134e64c16302958",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGf5kfsB8R1Meidi2qw8RDGUfo_x3l__zZ6eLMj1LDlb2TxmYShYQy3aBJkBdOZjPdQalBh5_mEp8_BOwlEx8wKI0bXwLfvQMKEjPQpyCGnmB3gGtutoqnFfZjbmTyeStrHsBw0PTPI2pVZJ8zdk7yhME58vWwK1nXU_0-1Z18t_Tr0Wh_zI7kSpVhbDNHLcITvBzp9aYPH3ec5KHJiorU3O3hcM0zrSwxdXAnDdy5iYKhiAunnmJMckauH3I-LQPs7mEC-bCObM21sqtR8-hSI0YMqC5IOPdTCu8R6q-rp59rYhZrOlACF7c8AQrFMDGWW_XbMGH-2VrvITP5rEnQ0c2gzC7fWf0H4xEV7jgLWHy3A1buWKYSA0hEWXAn8rmlJrFJmNPPC8sq-m6XbNeK9YgKIt1qDMMABwJjUnM6dKGXQjXxzK5Kn9eQQIFsxU4-1KRmWSm5u_cIqQuaBfF1dQ-56uGhR7pnegtNJMfPC-MyEBuGEyRDNwq3Zs69B6A8_q35Jb7H4rx-t7lspDiHJIMGMPb80O6pUsWsl0g2II-QR5dvh0TjTDQShVl5bt9qxsS2dyzjZCQm7YysicinwKm0as2dcnW_BPQDb8h69tCLcbrr3dAoPIkGjiSKT2HaRPdnCR-HMkY9IGIHc6HQvWnYCVYzUigV8xIFoCsEd0pK5s-WShYBNBkIpdEAt3YH5H_m8HJcBSTo9ePHdoPbF7Cqx0jwOT6ZYVwnjwr5WeVqrQwWyux4wYKU3ZmWnF_G5jcyE-HYBrUeEp0renXAkGd6NZRac_VvXq4w56czwgWpkRQwmwVOrhyW65E7b-EkZqt9XlohTagWUn_KZeCbz7QAWdnojFYbLnB-X9D3aDN5Vc_TTNQX-9l5jX-Sn1zIkRu_PRtPABQ74_DlvQHTh64LnbUMKV5O7aWrtNl5i-vH6ACqlQ0DOatBVGddSq-ByXgfiECPKIejthQjvfZtNBfu9a1Sn9jknWhX6e7ypLtofyJLl8_qVl3nEdAwe52Ltogs507g4lUbJKjwUOq6b7tBeQeWyONpY-xvtCGE0tnFlwmeMXz40mlGhEnwA9QAY-It7TIMacA-E8zqkBkANTS8-HM9x8zMWOPr5dofHf__REwmgrsImdqGXXGa9HTUlHOHXmNigDRTRnDxK6riLI49meBo2MkvEFXqLdWWmEef9yopsK_Y-lNYm_rgDCNaUFe9uA8N7_NnEjxpaptCqU4rSoLhrMKv0F2dBCSOYIyGh_UaCJ-_7VEiBiKKJo-oHmZDNyvFjkh43lMJx1ohRe2iJRTaLCrbe1JAgBVn7bK4hbINwe6mQxUspaAGPM8tDXZNGlF_LYjucw5775Ur3kR8_Si0VHls7njdEVCDfAS0Vw_IQ8RqhjaVpjQCX9jp4TxXWCH5fBPsdO818V8uvtGGMAC3yW7Doo2dgKwxlN7GCyd5jN1bV2PfLN3QDtixNCKyZu7jhUcyIDE_odY5wJjnOk6dClSc_y1DoPbuLgwaL3nEj_5NtMO88c62RySpWZ1ZK8FDerFVG18n1deZJeu35HhZZSUIKWbFC5rDSRwP9GK0mfviISecgFWIieEaUAhfCwcxkxp-wjTpBIN0PviEuT5j5OxM5nr_C3bmhuev9pdSwUDnXsiyVlXmkm6V8LcSeKsh3fown0wc9qRtSt3jY08UU5Lz80RXkjccE_kFg1gRgNZsPrm7Uw4-YsFuotrEA0ZjZq51Jz740RMH6RdTFParB1K-mmYzPKGeGaUxvYfXBpaER6x6QwJE_6LubCfjEcaBzw3mGtkAzAOIPmYoG696gLdA28r2D545xbPshi30q5fuFVjFRpOQnYCyYoN_NBbt9uxKYuzrZtGqXqS9_YKttDYPrxC_bYYhfiDVnkxCLnAcncBG64RGCw3CxUSkebF8gtvptxHn-AoGvaqpKc5BJgogEcm3oO27JyK_hxk5t8EwEUk1G3z8k_VY9S77ZFc06WDKoHicYlbpo_wlySzDHiKl9ApROtPHaZEb3gxsd7DhRNtct-haY4XqFfiOzKv7cLpGYHUdg3QMtnOC6k2cW37HzPc5Z-vHjgnYtwlgh6-234nNorRQL22lkURZ4Al3k9WIN_mjgdc2YY4kyWQZKJf6spBPUYP6v8cAyS8KZJnFCshjR_R06OR4WvIwM2gWJuwumuB1bOeWBuPP7bL5lfoJV6Zpg755AunWx1AjcIid-kSTwTviHg9oSlp4adrNDBuM0U2S3zK3XGRMmyiSIyQnZwrWPIKaf3JSK9sVkpP6tqtlNnPyu06-o_DKp8FiP3OCrqsim6Zy-kyyDALu9Q7WTgpi77EAa7_iSzNYc_8fL9Wc38-Tt-326zfXMDuFznpAvnF-IZLAYzNq9KW0bk8pNT-znkK7FdEj4=",
  "id": "rs_0829b13ddf017f60016ab467f403a087d08f6cfc2a56d5d263",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.075,\"left_z\":0.035,\"left_yaw\":0.3},\"note\":\"The bottle is centered laterally, but its neck is still ahead of the fingertips. I will advance along the bottle and lower slightly to place the jaws around the narrow neck.\"}",
  "call_id": "call_DBSZ4XqXEKbJ2G2hzxHl6wpp",
  "id": "fc_0829b13ddf017f60016ab467f878fc87d0a8c37458901923f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DBSZ4XqXEKbJ2G2hzxHl6wpp",
  "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]: [-0.3836, 1.9114, 0.8677, 0.3767, -0.5743, -0.4644, 0.9982, -0.0284, 0.7094, 0.5049, -0.4026, -0.0525, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4592 left_y=-0.078 left_z=0.0443 left_yaw=0.3285 left_pitch=0.0143 left_roll=-0.0358 left_gripper=0.9982 right_x=0.2746 right_y=0.005 right_z=0.1525 right_yaw=0.0203 right_pitch=-0.0317 right_roll=-0.0014 right_gripper=0.9999\nstate[joint_eff]: [0.759, -7.4872, 5.7641, 1.2479, -0.149, 0.3687, -0.0171, -0.6085, -1.4291, 7.0769, 1.9219, -0.0122, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511cc07941d2b67f88c2cab984c07de460aa03319be4a7fadff568db9055570c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f6d427d45e696d4b1ea8da23caad814f8f5018fe867f7b5aada62e66988f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba37b758c4d3f15b94c41a988ae4aafad7001fa52af60c162d7adee3d9572c1",
      "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]: [-0.6285, 1.9965, 1.2175, -0.2638, -0.8776, -0.9211, 0.9983, -0.0147, 0.7925, 0.6407, -0.4789, -0.0299, -0.0544, 0.9999]\nstate[eef_state]: left_x=0.436 left_y=-0.1445 left_z=0.0651 left_yaw=0.5364 left_pitch=-0.0239 left_roll=0.0161 left_gripper=0.9983 right_x=0.2853 right_y=0.0047 right_z=0.1769 right_yaw=0.015 right_pitch=-0.0558 right_roll=-0.0132 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.5368, 7.2957, 1.0183, -0.6716, -0.1197, -0.0122, -0.9231, -0.5128, 9.9761, 1.9414, -0.1392, 0.0562, -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]: [-0.4877, 1.7321, 0.8047, 0.1253, -0.6605, -0.543, 0.9983, -0.0269, 0.7307, 0.5411, -0.424, -0.0383, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4086 left_y=-0.09 left_z=0.0621 left_yaw=0.3323 left_pitch=-0.0431 left_roll=0.0335 left_gripper=0.9983 right_x=0.2772 right_y=0.0029 right_z=0.1591 right_yaw=0.01 right_pitch=-0.0385 right_roll=-0.0092 right_gripper=0.9999\nstate[joint_eff]: [0.5265, -7.2684, 5.2991, 1.5263, -0.1978, 0.1783, -0.0171, -0.5402, -1.5521, 6.9538, 1.9951, -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]: [-0.3836, 1.9114, 0.8677, 0.3767, -0.5743, -0.4644, 0.9982, -0.0284, 0.7094, 0.5049, -0.4026, -0.0525, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4592 left_y=-0.078 left_z=0.0443 left_yaw=0.3285 left_pitch=0.0143 left_roll=-0.0358 left_gripper=0.9982 right_x=0.2746 right_y=0.005 right_z=0.1525 right_yaw=0.0203 right_pitch=-0.0317 right_roll=-0.0014 right_gripper=0.9999\nstate[joint_eff]: [0.759, -7.4872, 5.7641, 1.2479, -0.149, 0.3687, -0.0171, -0.6085, -1.4291, 7.0769, 1.9219, -0.0122, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511cc07941d2b67f88c2cab984c07de460aa03319be4a7fadff568db9055570c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f6d427d45e696d4b1ea8da23caad814f8f5018fe867f7b5aada62e66988f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba37b758c4d3f15b94c41a988ae4aafad7001fa52af60c162d7adee3d9572c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGf-M-z5JFoWQ5zBiYqfTUID8HGv3s7aw_C2q_eRm7AG3j4EEiMh5WBn0OHfgPeGSAm-uckfnwsvSs6S9b3ZZ8fOoKspbiGeeUtvTt9EdG861raK0XRtthcQQMSNtvd0BqdIAL5B5-yi7OPGQGQwgKgtJRTUt7va_WJLwr7RFp5cRicKsqMfPii9s_S-N0G6L_4sRqHB4CSbliXejtm4L5kDb-feZIm7qz3TwSq9nwYwSCb4MPitJDMDcj0ipecZztkPDcAsLpGLjBwQyUDA21tC_OnXu-UkNHUAPqteHB0vk1my97Q6BeQeSem7NxI6GyEBgYvoy0GbERDbvIGpwRqoWtZeBO9Ei4gfrdz0opc6nYN7iO065_RUE1vHQhQqGw5TXtTuFZSbXZMX9ddxBDwoZxQbMDCD5OggdlHQsXipDY3BsasqMb3KzqVS_-jljK5PzEFQcyJCGSIUSh-idff0eg2D-YqtKtPiCJz67uQ-PZJVmv_to1skOnhpVz77-Q5TJm8Hwwz0JtLF6PAN5MZ7ROIzMWZLM9DnS6Ed70I7PXrjzCuztqxbV5PG9YjhBBB6brwcm-a-7xQ7s0r_s2iNMB2wPJrv0_GS2tIwD6wCp0-2_X5n2vbeY4gfEJ2NouqGx_rvqelyWfwaCzU5aBhgq1FPq9bofTwwkU1cCZpI3ZJPj8hHPN7EbNR3JgU5fwvU9_SI49SdxUJWUEtX_gCdgARPuNt4gZYCfovjDkO6Ei3vxC21wvf9XJOv-1MAs_XLdjAag2c0oFyk15qMXd5F7IVun2muzWyqlK-4qvilin2rju8x2QDR-bq9hwCZEeMaoQywdxUKIfAQdb-EaRBGemx47AGorJh5hZgfg9pEvk5_aF-eJgDT1-rFgOs2CmXO77TbdC_vE34tziNfD8YkImOrIDdkBehLxEpTGJQUPVwBXpJ267zci4jntmBef-g0WFRMRjXRnKBZocM7nuTnG045DlNHZRt5mg6vWp8vEWsKXx09gJXSl_8_4xeN3V8JF_zWhD7g7fPRDXxL93CWpIDvjU3bbkeQqWAfHALDp0E9rMZV1jy25aFy_UW0KNQnOJKulLTRkUxCqh_Tm-v9AHGa4FytnrmWrOknB2w4N6VKVAn7cC-vbZ-xQPfUyab_k9DgpCr-dlGoViH9L3M-h8mLJxIvG-Aj5IGXUCjx0-IA_7az0QUeJ9_kwuk9e2Y3ajyIkUV0_DGNHS8aOSCfoVPuZ0dGdZ9exLxMRvNmaCx4paT9NQUmA1If_n2FP3K_mnVYtkFnHlQmpxJ7JksmAmVTm6eb3jsCR8XEKFMo6DfaNfFKxhGAdNxcNS16a5L2wmDx9gIvfIc6FX86W2QAMWxLAkrq21ckiBnyex8WJtGmGige3ExkPdp1sIk84KpLU6qORTmv7QFuniyJcb9gWDd7JYNR-YHocL3e37QizqrKVOoiViZUcb1_bDBi5A3nVRTlN5_Y4m4BVbR1WLALVSPiilupmoFiKZXEkYglbMORUBs9EzbYVzZT-Bg5U9siNpJLSGpy5LanUCI9zqj7dj_1zZNmY_6ZH8ZaaCJodSff0R4CZsP_IFIM_7J-qW-_ofkkEPvpy7Gx28KkeuOBtg==",
  "id": "rs_0829b13ddf017f60016ab467fb9a7487d0b41e1ca6be1ab3b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.055,\"left_z\":0.022,\"left_yaw\":0.3},\"note\":\"The neck is now near the bottom of the wrist view, just left of the jaw center. I will make a final small forward-left adjustment at neck height before closing.\"}",
  "call_id": "call_0i6A2ADYUB8yxAqDkUWLv7kw",
  "id": "fc_0829b13ddf017f60016ab467fd6cbc87d0b6f0af0892fa63a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0i6A2ADYUB8yxAqDkUWLv7kw",
  "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]: [-0.3649, 1.9244, 0.8783, 0.4114, -0.564, -0.4442, 0.9982, -0.0284, 0.6918, 0.4763, -0.3943, -0.0532, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.4674 left_y=-0.0736 left_z=0.0478 left_yaw=0.3288 left_pitch=0.0355 left_roll=-0.0441 left_gripper=0.9982 right_x=0.2713 right_y=0.0053 right_z=0.1456 right_yaw=0.0216 right_pitch=-0.0343 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1863, 5.7368, 1.3651, -0.0855, 0.2711, -0.0073, -0.5128, -1.2513, 7.0906, 2.0049, -0.1001, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cec7ad6de37a22dba2ce0d4a03538e96dc4402bfa44cf489d6041f738015f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbff7ff984f0841e7e8f8ac2a71354b94aa047615fc7406ebc32794dc03534d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea94a8aa21458fd1408be7f28209a9abe98bf7568765b0f0ea8c0ac2b158899",
      "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]: [-0.6136, 1.5467, 0.9817, -0.2413, -0.7589, -0.6819, 0.9983, -0.0212, 0.757, 0.5842, -0.4469, -0.038, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.3909 left_y=-0.1222 left_z=0.1525 left_yaw=0.3494 left_pitch=0.0093 left_roll=-0.0351 left_gripper=0.9983 right_x=0.2808 right_y=0.0043 right_z=0.1672 right_yaw=0.0152 right_pitch=-0.0446 right_roll=-0.0089 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -7.9385, 6.3795, 1.4579, -0.2125, 0.1929, -0.0171, -0.4581, -1.6068, 7.0222, 2.0781, -0.1245, 0.022, -0.0171]\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]: [-0.3836, 1.9114, 0.8677, 0.3767, -0.5743, -0.4644, 0.9982, -0.0284, 0.7094, 0.5049, -0.4026, -0.0525, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4592 left_y=-0.078 left_z=0.0443 left_yaw=0.3285 left_pitch=0.0143 left_roll=-0.0358 left_gripper=0.9982 right_x=0.2746 right_y=0.005 right_z=0.1525 right_yaw=0.0203 right_pitch=-0.0317 right_roll=-0.0014 right_gripper=0.9999\nstate[joint_eff]: [0.759, -7.4872, 5.7641, 1.2479, -0.149, 0.3687, -0.0171, -0.6085, -1.4291, 7.0769, 1.9219, -0.0122, -0.0024, -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]: [-0.3649, 1.9244, 0.8783, 0.4114, -0.564, -0.4442, 0.9982, -0.0284, 0.6918, 0.4763, -0.3943, -0.0532, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.4674 left_y=-0.0736 left_z=0.0478 left_yaw=0.3288 left_pitch=0.0355 left_roll=-0.0441 left_gripper=0.9982 right_x=0.2713 right_y=0.0053 right_z=0.1456 right_yaw=0.0216 right_pitch=-0.0343 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1863, 5.7368, 1.3651, -0.0855, 0.2711, -0.0073, -0.5128, -1.2513, 7.0906, 2.0049, -0.1001, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50cec7ad6de37a22dba2ce0d4a03538e96dc4402bfa44cf489d6041f738015f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbff7ff984f0841e7e8f8ac2a71354b94aa047615fc7406ebc32794dc03534d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea94a8aa21458fd1408be7f28209a9abe98bf7568765b0f0ea8c0ac2b158899",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgCDLRh1_2ViUfWMNvO2kjjV3QnFBEasq_5_v044CeJpsubcgMGBWQkLdzj069vRPEdJTTTI_EcJpjMCTUq35B3rBd9LHR12shhYyuH622PjTeLk43U8JhBQv3M4R9_ORejXeU0aaanbnRpNNOd2qmbs4zT8kh7dpKq5e6g5gPkfcydIZ2yXqHplqvacDHCNYj0rV9ddm97swMQ65QTPoYOIyUs9IgX338_st9sxt97BgnO6VsrouNauUJOD7GfvtAA592QAbsqXVmNEKPbAKwp5D3mxj9Ulvjwz31QkB7rY_kVtaxV-hA_T_bKEUqSC_POYB-O0Ddx-OGTQWieUfsWtYcMaldJ1a748sHOIJ2f_Y3Ry8qR45U-44U90Z46ATpbU6H6vUItcN2_wvD245pznVRAtQE3jzwKWxECVjxVYfXZf0Dfqfz6_UUZ51V33-EIE9tAt-0fKd62tE-Ui484hwFPJsqs63WDbqQACnmxLFVzUepsIhmAXIQBqBvoEUlO6ttPjnId1L-lFtfb1bkyb3xNokCKm--x1P65UZJUTzucsmrYAs3-rtq7lMH1_lgGZzaCSEeUdbJM2WMdcWpF3HQFON9Pw1Ekf1X7l-FECGOTfZs1Bpk_m-nE-pDu0PnoVcJGgQ6MOnUXhTM9FqYWrliencQMC-C-3J1rfKWNV5QqJ-tM2zDfGSagmsPt9lad--imav8lNpen0T64q1sHGNKd6j1TE06GaJ3DuTU8r2TYfaoaqonyUvvTTIOGbWkdA4itd9-zaggQS9RxAlKAMF5Suy1xt1ObFrBKfY_OK14iwQOwxrBQhaEfmozwk0Sid5cvv1xWdLDdt4CnT03x1CBhkcVHaCJcXTF8ctT7_cTyngFKC0Qru3ByxS5lCGOvJ-FYtADJgiQKIYsHlQgdg3NRC5Lhj9mv0L53CiqctBptEhvPrIK-DANobq6R_ObHvdbZ6eoh_QAbXwOrZTnWtE1KkmWqKGt3qFTEnRw5-UQ2bEGqFHaYqZA14_xnHBEu3kMLf4d0hW6-8OAAF5YdPv5C-90r0xAics3QuE-iudrjAgkYS-j8AY4GYo2c4Nm6yDWUnRBsdir__lpEsapfXebShUQh4AMg7ysSk7IMvtRp0-C_uslzOXt5z_A_Wilm7BUSFu2hwYIRXKyTer10SAwYEFYehoy97oK04r7rOYzD417A92HW5LIaMaDZDvZLF536Vd2B0QICosnQUWHz3DieACnnfhULNI0tjbBhHCRODv2l7EZvl2AmrLLuJbSo2kDK_IDfjHcHFujUNId3o8RAncmGxGhctxqWPfy_v1PtKUc70A1nnUlPj5TKW-UnEv7X9Swl0awjuYiiusC6_xHKjPjTxzcso9wK9rdZp2R1an68TXKxf9gLLFh8K1w-",
  "id": "rs_0829b13ddf017f60016ab468010eb087d091b3964c7cedb775",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.2,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The arm is at its low-reach limit, with the bottle neck between the open fingers in the wrist view. I will close to a narrow, gentle pinch and check whether it captures the neck.\"}",
  "call_id": "call_viUWUAFS0h2PuDhoDxNHyj0i",
  "id": "fc_0829b13ddf017f60016ab4680177f487d0a91ebadcb4c865f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_viUWUAFS0h2PuDhoDxNHyj0i",
  "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]: [-0.3649, 1.9244, 0.8841, 0.4454, -0.5774, -0.4389, 0.2061, -0.0284, 0.7933, 0.6407, -0.4751, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.4728 left_y=-0.0735 left_z=0.0566 left_yaw=0.338 left_pitch=0.0709 left_roll=-0.0591 left_gripper=0.2061 right_x=0.2859 right_y=0.0055 right_z=0.1776 right_yaw=0.0278 right_pitch=-0.052 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -7.1726, 5.8051, 1.0623, 0.0757, 0.2564, 0.232, -0.9231, -0.7726, 10.0308, 1.8974, -0.1245, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f049a1503e22c7bf75be1b9754eb2f40414e5673c1029347802c95c46c32f3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad406701b6e20e5e7cd77d38265c4457900f80b25f02b2c59518967503eeabff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c295d5bf0207ad2eeac42af2d025a376fbdb164b2b8e1f86afcaa045e7582c34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4877, 1.7321, 0.8047, 0.1253, -0.6605, -0.543, 0.9983, -0.0269, 0.7307, 0.5411, -0.424, -0.0383, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4086 left_y=-0.09 left_z=0.0621 left_yaw=0.3323 left_pitch=-0.0431 left_roll=0.0335 left_gripper=0.9983 right_x=0.2772 right_y=0.0029 right_z=0.1591 right_yaw=0.01 right_pitch=-0.0385 right_roll=-0.0092 right_gripper=0.9999\nstate[joint_eff]: [0.5265, -7.2684, 5.2991, 1.5263, -0.1978, 0.1783, -0.0171, -0.5402, -1.5521, 6.9538, 1.9951, -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]: [-0.3649, 1.9244, 0.8783, 0.4114, -0.564, -0.4442, 0.9982, -0.0284, 0.6918, 0.4763, -0.3943, -0.0532, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.4674 left_y=-0.0736 left_z=0.0478 left_yaw=0.3288 left_pitch=0.0355 left_roll=-0.0441 left_gripper=0.9982 right_x=0.2713 right_y=0.0053 right_z=0.1456 right_yaw=0.0216 right_pitch=-0.0343 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1863, 5.7368, 1.3651, -0.0855, 0.2711, -0.0073, -0.5128, -1.2513, 7.0906, 2.0049, -0.1001, -0.0122, -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]: [-0.3649, 1.9244, 0.8841, 0.4454, -0.5774, -0.4389, 0.2061, -0.0284, 0.7933, 0.6407, -0.4751, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.4728 left_y=-0.0735 left_z=0.0566 left_yaw=0.338 left_pitch=0.0709 left_roll=-0.0591 left_gripper=0.2061 right_x=0.2859 right_y=0.0055 right_z=0.1776 right_yaw=0.0278 right_pitch=-0.052 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -7.1726, 5.8051, 1.0623, 0.0757, 0.2564, 0.232, -0.9231, -0.7726, 10.0308, 1.8974, -0.1245, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f049a1503e22c7bf75be1b9754eb2f40414e5673c1029347802c95c46c32f3db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad406701b6e20e5e7cd77d38265c4457900f80b25f02b2c59518967503eeabff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c295d5bf0207ad2eeac42af2d025a376fbdb164b2b8e1f86afcaa045e7582c34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgHeoJzFAOEXfmRAxsM1l4wdvaDUM05XxNFNM_oN_NMfkofHRGg24lddd0RpJ__2fXIqC0GAYzzkMcR7aKEZYv_sPI7-rwGs87aNTiYzpBEPsxuOG2wERmPrlNzqHpS6oF3ndzF3IE0AbW7F-P9bWzkYk2Zzq-E1sM4v9rOxk9v_hguHeeFaWBzdU5Pjsq5ed17onFtx3L8vxFHXFaSRVyuWow27jCe0F45bPcgYF-Txuxl1JAtTZ42qE4OZOxu2vVyBNz_5W1jhpNTY-z2_WzUhZpoHSQQVGYXI3wJiUVq8e0CkLpE5prN1wAfvhvF326sO37jCcvKSFdyeNGnnxWx81WOdmMMwUJ5yKRpviWO0LBng-umR52cydg9xaW3bfqCkLN426Hdw11HSsUQJZDDHI1zTiHjehjFOzG7HoR0HAYhFaqHk5VeOTYyiAruC1gCn4ja8zIDD1lALBJNlAOENbL2VEahJljetGW6CZPQLdT9smRX6EDUZ7KbtVmeKduksVh5QKDcIYVmwkYnVtP9wvzURf2e1xBpxRjzIAm6PDDkPR80oN5hOSGRimzD7gQNBGNQ2ZYeyU-JRV736mhtgB-SmK6rzbyLR8HYdtju_Bu8v4VFRj6EWeuz-_2N4UnoVetyMGIR1jvljadFkmSnZpom7Y-emP_PgY0Ivms-qfBV9FMTp3SBCWIKT1JwYa4mXxe1iVTh35klQhJN9K14ozqtV_0FoJKASznGEvzO_4lhMmXlS5PTDHsncN6pGUhHuFeO8S5i67WlqZmGwltf4qX6xh3NnJWBj0juf4cpquCBLrysee4uz5TeYUjbg3K_UhJ0k19aCqs5QFM0PiQev9Li2NZU57ezhDLj1gulvMyIM_xAyAArsJMb1zpgEvIwguWTCmzyloXYwYIpwtW25XBuQgzdMYDcmeZ9_lYK5MvrXFGsHESDcuRCOxTFe8JjPdJwR2EMhKktqVIi_wViRC7z9jv9NpZNVGHePXc0Ok2qnK3SRMgLW7ss4WzvACN5dSC0Fjr27V-fFboqILWTTQXPw1w88W5-hCM-2pgoqngZfponYGen5VdvxwxmhztGdlcPKQw1cECZaGzmp99GGDX4ARx0pHImcU43mRIg3OfEe3-AhMziMMUUZSlyKxqZ1abdoRiM004F41U8PlugEQ_6MxxBiCmjnU_DSPxfm10QF2S7Ff3QCHMC0D6FOP_sWDyppwXLVgGY6cuFTD2pbY6vh_wUHJIFOJhRx1VDc6JzY4qpQSTGFsBP2CI_Lj0mqVrnWavx2jigQesontyAATvI72uV1aRRDa12WNc4LMhrHem5lDLU-hh9FTcIciKcrHP5WORO-o_GNEtIXUVBTvRwVIcGdmj_HQppzFcrNjegiiCdpXoYQFIG-itzCO6rkch0yUzlnNnEJGZUExcqUOOxDZcbx2ow0cwNJDf_pPpSYsT7jnPZRMdtmsLe3qQB",
  "id": "rs_0829b13ddf017f60016ab46805663087d0a3e4c7ebb1d66b53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws have drawn the neck toward their center, but the commanded gap alone does not confirm a grasp. I will finish closing and check the settled opening before lifting.\"}",
  "call_id": "call_LVTCHu1N1xVhx2haYUQai3r8",
  "id": "fc_0829b13ddf017f60016ab46806a20087d0b0583e65c7c6e858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LVTCHu1N1xVhx2haYUQai3r8",
  "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]: [-0.3653, 1.924, 0.9436, 0.3389, -0.5903, -0.4465, 0.0094, -0.0284, 0.7628, 0.59, -0.4503, -0.0566, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.0732 left_z=0.06 left_yaw=0.3502 left_pitch=0.0403 left_roll=-0.0297 left_gripper=0.0094 right_x=0.2813 right_y=0.0056 right_z=0.1677 right_yaw=0.0276 right_pitch=-0.0475 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 7.2274, 1.326, -0.0415, 0.0415, 0.8327, -0.6085, -1.812, 7.2821, 2.1123, -0.1343, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdc81cae79b987807ab7b266656426305071692f69bd28a31bb7caa9eeae9df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3fe11ece5eb34dad63e3acc385bd73a48665a47182c119ef1d7f096816341d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e19ef4a8810d665ff9d81d086822d16f9dce4985b0ff5063688991988fd5334",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3836, 1.9114, 0.8677, 0.3767, -0.5743, -0.4644, 0.9982, -0.0284, 0.7094, 0.5049, -0.4026, -0.0525, -0.0547, 0.9999]\nstate[eef_state]: left_x=0.4592 left_y=-0.078 left_z=0.0443 left_yaw=0.3285 left_pitch=0.0143 left_roll=-0.0358 left_gripper=0.9982 right_x=0.2746 right_y=0.005 right_z=0.1525 right_yaw=0.0203 right_pitch=-0.0317 right_roll=-0.0014 right_gripper=0.9999\nstate[joint_eff]: [0.759, -7.4872, 5.7641, 1.2479, -0.149, 0.3687, -0.0171, -0.6085, -1.4291, 7.0769, 1.9219, -0.0122, -0.0024, -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]: [-0.3649, 1.9244, 0.8841, 0.4454, -0.5774, -0.4389, 0.2061, -0.0284, 0.7933, 0.6407, -0.4751, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.4728 left_y=-0.0735 left_z=0.0566 left_yaw=0.338 left_pitch=0.0709 left_roll=-0.0591 left_gripper=0.2061 right_x=0.2859 right_y=0.0055 right_z=0.1776 right_yaw=0.0278 right_pitch=-0.052 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -7.1726, 5.8051, 1.0623, 0.0757, 0.2564, 0.232, -0.9231, -0.7726, 10.0308, 1.8974, -0.1245, 0.0024, -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]: [-0.3653, 1.924, 0.9436, 0.3389, -0.5903, -0.4465, 0.0094, -0.0284, 0.7628, 0.59, -0.4503, -0.0566, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.0732 left_z=0.06 left_yaw=0.3502 left_pitch=0.0403 left_roll=-0.0297 left_gripper=0.0094 right_x=0.2813 right_y=0.0056 right_z=0.1677 right_yaw=0.0276 right_pitch=-0.0475 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 7.2274, 1.326, -0.0415, 0.0415, 0.8327, -0.6085, -1.812, 7.2821, 2.1123, -0.1343, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfdc81cae79b987807ab7b266656426305071692f69bd28a31bb7caa9eeae9df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3fe11ece5eb34dad63e3acc385bd73a48665a47182c119ef1d7f096816341d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e19ef4a8810d665ff9d81d086822d16f9dce4985b0ff5063688991988fd5334",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgQ5DG2gfI0OEKxlcmzfWW832BpJ4g8nztHTHGe9Zd1sAMrW5XjTwRCiwwOCxfxT8Fek8o6PnU5Y-c0_NcJS5GDnCzEjdnxiAPWXyYGDrU0LDiFGVhEhuwgee7WQOUAg_kXZEmoTclwGNCfsG2WO66KazV4lVAWS7-reuYiIRGUNZwEargD1dta1rNMO0ljBeAYtKP72dlSl3ttY5ccTrU5_KRg1BDoLuFLcIloCRAIpcjKqJ_pWbJfGpjHdY76S4ardAeaRWjcBE4qEIUqK-cXGEo5vt2eYe1w5Mnehb1bKVu1yHvRiSVnyHrZLfqqYKoimHO8zuhHH7uYlVxip-L23weaNOtyFst6p35vEv1IpV0oIwlowOcFteXQlFwgBM-yxKUWUvVGEmySWLvRYm7Zi7iKlZEWgfhwHtUTXecG0LYesvE7ae-HFOPldbcNSTc0fgOSbcTLZQbr89p1Abxyn0MpaZkEVPek1hchUudpxVPupK-eVwArJdUlJtaPztAJARpwaMUzp9Fw_SyqNjYH-Zg1LX5O0IOp0awrBcQoK1dq_BUA8d_y8B2e6NvlFzXkqGOU_76wLj-JDMs3YkQxsSz3XnfRzTHSCVFsCf1H-xZy1IKVB741WIjcDpfxNZieZTFR0HAbMI7HEPvMeXBfCvHc8K7qEVKLyoWCMrnacJ9ZCAlw3brE0CxTdomyBNLtuxLac7OalC9DDLKVfWEghqbs8u1jgpHNsTXOx2OzyL0QfNKwjOkjoBCjQYPmKpWEUl8lFoWXhKPNs-GztWXz6HwiE05jaR35Y9kNF8CoEg5MRBXyISF00tT6h-igPDktxSEZoBSE9BZFMa3svBP-16R7tW2jqUCIxUsTDKVZW01N9OV8I_YeDBzlsoTLx76N-TlSgfOzElV7rhZ8mVaFV5bLScesogsUd7B9JRqnoGzOOB2RM6Blo78FbBen_EpCB8pX7amwZTrhdQxy5L1bYc01ybSST-YbJUObrRlXv07eI_FNv-LYC5cN6gn2T72fL_wkeUxhwyKexuGOUL86GWpFkq33bE3W_p3KM7EpmYqCjZsMcnOF8DV9-D98fNn3S11gyaaSBTrj6-nLfHZc1Kst-ZNkECEb7YfFRwfGHp4ys0jGSJt4uz0mukuw2w0BZa5I0lCGpvp02BGJnZhpB9Xt1WRO7NVaAueYoEBQ4ZeeAulYgGIXn-zs2_oZIyrFXXn23WFUzkvS11C4vm86NVALVVQZRwIHFWY4srSWBVFI9GMqIaoNtVfOvtF2rTuFhGpAqOQoHNjozzlg8bzD5iRVJD26isK4bqLtHMBQkG7_BlB09L7lwxo8ryw2kLI-0CeqISqtQYnKuUSgsARkQG3rE7CBTRqsTUyvIRLNy1zYREUpI9_V5DQTzUEHDQ__sW1ABs2XQbvoaefEk_CcoYRmsu_W1vJcdGsrkESMCWWvx7hghQulPDZ22jaER7de059fBobEyCN-Nbfm6ckWlPHaDMytAuhxq1WXWqTBDMjhod1RaQ6Df-J9Yv7zPzTVkz7sI-MEALlmWKNsiuBzzu5lQLQqhYgnZmbnWrq-3lRFrXy3BVeKbMBTt--r9Fi0Bzcof0gph6caAcXfGMRrIFdilf4sz4bj5I76SPy-pLQR_pPU7PC4iYbpR7MeHK_0D2xDdlXZvK37B_mPeV7Lry-PBz4I_YPUEMoup-X6VMN9nl9lXZjnP2LdhQ9g1Mqv2ETh5307X7FLIFm-QmlUKJJ2GrpxB5m0F-UWmoD94_nfnmBNYzpqVdPv-1Gl1vNJi7BnpreHQUtUZS7hmY0QYj7Nf2D_LbtynjOZxnoPXN_Myr4rc-B4gdswMijIl3SZiJPASDFcgrMAGZnD86On81qdZGEu6FLvXML7gz92oDCU13T78jxd11MT4bO4v0O3CVyBihQUUvqCl1ELUJYUcb0lhlG5WWGbVwr5v0Oh6E-oC0uW1W6EqXDK1rQIGHS-vqwqS-JYS-7PartfDCfIBJhj_SEi_5tMVCMJ3FxD7g5alKG1adf90v7clVlM4P2BlDwCflMA0kqWy2dC_PILD99W1So3_JbjK4077muIZgZpZBJ7ZNs3ma8ybJpFL7-zKhfLkxrvXRQ0oMUGcOJ3AMTwlpOIUY_IVb6BzRcDJzVhi1Jp1gzVikWub91Fdl4fMd2N1eh6zE7YD9dV5LqNeG7bOei19h7HoQ2jiepkT6jTVoRLAMAS4Q0iCQ0TYyluZrqDviqwjPmTaVGLnaEezvwTRvQnHiZlsxpAss5fpkvSqlJad4YeQYCdGx4NviWq_B5WTy6BH7N9QK6VxAwfS2Az3EGN7xe4jEdwrKYOLP34QfsV4Sog_u0yQ7h0qB4JlwRLxXUnG2y_jaDIKJE5iy81tgU3eI9SG4wyR-klW8FhpuaFBrkeUHcVf7wCwvdf-vpIhl_YQ5akjz1CAArvsSc0659fQ1g74OTxcgrB9d5DyKN9cnVFhX5uoGC9JE2VZmy0gRgK7ek2Fgsk7omYlkXVdiEJj-vQgOmzyJvvnqZJxtDsQKnrbiMPINjobfSKs_3CII21aNi3zasb7E8YIZxtWfDpvNT3mWimi4rASgQZOO7Kyh0YfdChfg8CVy1WuRyQZSPDI1wjeBBC7yzA9lxSzNyBXopi0weIT7BCLGM=",
  "id": "rs_0829b13ddf017f60016ab4680978cc87d0a24374c12fb5c896",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.11,\"left_z\":0.095,\"left_gripper\":1},\"note\":\"The fully closed gap is empty; the fingertips stayed too high at the far neck position. I will back away with open jaws and instead grasp closer to the bottle’s shoulder, where the arm can reach lower.\"}",
  "call_id": "call_ptjk5orTzv90JQTYVXyAwpjk",
  "id": "fc_0829b13ddf017f60016ab4680e993087d09394080c5106c182",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ptjk5orTzv90JQTYVXyAwpjk",
  "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]: [-0.5518, 1.7138, 0.878, 0.0494, -0.7013, -0.5957, 0.9945, -0.0284, 0.7345, 0.543, -0.4213, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4119 left_y=-0.1155 left_z=0.0868 left_yaw=0.3251 left_pitch=-0.0105 left_roll=-0.0028 left_gripper=0.9945 right_x=0.278 right_y=0.0056 right_z=0.1596 right_yaw=0.0273 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1949, 5.2444, 1.3504, -0.5348, 0.1343, -0.2125, -0.7316, -1.4017, 6.9812, 1.9707, -0.1099, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d9596b9cb0fd8efa8af45037a0ca1ab52c3311a7560b6b1eaab191060ac08a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3376684a4407a718280c121ec78bb3defe9494105486bb086a0a8f07b2dd2beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355da824b77d1c4d031dda01f19c0ed69119eaf87874e5370933706e890ae992",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 1.9244, 0.8783, 0.4114, -0.564, -0.4442, 0.9982, -0.0284, 0.6918, 0.4763, -0.3943, -0.0532, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.4674 left_y=-0.0736 left_z=0.0478 left_yaw=0.3288 left_pitch=0.0355 left_roll=-0.0441 left_gripper=0.9982 right_x=0.2713 right_y=0.0053 right_z=0.1456 right_yaw=0.0216 right_pitch=-0.0343 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1863, 5.7368, 1.3651, -0.0855, 0.2711, -0.0073, -0.5128, -1.2513, 7.0906, 2.0049, -0.1001, -0.0122, -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]: [-0.3653, 1.924, 0.9436, 0.3389, -0.5903, -0.4465, 0.0094, -0.0284, 0.7628, 0.59, -0.4503, -0.0566, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.0732 left_z=0.06 left_yaw=0.3502 left_pitch=0.0403 left_roll=-0.0297 left_gripper=0.0094 right_x=0.2813 right_y=0.0056 right_z=0.1677 right_yaw=0.0276 right_pitch=-0.0475 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 7.2274, 1.326, -0.0415, 0.0415, 0.8327, -0.6085, -1.812, 7.2821, 2.1123, -0.1343, -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]: [-0.5518, 1.7138, 0.878, 0.0494, -0.7013, -0.5957, 0.9945, -0.0284, 0.7345, 0.543, -0.4213, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4119 left_y=-0.1155 left_z=0.0868 left_yaw=0.3251 left_pitch=-0.0105 left_roll=-0.0028 left_gripper=0.9945 right_x=0.278 right_y=0.0056 right_z=0.1596 right_yaw=0.0273 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1949, 5.2444, 1.3504, -0.5348, 0.1343, -0.2125, -0.7316, -1.4017, 6.9812, 1.9707, -0.1099, -0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d9596b9cb0fd8efa8af45037a0ca1ab52c3311a7560b6b1eaab191060ac08a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3376684a4407a718280c121ec78bb3defe9494105486bb086a0a8f07b2dd2beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355da824b77d1c4d031dda01f19c0ed69119eaf87874e5370933706e890ae992",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.095,\"left_z\":0.012,\"left_yaw\":0.3},\"note\":\"The bottle’s shoulder and upper label are aligned with the open jaws. I will lower here, at a shorter reach than the failed neck grasp, to get the fingertips around the bottle.\"}",
  "call_id": "call_d8Dy2XCO8pstEuDBEu4kPeCT",
  "id": "fc_0829b13ddf017f60016ab468132b8c87d0b658783358ed2b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d8Dy2XCO8pstEuDBEu4kPeCT",
  "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]: [-0.4835, 1.8801, 0.7792, 0.4244, -0.6594, -0.5411, 0.996, -0.0284, 0.7128, 0.5076, -0.4026, -0.0563, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=-0.1002 left_z=0.041 left_yaw=0.3346 left_pitch=0.0422 left_roll=-0.0571 left_gripper=0.996 right_x=0.2751 right_y=0.0057 right_z=0.1529 right_yaw=0.0271 right_pitch=-0.0322 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [1.0325, -4.9299, 2.6462, 0.8034, -0.0855, 0.3932, 0.149, -0.5128, -1.265, 6.9402, 1.9414, -0.1148, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0579d7c410b00f9f20f41d7c026e8d1bfa9d97f0ac3d41660397ed1dbd54df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e02d5091f6e454c6018a0e151837eba5ffb5ea912c074f1112058ba92b0503d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6204750ea08cc8f9d31f7acc08067255954104a51d10e0c8030c14131eeed80c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3649, 1.9244, 0.8841, 0.4454, -0.5774, -0.4389, 0.2061, -0.0284, 0.7933, 0.6407, -0.4751, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.4728 left_y=-0.0735 left_z=0.0566 left_yaw=0.338 left_pitch=0.0709 left_roll=-0.0591 left_gripper=0.2061 right_x=0.2859 right_y=0.0055 right_z=0.1776 right_yaw=0.0278 right_pitch=-0.052 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -7.1726, 5.8051, 1.0623, 0.0757, 0.2564, 0.232, -0.9231, -0.7726, 10.0308, 1.8974, -0.1245, 0.0024, -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]: [-0.5518, 1.7138, 0.878, 0.0494, -0.7013, -0.5957, 0.9945, -0.0284, 0.7345, 0.543, -0.4213, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4119 left_y=-0.1155 left_z=0.0868 left_yaw=0.3251 left_pitch=-0.0105 left_roll=-0.0028 left_gripper=0.9945 right_x=0.278 right_y=0.0056 right_z=0.1596 right_yaw=0.0273 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1949, 5.2444, 1.3504, -0.5348, 0.1343, -0.2125, -0.7316, -1.4017, 6.9812, 1.9707, -0.1099, -0.0269, -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]: [-0.4835, 1.8801, 0.7792, 0.4244, -0.6594, -0.5411, 0.996, -0.0284, 0.7128, 0.5076, -0.4026, -0.0563, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=-0.1002 left_z=0.041 left_yaw=0.3346 left_pitch=0.0422 left_roll=-0.0571 left_gripper=0.996 right_x=0.2751 right_y=0.0057 right_z=0.1529 right_yaw=0.0271 right_pitch=-0.0322 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [1.0325, -4.9299, 2.6462, 0.8034, -0.0855, 0.3932, 0.149, -0.5128, -1.265, 6.9402, 1.9414, -0.1148, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0579d7c410b00f9f20f41d7c026e8d1bfa9d97f0ac3d41660397ed1dbd54df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e02d5091f6e454c6018a0e151837eba5ffb5ea912c074f1112058ba92b0503d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6204750ea08cc8f9d31f7acc08067255954104a51d10e0c8030c14131eeed80c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgY5cyGKbMxNdaP-NioFiAYhS_fnJAjjEaIojkFbJb-HE-YIo3LJWcb1Q1FzVkun5JhczfDNllmUHtmyRO48pc7dkBtKpWyiU8fKEOf4TzpdU0UeHarbDJzzViW9oZYlWssvybD_HD8N4mm2rx3ojvcgM9F9TDVyV_L3mJn8ugHVUnvcJW-0PBbW7mTLswTwA_5r2w9EaJro-KykWtxePUbqDozdgHDx35rtH3-kzyFOe6JG0vsIRhc37sdhEVszGjSOuiGLt3XyWT1ma-d7ktsvLmtzgj_GlDEEQkVG5de8Ehf_SecfsSyOBQJCEDl8TO-ULx8pqKPxhOe1yajK0ci65Dwt_dxxkRO9-CkwgFhZx30i4nDZRlBTsK1nilQ1Be57f4cm9xhMJfT-oWG8e__6uWbM9a4GiesUKl4sH0MhHlPAwI1V5ErP7zeIZTJpCItVWxcm2ilgYNxx4wF-PEB6HZtomNdiFvj-iZrMhlgtJ4m8q9g66dgXUH76LIPq5Cn6d0fmZIzsZK4BFzzzihSGipMDa5nWQREsDnDy8kxtPRPYNBSg7jfH81CqRcf-uZZLsVISvIPiWAeOxbM79vGZKnISKizF5nKDDpW8i0z5AjliAXvmnU8BlQe1ZYSrKCg5dY5VODf5h3RbkD4bAN-QwahmRYmx0I-bezk0_zHPJ3QR05_YH5itY2MHP3U3h44t5it5FY4t5zCyS6gmJImzbN1-xLZ34dDbvVdA_mgCu1a_Ym-DGqq76ASsEXM-2MUUUXRiiVnjA28FFDBaekDL5CYPx1PUJV5Tad_3r8aZE7mBXdx82XwNgYN-B1ZvgDRHc3zRQsLWlP1qqfUMP5MLmP1gJV1Pih-1f8kyw59_BEuWDGa6u9l6eqvEteku1ahKHT2M7fa6MKaFYObHoBu2rAjAsSAoirWDmITly77sRGzQ7RE0gzPVOBuyqVn6FB5c9LaQ8fn3EWBbBvNjHE9EiG4JYJoylqrYed2Wr8r1_JIIpQ_oPE9EdMJWm0m_bTQR5mtcPk5v_dKgEv-ru6EX6RvQ8p5_4CtyzLoMYzgJbD0pt6ul9v1WyNI49gBaf7PEAoSsIMGoUSW2Qd413reZ7XAcp5SFYlcZd7YTCpR67u6g7MsJg2VHvDeQC8dZHbanVRCfMAwyalNh8pLLEOVSR6rFZtay4cuwtkYa75SgMF2BHEnUdGgmMSn9_D1oIJ8JS4xYxgxAH-8tiXok-q_rIgAOCpytc5-1YebYvm_JK_8w0w_WaJgmP-bLSzreVrIPfSwcNcUa_ZlTkDYZz8OZA==",
  "id": "rs_0829b13ddf017f60016ab46816e49c87d09c4402a7fedab3ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the bottle with its upper body between the fingers. I will close here and use the measured jaw opening to check for a real grasp.\"}",
  "call_id": "call_JV40xhHJZlrLqEPF5fyFSnPB",
  "id": "fc_0829b13ddf017f60016ab46817452c87d0a4069e74b9d49dbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JV40xhHJZlrLqEPF5fyFSnPB",
  "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]: [-0.4843, 1.8694, 0.8402, 0.371, -0.7143, -0.5503, 0.0101, -0.0284, 0.6933, 0.4774, -0.3946, -0.0566, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4419 left_y=-0.0976 left_z=0.0609 left_yaw=0.3813 left_pitch=0.0794 left_roll=-0.0561 left_gripper=0.0101 right_x=0.2714 right_y=0.0059 right_z=0.1457 right_yaw=0.0274 right_pitch=-0.0349 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.253, 4.7111, 0.862, 0.2466, 0.1099, 0.8327, -0.4855, -0.9504, 7.0632, 2.0342, -0.1587, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbcadddeaaaf359c199a7134e40647824a89819757fc2d83c5be2860b45ff68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edaf7bb7e08733b5b3d7d221b6d6bc53705d60de66304432a75d81b4770cf6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc679871c151215cf830e943af5f37fb3791771ac5f8b5b6da61938130c46050",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3653, 1.924, 0.9436, 0.3389, -0.5903, -0.4465, 0.0094, -0.0284, 0.7628, 0.59, -0.4503, -0.0566, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4767 left_y=-0.0732 left_z=0.06 left_yaw=0.3502 left_pitch=0.0403 left_roll=-0.0297 left_gripper=0.0094 right_x=0.2813 right_y=0.0056 right_z=0.1677 right_yaw=0.0276 right_pitch=-0.0475 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -10.0718, 7.2274, 1.326, -0.0415, 0.0415, 0.8327, -0.6085, -1.812, 7.2821, 2.1123, -0.1343, -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]: [-0.4835, 1.8801, 0.7792, 0.4244, -0.6594, -0.5411, 0.996, -0.0284, 0.7128, 0.5076, -0.4026, -0.0563, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=-0.1002 left_z=0.041 left_yaw=0.3346 left_pitch=0.0422 left_roll=-0.0571 left_gripper=0.996 right_x=0.2751 right_y=0.0057 right_z=0.1529 right_yaw=0.0271 right_pitch=-0.0322 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [1.0325, -4.9299, 2.6462, 0.8034, -0.0855, 0.3932, 0.149, -0.5128, -1.265, 6.9402, 1.9414, -0.1148, -0.0024, -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]: [-0.4843, 1.8694, 0.8402, 0.371, -0.7143, -0.5503, 0.0101, -0.0284, 0.6933, 0.4774, -0.3946, -0.0566, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4419 left_y=-0.0976 left_z=0.0609 left_yaw=0.3813 left_pitch=0.0794 left_roll=-0.0561 left_gripper=0.0101 right_x=0.2714 right_y=0.0059 right_z=0.1457 right_yaw=0.0274 right_pitch=-0.0349 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.253, 4.7111, 0.862, 0.2466, 0.1099, 0.8327, -0.4855, -0.9504, 7.0632, 2.0342, -0.1587, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbcadddeaaaf359c199a7134e40647824a89819757fc2d83c5be2860b45ff68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edaf7bb7e08733b5b3d7d221b6d6bc53705d60de66304432a75d81b4770cf6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc679871c151215cf830e943af5f37fb3791771ac5f8b5b6da61938130c46050",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGglZatMQTbpaSwV_uYrzUvmLjF2gDJy0INlaPiqYQp_6COpQNk4tyzzjR9go05UiqtTGRZz8YJ-0Efao5yIb723KJ5HPSZUwKHJgyuj2FvNL18D7CB6Q8IXmBWNnlLLivIUIXP0LUkMSizMwz2QM41nDSCLqcYvJWLk_Ko3_DwoScoQblC_dwbLUxQnZNAiNFZDYn_wkSrGhg3scW6KLMbEalJyXsrr5pwiGZ21pER6Lv02917Gi4wRHzRGM1Nsf77T9jdPB9L3LnzUPRpiM5-lcgJwby9WCEA8r_KGkgKzRgRnTJREhdLLooMIvrkH-M4Fnz5W_m9wVUF_u9DCnZR7_3ukafzXT2FPtpFcZi5ljN2XW-H25ZkaFH7_sieDavL3q3vmPaDnz2JJugVxlJICaAyICEXkLTVL_EY1rc4SEgaTWL6XgMbhyoAxdFHXkcLfvep4g9fRsKCCvphgnH1vVdvEFekTDLTBpKxY1rP3PvCMEkrlbyyg96-iliqhBpnJNtxIzCuv9Z-RRyXLqedFVlaRwmT2L8tREFdtVUnE7BybPJIQH7xIo37o700sxo51LUZDDiAM2KEh63KosEbeKAwFfopuHFobydUAKUExU4ha9ynWthwyvuTskU6uYBXFsNYYGLs9dsEusWO5AFykA9MyRJS42lvTHcycjW9GAT0pky6zRzdwCONSpX4lP_qo8tXg-5iC_iyfGKItnp2A1PI0njDODbuKdqQhpGLPt44BZiqmaAoAjTh2qqzD4E3X5Ld8M8hfk5ISc2MfsrUt2Jk-76FQUEAzPH36aKrCvnm0Cyv5TO_iEw7I8Xxub0Wc2lUHPQnf31fCVQM9wSMWfUceQ9aAq0zHbtdssKSxR_4R9Ypz7rnv5eivAH_-mmnXqpzOo7RhhjecKSb2EXSb3QixPE5akWIJkdrt9zH2aAXDk-2IuCIn7sVD85eGFVT_SXm0C8MVAv90RTmoCNkh2VEE_91Jvhh4gfoG7g8s-RIeEl7oY_QIo0jJn06SOVCaPpPogiUcQzCl2XoradxWZTORkruqOcLJaPjFMpkItIaK2exPoYMDtzINo8dQyYt4G7QkGhgeUf3IERprH6FFM_Wj6mzjV9GVq1Trs6tBx5IV9R7j34ZGAXApLtwKtaA4VQ6eW5VeBc6-Ni7fr4CsYU_9rpDnNBmhzDab5SJkGEj35cgDdzZDosLZEw5gl0uT4L0v4klZWQ6AoUnGNmdNTHVgLGOGC6PoOmuE0LNw-fWlyvQSbTG7FE8QJq2cr0sPHMaF9A5uvh71m5i0mo73Uu0LIgu90zTr7t52cX1CnNHkETN-17UI_jqkiSD6ZqMEgaNK2zI3BO4T15w6Tbn30yl1aFCNh27DxXHtrOH4I5lJ9TLymmuLkoz2wni33HxqsMJyqufaWX-f0NnsvSyEDCpFsOPjlBAO85Jc2SyCw8Xc6vDd4eUYr3wTrxCyz_zqU3k1N70e9tzvQ8Zvtd7c6-CXlK6M3rX4rpIqiaQsvUFNMLwT0locVha65rJRUEHFYpyYRYxe0GtvikZuBpMZg8C1h5UO3Ifb32rsvsRP1xae0TMzNJilDVWzOS5XuDPInl_4uh7u-c9ue79Hu-0OKCr33ZsJXETgoW9nonHkGedW0SDvyg3DeCSL7DncqobedrovnBtAXGLr37ELQ4AGJrHDib-WE2K6nybOu9cqX1IAzv4f5XKABUVnX2DZjRFmLsT8dJgGb6cs7YKpgftiCCxRclsoCpz-1Hr--Jcoejlu1xr176Mp_niD--XUy5-5HncrDam9HPCDjs_byrlJpcnxgGRsuYpj1T-hT7emB89KzgHvab4DpxVWgkGyGwiRyC__0CGDe31rgoIB9I0899J89Yy4wTywtL5pV4XMtkG9gJ10vteFqBTMLl5zBhtSN5YybDuKADW_Ck8l23UwsfV38-jTImgFDXxZt0LBcVo6nl99OzzgyXSpdk4Pljgk_R-ntWmxDD7eY8QhT5GKE7QqlZ7-Cvdgk0w6NHYxnwQUx5qN1lApr-Ro-5QuMWk-Qos9Rd82XwZ4e1Lulyt9o3gcilBH8CaRX2An-aDO1UYhZtzT8Zqv4_Xif9vzGmU2j3-E_7IWdPfv8VSHH9jLRulPBQYLI2ms-_T8xg1TMVPEi9SdPb-PRpJjbO2FFqt6Rmkxf3inPJEepRm-V0s3Z0FuQ7uD-g_tTmiX6nEYk6HRq2aoanyXt1fzzU6aVYLEgGpXMs7X34sjle3k4EKoECyaSegoP69UXs7BY4cgemWcUKEx7Dduj7e_lRcQsQ8N2UFVB82FJu3d4vV-9Q_s-k7sB3HHg70ocusnzxO6NlEG24qtM-TEi_aFDVVKsWifBmEpYTcua3kNdTG9Ie9pNuEVYSOzxg15NLKYB6SPBXWmDIk-hiHhQ9yKKQBswORCwefrRwvoy6i90rHYOzrkmbnNwEgcWA5c8Z90ZsrPS20q6X-H7h2dCv-1Usg95_5if1rjk1YfP1jJyHEhtzFA_d5U2WtCpwPgIMxEuudA_myDjvYilx1JvEgnVG5K6Jcn4TuFWQ-gkRDHgYfctTxqk4jaqwHZv2ijs5eaoTRBYyQpJLEuzpEs9JVes2_dXfKQvSzfGhd4HT-qmss7AUZKviH-qvr28XQLDas93hEQhvkYK0BSMFRk3QxTbzWmKf_MxOZhNd9YuEVmkKKoQQ3TkCyVG67ZW5iMWiAEizgUqSly84PBbxT8A3ISN8RiZU8CPU9aqeriEf9cxGoPfN75mJxW9GQdt4wlYVM9tuQ3TOm0tmbXqZcvM_T6BDhTDpQyW7yXfJrZNX7Iu0xqX-4s77fAqT2fk-LO0tBXmtVtAjilRhZ5L5xxSWTUrm6EfOA7ydaZ8wSNCQdo67NddoU7YDbPQ2Ehz6lzEGpXU69daH62vhlM4XJSwJo3ypH7SnUVcknoqu7L63s1Z4d_OzZ1-tSaOMKzZyvHqAYZt1rjAt-hfQ296Hzk11yWG2shtWgVSJ8Rnlj4Ca7NfgVkrTPxDr5wXgHo3sQm3L90MMZ981hh1bbqiY5YpK3Z91irXnR3ie4dke4j_XfNP-l4nwVN2vdPKRKlirimZjHcjKtxNkcOV0jd7IXcLvvpnHhllB7OcaUV36sYkUAcOdxA5P1ijW8xgnQ51iAtBsphlCxav9Zn00KqGftrWjvyvN_-FNzO-B3q_gTR30fTQbr1BB4JVz4TtCvKWv120hfczpb-6UYV5U8dJvWpXJ8xaZ08qor0dvwhIebSmWEhsRfukbVWpn16A6mnvrtW62oA1AO9GVrvuX9mIhfxWzrJrzy2O-RbBJBps2Jw1vXpH7dLFWdRriHREKkRVW1fFSwLymjSE2xDUZnepuOJFjdcd9ze1sm7cjfdeECYjl8ZEfWe_JOriGMxsmdp4gN5vR7dvbr3_anfjIPN_-A1gpKSBwO8FMSpTBgPbaVeLak51w1LHEgOmsKPtJmhnvWV_Pm7PhvT1Q4m_54ad6vXYmPwAFvDKSSw4k98QKWuyTtV3QSdA-nFvFwYGvMsvqiY7A50GlUMq7Vj85y47pTjU71_OXEn9ZRPWycW6_C1WLmgEQugQ1NSR96cXOVeoLUM93Va2GU_ZNEIdWWR3-QmxYMxDIgzgEtWRpD8xul4b24LpkkSicQHLQiwrAgGt48hRGmKieVvkZE_U1x2n3BV0p_6OAk9pecV_nh93EZSwADQAQ2QgNdHr66_xnYGS_cPmw8kAHZ4V6zGXNcmYUCUJRCyVzU8nV4HrPTuJi8hyauPUD213FJNxJAR9Ub0DDaZMeY3xIyLHd9LH_t19ovlj9nTTcfaPYwD1piXWwSke7U6bSEojc6G3jsz__dVPOBgrHjy8laVaa6lSt6l6tyAfUFZ2QcU2AegFWk7eRyxP-P2svYkuZtSBTjDgBstGpNNV5HK3uKOwZyUsiWoltYQcMShz0bvFgsz",
  "id": "rs_0829b13ddf017f60016ab4681aebc487d099181769dae4ecf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.155,\"left_z\":0.10,\"left_gripper\":1,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"That close was also empty. The overhead view shows the bottle’s lower body to the right of the fingertips, so I will re-center on that visible section and remove the wrist rotation before trying a different grasp location.\"}",
  "call_id": "call_DG0KC1O0JfN7DSA6RlFl5V1Z",
  "id": "fc_0829b13ddf017f60016ab4682478b087d09cb9ca6c17d109e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DG0KC1O0JfN7DSA6RlFl5V1Z",
  "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]: [-0.5694, 1.6257, 0.7666, 0.1886, -0.5129, -0.3912, 0.9943, -0.0341, 0.794, 0.643, -0.4767, -0.0643, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3987 left_y=-0.148 left_z=0.0902 left_yaw=0.0556 left_pitch=-0.0112 left_roll=-0.0015 left_gripper=0.9943 right_x=0.2861 right_y=0.0052 right_z=0.1782 right_yaw=0.0343 right_pitch=-0.0516 right_roll=-0.008 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.2103, 5.7778, 1.5702, -0.0952, 0.1929, -0.0317, -0.8957, -0.6906, 10.1538, 1.9463, -0.0952, 0.1197, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d364cb45da85159234dd7dfa32a83cbb97a95b8d7719f8f82367df83f5a920cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970f9fe3ea6c54b69b4ac844462554364c02e812c297f71c8ab613b63c0d5623",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ebfe02489c3a5650705a90aea214c44cbeb8e3a59c0be63a5fe27ab5f7b0ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5518, 1.7138, 0.878, 0.0494, -0.7013, -0.5957, 0.9945, -0.0284, 0.7345, 0.543, -0.4213, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.4119 left_y=-0.1155 left_z=0.0868 left_yaw=0.3251 left_pitch=-0.0105 left_roll=-0.0028 left_gripper=0.9945 right_x=0.278 right_y=0.0056 right_z=0.1596 right_yaw=0.0273 right_pitch=-0.0372 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.1949, 5.2444, 1.3504, -0.5348, 0.1343, -0.2125, -0.7316, -1.4017, 6.9812, 1.9707, -0.1099, -0.0269, -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]: [-0.4843, 1.8694, 0.8402, 0.371, -0.7143, -0.5503, 0.0101, -0.0284, 0.6933, 0.4774, -0.3946, -0.0566, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4419 left_y=-0.0976 left_z=0.0609 left_yaw=0.3813 left_pitch=0.0794 left_roll=-0.0561 left_gripper=0.0101 right_x=0.2714 right_y=0.0059 right_z=0.1457 right_yaw=0.0274 right_pitch=-0.0349 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.253, 4.7111, 0.862, 0.2466, 0.1099, 0.8327, -0.4855, -0.9504, 7.0632, 2.0342, -0.1587, -0.0464, -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]: [-0.5694, 1.6257, 0.7666, 0.1886, -0.5129, -0.3912, 0.9943, -0.0341, 0.794, 0.643, -0.4767, -0.0643, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3987 left_y=-0.148 left_z=0.0902 left_yaw=0.0556 left_pitch=-0.0112 left_roll=-0.0015 left_gripper=0.9943 right_x=0.2861 right_y=0.0052 right_z=0.1782 right_yaw=0.0343 right_pitch=-0.0516 right_roll=-0.008 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.2103, 5.7778, 1.5702, -0.0952, 0.1929, -0.0317, -0.8957, -0.6906, 10.1538, 1.9463, -0.0952, 0.1197, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d364cb45da85159234dd7dfa32a83cbb97a95b8d7719f8f82367df83f5a920cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970f9fe3ea6c54b69b4ac844462554364c02e812c297f71c8ab613b63c0d5623",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ebfe02489c3a5650705a90aea214c44cbeb8e3a59c0be63a5fe27ab5f7b0ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgtNR-nMH2zArMAH2K6Qin_kE1t1eiAkLIEihZlzck5_U0GnPIBTSR0n--CEm_A80dLq-L1MTc62opatq4wnrWEzlaYrMRhi_MKiwUy0i2eG23Spo0L6qo0RBEwlBN9-rJUxOYu60NbaY3spflakQQWsyoz_seLNWdr2CDM4fpzZWdAubFAdQoFd7T4wKWNC99x4SXQG-N8_gKAezyTAmUYkt0GYCXNoIF5m7HyemLl2V96J4lC2REa9N3amKdZVg93uCoiwCcR3TjgVLgMQDpf44YnHqEJqxI1rUCOv49FrZZ84U4Od59Aps4yY_98CA-e0Kc_KkAt6srasjRUs5fqR3QDSoYgEeADpfm9doQRnm7bbpIWzt2VRYhNEG1tdO8gqFKDPcWFUenMn1oUAILtT-uwBuk8Y2aHZGMUwMN8e7Zrzk94uIo-UlR1DBtTNZiGZf3iT3zcIDIDWkMaW1MXM9Ww64gFnojBTZqYOt2erk-K9MuQAVI1uB_YDALWtucq9FvkLXBCqGie-8MVAX98G5IJX0kENwOsVD-evpyqHNshCS81jz5htJmP39yVyvbhGZ8Ex5OsPQ3eyPnv_mQrEEnf4ITcp6phCSDbrEJdggvZpVnYNUcUtpArDs3QsONwapMUa6d6FvHYJc_HQbhsQM0MT7g4QYffKLXsURSviJB1r4n-kAH5jgZus8uhmhmI9kpe6qjVk80IHhJMHIgemZSsxPcWW5M0NLfxlJ7X5povGF3ewKFTpTCg0dKfqAeL7XIVdZ95M91BTm2WhoeN8E_NirsIaFuBQTX-pPyb68iqHJ3-L9zcD5LMtW_1640PuIBnmDd2U47WuAtCLBmuqCYD_taqldcJtH-2HgsxqG2imKj0FQY9AWaXx4du1Cb0sqeJdXUDnoZekeGrG6p6oJPiG3R6b3_3WXUBqqdq32kmiXren6WTNQmB31LvGbG5ZPdE_f0a04MpckSBAfK98bGycuTHrru1ItbbtkGu07_YnFAnh9Icgd_hbfV_7Jz14SwiVVH6P9awmzerIQ2bMm30fk2Ls8jM90sE2gYhdavTLwS2RQ3nmTGO6p9V3Kih0fW-l__ewBv6lee2bwkm5X6GxZJNp7zzoABkbNlGb7wvghF-g81nU1_Xn37Sn6v3NYnWxGHeagR3E7vXx02eA4vdsIynXtjfrjgolejP1Qk2eDeAtTdBJAgmuzt0BLVdb8UpCq0jkHdTK__j8bYM2axpLWkEXybCMbvikT_IXijk9Vyok-GYW7nXiPeGmcY5te3e92L1tGTUQDHRqJyHsvVItA3ntmzEQEdKtHjVwyKkhFv_8J_2u2dC4UQOne-TDrNicoM5c-zneIejScbe3yC8_D3Qd5vAw_SpOtFhHWtzQrjPYd7fF9rjPYKiEoaolPl7DOnoiIO8hpT3T_eJo02o-MNOGApADNfrffyL3daVrRweGY-gDN6xUQRCJyge5eUCkFSTW5zojyliz3hUPlFmuHicegIZHfWrIrO0wzOTqmo74JyWASFwr--h2EXsPBpLpCFChksbhHX85dxGafhEFJZAfbKvIuEd4YVuiR5Lt3yOGlr7oFj9Ox5xaLZA3jHWlQd2m9Co5IXbgX1pz3SCoiG8tbuVS1w9kvuK4j1lB78WDvu4Dr7huXMwPK1i6x3zRVbr4tH2U38514uujqmvmaCqnL1N4XHKv8vx4Bc22tjmMJVOgjnnQFb3OdIRdEVnU2akrrLW1PVHLCAONlpWb-T9Dv0BjwErEbKbnSEU92RgSQv6BJElX54WKVaMJf_pT2dFeSeprN8SlKFHfoURjZD3hJKsOUz9Yy-xaAMg_aZ2ZJvqy3pX2mpLZuShfyap6U_KALQI6OoXUpimGNk0N7mR6yo3hDuwJnAvkiVbA01Q47I6rjQEicolOT7w0t-edgfYrLqaSzAsT2S1vmeHnzOZPcsnSwC8CuPwe_aIV9leUO5WuQUMaZuJVheDpAagEmgAGd5hETWPQlmk0A4GJmun7By_6Eaqsr7npDw=",
  "id": "rs_0829b13ddf017f60016ab468289dd087d08fe55690c3fbe56b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.005,\"left_yaw\":0},\"note\":\"The lower body is clearly visible between the open finger columns. I will descend around that section with the jaws square to the table, keeping the reach shorter than the cap position.\"}",
  "call_id": "call_AzbKenFcj7UPVXZhJrl58YkA",
  "id": "fc_0829b13ddf017f60016ab4682c716887d0b8050cf6c7bc0af2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzbKenFcj7UPVXZhJrl58YkA",
  "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]: [-0.4873, 1.9182, 0.7231, 0.617, -0.4534, -0.3119, 0.9955, -0.0349, 0.7635, 0.5907, -0.4473, -0.0753, -0.0769, 0.9999]\nstate[eef_state]: left_x=0.4332 left_y=-0.138 left_z=0.0294 left_yaw=0.0484 left_pitch=0.0473 left_roll=-0.0132 left_gripper=0.9955 right_x=0.2819 right_y=0.0071 right_z=0.1686 right_yaw=0.0451 right_pitch=-0.0435 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.7453, -5.2581, 4.1915, 0.8816, 0.442, -0.0513, 0.1148, -0.6906, -1.7299, 7.0222, 2.044, -0.1392, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c541f7a577e3d0f95c75b20c33eba1e469803384ca1931b04c034d8ebe684cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a21a302407a7586f5f6316aabfcd1f535035ce70f00db84fe28cee6691e523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806d88d4ecf2b9eeb529cc24057435b558ad13dc341fec6fc61a31cd0f458acd",
      "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 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4835, 1.8801, 0.7792, 0.4244, -0.6594, -0.5411, 0.996, -0.0284, 0.7128, 0.5076, -0.4026, -0.0563, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4313 left_y=-0.1002 left_z=0.041 left_yaw=0.3346 left_pitch=0.0422 left_roll=-0.0571 left_gripper=0.996 right_x=0.2751 right_y=0.0057 right_z=0.1529 right_yaw=0.0271 right_pitch=-0.0322 right_roll=-0.0045 right_gripper=0.9998\nstate[joint_eff]: [1.0325, -4.9299, 2.6462, 0.8034, -0.0855, 0.3932, 0.149, -0.5128, -1.265, 6.9402, 1.9414, -0.1148, -0.0024, -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]: [-0.5694, 1.6257, 0.7666, 0.1886, -0.5129, -0.3912, 0.9943, -0.0341, 0.794, 0.643, -0.4767, -0.0643, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3987 left_y=-0.148 left_z=0.0902 left_yaw=0.0556 left_pitch=-0.0112 left_roll=-0.0015 left_gripper=0.9943 right_x=0.2861 right_y=0.0052 right_z=0.1782 right_yaw=0.0343 right_pitch=-0.0516 right_roll=-0.008 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.2103, 5.7778, 1.5702, -0.0952, 0.1929, -0.0317, -0.8957, -0.6906, 10.1538, 1.9463, -0.0952, 0.1197, -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]: [-0.4873, 1.9182, 0.7231, 0.617, -0.4534, -0.3119, 0.9955, -0.0349, 0.7635, 0.5907, -0.4473, -0.0753, -0.0769, 0.9999]\nstate[eef_state]: left_x=0.4332 left_y=-0.138 left_z=0.0294 left_yaw=0.0484 left_pitch=0.0473 left_roll=-0.0132 left_gripper=0.9955 right_x=0.2819 right_y=0.0071 right_z=0.1686 right_yaw=0.0451 right_pitch=-0.0435 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.7453, -5.2581, 4.1915, 0.8816, 0.442, -0.0513, 0.1148, -0.6906, -1.7299, 7.0222, 2.044, -0.1392, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c541f7a577e3d0f95c75b20c33eba1e469803384ca1931b04c034d8ebe684cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a21a302407a7586f5f6316aabfcd1f535035ce70f00db84fe28cee6691e523",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806d88d4ecf2b9eeb529cc24057435b558ad13dc341fec6fc61a31cd0f458acd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGgxPAswE2vwGb93hIU5opKJBrxeWzBrfTmuNiK2q_N2YE-NLtr9-h0WBzU7UV4mVZPSgdx99DlBKn3OnYLUT6qpK_j4A_jMQsgVKgbUya-cZlxKa3ok5ywHKUWtGfhNCuNk4kq2uHu_kigXh83qwLXdZ-JYUBKjRxD3K476XvwWvs74tdBFKbV9or9KqjseaNYm4oCsDReMAto1tVa8n4caR28rErpsWd8o45d8WjMfuA9h7DOlJRZFZed4qtCik_JhoN7hJVbvqJkbphTRbdc4Su2VlTllzMzfpdT7dNRP6pt1Rw_VJB-9W8x9o6uKWk4m3SxZQFMXsivVZvn9QNlyzP02jJcMIH-67TIg5IdrlpaLUdBgder0XpmxSYEQKDPqI4b3bccSxlVtwxCGmNBkNhHJDdI1IxEeCNBtdk3K6PUjU95yX0OoWCxEr15yZBIj3M6uO4rHPcesQ4J-AqB258TaL1NhfDdwrRoLP49XyyS4--3gPrbLdkSN1jO9dJA2diK9pe5otxZzsFgfCX-5QzMmIY4Iy2dDFV7gKSWFo1DmasotfvK0POoeB6lyj6WR3y8mXeQcmqzD40YM-L0ZODwycAdNNn1W8a4IGmw2ULkT9_P-tPLhJPxDKGjTXkSRRgPgdcexXyZ4eeDepY0b6rh13jIz3oZRD66SIpDwoM_weCI0ad1iCqZ1Jzs5O5WDwrp3FJifAvuaq6_bVKZv9Nfn7tRbi_WHqpBzRixjKYSH16nZd5hAm_VmDlqX9-MYwEbhy5JWVZKPtXnuDNaTHurqeSYuB-VwucivSlpHJfB3PEJKlxJP6Z3BOzoxCEmLaCM9jptvBGOnSdEInZuu-AQa4xSyvuEuExX2cTrtTSZ0o-t2qwgJ3S5BFaRM51vARarcaII-Dq28wHwrx2hUCnHcZrkkw0p5Jdv3d6M5VI8DcABwT2H15JFvxeWOyTZ4yRhByy0jL9frS4EKR8ew7sbFVPvW0xrfDdvlIVJwvBu1D4JzKVrLx3cpvRO4IcNdgcg5Ke5-NOmDLz2CdDU8YNzTiENNmG22cjVAH9L2oJydwJiJ5TQ4Ie6lAA0YdA9fMUNuaFb0Mx3evPr9PJXlSXbbtswkSNfrE4uP0B4LJrqwoOBx3xvVsyRvkdW_aZ-tbIj7dRuuoxiLrTeK8iwN_fJCJ_QJutHoUSRdKXdbsXLcjq0nje_d-IaQwPV6GGog1vw7yJ7VOliGRkwNbdrSuCoh9rTCMWIvklthwfrRQdM=",
  "id": "rs_0829b13ddf017f60016ab46830039c87d0af1aeba383abdc7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s body is now centered at the fingertip end of the wrist view. I will close around it and check whether the jaws remain separated by the bottle’s diameter.\"}",
  "call_id": "call_8rbBhxhyVbulULKzIMMGoyZR",
  "id": "fc_0829b13ddf017f60016ab46830633487d0b9cbfe99b8e82bdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rbBhxhyVbulULKzIMMGoyZR",
  "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]: [-0.477, 1.8816, 0.7677, 0.617, -0.4801, -0.3214, 0.0103, -0.0349, 0.7391, 0.5488, -0.4217, -0.083, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.1365 left_z=0.062 left_yaw=0.0894 left_pitch=0.1235 left_roll=-0.0527 left_gripper=0.0103 right_x=0.2789 right_y=0.0085 right_z=0.1611 right_yaw=0.0534 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3368, 4.588, 0.6764, 0.2173, -0.0366, 0.8034, -0.8821, -1.5795, 6.9265, 2.0, -0.1001, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4223821cde01bce5e00b0bf2bbdebccd68d456951d26462e3f25b444b72fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125eba0f6c6031c680b2de843359ca79904c0c2fcfdf338aa089777e53c28750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a537972b616f482bbd05e47a264b0b2237254035735aac3bd409a2b26576df",
      "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 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4843, 1.8694, 0.8402, 0.371, -0.7143, -0.5503, 0.0101, -0.0284, 0.6933, 0.4774, -0.3946, -0.0566, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4419 left_y=-0.0976 left_z=0.0609 left_yaw=0.3813 left_pitch=0.0794 left_roll=-0.0561 left_gripper=0.0101 right_x=0.2714 right_y=0.0059 right_z=0.1457 right_yaw=0.0274 right_pitch=-0.0349 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.253, 4.7111, 0.862, 0.2466, 0.1099, 0.8327, -0.4855, -0.9504, 7.0632, 2.0342, -0.1587, -0.0464, -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]: [-0.4873, 1.9182, 0.7231, 0.617, -0.4534, -0.3119, 0.9955, -0.0349, 0.7635, 0.5907, -0.4473, -0.0753, -0.0769, 0.9999]\nstate[eef_state]: left_x=0.4332 left_y=-0.138 left_z=0.0294 left_yaw=0.0484 left_pitch=0.0473 left_roll=-0.0132 left_gripper=0.9955 right_x=0.2819 right_y=0.0071 right_z=0.1686 right_yaw=0.0451 right_pitch=-0.0435 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.7453, -5.2581, 4.1915, 0.8816, 0.442, -0.0513, 0.1148, -0.6906, -1.7299, 7.0222, 2.044, -0.1392, 0.0659, -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]: [-0.477, 1.8816, 0.7677, 0.617, -0.4801, -0.3214, 0.0103, -0.0349, 0.7391, 0.5488, -0.4217, -0.083, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.1365 left_z=0.062 left_yaw=0.0894 left_pitch=0.1235 left_roll=-0.0527 left_gripper=0.0103 right_x=0.2789 right_y=0.0085 right_z=0.1611 right_yaw=0.0534 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3368, 4.588, 0.6764, 0.2173, -0.0366, 0.8034, -0.8821, -1.5795, 6.9265, 2.0, -0.1001, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4223821cde01bce5e00b0bf2bbdebccd68d456951d26462e3f25b444b72fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125eba0f6c6031c680b2de843359ca79904c0c2fcfdf338aa089777e53c28750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a537972b616f482bbd05e47a264b0b2237254035735aac3bd409a2b26576df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0829b13ddf017f60016ab46834c46c87d09d3e63fc195a0480",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGhJyjv9C8zbvxhArOztDq09zPRQQd1Vk4edAyz14Y1kesCJz-TDOHnL8n5xBYxxGd5xPuDfHoxLUagXDgBQCMMJSBuz5EJMnm8xdMLkS89vMs3SXUqQgn4fuiPV9noLJ_ZS8BK3g988BNk-q7Ni9-7tdPULy7Q6jl70K9qHXDQKlyiKGFBfkHNEn4al3V0hudlaWpsQDGYWkRLRtady45Zb1kY71eKc4y-oUhLkR7JLei6vWmqvaETIjHYL5Dz3v9r8NKBVIDrc49j3PYkac4xNvnj6xb-ujdQustNik6tU9KxANm7KazJTX9w73Rt3AdrFo3_s0-35K22A1DlY0Syw-cQuC7Ko6ymxVnLhZNpaUzccoFw6OxtwoJQZigvtMuUqQJjsVgKol476r4cP-MyY-HnGdvlX25C59xLTmDvaltovVRUICDMeA2o--YGbBVWPZQsLi5TrpjqXJf66GfrHqnyQdz7FYA8I91RXQ5YFISXBgmij0RgNnmD9aV13IELX0I8_sKPmph4bREPYhJOMRdhtwHhmU-iEG1aehGy34kL3NAQiOd7WxollfHaLkC2gqruUzjyD-_9kYXU6gKfxRBJmnQOIwGDBR101F0_KKZuKlL-TK2jGKO_kJWgMb6IvHaKKfNbbv9YF5MqUYNm-P1j7ywPTdzfpJXtYeip5CpSPXfwN99ZGTaAESjeweYJTug3Kaaz9At06RMVAAHLNhrmB8N-IlBQg0C1jzQb9C7ggtbkMkK7j99yDm08QEj8Mmsadi1wTLeYh7AYXm98vE8dWyMCop2Y6L-jJrY_ey2mA5m9Bjy9Lh-vxyNK064QeN8cUbJzKH12M_7b3rXFEsQwdBt82CexlvXXfApTpadNcVN3fWc7UkbILjaKy-EJln5-n-4A8nYs0yJ9oIL2UkB7X_qtoBCCU_8skWbXZUiNk-Kknj8iw4vtedcR3VYcjpriTNFwEGWYFfTihlFLpqSF_R2toS69htCNV0WlmFVDJEUFCP147j-b1xEoEYH6_WW9GqO658lyc3yJwn_tpqMQ8STUGdcPNaajhyaqZT73abnWYLzp4xRMfh9qON7weSCvlNzbUEaSEsl3VViejST9F67puxJiwXiP4fWQjKUr1-n_2wAnPr0xzwzJP3PKad45Gb365rFCdPL_jxUFquqZKFuO0P6rQQy23XoeZh0TGootcNM59WnPSuO60Ab1R0MYFDVGPknfT0teTzgBVU84OAwqVzHTJIj79uS9OG3-nnpaWLvuQC0QZxC1Rlef5XqbJNUhcnN5Qxq0x8bgfU4DDGQ2bV-n891xFMzdkvr5QHeolT1P--Q6zyym0-lEjOy0W1Ch4wjepmaNFUAifNUypm-CuoJ1yS54TTKrkFYezXvJ2eJ_2c7Dr0cdjp69zM7_yDAz0BGr8X9AwHVCLau6bzoc3h_OCHHdSLn8g7FDWGTCpx4nMaYYOtIPe79GPri8GuUb3HLeMjgKtRnNwNHriFycR-fv9gJBeqZ-D2B_BrG6Q5ubQ7cbwpMURNyrJdV6T4p-5xd3A3GWL8JcoP9CowqZKaF0AVea8XiodzS8Q612Qbxc3GLMZNpgxnjGnTWd3VEFCBv50S7NK1YqvqEWSDlEMejlJg50ekkXFZaQMhRLAPl2zEcugdQzpsLk5SASU1478c9Xvkmh-qArIVQ6uVLb0gKHThAiOcxpFLgOz8SJHmDBUSmOIoQf87zxFxFewV0R0P5rZ4MlNDQDVs2ijXJRu69nBGHa2EykSS27-3pNUpPYPQryTZSMgo_R6ZQu-koJamHOmCLgn_m--fX5wFX5ImD4iRZmUztBWIwG6PtsIg1tQi3rUEBzgo3rQTdK418SWKitU0ImyBhQGsdCmYQVRwR798fUa6Co_9AhYBfSviB7_swozx8emA3XZQBvPsGnQFiaW8ncN8flo_dKaKSpzLRTvt9CLJAJEWn7qp0mHL_zhlL5jQu4bqKwi7Ey9p1X_DonZ3pLVnnXenzHaWYaagSxfrZ9FI-cUJz20gXr2TFxmhkcG3fLb8SzSVKSL0GFUSfrqKQqxZZpID8pJBiapbadXvlkfWrXTaJqwjrdyFxvk_cVmVu844kS4KHQG3GjRJbjRfne2iG-RHy5Mw_YD9ptlLA04uPMv0I6iImVlqmAAUqaOszCq_rE_c1mjX9rdxKgzFLWoT-UoDngjbTJ1Hk6liGN3sMcQmobHD4RF1wVcdkCOCKrE3d_rv8OhtdTS5z2RCHFZRhhxedExuecSoRAowkjOGd-6HYoTXMVE8hV0nh4qXCDtms0hHfMTVvIpE8oGAakWcKKMYT8nuDKgQQQftXDSWzQ3uFo1do59XoL5jBB3CHvnCqqjHhpIjuIgrMyFk7Y6Nc_AzFJLtXr9vbpBQaA3e8Gtv0oig1HUZYv8aRdnMRV81hYCNO16uDmbeZ_gF21j6xXXOXVI4f8Cn-HWRpYmXFB4z9mSyfL2zHGeJKRavWWPoHFrPuD9GaYjeuQgTGOa7QduS1IFWO4EbnvD1rqPYf_Ms9GdIGL8EBDKzHOB0__Urba8AykyzD1p8US1BilBCwgvzvrGT03U1EXVxkVizYRMOpFC52isu57WDs1DaSWDMXw4nL9Y9NK9t5Ez20LI3U78BqhjLZrzlaY4MwiW7c7Ugkg_CRMPlnka0dywI6YoSitGRgW2zArdFc4WhpWdq4YQYVxk_bHXuWiOoh63YOS07CqTi2kUvkfrSI9UvffF9ECEOjqI9QqLx_n-un7mU7K_-D-F_mDNJzhTBIC5Q6gtHCjNxL6vsAVgfh-j44HugHYG8On5rbVQUBLh3BGqilhPlihWRVttCMPvXXMeEo_zS-fLhok4IgeG7y-XJcB-ypBYpSf5BVOwhtpKPadiEC6kNiLOeGiC5_bMxDzS7MBIhnrL9qg5bppM8gGE91Mlpkw7sjMjT49tfnWx01LLIPJOTpzRt8WbUBT3cXdkXYnOYfLMXB4KdYS01PFfT9y4pWfFYv-JbL_RqhS-mgmFHR_PX2j8XrJDRHTzNRKg5oG04YU4MQTY0EYByoryJ6GqVcvldhAkoVAyh8AjMQjBs0WJQ52uqLa3MMb5nn0DE_zdH4NsONues0s7a6etwJBgjFCVT0lUAurwPBezb-xSd1JZo4dIfRD5mThv8QpDzJXPLk4TX3XojjJuOyy7J4jaPbXq_5gCPM22ANbG1NA8c8lapxfIi3kEr8Kv2_7EN-cQyEkg103iPj9PhDNO-suF28_ciqK_y1vnq6W74l8eweEc9kbkEgsOcK4VpZEm83zI5M-L0fmlL94LuPysmEwtn0l_Y5z9eqzdm0cLtxiZ5Z2mgMsrbmWTGrkYuJxCDGSG5TfFF2ZNOSHbUYz6DlquewYBV4GMU-kKwZK2YuvkZdSalIrznydGAxYaEcOeBnmRKTXNdGC_lb92K02VQFmXL6qS3iCh6qzI0-brYkMxlvaaql3ff2r_PXBb90NEkUbW7id6OAha2QbhLMyyDQJpegkbYOTyXPZFwdq9u9mgNGUCX6prF-1Waw7ip1F7fvYA4ibcGiJcEoY53P_LCijynIJ0xp9nsAd2WA6x9tn7ySTWSq1oSuGmgccP4ZYz2bAYbQ5txsI4cbJfDpKhd_fOzkQmUqGIsl_0BAAoAeDoQ68CvI_h8_rfah0u79hMH3OpFS3Rlyf-RpPY33I3qRYhvZM2PwdH7wOw_hRfaQRWCnXNra3uJTrKQG5TD3UfUKFaIEEt6jhd1lg_orkWGc0nB5e1iyOgv7BdYn72DIBFvWFQU3qEp9uGFp-jnuIUdC7KdCDcU6gCD5YFUf18cMZoq1jSzz40RaWXoN8y4YWZCGCg-giIKvJbQihP-e_QmrwQC70f4izWNieDzgv9t5ZvgE2xhcEP55couB9_b_IKTkj5UibkWdfEG3toqghePcx81fyVxO4jp2shJ2JX9MJRnGEpORLqButGeTglVzq-DZw_zjsCM-nuApQy531BLOr9W5w=",
  "id": "rs_0829b13ddf017f60016ab4683e841487d0be82d31a77db1119",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.08,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.43,\"right_y\":0.3,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The left bottle has slid farther away during the empty closes, so I will stop pressing it. I will clear the left arm and inspect the rightmost bottle from the right arm before deciding whether a reliable grasp is within reach.\"}",
  "call_id": "call_YCPRNvbqaIZRYULKilp02yB9",
  "id": "fc_0829b13ddf017f60016ab46847f38487d0bf0b635c9506f0d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YCPRNvbqaIZRYULKilp02yB9",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5144, 1.0649, 0.7475, -0.3534, -0.487, -0.371, 0.9975, 0.7898, 1.8919, 1.3338, -0.215, 0.5499, 0.3927, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=-0.0828 left_z=0.183 left_yaw=0.0792 left_pitch=-0.0207 left_roll=0.0025 left_gripper=0.9975 right_x=0.4157 right_y=0.2933 right_z=0.1297 right_yaw=0.0995 right_pitch=-0.0633 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.8496, 10.4957, 1.5849, -0.3639, -0.0024, -0.0708, -0.1983, -10.0034, 9.6205, 1.6777, 0.5592, 0.315, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb607fd75b6e72e2dea53c97fa5b6eda5dd4365557c4591b71c926351dc39be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88da349521b4381e3087179009f3cfdb4f15409fc22f7fe922cb6070341a5adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ff8c2e0e9acc13c41cff562b0b5c1ec9a58e762f2b617adf45b9022bda1755",
      "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 57 changed as sent

message 65 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5694, 1.6257, 0.7666, 0.1886, -0.5129, -0.3912, 0.9943, -0.0341, 0.794, 0.643, -0.4767, -0.0643, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3987 left_y=-0.148 left_z=0.0902 left_yaw=0.0556 left_pitch=-0.0112 left_roll=-0.0015 left_gripper=0.9943 right_x=0.2861 right_y=0.0052 right_z=0.1782 right_yaw=0.0343 right_pitch=-0.0516 right_roll=-0.008 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.2103, 5.7778, 1.5702, -0.0952, 0.1929, -0.0317, -0.8957, -0.6906, 10.1538, 1.9463, -0.0952, 0.1197, -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]: [-0.477, 1.8816, 0.7677, 0.617, -0.4801, -0.3214, 0.0103, -0.0349, 0.7391, 0.5488, -0.4217, -0.083, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.1365 left_z=0.062 left_yaw=0.0894 left_pitch=0.1235 left_roll=-0.0527 left_gripper=0.0103 right_x=0.2789 right_y=0.0085 right_z=0.1611 right_yaw=0.0534 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3368, 4.588, 0.6764, 0.2173, -0.0366, 0.8034, -0.8821, -1.5795, 6.9265, 2.0, -0.1001, 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]: [-0.5144, 1.0649, 0.7475, -0.3534, -0.487, -0.371, 0.9975, 0.7898, 1.8919, 1.3338, -0.215, 0.5499, 0.3927, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=-0.0828 left_z=0.183 left_yaw=0.0792 left_pitch=-0.0207 left_roll=0.0025 left_gripper=0.9975 right_x=0.4157 right_y=0.2933 right_z=0.1297 right_yaw=0.0995 right_pitch=-0.0633 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.8496, 10.4957, 1.5849, -0.3639, -0.0024, -0.0708, -0.1983, -10.0034, 9.6205, 1.6777, 0.5592, 0.315, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb607fd75b6e72e2dea53c97fa5b6eda5dd4365557c4591b71c926351dc39be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88da349521b4381e3087179009f3cfdb4f15409fc22f7fe922cb6070341a5adb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ff8c2e0e9acc13c41cff562b0b5c1ec9a58e762f2b617adf45b9022bda1755",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0829b13ddf017f60016ab4684da28087d08144993b90352bfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2,\"left_x\":0.405,\"left_y\":-0.12,\"left_z\":0.06,\"left_yaw\":0,\"left_gripper\":0.8},\"note\":\"The rightmost bottle is far forward and near the right arm’s long-reach limit. The left bottle still has a reachable lower section; I will try a wider, gentle body grasp there rather than squeeze it hard enough to eject it.\"}",
  "call_id": "call_PXVoKTDzoKEMHDvPSepbX3T2",
  "id": "fc_0829b13ddf017f60016ab468578b3087d0aa4822aa8b9296bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PXVoKTDzoKEMHDvPSepbX3T2",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4564, 1.6642, 0.627, 0.3801, -0.3954, -0.2935, 0.8005, -0.0841, 0.8227, 0.6811, -0.4522, -0.1165, -0.102, 0.9998]\nstate[eef_state]: left_x=0.3956 left_y=-0.1145 left_z=0.0522 left_yaw=0.0222 left_pitch=-0.038 left_roll=0.0113 left_gripper=0.8005 right_x=0.296 right_y=-0.0007 right_z=0.1931 right_yaw=0.0441 right_pitch=-0.0146 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -6.4479, 6.5162, 1.8193, 0.0464, 0.1685, -0.0415, -0.0615, -1.8803, 7.9932, 1.8632, -0.1734, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28205206a8956d104b3c1393d27db14aaa3b5cc9fa5dfcacb225f011abe01142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72cae5e12f05ebd293f318d99e8b5683faf936b6888f59a106d56732906a62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b7328476594b13725c995ac8d61fa2afe6650a640e9ccebba0995001708967",
      "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 61 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4873, 1.9182, 0.7231, 0.617, -0.4534, -0.3119, 0.9955, -0.0349, 0.7635, 0.5907, -0.4473, -0.0753, -0.0769, 0.9999]\nstate[eef_state]: left_x=0.4332 left_y=-0.138 left_z=0.0294 left_yaw=0.0484 left_pitch=0.0473 left_roll=-0.0132 left_gripper=0.9955 right_x=0.2819 right_y=0.0071 right_z=0.1686 right_yaw=0.0451 right_pitch=-0.0435 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.7453, -5.2581, 4.1915, 0.8816, 0.442, -0.0513, 0.1148, -0.6906, -1.7299, 7.0222, 2.044, -0.1392, 0.0659, -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]: [-0.5144, 1.0649, 0.7475, -0.3534, -0.487, -0.371, 0.9975, 0.7898, 1.8919, 1.3338, -0.215, 0.5499, 0.3927, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=-0.0828 left_z=0.183 left_yaw=0.0792 left_pitch=-0.0207 left_roll=0.0025 left_gripper=0.9975 right_x=0.4157 right_y=0.2933 right_z=0.1297 right_yaw=0.0995 right_pitch=-0.0633 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.8496, 10.4957, 1.5849, -0.3639, -0.0024, -0.0708, -0.1983, -10.0034, 9.6205, 1.6777, 0.5592, 0.315, -0.0317]\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]: [-0.4564, 1.6642, 0.627, 0.3801, -0.3954, -0.2935, 0.8005, -0.0841, 0.8227, 0.6811, -0.4522, -0.1165, -0.102, 0.9998]\nstate[eef_state]: left_x=0.3956 left_y=-0.1145 left_z=0.0522 left_yaw=0.0222 left_pitch=-0.038 left_roll=0.0113 left_gripper=0.8005 right_x=0.296 right_y=-0.0007 right_z=0.1931 right_yaw=0.0441 right_pitch=-0.0146 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -6.4479, 6.5162, 1.8193, 0.0464, 0.1685, -0.0415, -0.0615, -1.8803, 7.9932, 1.8632, -0.1734, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28205206a8956d104b3c1393d27db14aaa3b5cc9fa5dfcacb225f011abe01142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72cae5e12f05ebd293f318d99e8b5683faf936b6888f59a106d56732906a62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b7328476594b13725c995ac8d61fa2afe6650a640e9ccebba0995001708967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGhhlCakZqiRNtnP7J1wvKXXGbsh-J1v3BRtq5XyP_BXxMF4oiFMoaki_dOGA_Xzisx0aUyL0y0M8tNUNhjmY9tg0vI2zwg6EiKJdoYxlj0CgEN4zDSdnjUjmnd21joY2a38xlyQ8II99Pz-iQynocX5EVGbWnNDvDM5Vq1PWA-xkHDTgQQg0EaivMyDBmN_sZQPCRZMZMxKMIYX3S9fBEx48aWo149E2y3c8wQmKA-CcaMCHn0hMc9VhtYnwxltExGZxjyyUzgZhp6hpN2BfuethvLi8W66oWWOd7DGtxqx4yuddCHGZ3RN8D378lyeRKX0fB7hKfeMaaUMQJx5lKoIVOzcZVnPuT8HbcV7CR4ogmz6g5ipuOOssOjTWXhfhZW9uCAmUBmYMIOscT4xI1nCVkea2Hnl-_0klBXPG7NNpx8qArt0GSNgoX3XJNHzTatQMFJu0K18njou159uOwnrSWKUEl_Si_oMI4kncTkENX1OZiAIDxcTZ2lUL0epGTvgMzRkl3yqLz-nlT2ecaf0wPedldylQPDDZQ7HgPbe2IKxw7P9D6wQdbBHp_sYBLsaLAwRBNySsq3ifwdUSK-byEE9tBDssXI4BP5q8kDIoLhoqhzzz9uaigM24ctxKRhsGAwZ8zT7Kd72R7ERew5h6_Fbq9QOe1r1wZs9_lZ_bu0WR-oRjJGxisGiEdedLKCO2AVUXK8IM9xXKdZQaHOfHO4Ck1z-lqy0srKqW8SC8ASQ1Xkn-2-YI2RvpZJx-2NqvpWo-Tm_Ksxi16m6DhzZbaS8mhYkNjviC1ebRzk3SXLjOrbYOS9_h-lN0lIIErGVVixDGvLBT3jtkZVT4auDs0TA_ITE1gVw6FuN3NvOWF95wcwgTRisJ82PK3C13zjENO4mhmuAx9mcDniVZ9tLlIGArnFRoc31K7o16D34xgx2NdLAYQzQxoPasH1FHXbMXlhqNdFIwedOFrMXR04oaUdULiVjV7fYj7kaZHAy65TAOwYSv5eG8dSZxiVDnEuFHonzWvtLWP6FB_1Bq18Drt-Lh-ijTannHNfVahd6037PdzGTZxuDcIRLxO1DaFiTTMPXbdx8FNuFCdYgy9-1TuUMdyCi6ZrCTtScRu6BiJ-8S_QGA0NduWidx7fe0IrxP_qAfxp4dTsLuCCFWZxgaXJl7atTbU8GcgCQc0BNEgzxWmSTV_6dtrRYCDDxABNnfYCF-84QHSqOsMsjB6mnJBj01n82wCPE42MydHJ8AvTNDY7YZoGk619LItTG50yRX6CHoAq0px3jD3z3ACq3yxp_CIo5aAlPbU9Bs1GxR2YH3Aq-QgwT7lL-TiSurwKN_aEHeG-xZQHUDnCJBFInS2266KZ064136gnPH46qD_7D84doYo7rCkTQUUyNBfZJj8kTeADagsCNOVfcTi4ZJZ2KlvaDyAoqc7y3XK3ZVDZvj5Kkdj56ti2oCvF1LXuD8tDgKp2LlebjvingS3bfxPoe3VGEZL4Xp-Lf2J6MNcNYxDe0n5tTUI88hViJ1h_VO-P4FsAlioZv6FRCFPTWlrQXVcTZoYO7t9bv5J-yZrWxdE18B3NCwEaXVZcuZ0-ciRo2Lc0rbV1RatjxQiZBv6iTvKbsRK3deW-RJv9gWYr_x1ZXDIjfIATwCEbUoQ0tLIjYrJtzdV8Rb6QfXXXOelAXVSyIZgaYM3JInRAG_qt8dPqjTWzBgGf4p06H4L699S-WIRvfGZfZoWMGaPFeutr2I7li1rZiiyHHnxnGHEsBGm751OhnBJuBNq7sURr_wIbG9ibEqn8bZk_nGG41jmJqoDEmio9zEt6jLTcMwGcyeuIcQ9GkMIEVIfqepLGu1fb-wqEPERsDYCbhDHX0cQ==",
  "id": "rs_0829b13ddf017f60016ab4685d43c087d0a70f5caa03d69904",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.14,\"left_z\":0.015,\"left_gripper\":0.8},\"note\":\"The bottle body is slightly right of the jaw center and extends beneath the fingertips. I will shift right and lower around its straight-sided lower section, keeping enough jaw clearance to avoid pushing it.\"}",
  "call_id": "call_PiKN5FZePej5EXfXyPRRo7Yg",
  "id": "fc_0829b13ddf017f60016ab4685f7f6087d0b3a14776c29cf26c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PiKN5FZePej5EXfXyPRRo7Yg",
  "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]: [-0.498, 1.8854, 0.6582, 0.5346, -0.4191, -0.3065, 0.8004, -0.091, 0.8177, 0.6693, -0.4686, -0.1501, -0.1196, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1338 left_z=0.0049 left_yaw=0.0075 left_pitch=-0.0622 left_roll=0.0305 left_gripper=0.8004 right_x=0.2919 right_y=0.0035 right_z=0.1863 right_yaw=0.0749 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.4974, 6.7897, 2.0049, -0.359, -0.0024, 0.0269, -0.0479, -1.3607, 6.8855, 2.0635, 0.1392, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ddcc5cd1ddee0ae3f031671ae296013516705a32023279a4fbd309db3c269",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88d45a808621529e2bdeadb120924f4e0a9d0d30d8c6c0547504eb3d1e03233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9668ef1442a12287f39c6f46a15de3152a231de0a0cd85324dffe9ef8f3c92",
      "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 65 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.477, 1.8816, 0.7677, 0.617, -0.4801, -0.3214, 0.0103, -0.0349, 0.7391, 0.5488, -0.4217, -0.083, -0.0803, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.1365 left_z=0.062 left_yaw=0.0894 left_pitch=0.1235 left_roll=-0.0527 left_gripper=0.0103 right_x=0.2789 right_y=0.0085 right_z=0.1611 right_yaw=0.0534 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.3368, 4.588, 0.6764, 0.2173, -0.0366, 0.8034, -0.8821, -1.5795, 6.9265, 2.0, -0.1001, 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]: [-0.4564, 1.6642, 0.627, 0.3801, -0.3954, -0.2935, 0.8005, -0.0841, 0.8227, 0.6811, -0.4522, -0.1165, -0.102, 0.9998]\nstate[eef_state]: left_x=0.3956 left_y=-0.1145 left_z=0.0522 left_yaw=0.0222 left_pitch=-0.038 left_roll=0.0113 left_gripper=0.8005 right_x=0.296 right_y=-0.0007 right_z=0.1931 right_yaw=0.0441 right_pitch=-0.0146 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -6.4479, 6.5162, 1.8193, 0.0464, 0.1685, -0.0415, -0.0615, -1.8803, 7.9932, 1.8632, -0.1734, 0.0415, -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]: [-0.498, 1.8854, 0.6582, 0.5346, -0.4191, -0.3065, 0.8004, -0.091, 0.8177, 0.6693, -0.4686, -0.1501, -0.1196, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1338 left_z=0.0049 left_yaw=0.0075 left_pitch=-0.0622 left_roll=0.0305 left_gripper=0.8004 right_x=0.2919 right_y=0.0035 right_z=0.1863 right_yaw=0.0749 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.4974, 6.7897, 2.0049, -0.359, -0.0024, 0.0269, -0.0479, -1.3607, 6.8855, 2.0635, 0.1392, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88ddcc5cd1ddee0ae3f031671ae296013516705a32023279a4fbd309db3c269",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88d45a808621529e2bdeadb120924f4e0a9d0d30d8c6c0547504eb3d1e03233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9668ef1442a12287f39c6f46a15de3152a231de0a0cd85324dffe9ef8f3c92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGhkRjwFAvejbEzSFqXRitRhUJSxDDIWJF6ctr_f12t8PVlPWLD0mtP4etIQFQP0gW1WXYGeBfnDIOaDQFU0oGG7HjEGNyLgr3Lncem4Z--tC4930lEI3R400exXHMg1S076MstlLiD-ojXzbjWhm3wU0BFL8FdoLrUtVL9hfq6ZyNAw7BfcoF_U3fhRHspvX36EBHK9w4kLeHBBOupHQUNZTRIw-X4eebBOcvY1J4FcUjMhQZfKPohl7q4SwfgWOnvCeFyj8jBM_9VxQv3Zo87Cn_AD4SV9hqd-Bz4IBz1x5ic4maDy4rgzGrgZoJaKXWH6NvjCsiAW6eAa7-ptntkSyde21TOeIXCNJ4XblRLJgt_vC6Xi-9aHkyQd1hYFeyBh8zMz12vbd6-EWVmMfHSzu8X5cLRCSQG1a4UCdO9SumhboVWy7toMci2lJhJC0a9fBcZNAcmMAxF3SlS6YPCfL9IW19PHF_9GZbK39hMFImZa09iUhQmxysJ_yJzZsWPiar5exOc0nspsOh4R4p3dGNyUhdvDG1h3SseP2tjDJnhsrW8a7xeVov-XwQxDSZXGcVZXB_864-vI1nGovIXzSoQR7ftx3GIYIdd2gLzexo9FjtjIpAs85l3V9D0nKCjxqTWdRbn6xocADQ22ddw7dIhNkUKvWx-NqLHXLSKaZhJNmWhgyzoS5M0fMN_tHNFVlKuBwkipivzo8WtrEiKibDO802IJc89Ku766pNWKXPcLPw1N73yWPlH6mAg097_NzvUCE5R0lWRUYeEDPevymvuuqhDNLNGWwxfsyjU7rSO9h0F_UKfIuhBEOKR3uaYM2s22RiLwM1ZT34OOI9lv1iKaPbAyqI5jdBCKsqGM05IkJJhj_-n3Mm8GYrgb7Zlcx7lCNIfMEx12egMpk_gaabIBctPXQ1ukgPokiLcvUQ1gzxtCJwfG1ifNs8mfazymB6Rc_v3yyDZ9H7_4FG_8T8H6m7MlVG-ckeiOil1yJpYk5APXF2Df382PsZbkJJMidlysJ1VXgluNLMJkbtyh8_0U3N5f0TcuWy84MATuT6-nFKQ_eQlBkuyk54_W9pA14VSiQypMpaaCoCUMpUWHskrsnOeJQ7LdvLe3xr_LJt6NRXozheol6Mpu6wRZAIK9eVbzmNATGXP4ZXrDjzlPaP9WfwrvAi7FPrHOnSHPp5MwMjjP0ws9twbDWrBm6-reIkQiskxa55UD9tYR4YC4az1l_uMPiOlmkidK3ZoUnHeEPYlfYUi9knTV0v2Y3PoRIaA28YImTSfPOv1wQuI4VlfFkNoEEQHQaLRd0igxZNKN7EeFkZTBVf6daaMTwv11eb6ozfV3CvRVtuMW8R2Pcbp-1EjfwhXP2uvGFjaOoKA=",
  "id": "rs_0829b13ddf017f60016ab468630ac087d09ab3cd42905401c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.48},\"note\":\"The fingertips have reached table level around the bottle’s lower body. I will close only to roughly the bottle’s width, avoiding another full squeeze that could slide it away.\"}",
  "call_id": "call_6fgs0SuS7fHVBm2lPfU3QvxC",
  "id": "fc_0829b13ddf017f60016ab46863b2b487d08464f425f0b813f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6fgs0SuS7fHVBm2lPfU3QvxC",
  "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]: [-0.5037, 1.9114, 0.6685, 0.5865, -0.4351, -0.3176, 0.565, -0.0917, 0.8028, 0.6346, -0.4541, -0.1432, -0.1219, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.1375 left_z=0.0079 left_yaw=0.0198 left_pitch=-0.0256 left_roll=0.0123 left_gripper=0.565 right_x=0.2887 right_y=0.0024 right_z=0.1774 right_yaw=0.0697 right_pitch=-0.0405 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 5.7641, 1.7607, -0.2369, -0.0171, 0.7106, -0.4855, -2.1265, 6.9538, 2.0147, -0.2271, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc55c35fabb1bd7f22ffe5bb5d7a07623471882c7cf40d56099d8c335aaa6437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfbdf6a1679fe495bf9e1775e858c194c47c09350317ed08f40a2863d3fcce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba041c758464062e52d9d1c400cb96546e8dcb68fbebbedf5935036117f09150",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5144, 1.0649, 0.7475, -0.3534, -0.487, -0.371, 0.9975, 0.7898, 1.8919, 1.3338, -0.215, 0.5499, 0.3927, 0.9998]\nstate[eef_state]: left_x=0.3218 left_y=-0.0828 left_z=0.183 left_yaw=0.0792 left_pitch=-0.0207 left_roll=0.0025 left_gripper=0.9975 right_x=0.4157 right_y=0.2933 right_z=0.1297 right_yaw=0.0995 right_pitch=-0.0633 right_roll=-0.0505 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -3.8496, 10.4957, 1.5849, -0.3639, -0.0024, -0.0708, -0.1983, -10.0034, 9.6205, 1.6777, 0.5592, 0.315, -0.0317]\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]: [-0.498, 1.8854, 0.6582, 0.5346, -0.4191, -0.3065, 0.8004, -0.091, 0.8177, 0.6693, -0.4686, -0.1501, -0.1196, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1338 left_z=0.0049 left_yaw=0.0075 left_pitch=-0.0622 left_roll=0.0305 left_gripper=0.8004 right_x=0.2919 right_y=0.0035 right_z=0.1863 right_yaw=0.0749 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.4974, 6.7897, 2.0049, -0.359, -0.0024, 0.0269, -0.0479, -1.3607, 6.8855, 2.0635, 0.1392, 0.1441, -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]: [-0.5037, 1.9114, 0.6685, 0.5865, -0.4351, -0.3176, 0.565, -0.0917, 0.8028, 0.6346, -0.4541, -0.1432, -0.1219, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.1375 left_z=0.0079 left_yaw=0.0198 left_pitch=-0.0256 left_roll=0.0123 left_gripper=0.565 right_x=0.2887 right_y=0.0024 right_z=0.1774 right_yaw=0.0697 right_pitch=-0.0405 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 5.7641, 1.7607, -0.2369, -0.0171, 0.7106, -0.4855, -2.1265, 6.9538, 2.0147, -0.2271, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc55c35fabb1bd7f22ffe5bb5d7a07623471882c7cf40d56099d8c335aaa6437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfbdf6a1679fe495bf9e1775e858c194c47c09350317ed08f40a2863d3fcce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba041c758464062e52d9d1c400cb96546e8dcb68fbebbedf5935036117f09150",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGho2Deu-Q3adCqPdnRrwlHYZzOVCTmpqpwWG3zORmRxD9fNHznSlKU2MdnamuLK8GSqpcBLteoNyJQOAGxwmEY4DpJi8xmiv1XH_M8dPW5KnMzJoLIG1el8bwA8uZAG4603KGfNvuYNB5v_c8ttQK4BtsARAhqdPnCALPTsP9DF5TmTWP-h-dzQS0jG7mx2jm2gxS2UlUkJI2xBy6RHfkv7Mso9-RF8b1PWH3i67VEA7aeP27JLlNv7K4xn9QjZkYPhdByK2WGgcK5H58Ab6oTfi5sYtEnc4152H7XJs_LagLMsNVR9EER-CT1BwEveFPyZ4bS-zTNpcvSaiTWgtbVAxkPwjT5T0dMVE_s468TZYBwjECUm_oTEGzEjsjfB4FZDc-fprEopOsZBD20t1677TTnPcj6ITIA3iZXnXNF4BuOubAhY1bFq8VXIS8YFXrg6h5wMuuyugb90ZPcpkKXMR4BhTjRzrKVaJOrtyDvNSUyOjTxhDnuSvbScLEleKOqKjO6MZQuC4alujCNQGUbdJ8KS1N44Oaf8voSnUa2Y0JSbZ0ZRzPxHgdkGzOkYWDb4KdS8soD3NCLCGO4WGhDvK1nJrmjICm3p9s-K9vKw1s4Y5fa2pcy5-b6dNLOQmO22tk0go8z_ITn1EERd2DBNPh5SwRyAyCCO8Pywb4MJNtLtr-MmRNVM_ZAdZamSy2mjtR9IHNV01qgKXCEfhFEvSFAyRletoDzB9VT-UiodvMg2lqnS6kw8BhaUh2aFS3sc9yNV7NxrcruG65YrOSAv4VrzV-2JgckdUviAYo4dBVqLVv1xI0NUVJbUumugjvP5uJB_RO-7j28pDfe-C3HR3rXTQ6C5HIelIkYIN3jQTOl_5r8XBFzOiHVYJZUFqaRzJn0_RBXHozy8DdsSeaL_20PCl_SKbPJvQREN4Mz8K4X61BUIxwvnR6A3Co_T06uwn98mbd8Halcuhkos9ErLD0xVnniOGK9CMft0IQp-MIquTfwWe1X1__2gY8HBdz5c1g06RNb1JX51wOEnXdwk24Hrk8NU-JZKqwnWoI5BvFH9XGAyF_fsAX19iizOU4EfnJqLQShMLLO2p_3MH2mdpsRe9RCtUmpoLl8CTzv6TkFDYqAR_hRayesVrc2K4Y5qgCbC6YzruL1hX4uHJnryNtwzuzfOXWfJ0CQ6rgcDOnDx_7h3uXXxfvV-ywvPmgURIsGkdoXuqoj50Acl4Y17FyE1aFBBhmdN2VjgB-teTSs=",
  "id": "rs_0829b13ddf017f60016ab468668d6c87d0b1d86ab675332a4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.14,\"left_z\":0.075,\"left_gripper\":0.48},\"note\":\"The jaws stopped at a 5.4 cm opening, which indicates a real body grasp. I will lift a few centimeters and draw the bottle closer, checking that it follows before attempting to stand it.\"}",
  "call_id": "call_KUKvd9HhwPLsfJIWSc8mGPDd",
  "id": "fc_0829b13ddf017f60016ab46866f8f487d0a99fba74c4c3a081",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KUKvd9HhwPLsfJIWSc8mGPDd",
  "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]: [-0.5037, 1.9114, 0.6685, 0.5873, -0.4366, -0.3176, 0.5406, -0.0921, 0.7826, 0.5957, -0.4286, -0.1429, -0.1257, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1373 left_z=0.0081 left_yaw=0.021 left_pitch=-0.0244 left_roll=0.0127 left_gripper=0.5406 right_x=0.2862 right_y=0.0024 right_z=0.1703 right_yaw=0.071 right_pitch=-0.0338 right_roll=-0.0072 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1299, 5.8872, 1.7607, -0.1734, -0.0269, 1.0281, -0.841, -1.894, 6.8991, 1.9756, -0.1832, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a129e6bcb7a672a89a17aaa87f60854d270e96dea851a0919c2dd4dbcef33631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f2d1b6a152ead7de20c0e2f181716d61c83b2192bbbcac0e8c228e8f18c5407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd0253d942296b64f6e1981c3e9ca47b6fcb80f774f7d49cea9cbf397882f5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4564, 1.6642, 0.627, 0.3801, -0.3954, -0.2935, 0.8005, -0.0841, 0.8227, 0.6811, -0.4522, -0.1165, -0.102, 0.9998]\nstate[eef_state]: left_x=0.3956 left_y=-0.1145 left_z=0.0522 left_yaw=0.0222 left_pitch=-0.038 left_roll=0.0113 left_gripper=0.8005 right_x=0.296 right_y=-0.0007 right_z=0.1931 right_yaw=0.0441 right_pitch=-0.0146 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [0.5675, -6.4479, 6.5162, 1.8193, 0.0464, 0.1685, -0.0415, -0.0615, -1.8803, 7.9932, 1.8632, -0.1734, 0.0415, -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]: [-0.5037, 1.9114, 0.6685, 0.5865, -0.4351, -0.3176, 0.565, -0.0917, 0.8028, 0.6346, -0.4541, -0.1432, -0.1219, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.1375 left_z=0.0079 left_yaw=0.0198 left_pitch=-0.0256 left_roll=0.0123 left_gripper=0.565 right_x=0.2887 right_y=0.0024 right_z=0.1774 right_yaw=0.0697 right_pitch=-0.0405 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 5.7641, 1.7607, -0.2369, -0.0171, 0.7106, -0.4855, -2.1265, 6.9538, 2.0147, -0.2271, -0.0024, -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]: [-0.5037, 1.9114, 0.6685, 0.5873, -0.4366, -0.3176, 0.5406, -0.0921, 0.7826, 0.5957, -0.4286, -0.1429, -0.1257, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1373 left_z=0.0081 left_yaw=0.021 left_pitch=-0.0244 left_roll=0.0127 left_gripper=0.5406 right_x=0.2862 right_y=0.0024 right_z=0.1703 right_yaw=0.071 right_pitch=-0.0338 right_roll=-0.0072 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1299, 5.8872, 1.7607, -0.1734, -0.0269, 1.0281, -0.841, -1.894, 6.8991, 1.9756, -0.1832, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a129e6bcb7a672a89a17aaa87f60854d270e96dea851a0919c2dd4dbcef33631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f2d1b6a152ead7de20c0e2f181716d61c83b2192bbbcac0e8c228e8f18c5407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd0253d942296b64f6e1981c3e9ca47b6fcb80f774f7d49cea9cbf397882f5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGhsMPOTlYK-Og4aoiHrv3P0DjuO9W1lWNiuHadyZ6DiLGJEbGYMYUNmQy1gV5cScE7DRMpdZk8nhRdSvQ37DRBz62E4bC3dALltQdPObP7K2Qetv-saKPzsniWD6nH9kX3jMx3ZZGwaySdbI6SH2cJiFLWUXkyzeKjd_2wQthzkygIY_Ig_YfecUR6Hw8Gs2HRu_ftPqdAMrCGKSIc3s18FaMLc-MLKJGYOR1uU4M-KQ2jO65a356JOdxGQH2aIh3xrrLvquIVkwh6ilmLinYMSMmKoOvaW_ix47CC9xTMkeAzyt--DRHDkDuL-lF7I7bU5fktabjkxjHHVPqWQA99h0MhrQLcReX4g42Xf88aKy3DZ1mrfY61jwS0YRpG5k-8DoZBKWaMMQ6F-Or3xNoQryt0vAbZqXLMXhzVvLJMQ9YeWQxrAww_SrmYFGIWoaq5SYEsKiBXqugK9yQTTV87MXPy5Bbg09MC47DGEhK0_QqZlyi3o0lwy9py4RvLoykSOzuzjTYToUYM8_HCtls1iTg_GlxTl5bcQ-liP8aZ-2O8QHELEKvcdyeQhsiof0yD2AwEuY6qv1IK0d3eldIs5rFKc17beEgwge8hReiISfkP_-u6tCjS01U5fQb-Zot-xFHnzFyqN6gWbBLXTWRNUUE7aM9fb-CWLoIfmAIOtTVEMlzcr77kp86D3NWHpU5W5TkuwqiHhL4VlvnB-RaJHljk16tRvANzf2s5bU8o72W-9GN6uVoYj9Mx33bSr7g99Yl-9h_U4J1UHMSQN3V9N8u-eNVa5oYwsHiH25lCUUwhNfIntxJfdJBmZiZA_MZVXSiD8oEGXWFNLTWidAvt3IfmSj86Eg5NuySoSUnvgGJXJG7XuwB9xufOWZI_MaTxAbK0dWFAlsu_pFI2Y4mW3qjMEcpH-JXTP7kakJMSgijbDcA6knNjBxuWDj3LBQ-VmOkMMXB2L6a8QHli8wq1tJcLFGnnHtBjuG30vlrxhitzQRMNeAmPeOg-FJOclyn34hJBmSs6dCYfDR1dIp-0hvhJ9dT4K7AM1tUcFzgjqCnidPLitsxGR5DYmD9ymIpUxtkf91HQo2OZUlnh8mqkj8YoEDNMv-i8Hjtf0kPvuQhcR2Zc7F0BdFe9LehauvdCNKoP1KHTwL5sLk8q4SvYYAFz3CE8eE1gfdn_lNynGCRbSoL8WvnVX1DMBJlVY97puPi1hnanJMIeRKBQC-X5MLwQSJYjzZLIEX0PjrHWzkHnQdFUQQ_0j-uRKtLTv4RJtLovu-osd1w3nR6gGSbz5o-Nc9SiiduaLWFC1orShrIops_pNLJnmO5rCumiEC2MQc9O-HXjRsM7ihz3WGSMQVseehF-QGvR1ak0pUSBWktd3D2GvkySrQzsgXvhNodsmbRPzlrP6l2f9w8cnAC0-og==",
  "id": "rs_0829b13ddf017f60016ab4686a597487d08a02d893682df709",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.411,\"left_y\":-0.137,\"left_z\":0.16,\"left_gripper\":0.48,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is still held, but the combined lift-and-retreat command did not move the arm. I will first lift straight upward from the actual pose to get out of the low configuration.\"}",
  "call_id": "call_5k6n38CQPz9ukTtmiOheeOP4",
  "id": "fc_0829b13ddf017f60016ab4686b3cd887d0b76df738318a8e8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5k6n38CQPz9ukTtmiOheeOP4",
  "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]: [-0.5037, 1.5677, 0.8577, -0.0994, -0.4034, -0.3183, 0.5321, -0.0906, 0.799, 0.6544, -0.4789, -0.1425, -0.1253, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1314 left_z=0.0936 left_yaw=0.0022 left_pitch=-0.1692 left_roll=0.0687 left_gripper=0.5321 right_x=0.2874 right_y=0.0027 right_z=0.1824 right_yaw=0.072 right_pitch=-0.0417 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.6991, 11.1658, 2.337, -0.5153, -0.022, 0.9841, 0.5265, -0.3761, 10.0855, 1.8046, -0.105, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230649a30c7e66e24127021e94de927f4cad1cda7e0f5461ad6ad32e58619c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4df70890c057da970824be8b5994c8af6a36d2d68a476996887019f473d178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d038893823b93e62ba36af4cf516646ce149a6c76bd144846d26c54b151d94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.498, 1.8854, 0.6582, 0.5346, -0.4191, -0.3065, 0.8004, -0.091, 0.8177, 0.6693, -0.4686, -0.1501, -0.1196, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1338 left_z=0.0049 left_yaw=0.0075 left_pitch=-0.0622 left_roll=0.0305 left_gripper=0.8004 right_x=0.2919 right_y=0.0035 right_z=0.1863 right_yaw=0.0749 right_pitch=-0.0347 right_roll=0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.3624, -9.4974, 6.7897, 2.0049, -0.359, -0.0024, 0.0269, -0.0479, -1.3607, 6.8855, 2.0635, 0.1392, 0.1441, -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]: [-0.5037, 1.9114, 0.6685, 0.5873, -0.4366, -0.3176, 0.5406, -0.0921, 0.7826, 0.5957, -0.4286, -0.1429, -0.1257, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1373 left_z=0.0081 left_yaw=0.021 left_pitch=-0.0244 left_roll=0.0127 left_gripper=0.5406 right_x=0.2862 right_y=0.0024 right_z=0.1703 right_yaw=0.071 right_pitch=-0.0338 right_roll=-0.0072 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1299, 5.8872, 1.7607, -0.1734, -0.0269, 1.0281, -0.841, -1.894, 6.8991, 1.9756, -0.1832, 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]: [-0.5037, 1.5677, 0.8577, -0.0994, -0.4034, -0.3183, 0.5321, -0.0906, 0.799, 0.6544, -0.4789, -0.1425, -0.1253, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1314 left_z=0.0936 left_yaw=0.0022 left_pitch=-0.1692 left_roll=0.0687 left_gripper=0.5321 right_x=0.2874 right_y=0.0027 right_z=0.1824 right_yaw=0.072 right_pitch=-0.0417 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.6991, 11.1658, 2.337, -0.5153, -0.022, 0.9841, 0.5265, -0.3761, 10.0855, 1.8046, -0.105, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230649a30c7e66e24127021e94de927f4cad1cda7e0f5461ad6ad32e58619c46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4df70890c057da970824be8b5994c8af6a36d2d68a476996887019f473d178",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d038893823b93e62ba36af4cf516646ce149a6c76bd144846d26c54b151d94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGhxCZo9Pa2MknSGN5ybRjhfFqtmNdbsezXIpCd1xtt3ImqZy_KWtCghaO3Nk_S3OT_PBcPrrpGGdpPlSZO2U_LT1RzQudkvjkmZ-7JGZIbTrI-UTQDcjJQSt5x5NPeEf4Sz5wIZNt86rOAElYT372g3Srv_P2dloaemp48RsHT2OOKI3ijMgW2-5waVHxhu0gSnu9PEiDqbqYce81OKb755dl11d0AKbRMyoFTp4Tr60gOKOnEzkMm678ky2TmXq0spnT0BSsJt-9lAFWPZOdQLn-d_sC2MTxQ7ra3pgDkpcyGFohcpvBLD_W0Q-fMhu-Jen_4pNzXf0p8CJfLaThpa80ltLpz69V3wnaSzWRcjOIHDLnBDIUyBwSRWlPdmLIz-uLlw6b9c4P7FjsRUIsY3t8OphXvfEzEnHiQQZYaWxzsl3qMMFDpLkEDgPjlIU2evdQHLnj3qu4_UPlQ8OyFpfWdmM6dXdAfX0YDgIVQwfNNqCvlyx3EvHljYZx0zlTdr6-rRxfdk0y1dAbI2nZA9BzvFvD5cotmI0BTeCfQisK-BM5pW51m1F9hBw4tUkpC_m8cptgJghEFMvxf4TPejXGGBgts6i3sjczPsvvvSWY6b1Ts3zriuONqaYuX2KJNnaJ15gsZFJv5j9tr5RSl6crjN3zxGxA41ig-dxOtIgYpDTr_zJrzB4r9P2me3Qsf0LkV27Hrxcu4Iv4vIkn_5XGSOD838t3SCsheVoJP-zeTjaDLk91zs67k5_II4X_2FyhllDpzbQUItPC2OjVklp5Pr2Hjk-M4t1-i9r9AooMQVzLdMcslDeMer5P00pw1k1emQVyayB49sMD9GHMDx9tsfTVvGnR5M1V_Lp137aYIi0fs-i9CkOq3qsl4-tIoMIo2pq9qyH-JCK-0wivmKYcW_LNbI-jll2-CuXKTL54rhsVuUint9lCXuQ6pq-K6U34dEJ7G9NeQNINfp-7swOlO-rvi6lc4rTNgh4xBG6Q-vcavNpKf5v8gEFf1Igg81_hy7fuLqP86uxKtvArvbPywDl3fcFM4tggrGRIBNeDNfB0Y4M1UNaqsimX5FQ2g5wdknI5L7pN3ckEypyZN1Vk3rxllc6BHH0Ki4McwlWS8WGRX-hYksc-KqMOvj9a_ADdqubrzFQS_KrulkHBEl-iiPiiYXjGUMrkIndU7nZqPZu5tx7S07QJ5PkSbd96AUzsScyNWpb2ExSrx1qGOuIUeB845ijiwX81s9SYTpOvIY0RoeZvVZYMHiMwkyTCPBDX8t6EBMUxWOUkrOKgn0eXZKRwuOuDyw_Hz3JCZTtRmQ34RFBQYcmXSuy8yiLMK5bbNGQLaUK44KBF0Ow1vj6iTT0xwRanjd5TdHqKoxHWgdeM8-C8UC2R_zNvfv8eXm_T9NN3DeCGXPjoMtDRFqmf1i2qZewp7f-6xmys3vQ0JQSPUvqhrkflJzHo_q7BMT_46HOz7PQQjGWUzsMe9Us4XHyIlWCSvbeLsDvjlW4F68poOWhNwUrHR0Hceaq2A-p9ppDypezMzFzf1y5BBrSg==",
  "id": "rs_0829b13ddf017f60016ab4686f961087d08de91adbbb1ddf3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.12,\"left_z\":0.1,\"left_gripper\":0.48},\"note\":\"The bottle’s near end lifted while its cap remained farther out, confirming the grasp. I will draw it inward at low height so its neck becomes reachable for an upright-setting grasp.\"}",
  "call_id": "call_QaTprObaIBUUgXzQDYEpSHT4",
  "id": "fc_0829b13ddf017f60016ab46870b32487d0a2513753a6cb8136",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QaTprObaIBUUgXzQDYEpSHT4",
  "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]: [-0.6659, 1.227, 0.4522, 0.0025, -0.4889, -0.3973, 0.5305, -0.0937, 0.7765, 0.6147, -0.4545, -0.157, -0.1287, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.1235 left_z=0.0745 left_yaw=-0.0531 left_pitch=-0.1033 left_roll=0.0398 left_gripper=0.5305 right_x=0.2845 right_y=0.0046 right_z=0.1756 right_yaw=0.0829 right_pitch=-0.0331 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.135, 7.0085, 2.1612, -0.652, -0.0904, 1.0281, -0.6222, -1.7983, 7.0085, 1.9365, -0.0415, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307ccce2f451575d8796675ac0513a460de31b794b3837f52fa4150ad42bcafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331ba4dd8d54fb3e3a26d6e0516c2a95c16ba2bcf04d1e08705e1cef0216f14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7be563ce9ccb295f23f2c795f633622670de683f3168968d512c08d939fac13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5037, 1.9114, 0.6685, 0.5865, -0.4351, -0.3176, 0.565, -0.0917, 0.8028, 0.6346, -0.4541, -0.1432, -0.1219, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.1375 left_z=0.0079 left_yaw=0.0198 left_pitch=-0.0256 left_roll=0.0123 left_gripper=0.565 right_x=0.2887 right_y=0.0024 right_z=0.1774 right_yaw=0.0697 right_pitch=-0.0405 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 5.7641, 1.7607, -0.2369, -0.0171, 0.7106, -0.4855, -2.1265, 6.9538, 2.0147, -0.2271, -0.0024, -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]: [-0.5037, 1.5677, 0.8577, -0.0994, -0.4034, -0.3183, 0.5321, -0.0906, 0.799, 0.6544, -0.4789, -0.1425, -0.1253, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1314 left_z=0.0936 left_yaw=0.0022 left_pitch=-0.1692 left_roll=0.0687 left_gripper=0.5321 right_x=0.2874 right_y=0.0027 right_z=0.1824 right_yaw=0.072 right_pitch=-0.0417 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.6991, 11.1658, 2.337, -0.5153, -0.022, 0.9841, 0.5265, -0.3761, 10.0855, 1.8046, -0.105, 0.0904, -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]: [-0.6659, 1.227, 0.4522, 0.0025, -0.4889, -0.3973, 0.5305, -0.0937, 0.7765, 0.6147, -0.4545, -0.157, -0.1287, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.1235 left_z=0.0745 left_yaw=-0.0531 left_pitch=-0.1033 left_roll=0.0398 left_gripper=0.5305 right_x=0.2845 right_y=0.0046 right_z=0.1756 right_yaw=0.0829 right_pitch=-0.0331 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.135, 7.0085, 2.1612, -0.652, -0.0904, 1.0281, -0.6222, -1.7983, 7.0085, 1.9365, -0.0415, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307ccce2f451575d8796675ac0513a460de31b794b3837f52fa4150ad42bcafc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331ba4dd8d54fb3e3a26d6e0516c2a95c16ba2bcf04d1e08705e1cef0216f14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7be563ce9ccb295f23f2c795f633622670de683f3168968d512c08d939fac13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGh2MMTMVb4bfBcccGEgmvWuF404VKLnU0GS59j5xH6-TQ61eiUfQJ3eU7BULDukqrxHMjT7WHGuqesVCOYjeNcapWaJ0-AVf6Yq89ipqF_MB6b7Fguena-uiOPSGrQNwF1jRjPe6IjxZKu9q6sfr8JQshwmAqGJ_j3qhh2tvnH_48J0b8i_fAJikMmwgKtlMQqgS4xmI_RgTy2eH3MuCWBw16Gj87ykiLSOgDknvfRBaqmNWEnHzelPbbgXBoSjsFgUaV36xX-VnO-jCIB2IyVfJcUxXpToQxVwb0TcxULGuhjOsjwHC31dLQQw6H7iCPsSAVl7U-QvmrneJxIlxD4WBqfksmbCYX2HleyINleavNvwOaVF5yVpic-Li0psRAVKK1K-20fXKz2pq2Cq8EVdmpUmq5xIvWYudhwXvvMdfVb0XpOCr7ZStALDFlenlRe1coJ3Zm70Lb3lHb6YEnGssfre1tGOvvDJ58DxmG_wGqbjxNAC4LtRyU1mp_yrEctzFwflQ9rvN8Nui_3TyecKG6r43JQOoiqjbvpqKFccKphLIT06b0hdoh9pO377RniokX3XyqWCjgzZnlgtDcT73tVRN5LvJq2LqLRw7HnrELFAChRiAh_f4_OC3Gi4gh1jxp3pklelVMDrWctMuI67aBkKYSB4IVOYag9FKmklff2qKOA8fu5Hgm0zf7EQZSeup-QG8SlfsYxB6neP87ctLa-RVqNA7D9oE5ZSTmard8uzo4QOS5CrtmcPfzZzzlmCSG2nDzl4Gbv-kooGymuC6w6ZouULuRX0lIAB_jKd6i46GcwpbfkakyaFwBaQwLd35qkR7HiGsRWpB2DqeTLBZV7pzZFLPfGjw6HMgBeIHGtJU5Bmg32XNUS18nK3iNCNnpxreJk4ijYPkap4tEV5p14b9eEXPy-WYNJ837VEJtxgZfmQmCkRFLyI2RGZSnCWoPTmDFbLKlHSjAlAvNklFQDfCiAhE1wfoAnEZGaRwHpYV1D58kMulRSQQSePrhDdsWNEKvYkhgZMKJPnCpKeeFjIch_f8xJC-7HDtuHpTZYxRVO7cF-UOcmMKVMPBRgEa7YIGhfDg9cPcNWE4aSeeewZ-DwP81UAtGQdlnpYHxBMfC978Q3cCbQZgiWnS_KHh-IwmCgqR0y6OU02SI0JA_Tj90TIBRBG5WkcUjQs8bAghLi6IurvSfmfDtWsaQrveyCmkjso5OAni-pktbBbTRcs4WF1kzCXmHIM_cl51GJYalw7Rbnz-_HxjQQS_ZOVAdt_YU6CvpuMp_8A1RWQ-QEDJXQ7EhVR7Z-sn8pZg15DBFBA6DZoIdfc9aQRDyQbiWRaZXfT_t8hCvxIO1MGtA==",
  "id": "rs_0829b13ddf017f60016ab46874851487d0b80d50e76c2de96b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":0.85},\"note\":\"The bottle has moved substantially closer to the base. I will lower and release its bottom end, leaving it on its side in a position where I can reach the neck.\"}",
  "call_id": "call_AYwjEdlF9pg4bFdzoezU9xOO",
  "id": "fc_0829b13ddf017f60016ab46875791c87d0af1e8d5909f0f389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AYwjEdlF9pg4bFdzoezU9xOO",
  "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]: [-0.6804, 1.3998, 0.2619, 0.3546, -0.5148, -0.3923, 0.846, -0.0937, 0.7609, 0.5838, -0.4412, -0.1612, -0.1291, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1127 left_z=0.0171 left_yaw=-0.0496 left_pitch=-0.1019 left_roll=0.0651 left_gripper=0.846 right_x=0.2816 right_y=0.0056 right_z=0.1685 right_yaw=0.0866 right_pitch=-0.0345 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.8085, 4.6974, 1.7949, -0.188, -0.0513, -0.0317, -0.4444, -1.7299, 6.8308, 2.0293, -0.1197, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a63759298d7bc83deb5d85e4f5d56045418825103a0620d31666fd57e963e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee8ce2200406da241a26e0abbe9537a7b4553605ba05d913ccfdec3cc6c977a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbee37c5067ccd5ceaf5ad12f5b33cf5f2029b391f5e54cba73d1ede10186c1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5037, 1.9114, 0.6685, 0.5873, -0.4366, -0.3176, 0.5406, -0.0921, 0.7826, 0.5957, -0.4286, -0.1429, -0.1257, 0.9998]\nstate[eef_state]: left_x=0.4113 left_y=-0.1373 left_z=0.0081 left_yaw=0.021 left_pitch=-0.0244 left_roll=0.0127 left_gripper=0.5406 right_x=0.2862 right_y=0.0024 right_z=0.1703 right_yaw=0.071 right_pitch=-0.0338 right_roll=-0.0072 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1299, 5.8872, 1.7607, -0.1734, -0.0269, 1.0281, -0.841, -1.894, 6.8991, 1.9756, -0.1832, 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]: [-0.6659, 1.227, 0.4522, 0.0025, -0.4889, -0.3973, 0.5305, -0.0937, 0.7765, 0.6147, -0.4545, -0.157, -0.1287, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.1235 left_z=0.0745 left_yaw=-0.0531 left_pitch=-0.1033 left_roll=0.0398 left_gripper=0.5305 right_x=0.2845 right_y=0.0046 right_z=0.1756 right_yaw=0.0829 right_pitch=-0.0331 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.135, 7.0085, 2.1612, -0.652, -0.0904, 1.0281, -0.6222, -1.7983, 7.0085, 1.9365, -0.0415, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6804, 1.3998, 0.2619, 0.3546, -0.5148, -0.3923, 0.846, -0.0937, 0.7609, 0.5838, -0.4412, -0.1612, -0.1291, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1127 left_z=0.0171 left_yaw=-0.0496 left_pitch=-0.1019 left_roll=0.0651 left_gripper=0.846 right_x=0.2816 right_y=0.0056 right_z=0.1685 right_yaw=0.0866 right_pitch=-0.0345 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.8085, 4.6974, 1.7949, -0.188, -0.0513, -0.0317, -0.4444, -1.7299, 6.8308, 2.0293, -0.1197, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a63759298d7bc83deb5d85e4f5d56045418825103a0620d31666fd57e963e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee8ce2200406da241a26e0abbe9537a7b4553605ba05d913ccfdec3cc6c977a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbee37c5067ccd5ceaf5ad12f5b33cf5f2029b391f5e54cba73d1ede10186c1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGh-8n1v8RHG3o0NPsci0QgSy_LrbJigEOtNDFC6eUl_DMraXm58_1N3_oP78JeJTkKxWn5mv51rIQkdGba5JnYlXaHIWbM08slcdAW3ZY-jX4VAaeVdfPzRX1KUBsTb0wQZgwny2FXSv-v5m-SWUetCXmRblqrbjK-zcEkYGHPEGMljVAg5G1yPAtMeMz5ypGxlP_5WV7W4pnSzSp7qAPn65Mv83uyGoFkWnmVoZ2G_ggHns_w4Jne7wdzEBWxd8EaOBR4gSrAmZ4n-JA-CuOjbIwbTF-yxkaj8yfPPDtaI4xo_IbbhzR23MgKZ517_pe1_W2IPoqaUuQ1uX0ejLHkC9Y-6fitE9o_IYR-DSZ9T_hmtea5KXMrP6xX29r7z4Fvb8oxMykeH5SNQKNMIJi1knLDS7905UeXwiAgQQn3Vfc663o5wjT9EvDtqtHOcYJgGmO0pRbQ3GZ9T9Dc9JTgeYvY4HfNSi017hdB0Dhn0IbP-AUWXcj-AgawPqrgCtOLqNIox6kJ6IlWEvCPzUEz0cfHBYBreRdm4HUb6CGvQNxjUo5v7l0wumHUPlOFoP1vELW3zVh2dRk_5_1C0lxUcqopszhH7ypGVZJXP5Yonlp17tmANKWoMQhkYHfeYwwXScWBVvYXZIpyVZ5aBBGb6uRfUASR5gyL2PH3yZK6Ct7Y78RKbm0KGAtYXwVLLSXM96ZdO-FoITxAU5Vzxzuds1UPimNTQpoG7yOJ0nG8JYISHZCxpaetTYbgvCqxjqziGaHuZ_t6PWpChXFj6dkDVhYWzj6cTRI7Ok08z4Cf7KAVALqbLaqeynSixhuGS97UkuxqxpdFdvEiPlQXbtAVZUdxAdU_rTqlO5OkbL7lTIqGos9NeST_KE0YYBDnHdA06_FSOcQgn9nRgTXk3HrEpX8qeKBjkMJdc_7R-52Ivd19IVzsT81yW-Nw3vkMnbglXR-D-kWemSSyG2jnl_4sOvBQQyjVqSj6fGmzRaR-XghHeUpKij-XhwLgOCj93u4HUuqz04-OFrWdoHcJubryUxbHvSVVQTefWXs0IOjVQ301b8dQwidW1V6pP8-cVrUwpUCr1qRXqtKhdKVqGF6cWbE62nmEZUm18es2r_tv7toYraEesiIxqMKOGSujyrEHBH7nL1giKg-Zs-h44nHbwxCakcIsElUIfgWncV2usF3X0deOiLVCOPUJDiCmQIETqK8FlSwgLH3Sgc5ridwIqEpGUJ8ihKP16PFywxf9TzmIpo-CVrmYlpzpCRwOJao2bn_sdm_pdMFgsy03YDLP73eX7SFnffb-newOkRXGvaG8D77hTvpv4N_mFdW5IxVg-B9yf0W4o6ZRNPwIjcvlX9tmkjVIS3fj2NuIWXV1j_6TY4uVpbw5XmwyBoIrY5zg8TI23SISEklV8j-Ngv7e5ZJYjzw2Fq0_jEuy99X8fZ-PvS4eJ_2wHMfyF9tgZyorUEXeDcZNjXs8frNd9dlLEZ0FU8dS2wJq95G-f0908Xl2Yrf75u-ChT1GmBPHux6JMb6biOh2pO3tE5rB-FqNJlLn1oCsQEFDeDl3juBjj6obA5jAsTvyBO0UVgQrYPLZPST20R0nr1UhQPdIvm9I2D0bSxDkZfblm2DtoFFM-UDfwR9cn5wfVU_ObERq4uYjBqvth07KUA3QQw3yqj7ZK7XTbEPI9MTnO2bGHtfB0rVkkGcbwksQ_dmwQeVkw__m2nkBHsiMeSH03r611rcPGWD1TLkB_Kgb5uXsre-1xYyWRuaw2PkU8EMIqIoa3QsJiSHjjyBq104VzLFdnoKrLJhagabAZqECz79Ks2kBLSvUuJe4wP_7hxA9a7qnt0JscuMTh0Q7UDtOvs_qXkI8dCUvcVSZZBQTxweQm2rzhgepYmwFtFbITUoINoe3FOQstMDWZY7K8MA_tCfRZX_LROb8GOSAXHCwZ6ffJ_uqPzP_SeZEGSnt7r3r4kduz6UmobNiWPPHZBOAxlTDRktroYecPYivZn-ZyMJxcu5eIHY3RE85cx405UCpkel_flV8_BT1c49uoarejaYTTiABb2f_nOz3miHa-6Y90pYB4ECS7dWO_xgoN3NRYUvGzc0IomKSXS8UnJIX9H4x02avrzuxfTHYYDukrWBwTTyj3oVMaYs22KUw50al8qnJuKwCLdhgEpbxmIOP4id-npQzQjW4zYRuN5_ivXiPoMREp-wY1gPK92Ym_CyFbPOA-jI7BrziLNoobMrNJU1cQVAyR4fOkWWi4eVZH7bhcucwcbgALlCJhMepvcZXMuTPU3YKr2W_PjjFa5dlI9Bb8kE7kE9xvHY7IAU1rWIGfTu-SV08icGCl2qQfqaDRJfDJINT6Cq083uKkZOLfxb3vHHAJOBzVvt8kQmrjn90-KUbjEuw=",
  "id": "rs_0829b13ddf017f60016ab4687906c887d09ce42513a9e09394",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.145,\"left_z\":0.11,\"left_gripper\":0.85,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is now closer, with its cap clearly separated from the other bottles. I will move above the neck, keeping the jaws open and clear of the body.\"}",
  "call_id": "call_EVdSwOIpFH3v0nT6Xcznrope",
  "id": "fc_0829b13ddf017f60016ab4687cad5487d09efedc906f3c100e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EVdSwOIpFH3v0nT6Xcznrope",
  "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]: [-0.4881, 1.6623, 0.8402, 0.2005, -0.4217, -0.3138, 0.8499, -0.094, 0.8024, 0.6548, -0.4843, -0.1619, -0.1337, 0.9998]\nstate[eef_state]: left_x=0.4268 left_y=-0.1407 left_z=0.1018 left_yaw=0.0224 left_pitch=0.0007 left_roll=-0.0086 left_gripper=0.8499 right_x=0.2868 right_y=0.0052 right_z=0.1809 right_yaw=0.0895 right_pitch=-0.0479 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.5692, 7.8291, 1.5507, 0.0073, 0.2173, -0.022, -0.9231, -0.7316, 10.1402, 1.8144, -0.1734, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebd1a40dcf6df8a9da0b0632abd3dd52ec26cf27543c0d1c81e84dad1383d7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7225302041f76d522ad65d00dae4fde7e314120b1bba2acabc89e63af05c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f50653fb749c7118df9447eb986d584748d8a9c666594d2073badb99f9588a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5037, 1.5677, 0.8577, -0.0994, -0.4034, -0.3183, 0.5321, -0.0906, 0.799, 0.6544, -0.4789, -0.1425, -0.1253, 0.9998]\nstate[eef_state]: left_x=0.3896 left_y=-0.1314 left_z=0.0936 left_yaw=0.0022 left_pitch=-0.1692 left_roll=0.0687 left_gripper=0.5321 right_x=0.2874 right_y=0.0027 right_z=0.1824 right_yaw=0.072 right_pitch=-0.0417 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.6991, 11.1658, 2.337, -0.5153, -0.022, 0.9841, 0.5265, -0.3761, 10.0855, 1.8046, -0.105, 0.0904, -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]: [-0.6804, 1.3998, 0.2619, 0.3546, -0.5148, -0.3923, 0.846, -0.0937, 0.7609, 0.5838, -0.4412, -0.1612, -0.1291, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1127 left_z=0.0171 left_yaw=-0.0496 left_pitch=-0.1019 left_roll=0.0651 left_gripper=0.846 right_x=0.2816 right_y=0.0056 right_z=0.1685 right_yaw=0.0866 right_pitch=-0.0345 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.8085, 4.6974, 1.7949, -0.188, -0.0513, -0.0317, -0.4444, -1.7299, 6.8308, 2.0293, -0.1197, -0.0171, -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]: [-0.4881, 1.6623, 0.8402, 0.2005, -0.4217, -0.3138, 0.8499, -0.094, 0.8024, 0.6548, -0.4843, -0.1619, -0.1337, 0.9998]\nstate[eef_state]: left_x=0.4268 left_y=-0.1407 left_z=0.1018 left_yaw=0.0224 left_pitch=0.0007 left_roll=-0.0086 left_gripper=0.8499 right_x=0.2868 right_y=0.0052 right_z=0.1809 right_yaw=0.0895 right_pitch=-0.0479 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.5692, 7.8291, 1.5507, 0.0073, 0.2173, -0.022, -0.9231, -0.7316, 10.1402, 1.8144, -0.1734, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebd1a40dcf6df8a9da0b0632abd3dd52ec26cf27543c0d1c81e84dad1383d7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7225302041f76d522ad65d00dae4fde7e314120b1bba2acabc89e63af05c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f50653fb749c7118df9447eb986d584748d8a9c666594d2073badb99f9588a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGiEXlKmiIgVUB3GJkao0a6DBBU1O-PAuCjpzKWdUQgtxh4qHIgst1b9yNgpdNB7V68QApM1cksdeNYxSSxqoqw0NSvjAJmA-g_2PTEguN3sYMez6mBwmxpqLVBEwcF4dKrY6akLx-RR_zJF_BT1WJVPfMT24kzJEAvwzTEwfs-ad1TbzNyYwwoXQ_Bvonchl8xE44nRexkeoFbta0XW7PFJyQP0U2pBGK-cUS6zeGeMQfPO4K0Almf-CLsOpRGwB-SYLKD83OQD8OZvLx3ZAi2aAf6JvrQ2WH_dQQQNH1pB_JSckZ22Oh30_vg67wGW8Fz-h3ObRd1IvEe8jreLEDW6ZelFEMDv9ZFxTsw92a1P6TT0ch9tNBfeTifnOASVQ9fCCKvWOmRjs1L-1wK4rDyuFr-bpOvEcrBBbYv9m3NvtGQnax9xPK9twaWo4Zwi4to3V2iln7tTVOhd9_ss6AjuFVKLRGLGVJ-KI8ezbIZCpqODN22DmryPe3bpj0XcKaoaFrkqs84_hYnPmMNQbTKjy6o85xNN-0pNcG7Y1Jac1Cye6XWYmM1q-07X3s3KCLmCkk1GFqXbEx9soorPOUo-tgaqA6QHe2tVfOe5zfnUBwWVmP9txUv88VZTGv-G_2RRMX15xCMwpIzk2BAU8LeDyE5OgNck8J9Aaofa3B6J-xkZ9-vW7OKi9Rj1hN7JEElamtSWUeKwpSPY4-SXSkPT0oQB4Iweqju7icAr9-VREkZ4XOQbCgvcDBgnHjCnfYdwCl5YC8oF2uZZVYxxoJe-pxrs-L8mNaIR3W7WiKbvyUzTnFX9apN8dGWM9VDGH3yvjJHezqDPYee_ctGkJZklMeygnf443gXCu4cQyBaWOkgXdDR1Z4EiqhYj_1G4TaU6e27TQcuWLVqoZrQZxqpEk8SEAgS7wIpllfgGmkNQhtvhulW1O2HFfIDR7NB1kh7AzCEqmbDrnPWvGUZhiC_BflE2alnq69t3cUVbHz10CpMYfA_TPsgqZwpaRGilBCD8ilKVwCItGxyjY2beFBkaIRxoSRWegzIG_v8jc_THoE1RFJY3FCaRq0TGl__pBo4FffBecc7J02b4LkmY7zXfPoICVF6lLjfZXgkx5yTt9kaOL71HmihWaTbqR39PD5DgVNJhpNKY75_BzkZyHYgo19O6L4QovUJcbkQ3QQvFaqjqgTR6vDV3cu6gCx_ZdyoYglqPiNuMFVvjb_IX0ArQutSz5MtqIwPjZ6pextcrRCkOKk9ufXawbTJY3SlqIZzTC_nwm0mFRk8tJc-rcMzzv3WfEao_C7Gbcd4awIPHtSB7ncdf1Vvz59h-sUMDDW7HQUwgERWZpxQ6a3kPMExm5a3_nwTmnQMnbvSxSXvxIf2FXK6-3-0_WJtgF4k552zMxAc4j4qT_bywSKL_gSBXSoalFgp0LlYWDVWjcC_FNuK9Eq-WAXLiHimeu7kjarPkJjdQTRb8grbEemmlTO5DhaYAX84VZvVYZG7l6NMhhfRjqx0COe4wBOFzpVRhNQsGkc2tl2YZYM2opLYKZqwfYcLuK_YwROf-bMxO97EVN1V8HoLsdPTwKTPWtySHJQYwMELpcyOIhW4g5wreDHwxXoBpb5q6hoBqcYYZdeSAdQznruRm1fupy0yL-zlGojIq4wiWwGb82GSWv_9VraAHLD5oH1ygep83_UManiw4UIiNPC2svZhkCKwlDWJyb7XFKS7sr40EgFT2vFwNAoxUIHDkNTY1WTufCqZLuGnByqQuaCnHxrJHF7lq83jKySqJCSfxJdGc9SaCWgK9LtSb69WUrXg52yqFAPu1unddgxDUm75dBi6VAFX-Se2VR8-2",
  "id": "rs_0829b13ddf017f60016ab46880ff3087d0896ede44d135b7e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.012,\"left_gripper\":0.65},\"note\":\"The cap and neck are centered in the wrist view. I will descend beside the narrow neck with a moderate opening, avoiding contact with the wider shoulder.\"}",
  "call_id": "call_QUiObpyw5nYJBq1GD41X2E3B",
  "id": "fc_0829b13ddf017f60016ab46882e94087d0a4b122a5d969ffe0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QUiObpyw5nYJBq1GD41X2E3B",
  "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]: [-0.477, 1.9003, 0.7673, 0.5602, -0.4549, -0.3054, 0.6526, -0.0937, 0.7761, 0.6067, -0.4625, -0.1619, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=-0.1373 left_z=0.0415 left_yaw=0.0567 left_pitch=0.0523 left_roll=-0.0096 left_gripper=0.6526 right_x=0.2823 right_y=0.0057 right_z=0.1706 right_yaw=0.0913 right_pitch=-0.0479 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -4.6974, 3.5897, 0.8376, 0.3101, -0.0757, 0.0317, -0.6085, -1.8667, 7.2137, 2.0537, -0.2418, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ef6a1e678fa95fa6b1dbca21ce9cb6c28aad9d8521d5e2498035a0d62991b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7eee48d0d5015850499b35642876b44c6150ffbda2b56164945725cfb70801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a2d97c9bbfa01f603fcec09a28cd6cb9caa69c84ed651d8e6d1183d69a56013",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.227, 0.4522, 0.0025, -0.4889, -0.3973, 0.5305, -0.0937, 0.7765, 0.6147, -0.4545, -0.157, -0.1287, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.1235 left_z=0.0745 left_yaw=-0.0531 left_pitch=-0.1033 left_roll=0.0398 left_gripper=0.5305 right_x=0.2845 right_y=0.0046 right_z=0.1756 right_yaw=0.0829 right_pitch=-0.0331 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.135, 7.0085, 2.1612, -0.652, -0.0904, 1.0281, -0.6222, -1.7983, 7.0085, 1.9365, -0.0415, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4881, 1.6623, 0.8402, 0.2005, -0.4217, -0.3138, 0.8499, -0.094, 0.8024, 0.6548, -0.4843, -0.1619, -0.1337, 0.9998]\nstate[eef_state]: left_x=0.4268 left_y=-0.1407 left_z=0.1018 left_yaw=0.0224 left_pitch=0.0007 left_roll=-0.0086 left_gripper=0.8499 right_x=0.2868 right_y=0.0052 right_z=0.1809 right_yaw=0.0895 right_pitch=-0.0479 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.5692, 7.8291, 1.5507, 0.0073, 0.2173, -0.022, -0.9231, -0.7316, 10.1402, 1.8144, -0.1734, 0.0366, -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]: [-0.477, 1.9003, 0.7673, 0.5602, -0.4549, -0.3054, 0.6526, -0.0937, 0.7761, 0.6067, -0.4625, -0.1619, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=-0.1373 left_z=0.0415 left_yaw=0.0567 left_pitch=0.0523 left_roll=-0.0096 left_gripper=0.6526 right_x=0.2823 right_y=0.0057 right_z=0.1706 right_yaw=0.0913 right_pitch=-0.0479 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -4.6974, 3.5897, 0.8376, 0.3101, -0.0757, 0.0317, -0.6085, -1.8667, 7.2137, 2.0537, -0.2418, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ef6a1e678fa95fa6b1dbca21ce9cb6c28aad9d8521d5e2498035a0d62991b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da7eee48d0d5015850499b35642876b44c6150ffbda2b56164945725cfb70801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a2d97c9bbfa01f603fcec09a28cd6cb9caa69c84ed651d8e6d1183d69a56013",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGiLocwEUVh_S7epk8Qss2nGbGl3yeJYtntuDO_m5vz-EJv0JkZBbuWFyZdGxoJDufQaUFrjXO2jGlIgqN0Yv4o-nX26JBM7kukehaBnfHDYVh4NP67rMxPXB-fBFH61z_i28hZSwZIBnmj2wXBO8tctGB9P3-zWA0TflUk0m0FrTsW--xtKY6WGNZZApFfZHCL0cRi3nXqO_NQJM7_PW3IgRBV2vOww5FVUGteKcUPCfhteJRlOGVvD2k0zoHAsO5pmjFZ4NOq1nxcV_LptgBzPnffpPX8BZckNz_0jMl4qFS756FEw1lLMvTcASE5y_fh-oSa0n_ixJ8GjfARf_r3Sl4dc9LggpwpiXI0RkzBsbaTd56p7nN4QIwZt05R--XJ0fvwxTaXS9GGI4t6INlrxtzDh-wyRsknOjKAeOeQsNxE6DN-CIMD6mP5tkjq52BG0Gg768NXSNbGz7oI61W8Z9K662H-J6270bRFf7jtuu7rCE3r58qJwpGx-5pzngFvsga3S3WfsUXZMYeoHaRrTYrOCrYJFX1GHcp7jEK8550H9af7ktydXxFRv_uj5Rs_wm_sSoIKyRsLtQIPhMo9xwT7BzvcEc2KP3QDBWe3OYeFeR24uEqFy-29BYwceS9TxaV5TuxQrI2Ag0kCVIU4C9sKnP1Nq3uG0oljMkDI7vTjs_80uH6gXTCpJvGep0EYKs1SCDV5dkoFrJHB8ZXYXedLaU8_gyAvocpyKfHZptcy3k6-uIkZu4dRaIvAlx0V-Y4QGkKxiLCxbtSYFQQXnJWWe3Qt0MwDCQ3mWGAK7qY2EW8yf4UrgdkTB8OpZ8uSC7x9IliJ8NAxDI5dT4ByYxisoqiXP66JD3ePLFh0_XdQbWvuGJvsF0OksuIzHzorKc6j_xGauTikbULXLYo97hRi84S81DGkEv9acJF9lY0btOSwRWtA3CXa95fP4jEbYXFUcPWaJPVIyiW-vncWnZWoIPR39yy0_nyo7FbWQ75rMNtQFNZQ3jboE4YBYEju5dZ8i1UsE_8VTzgFxaTrnG41rqLLsXtyAlSKBiL7sTDid-hKBkPgHRwQ1T1nX9cKnDdeuugf3ZblXT2vLwoku1R9ShX5v_DFt_ITGnwIGfNr1E4TD5RP_Ah7nUI5SpuDCpJPEclOoK7AyKJuyDWnHIfj6FrW_4dEIxTTjs7uJaXvxiO9LGOIKBH_c_uMi8srrmymF2gEWoqQ73iF3OqD8HbwCTjvW-lYV5hOY9WhbTlQhIeh1vM0E8xkvfgYV11mvYatiT3eVBYsjLH7W64MzkQLFpbMC8gaHi3YDq1g-BtypPOD3zU6YGa6bXxcyfpv638JpwnO0n6EuP1JQfYtUMeQtgefqM1h7bajfitN67CCAngs-QeBoz5UM7O4YLwqEVG_wpG97RXhidULqFm1a7rE8PZscIB4OoSX0fDdnHb67C6z5JGpUaEqZ9SQEcCYoUcm6Gl8W2-GXE1gEOzPMJNQp2PiFT6F7qBDzPkJThiP7DPQAutp8PD4UHIfuz7L0ydc2mg2xeqkcbyu7E-vADXxENa8HuhPUonPYRi7YXjF5dQ_gayDymsTNSzeSnxSp_9wW6x_9UDTtcb_c7lb-fI8eq_w0p-vW9XfnRn3A_Z08BBGMNru5HGqLiTxoLeWGdtO_6Sj4tuqg4D_5goJ2RqiYuRnGvPXF3OM-okRqa6JxHhd44zUs7budUrEQr_GIxzAH7FxKgcHcG4khvJeTG0R6puImAd7bwZS0gjzJ1QUEu0WI43UaTYlODtvSSKaJC-RWMx7_1tcIFLwu-mJYg2ermU2N7vXGh7SJ0IG-nLdSAqDMq5UusdqvbfPWJ-M0aJHFWNvuKgdk0DluBBRTNCq2UGa10PYIF8-poAyCQ6BuOIsknMWKvDZ4mc-98dZoddxCDDpDmKyP_MlPKOTfX0VzL1vHFj831GF-KxZwVco=",
  "id": "rs_0829b13ddf017f60016ab46886f90c87d0b2c72f176fe86f8b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.158,\"left_z\":0.012,\"left_gripper\":0.65},\"note\":\"One finger appears to be touching near the cap, stopping the descent. I will move slightly back and right to center the bare neck between the fingers at a shorter reach.\"}",
  "call_id": "call_ndAHem3yVDUKHgmrtAD6XW9z",
  "id": "fc_0829b13ddf017f60016ab46889e08887d09273f7075a520574",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ndAHem3yVDUKHgmrtAD6XW9z",
  "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]: [-0.5518, 1.9121, 0.7582, 0.6395, -0.5186, -0.3439, 0.6518, -0.094, 0.7486, 0.5613, -0.437, -0.1623, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.162 left_z=0.0512 left_yaw=0.0573 left_pitch=0.1186 left_roll=-0.0478 left_gripper=0.6518 right_x=0.2787 right_y=0.006 right_z=0.1623 right_yaw=0.0912 right_pitch=-0.0403 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.694, 2.359, 0.8913, 0.1734, -0.4029, 0.1636, -0.9778, -1.6479, 7.1726, 1.9902, -0.2418, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b88ad574b659d54422df9270c95bb25a6307be491aadd214b398e63bba5fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294096106841104049d87b9dee9a7ab0f6b47095e103c98701398bbac9bd5704",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d21b4c706ec468a97a321097a8519d264b7a5ed66ebe28a872579f30ccc1b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6804, 1.3998, 0.2619, 0.3546, -0.5148, -0.3923, 0.846, -0.0937, 0.7609, 0.5838, -0.4412, -0.1612, -0.1291, 0.9998]\nstate[eef_state]: left_x=0.2832 left_y=-0.1127 left_z=0.0171 left_yaw=-0.0496 left_pitch=-0.1019 left_roll=0.0651 left_gripper=0.846 right_x=0.2816 right_y=0.0056 right_z=0.1685 right_yaw=0.0866 right_pitch=-0.0345 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -3.8085, 4.6974, 1.7949, -0.188, -0.0513, -0.0317, -0.4444, -1.7299, 6.8308, 2.0293, -0.1197, -0.0171, -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]: [-0.477, 1.9003, 0.7673, 0.5602, -0.4549, -0.3054, 0.6526, -0.0937, 0.7761, 0.6067, -0.4625, -0.1619, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=-0.1373 left_z=0.0415 left_yaw=0.0567 left_pitch=0.0523 left_roll=-0.0096 left_gripper=0.6526 right_x=0.2823 right_y=0.0057 right_z=0.1706 right_yaw=0.0913 right_pitch=-0.0479 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -4.6974, 3.5897, 0.8376, 0.3101, -0.0757, 0.0317, -0.6085, -1.8667, 7.2137, 2.0537, -0.2418, 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]: [-0.5518, 1.9121, 0.7582, 0.6395, -0.5186, -0.3439, 0.6518, -0.094, 0.7486, 0.5613, -0.437, -0.1623, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.162 left_z=0.0512 left_yaw=0.0573 left_pitch=0.1186 left_roll=-0.0478 left_gripper=0.6518 right_x=0.2787 right_y=0.006 right_z=0.1623 right_yaw=0.0912 right_pitch=-0.0403 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.694, 2.359, 0.8913, 0.1734, -0.4029, 0.1636, -0.9778, -1.6479, 7.1726, 1.9902, -0.2418, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b88ad574b659d54422df9270c95bb25a6307be491aadd214b398e63bba5fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294096106841104049d87b9dee9a7ab0f6b47095e103c98701398bbac9bd5704",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d21b4c706ec468a97a321097a8519d264b7a5ed66ebe28a872579f30ccc1b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGiTWgzjU5fEu5XtE4-XpEbRJZXK5yzisOOOCLfauGPiE04uaixBSlphpuR52aI5Klp4rCHe_xi53Go1b7meI6VtIkwzptuZqxusZe-pL8CBSBZvcIG9dgJh24BPfXYjNnSc0207YtJhHTKMHxNPgYQcN-TSjeO1CyT_2H7I2eIYSOYc2UafO2AESMO6pvKv4FJzLeKzXAh_3Y4fiBcm3yifJmK5XaU6AVNaR_-zU5CF3H3HQLyNDQx7KYy0lQH1XhGlCSekAptv5dmnYUxe7hMp0vQIKq0gYvrgU2UwFveI3JfSwjPvZ2nW8jrty2aYCnCt6icPyxlHv36lR1gf-uwtKPaqc2ZL23axYaHoZHZVV1czlX35OhJ_wderPusdo0j43DTtTlQnkzjaxAyma2zst7R8T_bo340eUC70qUWXlT2V9MNWVz2sKqufv1ERsz72GEwmTyPjyjDn4HpqLZ1SNWUQ67kYwBmWfHStdiX8DvgO7xsqhC9hcVV9PzYRwfEWrt_ljEkZRnxm5XSfjyCo3gQXTOa4Nv317xacF3iOXbPSFLu-hF78-QaDigevQklLmYT9AW__8VmcbspOTL47sJJovCRHz6oCyg-az_KYO4wP4ywKj7z3LnG_ANw_upZMkTkmgTrat34-wSeBLsaF7_8VJTWu0Nys5wiMGR2UKdvsYYbNu8O0KoUVlH4BBBsJvOhHRXY0efZGc5NaolwQLx2xxW7-mNjvjJlVIOAKNL0DbUx2W7YIBjAQospEnQByKLU0wsrfcUppuxWOeUBFpfsoaGCsBggwkvhMMeu9w9eKVVvwNceu14ddIzyUkGznvcOmWBCToVghN9GVQLP1KaA1Tm6d-YTbHkYdQSaSQIfhAsyO_9sA1BIHkKbqk6eRKDxGlnZoaDEvTSIZMU3SwTodb_tgXKHA8zc-fDqo9SaSl2DRti3MCZiN4qBSqUsjGPYZS5_rKJGX-4zbym7c8OPV4jexHjYxCv7eMcxzj9oTIFXhTptkPgEo8qEH23hNTuDcBR3tLNep2gGp9y1AAGwMGyWfFrC6v9-qLHyAIc4rP2e2RY49f7L8eoUuLfrfeVPjsahsM7gUS6qoijn65uHrRKnBZ2hSLiLKfKLomE4TuM_abJbKePprHlriDmMiodekLjT8dXbJ0e_fX9CiaVfa9CvI2y_1zgX27qL96avi0aK29G1xnI1JaLCoR_G3-xZWl7tTh_Wq2-ew_VspNciSM2GsNG5TSScG3s_TEpnIe97gI01u84ht0tE3VELJqfH9439gPs480oRxtdHWdAMKytWPF02D4U_D6oXQnjZ3A5nT0CPuwFZd9-z5lp6vbWRpIabqcuwU7ZJQsam-KWBhyf3DC7NZyJnstS8UvdXaf4EHICnAIXOKJ8yjtdPRXfSjOjNc5M9KHFjmFJs760iWE34-lvzcmJzVFfGuCYV7WSJy4HIBO1ET9J3i9x0zajUmFpgjYNmLB8inCxyKxhU8_07vuV7qnDMg5Vz-Jw0G9exsHzM418IqJi-shEteKgld9O2ogRazK8nQbPWRyKkwpIuv5mzV1RgIhtFRVEaflFa3ez3Av8g3V4YwuC0SDRYtNzX3GHMhju-lWMJxhEzvq51o8npabItm0GVlO0gSe4cgG-qk2_kKg1EnQGucNIDLlIHC4qNxlsherG31qtmiDqIWPWEZWjJrAK0yJ6WeuexC9ullV1ol6kNl_885J1sytjHmF0m3SmqOG2rIPSdrFE3LRqZUXsT9hAHW6p1Ktm-NJT_4kLCPzxYBpztG50dqO5P7f-9vl-C_-eNImexIn3ugSgbnYGFjeaAlxq6dLutKpRzsv1YA_2iqed_yHn-KR69BXXxN-S_WPYT2LPvvqHohu4qIJhsx7TKk7aqupzZ7TYsa9tx99gGVXI6VQBkzwZ2KKb20tpFxSx_BqS5KCeUvxx-F4i-PBAwsze3TiY9jvKjH35KA9vARXaDOEv9mmnhCB4yuX8ABVB2SEX4OlcP5EaCGCTxsONPgEVvEK29tcfyEjIr1B_vSjpo3LAY-GS3KAAU2n7llPkfUcifUN9xnpVl6viIpSqjp-kthsZnC3Djc1BKOmB2kBnV-3Lv50nhesxs7gMh9_TERb8aptU4Aclgotz_SS2RMVajcUUvXIxOMyzy3LhDMDpes980oBk1uaK2sWeJZ1wEzpNbSAu2zWqvojQAY1EaDhFEU04kE-eeUtl9a3VbVqRjs0wNTk5ImfuynkDuPJi8ot8wgQQ9V1g24O6V5n1daD1-JdOWHHYbtemrq0xkJVFWU26ed7prJ3Q0kYxNqhO1vt4RYry2tjliQjKzNKbZM9zakEz7GkAbWwTYFdJIc345T48g385ocSRGKGIvAunBpfQkBWSYys7eJEJj9ifzJJ-c7ljDJkjfyn6gdCWBPbA8WvkyHiu_D-6FQeVgn46aQCgQjvx5XYKRAvvdQxXNZILyHcWhRMhbJZFGrpD93FZehAMS-jrgvZ7d3uJ84pw9FdKnERRKUSNwUjpNqLGa6ppTTj5xCD-hkdZpYv82PMqLZyYTGfdLkXCVOJWcQkF3sXNCevB8CQMcShONRvSiK0Jn2c0IwZPIB9Oersom0leTl",
  "id": "rs_0829b13ddf017f60016ab4688d253487d0881fa24db36091fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.145,\"left_z\":0.015,\"left_gripper\":0.5},\"note\":\"The low approach is still obstructed, with the neighboring bottle close to the outer finger. I will shorten the reach and narrow the opening so the jaws can descend around this bottle without spanning the neighbor.\"}",
  "call_id": "call_QmHYWWf0xmHHaacfe3RN3jJJ",
  "id": "fc_0829b13ddf017f60016ab4689233dc87d096fad35651ea7807",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QmHYWWf0xmHHaacfe3RN3jJJ",
  "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]: [-0.5697, 1.9125, 0.7494, 0.6476, -0.5591, -0.3676, 0.5026, -0.094, 0.7261, 0.524, -0.4194, -0.1654, -0.1368, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.162 left_z=0.0514 left_yaw=0.0852 left_pitch=0.1288 left_roll=-0.0525 left_gripper=0.5026 right_x=0.2753 right_y=0.0069 right_z=0.1548 right_yaw=0.0939 right_pitch=-0.0374 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -6.6256, 2.5915, 0.8425, 0.1441, -0.2711, 0.0611, -0.8, -1.4701, 7.0359, 2.044, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c026e59d89ea2a569de39bda3f24f5f3a0e6df21fa58d9e3727d07cc1e1e1de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0144975193f6d373ebd2b2d4e5c3e5190ed1f3646210e19f84621d6ab31263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110eb9f0beea2415cf0349f691a71b2df1a6c0855e0d627052d133d69bb8a18b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4881, 1.6623, 0.8402, 0.2005, -0.4217, -0.3138, 0.8499, -0.094, 0.8024, 0.6548, -0.4843, -0.1619, -0.1337, 0.9998]\nstate[eef_state]: left_x=0.4268 left_y=-0.1407 left_z=0.1018 left_yaw=0.0224 left_pitch=0.0007 left_roll=-0.0086 left_gripper=0.8499 right_x=0.2868 right_y=0.0052 right_z=0.1809 right_yaw=0.0895 right_pitch=-0.0479 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -7.5692, 7.8291, 1.5507, 0.0073, 0.2173, -0.022, -0.9231, -0.7316, 10.1402, 1.8144, -0.1734, 0.0366, -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]: [-0.5518, 1.9121, 0.7582, 0.6395, -0.5186, -0.3439, 0.6518, -0.094, 0.7486, 0.5613, -0.437, -0.1623, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.162 left_z=0.0512 left_yaw=0.0573 left_pitch=0.1186 left_roll=-0.0478 left_gripper=0.6518 right_x=0.2787 right_y=0.006 right_z=0.1623 right_yaw=0.0912 right_pitch=-0.0403 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.694, 2.359, 0.8913, 0.1734, -0.4029, 0.1636, -0.9778, -1.6479, 7.1726, 1.9902, -0.2418, 0.0024, -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]: [-0.5697, 1.9125, 0.7494, 0.6476, -0.5591, -0.3676, 0.5026, -0.094, 0.7261, 0.524, -0.4194, -0.1654, -0.1368, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.162 left_z=0.0514 left_yaw=0.0852 left_pitch=0.1288 left_roll=-0.0525 left_gripper=0.5026 right_x=0.2753 right_y=0.0069 right_z=0.1548 right_yaw=0.0939 right_pitch=-0.0374 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -6.6256, 2.5915, 0.8425, 0.1441, -0.2711, 0.0611, -0.8, -1.4701, 7.0359, 2.044, -0.2027, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c026e59d89ea2a569de39bda3f24f5f3a0e6df21fa58d9e3727d07cc1e1e1de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0144975193f6d373ebd2b2d4e5c3e5190ed1f3646210e19f84621d6ab31263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110eb9f0beea2415cf0349f691a71b2df1a6c0855e0d627052d133d69bb8a18b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGiY23Rprud1X_YeSC_sOa25_e1lyrpEev8HoUJxCyUNVvN4j2evYoBHfgaec1AMu09lucms2juJxpSRvUSsQOeYTs8H0WN0vjqc5qo4VWVsj6BSvFUMmpanedCuS61J4kWUVfjW6svDVHqWo09W3Fx6hmurx9BIpCycuzSJcTHWlZQIAAn78NMnqRQeRndIWA2lTN1CjAuqxDLXM-3ug8y1O1cV-4ErBvqKiWH5HJoQwsk8pDXY3keoTdO8dDE0AiH6gOVmCsud6YuHo32UNYmyClzAJ89b-Yl8USgyndJqvIlqURPpkdQxSbbr6TEdwyQVbE7iX1IZ-aa1uim5clyiOkCHG1_qaWv2F_zA2SUlUJQOBUiDa7rI-qTSfRef8YLA3udhM7Xpd3rkByXGbYNOnDzbFB5MENaMDy9OBfLjnOgYS1lxbjDpgPgIA1VX-R9TxQlpYTBXe60CLhES7OYlqKoiqHZwUnc6LBq9nUjv8W3h_HdI6yoJlaZ3T7m7dTBP0Dk8UQ4ucJ0A7b8MJ1gAJsl4EOq26oQeex3mb_ixUTuxJq1ODXeyJmvh_l2E22oZoIC9JL27urDnfwdeW4HS7w7sFEKN29_aIB8NCpwfGg1u6bf4p72EJ5OMBDP08MeUICb6XDyxsvV6cpmIlEH2mGu8LXLWo5Xv7GT6IPSQHXUh0gkkJHI2moq7u0eFgZi0MPwaXZ-yzAI7m4k9F_7_iMh00SKApcpBGGu5vvbi05cRfREKOIe370lhIgaHaxIFCM4rQbVRXUJ-CncpIsCqGFFvS1iDFdN7yfCTnS83_scNpCTedogLMYHPF6VkXb7QndXxSHY0i29Xfitg8OFnZDwKVWhFVBtawO9kW-pnaYyzaej6XQtkL_uMOhaoKDxGsJKeL9G9Hm8oNYxkuJYFVdRcNZeMZbQHUqwFKzFerYz7-MXn7BUjAdkWJRaX0YW3sx22H3oX3w-DI3Ij1tDrRVxq2gjtUEPMJjfHSmn9PfqPucHl8RWJQCaCezyheWWzS9S3bQFD3pBWsfg1MBY4N9soBAUleP29rLVS7LZ1ni2B-xObJQShvxOwADWb1dqXkmvbea40pD_OrJcX8nWmtet5Fodv21thVjNeRCpA2lhuHqz2mOQ808-RzLA5nilQhq_U7UGhXjjExryCE8agVNgKiH6Xs1T6X2PDF_n3D2SbjWdIpIOtV_l9iQWKOI3jons29U411vAg4-khhVguwnueggtMJRIkaegkdHiO0Pg4tqFbgdSIWLJgVpNQQEaE9vDADmnl8ca3Sw7jEY1kYUkwazzgSMFYwyfPyC9wcPkXXM3fMhXXesgoHykzWJzqLugEssII2Ps5Qmtf2qDl46EvMm9LKH01D0r76_sMR4iQNxZQwReQVDH5CyIFOsJ2kkS5NWv-mSlDRPJuS4BIaI6hIXewTUKGFG06UuCE4QgiBFaNPSUz1EuJGqPS6LAAnQsvjD6ws6ycOUoxzuqoNAaS6Kke7SDeDbz1l-D--7rRktAngt9Eib_DvGvDAUgeFW_9mTBd7fBF5scNJ2WQmqyIRSNsMXQfBlv4gXFInIY=",
  "id": "rs_0829b13ddf017f60016ab46895aa2c87d0aba6f2c7ebcf2772",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":0.6,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The arm is again holding nearly the same pose instead of tracking the low corrections. I will lift and retreat to reset the approach, then descend from a shorter, unobstructed reach.\"}",
  "call_id": "call_1HlJ6zCbtNxmiioQ9x4x4IwB",
  "id": "fc_0829b13ddf017f60016ab46896f58c87d0aac0ea009dd2eb5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1HlJ6zCbtNxmiioQ9x4x4IwB",
  "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]: [-0.5697, 1.9125, 0.7467, 0.6476, -0.5587, -0.3676, 0.5987, -0.1017, 0.8001, 0.6506, -0.4759, -0.1799, -0.141, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1616 left_z=0.0505 left_yaw=0.0847 left_pitch=0.1266 left_roll=-0.051 left_gripper=0.5987 right_x=0.2872 right_y=0.0061 right_z=0.1816 right_yaw=0.1007 right_pitch=-0.0394 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -6.6256, 2.6598, 0.8523, 0.1197, -0.2271, -0.0855, -0.7863, -0.6632, 9.8803, 1.8242, -0.0366, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacc2a05c41a28900119baa596e5680979a82ab61f2c620bf2fc40656d5b3b75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5d277594d94a975437e913f6099db63101305df8cf6d4765865b59f18847d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970ea7dcbd09aec8bfdef3a1d67d0052b4dfa57032fe2905c3a21ffe362e2510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.477, 1.9003, 0.7673, 0.5602, -0.4549, -0.3054, 0.6526, -0.0937, 0.7761, 0.6067, -0.4625, -0.1619, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=-0.1373 left_z=0.0415 left_yaw=0.0567 left_pitch=0.0523 left_roll=-0.0096 left_gripper=0.6526 right_x=0.2823 right_y=0.0057 right_z=0.1706 right_yaw=0.0913 right_pitch=-0.0479 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -4.6974, 3.5897, 0.8376, 0.3101, -0.0757, 0.0317, -0.6085, -1.8667, 7.2137, 2.0537, -0.2418, 0.0513, -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]: [-0.5697, 1.9125, 0.7494, 0.6476, -0.5591, -0.3676, 0.5026, -0.094, 0.7261, 0.524, -0.4194, -0.1654, -0.1368, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.162 left_z=0.0514 left_yaw=0.0852 left_pitch=0.1288 left_roll=-0.0525 left_gripper=0.5026 right_x=0.2753 right_y=0.0069 right_z=0.1548 right_yaw=0.0939 right_pitch=-0.0374 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -6.6256, 2.5915, 0.8425, 0.1441, -0.2711, 0.0611, -0.8, -1.4701, 7.0359, 2.044, -0.2027, 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]: [-0.5697, 1.9125, 0.7467, 0.6476, -0.5587, -0.3676, 0.5987, -0.1017, 0.8001, 0.6506, -0.4759, -0.1799, -0.141, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1616 left_z=0.0505 left_yaw=0.0847 left_pitch=0.1266 left_roll=-0.051 left_gripper=0.5987 right_x=0.2872 right_y=0.0061 right_z=0.1816 right_yaw=0.1007 right_pitch=-0.0394 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -6.6256, 2.6598, 0.8523, 0.1197, -0.2271, -0.0855, -0.7863, -0.6632, 9.8803, 1.8242, -0.0366, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacc2a05c41a28900119baa596e5680979a82ab61f2c620bf2fc40656d5b3b75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e5d277594d94a975437e913f6099db63101305df8cf6d4765865b59f18847d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970ea7dcbd09aec8bfdef3a1d67d0052b4dfa57032fe2905c3a21ffe362e2510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGiedwgjW5qpBtaUcgP7QEhDL1Y-AzGYE_7VfuTh34mpsTtJOXS4WiuREzQp6P29IzSelRQyMC5-2BbIkFT4S-zAgREKvC0CWYhBwftY1i3A8LjRlJcVzx_gKjFdmIx6juN8kAD0JVJxSGIIB-koHra3YS2V8fwTENYLU7CEjPR0Uk1cum8SijsoNaUOGx0cC0KD8Z9NM_xIK2MmfU6JXCMdBuvFwj-acp1-HnMnxvP29ceWjwpY_1eHsKpFFFOeNI-U_W5nd_blbN3vaAp2N1FM8pPomjpa4Scot2wK3Ht2X_7e5AyByQSPQQkLHB5wBSonOxAfT9zxu4wITDVG6et3Nt179I3tYGSiCrGaY5R6ZY1icJ3oEcoPMz-zTvaC-m8PJomwqFC6Uu5LLCItHeHBIDO44cGVavDBszoBgClxgqmfpSwjRif-kPnMYSRPqitulOx9cOCjkumURqjYLMjg_MvSCP1TkQCKrWvaxHuRUrPCGGEaL4P-_HVwIdJ3zPlKqXhF_RpJJC4mVYIVuBk2noQHPtjP8KX5HHPf0aM2IT6lmjuQysPgwjN9GCliRXwgx6Cgd8zS0g7FU8ALf3dPAr19UH6NHVMX18g3MYjSrFzb_q7-e1bRKTEUA5ZIoSX3EwPicV6uw0Tft0PuJcbyK6TooJNTyVxLJc23XEHSZB-OEsNF3vvzGvQ5YGWE8FCNKkt7woQMcug0CMTaBLdZVS3iK2hgV-DMF_o6mzMR9LvJm15AeV4GJclKd6Cl6gMr1wYJGG76_LYs6FisSzucSGJqkRJqAhcq5-8yUFTWE1nn-NC7oU9coG0FBsXYK8dvJhvf4CwOPpdJexZu0Erqs7tQ1NINJs0WO8XobWlxCGa0nZeagn6Z9kSDfgyYYpKCKH5u3ft3RM6BuZ9a9NpgxwSiIbtwhCXQJgU41zgbdBKCpIjdph5AEvk8Z1oJbOQ5g6r_hPlkSccZjcDYfVdGd_5t5nUJM7wRdfwY3shH7cmKIHc9vZ5o9KggXXH2QTy43Lc6GdLEJbDMXBUAHP2oDu7NP_io8vROXzrXHChx7qm2T7mM9hKqWRKdFCxkrZu18TI8xQkaBxof9p6ICT_1BmMY0vFyu6ue5js_JEzxey_2hg1O4_n2Momc4rQjvGEML4Qx5fBpvWHMsb4vucB08Xj5qm0IooP2eja1jmgAg44MhUhP2bOsF25wgFBlP4_DozWEm5C5rin2KtC-pUboqHcHLD-SHl0_1X7HZC2hMUZvWJtRE2M2RXEqd0K-mFdvdBt-NTf3TsCiU43SLgm8RsPq-LbTLNTj7CsNQ9VlRnopc79PrV6HmWKbkNQpWgrv8mZnghlzNjtHIUTIhDFbfMv5oTXC6U_TkaLuH4rWn2656zSKx04p02O-f4ECKOw9m22nkjUPIZ55UErWGSOh_pV5akiurq4n2GqSW5JEOzz7nzqCaGXJ7epZFjHmqI8cTTpeSE7D5PG-kLS0C6yOl6ukLeXP_yZ4gHWlVkFgA7W6jdJb_sgTfHSgVWJ2JwqAw1LpU2kUoRd9JktII-6XuM4lASSuHXCHVMd8RCOg9kP7egP_H_Jkn86y1aIpsSWlP2pAd2KrlbKMmAuQjgp7qqr5czbiTCDh-a1wHZS8Sv-WU4G4CrjWHSV4wKNhB3HYxLjBe10EdXvJ-8WuTRqttg==",
  "id": "rs_0829b13ddf017f60016ab4689b9b8887d0960a8cc86f92e46b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4325,\"left_y\":-0.1616,\"left_z\":0.2,\"left_gripper\":0.8},\"note\":\"The retreat did not track, so I will avoid any sideways motion and command a straight vertical lift from the measured position to clear the contact safely.\"}",
  "call_id": "call_28iorVESdfSNLBsR03rNlFfS",
  "id": "fc_0829b13ddf017f60016ab4689d55d887d0b26a8c07c376ba97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_28iorVESdfSNLBsR03rNlFfS",
  "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]: [-0.5621, 1.6371, 1.166, -0.2058, -0.5457, -0.4057, 0.7992, -0.1051, 0.7803, 0.6094, -0.4545, -0.1871, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4362 left_y=-0.1621 left_z=0.1794 left_yaw=0.0963 left_pitch=-0.0041 left_roll=0.0066 left_gripper=0.7992 right_x=0.2839 right_y=0.0067 right_z=0.1727 right_yaw=0.1031 right_pitch=-0.0386 right_roll=0.0077 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 8.8137, 1.4188, -0.1441, 0.0366, 0.0464, -0.2393, -1.812, 7.0769, 1.9267, -0.0659, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856f69742a0c3b88a8241d9847d58f54b7082987cd6b673ab808dfad172bd50a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ac560e66a38d7f93a3f5b2432f0de782ca5bfb2a846b0f1d9f1b6ff9a70ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a63c72ac55a8c9bec02b265c5b97f75894ed05b4b9889b62939306cda62623",
      "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 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5518, 1.9121, 0.7582, 0.6395, -0.5186, -0.3439, 0.6518, -0.094, 0.7486, 0.5613, -0.437, -0.1623, -0.1364, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.162 left_z=0.0512 left_yaw=0.0573 left_pitch=0.1186 left_roll=-0.0478 left_gripper=0.6518 right_x=0.2787 right_y=0.006 right_z=0.1623 right_yaw=0.0912 right_pitch=-0.0403 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.694, 2.359, 0.8913, 0.1734, -0.4029, 0.1636, -0.9778, -1.6479, 7.1726, 1.9902, -0.2418, 0.0024, -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]: [-0.5697, 1.9125, 0.7467, 0.6476, -0.5587, -0.3676, 0.5987, -0.1017, 0.8001, 0.6506, -0.4759, -0.1799, -0.141, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1616 left_z=0.0505 left_yaw=0.0847 left_pitch=0.1266 left_roll=-0.051 left_gripper=0.5987 right_x=0.2872 right_y=0.0061 right_z=0.1816 right_yaw=0.1007 right_pitch=-0.0394 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -6.6256, 2.6598, 0.8523, 0.1197, -0.2271, -0.0855, -0.7863, -0.6632, 9.8803, 1.8242, -0.0366, -0.0024, -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]: [-0.5621, 1.6371, 1.166, -0.2058, -0.5457, -0.4057, 0.7992, -0.1051, 0.7803, 0.6094, -0.4545, -0.1871, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4362 left_y=-0.1621 left_z=0.1794 left_yaw=0.0963 left_pitch=-0.0041 left_roll=0.0066 left_gripper=0.7992 right_x=0.2839 right_y=0.0067 right_z=0.1727 right_yaw=0.1031 right_pitch=-0.0386 right_roll=0.0077 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 8.8137, 1.4188, -0.1441, 0.0366, 0.0464, -0.2393, -1.812, 7.0769, 1.9267, -0.0659, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856f69742a0c3b88a8241d9847d58f54b7082987cd6b673ab808dfad172bd50a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ac560e66a38d7f93a3f5b2432f0de782ca5bfb2a846b0f1d9f1b6ff9a70ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96a63c72ac55a8c9bec02b265c5b97f75894ed05b4b9889b62939306cda62623",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0829b13ddf017f60016ab468a145dc87d09fba6766ca807ed5",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGivj-CrsZXTZ1MQXz2KmHtkRARhpFucDN-tDcYNu2aDuGvMr7HfeNlilWCqYakOneCOYbmPJs48-8kM50c9zqH86VyKpDyBGoDKz7UGBiha3DVOwWbmU5YTfL4ZI9MQWZyT5lCb8FbUl9fZXizRgN8ROZ1WNSZl8Ms6g7bi3A6DUWCwXJjeTv9bALyNvh3ffyx72_R3FUCtxuyNJojTjUasMk4CouNWyBBXUVqv7W7arF14GA_hCWT-02Tnv10JZ-M1lx5i_wNUpDqnDLzUVPvZgf2FyYw9y1cZazjN7PzmkwZGiYm9eIGba2hfEjJrSKo203dlQumBhKsh9FAizby-PmUuNRvBVul7GRWnelZgamAdkUFBXb17CzmLPMokAnhpOzEVnr1oQ5Qjs6LqgX-vlM2NYqD5kpJ4ysEvlXVbaz2jEhQmMH4bLrPOOn2WHjU-a1dyFmASFI-IXe6T7zmMnDXXTbZ9JmBiV_QxhKqz3b1j-zHbqrF-b7Oh8XckVATzaP42zUPvt5W_iPuee6xeM7lf7olm0xs5pOk_Jd0sGHwHt07z1JuDL72-ENfT3N0mY300Cbl24twcEhtVD_SV1Bvdwq2yBe2sdgAX0eJOt2VN8SSjdrCVDzUSbAhvNmc5kEYHwVptK3_iMg91gjvocwJngh5qzTdbHDwILj8y3pHi0SbFuRhEHsBg8o23HHHRHJ3uXpKmG9p64lAvdZE__J7LnxvW5vMLmxFraZQxXGMeu6uafnPdA8Ea_D8FQYMgsSFwTOYVnkAmLSVJR3P535PJOvpqGgq8n2uBau-oFDOZEdRHiyZ_vqwTZmDtbkaDcZ1cCJR_9Y3MEqAKcFt79M6OHq0vap98rPqKDHg-bEXfDiLzSoVetCjni5Pz7AoPvCTbqqnwMtroltllxRNlwxvvzWI9tBhwYWxe7c1JUeqZ95c0IxiDBRsdrhlEcR-G498j8gBCOzluN-B9VijfokAzRWgocA4PvDJR2Njbgo0aq_WjQVIv8v68p6aqJP4rudyN0JPhLywi54ZyDEWCTSOLmhPNgz3sDWHBO9zMUbIV62dpC7l_MGKieW4XGxIPPIGZw_3BEyT0XfuOKjue7uQU4dzdcIRSRfehvhKNEwsLhFkuk8YRy4P3WC-MIElaPpt2lF4cMu9Ff01wlZ2An-LYd9o7KMlGIwdKLzak_5rHLdbK3tn0fScMFGY_0zpACCI3mNt6zuipqAYO6IQynWM-k9b1HgYJP7JfOMaNMbH-L8mpNUWk5VY-0xkJoDnY2o8Uy9_7aJmeRYODlQ5w2Y5KeUZxuJA4ox1htiF_hJlrr5OOS3jcONRuQBxj9r_mqPej7EDgZNvsoDvEYbE1XwZi4UpZg79t7Gmgg6azbRbCheUn50KygOgGMXb8Xj7gEun29kCBMrloz6uEuMPqMPW7Tms--ejESg6eyfNu5Xx_e7-eXq5q6kv9Waf8rA4Ch6W_YxO6jHGxbR3HbusraOA_mJvAMxvKo3fNBN5wR1EvI2phKCCZ7QiIb78kIIHuEZdT2F-9qeZk69cmwsXdoxtalAu5D3jQhG5YA9ZeYLKkE7dXz9dCh0EWQUc_ohst_Ai2mV15XqOCX6xMKSuVJqAJpxgw8AJIzpxKOMefhKf31auE6L87gPE2eHMoF5ZRHjkWv4oyMyfnW9JutV1M1BY8d3oAaUFXFPqA7sgBr6hhyeyFKTPcz88eMnGN645wTCK5-EaQOe9e996jlckH5ZJ779dGRoAUlHpJ-6R3r6lyW-QcNJFi3kE-Oa82O3Q8nBwgIyIE-Ocs285XjzGTx1n8xA513gdTeqJCYen-BFnNb25fRBGpfKgWZHLbKs7e8eFzmwAaLdJLeHi2iJShKkT3eBPDjPLyA6UgKiOS7gTBBij5EBQbpRttqUizMUGeFKPC8TjZvdOVFEH-5hwaMLrAi0CD4soVm4TPPR38ElBCqVffsGthBjs65ky7dw5JTAv4skRirc0kryOq72dZRxmEM66ZQhIxnjbKLjU5Cpnd-FCHGnICmnH2aV0UyljBO3-7F6_C_IZWhP6IAzcMlv1QG4Pqd8jtXiTFZ1z2-klVfS3jGb19I_5soJ_0CZG2Xp6dcMDn3hSDKXLQNSkejScgxQwPByqGjyQVFuH-1N2dWW5WeXqSX_VYi9N7v146-E0rCOrZy1Re6MdXIn-xwx2Hf4fVxVm_e8OjgyKWId0=",
  "id": "rs_0829b13ddf017f60016ab468a9ce9087d0bd686fe2348214cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.11,\"left_gripper\":0.8},\"note\":\"The straight lift freed the arm, and the moved bottle is visible below and left of the two untouched bottles. I will approach its nearer section again, well inside the reach limit, rather than continue reaching over the neighboring bottle.\"}",
  "call_id": "call_ZjdTRgCURadkQVYb0im8WLTf",
  "id": "fc_0829b13ddf017f60016ab468adfc0487d0abefc1afe90d7e49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZjdTRgCURadkQVYb0im8WLTf",
  "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]: [-0.6601, 1.4445, 0.6952, -0.0105, -0.5999, -0.4732, 0.7999, -0.1051, 0.7582, 0.5705, -0.4374, -0.1875, -0.141, 0.9998]\nstate[eef_state]: left_x=0.3506 left_y=-0.1414 left_z=0.1024 left_yaw=0.077 left_pitch=-0.0441 left_roll=0.0308 left_gripper=0.7999 right_x=0.2802 right_y=0.0072 right_z=0.1644 right_yaw=0.1036 right_pitch=-0.0381 right_roll=0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.4752, 6.6393, 1.7509, -0.3297, -0.0464, -0.0269, -0.4171, -1.6342, 7.0085, 1.9756, -0.1148, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4044d34f753dc97b603f9ebfee4919032ed79c791175deed5ae93b41c541f53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf651048e2072c09ad5a6e93a786be4bf49a4a8548bab882f58a2192d1f192f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760df638eb91aea3b3d743ff765b5e3480c932139c52f1e89aaaa00bb25caed1",
      "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 114 changed as sent

message 122 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 1.9125, 0.7494, 0.6476, -0.5591, -0.3676, 0.5026, -0.094, 0.7261, 0.524, -0.4194, -0.1654, -0.1368, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.162 left_z=0.0514 left_yaw=0.0852 left_pitch=0.1288 left_roll=-0.0525 left_gripper=0.5026 right_x=0.2753 right_y=0.0069 right_z=0.1548 right_yaw=0.0939 right_pitch=-0.0374 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.841, -6.6256, 2.5915, 0.8425, 0.1441, -0.2711, 0.0611, -0.8, -1.4701, 7.0359, 2.044, -0.2027, 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]: [-0.5621, 1.6371, 1.166, -0.2058, -0.5457, -0.4057, 0.7992, -0.1051, 0.7803, 0.6094, -0.4545, -0.1871, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4362 left_y=-0.1621 left_z=0.1794 left_yaw=0.0963 left_pitch=-0.0041 left_roll=0.0066 left_gripper=0.7992 right_x=0.2839 right_y=0.0067 right_z=0.1727 right_yaw=0.1031 right_pitch=-0.0386 right_roll=0.0077 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 8.8137, 1.4188, -0.1441, 0.0366, 0.0464, -0.2393, -1.812, 7.0769, 1.9267, -0.0659, -0.0122, -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]: [-0.6601, 1.4445, 0.6952, -0.0105, -0.5999, -0.4732, 0.7999, -0.1051, 0.7582, 0.5705, -0.4374, -0.1875, -0.141, 0.9998]\nstate[eef_state]: left_x=0.3506 left_y=-0.1414 left_z=0.1024 left_yaw=0.077 left_pitch=-0.0441 left_roll=0.0308 left_gripper=0.7999 right_x=0.2802 right_y=0.0072 right_z=0.1644 right_yaw=0.1036 right_pitch=-0.0381 right_roll=0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.4752, 6.6393, 1.7509, -0.3297, -0.0464, -0.0269, -0.4171, -1.6342, 7.0085, 1.9756, -0.1148, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4044d34f753dc97b603f9ebfee4919032ed79c791175deed5ae93b41c541f53b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf651048e2072c09ad5a6e93a786be4bf49a4a8548bab882f58a2192d1f192f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760df638eb91aea3b3d743ff765b5e3480c932139c52f1e89aaaa00bb25caed1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGi23Aoj90JQSBxAHXCzRPP2Cvrx7QcQclHY652Q-eMkQ-_eAuypWg57wmq7ls4h0jpL28eCo5aTyM-urRUXhArQrtH4J7uBxPzuqCeCmZPgWpM9zPVNQfOwIlbFdDhOJUkY-JTbQXi_cmptg6d-R1DBJCMFBJsmXwqr-coL8yWQvBf8eVWJYV-gNw2WOdyplk01sYieazFVneHGDjZ7pc6cHp8UeQ9BFGBMdJCoxTDGkqZ46QC2rOYU7xN_dFy5jCtz2S2dcK0lc-oRm07jcJsKv1fBjCQVaOuzuYQA-isTwJOesFCy5XviT9ft92ApJqt6yNwPgPfEkl2oQUmNUmxo_Z7494xD4JQfulYysSlLs_lzuqUogacJ2M63grNNOZEapP2cAZrNiN8MbbyAEPUvstT8IazU8c6RPagjde2EkXb-VcJDGm0BzOBxfokSej2eEIn-hScu_nTGaiIoUnWgVHGJfDScB_DUxghbxxxs4S8-Yh8FmnDq1x_nRt7xsKnTe_bW0Kb3xfnUKWnDoxzU8hi-n5UALloXPZfsi29asoZZRIEdpgrQkyc_2oKoLS6xj9U8OLVFDTOsxiYQs0uwgvr4aG6U2JWSRj40b1_80XARzlC7aRHYgRWcQRtMoWXRvkgVJn6EgodOWEWcUGifO-n6GALNFOslA9eCGTvZF9JZwy0Srt6S3j7ATKfPbWwzjWlGxHpa-68lL2cXMqBrc01MhSQxr5qsFdfw0cr_N4WYFXMYCPUjM8lWOIunmKG2u1wSIPH8Lb5HGkdLNYqpEsOAkDg30eRUAPZ57tdMEeh-DnrraPEIXfvniRgZ88Q4zb_583Uit6e1D7mDg8plAL5s2SWzI3UY4J-vA45WQmU2-UxnFGZyAlNMOp2yWUP1fCDr-36dG0tEe2Ebn46dmppehOGxRBnf8d4v5b5pVK7UWdrm9wA0wQOKhOfMXod8qvu0OsLtf22q49kj-Mc-GplfTLV01YRA-xddVvoGZYLiEYcm5O8rXRtvdECMhUKP--QSzHoVLGoDjHshhqo0Ep7LKl9q61j1cRIrRTx41QEoJbJ-lBxVOYW9Jl10urS-YdiNR_1rhdEYFcGGfVh9ZMPJJigZ9uymVzCYKPsUEcH3WOY_MITgjkJZvG133LvnbZFZAQgrVOVWyPHNAcrYEhJhXYucaV-efESY9CQ6Mx6remCohbt5D0CJaRxjJoOhhYF2z-mBsoUpkrYByzR0AXoCmepzzEpoZxkqoUw7LCH5mIbGFPY92dRF6HMDgp97dBpWBmd07YoXrtiOKwcuaTHcvuQ0Ih3Q5mIqI-_2K7hsLZ_KnJE9aSFH-_UMyoVE7aE34O3hOIMT-OB18Iy8OFeTQDUOqSbEuLSyRr_7u35E-DghYHF6v9QtiVvxh-2U_D1Xh7WlWnInrmU37u8XESC4M69i9YUrXvkUFoSuHcMdhLZqcfF0SVV_ALsMqFOud3JShB8M7TVGLUHXftq0Ripq-BFIoAhpYiNApa0tEBR5jwJYOGUnKMYEoEyvsycwi_74n-QGyEZStSWUxipoFzxDtBqWHN6gSuUJ4D-_HWSBeI0QieOdJ8wlvbTaaW3cISgB2U2_8-fCED8xsuEc5EB9abGSU6tDnb9JICg0v-ce0_Hu6g_De9-7RD3px94ZdSugKei9m9BEEQhz0xl5DLD3Y9KrFXXDMB160z8hKi2FoVM_IQV7MbaQTTqzOSqtE4jux_ZKmnY0EWcDeSrogcTHD6SGloHQ4ERjrn4RJ33Of3uxv_MQ6sB-wvT1mjaP",
  "id": "rs_0829b13ddf017f60016ab468b29b7887d09f78d89385729fd3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.16,\"left_z\":0.018,\"left_gripper\":0.65},\"note\":\"The moved bottle’s neck is now clearly identifiable, just below its blue cap and separate from the neighbor. I will move forward and right to descend around that neck from this reset pose.\"}",
  "call_id": "call_lx6ydfgLsg9uxRHBzSqGoBIM",
  "id": "fc_0829b13ddf017f60016ab468b4c37087d0a19cccbe7befc97c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lx6ydfgLsg9uxRHBzSqGoBIM",
  "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]: [-0.6067, 1.8416, 0.7082, 0.4736, -0.6174, -0.4366, 0.6532, -0.1051, 0.7368, 0.5369, -0.421, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.1514 left_z=0.0388 left_yaw=0.1241 left_pitch=0.0375 left_roll=0.0033 left_gripper=0.6532 right_x=0.2771 right_y=0.0075 right_z=0.158 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.9436, 4.4923, 0.9109, 0.398, -0.0708, 0.1978, -0.2803, -1.4291, 6.6393, 1.9756, -0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be5665e9ce329e5e6863d5b5fc7e21957d9c1e0b18bdf278bbe17aebdd07844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f3c444919663952193c01d5c872a331a1bff9c721f7c4990ef957c4b023481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d76381d0abb76028c5ae1cb935453bc14a9896fa0061b31fda06ca220d722b",
      "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 118 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 1.9125, 0.7467, 0.6476, -0.5587, -0.3676, 0.5987, -0.1017, 0.8001, 0.6506, -0.4759, -0.1799, -0.141, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1616 left_z=0.0505 left_yaw=0.0847 left_pitch=0.1266 left_roll=-0.051 left_gripper=0.5987 right_x=0.2872 right_y=0.0061 right_z=0.1816 right_yaw=0.1007 right_pitch=-0.0394 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -6.6256, 2.6598, 0.8523, 0.1197, -0.2271, -0.0855, -0.7863, -0.6632, 9.8803, 1.8242, -0.0366, -0.0024, -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]: [-0.6601, 1.4445, 0.6952, -0.0105, -0.5999, -0.4732, 0.7999, -0.1051, 0.7582, 0.5705, -0.4374, -0.1875, -0.141, 0.9998]\nstate[eef_state]: left_x=0.3506 left_y=-0.1414 left_z=0.1024 left_yaw=0.077 left_pitch=-0.0441 left_roll=0.0308 left_gripper=0.7999 right_x=0.2802 right_y=0.0072 right_z=0.1644 right_yaw=0.1036 right_pitch=-0.0381 right_roll=0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.4752, 6.6393, 1.7509, -0.3297, -0.0464, -0.0269, -0.4171, -1.6342, 7.0085, 1.9756, -0.1148, -0.0464, -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]: [-0.6067, 1.8416, 0.7082, 0.4736, -0.6174, -0.4366, 0.6532, -0.1051, 0.7368, 0.5369, -0.421, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.1514 left_z=0.0388 left_yaw=0.1241 left_pitch=0.0375 left_roll=0.0033 left_gripper=0.6532 right_x=0.2771 right_y=0.0075 right_z=0.158 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.9436, 4.4923, 0.9109, 0.398, -0.0708, 0.1978, -0.2803, -1.4291, 6.6393, 1.9756, -0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be5665e9ce329e5e6863d5b5fc7e21957d9c1e0b18bdf278bbe17aebdd07844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f3c444919663952193c01d5c872a331a1bff9c721f7c4990ef957c4b023481",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d76381d0abb76028c5ae1cb935453bc14a9896fa0061b31fda06ca220d722b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGi-h2ke4YH-mms2QdpQP4pmL10HALdWzUao49M1_cimJvoFCt9W4eEunvNq8jn1X1mBsw9aiWyoyToob0UqwmB0VkkrT01k5hLubUs0NDjJhe6qZc81l8Sf9JRq2SJD0I8rDeZyCj7plnIC2tnlqp9mM0iOYqRGVMxErS1w5hSXpy_P7P1emRDbskd6wWfosuzx8mOEHnPW_2_h2SOM1BQwtus-22nbWfa3WAS2XEtS80GKGefZzBb6kZ6CgAJ1kkCVfnFh1r72N9o1vLR4Y7mhrpx0ww0kfpGwA01zm_xTDba8nUy6JIbIXqvqXO-GN7Eyic9LI0Kk0TnBos_TxgZ3lPx46CkjWPDsml9d5OPwTz8ZRfszYiYgwRrH1869MZFhHGBVmuDPtepHlw6r_S7pqVe6m9RYylhrLz0Pzl_sRoRa5oM4Gckxl7RdK-BbqaLD258Z3VoRTcfEPbhU5yvzq-MPv7fvyjgkV_XjBjDqsLIuVo2EmzhCKvosKUajE_U39do2D6nxLVUA3fKL5LqIW6l0lQ2riaEERZlhqlfsZbiWDpPUgOWAWPmEkgMo-F_Cf5RvahDME0r9iJa-gtq82rMOq7HrKvK2sdNga0Kj7ZI0jDA8iNxLourQ4oNbXZff1fJ1ftpC0qev1SgvbbWLllyrvw1P4DikX8uGACIJDD1wbOHMLYgtYKIbCrT6U-e2A7uA2SpySgFfYFfcE39yQLA9mjL3w0y9GrJLYWg4x7-QdP9nHhIc86U6JJ0TQw52_6Xl9Z0r-kgL0jQ5it4YVdecJRm9-7RBCImwiKw7CDWsFnfNSd06QG5iczB1XCUUciBzjAvIe2P7JD_4zYdp3qe9zaVqAgZqln4dkV2ubmRD4VLxWDNgaLDGqUCEJOcBvmWwesVVNH47iANre2UR5qMMC52XtkJH-ZfSezR4EIbAABrjj1DP0kv5R2IaHJ2NpxGKsBGFk8ab8MRodYA-KF-d-01Y-47l9O5kLtcyxsU6kILddu3CexRkIbkh2un_BNvqxePF2sHnUVNmQ0vdH13b6WvtUnWLkoFqUsKQ_mHnhqxvnYAFDo6hG5LVg8Es4wHl0mZI8hrcGHx0_IKGBfTDE_qlyjL_jWOzyNy_K7Hqm0ryU2mf_bK_FVV_jPZahW1wJs_Ttg-uOzBni1c1BKku70WeulYaj7RttOqn9plh4Gk1QOgVk_l0abKoP6MZo3MiwFfiPXonJyK9euYefwKcXf5n0e5svDQQ7C6-mlJIgnQkRo4Sgpi-cPpg1Zr4XpamZcQeSL70FszjnCiZxP3ZttzFPH1IqqlTxx_dY01b6NtE86AW4TkEdCoArLEvK8mMUBmLp0IEqVVK35m8KVDUbQfZSjiu443JfXkmJ4gk4ELtGaxyQrvoMWKfob_yQ_3sQl9WqgHamnFcHfQzQ0vjd2EPmSGpCLpXlmfuP-a3JY0Mlm1O74bUzQtid7dG5CUnLyRfADMuLN7DnuQwehTstzR_MZq9SLTMqmr55FNllrrgw0g3O3_SgBkniuxKnqnRSHzIpkJGXAWxlLzmFZ3oWddDCk2zeYy6R6cHxE8498AUm-aXQbNtJYBNFUEe6MHeCqnxphV5xMHqbUWmCFdpCrtetkD06bEy_EZo-c0YjV5jLoxOy6F5mVNP2vwapCS4PaYQNezfbIM10NbfHa68OQLkqFZRWSfe5UEEqutv9qRA5npt4kq1mOEsYPSY9xaxJvQhn1wB3L1OvB9Pnz9zsXfNaoMVCfhv8nA4qTolLpcs5vzuZF4wZ0VqWt3wHeOy626Rn7GvrZ0mldHXyT50byOlS3d6hZagDkfvfNfPGQamr8MSx7r2M92_TsJSfjwQ3sblPAQeQHe4FRvALjsSxICSIBcPoSh-hop-qE5YO_bhV1dNqO9fdn2RdnwbQKTTrsIvGLs-eb5NCl12F0SB_PH1vrWylNXlMpmDr-_feuJTQbh2mH5Gdkq1AbTz2O-3iZnP4GLGQFYsCB2m2IzpYh6fmUxadJ_g0C14IyB4Ky6hY-nTmA7gkZP0bIJC",
  "id": "rs_0829b13ddf017f60016ab468b9462c87d0b4808b08f8a37686",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.145,\"left_z\":0.005,\"left_gripper\":0.85},\"note\":\"The wider shoulder is between the fingertips, and contact stopped the descent above the table. I will open a little more and shift left slightly so the fingers can clear the body before closing gently.\"}",
  "call_id": "call_rVCLmtQeWRWsY5ePrTtYrW0k",
  "id": "fc_0829b13ddf017f60016ab468bc921887d0bddcd09f717ffe63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rVCLmtQeWRWsY5ePrTtYrW0k",
  "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]: [-0.5888, 1.8992, 0.72, 0.5903, -0.606, -0.445, 0.8463, -0.1051, 0.7177, 0.5056, -0.4026, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.154 left_z=0.039 left_yaw=0.1404 left_pitch=0.0858 left_roll=-0.0565 left_gripper=0.8463 right_x=0.2748 right_y=0.0077 right_z=0.1524 right_yaw=0.1033 right_pitch=-0.0281 right_roll=0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.759, -5.5179, 2.6462, 0.8669, 0.0952, 0.0073, -0.188, -0.1709, -1.4017, 7.0496, 1.9072, -0.149, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e3ab6c3b0b2895d31a9f8caf5d80c445d6dd65723bc29fb77723b4ee534a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cae4495ec7c978086655776f4c52d6052c5e051350cc393d9e46fe9a8db7925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b93703acc3f69b98403fb153acc11f647025a93a01bcb13dd27f3b23a6b58b1",
      "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 122 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5621, 1.6371, 1.166, -0.2058, -0.5457, -0.4057, 0.7992, -0.1051, 0.7803, 0.6094, -0.4545, -0.1871, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4362 left_y=-0.1621 left_z=0.1794 left_yaw=0.0963 left_pitch=-0.0041 left_roll=0.0066 left_gripper=0.7992 right_x=0.2839 right_y=0.0067 right_z=0.1727 right_yaw=0.1031 right_pitch=-0.0386 right_roll=0.0077 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -10.441, 8.8137, 1.4188, -0.1441, 0.0366, 0.0464, -0.2393, -1.812, 7.0769, 1.9267, -0.0659, -0.0122, -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]: [-0.6067, 1.8416, 0.7082, 0.4736, -0.6174, -0.4366, 0.6532, -0.1051, 0.7368, 0.5369, -0.421, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.1514 left_z=0.0388 left_yaw=0.1241 left_pitch=0.0375 left_roll=0.0033 left_gripper=0.6532 right_x=0.2771 right_y=0.0075 right_z=0.158 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.9436, 4.4923, 0.9109, 0.398, -0.0708, 0.1978, -0.2803, -1.4291, 6.6393, 1.9756, -0.1294, -0.0464, -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]: [-0.5888, 1.8992, 0.72, 0.5903, -0.606, -0.445, 0.8463, -0.1051, 0.7177, 0.5056, -0.4026, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.154 left_z=0.039 left_yaw=0.1404 left_pitch=0.0858 left_roll=-0.0565 left_gripper=0.8463 right_x=0.2748 right_y=0.0077 right_z=0.1524 right_yaw=0.1033 right_pitch=-0.0281 right_roll=0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.759, -5.5179, 2.6462, 0.8669, 0.0952, 0.0073, -0.188, -0.1709, -1.4017, 7.0496, 1.9072, -0.149, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e3ab6c3b0b2895d31a9f8caf5d80c445d6dd65723bc29fb77723b4ee534a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cae4495ec7c978086655776f4c52d6052c5e051350cc393d9e46fe9a8db7925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b93703acc3f69b98403fb153acc11f647025a93a01bcb13dd27f3b23a6b58b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGjCqgHvE7nnPtYBevrcT9MOcsfcZ2ogUTRhaCzDGml4p36ErXSeGVyhIAsBY8C8oc6R0bi0NHkVTrQBqJgrvcFwztvDEbVl5FiMKWkGxZsDeNM-BJdUXCAiBpX9C9DFd7BuFa3Q5RR-1Uikf8-Sp1NSTQMxdO1AX2RexaxEtVv1aIfgs_xe6VCpT95MEXaN9cxMhRJY90j500ZJPmiFtPl0age7l8m0XksHRBOQ_kzMIzVZKgZAP8g1C9thVH-1Ig4y1q4UYUyhf6GFr7dn_ALNRBalOqVYbT11ttP-ikUzN9PUlAtAXuiTMUJca7CR6Ih5NGiKHMnG6a49KDtU7f0mXeje4cpBLnQkgWAgGGXhBc_klYGey5go0qIk0UKMKbxkfjoI7Q5BItDUvLJT70wDdj43GDgqZcbyXS27XMTdeH6-eNrBs6UJgSuTpOvX-bPD-ZlKdU6KKqwL0czuNmPjJuqHqpvvOoft64eA_XMSdBM9sqUTQOX-0TeIfpwQfrWmr_3YnnhRo0TnrIMQbsTrIPbFrjqpr4CBCBDyWB6hSuNXHjPQDRN56F-snmolHNTcyzgGnjSkV_kWVGlpp1l_MMXWwUKzFfC9Cu_OKgwdn9azMem2E8Wy98IWnT7fIHWFCjr-ZdqJqko3HJ7YmQ4Yj4Q8hCiiXUofrDWupNvSXMfv9hAnFlaVJijw23MQoUgSoGjcSBM6dVykDnHtLhZQUylvsRC-hjJdXUjqBGkr8rjUj4DAaP73-iUaMM6xv11Ap4qPXDdA-xTTkZXo0_oPBg9O4648Ln0bRv3nwq505TKtrm6tzl9-VmWtGrSiensN1bluphWPCX6eSHrdlMhUzk8lS0Ow4d4LjTmrfqzHdjfEX-4PUeRW5L-n-hIIEen8LK8YReWQKzLjvOf1I4m5-fuyw5NoyykQzduvImbATtnzg7F8Me_89hA9y7NvwxA09pBg0RHHEExUUBnyLjPAjfoSgC72O_VestAuMt6L6zUv-JA2g5efRqPt-ykEZ73EMysyWhhYrZk59NkLAaNK5KzrgEEgItA75lV23De0Jl1tcoCxoNY-lUlDbSGbuxuLqSIaebrztbo2fwFutJ8M60zofeaUjwRfdxWPKjROkT0Xga77ZEN7Tij0JvB9bfow78_CD9xfDLZ45a5I-RgOCAiTecbtfYon6TDZgH5VO_AuaG8SYpMP16QsJ4H0vDbXH3Y3-8usDB2A6s4pCgWvCNtzKRcsi96yMaaMtQ_IEXlqffYBXU5Ud7KtB82SFrsMFcay87cOpZyCwjpUs2YXki0tenZZbVW6MPMNZv3LmSGiiARvV7-wShqOBHpm8IQ_EDCyvylg4QFptnN0TpsIpQLKN27YVwzAn56zqgD2rGwqkZQwv29LRvst-8A1aO-AgXuxtblLz8W2fn1ZJyj90RXSNPTkYXg3KM0POr9gSnmQu3If_JT3h4kdjwOz-wxU",
  "id": "rs_0829b13ddf017f60016ab468c05cc487d0afa8efc4c83c87b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.48},\"note\":\"The body is centered between the open jaws, although the arm remains above the requested height. I will test a gentle body-width closure; if it does not hold, I will stop rather than keep pushing the bottles.\"}",
  "call_id": "call_kvlJS4VyQhIQ088HRRW5YaY2",
  "id": "fc_0829b13ddf017f60016ab468c1751887d0b14eb639f0dba7d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kvlJS4VyQhIQ088HRRW5YaY2",
  "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]: [-0.5823, 1.906, 0.7174, 0.6708, -0.6228, -0.4423, 0.4865, -0.1051, 0.704, 0.4786, -0.3954, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1527 left_z=0.0508 left_yaw=0.1645 left_pitch=0.1444 left_roll=-0.0955 left_gripper=0.4865 right_x=0.2716 right_y=0.0081 right_z=0.145 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.2308, 3.0427, 0.5055, 0.2857, 0.0269, 0.1734, -0.1983, -1.3607, 6.9675, 1.9658, -0.1343, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f11fbb98b23dc41dfd3f694fd1539cdcaad0aeeafab533209b3164a561311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcd35d3bad3e92c9f2e511f53593402407df664e6bddbdf396b30cce7a9f195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a53e0551d0c12ad700bdf732fe5358eddf03b88293a54267533d4b1d2e3cc94",
      "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 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6601, 1.4445, 0.6952, -0.0105, -0.5999, -0.4732, 0.7999, -0.1051, 0.7582, 0.5705, -0.4374, -0.1875, -0.141, 0.9998]\nstate[eef_state]: left_x=0.3506 left_y=-0.1414 left_z=0.1024 left_yaw=0.077 left_pitch=-0.0441 left_roll=0.0308 left_gripper=0.7999 right_x=0.2802 right_y=0.0072 right_z=0.1644 right_yaw=0.1036 right_pitch=-0.0381 right_roll=0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -6.4752, 6.6393, 1.7509, -0.3297, -0.0464, -0.0269, -0.4171, -1.6342, 7.0085, 1.9756, -0.1148, -0.0464, -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]: [-0.5888, 1.8992, 0.72, 0.5903, -0.606, -0.445, 0.8463, -0.1051, 0.7177, 0.5056, -0.4026, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.154 left_z=0.039 left_yaw=0.1404 left_pitch=0.0858 left_roll=-0.0565 left_gripper=0.8463 right_x=0.2748 right_y=0.0077 right_z=0.1524 right_yaw=0.1033 right_pitch=-0.0281 right_roll=0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.759, -5.5179, 2.6462, 0.8669, 0.0952, 0.0073, -0.188, -0.1709, -1.4017, 7.0496, 1.9072, -0.149, -0.0513, -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]: [-0.5823, 1.906, 0.7174, 0.6708, -0.6228, -0.4423, 0.4865, -0.1051, 0.704, 0.4786, -0.3954, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1527 left_z=0.0508 left_yaw=0.1645 left_pitch=0.1444 left_roll=-0.0955 left_gripper=0.4865 right_x=0.2716 right_y=0.0081 right_z=0.145 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.2308, 3.0427, 0.5055, 0.2857, 0.0269, 0.1734, -0.1983, -1.3607, 6.9675, 1.9658, -0.1343, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66f11fbb98b23dc41dfd3f694fd1539cdcaad0aeeafab533209b3164a561311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adcd35d3bad3e92c9f2e511f53593402407df664e6bddbdf396b30cce7a9f195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a53e0551d0c12ad700bdf732fe5358eddf03b88293a54267533d4b1d2e3cc94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGjH7V7Uu186VYakJdobARWKzKIh3mVx_m0Q4Ap-7y34uzJGIhsV_mJRujJm7NEw54iypTOkCt_mj7yfgNWLDJczNNmEbw7t6NH9veDK4mnC-sCdPU5OdBZ4h2EqQVuI34zR85Cz5U9dpVP2V22P1Nk_I4RxHgbN2z-yANZuA-j0Kqzb00Mf3rQJlGwnq1Vx9cd50u6MtuCQO0bcdrRothCvluLN2VSPwCRmaAJb06yzN31nhUCC_9CiH6O_-Ea_-rxmIqSRZ-D_AzfJap81ekIbcMrBtZdzYMkKdnyJgyCcoXBKMUdCMkUmobs2k71mbCfx7BEzer7N6wNFxyL5SH73vtG3JK20LYl8flkeqChAgsxB7GD5YqG8Hpnad35YN4jF2QU_J88q9L2SYzPeTzfGguQCYIcjouqzx8EQuxs0VF3fk6vAIrsPE6_HmS_nBxw8kVgHIVR5-bzq4jwxQNUUzX2zILM0bLMbqmKmtVoJvmzjM4-IjPwJ55eslT1a0iH9HBDKsTHehHNLuUgWdB07uK4YPdPlqaAnWZnVOn2zDXBJdZgvof7vsgrPIurCuxITG4sSLeiHfRCnJQWL5T70IHGZ8Le1tQItruP5JDPn3htlxalRd6tQ9E704oNHjG7c4N_iJ-Uqfoa65Z193KTgVjZFp1dRk49feEYzBYauWUs366V0x9_2t-hb8cr0iXIbbnrfGeDSePdHI-zID1hhxuWJo0rKzZQ89SPhQK7NV6OmNxYXTCiNo9ZtsSmJIM8rq1D7XgVjXPxR8Ha9AKDmq_2uElhnCtXrFIYtFdUcm9jzqV05wb6NatjxuuQDeRIhR94pMyYpAG6H-rZevZM54KYw948lEFso_g83hyhheb5tkSTlTbRVqHckSgXUJpKHNxnqzt21WMi8vM13sKRuaxEXnJTASSZSQxERQ-n0kSVLWkWMYJNg-8LQ0AqeQxNkp8MgWT5u6DfCiFJyCSTS7vZGD1BvuoRyJli5mYXUDSq_9Rcc3B-6Zghx9T9az142nVQM9KdXUsCSZX27-pohh_tUjwlWL1n3z2IeHovnXD67tdzB2sUjx49INgJ6g86xLBvgPwGgB-tvc-OcQ27G3eT0zo5Y8gCTV9xvdoBDRI4EqKF2SSlYwlYLQWnOI2SQhQXyyozZTQjHElix2v-C7bBQUrYzvy5iqjQS6xAs_IrqmUBsgiHmR2-Y6lknPKNkhhjlPig6KnPCm7O-XqiOLu2egMPHp-NPeiRpgQlkLSIBIXDQIkxjquKZ_ou31chaTeLV6GM5WwM_mUPm0zrVeUxz1TtMl-YgLEGn2R1jTOh24Y7WdqQm-ol68LOiUgxYcgXEA4_0bqMBOMbffjAydD_9jHEgYI456t2DHeLUNx2ES96RmrmAt8JqYUNEoZ-umzS6xmeGmW0dGj4QFTYZ0as_ot44acuzbz327U71P7vuZsPbd3hU8MH2MvtX5nNPPRjj4ULeEDA-gbq83nDZgvyoClzLQMUmVYaj0ily59KAqonCaFGdepSHyPm0QqIHPkUVh0776261goJYigf47P9hox3c2l946Wja7KvRWv3rVQYV0_Ui6u3QguBEFascdS6ME3sQZp28Fg0k58zHyIMAcBQNxNVNK3DpxumzbUvF5PczJldxg0RwlvIRieUg8tvYFMzV8ohHLy_sajn7f1DjIRCVC83QZTEnIvsy771IgunxgHpSEt7xxRKE-NBxQ5X5d21b58eh1Mvk_vRs3UHCAXtHLAs1G4vhtjunyY0WW4Qv2zBXGKcf-eUbOTyQF3a3byJ0z4AQKSXH0q0_YFQkiXNjJy5ElN8eHiKKzk_A6U28vGl8BQjSXilyqkvTa_zPRk_JD5YwgLaqHm6d-UZU01HP07gHdrDWS7P8WuQ=",
  "id": "rs_0829b13ddf017f60016ab468c4e0f887d0bbf0f874b8398023",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.426,\"left_y\":-0.153,\"left_z\":0.2,\"left_gripper\":0.9,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The jaws reached the requested gap without a firm hold, and all three bottles remain on their sides. I will open and lift clear rather than continue the unsuccessful low contacts.\"}",
  "call_id": "call_8BFb5BeoNGZZUNnd02V179JE",
  "id": "fc_0829b13ddf017f60016ab468c6911487d08f3153c803f1453b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8BFb5BeoNGZZUNnd02V179JE",
  "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]: [-0.5789, 1.6428, 1.158, 0.1761, -0.6106, -0.477, 0.8972, -0.1127, 0.804, 0.6491, -0.4828, -0.1879, -0.1555, 0.9998]\nstate[eef_state]: left_x=0.4664 left_y=-0.1795 left_z=0.2491 left_yaw=0.2082 left_pitch=0.2883 left_roll=-0.2809 left_gripper=0.8972 right_x=0.2863 right_y=0.0044 right_z=0.1787 right_yaw=0.1043 right_pitch=-0.0502 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.6376, 4.547, 0.7985, -0.105, 0.0659, -0.1245, -0.7453, -0.6222, 10.1538, 1.873, -0.1783, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cbea65ed47a7f5e952edb006539ac3f6c1a7d6b2d639257a9c4d87a01527cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a273d6ed44b87ee4085c69323022760c66ffab385f6cfb560a46a4751d5e651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a905d218c9d0199caa9d59eacea190d2420d59f9db72d94823c0819f229e472",
      "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 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6067, 1.8416, 0.7082, 0.4736, -0.6174, -0.4366, 0.6532, -0.1051, 0.7368, 0.5369, -0.421, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4038 left_y=-0.1514 left_z=0.0388 left_yaw=0.1241 left_pitch=0.0375 left_roll=0.0033 left_gripper=0.6532 right_x=0.2771 right_y=0.0075 right_z=0.158 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -4.9436, 4.4923, 0.9109, 0.398, -0.0708, 0.1978, -0.2803, -1.4291, 6.6393, 1.9756, -0.1294, -0.0464, -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]: [-0.5823, 1.906, 0.7174, 0.6708, -0.6228, -0.4423, 0.4865, -0.1051, 0.704, 0.4786, -0.3954, -0.1875, -0.1406, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1527 left_z=0.0508 left_yaw=0.1645 left_pitch=0.1444 left_roll=-0.0955 left_gripper=0.4865 right_x=0.2716 right_y=0.0081 right_z=0.145 right_yaw=0.1034 right_pitch=-0.034 right_roll=0.007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.2308, 3.0427, 0.5055, 0.2857, 0.0269, 0.1734, -0.1983, -1.3607, 6.9675, 1.9658, -0.1343, -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]: [-0.5789, 1.6428, 1.158, 0.1761, -0.6106, -0.477, 0.8972, -0.1127, 0.804, 0.6491, -0.4828, -0.1879, -0.1555, 0.9998]\nstate[eef_state]: left_x=0.4664 left_y=-0.1795 left_z=0.2491 left_yaw=0.2082 left_pitch=0.2883 left_roll=-0.2809 left_gripper=0.8972 right_x=0.2863 right_y=0.0044 right_z=0.1787 right_yaw=0.1043 right_pitch=-0.0502 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.6376, 4.547, 0.7985, -0.105, 0.0659, -0.1245, -0.7453, -0.6222, 10.1538, 1.873, -0.1783, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cbea65ed47a7f5e952edb006539ac3f6c1a7d6b2d639257a9c4d87a01527cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a273d6ed44b87ee4085c69323022760c66ffab385f6cfb560a46a4751d5e651",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a905d218c9d0199caa9d59eacea190d2420d59f9db72d94823c0819f229e472",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGjNKMsQSo845jcqw9wdrYrOD5AbWJ_IswJ5Ra5EKyEvmhjp8KzTfbSWd1j9tZk_evcfxTYNNFyF4U-h-dFpeaFC5h5HB8RDzIIUcaYq3Ti7D1cA2xgYi3WpkTMFfU4dSfh0aNgW3y9Or0nZG-ADWrKLkMDKuCxW23_rIv9luR5PoZmWweTkAWCLiaiwhYEn3mkrwzvif6JFHIn0X73PJBBmJm8SRgL2euq7ki-4tQOthSesGeIvoqmjdu69w5zIxHsBsa6PTByiGVGP2JMOgz6apEBpbhFMQfy1X_8r-94toKq7eL9KMAkt6ObWJlzKz-e6Kyyc2ejlX4k1u-KXgnOhjuIVyWc7RFtuf64hYtFtpYMj293_H7amejF_9desa_KGRHrY8Ia_BH_SNJRQJwColfVySPLgEdzEub1PEkdHIoSu9r1yWQfGDlhfcqHs3Pfxzcp8RF9B71fLI6OlMatQXoQ9_x_CJ4cgvfng0m992f4yp2P9t7rgDOkQCbjPo1khIxmG8T0aVQZ24EYqX6M2ma2N-l0S9YXoGEYJyzJajfIH7C68hVuTFu2vTS9eIcL6_Z5OKpbuMPptz7qpAS1_tBW3NgnAXGv-q_HQ218TNZGuCQ5u-Y74diAhlYhX26-dgPmHy9E4ALqRBK6L4gdqDNyjd8fwIs6U_F7Q5EYRoHBSiH2TwQVPMIJiO3aPNn9Cz0a4l0V6Cb6TgJtVOSNaGiwUS5Krj70ebXMpPN2CvcCq1Hbf7-a86yFpU505ZWB62DHg8Tt1GHyTQWEEenZ8zMiJOh_aRJ_xab6JUvUsP9I6e8k7klNelYVpsHsrNWzgTjBcWIgaio4-Z0oyCGOP8XK1iLo15dbjo4qmB__xW-czgPN4Nbj0bsNYRbXa-10lHxa6HiattjMxCHghf6DYVGLFZ0CB2IG0ezRkGTEz2yAI82STHV1fCkRhLAeQryCiAONiMpnhP-Rv2cx9Y1ovDsRAVGGExFYGmIaer5ie0KldpTvHWWc9Twq7XO8y3c23WRS2KHMUi0e2KMC5cRde3asAoxS_7bcYn_37MNrwwywC0jjGZsqDICAIehp-fzjlh_M7yvQndp5PVfrm0F789oUmtvRoV9H92g3_U79KGA_jfBNnx34B0RgKCTCMlpou8sNS2uSap2zGwW7y3tGT3kEixPPIiqS16yJA_gL1iUMTXozqAfJsIKWkS3F4Bgk4_FKEa2caRPr4VlF9xZFRIyhrxEVB3OmG0sRROsKymM84Ms-Ntuq1SxiyUAl1HyEq-IN1vjqYHIsj7v5MtAd9iQ==",
  "id": "rs_0829b13ddf017f60016ab468caf09087d0bdb43712414290cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The left gripper is clear of the bottles, with no object held. I will return both arms to their parked positions so the table is unobstructed for the operator.\"}",
  "call_id": "call_0ACDPkOqdVGObZGtUt9yHPxR",
  "id": "fc_0829b13ddf017f60016ab468cbb68487d0a3c87f5610ae4da4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0ACDPkOqdVGObZGtUt9yHPxR",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0521, 0.8268, 0.693, -0.416, -0.1089, -0.0982, 0.9979, -0.1131, 0.7986, 0.6556, -0.4915, -0.189, -0.1596, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0071 left_z=0.2048 left_yaw=0.0834 left_pitch=0.0146 left_roll=-0.0114 left_gripper=0.9979 right_x=0.2855 right_y=0.0046 right_z=0.1813 right_yaw=0.1071 right_pitch=-0.047 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -1.1829, 6.8855, 2.0147, 0.1734, 0.2662, -0.2271, -0.4855, -0.3077, 10.3453, 1.8828, -0.2222, 0.0708, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf29f9571a4586c91cff30b090c98f504f654f9fe953814ca02ea4f6acb77c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2067e2b9f344bdf60abe94cceca1a890d65967bcef2f2420179de277f81cd2e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b199752e64890f800bf705d1c87d4a7ae32ffe84ff84b3721a105bad1e776f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}